The invention aims to provide a variable-rigidity self-adaptive gecko-imitated sole with active adhesion/desorption capacity and a method and belongs to the technical field of robots. The foot sole 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 supporting frame (4), a rotary flange (5), a ball head (6), a ball joint upper cover (7), a foot sole fixing piece (8) and N foot sole units of the same structure, wherein each sole unit comprises a sole piece, a sole piece adhesive material, a sole shaft element, a multi-section motion telescopic rod, a reset spring and a sole piece deformation line. The foot sole is advantaged in that a plurality of soles can be actively driven to realize active adhesion and active desorption functions, a reset spring is adopted to restrain the self-adaptive ball joint, that the foot sole can be attached to the space surface is guaranteed, and a self-adaptive ball joint can return to the initial position in an unstressed state.

    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。


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    Titel :

    Variable-rigidity self-adaptive gecko-imitated sole with active adhesion/desorption capacity and method


    Weitere Titelangaben:

    具有主动粘/脱附能力的变刚度自适应仿壁虎脚掌及方法


    Beteiligte:
    YU ZHIWEI (Autor:in) / LIU QI (Autor:in) / XIONG JIANYU (Autor:in) / YANG XIANYI (Autor:in) / JI AIHONG (Autor:in) / GUO CE (Autor:in) / WANG ZHOUYI (Autor:in) / DAI ZHENDONG (Autor:in)

    Erscheinungsdatum :

    2020-09-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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