CN108438080B - Flexible attachment mechanism with shape following capability - Google Patents
Flexible attachment mechanism with shape following capability Download PDFInfo
- Publication number
- CN108438080B CN108438080B CN201810527230.1A CN201810527230A CN108438080B CN 108438080 B CN108438080 B CN 108438080B CN 201810527230 A CN201810527230 A CN 201810527230A CN 108438080 B CN108438080 B CN 108438080B
- Authority
- CN
- China
- Prior art keywords
- steel wire
- bionic
- unit
- wire rope
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a flexible attachment mechanism with shape following capability, which comprises a control unit, a line driving unit and an auxiliary structure thereof and an attachment bionic mechanism unit, wherein the control unit adopts a single chip microcomputer and a plurality of switches, controls the line driving unit and the auxiliary structure thereof and finally controls the attachment bionic mechanism unit to realize functions; the single chip microcomputer judges whether the mechanism works or not by dynamically scanning the state of the switch, and respectively controls the push-pull electromagnet and the motor connected with the grooved wheel; the opening and closing of the push-pull electromagnet and the rotation of the motor directly change the state of the steel wire rope connected with the push-pull electromagnet, and drive the attached bionic mechanism unit to do corresponding movement. The invention has the characteristics of good working stability, large working adhesion and adaptability to certain terrain environment. Meanwhile, the mechanism can also be used as an open platform to be correspondingly improved, and the end effector of the robot can be added, so that the functions of the robot are richer.
Description
Technical Field
The invention relates to a flexible attachment mechanism with shape following capability, and belongs to the field of robots.
Background
The robot technology is one of the greatest inventions in the 20 th century, and is widely used in various fields of society. Due to the working limitations of conventional robots, special robots of various purposes are coming out of the world and are advancing toward practical use at a rapid pace. The nature is always the source of inexhaustible inspiration for human inventors and engineers. Researchers have developed various biomimetic robots based on the structures of living bodies such as elephants, octopus tentacles, and snakes, such as the flexible robotic arm of the elephant nose of Festo corporation, the snake robot of OC Robotics, the multi-spine snake robot of Vanderbilt university, and the like. At present, the attaching mechanism based on the claw spines, such as a spine II robot of Stanford university and a Rise series robot of Boston Dynamics, can only move on a plane, and has poor conformal attachment on a complex surface. The attachment bionic mechanism provided by the invention is arranged along the circumference, and a unique line driving mechanism is added, so that the gripping action can be realized, and the attachment probability of the claw spines and the shape following capability of the whole machine are greatly improved.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides a flexible attachment mechanism with shape following capability, and has the characteristics of good working stability, large working attachment force and capability of adapting to certain terrain environment. Meanwhile, the mechanism can also be used as an open platform to be correspondingly improved, and the end effector of the robot can be added, so that the functions of the robot are richer.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible attachment mechanism with shape following capability comprises a control unit, a line driving unit and an auxiliary structure thereof and an attachment bionic mechanism unit, wherein the control unit adopts a single chip microcomputer and a plurality of switches, controls the line driving unit and the auxiliary structure thereof and finally controls the attachment bionic mechanism unit to realize functions; the single chip microcomputer judges whether the mechanism works or not by dynamically scanning the state of the switch, and respectively controls the push-pull electromagnet and the motor connected with the grooved wheel; the opening and closing of the push-pull electromagnet and the rotation of the motor directly change the state of the steel wire rope connected with the push-pull electromagnet, and drive the attached bionic mechanism unit to do corresponding movement.
The line driving unit and the auxiliary structure thereof comprise an inner lifting mechanism, an outer lifting mechanism and a lifting auxiliary structure; the inner lifting mechanism comprises a grooved wheel, a motor, an inner barrel, a lower connecting ring, an optical axis, a linear bearing, a positioning bearing, a motor frame, a bearing plate, a bolt with a hole, an inner lifting ring, a first screw with a hole and a first spring; the motor is fixed on a motor frame, the motor frame is fixed on a bearing plate, a sheave is fixed on an output shaft of the motor, the sheave is a traction wheel and is connected with a steel wire rope, the other end of the steel wire rope penetrates through a perforated bolt and is fixed on a first perforated screw, the first perforated screw is uniformly distributed and fixed on an inner lifting ring by taking the center of an inner lifting ring as the center, a first spring is hung on each first perforated screw, and the first spring is connected with the steel wire rope wound out of a V-shaped groove bearing; two linear bearings are fixed on the inner lifting ring, the two linear bearings can respectively slide along two optical axes, two ends of each optical axis are respectively matched with the positioning bearings, the positioning bearing at one end is fixed on the inner cylinder, the positioning bearing at the other end is fixed on a bearing plate, the bearing plate is connected with the inner cylinder through a first bolt, and the lower ring is fixed at the bottom of the inner cylinder; the outer lifting mechanism comprises an outer lifting ring, a second screw with holes, a second spring and a push-pull electromagnet, a gap is formed between the outer lifting ring and the inner cylinder, and the second screw with holes are uniformly distributed on the outer lifting ring around the center of the outer lifting ring; the push-pull electromagnet is connected with the outer lifting ring through a second bolt, a second spring is arranged at the upper end of the push-pull electromagnet, and the lower end of the push-pull electromagnet is provided with threads and is connected to the inner barrel through a nut; the lifting auxiliary structure comprises a shaft sleeve, a pin shaft and a V-shaped groove bearing, the V-shaped groove bearing is connected with a connector through the pin shaft, the shaft sleeves are arranged on two sides of the bearing for axial positioning, and a steel wire rope fixed on a third screw with a hole bypasses the V-shaped groove bearing and is connected with a first spring on an inner lifting ring in the inner lifting mechanism; and the other end of the steel wire rope is connected with a fourth holed screw on the rotating shaft connector and the middle position of the pin shaft.
The adhering bionic mechanism unit comprises 4 claw thorn units, a plurality of connecting pieces and corresponding elastic elements, the claw thorn units are connected with the claw plates through three pin shafts, and a first pin shaft at the front ends of the claw plates can move in sliding grooves of the claw thorn units; the claw plate is connected with the sliding shaft through a fixing screw, a third spring is sleeved on the sliding shaft, the sliding shaft penetrates through the rotating shaft connecting body and is in clearance fit with the rotating shaft connecting body and can slide in the rotating shaft connecting body, and a third screw with a hole is connected to the other end of the sliding shaft; a fourth screw with a hole is arranged on the rotating shaft connector, the rotating shaft connector is connected with the connecting piece through a fourth pin shaft, and the fourth pin shaft is in clearance fit with the rotating shaft connector and is in interference fit with the connecting piece; a torsional spring is arranged between the rotating shaft connecting body and the connecting piece, one leg of the torsional spring is inserted into a hole on the rotating shaft connecting body, the other leg of the torsional spring is fixed on the connecting piece through a torsional spring pressing plate and a self-tapping screw, and the connecting piece is fixed on the lower connecting ring; the steel wire rope is fixedly connected between the fourth perforated screw on the rotating shaft connector, the third perforated screw on the sliding shaft and the second pin shaft so as to ensure the gesture of attaching the bionic mechanism unit.
The claw thorn unit comprises steel nails, a spring with hooks, screws, a front component and a rear component, wherein the three steel nails are clamped in the fixing grooves by interference fit on the front component; the front member and the rear member are provided with lug plates, threads are arranged in the lug plates, a pair of hooked springs are arranged between the front member and the rear member, and screws penetrate through hooks of the hooked springs to fix the hooked springs on the lug plates.
The invention relates to a control method of a flexible attachment mechanism with shape following capability, which comprises the following attachment processes: when the 89C52 singlechip in the control unit scans that the switch is closed, the push-pull electromagnet in the control line driving unit and the auxiliary mechanism is firstly controlled to be powered off, and the attached bionic mechanism unit is put down. And after the set time, controlling the motor to rotate, and stopping the motor after the set position is reached. At the moment, the steel wire rope drives the inner lifting ring to rise and finally drives the sliding shaft attached to the bionic mechanism unit to slide in the rotating shaft connector. Each claw thorn unit works independently, and a hooked spring in each claw thorn unit extends if the claw thorn unit is attached to a working surface; if not, the claw thorn unit moves along with the sliding shaft until attaching. The relaxation process is as follows: when the control unit scans that the switch is disconnected, the driving motor rotates reversely, the inner lifting ring is put down, the attachment bionic mechanism unit is restored to the initial position under the action of a third spring on the sliding shaft, and the hooked spring of the claw thorn unit is restored. After a set time, the push-pull type electromagnet is electrified, and the attachment bionic mechanism unit is lifted.
Compared with the prior art, the invention has the following prominent substantive characteristics and remarkable advantages:
1. the invention adopts linear stretching drive, one prime motor can control a plurality of attachment bionic mechanism units to synchronously move, and the invention has small mass and low cost.
2. The attachment bionic mechanism unit for simulating the high climbing capacity biological design has the characteristics of high reliability, large attachment force and stable work.
3. The invention provides an open platform, which can be used for installing various detection devices, can increase or decrease the number of attached bionic mechanisms or change the size of the mechanisms according to specific working environments, and has high openness and high scientific research value.
Drawings
FIG. 1 is a schematic diagram of the general structure of a flexible attachment mechanism with form following capability.
Fig. 2 is a schematic structural view of the line driving unit and its auxiliary structure and the attachment bionic mechanism unit.
FIG. 3 is a schematic view of the overall structure of the adhesion biomimetic mechanism unit of the present invention.
Fig. 4 is a structural schematic diagram of the claw-stab unit of the invention.
Fig. 5 is a schematic view of the general construction of the inner and outer lifting mechanisms of the present invention.
Fig. 6 is a schematic view of the internal structure of the internal lifting mechanism of the present invention.
Detailed Description
The following describes the specific structure, operation principle and operation process of the embodiment of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, a flexible attachment mechanism with shape following capability includes a control unit i, a line driving unit and its auxiliary structure ii, and an attachment bionic mechanism unit iii, where the control unit i employs a single chip microcomputer and a plurality of switches, controls the line driving unit and its auxiliary structure ii, and finally controls the attachment bionic mechanism unit iii to implement functions; the single chip microcomputer judges whether the mechanism works or not by dynamically scanning the state of the switch, and respectively controls the push-pull type electromagnet 32 and the motor 28 connected with the grooved wheel 25; the opening and closing of the push-pull electromagnet 32 and the rotation of the motor 28 directly change the state of the steel wire rope 3 connected with the push-pull electromagnet, and drive the attachment bionic mechanism unit III to do corresponding movement.
As shown in fig. 5 and 6, the wire driving unit and its auxiliary structure ii include an inner lifting mechanism 1, an outer lifting mechanism 2 and a lifting auxiliary structure; the inner lifting mechanism 1 comprises a grooved wheel 25, a motor 28, an inner cylinder 29, a lower connecting ring 33, an optical axis 35, a linear bearing 36, a positioning bearing 37, a motor frame 38, a bearing plate 39, a perforated bolt 40, an inner lifting ring 41, a first perforated screw 42 and a first spring 43; the motor 28 is fixed on a motor frame 38, the motor frame 38 is fixed on a bearing plate 39, a sheave 25 is fixed on an output shaft of the motor 28, the sheave 25 is a traction wheel and is connected with a steel wire rope 3, the other end of the steel wire rope 3 passes through a perforated bolt 40 and is fixed on a first perforated screw 42, the first perforated screw 42 is uniformly distributed and fixed on an inner lifting ring 41 by taking the circle center of the inner lifting ring 41 as the center, a first spring 43 is hung on each first perforated screw 42, and the first spring 43 is connected with the steel wire rope 3 which is wound out of a V-shaped groove bearing 13; two linear bearings 36 are fixed on the inner lifting ring 41, the two linear bearings 36 can respectively slide along the two optical axes 35, two ends of the optical axis 35 are respectively matched with the positioning bearings 37, the positioning bearing 37 at one end is fixed on the inner cylinder 29, the positioning bearing 37 at the other end is fixed on a bearing plate 39, the bearing plate 39 is connected with the inner cylinder 29 through a first bolt 34, and the lower connecting ring 33 is fixed at the bottom of the inner cylinder 29; the outer lifting mechanism 2 comprises an outer lifting ring 26, a second perforated screw 27, a second spring 31 and a push-pull electromagnet 32, a gap is formed between the outer lifting ring 26 and the inner cylinder 29, and the second perforated screw 27 is uniformly distributed on the outer lifting ring 26 around the center thereof; the push-pull electromagnet 32 is connected with the outer lifting ring 26 through a second bolt 30, the upper end of the push-pull electromagnet is provided with a second spring 31, and the lower end of the push-pull electromagnet is provided with threads and is connected with the inner cylinder 29 through a nut; the auxiliary lifting structure comprises a shaft sleeve 14, a pin shaft 12 and a V-shaped groove bearing 13, wherein the V-shaped groove bearing 13 is connected with a connecting body 15 through the pin shaft 12, the shaft sleeve 14 is arranged on two sides of the bearing 13 for axial positioning, and a steel wire rope 3 fixed on a third screw 16-1 with a hole bypasses the V-shaped groove bearing 13 to be connected with a first spring 43 on an inner lifting ring 41 in the inner lifting mechanism 1; the second perforated screw 27 on the outer lifting ring 26 of the outer lifting mechanism 2 is connected with the steel wire rope 3, and the other end of the steel wire rope 3 is connected with the fourth perforated screw 16-2 on the rotating shaft connector 8 and the middle position of the pin shaft 4-2.
As shown in fig. 3, the adhering bionic mechanism unit iii includes 4 claw units 18, a plurality of connecting members and corresponding elastic elements, the claw units 18 are connected to the claw plate 5 by three pins, wherein a first pin 4-1 at the front end of the claw plate 5 can move in a sliding slot 19-1 of the claw unit 18; the claw plate 5 is connected with a sliding shaft 17 through a fixing screw 6, a third spring 7 is sleeved on the sliding shaft 17, the sliding shaft 17 penetrates through a rotating shaft connecting body 8 and is in clearance fit with the rotating shaft connecting body 8 and can slide in the rotating shaft connecting body 8, and a third screw 16-1 with a hole is connected to the other end of the sliding shaft 17; a fourth screw 16-2 with a hole is arranged on the rotating shaft connector 8, the rotating shaft connector 8 is connected with the connecting piece 15 through a fourth pin shaft 4-4, and the fourth pin shaft 4-4 is in clearance fit with the rotating shaft connector 8 and is in interference fit with the connecting piece 15; a torsion spring 9 is arranged between the rotating shaft connecting body 8 and the connecting piece 15, one leg of the torsion spring 9 is inserted into a hole on the rotating shaft connecting body 8, the other leg is fixed on the connecting piece 15 through a torsion spring pressing plate 11 and a self-tapping screw 10, and the connecting piece 15 is fixed on the lower connecting ring 33; the steel wire rope 3 is fixedly connected between a fourth perforated screw 16-2 on the rotating shaft connector 8, a third perforated screw 16-1 on the sliding shaft 17 and a second pin shaft 4-2 so as to ensure the posture of the bionic mechanism unit III.
As shown in fig. 4, the jaw unit 18 includes steel nails 21, hooked springs 22, screws 24, and a front member 20 and a rear member 23, wherein the front member 20 is configured to clamp the three steel nails 21 in the fixing grooves by interference fit; the front member 20 and the rear member 23 each have an ear plate with threads formed therein, a pair of hooked springs 22 are provided between the front member 20 and the rear member 23, and a screw 24 is passed through the hook of the hooked spring 22 to fix it to the ear plate.
The working process of the device of the invention is as follows:
assuming that the non-adhesion state is the initial state, the push-pull electromagnet 32 is powered on, the adhesion bionic mechanism unit iii is in the lifting state, and the inner lifting ring 41 is located at the lower end of the inner cylinder 29. The push-pull electromagnet 32 is powered off, the outer lifting ring 26 descends along the outer wall of the inner barrel 29 under the action of the second spring 31 and gravity, and the attachment bionic mechanism unit III is put down. After a set time, the motor 28 starts to rotate, and the inner lifting ring 41 is lifted to a set highest position by the wire rope 3. At this time, the sliding shaft 17 is driven to move by the transmission of the steel wire rope 3 on the first spring 43 in the inner lifting mechanism 1, and the third spring 7 on the sliding shaft 17 is compressed. At this time, the claw-stab unit 18 in the single adhesion bionic mechanism unit iii is stretched by the hooked spring 22 in the claw-stab unit 18 if it has adhered to the ground, and the claw-stab unit 18 is carried by the slide shaft 17 until it adheres to the ground if it has not adhered. The above process is an attachment process. The relaxation process, in which the attachment process ends back to the initial state, is as follows: when the motor 28 rotates reversely to the lower end position of the inner cylinder 29, the wire 3 connected to the first spring 43 in the inner lifting mechanism 1 is released, the third spring 7 on the slide shaft 17 is restored, the claw plate 5 is pushed outward, and the attached claw hook unit 18 is released. After a set time, the push-pull electromagnet 32 is electrified, and the attachment bionic mechanism unit III is lifted.
In this embodiment, one attachment mechanism is composed of 15 attachment bionic mechanism units iii, and attachment and separation of the attachment mechanism and the working surface are achieved by changing the state of 2 drive lines on each attachment bionic mechanism unit iii. The whole attachment mechanism is provided with only 2 drivers, and each driver can enable 15 attachment bionic mechanism units III to generate the same pose change. Compared with the traditional attachment mechanism, the invention can provide larger attachment force, has better terrain adaptability and higher scientific research value.
Claims (4)
1. The utility model provides a flexible mechanism of adhering to with shape ability, includes control unit (I), line drive unit and auxiliary structure (II) and adheres to bionical mechanism unit (III), its characterized in that: the control unit (I) adopts a single chip microcomputer, a plurality of switches, a control line driving unit and an auxiliary mechanism (II) thereof, and finally controls the attachment bionic mechanism unit (III) to realize functions; the single chip microcomputer judges whether the mechanism works or not by dynamically scanning the state of the switch, and respectively controls the push-pull electromagnet (32) and the motor (28) connected with the grooved wheel (25); the line driving unit and the auxiliary structure (II) thereof comprise an inner lifting mechanism (1), an outer lifting mechanism (2) and a lifting auxiliary structure; the inner lifting mechanism (1) comprises a grooved wheel (25), a motor (28), an inner cylinder (29), a lower connecting ring (33), an optical axis (35), a linear bearing (36), a positioning bearing (37), a motor frame (38), a bearing plate (39), a perforated bolt (40), an inner lifting ring (41), a first perforated screw (42) and a first spring (43); the motor (28) is fixed on a motor frame (38), the motor frame (38) is fixed on a bearing plate (39), a sheave (25) is fixed on an output shaft of the motor (28), the sheave (25) is a traction wheel and is connected with fourth steel wire ropes (3-4), the other ends of the fourth steel wire ropes (3-4) penetrate through perforated bolts (40) and are fixed on first perforated screws (42), the first perforated screws (42) are centered on the circle center of an inner lifting ring (41) and are uniformly distributed and fixed on the inner lifting ring (41), a first spring (43) is hung on each first perforated screw (42), and the first springs (43) are connected with third steel wire ropes (3-3) in an attached bionic mechanism unit (III) which are wound out of a V-shaped groove bearing (13) of an auxiliary lifting structure; two linear bearings (36) are fixed on the inner lifting ring (41), the two linear bearings (36) can respectively slide along two optical axes (35), two ends of each optical axis (35) are respectively matched with the positioning bearings (37), the positioning bearing (37) at one end is fixed on the inner cylinder (29), the positioning bearing (37) at the other end is fixed on a bearing plate (39), the bearing plate (39) is connected with the inner cylinder (29) through a first bolt (34), and the lower connecting ring (33) is fixed at the bottom of the inner cylinder (29); the outer lifting mechanism (2) comprises an outer lifting ring (26), a second perforated screw (27), a second spring (31) and a push-pull electromagnet (32), a gap is formed between the outer lifting ring (26) and the inner cylinder (29), and the second perforated screw (27) is uniformly distributed on the outer lifting ring (26) around the center of the outer lifting ring; the push-pull electromagnet (32) is connected with the outer lifting ring (26) through a second bolt (30), the upper end of the push-pull electromagnet is provided with a second spring (31), and the lower end of the push-pull electromagnet is provided with threads and is connected to the inner cylinder (29) through a nut; the opening and closing of the push-pull electromagnet (32) directly drives the states of a first steel wire rope (3-1) and a second steel wire rope (3-2) in an attachment bionic mechanism unit (III) with one end connected to a second screw (27) with a hole, so that the attachment bionic mechanism unit (III) is controlled to perform retraction and release motions; the motor (28) drives the fourth steel wire rope (3-4) to be retracted and extended, so that the inner lifting ring (41) and the third steel wire rope (3-3) in the bionic attachment mechanism unit (III) with one end fixed on the first spring (43) are driven to move, and the horizontal movement of the bionic attachment mechanism unit (III) is realized.
2. The form-following flexible attachment mechanism of claim 1, wherein: the auxiliary lifting structure comprises a shaft sleeve (14), a pin shaft (12) and a V-shaped groove bearing (13), the V-shaped groove bearing (13) is connected with a connecting piece (15) through the pin shaft (12), the shaft sleeves (14) are arranged on two sides of the V-shaped groove bearing (13) for axial positioning, and a third steel wire rope (3-3) fixed on a third perforated screw (16-1) attached to the bionic structure unit (III) bypasses the V-shaped groove bearing (13) to be connected with a first spring (43) on an inner lifting ring (41) in the inner lifting mechanism (1); a second perforated screw (27) on an outer lifting ring (26) in the outer lifting mechanism (2) is connected with one end of a first steel wire rope (3-1) and one end of a second steel wire rope (3-2), the other end of the first steel wire rope (3-1) is connected with a fourth perforated screw (16-2) on a rotating shaft connecting body (8) attached with the bionic mechanism unit (III), and the second steel wire rope (3-2) is connected with the middle position of a second pin shaft (4-2) attached with the bionic mechanism unit (III).
3. A form-following flexible attachment mechanism according to claim 1 or claim 2, wherein: the adhering bionic mechanism unit (III) comprises 4 claw thorn units (18), a plurality of connecting pieces and corresponding elastic elements, the claw thorn units (18) are connected with the claw plate (5) through three pin shafts, and a first pin shaft (4-1) at the front end of the claw plate (5) can move in a sliding groove (19-1) of the claw thorn units (18); the claw plate (5) is connected with the sliding shaft (17) through a fixing screw (6), the sliding shaft (17) is sleeved with a third spring (7), the sliding shaft (17) penetrates through the rotating shaft connecting body (8) and is in clearance fit with the rotating shaft connecting body (8) and can slide in the rotating shaft connecting body (8), and a third screw (16-1) with a hole is connected to the other end of the sliding shaft (17); a fourth screw (16-2) with a hole is arranged on the rotating shaft connector (8), the rotating shaft connector (8) is connected with the connecting piece (15) through a fourth pin shaft (4-4), the fourth pin shaft (4-4) is in clearance fit with the rotating shaft connector (8), and is in interference fit with the connecting piece (15); a torsion spring (9) is arranged between the rotating shaft connecting body (8) and the connecting piece (15), one leg of the torsion spring (9) is inserted into a hole on the rotating shaft connecting body (8), the other leg is fixed on the connecting piece (15) through a torsion spring pressing plate (11) and a self-tapping screw (10), and the connecting piece (15) is fixed on the lower connecting ring (33); one end of the first steel wire rope (3-1) is fixedly connected to a fourth perforated screw (16-2) on the rotating shaft connector (8), one end of the second steel wire rope (3-2) is fixedly connected to the middle of the second pin shaft (4-2), and the third steel wire rope (3-3) and the third perforated screw (16-1) on the sliding shaft (17) are used for ensuring the posture of the bionic mechanism unit (III) to be attached.
4. The form-following flexible attachment mechanism of claim 3, wherein: the claw thorn unit (18) comprises steel nails (21), a spring (22) with hooks, screws (24), a front component (20) and a rear component (23), wherein the three steel nails (21) are clamped in the fixing grooves through interference fit on the front component (20); ear plates are arranged on the front component (20) and the rear component (23), threads are arranged in the ear plates, a pair of hooked springs (22) are arranged between the front component (20) and the rear component (23), and screws (24) penetrate through hooks of the hooked springs (22) to fix the hooked springs on the ear plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527230.1A CN108438080B (en) | 2018-05-29 | 2018-05-29 | Flexible attachment mechanism with shape following capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527230.1A CN108438080B (en) | 2018-05-29 | 2018-05-29 | Flexible attachment mechanism with shape following capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108438080A CN108438080A (en) | 2018-08-24 |
| CN108438080B true CN108438080B (en) | 2021-08-10 |
Family
ID=63204915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810527230.1A Active CN108438080B (en) | 2018-05-29 | 2018-05-29 | Flexible attachment mechanism with shape following capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108438080B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110524563B (en) * | 2019-08-15 | 2020-10-30 | 清华大学 | Control device for adhesion and desorption |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN111267985B (en) * | 2020-02-16 | 2021-05-25 | 李昕格 | Robot sole structure with pre-cleaning function |
| CN112577772B (en) * | 2020-12-07 | 2022-06-28 | 南京航空航天大学 | Controllable thorn claw attaching and grabbing mechanism for small celestial body detection and working method |
| CN113060307B (en) * | 2021-03-11 | 2022-12-06 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113075743B (en) * | 2021-03-11 | 2023-12-22 | 哈尔滨工业大学 | Climbing robot for star watch detection and application method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RO127815A2 (en) * | 2011-03-17 | 2012-09-28 | Universitatea Tehnică ''gheorghe Asachi'' Din Iaşi | Walking robot with unconventional drive |
| CN204184485U (en) * | 2014-09-05 | 2015-03-04 | 南京邮电大学 | The graping chaw mechanism of hydraulically rough surface climbing robot |
| CN107054490B (en) * | 2017-05-04 | 2019-03-19 | 河海大学常州校区 | A kind of robot sole with rope driving toe |
-
2018
- 2018-05-29 CN CN201810527230.1A patent/CN108438080B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108438080A (en) | 2018-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108438080B (en) | Flexible attachment mechanism with shape following capability | |
| CN107363825B (en) | Under-actuated 2R mechanical arm device based on harmonic deceleration | |
| CN206484587U (en) | A kind of Artificial grip module based on flexible shaft | |
| CN201960568U (en) | Reversible mechanical paws | |
| CN209319814U (en) | A kind of Industrial robots Mechanical's crawl arm | |
| CN105729458A (en) | Rigid-flexible coupled trunk-shaped continuous robot | |
| CN105835077A (en) | Parallel-clamping self-adaptive robot finger device with closed-loop flexible part and guide rod | |
| CN102689309A (en) | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton | |
| CN113021388B (en) | Multifunctional flexible clamping jaw mechanical arm with gas-magnetic switching function | |
| CN109397278B (en) | Hedgehog-like magnetic driving rod ball self-adaptive robot hand device | |
| CN108994864A (en) | Double tendon rope tandem coupling adaptive finger apparatus | |
| CN108724163B (en) | Pneumatic muscle-driven seven-degree-of-freedom humanoid mechanical arm | |
| CN102166753A (en) | Bevel gear flexible piece compound grabbing robot fingers device | |
| CN101693372A (en) | Connecting rod slider-type under-actuated robot finger device with changeable grasping force | |
| CN202241307U (en) | Connecting rod slider type under-actuated bionic robot hand device | |
| CN110640782A (en) | Single-drive flexible mechanical control system and method adopting stay wire drive and robot | |
| CN114474023A (en) | Flexible manipulator | |
| CN204686886U (en) | A kind of flexible adaptive manipulator control system | |
| CN203471788U (en) | Multi-joint mechanical arm | |
| CN205766103U (en) | A kind of books placement machine people's device | |
| CN112720558A (en) | Flexible finger-tip robot hand directly driven by motor | |
| CN103101055A (en) | Tendon type under-driving self-adaptation multi-finger device | |
| CN207971966U (en) | A kind of nine-degree of freedom picking mechanical arm | |
| CN112678083B (en) | Pole robot can overturn and climb | |
| CN112706186B (en) | Humanoid wrist type robot claw and grabbing method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |