CN110641572A - A biomimetic flexible claw spine array foot with adjustable adhesion state - Google Patents

A biomimetic flexible claw spine array foot with adjustable adhesion state Download PDF

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CN110641572A
CN110641572A CN201910935256.4A CN201910935256A CN110641572A CN 110641572 A CN110641572 A CN 110641572A CN 201910935256 A CN201910935256 A CN 201910935256A CN 110641572 A CN110641572 A CN 110641572A
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claw
tangential
thorn
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foot
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CN110641572B (en
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刘彦伟
黄响
王李梦
李鹏阳
孔令飞
李言
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Xian University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

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Abstract

本发明公开一种粘附状态可调控的仿生柔顺爪刺阵列足,包括爪刺足基座,爪刺足基座上连接有爪刺单元结构,爪刺单元结构包括切向活塞杆、法向活塞杆和爪刺座,具有切向和法向两个运动自由度,各组爪刺单元在爪刺足基座上能够以单向阵列、直线对抓及圆周对抓进行布局。爪刺固定在爪刺座上,切向活塞杆与爪刺足基座上的切向活塞孔配合,法向活塞杆与爪刺足基座上的法向活塞孔配合,所有切向活塞孔和法向活塞孔分别相互贯通,由液压或者气压协同等压控制爪刺阵列的切向和法向的位移,提高爪刺阵列对壁面复杂形貌的适应性和抓附概率,同时实现抓附力在爪刺阵列上均布,提高抓取的牢固性以及对壁面形貌的适应性,能够适应更为复杂工作环境。

Figure 201910935256

The invention discloses a bionic compliant claw spine array foot with adjustable adhesion state, which comprises a claw spine foot base, a claw spine unit structure is connected to the claw spine foot base, and the claw spine unit structure includes a tangential piston rod, a normal direction The piston rod and the claw thorn seat have two degrees of freedom of movement in the tangential direction and the normal direction. Each group of claw thorn units can be arranged on the claw thorn foot base in a unidirectional array, linear pairing and circular pairing. The claw thorn is fixed on the claw thorn seat, the tangential piston rod is matched with the tangential piston hole on the claw thorn foot base, the normal piston rod is matched with the normal piston hole on the claw thorn foot base, all tangential piston holes The tangential and normal displacements of the claw barb array are controlled by hydraulic or pneumatic synergistic isobaric pressure, which improves the adaptability of the claw barb array to the complex topography of the wall and the probability of grasping, and at the same time realizes the grasping and adhesion. The force is evenly distributed on the claw spine array, which improves the firmness of grasping and the adaptability to the topography of the wall, and can adapt to more complex working environments.

Figure 201910935256

Description

一种粘附状态可调控的仿生柔顺爪刺阵列足A biomimetic flexible claw spine array foot with adjustable adhesion state

技术领域technical field

本发明属于工程仿生学与机械设计制造与自动化技术领域,涉及一种粘附状态可调控的仿生柔顺爪刺阵列足。The invention belongs to the technical field of engineering bionics and mechanical design, manufacture and automation, and relates to a bionic compliant claw spine array foot with adjustable adhesion state.

背景技术Background technique

自然界中很多生物天生具有飞檐走壁的能力,例如甲虫、蜥蜴、猫等生物足部具有锋利的爪刺结构,通过主动调控爪刺的抓取,可以与粗糙的坚硬壁面间形成摩擦锁合,或者刺入柔软的表面,利用静摩擦力或刺入产生的力,实现陡峭壁面附着。基于此,可以设计具有可调控的仿生柔顺爪刺阵列足,实现等压主动调控,让单位面积内更多的爪刺能抓取壁面,在提升抓取力的同时还能实现等压载荷,避免爪刺受力不均而断裂。Many creatures in nature are born with the ability to fly over eaves and walls. For example, beetles, lizards, cats and other creatures have sharp claws on their feet. It penetrates into the soft surface, and uses the static friction force or the force generated by the penetration to realize the adhesion to the steep wall surface. Based on this, it is possible to design a bionic and flexible claw spine array foot with adjustable control to realize isobaric active control, so that more claw spines in a unit area can grasp the wall surface, and can achieve isobaric load while improving the grasping force. Avoid breaking the thorns due to uneven force.

国内外研究设计的仿生爪刺足结构很多,其中有些也能实现主动调控,但是通常由于爪刺受力不均而发生爪刺断裂。There are many bionic claw thorn foot structures researched and designed at home and abroad, some of which can also be actively regulated, but usually the claw thorns break due to uneven force on the claw thorns.

中国专利(名称:弹簧钢片式变刚度钩爪组件及其钩爪机构,申请号:201410451702.1,申请日:2014-09-05,公开号:CN104290831A,公开日:2015-01-21)公开了一种弹簧钢片式变刚度钩爪组件及其钩爪机构,由不同刚度的弹性件串联而成的弹性连接件连接爪刺,由负载的大小改变弹性连接件受力,实现了爪刺抓取效果,由于采用被动适应,通常需要与爬壁机器人足部结构相结合才能实现抓取效果。Chinese patent (name: spring steel plate variable stiffness hook assembly and hook mechanism, application number: 201410451702.1, application date: 2014-09-05, publication number: CN104290831A, publication date: 2015-01-21) disclosed A spring steel sheet type variable stiffness hook claw assembly and its hook mechanism. An elastic connecting piece formed by connecting elastic pieces of different stiffnesses in series connects the claw thorns, and the force of the elastic connecting piece is changed by the size of the load, so as to realize the claw thorn grasping. Due to passive adaptation, it usually needs to be combined with the foot structure of the wall-climbing robot to achieve the grasping effect.

中国专利(名称:一种仿生柔性爪刺足结构,申请号:201810319804.6,申请日:2018-04-11,公开号:CN108357582A,公开日:2018-08-03)公开了一种仿生柔性爪刺足结构,通过尼龙线绕过各安装板滑轮和各分足滑轮设置,将各分足受到的负载力均摊,使每个分足受力均匀,但是只能使每个分足单元受力均匀,分足单元之间的爪刺不能单独调节,主动适应壁面形貌。Chinese patent (name: a bionic flexible claw thorn foot structure, application number: 201810319804.6, application date: 2018-04-11, publication number: CN108357582A, publication date: 2018-08-03) discloses a bionic flexible claw thorn The foot structure is set by bypassing the pulleys of the mounting plate and the sub-foot pulleys through nylon wires, so that the load force received by each sub-foot is evenly distributed, so that each sub-foot is evenly stressed, but only each sub-foot unit can be uniformly stressed , the claw spines between the split foot units can not be adjusted independently, and actively adapt to the wall surface morphology.

中国专利(名称:一种用于爬壁机器人的主动式爪刺足,申请号:201810762171.6,申请日:2018-07-12,公开号:CN108749944A,公开日:2018-11-06)公开了一种用于爬壁机器人的主动式爪刺足,利用形状记忆合金驱动实现爪刺的主动脱附功能和伸缩功能,爪刺在抓取壁面凸峰之后就不能在壁面方向上主动调控,抓取之后爪刺受力不均,某些受力较大的爪刺在足部抓取力提升的时候易发生断裂。Chinese patent (name: an active claw foot for a wall-climbing robot, application number: 201810762171.6, application date: 2018-07-12, publication number: CN108749944A, publication date: 2018-11-06) discloses a An active claw foot used for a wall-climbing robot, the shape memory alloy is used to drive the active desorption function and the telescopic function of the claw. Afterwards, the force of the claw spines is uneven, and some claw spines with greater force are prone to break when the grasping force of the foot increases.

斯坦福大学机械工程系研制的用于大型爬升机器人的柔软和多刺爪的攀岩机器人手掌,通过调节气压可以在手掌法向方向上主动自适应壁面形貌(Wilson Ruotolo,Frances S.Roig,Mark R.Cutkosky.Load-Sharing in Soft and Spiny Paws for aLarge Climbing Robot.IEEE Robotics and Automation Letters,2019,4(2):1439-1446.),但是不能主动调节切向爪刺间的位移,不能实现每个爪刺有相同载荷,由于爪刺受力不同,随着抓取力增加,可能破坏某些爪刺使其脱落。The soft and spiny-clawed rock-climbing robot palm developed by the Department of Mechanical Engineering of Stanford University for large-scale climbing robots can actively adapt to the wall topography in the normal direction of the palm by adjusting the air pressure (Wilson Ruotolo, Frances S. Roig, Mark R .Cutkosky.Load-Sharing in Soft and Spiny Paws for aLarge Climbing Robot.IEEE Robotics and Automation Letters,2019,4(2):1439-1446.), but cannot actively adjust the displacement between tangential claws and spines, and cannot achieve every Each claw spine has the same load, because the force of the claw spine is different, with the increase of the grasping force, some claw spines may be damaged and fall off.

发明内容SUMMARY OF THE INVENTION

本发明的目的是提供一种粘附状态可调控的仿生柔顺爪刺阵列足,由液体或者气体驱动对爪刺阵列切向、法向两个方向进行位移调控,提高爪刺阵列对壁面复杂形貌的适应性和抓附概率,同时实现抓附力在爪刺阵列上均布,提高抓取的牢固性以及对壁面形貌的适应性,能够适应更为复杂工作环境,具有更广泛的应用范围。The purpose of the present invention is to provide a bionic compliant claw spine array foot with adjustable adhesion state, which is driven by liquid or gas to control the displacement of the claw spine array in the tangential direction and the normal direction, so as to improve the ability of the claw spine array to resist the complex shape of the wall surface. At the same time, the grasping force is evenly distributed on the claw spine array, which improves the firmness of grasping and the adaptability to the wall surface morphology, which can adapt to more complex working environments and has a wider range of applications. scope.

本发明所采用的技术方案是,一种粘附状态可调控的仿生柔顺爪刺阵列足,包括爪刺足基座,爪刺足基座上设有若干组爪刺单元,每组爪刺单元结构包含切向和法向两个运动自由度,各组爪刺单元在爪刺足基座上能够以单向阵列、直线对抓及圆周对抓进行布局。The technical scheme adopted in the present invention is that a bionic compliant claw spine array foot with adjustable adhesion state comprises a claw spine foot base, and several groups of claw spine units are arranged on the claw spine foot base, and each group of claw spine units The structure includes two degrees of freedom of movement in the tangential direction and the normal direction, and each group of claw thorn units can be arranged on the claw thorn foot base in a unidirectional array, straight line grasping and circular grasping.

本发明的特点还在于,The present invention is also characterized in that,

每组爪刺单元包括爪刺座,爪刺座的上端通过竖直设置的转销连接切向活塞杆,切向活塞杆与爪刺足基座上的切向液压缸缸体配合;爪刺座的下端通过水平设置的转销连接法向活塞杆,法向活塞杆与爪刺足基座上的法向液压缸缸体配合;爪刺座通过挡板镶嵌有爪刺。Each set of claw thorn units includes a claw thorn seat, the upper end of which is connected to a tangential piston rod through a vertically arranged rotating pin, and the tangential piston rod cooperates with the tangential hydraulic cylinder block on the claw thorn foot base; the claw thorn The lower end of the seat is connected to the normal piston rod through a horizontally arranged rotating pin, and the normal piston rod is matched with the normal hydraulic cylinder block on the base of the claw thorn foot; the claw thorn seat is inlaid with the claw thorn through the baffle plate.

爪刺是由钢针制成的C型结构。Claw spines are C-shaped structures made of steel needles.

相邻两组爪刺单元之间通过隔板进行分隔,隔板与爪刺足基座之间通过卡口连接。The adjacent two groups of claw thorn units are separated by a partition plate, and the partition plate and the claw thorn foot base are connected by a bayonet.

切向活塞杆与切向液压缸缸体之间、法向活塞杆与法向液压缸缸体之间通过柔性密封套密封。Flexible sealing sleeves are used for sealing between the tangential piston rod and the tangential hydraulic cylinder, and between the normal piston rod and the normal hydraulic cylinder.

爪刺足基座上的所有切向液压缸相互贯通,实现各组爪刺单元形成的爪刺阵列切向等压强协同控制;爪刺足基座上的所有法向液压缸相互贯通,实现各组爪刺单元形成的爪刺阵列法向等压强协同控制。All the tangential hydraulic cylinders on the base of the claw thorns are connected to each other to realize the tangential equal pressure control of the claw thorn array formed by each group of claw thorn units; all the normal hydraulic cylinders on the base of the claw thorns The claw-thorn array formed by a group of claw-thorn units is controlled by the normal isobaric pressure synergistically.

切向活塞杆与切向液压缸缸体之间、法向活塞杆与法向液压缸缸体之间通过薄膜密封,薄膜为一端封口的中空圆柱状结构;The tangential piston rod and the tangential hydraulic cylinder block and between the normal piston rod and the normal hydraulic cylinder block are sealed by a film, and the film is a hollow cylindrical structure with one end sealed;

当薄膜在切向活塞杆与切向液压缸缸体之间密封时,薄膜的封口端与切向活塞杆的自由端端部连接,薄膜的开口端与切向液压缸缸体同轴连接;When the film is sealed between the tangential piston rod and the tangential hydraulic cylinder block, the sealed end of the film is connected with the free end of the tangential piston rod, and the open end of the film is coaxially connected with the tangential hydraulic cylinder block;

当薄膜在法向活塞杆与法向液压缸缸体之间密封时,薄膜的封口端与法向活塞杆的自由端端部连接,薄膜的开口端与法向液压缸缸体同轴连接。When the film is sealed between the normal piston rod and the normal hydraulic cylinder, the sealed end of the film is connected to the free end of the normal piston rod, and the open end of the film is coaxially connected to the normal hydraulic cylinder.

本发明的有益效果如下:The beneficial effects of the present invention are as follows:

(1)根据不同粗糙壁面形貌,主动调控爪刺阵列结构,可增加对壁面的适应性,可以大幅提升单位面积内钩爪抓取壁面的概率以提升抓取力。(1) According to the morphology of different rough walls, actively adjusting the structure of the claw spine array can increase the adaptability to the wall surface, and can greatly improve the probability of the hook claw grasping the wall surface per unit area to improve the grasping force.

(2)每个爪刺均具有两个自由度,法向自由度和切向自由度分别利用法向活塞和切向活塞协调控制,使爪刺能更好的适应壁面形貌,有效避免爪刺断裂损坏。(2) Each claw spine has two degrees of freedom. The normal and tangential degrees of freedom are controlled by the normal piston and the tangential piston respectively, so that the claw spine can better adapt to the wall surface morphology and effectively avoid the claw. The thorn is broken and damaged.

(3)密封方式通过柔性材料或者薄膜密封,可减小活塞运动摩擦。(3) The sealing method is sealed by a flexible material or a film, which can reduce the friction of the piston movement.

(4)液体或者气体以压强的方式将负载传递到所有爪刺上,则施加在每个爪刺上法向载荷和切向载荷分别相同,实现载荷均布。(4) The liquid or gas transmits the load to all the claws in the form of pressure, then the normal load and the tangential load are respectively the same on each claws to achieve uniform load distribution.

(5)爪刺采用对抓分布,可以使足结构在任意角度面以及天花板上稳定抓取。(5) The claw spines are distributed in pairs, so that the foot structure can be stably grasped on any angle surface and on the ceiling.

附图说明Description of drawings

图1是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足结构示意图;1 is a schematic structural diagram of a bionic compliant claw spine array foot with adjustable adhesion state according to the present invention;

图2是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足局部剖视图;2 is a partial cross-sectional view of a bionic compliant claw spine array foot with adjustable adhesion state according to the present invention;

图3是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足爪刺单元爆炸图;3 is an exploded view of the claw spine unit of a bionic compliant claw spine array with adjustable adhesion state according to the present invention;

图4是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足足基座;Fig. 4 is a bionic compliant claw spine array foot base with adjustable adhesion state according to the present invention;

图5是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足抓取调控剖视图;5 is a cross-sectional view of a bionic compliant claw spine array foot grasping regulation with adjustable adhesion state according to the present invention;

图6是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足薄膜密封原理图;6 is a schematic diagram of the sealing principle of a bionic pliable array foot film with adjustable adhesion state according to the present invention;

图7是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足粘附调控原理简图;7 is a schematic diagram of the adhesion regulation principle of a bionic compliant claw spine array with adjustable adhesion state according to the present invention;

图8(a)~(c)是本发明一种粘附状态可调控的仿生柔顺爪刺阵列足爪刺排列示意图。Figures 8(a)-(c) are schematic diagrams of the arrangement of the claw spines of a bionic compliant claw spine array with adjustable adhesion state according to the present invention.

图中,1.爪刺足基座,2.爪刺座,3.切向活塞杆,4.法向活塞杆,5.柔性密封套,6.转销,7.爪刺,8.挡板,9.切向活塞孔,10.法向活塞孔,11.液体或气体回路,12.薄膜,13.法向调节口,14.切向调节口,15.隔板,16.卡口。In the figure, 1. Claw thorn foot base, 2. Claw thorn seat, 3. Tangential piston rod, 4. Normal piston rod, 5. Flexible sealing sleeve, 6. Turn pin, 7. Claw thorn, 8. Block Plate, 9. Tangential piston hole, 10. Normal piston hole, 11. Liquid or gas circuit, 12. Membrane, 13. Normal adjustment port, 14. Tangential adjustment port, 15. Separator, 16. Bayonet .

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention. examples, but not all examples.

本发明公开一种粘附状态可调控的仿生柔顺爪刺阵列足,如图1~2包括爪刺足基座1,爪刺足基座1上连接有爪刺单元,爪刺单元包括切向活塞杆3、法向活塞杆4和爪刺座2,具有切向和法向两个运动自由度;The present invention discloses a bionic compliant claw spine array foot with adjustable adhesion state. As shown in Figures 1 and 2, it includes a claw spine foot base 1. The claw spine foot base 1 is connected with a claw spine unit, and the claw spine unit includes a tangential spine. The piston rod 3, the normal piston rod 4 and the claw thorn seat 2 have two degrees of freedom of movement in the tangential and normal directions;

如图3~5所示,爪刺7固定在爪刺座2上,切向活塞杆3与爪刺足基座1上的切向活塞孔9配合,法向活塞杆4与爪刺足基座1上的法向活塞孔10配合,所有切向活塞孔9相通,由液压或气压协同等压控制爪刺阵列的切向位移,所有法向活塞孔10相通,由液压或气压协同等压控制爪刺阵列的法向位移,进而实现爪刺阵列适应复杂壁面形貌,将载荷均布在爪刺阵列上,通过控制爪刺阵列切向和法向位移实现足部粘附状态的主动调控。As shown in Figures 3 to 5, the claw thorn 7 is fixed on the claw thorn seat 2, the tangential piston rod 3 is matched with the tangential piston hole 9 on the claw thorn foot base 1, and the normal piston rod 4 is connected to the claw thorn foot base 1. The normal piston holes 10 on the seat 1 are matched, and all the tangential piston holes 9 are connected, and the tangential displacement of the claw barb array is controlled by hydraulic or pneumatic synergistic isobaric pressure. Control the normal displacement of the claw spine array, and then realize the claw spine array to adapt to the complex wall topography, distribute the load evenly on the claw spine array, and realize the active regulation of the adhesion state of the foot by controlling the tangential and normal displacement of the claw spine array. .

爪刺足基座1上切向活塞孔9和法向活塞孔10对称分布,切向活塞孔9和法向活塞孔10与爪刺单元配合,每个爪刺单元通过挡板8镶嵌一个爪刺3,爪刺3是由钢针制成C型结构,挡板8一边构型和爪刺构型相同。The tangential piston holes 9 and the normal piston holes 10 on the base 1 of the claw prongs are symmetrically distributed, and the tangential piston holes 9 and the normal piston holes 10 are matched with the claw thorn units, and each claw thorn unit is embedded with a claw through the baffle plate 8 The thorn 3 and the claw thorn 3 are made of steel needles into a C-shaped structure, and the configuration of one side of the baffle 8 is the same as that of the claw thorn.

切向活塞杆3与切向活塞孔9之间、法向活塞杆4与法向活塞孔10之间通过柔性密封套5密封,柔性密封套5为一端封口的中空圆柱状结构;Between the tangential piston rod 3 and the tangential piston hole 9, and between the normal piston rod 4 and the normal piston hole 10 are sealed by a flexible sealing sleeve 5, and the flexible sealing sleeve 5 is a hollow cylindrical structure with one end sealed;

柔性密封套5在切向活塞杆3与切向活塞孔9之间密封时,柔性密封套5通过模具将硅胶注浇在3D打印的活塞一端上一体化制作而成;When the flexible sealing sleeve 5 is sealed between the tangential piston rod 3 and the tangential piston hole 9, the flexible sealing sleeve 5 is integrally fabricated by casting silica gel on one end of the 3D-printed piston through a mold;

柔性密封套5在法向活塞杆4与法向活塞孔10之间密封时,柔性密封套5通过模具将硅胶注浇在3D打印的活塞一端上一体化制作而成;When the flexible sealing sleeve 5 is sealed between the normal piston rod 4 and the normal piston hole 10, the flexible sealing sleeve 5 is integrally fabricated by casting silica gel on one end of the 3D printed piston through a mold;

如图6所示,切向活塞杆3与切向活塞孔9之间、法向活塞杆4与法向活塞孔10之间通过薄膜12密封,薄膜12为一端封口的中空圆柱状结构;As shown in FIG. 6 , between the tangential piston rod 3 and the tangential piston hole 9, and between the normal piston rod 4 and the normal piston hole 10 are sealed by a film 12, and the film 12 is a hollow cylindrical structure with one end sealed;

当薄膜12在切向活塞杆3与切向活塞孔9之间密封时,薄膜12的封口端与切向活塞杆3的自由端端部连接,薄膜12的开口端与切向活塞孔9的靠近腔体一端固定;When the film 12 is sealed between the tangential piston rod 3 and the tangential piston hole 9 , the sealed end of the film 12 is connected with the free end of the tangential piston rod 3 , and the open end of the film 12 is connected with the tangential piston hole 9 . Fixed near one end of the cavity;

当薄膜12在法向活塞杆4与法向活塞孔10之间密封时,薄膜12的封口端与法向活塞杆4的自由端端部连接,薄膜12的开口端与法向活塞孔10的靠近腔体一端固定;When the film 12 is sealed between the normal piston rod 4 and the normal piston hole 10 , the sealed end of the film 12 is connected with the free end of the normal piston rod 4 , and the open end of the film 12 is connected with the normal piston hole 10 . Fixed near one end of the cavity;

切向活塞杆3与切向活塞孔9之间、法向活塞杆4与法向活塞孔10之间通过薄膜12密封时,由于运动过程中活塞杆与活塞孔不直接接触,所以大大减小了活塞杆和活塞孔之间相互运动的摩擦力。When the film 12 is used to seal between the tangential piston rod 3 and the tangential piston hole 9, and between the normal piston rod 4 and the normal piston hole 10, since the piston rod and the piston hole are not in direct contact during the movement process, it is greatly reduced. The friction between the piston rod and the piston bore in the mutual movement.

爪刺足基座1上相互对称的所有切向活塞孔9相互贯通,相互对称的所有法向活塞孔10相互贯通,由法向调节口13和切向调节口14分别控制活塞孔液体或者气体压力,两个调节口不连通,通过调节口控制两个活塞孔的压力从而控制两个方向的活塞杆伸出量,实现爪刺均布载荷。All symmetrical tangential piston holes 9 on the claw prong foot base 1 communicate with each other, and all symmetrical normal piston holes 10 communicate with each other. The normal adjustment port 13 and the tangential adjustment port 14 respectively control the piston hole liquid or gas. The pressure of the two adjustment ports is not connected, and the pressure of the two piston holes is controlled through the adjustment port to control the extension of the piston rod in two directions, so as to realize the even distribution of the load on the claws.

相邻两个爪刺单元之间通过隔板15使其相隔,避免产生干涉,隔板15与爪刺足基座1通过卡口16固定。Two adjacent claw thorn units are separated by a partition plate 15 to avoid interference. The baffle plate 15 and the claw thorn foot base 1 are fixed by a bayonet 16 .

爪刺座2的一端通过法向活塞杆4和切向活塞杆3连接在爪刺足基座1,另一端为通过挡板8镶嵌爪刺7。通过不同方向活塞杆的推动,使爪刺座2分别沿着转销6在法向和切向上移动一定距离。One end of the claw thorn base 2 is connected to the claw thorn foot base 1 through the normal piston rod 4 and the tangential piston rod 3 , and the other end is inlaid with the claw thorn 7 through the baffle plate 8 . By pushing the piston rods in different directions, the claw thorn seat 2 is moved along the rotating pin 6 in the normal direction and the tangential direction for a certain distance respectively.

本发明一种粘附状态可调控的仿生柔顺爪刺阵列足是以适应粗糙壁面形貌为目的调控爪刺的长度和间距分布,使多数爪刺进入有效粘附状态来分担载荷,进而提高系统粘附性能,每个爪刺均具有两个平移自由度,爪刺阵列的法向自由度以欠驱动的方式协同控制,切向自由度类似,依靠液腔或者气腔的柔顺特性促进爪刺阵列适应粗糙壁面形貌。以切向调控为例,腔体液体或者气体以压强的形式将负载传递到所有爪刺3上,若仿生粘附调控系统在法向和切向的内外压强差为ΔPA和ΔPT,FA和FT分别为切向和法向调控力,截面积为SA和ST,Fi(i=1 2 3 4)为爪刺受力大小,则施加在每个爪刺3上的法向载荷为FAi=ΔPA×SA,切向载荷为FTi=ΔPT×ST,Fload为足部加载力,实现载荷均布,参见图7(a)~(d),图7(a)为法向调控示意图,图7(b)为切向调控示意图,图7(c)为爪刺自由度示意图,图7(d)为均布载荷示意图。The bionic compliant claw spine array foot with adjustable adhesion state of the present invention adjusts the length and spacing distribution of the claw spines for the purpose of adapting to the rough wall surface morphology, so that most claw spines enter an effective adhesion state to share the load, thereby improving the system Adhesion performance, each claw spine has two translational degrees of freedom, the normal degree of freedom of the claw spine array is controlled in an underactuated manner, and the tangential degrees of freedom are similar, relying on the compliance characteristics of the liquid cavity or air cavity to promote the claw spine The array accommodates rough wall topography. Taking the tangential regulation as an example, the liquid or gas in the cavity transfers the load to all the claw spines 3 in the form of pressure. If the pressure difference between the inside and outside of the bionic adhesion regulation system in the normal and tangential directions is ΔP A and ΔP T , F A and F T are the tangential and normal control forces respectively, the cross-sectional areas are S A and S T , and F i (i=1 2 3 4) is the force of the claw spines, then the force applied to each claw spine 3 The normal load is F Ai =ΔP A ×S A , the tangential load is F Ti =ΔP T ×S T , and F load is the foot loading force to achieve uniform load distribution, see Figure 7(a)~(d), Figure 7(a) is a schematic diagram of normal regulation, Figure 7(b) is a schematic diagram of tangential regulation, Figure 7(c) is a schematic diagram of the degree of freedom of the claw spine, and Figure 7(d) is a schematic diagram of uniform load.

爪刺阵列足在不进行主动调控的时候,或者机器人足部处于摆动阶段的时候,爪刺7在切向和法向的方向上没有移动距离。抓取和释放过程中当足基座1接触壁面之后,由于法向调节口13和切向调节口14分别与爪刺足基座1内部的所有法向活塞孔10和所有切向活塞孔9贯通,所以可以等压调节法向调节口13和切向调节口14的压力,实现法向活塞杆4和切向活塞杆3的伸缩移动以及爪刺的均布载荷。法向活塞杆4和切向活塞杆3一端分别与爪刺座2通过转销6相连,由切向活塞杆3伸缩可以实现爪刺座2沿着切线方向转销6移动,由法向活塞杆4伸缩可以实现爪刺座2沿着法线方向转销6移动,继而爪刺座2实现了切线和法线两个自由度的运动。When the claw spine array foot is not actively regulated, or when the robot foot is in the swing stage, the claw spine 7 has no moving distance in the tangential and normal directions. After the foot base 1 contacts the wall during the grasping and releasing process, since the normal adjustment port 13 and the tangential adjustment port 14 are respectively connected with all normal piston holes 10 and all tangential piston holes 9 inside the foot base 1 Therefore, the pressure of the normal adjustment port 13 and the tangential adjustment port 14 can be adjusted isostatically, so as to realize the telescopic movement of the normal piston rod 4 and the tangential piston rod 3 and the evenly distributed load of the claw thorns. One end of the normal piston rod 4 and the tangential piston rod 3 are respectively connected with the claw thorn seat 2 through the rotating pin 6, and the claw thorn seat 2 can be moved along the tangential direction through the rotation pin 6 by the expansion and contraction of the tangential piston rod 3. The extension and retraction of the rod 4 can realize the movement of the claw and thorn seat 2 along the normal direction by turning the pin 6, and then the claw and thorn seat 2 realizes the movement of two degrees of freedom on the tangential line and the normal line.

在抓取的过程中,如图5所示,通过分别改变调节口压力实现A端和B端所有爪刺7等压调节,A端所有爪刺7可以沿着Ax方向和Ay方向移动,B端所有爪刺7可以沿着Bx方向和By方向移动,根据壁面形貌可以调节爪刺7的位置。在A端,由于A端有多个爪刺7,例如此端口总共有N个爪刺,每次完全抓取凸峰爪刺7个数为n,所以在一次抓取过程中,有N-n个爪刺7没有完全抓取凸峰,所以需要调节爪刺7让更多的爪刺7抓取到凸峰上面。通过调节切向调节口14的压力,由切向油路或者气路将压力传递到每个切向活塞杆3,由大气压的作用使每个切向活塞杆3沿着Ax方向等压伸出或者收缩,由转销6的作用,使爪刺座2沿着Ax方向移动,通过调节法向调节口13的压力,由法向油路或者气路将压力传递到每个法向活塞杆4,由大气压的作用使每个法向活塞杆4沿着Ay方向等压伸出或者收缩,由转销6的作用,使爪刺座2沿着Ay方向移动,两个方向的合运动,可以使爪刺7逐渐接触到凸峰,当爪刺7抓取凸峰之后,调节口压力不再改变,此时腔体内液体或者气体压力也不变,所以活塞杆移动量不再改变,实现抓取效果。在B端,调节过程和A端相同,由于A端所有切向活塞孔9和B端所有切向活塞孔9相互贯通,A端所有法向活塞孔10和B端所有法向活塞孔10相互贯通,所以在A端爪刺7和B端爪刺7是同时调节的,可以实现等压调控,继而爪刺载荷均布。In the process of grasping, as shown in Figure 5, by changing the pressure of the adjustment port respectively, the equal pressure adjustment of all the claws 7 at the A end and the B end is realized, and all the claws 7 at the A end can move along the Ax direction and the Ay direction. All the claw thorns 7 at the end can move along the Bx direction and the By direction, and the position of the claw thorns 7 can be adjusted according to the topography of the wall. At the A end, since there are multiple claws 7 at the A end, for example, this port has a total of N claws, and the number of 7 claws that are completely grasped each time is n, so in one grasping process, there are N-n claws. The claw thorns 7 do not fully grasp the convex peak, so it is necessary to adjust the claw thorns 7 so that more claw thorns 7 grab onto the convex peak. By adjusting the pressure of the tangential adjustment port 14, the pressure is transmitted to each tangential piston rod 3 by the tangential oil or gas path, and each tangential piston rod 3 is extended along the Ax direction isobarically by the action of atmospheric pressure. Or shrink, by the action of the rotating pin 6, the claw thorn seat 2 moves along the direction of Ax, and by adjusting the pressure of the normal direction adjustment port 13, the pressure is transmitted to each normal direction piston rod 4 by the normal direction oil circuit or the air circuit , by the action of atmospheric pressure, each normal piston rod 4 is isostatically extended or contracted along the direction of Ay, and by the action of the rotating pin 6, the claw and thorn seat 2 is moved along the direction of Ay, and the combined movement of the two directions can be Make the claw 7 gradually contact the convex peak. When the claw 7 grabs the convex peak, the pressure of the adjustment port will not change, and the liquid or gas pressure in the cavity will not change at this time, so the movement of the piston rod will not change, and the grasping will be realized. take effect. At end B, the adjustment process is the same as that at end A. Since all tangential piston holes 9 at end A and all tangential piston holes 9 at end B pass through each other, all normal piston holes 10 at end A and all normal piston holes 10 at end B communicate with each other. Therefore, the claw thorns 7 at the A end and the claw thorns 7 at the B end are adjusted at the same time, which can realize isobaric regulation, and then the claw thorns are evenly distributed.

在释放过程中,通过调节切向调节口14的压力,由切向油路或者气路将压力传递到每个切向活塞杆3,使每个切向活塞杆3沿着Ax反方向移动,由转销6的作用,使爪刺座2沿着Ax反方向移动,通过调节法向调节口13的压力,由法向油路或者气路将压力传递到每个法向活塞杆4,由大气压的作用使每个法向活塞杆4沿着Ay反方向移动,由转销6的作用,使爪刺座2沿着Ay反方向移动,两个方向的合成运动,可以实现爪刺7脱离凸峰。During the release process, by adjusting the pressure of the tangential adjustment port 14, the pressure is transmitted to each tangential piston rod 3 by the tangential oil circuit or the air circuit, so that each tangential piston rod 3 moves in the opposite direction of Ax, By the action of the rotating pin 6, the claw thorn seat 2 moves in the opposite direction of Ax, and by adjusting the pressure of the normal direction adjustment port 13, the pressure is transmitted to each normal direction piston rod 4 by the normal direction oil circuit or the air circuit. The action of atmospheric pressure makes each normal piston rod 4 move in the opposite direction of Ay, and the action of the rotating pin 6 makes the claw thorn seat 2 move in the opposite direction of Ay, and the combined motion of the two directions can realize the disengagement of the claw thorn 7 convex peak.

如图8(a)~(c)所示,图8(a)为爪刺单元在爪刺足基座上以单向阵列布局、图8(b)为爪刺单元在爪刺足基座上以直线对抓布局,图8(c)为爪刺单元在爪刺足基座上以圆周对抓布局。本发明的图1为对抓结构布局形式,对抓结构布局可以主动控制爪刺阵列间的切向载荷来调控法向粘附力。As shown in Figures 8(a)-(c), Figure 8(a) shows that the claw thorn units are arranged in a one-way array on the claw thorn foot base, and Figure 8(b) shows the claw thorn units on the claw thorn foot base The above is a straight-line pairing arrangement, and Fig. 8(c) shows a circular pairing arrangement of the claw-thorn units on the claw-thorn foot base. FIG. 1 of the present invention shows the layout of the counter-grip structure, and the layout of the counter-grip structure can actively control the tangential load between the claw spine arrays to regulate the normal adhesion force.

Claims (7)

1. The utility model provides a bionical gentle and agreeable claw thorn array foot that adhesion state can be regulated and control which characterized in that: the claw thorn foot structure comprises a claw thorn foot base, wherein a plurality of groups of claw thorn units are arranged on the claw thorn foot base, each group of claw thorn unit structure comprises two motion degrees of freedom in a tangential direction and a normal direction, and each group of claw thorn units can carry out layout on the claw thorn foot base in a one-way array and a straight line pair grab and a circumference pair grab.
2. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 1, wherein: each group of claw thorn units comprises claw thorn seats, the upper ends of the claw thorn seats are connected with tangential piston rods through vertically arranged rotating pins, and the tangential piston rods are matched with tangential hydraulic cylinder bodies on the claw thorn foot bases; the lower end of the claw-thorn seat is connected with a normal piston rod through a horizontally arranged rotating pin, and the normal piston rod is matched with a normal hydraulic cylinder body on the claw-thorn foot base; the claw thorn seat is embedded with claw thorn through the baffle.
3. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 2, wherein: the claw pricks are of a C-shaped structure made of steel needles.
4. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 2, wherein: the two adjacent claw thorn units are separated through a partition plate, and the partition plate is connected with the claw thorn foot base through a bayonet.
5. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 2, wherein: and the tangential piston rod and the tangential hydraulic cylinder body and the normal piston rod and the normal hydraulic cylinder body are sealed by flexible sealing sleeves.
6. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 2, wherein: all the tangential hydraulic cylinders on the claw-stabbing foot base are communicated with each other, so that the tangential equal-pressure cooperative control of the claw-stabbing array formed by each group of claw-stabbing units is realized; all the normal hydraulic cylinders on the claw-stabbing foot base are communicated with each other, and the claw-stabbing array normal equal-pressure cooperative control formed by the claw-stabbing units is realized.
7. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 2, wherein: the tangential piston rod and the tangential hydraulic cylinder body and the normal piston rod and the normal hydraulic cylinder body are sealed through films, and the films are of hollow cylindrical structures with one ends sealed;
when the film is sealed between the tangential piston rod and the tangential hydraulic cylinder body, the sealing end of the film is connected with the end part of the free end of the tangential piston rod, and the opening end of the film is coaxially connected with the tangential hydraulic cylinder body; when the film is sealed between the normal piston rod and the normal hydraulic cylinder body, the sealing end of the film is connected with the end part of the free end of the normal piston rod, and the opening end of the film is coaxially connected with the normal hydraulic cylinder body.
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CN114475840A (en) * 2022-01-13 2022-05-13 西安理工大学 Bionic claw-pricking foot with endoskeleton constraint
CN114475840B (en) * 2022-01-13 2023-01-24 西安理工大学 Bionic claw-pricking foot with endoskeleton constraint

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