CN115367013A - Adhesion-desorption device - Google Patents
Adhesion-desorption device Download PDFInfo
- Publication number
- CN115367013A CN115367013A CN202210874163.7A CN202210874163A CN115367013A CN 115367013 A CN115367013 A CN 115367013A CN 202210874163 A CN202210874163 A CN 202210874163A CN 115367013 A CN115367013 A CN 115367013A
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- Prior art keywords
- adhesion
- desorption
- module
- excitation
- contact surface
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- 238000003795 desorption Methods 0.000 title claims abstract description 75
- 230000005284 excitation Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 36
- 239000002905 metal composite material Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000000638 stimulation Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 241000238413 Octopus Species 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229920003935 Flemion® Polymers 0.000 description 1
- 229920000557 Nafion® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 229910000510 noble metal Inorganic materials 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229910052697 platinum Inorganic materials 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electrotherapy Devices (AREA)
Abstract
The present disclosure discloses an adhesion-desorption apparatus, comprising: the device main part, the device main part includes multiunit adhesion-desorption module, and every group adhesion-desorption module takes place to warp under the electric excitation effect that the control power exerted in order to independently realize with the adhesion and the desorption of contact thing.
Description
Technical Field
The disclosure belongs to the technical field of octopus adhesion imitation, and particularly relates to an adhesion-desorption device.
Background
An ionic polymer-metal composite (IPMC) is composed of an ionic polymer matrix material (such as a Nafion film, a Flemion film and a Selemion film) and a surface noble metal electrode layer (such as platinum and silver), is a typical novel flexible intelligent material which is widely researched in the last two decades, and has the characteristics of good flexibility, light weight, small driving voltage, large deformation, quick response and the like, and when a voltage below 5V is applied to the IPMC material, the IPMC can deform to different degrees along with the size of an external electric field. The IPMC can be used for controlling micro deformation and has wide application prospect in the aspects of artificial muscles, sensors, micro brake devices and the like.
In the motion process of octopus, the adhesion and the detachment are realized mainly by controlling the pressure difference generated by a suction disc chamber through muscles, in recent years, a plurality of groups prepare a plurality of adhesion pads imitating the octopus based on the inspired octopus, and high adhesion force is realized on a smooth plane, but the adhesion pads prepared at present are mostly of a whole-piece microstructure layer, all adhesion units on the microstructure layer are synchronously adhered and detached due to the control of a single control source, so that poor adhesion is presented on the surface with large curvature (the inner surface of an aeroengine has various curved surfaces, even a vertical surface), and the robot is difficult to move in the engine. Therefore, an adhesive pad with quick and controllable adhesion and detachment and curved surface adaptability is urgently needed to be developed, and support is provided for the robot to realize wider application scenes.
Disclosure of Invention
In view of the deficiencies in the prior art, an object of the present disclosure is to provide an adhesion-desorption apparatus, in which each group of adhesion-desorption modules can be regarded as an independent adhesion pad, and each group of adhesion-desorption modules is controlled by an independent power supply to realize adhesion desorption without mutual interference, so that the adhesion-desorption apparatus can move on surfaces (even vertical surfaces) with various curvatures, thereby widening application scenarios of the adhesion pads.
In order to achieve the above purpose, the present disclosure provides the following technical solutions:
an adhesion-desorption device comprising:
the device main part, the device main part includes multiunit adhesion-desorption module, and every group adhesion-desorption module takes place to warp under the electric excitation effect that the control power exerted in order to independently realize with the adhesion and the desorption of contact thing.
Preferably, a plurality of excitation modules are arranged in the device main body.
Preferably, each excitation module is externally connected with a control power supply, and each excitation module is electrically connected with a group of adhesion-desorption modules.
Preferably, each excitation module includes an upper electrode and a lower electrode.
Preferably, the adhesion-desorption module comprises a suction cup, and a deformable driving mechanism is arranged on the inner side of a contact surface of the suction cup and the contact object.
Preferably, the deformable actuation mechanism comprises a mechanism body.
Preferably, the mechanism body is made of an ionomer-metal composite.
Preferably, the mechanism body is sealed.
Preferably, the suction cup is horn-shaped.
The present disclosure also provides a control method of an adhesion-desorption device, including the steps of:
step 1: the control power supply sends a first electric signal, the first electric excitation is carried out on the adhesion-desorption module through the excitation module, and the adhesion-desorption module deforms along the first direction to reduce the contact area with the contact surface so as to realize adhesion with the contact surface;
step 2: the control power supply sends a second electric signal, the second electric excitation is carried out on the adhesion-desorption module through the excitation module, and the adhesion-desorption module deforms along the second direction to increase the contact area with the contact surface so as to realize desorption with the contact surface.
Compared with the prior art, the beneficial effect that this disclosure brought does:
1. the mechanism that the ionic polymer-metal composite material is deformable under electric excitation is utilized to enable the sucker to complete adhesion and desorption with a contact object, so that the traditional hardware arrangement of a motor, a gear and the like is omitted, and the volume of the device is reduced;
2. a plurality of adhesion-desorption modules are connected into a circuit, so that synchronous control is realized, and the adhesion and desorption response speed of the device is improved.
Drawings
Fig. 1 is a schematic structural diagram of an adhesion-desorption apparatus provided in an embodiment of the present disclosure;
FIG. 2 is a schematic view of the connection of the electrode structure to the chuck;
FIG. 3 (a) is a plan view of the deformable drive mechanism;
FIG. 3 (b) is a perspective view of the deformable drive mechanism;
FIG. 4 is a schematic view of the structure of the suction cup;
FIG. 5 is a schematic view of the motion of the suction cup;
FIG. 6 is a schematic view of the apparatus of FIG. 1 shown crawling on a curved surface;
FIG. 7 is a schematic view of a conventional one-piece adhesive pad;
the reference symbols in the drawings are as follows:
1. a lower electrode guide path; 2. controlling a power supply; 3. an upper electrode guide path; 4. an adhesion-desorption module; 5. leading wires up; 6. a down lead; 7. a deformable drive mechanism; 8. a suction cup; 9. a lower electrode; 10. an upper electrode; 11. a lower electrode channel of the deformable actuation mechanism; 12. an upper electrode of the deformable drive mechanism; 13. a lower electrode of the deformable driving mechanism.
Detailed Description
Specific embodiments of the present disclosure will be described in detail below with reference to fig. 1 to 7. While specific embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. The description and claims do not intend to distinguish between components that differ in noun but not in function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the disclosure, but is made for the purpose of illustrating the general principles of the disclosure and not for the purpose of limiting the scope of the disclosure. The scope of the disclosure is to be determined by the claims appended hereto.
For the purpose of facilitating an understanding of the embodiments of the present disclosure, the following detailed description is to be construed in conjunction with the accompanying drawings, and the various drawings are not intended to limit the embodiments of the present disclosure.
In one embodiment, as shown in fig. 1, 2, the present disclosure provides an adhesion-desorption apparatus comprising:
the main body of the device is provided with a plurality of air inlets,
the device body comprises a plurality of groups of adhesion-desorption modules,
each group of adhesion-desorption modules deforms under the action of electric excitation applied by the control power supply so as to independently realize adhesion and desorption with the contact.
Control of a conventional one-piece adhesive pad (as shown in fig. 7) is largely achieved by attaching an excitation responsive layer to the back of the adhesive structure. In terms of adhesion, the conventional adhesion pad usually needs external force to press to adhere to the contact surface, and the active adhesion is realized by controlling the power supply to control the deformation of the adhesion-desorption module. In the aspect of desorption, the traditional adhesion pad generally enables a back excitation layer to be electrified, so that a material is contracted and warped, the microstructure is further passively separated from a contact surface, an excitation response layer can only present two absolute states of warping and flattening, desorption control of the adhesion pad is quite single, the microstructure is passively separated from the contact surface, and great force change can be generated in the separation process, so that the desorption process is quite unstable, and for a wall climbing robot, great force change can cause instability of the robot in a short time, and the robot is quite unfriendly. The adhesion-desorption modules in the embodiment can be independently controlled and do not interfere with each other, so that the device can be in various states as a whole, for example, the first two groups of adhesion-desorption modules can be separated from the contact surface while being kept adhered to the contact surface, and the last three groups of adhesion-desorption modules and the last two groups of adhesion-desorption modules can be separated from the contact surface, so that the design ensures that the force change of the robot in the crawling process is controllable and stable, and the robot can crawl on a curved surface with larger curvature (as shown in fig. 6).
In another embodiment, a plurality of excitation modules are arranged in the device main body, each excitation module is externally connected with a control power supply 2, and each excitation module is electrically connected with a group of adhesion-desorption modules.
In another embodiment, each excitation module comprises an upper electrode 10 and a lower electrode 9, and the upper electrode 10 and the lower electrode 9 are respectively positioned in the upper electrode guide path 3 and the lower electrode guide path 1 which are parallel up and down.
In this embodiment, the upper electrode and the lower electrode are located in an upper electrode guide path and a lower electrode guide path which are arranged in parallel and are independent from each other, the two guide paths are respectively provided with a lead port, and the upper electrode and the lower electrode are respectively connected to the control power supply through the lead ports. This design avoids shorting of the deformable drive mechanism due to contact between the upper and lower electrodes.
In another embodiment, the deformable driving mechanism of each set of adhesion-desorption modules is electrically connected with the upper electrode and the lower electrode of one excitation module.
In this embodiment, the upper lead 5 is led out from the upper electrode 12 of each deformable driving mechanism in each group of adhesion-desorption modules, and the upper lead 5 is connected to the upper electrode 10 through a lead through hole of the upper electrode guide path; the lower lead 6 is led out from the lower electrode 13 of the deformable driving mechanism, and the lower lead 6 is connected to the lower electrode 9 through the lower electrode channel 11 of the deformable driving mechanism and a lead through hole of a lower electrode guide path. The deformable driving mechanism is connected into the loop, so that the control power supply can control all the suckers in each group of adhesion-desorption modules only through one upper electrode and one lower electrode, and synchronous control of the suckers is realized. Moreover, when a certain sucker in each group fails, the normal use of other suckers cannot be influenced, and even if the sucker with the failure is not replaced, the overall use of the adhesion-desorption device cannot be obviously influenced, so that the operation time is prolonged, and the operation efficiency is improved.
The adhesion-desorption modules of each group deform under the action of electric excitation applied by a control power supply so as to independently realize adhesion and desorption with a contact object.
In another embodiment, as shown in fig. 4, the adhering-detaching module comprises a suction cup 8, and a deformable driving mechanism 7 is arranged on the inner side of the contact surface of the suction cup 8 and the contact object.
In another embodiment, the deformable actuation mechanism 7 comprises a mechanism body.
In this embodiment, as shown in fig. 3 (a) and 3 (b), the mechanism body is shaped like a petal, that is, a core is provided in the middle portion and petals are provided in the peripheral extension portions. The middle part of the core is provided with a through hole, and leads out wires from the upper side and the lower side of the through hole respectively. In addition, a lead leading-out channel is designed in the through hole, so that leads led out from the upper side and the lower side are not contacted with each other, and short circuit is avoided. In fig. 3 (b), the upper electrode 12 of the deformable driving mechanism is connected to the upper lead 5, and the upper lead 5 is connected to the upper electrode 10 through the lead through hole of the upper electrode guide path; the lower electrode 13 of the deformable driving mechanism is connected with the lower lead 6, and the lower lead 6 is connected with the lower electrode 9 through the lower electrode channel 11 of the deformable driving mechanism and the lead through hole of the lower electrode guide path. The mechanism main body adopts the design of petal form, can make the mechanism main body move more nimble, crooked convenient under the control of the signal of telecommunication that the control power sent.
Furthermore, each petal part of the mechanism main body is connected and conducted through metal welding, so that each petal is connected into a whole, and uniform excitation control of each petal is realized.
Because the ionic polymer-metal composite material has the characteristic of deformation under the condition of applying an electric field, the deformable driving mechanism prepared from the ionic polymer-metal composite material can replace the traditional motor, can omit complex driving structures such as gears, bearings and the like, and simultaneously reduces the weight, thereby realizing the structure-driving integration of the sucker.
In another embodiment, the mechanism body is sealed.
In this embodiment, when the water content in the ionomer-metal composite is reduced, the actuation capability of the ionomer-metal composite by the electric excitation is reduced, and therefore, the entire mechanism body needs to be sealed to prevent the water loss, thereby maintaining the actuation capability.
In another embodiment, the suction cup is trumpet shaped.
In this embodiment, the suction cup is designed to be horn-shaped, so as to increase the contact area with the contact surface. In addition, the middle position of the sucker is of a spherical pit structure, so that the vacuum negative pressure of the sucker after the sucker is contacted with a contact surface can be increased, and the adhesion capability between the sucker and a contact object is further improved.
In another embodiment, the present disclosure further provides a method for controlling an adhesion-desorption apparatus, comprising the steps of:
step 1: the control power supply sends a first electrical signal (which may be a positive and negative current signal or a positive and negative voltage signal), and the first electrical signal performs first electrical excitation on the adhesion-desorption module through the excitation module, as shown in fig. 5, so that the adhesion-desorption module deforms along a first direction (in this embodiment, the adhesion-desorption module deforms upwards in a bending manner), and the adhesion-desorption module contracts and forms a negative pressure chamber with the contact surface, so that the contact area between the adhesion-desorption module and the contact surface is reduced, and the adhesion between the adhesion-desorption module and the contact surface is further realized;
step 2: the control power supply sends a second electrical signal (which may be a negative-positive current signal or a negative-positive voltage signal), and the second electrical signal performs second electrical excitation on the adhesion-desorption module through the excitation module, so that the adhesion-desorption module deforms along the second direction (in this embodiment, the adhesion-desorption module deforms by bending downward), and the adhesion-desorption module expands to lose the pressure difference between the adhesion-desorption module and the contact surface, thereby increasing the contact area between the adhesion-desorption module and the contact surface, and further realizing desorption between the adhesion-desorption module and the contact surface.
The foregoing detailed description may be modified in various ways by those skilled in the art without departing from the principles and spirit of the disclosure, which is limited only by the claims and not by the foregoing detailed description, and all aspects within its scope are to be limited only by the disclosure.
Claims (10)
1. An adhesion-desorption device comprising:
a device main body;
the device main body comprises a plurality of groups of adhesion-desorption modules;
each group of adhesion-desorption modules deforms under the action of electric excitation applied by the control power supply so as to independently realize adhesion and desorption with the contact.
2. The device of claim 1, wherein preferably a plurality of excitation modules are provided within the device body.
3. The apparatus of claim 2, wherein each excitation module is externally connected with a control power supply, and each excitation module is electrically connected with a group of adhesion-desorption modules.
4. The apparatus of claim 2 or 3, wherein each stimulation module comprises an upper electrode and a lower electrode.
5. The device of claim 1, wherein the adhesion-desorption module comprises a suction cup, and a deformable driving mechanism is arranged on the inner side of a contact surface of the suction cup and the contact object.
6. The device of claim 5, wherein the deformable drive mechanism comprises a mechanism body.
7. The device of claim 6, wherein the mechanism body is made of an ionomer-metal composite.
8. The device of claim 6, wherein the mechanism body is sealed.
9. The device of claim 5, wherein the suction cup is flared.
10. A method for controlling the adhesion-desorption device according to claim 2, comprising the steps of:
step 1: the control power supply sends a first electric signal, the first electric excitation is carried out on the adhesion-desorption module through the excitation module, and the adhesion-desorption module deforms along the first direction to reduce the contact area with the contact surface so as to realize adhesion with the contact surface;
step 2: the control power supply sends a second electric signal, the second electric excitation is carried out on the adhesion-desorption module through the excitation module, and the adhesion-desorption module deforms along the second direction to increase the contact area with the contact surface so as to realize desorption with the contact surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874163.7A CN115367013A (en) | 2022-07-22 | 2022-07-22 | Adhesion-desorption device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210874163.7A CN115367013A (en) | 2022-07-22 | 2022-07-22 | Adhesion-desorption device |
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| Publication Number | Publication Date |
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| CN115367013A true CN115367013A (en) | 2022-11-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202210874163.7A Pending CN115367013A (en) | 2022-07-22 | 2022-07-22 | Adhesion-desorption device |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020036108A1 (en) * | 2000-09-25 | 2002-03-28 | Skywalker Robotics, Inc. | Apparatus and method for traversing compound curved and other surfaces |
| US20080078896A1 (en) * | 2006-09-28 | 2008-04-03 | Gm Global Technology Operations, Inc. | Active material based suction cups |
| CN105108674A (en) * | 2015-08-03 | 2015-12-02 | 合肥鑫晟光电科技有限公司 | Support adsorption component, support device and operation method thereof |
| CN205574094U (en) * | 2016-04-11 | 2016-09-14 | 刘昊阳 | Novel many sucking discs formula wall climbing robot |
| CN106653994A (en) * | 2017-01-23 | 2017-05-10 | 合肥工业大学 | Single-layer electrode type ionic polymer-metal composites (IMPC) structure and preparation method thereof |
| CN108784670A (en) * | 2018-06-08 | 2018-11-13 | 清华大学 | Flexible adsorbent equipment and its manufacturing method |
| CN111146132A (en) * | 2018-11-06 | 2020-05-12 | 昆山工研院新型平板显示技术中心有限公司 | Transfer device and transfer method of micro-element |
| CN111169554A (en) * | 2020-01-10 | 2020-05-19 | 中国科学院合肥物质科学研究院 | Bionic sucker-bristle composite structure for wet and slippery rough wall surface |
-
2022
- 2022-07-22 CN CN202210874163.7A patent/CN115367013A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020036108A1 (en) * | 2000-09-25 | 2002-03-28 | Skywalker Robotics, Inc. | Apparatus and method for traversing compound curved and other surfaces |
| CN1474765A (en) * | 2000-09-25 | 2004-02-11 | �������ֿ� | Apparatus and method for traversing curred surfaces by adhesion |
| US20080078896A1 (en) * | 2006-09-28 | 2008-04-03 | Gm Global Technology Operations, Inc. | Active material based suction cups |
| CN105108674A (en) * | 2015-08-03 | 2015-12-02 | 合肥鑫晟光电科技有限公司 | Support adsorption component, support device and operation method thereof |
| CN205574094U (en) * | 2016-04-11 | 2016-09-14 | 刘昊阳 | Novel many sucking discs formula wall climbing robot |
| CN106653994A (en) * | 2017-01-23 | 2017-05-10 | 合肥工业大学 | Single-layer electrode type ionic polymer-metal composites (IMPC) structure and preparation method thereof |
| CN108784670A (en) * | 2018-06-08 | 2018-11-13 | 清华大学 | Flexible adsorbent equipment and its manufacturing method |
| CN111146132A (en) * | 2018-11-06 | 2020-05-12 | 昆山工研院新型平板显示技术中心有限公司 | Transfer device and transfer method of micro-element |
| CN111169554A (en) * | 2020-01-10 | 2020-05-19 | 中国科学院合肥物质科学研究院 | Bionic sucker-bristle composite structure for wet and slippery rough wall surface |
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