A biomimetic adhesive component driven by solid-liquid hybrid drive with controllable adhesion-desorption

Abstract

The invention discloses a biomimetic adhesive component driven by solid-liquid hybridization with controllable adhesion-desorption, and relates to the technical field of biomimetic robots. solution and flexible electrical actuation material; a driving unit, the driving unit is arranged in the flexible cavity, the driving unit includes an axial bending driver, a flap pulling member and a first electrode assembly, and the flap pulling member is arranged in the axial bending driver the two sides of the flexible base; the adhesive unit, which includes a vibrating flap and a second electrode assembly, the vibrating flap is arranged on both sides of the flexible base, and one end of the vibrating flap extends into the flexible cavity and is away from the axial direction of the flap pulling member One end of the bending driver is connected. The invention drives the biomimetic adhesive component to generate bending deformation to envelop the target through the rigidity and deformation characteristics of the flexible electric actuation material driven by an electric field, and exhibits high stiffness characteristics during bending and adhesion to improve the overall load performance of the component.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a bionic adhesive component driven by solid-liquid hybridization with controllable adhesion and desorption. Background technique [0002] "Bionic robot" refers to a robot that imitates living things and works with biological characteristics. Compared with traditional robots, it has significant improvements in structure, drive, function, perception, etc. Based on the research on the giant gecko, which has excellent adhesion and climbing ability in nature, a series of bionic adhesion robots with excellent performance have been designed and developed. [0003] However, the existing adhesive components have the following disadvantages: 1. Most of the existing adhesive components adopt a motor-rope driving method, which is combined with a rigid or rigid-flexible coupling body. 2. In recent years, with the development of fluid-driven and flexible manufacturing technology, the re...

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Problems solved by technology

[0003] However, the existing adhesive parts have the following disadvantages: 1. Most of the existing adhesive parts adopt the motor-rope drive mode, and cooperate with the rigid or rigid-flexible coupling body, the structure is rigid and relatively bulky, and the adaptability to the target is low. In terms of structure and function, the adhesion performance of bionic adhesive parts is quite different; 2. In recent years, with the development of fluid drive and flexible manufacturing technology, the research on flexible bionic adhesive parts driven by pneumatic or hydraulic pressure has progressed rapidly. The adaptability of the target object, but the low load characteristic of the flexible structure is still a big defect, and the congenital defects such as the fluid drive itself is loud, the system is bulky, and the control is complicated, so that the bionic adhesive parts of the bionic robot cannot achieve the structure of the bioadhesive parts / The performance level of drive / function light-weight integration limits the performance of bionic adhesion robots; 3. The adhesion performance is significantly affected by the state of the contact interface, and it is difficult to achieve two-way controllability of stable adhesion and rapid desorption; 4. Biomimetic dry Adhesive materials are easily contaminated by the surface of the target object, and the performance decays quickly

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