The invention discloses a bionic dry adhesion sole with a rigid-flexible combined structure. The bionic dry adhesion sole comprises an upper rigid sole, a middle adjustable flexible foot pad and a bottom bionic dry adhesion material layer, the adjustable flexible foot pad is adhered to the lower surface of the rigid sole, and the bionic dry adhesion material layer is adhered to the lower surface of the adjustable flexible foot pad; the rigid sole comprises a shank, a radial spherical plain bearing and a sole; the adjustable flexible foot pad is a flexible layer prepared from a polydimethylsiloxane (PDMS) material, and the rigidity of the adjustable flexible foot pad is adjusted according to the proportion of all components in material preparation to control the deformation degree of the bionic dry adhesion material layer; and the bionic dry adhesion material layer is made of a bionic dry adhesion material. The bionic dry adhesion sole has the advantages that the utilization rate of thesole adhesion material is remarkably increased, and the total adhesion area can reach 70% to 95% of the total area of the adhesion material in an effective adhesion area test; the increase of the effective adhesion area means the increase of the adhesion force of the robot in the foot sole using process.
本发明公开一种具有刚柔结合结构的仿生干黏附脚掌,包括上层的刚性脚掌、中间层的可调柔性脚垫和底层的仿生干黏附材料层,可调柔性脚垫粘合在刚性脚掌的下表面上,仿生干黏附材料层粘合在可调柔性脚垫的下表面上;刚性脚掌包括一个小腿、一个向心关节轴承和一个脚掌;可调柔性脚垫采用聚二甲基硅氧烷PDMS材料制备而成的柔性层,可调柔性脚垫通过材料制备中各组分的配比调节刚度,来控制仿生干黏附材料层的形变程度;仿生干黏附材料层采用仿生干黏附材料制成。优点:本发明脚掌,显著增加了对足底黏附材料的利用率,从有效黏附面积的测试中看到,总体的黏附面积能达到黏附材料总面积的70%—95%;有效黏附面积的增加,意味着机器人使用脚掌过程中黏附力的增加。
Bionic dry adhesion sole with rigid-flexible combined structure
具有刚柔结合结构的仿生干黏附脚掌
2021-01-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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