The invention belongs to the technical field of climbing robots, and relates to a variable-structure climbing robot with a posture regulation and control function, which comprises a plurality of adhesion wheel systems arranged on a chassis system, the adhesion wheel system comprises a flexible magnetic-sensitive rubber adhesion layer, a hub and a driving motor; the flexible magnetic sensitive rubber adhesion layer is attached to the outer ring of the hub in a covering mode. The driving motor is fixedly arranged on the chassis system, is connected with the hub and drives the hub to rotate; an annular piezoresistive sensor for detecting the pressure change of the hub is arranged between the flexible magnetic sensitive rubber adhesion layer and the hub; the flexible magnetic-sensitive rubber adhesion layer is made of a magnetorheological elastomer material; an electromagnetic induction coil is further arranged in the inner ring of the hub, and the surface friction coefficient of the flexible magnetic-sensitive rubber adhesion layer is changed by controlling a magnetic field generated by the electromagnetic induction coil. According to the invention, the adhesion characteristic and the climbing mechanism of the foot end of the gecko animal are used for reference, and the device has the advantages of posture detection, adjustable structure and the like.

    本发明属于攀爬机器人技术领域,涉及一种具备姿态调控功能的变结构攀爬机器人,包括若干个设于底盘系统上的粘附轮系统;所述粘附轮系统包括柔性磁敏橡胶粘附层、轮毂、驱动电机;所述柔性磁敏橡胶粘附层覆贴于所述轮毂的外圈上;所述驱动电机固定设于所述底盘系统上,并与轮毂连接,驱动轮毂转动;所述柔性磁敏橡胶粘附层与轮毂之间设有用于检测轮毂压力变化的环形压阻传感器;所述柔性磁敏橡胶粘附层采用磁流变弹性体材料制成;所述轮毂的内圈中还设有电磁感应线圈,通过控制所述电磁感应线圈产生的磁场,实现所述柔性磁敏橡胶粘附层表面摩擦系数的改变。本发明借鉴壁虎科动物足端的粘附特性与攀附机理,具备姿态检测及结构可调控等优点。


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    Title :

    Variable-structure climbing robot with posture regulation and control function


    Additional title:

    一种具备姿态调控功能的变结构攀爬机器人


    Contributors:
    LI RUI (author) / ZHOU CHONGCHUAN (author) / YANG XINGYI (author) / LIU XIAO (author) / CAI JUN (author) / YANG PING'AN (author) / SHOU MENGJIE (author) / ZOU MO (author) / WANG YU (author) / CHEN DACHAO (author)

    Publication date :

    2022-09-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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