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Active Adhesion-Detachment Variable Stiffness Adaptive Gecko Imitation Leg and Robot and Method

A variable stiffness and self-adaptive technology, applied in the fields of motor vehicles, transportation and packaging, etc., can solve the problems of space surface adaptability, lack of active adhesion function, etc.

Active Publication Date: 2021-04-27
JIANGSU POLICE INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] So far, similar adhesive robot feet only have a simple detachable cable transmission, do not have active adhesion function, and no research has been carried out on the space surface adaptability

Method used

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  • Active Adhesion-Detachment Variable Stiffness Adaptive Gecko Imitation Leg and Robot and Method
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  • Active Adhesion-Detachment Variable Stiffness Adaptive Gecko Imitation Leg and Robot and Method

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Embodiment Construction

[0029] Below in conjunction with accompanying drawing and specific embodiment the present invention is further described:

[0030] combine Figure 1-10 , the present embodiment is an active adhesion-detachment variable stiffness self-adaptive imitation gecko leg and robot and method, including a left front leg A, a left middle leg B, a left rear leg C, a right front leg D, a right middle leg E, and a right rear leg Leg F, connecting plate G, connecting plate H, Z-axis first steering gear 1, Z-axis first steering gear double U-shaped connector 2, X-axis first steering gear 3, X-axis second steering gear 4. X-axis steering gear connection plate 5, X-axis steering gear connection plate 6, X-axis second steering gear U-shaped connector 7, fixed cap 8, leg support rod 9, bionic sole 10, wire steering gear 11. Upper fixing part 12 of the wire steering gear, lower fixing part 13 of the wire steering gear, a hole 13a of the lower fixing part of the wire steering gear, b hole 13b of t...

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Abstract

The invention relates to a variable stiffness self-adaptive gecko imitation leg with active adhesion and detachment, a robot and a method, and belongs to the technical field of robot application. The main feature of the self-adaptive imitation gecko leg with variable stiffness is its bionic sole (10). The above-mentioned bionic foot (10) includes: a wire steering gear (11), a wire steering gear upper fixing part (12), a wire steering gear lower fixing part (13), a rotating support frame (14), a rotating flange (15), a ball Head (16), ball joint upper cover (17), sole fixture (18); also includes N sole units of the same structure that are evenly arranged around the sole fixture (18); wherein N is a natural number of 3‑9 . The self-adaptive imitation gecko leg and the robot of the invention have active adhesion and detachment movement functions, meet the space surface self-adaptive requirements, and can be applied to the structural design of micro-miniature adhesion-footed robots.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a variable stiffness self-adaptive gecko imitation leg with active adhesion and detachment, a robot and a method, which are mainly used in the structural design of miniature adhesion-footed robots. [0002] technical background [0003] Robot is one of the most important high technologies in the world today. It integrates computer, microelectronics, sensing, automatic control and other technologies, and has become one of the important symbols to measure a country's technological level and comprehensive national strength. Micro-adhesive robots are an important branch of robots. They are designed to solve some mechanical problems by referring to some mechanisms of organisms. In nature, geckos can walk freely on smooth walls, and even stick to the ceiling and crawl quickly. Taking the big gecko as the bionic object, it is expected to develop a bionic robot that ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 关琳刘琦杨先一
Owner JIANGSU POLICE INST
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