Foot pad of bionic wet-sucking wall-climbing robot with semispherical microstructure

Abstract

The invention belongs to the field of bionics, and particularly relates to a foot pad of a bionic wet-sucking wall-climbing robot with a semispherical microstructure. The foot pad comprises a foot pad substrate, a foot pad microstructure array and an ejected liquid micro flow path; when the foot pad is manufactured, the foot pad substrate, the foot pad microstructure array and the ejected liquid micro flow path are integrally manufactured by casting silicon rubber, and are installed on a wall-climbing robot by using screws through through holes on a foot pad substrate plane. According to the foot pad, the area of the semispherical three-dimensional microstructure with a contact plane in the sorption is rapidly increased, and the sorption force is subsequently increased, so that the sorption is more effect; in desorption, the area of a separation angle and the contact plane is rapidly decreased, and the sorption force is rapidly decreased, so that the desorption process becomes relatively easier, as a result, the alternative operation of sorption and non-sorption can be rapidly accomplished, and requirements of the bionic wet-sucking wall-climbing robot on sorption and non-sorption are met; and in addition, a great number of ejected liquid flow paths which pass through the semispherical microstructure are beneficial for the secretion and discharge of grume, so that the sorption force is effectively increased. The foot pad is simple in structure, and main parts of the foot pad are manufactured in a silicon rubber casting and are easy to machine.

Description

technical field [0001] The invention belongs to the field of bionics, and relates to a wall-climbing mechanism of a bionic wet-suction wall-climbing robot, in particular to a bionic wet-suction wall-climbing robot foot pad. Background technique [0002] The bionic foot pad design is one of the key technologies of the bionic wet suction wall-climbing robot. The researchers conducted a more in-depth study on the adsorption principle of hygroscopic reptiles, and found that the adsorption force mainly comes from the mucus secreted by the foot pads to form a nano-scale film between the foot pads and the wall surface, resulting in surface tension and capillary force. , and proposed a wet adsorption liquid bridge model. Inspired by this, by imitating the surface microstructure of the foot pads of wet-sucking animals, the bionic wet-sucking wall-climbing robot foot pads were designed. Continue to conduct in-depth research on the formation of wet suction, and it has been confirmed ...

AI Technical Summary

Problems solved by technology

Regulating the desorption performance has become an important research direction of bionic bristle technology, but the research on the biomimetic moisture absorption mechanism with desorption mechanism has not been reported

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