CN110641572B - Bionic flexible claw thorn array foot with adjustable adhesion state - Google Patents
Bionic flexible claw thorn array foot with adjustable adhesion state Download PDFInfo
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- CN110641572B CN110641572B CN201910935256.4A CN201910935256A CN110641572B CN 110641572 B CN110641572 B CN 110641572B CN 201910935256 A CN201910935256 A CN 201910935256A CN 110641572 B CN110641572 B CN 110641572B
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a bionic flexible claw thorn array foot with adjustable adhesion state, which comprises a claw thorn foot base, wherein a claw thorn unit structure is connected to the claw thorn foot base, the claw thorn unit structure comprises a tangential piston rod, a normal piston rod and a claw thorn seat, the claw thorn unit structure has two degrees of freedom of movement in tangential direction and normal direction, and each group of claw thorn units can be arranged on the claw thorn foot base in a unidirectional array, a straight line pair grab and a circumferential pair grab. The claw thorn is fixed on the claw thorn seat, the tangential piston pole cooperates with the tangential piston hole on the claw thorn foot base, the normal direction piston pole cooperates with the normal direction piston hole on the claw thorn foot base, all tangential piston holes and normal direction piston holes link up each other respectively, by the tangential and normal displacement of hydraulic pressure or atmospheric pressure cooperation isobaric control claw thorn array, improve the adaptability of claw thorn array to wall complex morphology and grab and attach the probability, realize grabbing the equipartition on the claw thorn array simultaneously, improve the fastness of grabbing and the adaptability to wall morphology, can adapt to more complicated operational environment.
Description
Technical Field
The invention belongs to the technical field of engineering bionics and mechanical design and manufacture and automation, and relates to a bionic flexible claw thorn array foot with adjustable and controllable adhesion state.
Background
Many living beings in nature have the ability of flying cornice and walk on the wall, and living beings foot such as beetle, lizard, cat has sharp claw thorn structure, through initiatively regulating and controlling the snatching of claw thorn, can form frictional lock between the hard wall surface of roughness, perhaps pierce soft surface, utilize stiction or the power that pierces and produce, realize precipitous wall adhesion. Based on this, can design and have the bionical gentle claw thorn array foot that can regulate and control, realize isobaric initiative regulation and control, let more claw thorn in the unit area can pick the wall, can also realize the isobaric load when promoting the grabbing power, avoid claw thorn atress inequality and fracture.
The bionic claw-stabbing foot has a plurality of structures which are researched and designed at home and abroad, some of the structures can also realize active regulation, but the claw-stabbing foot usually has claw-stabbing fracture due to uneven stress of the claw-stabbing foot.
Chinese patent (name: spring steel sheet type rigidity-variable hook component and hook mechanism thereof, application number: 201410451702.1, application date: 2014-09-05, publication number: CN104290831A, publication date: 2015-01-21) discloses a spring steel sheet type rigidity-variable hook component and a hook mechanism thereof, wherein elastic connecting pieces formed by connecting elastic pieces with different rigidities in series are connected with a claw thorn, the stress of the elastic connecting pieces is changed according to the size of load, the claw thorn grabbing effect is realized, and due to the adoption of passive adaptation, the claw thorn grabbing effect can be realized only by being combined with a foot structure of a wall climbing robot.
Chinese patent (name: a bionic flexible claw-stabbed foot structure, application number: 201810319804.6, application date: 2018-04-11, publication number: CN108357582A, publication date: 2018-08-03) discloses a bionic flexible claw-stabbed foot structure, wherein a nylon wire is arranged to bypass each mounting plate pulley and each foot-dividing pulley, so that the load force borne by each foot-dividing unit is uniformly distributed, each foot-dividing unit is uniformly stressed, only each foot-dividing unit is uniformly stressed, the claws between the foot-dividing units cannot be independently adjusted, and the bionic flexible claw-stabbed foot structure actively adapts to the appearance of a wall surface.
Chinese patent (name: an active claw-pricking foot for a wall-climbing robot, application number: 201810762171.6, application date: 2018-07-12, publication number: CN108749944A, publication date: 2018-11-06) discloses an active claw-pricking foot for a wall-climbing robot, which realizes the active desorption function and the telescopic function of claw-pricking by utilizing the drive of shape memory alloy, the claw-pricking can not be actively regulated and controlled in the wall surface direction after grabbing a convex peak on the wall surface, the claw-pricking is unevenly stressed after grabbing, and some claw-pricking with larger stress are easy to break when the foot grabbing force is improved.
The Soft and multi-claw Climbing robot palm developed by the Stanford university mechanical engineering system for the Large Climbing robot can actively adapt to the wall morphology in the palm direction by adjusting air pressure (Wilson Ruotolo, France S.Roig, Mark R.Cutkosky.Load-ring in Soft and spring Paws for a Large clinical robot. IEEE Robotics and Automation Letters,2019,4(2):1439 and 1446.), but can not actively adjust the displacement between tangential claw spines, can not realize the same load of each claw spine, and can damage some claw spines to fall off along with the increase of the gripping force due to the different stress of the claw spines.
Disclosure of Invention
The bionic flexible claw thorn array foot is driven by liquid or gas to carry out displacement regulation and control on the claw thorn array in the tangential direction and the normal direction, adaptability and grabbing probability of the claw thorn array to complex wall surface shapes are improved, grabbing force is uniformly distributed on the claw thorn array, grabbing firmness and adaptability to the wall surface shapes are improved, the bionic flexible claw thorn array foot can adapt to more complex working environments, and the application range is wider.
The bionic flexible claw thorn array foot 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 degrees of freedom of movement in a tangential direction and a normal direction, and each group of claw thorn units can perform layout on the claw thorn foot base in a one-way array, straight line opposite grabbing and circumferential opposite grabbing.
The present invention is also characterized in that,
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.
The claw pricks are C-shaped structures made of steel needles.
Two adjacent claw thorn units are separated by a partition plate, and the partition plate is connected with the claw thorn foot base through a bayonet.
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.
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.
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.
The invention has the following beneficial effects:
(1) according to different rough wall surface appearances, the claw thorn array structure is actively regulated and controlled, the adaptability to the wall surface can be improved, and the probability that the wall surface is grabbed by the claws in a unit area can be greatly improved so as to improve the grabbing force.
(2) Each claw thorn has two degrees of freedom, and the normal degree of freedom and the tangential degree of freedom are respectively coordinated and controlled by the normal piston and the tangential piston, so that the claw thorn can better adapt to the appearance of a wall surface, and the breakage and the damage of the claw thorn are effectively avoided.
(3) The sealing mode is sealed by flexible materials or films, so that the motion friction of the piston can be reduced.
(4) The liquid or gas transfers the load to all the claws in a pressure mode, and the normal load and the tangential load applied to each claw are respectively the same, so that the uniform load distribution is realized.
(5) The claw thorns are distributed in a pair grabbing manner, so that the foot structure can be stably grabbed on any angle surface and the ceiling.
Drawings
FIG. 1 is a schematic structural view of a bionic flexible claw thorn array foot with adjustable and controllable adhesion state according to the invention;
FIG. 2 is a partial cross-sectional view of a bionic flexible claw thorn array foot with adjustable adhesion states according to the invention;
FIG. 3 is an exploded view of a bionic compliant claw spine array foot claw spine unit with adjustable adhesion state according to the present invention;
FIG. 4 is a bionic soft claw thorn array foot base with adjustable adhesion state according to the invention;
FIG. 5 is a cross-sectional view for controlling the grabbing of a bionic soft claw thorn array foot with adjustable adhesion state according to the invention;
FIG. 6 is a schematic diagram of the adhesion state adjustable bionic compliant claw spine array foot film sealing of the invention;
FIG. 7 is a schematic diagram of the principle of adhesion regulation and control of a bionic soft claw thorn array foot with adjustable adhesion state according to the invention;
fig. 8(a) - (c) are schematic diagrams of the arrangement of the bionic flexible claw prick array foot pricks with adjustable and controllable adhesion states.
In the figure, 1, a claw thorn foot base, 2, a claw thorn base, 3, a tangential piston rod, 4, a normal piston rod, 5, a flexible sealing sleeve, 6, a rotating pin, 7, a claw thorn, 8, a baffle, 9, a tangential piston hole, 10, a normal piston hole, 11, a liquid or gas loop, 12, a film, 13, a normal adjusting port, 14, a tangential adjusting port, 15, a partition plate and 16, bayonets are arranged.
Detailed Description
In order to make the objects, 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 with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
The invention discloses a bionic flexible claw thorn array foot with adjustable adhesion state, which comprises a claw thorn foot base 1 as shown in figures 1-2, wherein a claw thorn unit is connected to the claw thorn foot base 1 and comprises a tangential piston rod 3, a normal piston rod 4 and a claw thorn seat 2, and the bionic flexible claw thorn array foot has two degrees of freedom of movement in tangential direction and normal direction;
as shown in fig. 3-5, the claw spines 7 are fixed on the claw spine seat 2, the tangential piston rods 3 are matched with tangential piston holes 9 on the claw spine base 1, the normal piston rods 4 are matched with normal piston holes 10 on the claw spine base 1, all the tangential piston holes 9 are communicated, the tangential displacement of the claw spine array is controlled by hydraulic pressure or air pressure in a cooperative isobaric mode, all the normal piston holes 10 are communicated, the normal displacement of the claw spine array is controlled by hydraulic pressure or air pressure in a cooperative isobaric mode, the claw spine array is further adapted to complex wall surface morphology, loads are uniformly distributed on the claw spine array, and active regulation and control of the adhesion state of feet are achieved by controlling the tangential displacement and the normal displacement of the claw spine array.
The directional piston holes 9 and the normal piston holes 10 on the claw-stabbing foot base 1 are symmetrically distributed, the tangential piston holes 9 and the normal piston holes 10 are matched with claw-stabbing units, each claw-stabbing unit is inlaid with a claw stab 3 through a baffle plate 8, the claw stab 3 is of a C-shaped structure made of a steel needle, and the configuration of one side of the baffle plate 8 is the same as that of the claw stab.
The space between the tangential piston rod 3 and the tangential piston hole 9 and the space 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 of a hollow cylindrical structure with one end sealed;
when the flexible sealing sleeve 5 seals between the tangential piston rod 3 and the tangential piston hole 9, the flexible sealing sleeve 5 is integrally manufactured by pouring silica gel on one end of a 3D printed piston through a mould;
when the flexible sealing sleeve 5 seals between the normal piston rod 4 and the normal piston hole 10, the flexible sealing sleeve 5 is integrally manufactured by pouring silica gel on one end of a 3D printed piston through a mould;
as shown in fig. 6, the tangential piston rod 3 and the tangential piston hole 9, and 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;
when the film 12 is sealed between the tangential piston rod 3 and the tangential piston hole 9, the sealing end of the film 12 is connected with the free end of the tangential piston rod 3, and the opening end of the film 12 is fixed with one end of the tangential piston hole 9 close to the cavity;
when the film 12 is sealed between the normal piston rod 4 and the normal piston hole 10, the sealing end of the film 12 is connected with the end part of the free end of the normal piston rod 4, and the opening end of the film 12 is fixed with one end, close to the cavity, of the normal piston hole 10;
when the tangential piston rod 3 and the tangential piston hole 9 and the normal piston rod 4 and the normal piston hole 10 are sealed by the film 12, the friction force of mutual movement between the piston rod and the piston hole is greatly reduced because the piston rod and the piston hole are not in direct contact in the movement process.
All the tangential piston holes 9 which are symmetrical to each other on the claw-stabbing foot base 1 are communicated with each other, all the normal piston holes 10 which are symmetrical to each other are communicated with each other, the liquid or gas pressure of the piston holes is respectively controlled by the normal adjusting port 13 and the tangential adjusting port 14, the two adjusting ports are not communicated, and the pressure of the two piston holes is controlled by the adjusting ports so as to control the extending amount of the piston rods in two directions, so that the uniform load of the claw-stabbing is realized.
The two adjacent claw thorn units are separated by a partition plate 15 to avoid interference, and the partition plate 15 and the claw thorn foot base 1 are fixed by a bayonet 16.
One end of the claw thorn seat 2 is connected to the claw thorn foot base 1 through a normal piston rod 4 and a tangential piston rod 3, and the other end is embedded with a claw thorn 7 through a baffle plate 8. The pawl-and-socket joint 2 is moved a distance in the normal and tangential direction, respectively, along the rotation pin 6 by the pushing of the piston rod in different directions.
The bionic flexible claw thorn array with the adjustable adhesion state provided by the invention is used for adjusting and controlling the length and the interval distribution of the claw thorn in order to adapt to the rough wall surface appearance, so that most of the claw thorn enters an effective adhesion state to share load, the adhesion performance of a system is further improved, each claw thorn has two translational degrees of freedom, the normal degree of freedom of the claw thorn array is cooperatively controlled in an underactuated mode, the tangential degrees of freedom are similar, and the claw thorn array is promoted to adapt to the rough wall surface appearance by virtue of the flexible characteristic of a liquid cavity or an air cavity. Taking tangential regulation as an example, the liquid or gas in the cavity transfers the load to all the claws 3 in the form of pressure intensity, if the inside and outside pressure intensity difference of the bionic adhesion regulation system in the normal direction and the tangential direction is delta PAAnd Δ PT，FAAnd FTRespectively tangential and normal regulation forces, and cross-sectional area of SAAnd ST,Fi(i-1234) is the force applied to the prongs, the normal load applied to each prong 3 is FAi＝ΔPA×SATangential load of FTi＝ΔPT×ST，FloadIn order to load the force on the foot,to realize uniform load distribution, see fig. 7(a) - (d), fig. 7(a) is a schematic diagram of normal regulation, fig. 7(b) is a schematic diagram of tangential regulation, fig. 7(c) is a schematic diagram of jaw-stabbing freedom, and fig. 7(d) is a schematic diagram of uniform load distribution.
When the claw spine array foot is not actively regulated or the robot foot is in a swing stage, the claw spine 7 has no moving distance in the tangential and normal directions. After the foot base 1 contacts with the wall surface in the grabbing and releasing processes, the normal adjusting port 13 and the tangential adjusting port 14 are communicated with all the normal piston holes 10 and all the tangential piston holes 9 in the claw-stabbing foot base 1 respectively, so that the pressure of the normal adjusting port 13 and the pressure of the tangential adjusting port 14 can be adjusted in an isobaric manner, and the telescopic movement of the normal piston rod 4 and the tangential piston rod 3 and the uniform load of claw stabs are realized. Normal piston rod 4 and tangential piston rod 3 one end link to each other through changeing round pin 6 with claw thorn seat 2 respectively, can realize claw thorn seat 2 by the flexible 6 removals of commentaries on classics round pin along tangential direction of tangential piston rod 3, can realize claw thorn seat 2 by the flexible 6 removals of commentaries on classics round pin along the normal direction of normal piston rod 4, claw thorn seat 2 has realized the motion of two degrees of freedom of tangent line and normal line then.
In the grabbing process, as shown in fig. 5, the pressure of the adjusting port is respectively changed to realize the equal pressure adjustment of all the claws 7 at the end a and the end B, all the claws 7 at the end a can move along the Ax direction and the Ay direction, all the claws 7 at the end B can move along the Bx direction and the By direction, and the positions of the claws 7 can be adjusted according to the wall surface morphology. At the end a, because the end a has a plurality of prongs 7, for example, the port has a total of N prongs 7, and the number of the prongs 7 that completely grab the peaks at each time is N, in one grabbing process, there are N-N prongs 7 that do not completely grab the peaks, so that the prongs 7 need to be adjusted to grab more prongs 7 onto the peaks. The pressure of the tangential adjusting port 14 is adjusted, the pressure is transmitted to each tangential piston rod 3 through a tangential oil path or a gas path, each tangential piston rod 3 is extended or contracted in an Ax direction in an isobaric way under the action of the atmospheric pressure, the claw prick seat 2 is moved in the Ax direction under the action of the rotating pin 6, the pressure of the normal adjusting port 13 is adjusted, the normal oil path or the air path transmits the pressure to each normal piston rod 4, each normal piston rod 4 is extended or contracted along the Ay direction in an isobaric manner under the action of the atmospheric pressure, the pawl seat 2 is moved along the Ay direction under the action of the rotating pin 6, the resultant motion of the two directions, can make claw thorn 7 contact gradually the hump, after claw thorn 7 snatched the hump, adjust mouthful pressure and no longer change, liquid or gas pressure in the cavity was also unchangeable this moment, so the piston rod amount of movement no longer changes, realizes snatching the effect. At the end B, the adjusting process is the same as that at the end A, all the tangential piston holes 9 at the end A and all the tangential piston holes 9 at the end B are communicated, all the normal piston holes 10 at the end A and all the normal piston holes 10 at the end B are communicated, so that the claw spines 7 at the end A and the claw spines 7 at the end B are adjusted simultaneously, isobaric regulation and control can be realized, and then claw spine loads are uniformly distributed.
During the releasing process, the pressure of the tangential adjusting port 14 is adjusted, the pressure is transmitted to each tangential piston rod 3 through a tangential oil path or an air path, each tangential piston rod 3 moves along the Ax direction, the claw thorn seat 2 moves along the Ax direction under the action of the rotating pin 6, the pressure is transmitted to each normal piston rod 4 through a normal oil path or an air path by adjusting the pressure of the normal adjusting port 13, each normal piston rod 4 moves along the Ay direction under the action of the atmospheric pressure, the claw thorn seat 2 moves along the Ay direction under the action of the rotating pin 6, and the claw thorn 7 can be separated from the convex peak through the resultant movement of the two directions.
As shown in fig. 8(a) to (c), fig. 8(a) shows a one-way array layout of the claw units on the claw foot base, fig. 8(b) shows a straight-line opposed-grasping layout of the claw units on the claw foot base, and fig. 8(c) shows a circumferential opposed-grasping layout of the claw units on the claw foot base. The invention is shown in figure 1, which is a form of a butt-grasping structure layout, and the normal adhesion force can be regulated and controlled by actively controlling the tangential load among the claw thorn arrays.
Claims (3)
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 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 freedom degrees of a tangential direction and a normal direction, and each group of claw thorn units can arrange the claws on the claw thorn foot base in a unidirectional array, a linear pair claw and a circumferential pair claw;
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 thorns through a baffle plate;
the claw thorn is of a C-shaped structure made of a steel needle;
the two adjacent groups of claw thorn units are separated by a partition plate, and the partition plate is connected with the claw thorn foot base through a bayonet;
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.
2. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 1, 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.
3. The bionic flexible claw thorn array foot with adjustable and controllable adhesion states of claim 1, 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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| 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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| CN201914348U (en) * | 2010-09-21 | 2011-08-03 | 东南大学 | Gripper grabbing type wall-climbing robot |
| CN202935466U (en) * | 2012-08-14 | 2013-05-15 | 中国科学院合肥物质科学研究院 | Flexible steering barb type wall climbing robot |
| CN104354781A (en) * | 2014-09-05 | 2015-02-18 | 南京邮电大学 | Variable-rigidity biomimetic falcula mechanism and falcula components thereof |
| CN104670358A (en) * | 2015-03-09 | 2015-06-03 | 南京邮电大学 | Hook claw with controllable force and angle based on pneumatic artificial muscle |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8066088B2 (en) * | 2004-12-09 | 2011-11-29 | The Board Of Trustees Of The Leland Stanford Junior University | Biologically inspired climbing device |
| US9339945B2 (en) * | 2011-09-19 | 2016-05-17 | California Institute Of Technology | Systems and methods for gravity-independent gripping and drilling |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201914348U (en) * | 2010-09-21 | 2011-08-03 | 东南大学 | Gripper grabbing type wall-climbing robot |
| CN202935466U (en) * | 2012-08-14 | 2013-05-15 | 中国科学院合肥物质科学研究院 | Flexible steering barb type wall climbing robot |
| CN104354781A (en) * | 2014-09-05 | 2015-02-18 | 南京邮电大学 | Variable-rigidity biomimetic falcula mechanism and falcula components thereof |
| CN104670358A (en) * | 2015-03-09 | 2015-06-03 | 南京邮电大学 | Hook claw with controllable force and angle based on pneumatic artificial muscle |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
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