The invention discloses an adsorption supporting leg for bionic gecko climbing, the adsorption supporting leg is used on the trunk of a bionic gecko, the adsorption supporting leg comprises a planetary gear type adsorption mechanism, the planetary gear type adsorption mechanism comprises a limiting fluted disc and a supporting cylinder movably installed on the limiting fluted disc, an inner gear ring and an arc-shaped groove are machined on the limiting fluted disc, and the supporting cylinder is movably installed on the limiting fluted disc. A small gear is movably installed in the arc-shaped groove and meshed with the inner gear ring, the supporting cylinder comprises an outer gear ring meshed with the small gear and a cylinder body formed by extending the outer gear ring downwards, a sliding block connected with the suction cup is movably arranged in the cylinder body in a sleeved mode, the sliding block is hinged to a rocker, the rocker is hinged to a crank, and the end of the crank is fixed to the small gear. And the displacement mechanism comprises a plurality of steering engines for driving the supporting cylinder to move in the spatial three-dimensional direction. According to the device, the steering engine drives the planetary gear type adsorption mechanism to integrally move, the sliding block is made to ascend and descend in the cylinder body, the cavity of the suction cup is driven to receive and release pressure, and the wall climbing movement and the adsorption action of the adsorption supporting leg of the gecko are achieved.
本发明公开了一种用于仿生壁虎攀爬的吸附支腿,该吸附支腿用于仿生壁虎的躯干上,包括行星齿轮式吸附机构,所述的行星齿轮式吸附机构包括限位齿盘和活动安装在限位齿盘上的支筒,限位齿盘上加工有内齿圈和弧形槽,弧形槽中活动安装有小齿轮,小齿轮啮合内齿圈,所述的支筒包括啮合小齿轮的外齿圈和由外齿圈向下延伸形成的筒体,筒体内活动套设有与吸盘相连的滑块,滑块铰接摇杆,摇杆铰接曲柄,曲柄的端部固定在小齿轮上;位移机构,所述的位移机构包括驱动支筒在空间三维方向运动的多个舵机。本装置通过舵机带动行星齿轮式吸附机构整体移动且使滑块沿筒体内升降运动,带动吸盘的空腔收压与放压,实现壁虎的吸附支腿爬墙移动和吸附动作。
Adsorption supporting leg for bionic gecko climbing
一种用于仿生壁虎攀爬的吸附支腿
2024-02-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |