Strength-controllable adhesion device and regulation and control method thereof

Abstract

The invention relates to a strength-controllable adhesion device. The adhesion device comprises a supporting piece for supporting the strength-controllable adhesion device, an adhesion unit arranged at one end of the supporting piece, a micro-vibration excitation generation module arranged between the supporting piece and the adhesion unit and a micro-vibration excitation adjusting and amplifying module arranged in the supporting piece; one end, far away from the supporting piece, of the adhesion unit makes contact with an adhesion interface; one end of the micro-vibration excitation generation module is fixedly connected with the supporting piece, the other end is fixedly connected with the adhesion unit, and the micro-vibration excitation generation module drives the adhesion unit to generate micro-vibration; a communication interface is arranged on the micro-vibration excitation adjusting and amplifying module, and the micro-vibration excitation adjusting and amplifying module is connected with the micro-vibration excitation generation module to adjust the vibration frequency and amplitude of the micro-vibration excitation generation module. The invention also relates to a regulation and control method of the device. According to the method, the micro-vibration frequency and amplitude can be adjusted according to the requirements, and stable adhesion strength adjustment of a target adhesion object can be realized, so that quick switching of adhesion and detachment is completed. The problems that existing adhesion fails difficultly and the strength between adhesion interfaces cannot be regulated and controlled can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of adhesion strength regulation, in particular to a controllable strength adhesion device and a regulation method thereof. Background technique [0002] The stickiness between object interfaces has been introduced into the grasping scheme in recent years. Compared with the traditional frictional grasping, it has the characteristics of low energy consumption and strong structural adaptability, but it is still not widely used at this stage. The reason is that it is difficult to adjust the adhesion strength in real time after the adhesion behavior occurs, so that the adhesion behavior with controllable adhesion strength cannot be realized, and once the adhesion between the interfaces is formed, the adhesion failure can only be achieved under the intervention of a large external force. Although the adhesion strength in the desorption stage can be adjusted to a certain extent through adhesion peeling, the slow ad...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a controllable strength adhesion device and its regulation method, which can comprehensively solve the problems of existing adhesion failure difficulties, the inability to control the strength between the adhesion interfaces and the self-cleaning of the adhesion surface.

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