Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method
阅读说明:本技术 具有主动粘/脱附能力的变刚度自适应仿壁虎脚掌及方法 (Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method ) 是由 俞志伟 刘琦 熊建宇 杨先一 吉爱红 郭策 王周义 戴振东 于 2020-04-20 设计创作,主要内容包括:本发明的目的在于提供一种具有主动粘/脱附能力的变刚度自适应仿壁虎脚掌及方法,属于机器人技术领域。该脚掌包括:牵线舵机(1)、牵线舵机上端固定件(2)、牵线舵机下端固定件(3)、旋转支撑架(4)、旋转法兰(5)、球头(6)、球关节上盖(7)、脚掌固定件(8)、N个结构相同的脚掌单元。每个脚掌单元包括一片脚掌片、一片脚掌片粘附材料、一个脚掌轴元件、一个多节式运动伸缩杆、一个复位弹簧、一根脚掌片形变线。本发明可以主动驱动多个脚掌,实现主动粘附和主动脱附功能;采用复位弹簧约束自适应球关节,既保证了脚掌能与空间表面贴合,又实现在不受力状态下恢复到初始位置。(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.)
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.
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
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
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
The first three-section type motion
This sole is provided with 4 reset spring, is respectively: a
This sole is provided with 4 hairlines, is respectively: first sole piece-shaped
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
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
As shown in fig. 4, when the rotary output end of the wire-pulling
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