A controllable strength adhesion device and its regulation method

A technology of adhesion and strength, applied in the direction of control/regulation system, mechanical oscillation control, non-electric variable control, etc., can solve the problems of uncontrollable strength between adhesion interfaces, difficulty in adhesion failure, and self-cleaning of the adhesion surface, etc., to solve the problem of adhesion Difficulty in failure, prevention of tangential relative displacement, and effect of reducing tangential force

CN112727876BActive Publication Date: 2022-03-11NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-03-11

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Abstract

The invention relates to a controllable-strength adhesion device, which includes a support member providing support for the controllable-strength adhesion device; an adhesion unit is arranged at one end of the support member, and the end of the adhesion unit away from the support member is in contact with the adhesion interface; The micro-vibration excitation generation module between the units, one end of the micro-vibration excitation generation module is consolidated with the support, and the other end is consolidated with the adhesion unit, and the micro-vibration excitation generation module drives the adhesion unit to generate micro-vibration; The excitation adjustment amplification module is provided with a communication interface, and the micro-vibration excitation adjustment amplification module is connected with the micro-vibration excitation generation module to adjust its vibration frequency and amplitude. It also relates to the regulation method of the device, the method can adjust the frequency and amplitude of the micro-vibration according to the demand, and can realize the adjustment of the stable adhesion strength to the target adherent, so as to complete the fast switching between adhesion and desorption. The invention can effectively solve the existing problems of difficult adhesion failure and uncontrollable strength between adhesion interfaces.
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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...

Examples

Embodiment Construction

[0028] In order to make the objects and advantages of the present invention clearer, the present invention will be specifically described below in conjunction with examples. It should be understood that the following words are only used to describe one or several specific implementation modes of the present invention, and do not strictly limit the protection scope of the specific claims of the present invention.

[0029] The controllable strength adhesion device of the present invention such as figure 1 As shown, a controllable strength adhesion device, including:

[0030] The support 1 rigidly envelops the micro-vibration excitation generating module 2 and the adhesion unit 4 to provide rigid support and constraints for the entire controllable strength adhesion device, which can protect the outer structure of the micro-vibration excitation generation module 2 and the adhesion unit 4, It can also prevent the large tangential relative displacement of the two and reduce the tan...