CN111891243A - Bionic adhesion end effector with passive self-adaptive adhesion and active rapid desorption - Google Patents
Bionic adhesion end effector with passive self-adaptive adhesion and active rapid desorption Download PDFInfo
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- CN111891243A CN111891243A CN202010802225.4A CN202010802225A CN111891243A CN 111891243 A CN111891243 A CN 111891243A CN 202010802225 A CN202010802225 A CN 202010802225A CN 111891243 A CN111891243 A CN 111891243A
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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
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Abstract
A bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption comprises a driving structure integrated bionic leg, a bionic foot with flexible passive freedom degree and a plurality of adhesion toes with high-efficiency adhesion and desorption performance; the wrist joint of the bionic leg is connected with the bionic foot in a matched manner through a ball joint and a spring, so that passive freedom degree is realized; the adhered toes are fixed on the lower edge of the bionic foot, an active desorption driving motor is further fixed in the bionic leg, and the active desorption driving motor controls the adhered toes to lift up through a traction rope. The bionic adhesion end effector with the passive self-adaptive adhesion and the active rapid desorption, which is provided by the technical scheme, can effectively solve the problems that the existing adhesion end effector has poor adhesion performance and can not adapt to rough and concave-convex surfaces, and a passive desorption mode has large desorption force and low efficiency.
Description
Technical Field
The invention relates to a bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption, belonging to the technical application field of bionic robots.
Background
The bionic wall-climbing robot is an important application of bionics in the direction of the robot, and is a hot point of domestic and foreign research. The gecko can freely crawl on a vertical plane, a ceiling and the like, can adapt to surfaces with various roughness, and is an ideal bionic object of the wall-climbing robot. The vertical/inverted wall surface work task, the special environment military task, the pipeline detection and inspection operation and the auxiliary operation of the space station all need a robot which can stably crawl on the surfaces with various roughness and gradient. At present, various wall-climbing robots are developed by domestic and foreign research institutions and mainly work in a gravity environment, most of soles of the wall-climbing robots adopt the principles of magnetic adsorption and pressure type adsorption, and the wall-climbing robots are high in pertinence and poor in universality. The magnetic adsorption sole can only be used on metal surfaces with magnetism, while the pressure type adsorption sole cannot be used on rough surfaces and in vacuum environments. Dry adhesive materials based on biological principles are capable of producing strong adhesion on various surfaces (rough, smooth, wet, different inclined or even inverted).
The robot utilizing the dry adhesion mechanism can adapt to various surfaces and environments, has wide application range and is an ideal choice for the sole of the wall-climbing robot. However, the use of the existing dry adhesion material has certain limitations (effective pre-pressure is needed and complete adhesion of the adhesion material and the adhered surface is ensured), the structure of the bionic adhesion end effector is still imperfect, and the motion stability of the adhesion robot needs to be improved. The bionic adhesion end effector mostly adopts a sole design of a whole piece of adhesion material or a toe combination design of the whole piece of adhesion material, and when the adhered surface is rough or has concave-convex parts, the adhesion material cannot be well attached and contacted with the surface, so that the adaptability of the adhered sole or toe to the surface with roughness and concave-convex parts is very low. The base material used for the adhesion end effector is too soft (such as foam) to transmit enough pre-pressure to the adhesion material, and too hard (metal or hard rubber) cannot provide certain compliance to the adhesion material, so that the adhesion material can be in good contact with the adhered surface. At present, a passive desorption mode is mostly adopted for the bionic adhesion end effector, and the desorption process is usually large in desorption force, long in time consumption and low in efficiency. In addition, the end effector mostly adopts a fixed wrist joint or a joint bearing, the fixed wrist joint lacks surface adaptability, the moving range of the joint bearing is limited, and the sole plane can not be attached to an adhesion surface, so that the excellent adhesion performance is difficult to realize.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption, which can effectively solve the problems that the existing adhesion end effector has poor adhesion performance and cannot be applied to rough and concave-convex surfaces, and a passive desorption mode has large desorption force and low efficiency.
The technical scheme adopted by the invention for solving the technical problems is as follows: the bionic leg is connected with the bionic foot in a matching mode through a ball joint and a spring to achieve the flexible passive degree of freedom, the plurality of adhered toes are fixed on the lower edge of the bionic foot, an active desorption driving motor is further fixed in the bionic leg, and the active desorption driving motor drives a traction rope to be retracted to control the overturning desorption of the adhered toes.
The utility model discloses a bionic leg, including from last to connecting gradually integrative shank fixing base, cavity shank structure and passive ball joint down, through motor mount installation initiative desorption driving motor in the cavity shank structure, at spring fixed disk of passive ball joint top suit, be equipped with horizontal through-hole I on the cavity shank structure between passive ball joint and spring fixed disk, the fixed pin is established in the interpolation of through-hole I, and bionic leg passes through the cooperation of passive ball joint to be connected in the center of the bionic foot in below, and the bionic foot is connected through many springs all around and the spring fixed disk on the bionic leg passive ball joint.
The bionic foot comprises a truncated cone sole, a through hole II matched with a passive ball joint is formed in the center above the truncated cone sole, the lower edge of the truncated cone sole is fixedly connected with a concentric toe fixing ring after extending, toes are fixedly adhered through the toe fixing ring, a plurality of spring fixing rings are fixedly arranged on the periphery of the truncated cone sole, and the number of the spring fixing rings is consistent with the number of the springs and is connected with the springs.
The scheme is that each adhered toe comprises an elastic substrate and a distributed adhered material, the elastic substrate is made of a high-elasticity material, the distributed adhered material is fixed on the lower surface of the elastic substrate, an embedded traction rope is fixed in the middle of each elastic substrate, one end of each traction rope is fixed at the toe tip of the adhered toe, and the other end of each traction rope is connected to an output shaft of an active desorption driving motor.
The elastic substrate is made of elastic steel or P-type copper, the elastic substrate is bent upwards in an original state, and when the lower surface of the elastic substrate is subjected to certain pressure, the elastic substrate is quickly changed into downward bending; before the elastic substrate contacts the adhered surface, the active desorption driving motor tightens the traction rope, and the elastic substrate is bent upwards; when the elastic substrate contacts the adhered surface, the active desorption driving motor releases the pulling rope, and the elastic substrate is rapidly bent downwards.
According to a further scheme, the adhering toe also comprises a flexible buffer cushion, the flexible buffer cushion is fixed between the elastic substrate and the distributed adhering material, and the flexible buffer cushion is made of polyethylene foam plastic or silica gel.
Further, the distributed adhesive material adopts a discretized distributed layout.
Compared with the prior art, the bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption has the advantages that: the device can realize passive self-adaptive stable adhesion and active quick desorption, and has obvious advantages on the wall-climbing foot type robot with adhesion and desorption motion characteristics, thereby improving the stable and quick motion performance of the wall-climbing robot and playing a great promotion role in the development of the wall-climbing robot. The concrete expression is as follows:
(1) rapid passive adhesion: the adhered toes are made of a high-elasticity base material, and sufficient pre-pressure is provided for the adhered materials by means of the high elasticity of the material, so that the whole system of the end effector is simplified; the distributed layout of the adhesion materials can enable adhesion locking to be generated among all adhesion material modules, and efficient and stable adhesion is realized in the adhesion process of the bionic adhesion end effector; meanwhile, the ball joint has multi-surface adaptability, the distribution type adhesion material layout and the high flexibility are matched for use, and the ball joint can adapt to various contact surfaces (roughness, concave-convex surfaces, inclined surfaces and the like), so that the application range is enlarged.
(2) Active desorption: the traction rope is connected with the adhered toes through motor driving control, the adhered toes are driven by the traction rope to roll actively from the toe tips of the adhered toes, and quick breakage of the adhered boundaries is achieved, so that quick eversion and desorption movement is achieved.
The bionic adhesion end effector with the passive self-adaptive adhesion and the active rapid desorption can effectively improve the adhesion-desorption performance of the bionic dry adhesion wall-climbing robot, improve the stable and rapid movement performance of the adhesion wall-climbing robot, and play a great role in promoting the development of the wall-climbing robot.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a bionic leg in an embodiment of the invention.
FIG. 3 is a schematic structural view of a sole structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of the construction of the toe securing ring in the embodiment of the present invention;
FIG. 5 is a schematic front view of an embodiment of the present invention showing the adhered toes;
FIG. 6 is a schematic view of the back side of an adhered toe of an embodiment of the present invention;
fig. 7 is a cross-sectional view showing the overall structure in the embodiment of the present invention, which includes two states of toe-up (r) and toe-down (r).
In the figure: 1. the bionic leg comprises, by weight, 1-1 parts of a bionic leg, a hollow leg structure, 1-2 parts of a passive ball joint, 1-3 parts of a through hole I, 1-4 parts of a leg fixing seat, 1-5 parts of a motor fixing frame, 1-6 parts of an active desorption driving motor, 2 parts of a bionic foot, 2-1 parts of a through hole II, 2-2 parts of a spring fixing ring, 2-3 parts of a bolt hole, 2-4 parts of a toe fixing ring, 3 parts of an adhesion toe, 3-1 parts of an elastic substrate, 3-2 parts of a flexible cushion, 3-3 parts of a distributed adhesion material, 3-4 parts of a traction rope, 4 parts of a spring fixing disk.
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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
Fig. 1 to 7 are schematic structural views illustrating a preferred embodiment of the present invention, and the passively adaptive adhesion-actively fast desorption biomimetic adhesion end effector illustrated in fig. 1 includes a driving structure integrated biomimetic leg 1, a biomimetic foot 2 with flexible passive freedom, and an adhesion toe 3 with efficient adhesion-desorption performance; as shown in figure 2, the bionic leg 1 comprises a leg fixing seat 1-4, a hollow leg structure 1-1 and a passive ball joint 1-2 which are connected into a whole from top to bottom in sequence, an active desorption driving motor 1-6 is arranged in the hollow leg structure 1-1 through a motor fixing frame 1-5, a spring fixing disc 4 is sleeved above the passive ball joint 1-2, a transverse through hole I1-3 is arranged on the hollow leg structure 1-1 between the passive ball joint 1-2 and the spring fixing disc 4, a cylindrical pin 5 (or other pin structures capable of realizing the same fixing action) is inserted in the through hole I1-3, the bionic leg 1 is connected with the center of the bionic foot 2 below through the ball joint in a matching way, and the bionic foot 2 is connected with a spring fixing disc 4 on the passive ball joint 1-2 of the bionic leg 1 through a plurality of springs 6 on the periphery.
The cylindrical pin 5 penetrates through a through hole I1-3 in a passive ball joint 1-2 at the bottom end of the bionic leg 1 and is supported on the upper surface of the bionic foot 2, as shown in figure 3, the bionic foot 2 comprises a truncated cone sole, a through hole II 2-1 matched with the passive ball joint 1-2 is arranged in the center above the truncated cone sole, and the diameter of the through hole II 2-1 is usually larger than that of the passive ball joint 1-2; four holes are uniformly distributed on the spring fixing disc 4 in the circumferential direction, four spring fixing rings 2-2 are arranged on the upper surface of the truncated cone foot sole at positions corresponding to the four holes, the four holes and the four spring fixing rings 2-2 are respectively used for fixing two ends of four front-back and left-right symmetrical springs 6, the number of the springs, the number of the holes and the number of the spring fixing rings are not limited to four, other numbers can be selected according to needs, and the used springs 6 can also be selected according to the needs to have proper elastic modulus; two ends of the spring 6 are respectively fixed on the spring fixing disc 4 and the spring fixing ring 2-2, so that the passive ball joint 1-2 cannot fall off under the constraint action of the cylindrical pin 5 and the spring 6, and a large-range movement space can be provided. In the embodiment, the 3D printing bionic leg 1 is used, and the structural elements such as the length, the size of the base and the number of screw holes can be properly adjusted according to the requirement.
16 bolt holes 2-3 or other numbers are arranged at equal intervals on the lower edge of the truncated cone sole, the bionic foot 2 further comprises a toe fixing ring 2-4 (shown in figure 4) concentrically arranged with the truncated cone sole, the toe fixing ring 2-4 is of an annular sheet structure, bolt holes with the same number and positions as those of the lower edge of the truncated cone sole are arranged on the toe fixing ring, bolt holes are also arranged at the connecting end of the adhering toe 3 with high-efficiency adhering-desorbing performance and the bionic foot, only two bolt holes are arranged on the adhering toe, and the adhering toe 3 is fixed between the toe fixing ring 2-4 and the lower edge of the truncated cone sole through the bolt holes and screws.
As shown in fig. 5 and 6, each of the adhered toes 3 is mainly composed of an elastic base 3-1, a flexible buffer pad 3-2 and a distributed adhesive material 3-3, wherein the elastic base 3-1 is made of a high-elasticity flexible material (in this embodiment, elastic steel is selected, and P-type copper is also used), the flexible buffer pad 3-2 (polyethylene foam or silicone) is fixed below the elastic base 3-1, and the distributed adhesive material 3-3 is fixed on the lower surface of the flexible buffer pad 3-2, the adhesive material mentioned here is a conventional material in the prior art, and the specific material composition of the present invention is not described in detail. A traction rope 3-4 is embedded in the middle of each elastic substrate 3-1, one end of each traction rope 3-4 is fixed at the toe tip of the adhered toe 3, the other end of each traction rope is connected to an output shaft of the active desorption driving motor 1-6, the traction ropes 3-4 can be driven to contract and expand by positive and negative rotation of the motors, the toes are upwards rolled when the traction ropes 3-4 contract, rapid desorption is facilitated, and otherwise, the adhered toes can be rapidly pressed down due to high elasticity of the substrate material.
Fig. 7 shows a state where the adhered toe is bent upward and contacts the adhered surface in the initial state (i) the toe is bent downward to provide a pre-pressure of the adhering material in adhering contact, thereby achieving more efficient and stable adhesion.
The bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption can be used for various bionic wall-climbing robots, adopts a ball joint and spring combined structure, utilizes a large-range motion space of the ball joint, and applies constraint on the ball joint by matching with the spring and the fixing pin, so that a bionic foot has a flexible and reliably-connected wrist joint, and a passive degree of freedom with compliance is realized; the pre-pressure of the elastic substrate material for adhering toes to the adhering material is utilized to increase the effective contact area between the sole and the adhering surface, and the wide adaptability of the adhering end effector is improved by adopting a distributed adhering material layout mode; the active desorption driving motor is also used for driving the traction rope embedded in the adhered toes to be retracted, the traction rope starts to roll upwards from the toe tips and is torn off, and the rolling and tearing-off mode of gecko toes is simulated, so that the bionic adhered end effector can be used for performing eversion desorption in a labor-saving and rapid mode.
The bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption obtains inspiration from unique adhesion and desorption motions of the gecko, realizes motion modes of passive self-adaptive adhesion and quick active eversion and desorption, and better meets the requirements of various surface motions of the adhesion wall-climbing robot.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiment according to the technical spirit of the present invention are included in the protection scope of the present invention.
Claims (7)
1. A bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption is characterized in that: comprises a bionic leg (1) with an integrated driving structure, a bionic foot (2) with flexible passive freedom degree and a plurality of adhered toes (3) with high-efficiency adhesion-desorption performance; the wrist joint of the bionic leg (1) is connected with the bionic foot (2) in a matched manner through a ball joint and a spring (6), so that passive freedom degree is realized; the adhered toes (3) are fixed on the lower edge of the bionic foot (2), an active desorption driving motor (1-6) is further fixed in the bionic leg (1), and the active desorption driving motor (1-6) controls the adhered toes (3) to lift up through a traction rope.
2. The passively adaptive adhesion-actively rapid desorption biomimetic adhesive end effector as claimed in claim 1, wherein: bionic leg (1) include from last to connecting gradually integrative shank fixing base (1-4), cavity shank structure (1-1) and passive ball joint (1-2) down, install initiative desorption driving motor (1-6) through a motor mount (1-5) in cavity shank structure (1-1), suit a spring fixed disk (4) above passive ball joint (1-2), be equipped with horizontal through-hole I (1-3) on cavity shank structure (1-1) between passive ball joint (1-2) and spring fixed disk (4), the fixed pin is established in through-hole I (1-3) interpolation, bionic leg (1) is connected in the center of bionic leg (2) below through passive ball joint (1-2) cooperation, and bionic leg (2) are through many springs (6) all around and bionic leg (1) passive ball joint (1-2) The upper spring fixing disc (4) is connected.
3. The passively adaptive adhesion-actively rapid desorption biomimetic adhesive end effector as claimed in claim 2, wherein: the bionic foot (2) comprises a truncated cone sole, a through hole II (2-1) matched with the passive ball joint (1-2) is formed in the center above the truncated cone sole, the lower edge of the truncated cone sole is fixedly connected with a concentric toe fixing ring (2-4) after extending, toes (3) are fixedly adhered through the toe fixing ring (2-4), a plurality of spring fixing rings (2-2) are fixedly arranged on the periphery of the truncated cone sole, and the number of the spring fixing rings (2-2) is consistent with that of springs (6) and is connected with the springs (6).
4. The passively adaptive adhesion-actively rapid desorption biomimetic adhesive end effector as claimed in claim 1, wherein: each adhered toe (3) comprises an elastic substrate (3-1) and distributed adhered materials (3-3), the elastic substrate (3-1) is made of high-elasticity materials, the distributed adhered materials (3-3) are fixed on the lower surface of the elastic substrate (3-1), an embedded traction rope (3-4) is fixed in the middle of each elastic substrate (3-1), one end of each traction rope (3-4) is fixed at the toe tip of the adhered toe, and the other end of each traction rope is connected to an output shaft of an active desorption driving motor (1-6).
5. The passively adaptive adhesion-actively rapid desorption biomimetic adhesive end effector as claimed in claim 4, wherein: the elastic substrate (3-1) is made of elastic steel or P-type copper, the elastic substrate (3-1) is bent upwards in the original state, and when the lower surface of the elastic substrate is subjected to certain pressure, the elastic substrate is quickly changed into downward bending; before the elastic substrate (3-1) contacts the adhered surface, the active desorption driving motor (1-6) tightens the traction rope, and the elastic substrate (3-1) is bent upwards; when the elastic substrate (3-1) contacts the adhered surface, the active desorption driving motor (1-6) releases the pulling rope, and the elastic substrate (3-1) is rapidly bent downwards.
6. The passively adaptive adhesion-actively rapid desorption biomimetic adhesive end effector as claimed in claim 4, wherein: the adhesive toe (3) further comprises a flexible buffer pad (3-2), and the flexible buffer pad (3-2) is fixed between the elastic substrate (3-1) and the distributed adhesive material (3-3).
7. The bionic adhesion end effector with passive self-adaptive adhesion and active quick desorption as claimed in claim 4, wherein: the distributed adhesive materials (3-3) adopt a discretization distributed layout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010802225.4A CN111891243A (en) | 2020-08-11 | 2020-08-11 | Bionic adhesion end effector with passive self-adaptive adhesion and active rapid desorption |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010802225.4A CN111891243A (en) | 2020-08-11 | 2020-08-11 | Bionic adhesion end effector with passive self-adaptive adhesion and active rapid desorption |
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| CN111891243A true CN111891243A (en) | 2020-11-06 |
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| CN202010802225.4A Pending CN111891243A (en) | 2020-08-11 | 2020-08-11 | Bionic adhesion end effector with passive self-adaptive adhesion and active rapid desorption |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070289786A1 (en) * | 2006-04-17 | 2007-12-20 | Cutkosky Mark R | Climbing with dry adhesives |
| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
| CN108583941A (en) * | 2018-03-08 | 2018-09-28 | 南京航空航天大学 | Adapt to the bionic wall climbing robot of complicated small space in the microgravity environment of space station |
| CN111422276A (en) * | 2020-04-20 | 2020-07-17 | 江苏警官学院 | Variable-rigidity self-adaptive gecko-like leg with active adhesion and desorption, robot and method |
-
2020
- 2020-08-11 CN CN202010802225.4A patent/CN111891243A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070289786A1 (en) * | 2006-04-17 | 2007-12-20 | Cutkosky Mark R | Climbing with dry adhesives |
| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
| CN108583941A (en) * | 2018-03-08 | 2018-09-28 | 南京航空航天大学 | Adapt to the bionic wall climbing robot of complicated small space in the microgravity environment of space station |
| CN111422276A (en) * | 2020-04-20 | 2020-07-17 | 江苏警官学院 | Variable-rigidity self-adaptive gecko-like leg with active adhesion and desorption, robot and method |
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Application publication date: 20201106 |