The invention discloses a flexible foot which comprises a first fixing frame, a first electromagnet, a mounting seat, a second fixing frame, a second electromagnet and a foot part, the first electromagnet is fixed to the bottom of the first fixing frame. The mounting base is hinged to the first fixing frame, and a mounting hole site is formed in the mounting base; the second fixing frame is arranged on the opposite side of the mounting seat; the second electromagnet is fixed to the bottom of the second fixing frame. The foot part is connected between the mounting seat and the second fixing frame, the foot part is made of a flexible material, a telescopic driving assembly is arranged on the foot part, and the telescopic driving assembly is used for enabling the foot part to realize telescopic deformation. According to the invention, the foot parts are driven to elastically stretch out and draw back and are matched with the electromagnets, so that the process that the flexible feet walk and crawl on the surface of the ship body can be realized, the flexible feet serve as a mobile platform to carry corresponding sensors to replace manual detection on the ship body, and meanwhile, climbing detection can be carried out on steep parts of the ship body; and the detection range is wider.
本发明公开了一种柔性足,包括第一固定架、第一电磁铁、安装座、第二固定架、第二电磁铁和足部;第一电磁铁固定在第一固定架的底部;安装座与第一固定架铰接,安装座上设有安装孔位;第二固定架设置在安装座的对侧;第二电磁铁固定在第二固定架的底部;足部连接在安装座与第二固定架之间,足部为柔性材料构成,且足部上设有伸缩驱动组件,伸缩驱动组件用于使足部实现伸缩变形。本发明通过驱动足部进行弹性伸缩并且与各电磁铁之间的配合,能够实现柔性足在船体表面行走爬行的过程,从而充当移动平台搭载相应传感器来代替人工实现对船体检测,同时能够对船体的陡峭部分进行攀爬检测,使得检测范围更为广泛。
Flexible foot and modular flexible robot
一种柔性足及模块化柔性机器人
2023-08-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Flexible multi-foot cooperative operation climbing robot
European Patent Office | 2021
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