The invention relates to a bidirectional active controllable adhesion and desorption mechanism, and relates to the technical field of robots. Comprising an outer side support, a steering engine side support, a steering engine, a cam, a pushing structure, a rolling shaft wheel, a rubber soft foot pad, an adhesion material, a first plastic conveying belt and a second plastic conveying belt. The steering engine is installed on the steering engine side support, the cam and a steering engine rotating shaft are concentrically installed, and the pushing structure is arranged between the outer side support and the steering engine side support in a sliding mode. A rolling shaft wheel is mounted on the bottom side of the pushing structure; a fixing shaft is installed on the lower sides of the outer side support and the steering engine side support, and one end of the rubber soft foot pad is rotationally connected to the fixing shaft. The rubber soft foot pad is connected with the adhesive material; the adhesion material is connected with one end of the first plastic conveying belt, and the other end of the first plastic conveying belt is connected with the pushing structure. One end of the second plastic conveying belt is connected with the rubber soft foot pad, and the other end of the second plastic conveying belt is fixed to the cam shaft. The problem that an existing foot type climbing robot is unstable in sole adhesion on a vertical wall surface or a negative plane can be effectively solved.

    本发明关于一种双向主动可控黏脱附机构,涉及机器人技术领域。包括外侧支架、舵机侧支架、舵机、凸轮、推动结构、滚轴轮、橡胶软脚垫、黏附材料、塑料传送带一和塑料传送带二;舵机安装在舵机侧支架上,凸轮与舵机转轴同心安装,推动结构滑动设置在外侧支架与舵机侧支架间;推动结构底侧安装有滚轴轮;外侧支架与舵机侧支架下侧安装有固定轴,橡胶软脚垫的一端转动连接在固定轴上;橡胶软脚垫与黏附材料相连;黏附材料与塑料传送带一的一端相连,塑料传送带一的另一端与推动结构相连;塑料传送带二的一端与橡胶软脚垫相连,塑料传送带二的另一端固定在凸轮轴上。本发明能有效解决现有足式攀爬机器人在竖直墙面或负平面的脚掌黏附不稳定的问题。


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    Title :

    Bidirectional active controllable adhesion and desorption mechanism


    Additional title:

    一种双向主动可控黏脱附机构


    Contributors:
    WANG ZHOUYI (author) / SONG YIFAN (author) / WANG BINGCHENG (author) / DAI ZHENDONG (author)

    Publication date :

    2023-01-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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