CN111634344A - Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method - Google Patents
Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method Download PDFInfo
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- CN111634344A CN111634344A CN202010309975.8A CN202010309975A CN111634344A CN 111634344 A CN111634344 A CN 111634344A CN 202010309975 A CN202010309975 A CN 202010309975A CN 111634344 A CN111634344 A CN 111634344A
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- 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
Abstract
The invention aims to provide a variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and a method, and belongs to the technical field of robots. This sole includes: the wire-pulling steering engine comprises a wire-pulling steering engine (1), a wire-pulling steering engine upper end fixing piece (2), a wire-pulling steering engine lower end fixing piece (3), a rotary support frame (4), a rotary flange (5), a ball head (6), a ball joint upper cover (7), a sole fixing piece (8) and N sole units with the same structure. Each sole unit comprises a sole sheet, a sole sheet adhesive material, a sole shaft element, a multi-section type movement telescopic rod, a reset spring and a sole sheet variable line. The invention can actively drive a plurality of soles to realize the functions of active adhesion and active desorption; the self-adaptive ball joint is restrained by the return spring, so that the sole can be attached to the surface of a space, and the sole can be restored to the initial position in an unstressed state.
Description
Technical Field
The invention belongs to the technical field of robot application, and particularly relates to a variable-rigidity self-adaptive gecko-like sole with active adhesion/desorption capacity and a method, which are mainly applied to the structural design of a micro-miniature adhesion foot type robot.
Technical Field
The special robot is one of the most important high technologies in the world today, integrates the technologies of computer, micro-electronics, sensing, automatic control and the like into a whole, becomes one of the important signs for measuring the national technology level and comprehensive national strength, and is the most challenging and increasingly-expanding field in the robot technology. A 3-dimensional space surface barrier-free motion robot (wall-climbing robot) is an important branch of a special robot, and refers to a controllable mobile platform system capable of freely moving on smooth or rough positive, zero and negative surfaces. By using some mechanisms of organisms for reference and the design for solving some mechanical problems, the gecko can freely walk on a smooth wall in nature and even can stick to a ceiling to quickly crawl. The gecko is used as a bionic object to develop the bionic robot capable of realizing barrier-free movement in three-dimensional space.
Common attachment modes of the gecko-like robot include vacuum adsorption, magnetic adsorption, thrust adsorption, claw grabbing, electrostatic adsorption and bionic dry adhesion. Wherein the robot foot based on the vacuum chuck principle, when contacting on the relatively coarse surface, because of sealed effect is relatively poor, the adsorption affinity can reduce by a wide margin, seriously influences the reliability of robot work. The magnetic adsorption mode comprises permanent magnet adsorption and electromagnet adsorption, and the adsorption mode cannot be adsorbed on a non-magnetic-conductive wall and has certain limitation. Thrust adsorption mainly utilizes thrust to attach the robot to a vertical plane, the thrust is generally generated by a propeller or a ducted fan, and the adsorption mode is easy to control the adsorption force but poor in stability. The claw grabbing attachment mainly depends on the claw structure to realize stable crawling on a rough surface, and the grabbing attachment mode is only suitable for rough surfaces and poor in environmental adaptability. The electrostatic adsorption mainly depends on the method of generating adsorption force by an electric field between charges with opposite polarities of electrodes and wall surfaces, and the adsorption mode has low energy consumption and good stability and is suitable for most of dry insulator wall surfaces. The adhesion force of the dry adhesive material does not depend on surface materials or atmospheric pressure and comes from Van der Waals force between the dry adhesive material and contact surface molecules, so that the adhesion process is simple, noiseless, reusable, residue-free on the contact surface and wide in application range, and the dry adhesive material can climb on various surfaces and is mainly used for adhesion movement of smooth surfaces. Therefore, the design of the variable-rigidity self-adaptive gecko-like sole with the active adhering/desorbing capability by utilizing the dry adhering material has important significance.
Research on gecko-like soles has been conducted by various scientific research institutes both at home and abroad, and most typically, the stuckybot, a bionic wall-climbing robot developed by stanford university, has four soft toes with artificial bristles (special rubber material) at the foot end, and utilizes van der waals force between molecules to make the robot adhere to a wall and achieve a crawling motion on a vertical rough plane (Kim S, Spenko M, Trujillo S, et al. Smooth vertical surface adherence with direct addition [ J ]. IEEE Transactions on robotics, 2008, 24(1): 65-74.). Geckobot, a bionic foot type wall climbing robot, which is attached to the sole of a foot using a dry adhesive material and has achieved stable adhesive motion on a plane of 85 DEG by the alternate adhesion of four feet to a wall surface, has been developed by Kanaiji Meilong university (Unver O, Unferi A, Aydemir A, et al. Geckobot: a geto implanted clamped adhesive elastomer adhesives [ C ]. IEEE International Conference on robotics and Automation 2006: 2329 2335.). Researchers at the national institute of science and technology in the south of the korean mountains developed a gecko-like robot UNIclimb capable of performing negative surface crawling underwater, which mainly consists of a body frame in the middle of a machine body, four legs and four soles with adhesive pads made by replication molding technology. Servo motors are arranged between the body and the legs, the legs and the soles, PDMS is adopted as the adhesive pads, and the energy loss is increased by using the adhesive soles in a passive desorption mode (Ko H, Yi H, Jeong H E. Wall and ceiling binding square with super water recycling and using 3D printing (unicomb) [ J ] International Journal of Precision Engineering and manufacturing-Green Technology, 2017, 4(3): 273) 280.). A bionic structure and material protection research institute of Nanjing aerospace university develops a new gecko-like robot, joints of the robot are respectively driven by 12 steering engines, an elastic base structure with dry adhesive materials is adopted for soles, the robot realizes free crawling on a vertical smooth surface and can adhere to a smooth negative surface in a static state (Yu Z, Wang Z, Liu R, et al. Stable growing for a packaging o-embedded robot on a vertical surface C. IEEEInternational Conference on mechanics and Automation (ICMA). 2013: 307-.
So far, similar adhesion robot sole only has simple desorption stay wire transmission, does not have an active adhesion function, and does not carry out research on the adaptability of the space surface.
Disclosure of Invention
The invention aims to provide a variable-rigidity self-adaptive gecko-like sole with active adhesion/desorption capacity and a method.
A variable stiffness self-adaptive gecko-like sole with active adhesion/desorption capacity is characterized by comprising: the device comprises a wire-pulling steering engine, a wire-pulling steering engine upper end fixing piece, a wire-pulling steering engine lower end fixing piece, a rotary support frame, a rotary flange, a ball head, a ball joint upper cover and a sole fixing piece; the sole fixing piece is characterized by also comprising N sole units which are uniformly arranged on a circle of the sole fixing piece and have the same structure; wherein N is a natural number of 3-9; the wire pulling steering engine is arranged in the wire pulling steering engine upper end fixing piece and the wire pulling steering engine lower end fixing piece, and the wire pulling steering engine are fixed and wrapped in the wire pulling steering engine; the rotary support frame is fixedly connected with a fixing piece at the upper end of the wire pulling steering engine; a rotary output shaft of the wire pulling steering engine is parallel to the Z axis and penetrates through the rotary support frame to be fixed with the rotary flange; the rod end of the ball head is fixedly connected with the lower end of a fixing piece at the lower end of the traction steering engine, the ball end of the ball head is wrapped in the ball joint upper cover and the sole fixing piece, and the ball joint upper cover and the sole fixing piece are fixedly connected through bolts; each sole unit comprises a sole sheet, a sole sheet adhesive material, a sole shaft element, a multi-section type movement telescopic rod, a reset spring and a sole sheet deformation line; the first end of the sole piece is inserted into the groove on the side surface of the sole fixing piece and fixed, the sole piece adhesion material is fixed below the sole piece, the multi-section type movement telescopic rod is positioned above the sole piece, and the first end of the multi-section type movement telescopic rod is connected with the sole fixing piece through a sole shaft element; the sole shaft element is vertical to the output shaft of the traction line steering engine; one end of the reset spring is fixed on the upper cover of the ball joint, and the other end of the reset spring is fixed on the fixing piece at the lower end of the wire-pulling steering engine; one end of the sole piece-shaped variable line is fixed at the second end of the sole piece, and the other end of the sole piece-shaped variable line enters from the second end of the multi-section type movement telescopic rod, penetrates through the inside of the multi-section type movement telescopic rod, penetrates out from the first end of the multi-section type movement telescopic rod, reversely winds the root part of the rotating flange for 3-5 circles after passing through a hole on the rotating support frame and is fixed on the rotating flange; the sole sheet is an elastic metal sheet which is strip-shaped as a whole; the section of the elastic metal sheet in the width direction is arc-shaped, and the elastic metal sheet is in an arch-shaped supporting state in the width direction when not stressed, and is in a straight state in the length direction at the moment; when downward pressure is applied to the elastic metal sheet, the arched support structure in the width direction fails, and the arched support structure in the length direction bends upwards.
The variable-rigidity self-adaptive gecko-like sole with active adhering/desorbing capability is characterized in that: the multi-section type movement telescopic rod is a three-section type movement telescopic rod and consists of a telescopic rod outer rod, a telescopic rod a inner rod, a telescopic rod b inner rod, a telescopic rod a spring and a telescopic rod b spring; the telescopic rod b inner rod is sleeved in the telescopic rod a inner rod, the telescopic rod b spring is arranged in the telescopic rod a inner rod, the telescopic rod a inner rod is sleeved in the telescopic rod outer rod, and the telescopic rod a spring is arranged in the telescopic rod outer rod.
The variable-rigidity self-adaptive gecko-like sole with active adhering/desorbing capability is characterized in that: the above N is equal to 4.
The active adhesion/desorption method of the variable-rigidity self-adaptive gecko-like sole with the active adhesion/desorption capacity is characterized by comprising the following steps of: when the rotary output end of the wire-pulling steering engine rotates around the Z axis in the positive direction for a certain angle, the output of the deformation wire of the sole is increased, the spring compressed in the multi-section type motion telescopic rod extends to push the multi-section type motion telescopic rod to extend, so that the sole piece is pushed to extend, the sole moves downwards to promote the adhesion material to be attached and adhered to the contact surface, and the active adhesion function is realized; when the rotary output end of the wire-pulling steering engine reversely rotates for a certain angle around the Z axis, the output of the deformation wire of the sole is reduced, the multi-section type motion telescopic rod is pulled to be shortened, the sole piece is curled upwards, the spring in the multi-section type motion telescopic rod is compressed, the multi-section type motion telescopic rod is pushed to extend and store energy during active adhesion, the sole moves upwards, adhesion materials are enabled to be separated from the contact surface, and the active desorption function is realized; when the sole is lifted, the initial posture of the sole can be quickly recovered by utilizing the return spring.
Compared with the prior art, the invention has the following advantages:
1. the invention can actively drive a plurality of soles to realize the functions of active adhesion and active desorption, and is convenient for the adhesion/desorption walking motion of the micro-foot type adhesion robot on the target surface;
2. the invention adopts the reset spring to restrain the self-adaptive ball joint, thereby not only ensuring the self-adaptive fit of the sole and the contact surface, but also realizing the purpose that the sole can be restored to the initial position under the unstressed state;
3. the invention meets the design requirements of integration of sole structure and drive of the micro-foot type adhesion robot, utilizes the variable-rigidity arc section type elastic metal sheet and the adaptive ball joint to simulate three motion modes of eversion, adduction and sole torsion of gecko toes, and provides an effective bionic sole design scheme for the micro-foot type adhesion robot.
4. The invention has the advantages of ingenious structure, small volume, light weight, convenient processing, economy and feasibility.
Drawings
FIG. 1 is a perspective view of a variable stiffness adaptive gecko-like sole with active stick/detach capability according to the present invention;
FIG. 2 is an exploded view of a variable stiffness adaptive gecko-like sole with active stick/detach capability according to the present invention;
FIG. 3 is a schematic diagram of the variable stiffness adaptive gecko-like sole adhesion with active adhesion/desorption capability according to the present invention;
FIG. 4 is a schematic diagram of the desorption of a variable stiffness self-adaptive gecko-like sole with active adhesion/desorption capability according to the present invention;
number designation in FIGS. 1-4: 1. a wire pulling steering engine; 2. a wire-pulling steering engine upper end fixing part; 3. a lower end fixing part of the wire pulling steering engine; the wire drawing steering engine comprises a wire drawing steering engine lower end fixing piece a hole 3a, a wire drawing steering engine lower end fixing piece b hole 3b, a wire drawing steering engine lower end fixing piece c hole 3c, a wire drawing steering engine lower end fixing piece d hole 3d, a rotating support frame 4a, a rotating support frame a hole 4b, a rotating support frame b hole 4c, a rotating support frame c hole 4d, a rotating support frame d hole 5, a rotating flange a hole 5b, a rotating flange b hole 5c, a rotating flange c hole 5d, a rotating flange d hole 6, a ball head 7, a ball joint upper cover a hole 7a, a ball joint upper cover b hole 7b, a ball joint upper cover c hole 7d, a ball joint upper cover d hole 8, a foot fixing piece 9, a steel sheet variable-stiffness circular arc section type circular arc section 9a, a circular arc type section type steel sheet a hole 10, The device comprises a first variable-stiffness arc section steel sheet, a second variable-stiffness arc section steel sheet, a 10a second variable-stiffness arc section steel sheet a hole, a 11a third variable-stiffness arc section steel sheet a hole, a 12 fourth variable-stiffness arc section steel sheet, a 12a fourth variable-stiffness arc section steel sheet a hole, a 13 a first three-section type motion telescopic rod, a 13-1 first telescopic rod outer rod, a 13-2 first telescopic rod a inner rod, a 13-3 first telescopic rod b inner rod, a 13-4 first telescopic rod a spring, a 13-5 first telescopic rod b spring, a 14 second three-section type motion telescopic rod, a 14-1 second telescopic rod outer rod, a 14-2 second telescopic rod a inner rod, a 14-3 second telescopic rod b inner rod, a 14-4 second telescopic rod a spring, a 14-5, a, No. two telescopic rod b spring, No. 15 and No. three-section type motion telescopic rod, No. 15-1 telescopic rod outer rod, No. 15-2 telescopic rod inner rod, No. three telescopic rod a, No. 15-3 telescopic rod inner rod, No. 15-4 telescopic rod a spring, No. 15-5 telescopic rod b spring, No. 16 and No. four three-section type motion telescopic rod, No. 16-1 telescopic rod outer rod, No. 16-2 telescopic rod inner rod, No. 16-3 telescopic rod inner rod, No. 16-4 telescopic rod a spring, No. 16-5 telescopic rod b spring, No. 17 sole shaft element, No. 18 and No. two sole shaft element, No. 19 and No. three sole shaft element, No. 20 and No. four sole shaft element, No. 21 and No. one sole sheet adhesive material, No. 22 and No. two sole sheet adhesive material, No. 23 and No. three sole sheet adhesive material, 24 and No. 2, The sole piece adhesive material 25, the first return spring 26, the second return spring 27, the third return spring 28, the fourth return spring 29, the first sole piece variable line 30, the second sole piece variable line 31, the third sole piece variable line 32, the fourth sole piece variable line.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
with reference to fig. 1-4, this embodiment is a variable stiffness adaptive gecko-like sole with active adhesion/desorption capability and a method thereof, including: the wire-pulling steering engine comprises a wire-pulling steering engine 1, a wire-pulling steering engine upper end fixing piece 2, a wire-pulling steering engine lower end fixing piece 3, a wire-pulling steering engine lower end fixing piece a hole 3a, a wire-pulling steering engine lower end fixing piece b hole 3b, a wire-pulling steering engine lower end fixing piece c hole 3c, a wire-pulling steering engine lower end fixing piece d hole 3d, a rotary support frame 4, a rotary support frame a hole 4a, a rotary support frame b hole 4b, a rotary support frame c hole 4c, a rotary support frame d hole 4d, a rotary flange 5, a rotary flange a hole 5a, a rotary flange b hole 5d, a ball head 6, a ball joint upper cover 7, a ball joint upper cover a hole 7a, a ball joint upper cover b hole 7b, a ball joint upper cover c hole 7c, a ball joint upper cover d hole 7d, a sole fixing piece 8, a steel sheet with variable rigidity and a section type steel sheet 9, a circular arc section type hole with variable rigidity and a, A second variable-stiffness arc section type steel sheet 10, a second variable-stiffness arc section type steel sheet a hole 10a, a third variable-stiffness arc section type steel sheet 11, a third variable-stiffness arc section type steel sheet a hole 11a, a fourth variable-stiffness arc section type steel sheet 12, a fourth variable-stiffness arc section type steel sheet a hole 12a, a first three-section type motion telescopic rod 13, a first telescopic rod outer rod 13-1, a first telescopic rod a inner rod 13-2, a first telescopic rod b inner rod 13-3, a first telescopic rod a spring 13-4, a first telescopic rod b spring 13-5, a second three-section type motion telescopic rod 14, a second telescopic rod outer rod 14-1, a second telescopic rod a inner rod 14-2, a second telescopic rod b inner rod 14-3, a second telescopic rod a spring 14-4, a second telescopic rod b spring 14-5, a third three-section type motion telescopic rod 15, a, A third telescopic rod outer rod 15-1, a third telescopic rod a inner rod 15-2, a third telescopic rod b inner rod 15-3, a third telescopic rod a spring 15-4, a third telescopic rod b spring 15-5, a fourth three-section type motion telescopic rod 16, a fourth telescopic rod outer rod 16-1, a fourth telescopic rod a inner rod 16-2, a fourth telescopic rod b inner rod 16-3, a fourth telescopic rod a spring 16-4, a fourth telescopic rod b spring 16-5, a first sole shaft element 17, a second sole shaft element 18, a third sole shaft element 19, a fourth sole shaft element 20, a first sole sheet adhesion material 21, a second sole sheet adhesion material 22, a third sole sheet adhesion material 23, a fourth sole sheet adhesion material 24, a first return spring 25, a second return spring 26, a third return spring 27, a fourth return spring 28, First sole piece-shaped variable line 29, second sole piece-shaped variable line 30, third sole piece-shaped variable line 31 and fourth sole piece-shaped variable line 32.
With reference to fig. 1-2, a three-dimensional coordinate system is defined, with the Z-axis being the sole-up direction, the X-axis being the sole-right direction, and the Y-axis being the sole-forward direction. The wire pulling steering engine 1 is arranged in a wire pulling steering engine upper end fixing piece 2 and a wire pulling steering engine lower end fixing piece 3, the wire pulling steering engine 1 and the wire pulling steering engine lower end fixing piece are fixed and wrap the wire pulling steering engine 1, a rotating output shaft of the wire pulling steering engine 1 is parallel to a Z axis and penetrates through a rotating support frame 4, the rotating support frame 4 is fixedly connected with the wire pulling steering engine upper end fixing piece 2 through four through holes of the rotating support frame, and a rotating flange 5 is fixed with the wire pulling steering engine 1 rotating output; the rod end of the ball head 6 is fixedly connected with the lower end of the wire-pulling steering engine lower end fixing part 3, the ball joint upper cover 7 and the sole fixing part 8 wrap the ball end of the ball head 6, and the ball joint upper cover 7 is fixedly connected with the sole fixing part 8 through four through holes of the ball joint upper cover by bolts. The first variable-stiffness circular arc section type steel sheet 9, the second variable-stiffness circular arc section type steel sheet 10, the third variable-stiffness circular arc section type steel sheet 11 and the fourth variable-stiffness circular arc section type steel sheet 12 are identical in structure and are respectively inserted into and fixed by four grooves in the side face of the sole fixing piece 8. A first sole piece adhesive material 21, a second sole piece adhesive material 22, a third sole piece adhesive material 23 and a fourth sole piece adhesive material 24 are respectively and correspondingly fixed below a first variable-stiffness arc section type steel sheet 9, a second variable-stiffness arc section type steel sheet 10, a third variable-stiffness arc section type steel sheet 11 and a fourth variable-stiffness arc section type steel sheet 12.
The first three-section type motion telescopic rod 13, the second three-section type motion telescopic rod 14, the third three-section type motion telescopic rod 15 and the fourth three-section type motion telescopic rod 16 have the same structure, and are respectively connected with the sole fixing piece 8 in the same way by a first sole shaft element 17, a second sole shaft element 18, a third sole shaft element 19 and a fourth sole shaft element 20 in sequence. Taking the first three-section type motion telescopic rod 13 as an example, the three-section type motion telescopic rod assembly comprises: a first telescopic rod outer rod 13-1, a first telescopic rod a inner rod 13-2, a first telescopic rod b inner rod 13-3, a first telescopic rod a spring 13-4 and a first telescopic rod b spring 13-5; an inner rod 13-3 of a first telescopic rod b is sleeved on an inner rod 13-2 of a first telescopic rod a, a spring 13-5 of the first telescopic rod b is arranged in the inner rod 13-2 of the first telescopic rod a, the inner rod 13-2 of the first telescopic rod a is sleeved on an outer rod 13-1 of the first telescopic rod, and a spring 13-4 of the first telescopic rod a is arranged in the outer rod 13-1 of the first telescopic rod, so that the telescopic rod 13 for three-section type movement is formed. The second three-section type movement telescopic rod 14, the third three-section type movement telescopic rod 15 and the fourth three-section type movement telescopic rod 16 are assembled by the same method of the first three-section type movement telescopic rod 13. The first three-section type motion telescopic rod 13 is clamped between two small cuboids protruding on the side surface of the sole fixing piece 8, the through hole on the side surface of the first three-section type motion telescopic rod 13 is aligned with the two through holes protruding on the side surface of the sole fixing piece 8, and the first sole shaft element 17 is inserted into the through hole. The second three-section type motion telescopic rod 14, the third three-section type motion telescopic rod 15 and the fourth three-section type motion telescopic rod 16 are sequentially fixed on the other three side surfaces of the sole fixing piece 8 according to the assembly mode of the first three-section type motion telescopic rod 13.
This sole is provided with 4 reset spring, is respectively: a first return spring 25, a second return spring 26, a third return spring 27, and a fourth return spring 28. One end of a first return spring 25 is fixed in a hole 7a of an upper cover a of the ball joint, and the other end of the first return spring is fixed in a hole 3a of a fixing piece a at the lower end of the wire-pulling steering engine; one end of a second reset spring 26 is fixed in a hole 7b of an upper cover b of the ball joint, and the other end of the second reset spring is fixed in a hole 3b of a fixing piece b at the lower end of the wire-pulling steering engine; one end of a third reset spring 27 is fixed in a hole 7c of the upper cover of the ball joint, and the other end of the third reset spring is fixed in a hole 3c of a fixing piece c at the lower end of the wire pulling steering engine; one end of a fourth reset spring 28 is fixed in a hole 7d of the upper cover of the ball joint, and the other end of the fourth reset spring is fixed in a hole 3d of a fixing piece d at the lower end of the wire pulling steering engine.
This sole is provided with 4 hairlines, is respectively: first sole piece-shaped variable line 29, second sole piece-shaped variable line 30, third sole piece-shaped variable line 31 and fourth sole piece-shaped variable line 32. One end of a first sole sheet-shaped variable line 29 is fixed to a hole 9a of a first variable-stiffness circular-arc-section-shaped steel sheet a, penetrates out of a small hole above the first three-section-shaped moving telescopic rod 13 after passing through the first three-section-shaped moving telescopic rod 13, reversely winds three rings at the root of the rotating flange 5 after passing through a hole 4a of the rotating support frame a, and is fixed to a hole 5a of the rotating flange a; one end of a second sole sheet-shaped variable line 30 is fixed in a hole 10a of a second variable-stiffness circular-arc-section-shaped steel sheet, penetrates out of a small hole above a second three-section-type movement telescopic rod 14 after passing through the second three-section-type movement telescopic rod 14, reversely winds three circles at the root of a rotating flange 5 after passing through a hole 4b of a rotating support frame b, and is fixed in a hole 5b of the rotating flange b; one end of a third sole sheet-shaped variable line 31 is fixed in a hole 11a of a third variable-stiffness circular-arc-section-shaped steel sheet a, penetrates out of a small hole above the third three-section-shaped moving telescopic rod 15 after passing through the third three-section-shaped moving telescopic rod 15, reversely winds three turns at the root of the rotating flange 5 after passing through a hole 4c of the rotating support frame, and is fixed in a hole 5c of the rotating flange; one end of a fourth sole sheet-shaped variable line 32 is fixed in a hole 12a of a fourth variable-stiffness circular arc section-shaped steel sheet, penetrates out of a small hole above the fourth three-section type movement telescopic rod 16 after passing through the fourth three-section type movement telescopic rod 16, reversely winds three turns around the root of the rotating flange 5 after passing through a hole 4d of the rotating support frame, and is fixed in a hole 5d of the rotating flange.
With reference to fig. 1-4, the variable stiffness self-adaptive gecko-like sole with active adhesion/desorption capability and the method are characterized by comprising the following aspects: the variable-rigidity circular arc section steel sheet is an elastic steel sheet which has a special shape and can automatically curl upwards by slight force. When the rotating output end of the wire pulling steering engine 1 rotates forwards or backwards for a certain angle, the output of the deformation wires of 4 soles is increased/decreased, and then the extension/shortening of the three-section type movement telescopic rod is pulled, the extension/curling of the variable-rigidity arc section type steel sheet is realized, and further the active sticking/desorbing function is realized. The reset spring restrains the self-adaptive ball joint to realize three-attitude freedom degree rotation, further realize self-adaptive fit with a contact surface, and quickly recover the initial state of the sole of a foot by the reset spring in an unstressed state.
The variable-rigidity arc-section steel sheet comprises an elastic steel sheet and a silica gel layer wrapped outside the elastic steel sheet: the cross section of the elastic steel sheet is arc-shaped, and when the elastic steel sheet extends to be a straight strip, the elastic steel sheet has larger bending resistance, larger section inertia moment and larger rigidity compared with a thin flat rectangular section due to the radian of the cross section; when the elastic steel sheet is bent into a semi-annular shape, the elastic steel sheet can be automatically bent reversely by applying a slight force due to the radian of the cross section of the elastic steel sheet, and at the moment, the bending resistance is small, the inertia moment of the cross section is small, and the rigidity is small. The silica gel layer that the elastic steel sheet outside was equipped with can protect operating personnel, avoids by the elastic steel sheet fish tail, increases the security performance. As shown in fig. 3, when the rotary output end of the wire-pulling steering engine 1 rotates around the Z axis in the forward direction by a certain angle, the output of the deformation line of 4 soles is increased, the spring compressed inside the three-section type movement telescopic rod extends to push the three-section type movement telescopic rod to extend, and further push the variable-stiffness arc section-shaped steel sheet to extend, the 4 soles move downwards to make the adhesion material adhere to the contact surface, and the adaptive ball joint can adjust the soles to rotate at three postures and degrees of freedom, so that the active adaptive adhesion function is realized.
As shown in fig. 4, when the rotary output end of the wire-pulling steering engine 1 rotates reversely by a certain angle around the Z axis, the output of the deformation line of 4 soles is reduced, the three-section type movement telescopic rod is pulled to be shortened, the variable-stiffness arc section type steel sheet is curled upwards, the spring inside the three-section type movement telescopic rod is compressed, the three-section type movement telescopic rod is pushed to extend for energy storage during active adhesion, the 4 soles move upwards, adhesion materials are enabled to be separated from the contact surface, the reset spring restores the initial state of the soles, and the active self-adaptive desorption function is realized.
Claims (4)
1. A variable stiffness self-adaptive gecko-like sole with active adhesion/desorption capacity is characterized by comprising: the device comprises a wire-pulling steering engine (1), a wire-pulling steering engine upper end fixing piece (2), a wire-pulling steering engine lower end fixing piece (3), a rotary support frame (4), a rotary flange (5), a ball head (6), a ball joint upper cover (7) and a sole fixing piece (8); the sole fixing piece also comprises N sole units which are uniformly arranged on the sole fixing piece (8) in a circle and have the same structure; wherein N is a natural number of 3-9;
the wire pulling steering engine (1) is arranged in a wire pulling steering engine upper end fixing piece (2) and a wire pulling steering engine lower end fixing piece (3), and the wire pulling steering engine upper end fixing piece and the wire pulling steering engine lower end fixing piece are fixed and wrap the wire pulling steering engine (1); the rotary support frame (4) is fixedly connected with a fixing piece (2) at the upper end of the wire pulling steering engine; a rotary output shaft of the wire pulling steering engine (1) is parallel to a Z axis, penetrates through the rotary support frame (4) and is fixed with the rotary flange (5); the rod end of the ball head (6) is fixedly connected with the lower end of a lower end fixing piece (3) of the traction line steering engine, the ball end of the ball head (6) is wrapped in the ball joint upper cover (7) and the sole fixing piece (8), and the ball joint upper cover (7) is fixedly connected with the sole fixing piece (8) through bolts;
each sole unit comprises a sole sheet, a sole sheet adhesive material, a sole shaft element, a multi-section type movement telescopic rod, a reset spring and a sole sheet deformation line; the first end of the sole piece is inserted into the side groove of the sole fixing piece (8) and fixed, the sole piece adhesion material is fixed below the sole piece, the multi-section type motion telescopic rod is positioned above the sole piece, and the first end of the multi-section type motion telescopic rod is connected with the sole fixing piece (8) through a sole shaft element; the sole shaft element is vertical to the output shaft of the wire pulling steering engine (1); one end of a return spring is fixed on the upper cover (7) of the ball joint, and the other end of the return spring is fixed on a fixing piece (3) at the lower end of the wire-pulling steering engine;
one end of the sole piece-shaped deformation line is fixed at the second end of the sole piece, and the other end of the sole piece-shaped deformation line enters from the second end of the multi-section type movement telescopic rod, penetrates through the inside of the multi-section type movement telescopic rod, penetrates out from the first end of the multi-section type movement telescopic rod, reversely winds the root of the rotating flange (5) for 3-5 circles after passing through a hole on the rotating support frame (4), and is fixed on the rotating flange (5);
the sole sheet is an elastic metal sheet which is strip-shaped as a whole; the section of the elastic metal sheet in the width direction is arc-shaped, and the elastic metal sheet is in an arch-shaped supporting state in the width direction when not stressed, and is in a straight state in the length direction at the moment; when downward pressure is applied to the elastic metal sheet, the arched support structure in the width direction fails, and the arched support structure in the length direction bends upwards.
2. The variable stiffness adaptive gecko-like foot print with active stick/detach capability according to claim 1, wherein:
the multi-section type movement telescopic rod is a three-section type movement telescopic rod and consists of a telescopic rod outer rod, a telescopic rod a inner rod, a telescopic rod b inner rod, a telescopic rod a spring and a telescopic rod b spring; the telescopic rod b inner rod is sleeved in the telescopic rod a inner rod, the telescopic rod b spring is arranged in the telescopic rod a inner rod, the telescopic rod a inner rod is sleeved in the telescopic rod outer rod, and the telescopic rod a spring is arranged in the telescopic rod outer rod.
3. The variable stiffness adaptive gecko-like foot print with active stick/detach capability according to claim 1, wherein: the above N is equal to 4.
4. The active sticking/desorbing method of a variable stiffness adaptive gecko-like sole with active sticking/desorbing capability as claimed in claim 1, wherein:
when the rotary output end of the wire-pulling steering engine (1) rotates around the Z axis in the positive direction for a certain angle, the output of the deformation wire of the sole is increased, the spring compressed in the multi-section type motion telescopic rod extends to push the multi-section type motion telescopic rod to extend, so that the sole piece is pushed to extend, the sole moves downwards to promote the adhesion material to be attached and adhered to the contact surface, and the active adhesion function is realized;
when the rotary output end of the wire-pulling steering engine (1) rotates reversely for a certain angle around the Z axis, the output of the deformation wire of the sole is reduced, the multi-section type motion telescopic rod is pulled to be shortened, the sole piece is curled upwards, the spring in the multi-section type motion telescopic rod is compressed, the multi-section type motion telescopic rod is pushed to extend and store energy during active adhesion, the sole moves upwards, adhesion materials are enabled to be separated from the contact surface, and the active desorption function is realized;
when the sole is lifted, the initial posture of the sole can be quickly recovered by utilizing the return spring.
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