The invention relates to a flexible robot, in particular to a bionic soft climbing robot of a soft cushion grabber composite structure. Autonomous climbing motion is achieved in the environment without an auxiliary supporting tool, meanwhile, positioning of fruit tree flowers and tree disease positions can be achieved by means of machine vision, and then directional pesticide applying operation is completed. In the aspect of manufacturing, the telescopic actuator is manufactured by adopting a method of embedding the corrugated pipe into the silica gel, the manufacturing process is simple, and the control is flexible. Meanwhile, the pesticide spraying device and the control system are both integrated on the robot, so that the whole robot is compact in structure. In the aspect of structure, a soft cushion grabber composite structure is adopted, the robot is mainly adsorbed by a soft cushion when climbing on a horizontal branch, the grabber extends out when climbing on the surface of a vertical trunk, the bearing capacity and the environment adaptability of the robot are improved, and the robot is reasonable in design, simple in structure and easy to manufacture and control.
本发明涉及柔性机器人,具体为一种软垫爪钩复合结构的仿生软体攀爬机器人。本发明在无辅助支撑工具的环境下实现自主攀爬运动,同时可以借助机器视觉实现对果树花朵、树木病害位置的定位,进而完成定向施药操作。从制作方面,采用了波纹管嵌入硅胶的方法制作伸缩致动器,制备工艺简单,控制灵活。同时喷药装置、控制系统全部都集成到机器人上,使得整个机器人结构紧凑。结构方面,采用软垫爪钩复合结构,机器人在水平树枝上爬行时以软垫吸附为主,在垂直树干表面攀爬时爪钩伸出,提高机器人的承载能力和环境适应能力,并且本发明设计合理,结构简单,易于制作和控制。
Bionic soft climbing robot with soft cushion grabber composite structure
一种软垫爪钩复合结构的仿生软体攀爬机器人
2022-07-29
Patent
Electronic Resource
Chinese
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