Passive negative pressure adsorption micro-miniature wall-climbing robot foot mechanism with touch sense

A wall-climbing robot and adsorption mechanism technology, applied in the field of intelligent robots, can solve the problems of difficult miniaturization and low function-to-mass ratio, and achieve the effects of expanded moving range, high measurement sensitivity, and wide frequency response

Inactive Publication Date: 2019-09-20
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0002] At present, wall-climbing robots generally adopt active negative pressure adsorption methods, which are divided into negative pressure adsorption methods, magnetic adsorption methods, and inferential adsorption methods.

Method used

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  • Passive negative pressure adsorption micro-miniature wall-climbing robot foot mechanism with touch sense
  • Passive negative pressure adsorption micro-miniature wall-climbing robot foot mechanism with touch sense
  • Passive negative pressure adsorption micro-miniature wall-climbing robot foot mechanism with touch sense

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Embodiment Construction

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0023] Such as figure 1 As shown, the present invention has a passive negative pressure wall-climbing robot foot mechanism with a sense of touch, including a control system and a foot diameter 1 connected to the legs of the wall-climbing robot. The lower end of the foot diameter 1 is connected to the stator of the ankle joint 2, and the ankle The rotor of the joint 2 is connected with the adsorption mechanism; the control system includes a control module, a stepper motor driver and a signal conditioning circuit, wherein the control module u...

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Abstract

The invention discloses a passive negative pressure adsorption micro-miniature wall-climbing robot foot mechanism with a touch sense. The robot foot mechanism comprises a control system and a foot rod connected with a leg of a robot, the lower end of the foot rod is connected with an adsorption mechanism through an ankle joint, the adsorption mechanism comprises a rigid supporting body, lip edges made of an elastic material, a filter screen, a stepping motor, a gear and a polyvinylidene fluoride piezoelectric film sensor, the piezoelectric film sensor comprises three piezoelectric films which are annularly and uniformly attached to the inner sides of the lip edges, the total pressure value between the robot and the wall surface can be measured, and the flatness of the wall surface can be sensed; and the control module is used for adjusting the size of the adsorption force of the foot mechanism and the rotation angle of the ankle joint according to the information fed back by the sensor, so that the wall-climbing robot can adapt to the curvature change of the wall surface and stably adsorb on the wall surface. The foot mechanism is small in size, simple in structure, does not need a vacuum source and has certain adsorption capacity, so that the foot mechanism can be used as the foot mechanism of a micro-miniature wall-climbing robot.

Description

technical field [0001] The invention relates to a passive negative pressure adsorption miniature wall-climbing robot foot mechanism with tactile sensation, which belongs to the technical field of intelligent robots. Background technique [0002] At present, wall-climbing robots generally adopt active negative pressure adsorption methods, which are divided into negative pressure adsorption methods, magnetic adsorption methods, and inferential adsorption methods. There are also many forms of motion for wall-climbing robots, such as wheeled, footed, bionic, etc., while footed wall-climbing robots are relatively adaptable to the environment, and at the same time, the negative pressure adsorption method can be more firmly adsorbed on the wall , so the development of footed wall-climbing robots is relatively fast; there is a high demand for research on the foot structure of wall-climbing robots, because the smoothness of the wall and surface flatness have a great impact on the foo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 王从庆古嘉樾姜俊俊
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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