CN114475840A - Bionic claw-pricking foot with endoskeleton constraint - Google Patents
Bionic claw-pricking foot with endoskeleton constraint Download PDFInfo
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- CN114475840A CN114475840A CN202210036228.0A CN202210036228A CN114475840A CN 114475840 A CN114475840 A CN 114475840A CN 202210036228 A CN202210036228 A CN 202210036228A CN 114475840 A CN114475840 A CN 114475840A
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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
The invention discloses a bionic claw-stabbing foot with endoskeleton constraint, which comprises a claw-stabbing foot structure shell, wherein the tail end of a claw-stabbing flexible structure is connected with a claw-stabbing foot structure cover plate positioned in a reserved square hole at the top of the shell, and the claw-stabbing flexible structure is positioned in a reserved space in the shell and is separated by a shell partition plate. The claw spine flexible structure is constrained by an inner skeleton, the inner part of the claw spine flexible structure adopts a rigid structure, the outer part of the claw spine flexible structure adopts a flexible structure, the front end of the flexible structure is a rigid structure, and the rigid structure in the claw spine flexible structure is wrapped in the flexible structure; the back end is a flexible structure in a shape like a Chinese character 'ji', parametric structure design can be realized, and a gap is reserved between the flexible structure and an internal rigid structure. The design effectively separates the tangential rigidity and the normal rigidity of the foot acupunctatus from each other.
Description
Technical Field
The invention belongs to the technical field of engineering bionics and mechanical design and manufacture, and relates to a bionic claw stabbing foot with endoskeleton constraint.
Background
The bionic claw-thorn type wall-climbing robot simulates the principle that sharp claws and barbs of feet of insects grab on rough surfaces, can climb on steep and even vertical rough walls, and has wide application prospect in the fields of bridge detection, disaster search and rescue, military reconnaissance, asteroid detection and the like. At present, the research on the climbing technology of the wall climbing robot is mature day by day. However, most studies on the claw-stabbed foot have focused on a rigid structure, and less studies have been made on the claw-stabbed foot having a compliant structure.
The claw thorn foot is a key component for the bionic claw thorn type wall climbing robot to climb. Claw or hook mechanisms are ubiquitous on animals such as insects and primarily function as adhesion. The bionic claw thorn adhering mode is suitable for rough, hard and dusty surface environments widely existing in the nature. Currently, the following are typical:
1. the DROP robot developed by the United states Jet Propulsion Laboratory (JPL) adopts a wheel type structure, can crawl on a rough wall surface, although the crawling speed is high, the desorption mode is passive desorption, the condition of claw thorn fracture is easy to generate, and the crawling efficiency of the robot is seriously influenced;
the RiSE V3 robot, using a medical needle as a paw prick, weighs 5.4kg, has a body length of 70cm and a tail length of 28cm, can crawl on a wooden pole at a speed of 21cm/s, but fails to achieve independent design of tangential and normal stiffness.
Disclosure of Invention
The invention aims to provide a bionic claw-pricking foot with endoskeleton constraint, aiming at the problem that the tangential and normal stiffness of the existing claw-pricking flexible structure are coupled to cause difficulty in the design of the whole structure.
The bionic claw-pricking foot with endoskeleton constraint comprises a claw-pricking foot structure shell, wherein a plurality of claw-pricking flexible structures are installed inside the claw-pricking foot structure shell, the tail parts of the claw-pricking flexible structures are in contact with a claw-pricking foot structure cover plate, and the claw-pricking flexible structures are fixed inside the claw-pricking foot structure shell by the claw-pricking foot structure cover plate, so that tangential deformation and normal deformation are respectively generated when the tip ends of the claw-pricking flexible structures are stressed, and tangential rigidity and normal rigidity are respectively generated by the tangential deformation and the normal deformation.
The invention is also characterized in that:
the top one side of sufficient structural shell of claw is equipped with shell top reservation square hole, and the inside of sufficient structural shell of claw has the inside reservation space of a plurality of shell through shell baffle equidistance partition.
The claw thorn flexible structures are positioned in the reserved space in the shell, every two claw thorn flexible structures are separated by the shell partition plate, and meanwhile, the claw thorn flexible structures do not contact the surface of the reserved space in the shell.
The claw-stabbed foot structure cover plate comprises a cover plate upper large block, and a plurality of cover plate lower small blocks are arranged below the cover plate upper large block at intervals.
The small block at the lower part of the cover plate is positioned in the reserved square hole at the top of the shell, and the upper part of the tail end of the claw flexible structure is contacted and connected with the bottom surface of the small block at the lower part of the cover plate; the big block on the upper part of the cover plate is positioned in the reserved square hole on the top of the shell.
The claw spine compliant structure includes an outer compliant structure and an inner rigid structure. The outer flexible structure is formed by pouring two types of silica gel with different hardness, the harder silica gel is poured and formed into a front-end rigid structure, and the softer silica gel is poured and formed into a rear-end flexible structure. In the pouring process, the acupuncture needle is bent to be used as an internal rigid structure to be placed in the external flexible structure, the front end rigid structure is completely contacted with the internal rigid structure, and a gap is reserved between the rear end flexible structure and the internal rigid structure.
The front end rigid structure wraps the internal rigid structure in the internal part of the front end rigid structure; the back end flexible structure adopts a structure like a Chinese character 'ji'.
The invention has the following beneficial effects:
1. the claw thorn foot structure adopts a claw thorn flexible structure with endoskeleton constraint, effectively solves the problem that the existing claw thorn flexible structure is difficult to design due to coupling of tangential rigidity and normal rigidity, and can realize independent design of the tangential rigidity and the normal rigidity;
2. the claw spine flexible structure adopts a design concept of a Chinese character ji shape, and parametric design of the claw spine flexible structure can be realized.
Drawings
FIG. 1 is a schematic structural view of a claw foot of the present invention having endoskeletal constraints;
FIG. 2 is a cross-sectional view of a claw foot of the present invention with endoskeletal constraints;
FIG. 3 is a schematic view of a structural shell of the midfoot pawl with endoskeletal constraints of the present invention;
FIG. 4 is a schematic view of a structural cover plate of the midfoot pawl with endoskeletal constraints of the present invention;
FIG. 5 is a schematic representation of a talar compliant structure in a talar foot with endoskeletal constraints of the present invention;
FIG. 6 is a schematic representation of cross-sectional views of portions of a talar compliant structure in a talar foot having endoskeletal constraints in accordance with the present invention.
In the figure, 1, a claw stabbing foot structure shell, 1-1, a reserved square hole at the top of the shell, 1-2, a reserved space in the shell and 1-3, a shell partition plate are arranged;
2. 2-1, a large block at the upper part of the cover plate, and 2-2, a small block at the lower part of the cover plate;
3. the claw thorn flexible structure comprises 3-1 parts of an external flexible structure, 3-1-1 parts of a front end rigid structure and 3-1-2 parts of a rear end flexible structure; 3-2, internal rigid structure.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
The bionic claw-pricking foot with endoskeleton constraint comprises a claw-pricking foot structure shell 1, a claw-pricking foot structure cover plate 2 and a plurality of claw-pricking flexible structures 3 as shown in figure 1.
As shown in fig. 2, the tail of the claw flexible structure 3 is in contact with the claw flexible structure cover plate 2, and the claw flexible structure 3 is fixed inside the claw flexible structure shell 1, so that the tip of the claw flexible structure 3 generates tangential deformation and normal deformation when being stressed, and the tangential rigidity and the normal rigidity are generated by the two deformations.
As shown in figure 3, a shell top reserved square hole 1-1 is formed in the right end of the top of the shell 1 of the claw-stabbing foot structure, and shell inner reserved spaces 1-2 and shell partition plates 1-3 which are uniformly distributed are formed in the shell 1 of the claw-stabbing foot structure.
As shown in figure 4, the claw-stabbed foot structure cover plate 2 comprises a cover plate upper large block 2-1, and a plurality of cover plate lower small blocks 2-2 are arranged below the cover plate upper large block 2-1 at intervals.
The claw spine flexible structure 3 is positioned in the reserved space 1-2 in the shell, every two claw spine flexible structures 3 are separated by the shell partition board 1-3, meanwhile, the claw spine flexible structure 3 does not contact the surface of the reserved space 1-2 in the shell, and a certain gap is reserved between the claw spine flexible structure and the shell spine flexible structure; the small block 2-2 at the lower part of the cover plate is positioned in the reserved square hole 1-1 at the top of the shell, and the upper part of the tail end of the claw flexible structure 3 is contacted with and connected with the bottom surface of the small block 2-2 at the lower part of the cover plate; the large block 2-1 at the upper part of the cover plate is positioned in the reserved square hole 1-1 at the top of the shell; the claw-stabbed foot structure cover plate 2 is integrally formed by 3D printing of a nylon material; the large block 2-1 at the upper part of the cover plate and the small block 2-2 at the lower part of the cover plate are formed by pouring, and the adopted material is silica gel; the number of the reserved space 1-2 in the shell, the small block 2-2 at the lower part of the cover plate and the claw flexible structure 3 is the same.
As shown in fig. 5 and 6, the claw spine compliant structure 3 comprises an outer compliant structure 3-1 and an inner rigid structure 3-2, wherein the outer compliant structure 3-1 is formed by pouring two types of silica gel with different hardness, the harder silica gel is poured into the front end rigid structure 3-1-1, and the softer silica gel is poured into the rear end flexible structure 3-1-2. During the pouring process, the acupuncture needle is bent to be used as an internal rigid structure 3-2 and placed in an external flexible structure 3-1. The front end rigid structure 3-1-1 is completely contacted with the internal rigid structure 3-2, and a gap is reserved between the rear end flexible structure 3-1-2 and the internal rigid structure 3-2 so as to ensure that the claw spines can be restored after being stressed.
The front end rigid structure 3-1-1 wraps the internal rigid structure 3-2 in the front end rigid structure, so that the internal rigid structure 3-2 is not easy to damage; the flexible structure 3-1-2 at the rear end adopts a structure shaped like a Chinese character ji, and the parametric design of the claw thorn flexible structure is realized by different arrangements of the width and the length of each part of the structure shaped like a Chinese character ji.
Claims (7)
1. Bionic claw-pricking foot with endoskeleton constraint, which is characterized in that: the claw thorn foot structure comprises a claw thorn foot structure shell, wherein a plurality of claw thorn flexible structures are arranged inside the claw thorn foot structure shell, the tail parts of the claw thorn flexible structures are in contact with a claw thorn foot structure cover plate, and the claw thorn flexible structures are fixed inside the claw thorn foot structure shell by the claw thorn foot structure cover plate, so that tangential deformation and normal deformation are respectively generated when the tip ends of the claw thorn flexible structures are stressed, and tangential rigidity and normal rigidity are respectively generated by the tangential deformation and the normal deformation.
2. The biomimetic claw puncture foot with endoskeletal constraint of claim 1, wherein: the top one side of sufficient structural shell is stabbed to the claw is equipped with shell top and reserves the square hole, and the inside of sufficient structural shell is stabbed to the claw has the inside headspace of a plurality of shell through shell baffle equidistance partition.
3. The biomimetic claw puncture foot with endoskeletal constraint of claim 2, wherein: the claw thorn flexible structures are located in the reserved space in the shell, every two claw thorn flexible structures are separated by the shell partition plate, and meanwhile the claw thorn flexible structures do not contact the surface of the reserved space in the shell.
4. The biomimetic claw puncture foot with endoskeletal constraint of claim 3, wherein: the claw stabbing foot structure cover plate comprises a cover plate upper large block, and a plurality of cover plate lower small blocks are arranged below the cover plate upper large block at intervals.
5. The biomimetic claw puncture foot with endoskeletal constraint of claim 4, wherein: the small block at the lower part of the cover plate is positioned in the reserved square hole at the top of the shell, and the upper part of the tail end of the claw flexible structure is contacted and connected with the bottom surface of the small block at the lower part of the cover plate; the big block on the upper part of the cover plate is positioned in the reserved square hole on the top of the shell.
6. The biomimetic claw puncture foot with endoskeletal constraint of claim 5, wherein: the claw thorn gentle and agreeable structure includes outside gentle and agreeable structure and inside rigid structure, and outside gentle and agreeable structure adopts the silica gel of two kinds of different hardnesses to pour and forms, and harder silica gel pours the shaping into front end rigid structure, and softer silica gel pours the shaping into rear end flexible structure, at the in-process of pouring, bends the acupuncture needle and places outside gentle and agreeable structure as inside rigid structure in, and front end rigid structure and inside rigid structure contact completely leave the clearance between rear end flexible structure and the inside rigid structure.
7. The biomimetic claw puncture foot with endoskeletal constraint of claim 6, wherein: the front end rigid structure wraps the internal rigid structure in the front end rigid structure; the back end flexible structure adopts a structure like a Chinese character 'ji'.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210036228.0A CN114475840B (en) | 2022-01-13 | 2022-01-13 | Bionic claw-pricking foot with endoskeleton constraint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210036228.0A CN114475840B (en) | 2022-01-13 | 2022-01-13 | Bionic claw-pricking foot with endoskeleton constraint |
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| CN114475840A true CN114475840A (en) | 2022-05-13 |
| CN114475840B CN114475840B (en) | 2023-01-24 |
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| CN202210036228.0A Active CN114475840B (en) | 2022-01-13 | 2022-01-13 | Bionic claw-pricking foot with endoskeleton constraint |
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Citations (7)
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|---|---|---|---|---|
| JPS58224870A (en) * | 1982-06-24 | 1983-12-27 | Toshiba Corp | Travel gear |
| CN101049838A (en) * | 2007-05-22 | 2007-10-10 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| US20070289786A1 (en) * | 2006-04-17 | 2007-12-20 | Cutkosky Mark R | Climbing with dry adhesives |
| CN103434581A (en) * | 2013-08-08 | 2013-12-11 | 大连理工大学 | Sole mechanism for robots |
| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN207943100U (en) * | 2018-03-14 | 2018-10-09 | 中国科学院合肥物质科学研究院 | A kind of Bionic flexible pawl thorn is to grabbing sufficient constructed machine people |
| CN110641572A (en) * | 2019-09-29 | 2020-01-03 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
-
2022
- 2022-01-13 CN CN202210036228.0A patent/CN114475840B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58224870A (en) * | 1982-06-24 | 1983-12-27 | Toshiba Corp | Travel gear |
| US20070289786A1 (en) * | 2006-04-17 | 2007-12-20 | Cutkosky Mark R | Climbing with dry adhesives |
| CN101049838A (en) * | 2007-05-22 | 2007-10-10 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN103434581A (en) * | 2013-08-08 | 2013-12-11 | 大连理工大学 | Sole mechanism for robots |
| CN207943100U (en) * | 2018-03-14 | 2018-10-09 | 中国科学院合肥物质科学研究院 | A kind of Bionic flexible pawl thorn is to grabbing sufficient constructed machine people |
| CN110641572A (en) * | 2019-09-29 | 2020-01-03 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
Non-Patent Citations (2)
| Title |
|---|
| YANWEI LIU, XIANG HUANG, HAO PAN: "Design of a Spiny Foot with Fluid-filled Sacs for Climbing Robots", 《PROCEEDINGS OF THE 2021 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS》 * |
| 刘彦伟，刘三娃，梅涛等: "一种仿生爪刺式履带爬壁机器人设计与分析", 《机器人》 * |
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| CN114475840B (en) | 2023-01-24 |
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