Bionic dry adhesion mechanism

Abstract

The invention, which relates to the technical field of electrical element manufacturing, discloses a bionic dry adhesion mechanism comprising a rack and two adhesion mechanisms arranged symmetrically. The adhesion mechanism comprises a tangential micro-displacement mechanism, a moving seat, a sensing assembly and an adhesion pad; the tangential micro-displacement mechanism is arranged on the rack; the output end of the tangential micro-displacement mechanism can drive the moving seat to be close to or far away from the other adhesion mechanism; the sensing assembly comprises a force sensing element and a distance sensing element; the force sensing element is fixedly arranged at the lower end of the movable seat; the distance sensing element is fixedly arranged at the lower end of the force sensing element; the adhesion pad is fixedly arranged below the distance sensing element; an array type wedge-shaped bristle bundle used for adhering a target object is fixedly arranged on the adhesion pad; the force sensing element can sense tangential force and normal force; the direction of the tangential force is parallel to the adhesion surface of the adhesion target object, and the normal force is perpendicular to the adhesion surface of the adhesion target object. Flexible adhesion to the target object can be achieved, the adhesion effect is guaranteed, and the carrying safety of the target object is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electrical component manufacturing, in particular to a bionic dry adhesion mechanism. Background Art

[0002] High-precision integrated circuits are developing particularly rapidly in the fields of communications, medical care, military, and aerospace. Currently, there are wet adhesion, pressure difference adhesion, and mechanical locking adhesion in the production and handling of high-precision electronic components, but all of them have disadvantages: for example, wet adhesion mainly relies on the liquid produced by itself to achieve adhesion, but the adhesive liquid is very likely to have residual liquid medium after adhesion, which can easily contaminate circuit components; pressure difference adhesion mainly uses a suction cup with a special surface structure and the attached surface to generate an environmental pressure difference for adhesion, but it is less feasible in a vacuum environment; mechanical locking adhesion generates adhesion through macroscopic methods such as hooking, interlocking, and clamping, which can easily damage the surface of the circuit board.

[0003] Therefore, there is an urgent need for a dry adhesion mechanism that is not affected by environmental factors such as the material of the adhesion object and vacuum, and can generate a sufficiently large normal adhesion force to achieve "flexible adhesion" to the target, ensure a stable adhesion effect, and improve the safety of electronic component handling. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic dry adhesion mechanism to solve the problems existing in the above-mentioned prior art, which can achieve flexible adhesion to the target object, ensure the adhesion effect, and improve the handling safety of the target object.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The invention provides a bionic stem adhesion mechanism, comprising a frame and two adhesion mechanisms; the two adhesion mechanisms are symmetrically arranged on the frame; the adhesion mechanism comprises a tangential micro-displacement mechanism, a moving seat, a sensing component and an adhesion pad; the tangential micro-displacement mechanism is arranged on the frame; the upper end of the moving seat is fixedly arranged at the output end of the tangential micro-displacement mechanism, and the output end of the tangential micro-displacement mechanism can drive the moving seat to move in a direction close to or away from another adhesion mechanism; the sensing component comprises a force sensing element and a distance sensing element; the force sensing element is fixedly arranged at the lower end of the moving seat, and the distance sensing element is fixedly arranged at the lower end of the force sensing element; the adhesion pad is fixedly arranged below the distance sensing element; an array-type wedge-shaped bristle bundle for adhering to a target object is fixedly arranged on the adhesion pad; the force sensing element can sense a tangential force and a normal force; the direction of the tangential force is parallel to an adhesion surface of the adhesion target object, and the normal force is perpendicular to the adhesion surface of the adhesion target object.

[0007] Preferably, the force sensing element includes an upper substrate, a silicone dielectric layer and a lower substrate; the upper end of the upper substrate is fixedly arranged under the movable seat; the silicone dielectric layer is located between the upper substrate and the lower substrate, and the silicone dielectric layer is fixedly connected to the upper substrate and the lower substrate respectively; a plurality of differential finger electrodes are fixedly arranged on a side of the upper substrate close to the lower substrate and a side of the lower substrate close to the upper substrate; the differential finger electrodes on the upper substrate correspond one-to-one to the differential finger electrodes on the lower substrate.

[0008] Preferably, the distance sensing element is a planar electrode.

[0009] Preferably, it also includes a horizontal guide assembly; the horizontal guide assembly includes a slide rail and two sliders; the frame includes a fixed plate; the tangential micro-displacement mechanism is arranged on the fixed plate; the slide rail is fixedly arranged at the lower end of the fixed plate; each of the sliders is slidably arranged in the slide rail along a first direction, and the first direction is parallel to the direction in which the two moving seats approach or move away from each other; one of the sliders is fixedly connected to the moving seat of one of the adhesion mechanisms, and the other slider is fixedly connected to the moving seat of another of the adhesion mechanisms; and each of the moving seats is fixedly connected to the output end of the corresponding tangential micro-displacement mechanism.

[0010] Preferably, the tangential micro-displacement mechanism includes a magnetic fixing frame, a magnetic plate, a return spring, an electromagnet and a magnet fixing frame; the magnetic fixing frame is fixedly arranged on the fixing plate; the magnetic plate is fixedly arranged on the magnetic fixing frame; the electromagnet is arranged opposite to the magnetic plate, and the electromagnet is fixedly arranged on the magnet fixing frame; the magnet fixing frame straddles the fixing plate, and the magnet fixing frame can move relative to the fixing plate along the first direction, and the lower end of the magnet fixing frame is fixedly connected to the corresponding moving seat; the return spring is located between the magnet fixing frame and the magnetic fixing frame, and the return spring is sleeved on the electromagnet, one end of the return spring abuts against the magnet fixing frame, and the other end of the return spring abuts against the magnetic fixing frame or the magnetic plate.

[0011] Preferably, the magnet fixing frame has a mounting groove and at least one fastening threaded hole connected to the mounting groove; the electromagnet is slidably inserted into the mounting groove in a direction approaching or moving away from the magnetic attraction plate; each of the fastening threaded holes is threadedly connected with a fastening bolt, and the threaded end of the fastening bolt can pass through the fastening threaded hole and abut against the outer wall of the electromagnet.

[0012] Preferably, when the two movable seats move in directions away from each other, the adhesion pad can adhere to the target object; and when the two movable seats move in directions approaching each other, the adhesion pad can detach from the adhesion to the target object; a first limiting plate is fixedly provided at one end of the movable seat close to the other movable seat; and a second limiting plate is fixedly provided at the corresponding position of the other movable seat; in the vertical direction, the lower end of the first limiting plate and the lower end of the second limiting plate are not higher than the corresponding lower end of the lower substrate.

[0013] Preferably, the first limiting plate includes a first side plate and a second side plate; the second limiting plate includes a middle plate; on the projection of the side wall surface of the movable seat, the middle plate is located between the first side plate and the second side plate, and the two sides of the middle plate are spaced apart from the first side plate and the second side plate respectively.

[0014] Preferably, the rack further comprises an upper end connecting bracket; the upper end connecting bracket is fixedly disposed on the upper end of the fixing plate, and a plurality of connecting holes are disposed on the upper end connecting bracket.

[0015] Preferably, circuit board fixing frames are fixedly arranged on both sides of the upper connecting bracket, a first circuit board is fixedly arranged on one circuit board fixing frame, and a second circuit board is fixedly arranged on the other circuit board fixing frame; all electronic control units are integrated on the first circuit board and the second circuit board.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The bionic stem adhesion mechanism provided by the present invention takes the gecko foot as the bionic object, and based on the bionic design of the gecko stem adhesion, adopts an adhesion pad with an array of wedge-shaped bristle bundles, the adhesion pad is anisotropic, has the characteristics of low preload, high adhesion, and easy desorption, and can control the tangential force by only relying on a small normal pressure control, and easily realizes a two-way switch from "high adhesion force" to "low desorption force"; by adopting a sensing component composed of a distance sensing element and a force sensing element, the sensing component realizes the relative posture of the adhesion pad and the adhesion target object, and the application and monitoring of the force, and by detecting the distance from the target object by the distance sensing element, the posture relative to the target object is calculated by the distance, and then the relative posture of the adhesion pad is adjusted, and then the adhesion pad is adjusted. It contacts the target object, and the force sensing element detects the normal pre-pressure between it and the target object. When the set value is reached, the loading command is triggered, and the tangential micro-displacement mechanism makes the wedge-shaped bristle bundle passively loaded and bent under the influence of tangential displacement and friction force, and contacts the adhesion surface of the target object to generate a stable "van der Waals force", that is, normal adhesion force. At this time, after the loading is stable, the sensing component can also detect whether the tangential loading force reaches the target set value to determine whether the adhesion is successful, because it is not affected by environmental factors such as the material of the adhesion object and vacuum, and can generate a sufficiently large normal adhesion force, combined with the contact information sensed by the sensing component, thereby achieving flexible adhesion to the target object, ensuring the adhesion effect, and improving the handling safety of the target object.

[0018] Furthermore, through the characteristics of the differential finger electrode distribution set between the upper substrate and the lower substrate, high-sensitivity force detection can be achieved, including tangential force measurement, normal force measurement and bending moment measurement; and the setting of the silicone dielectric layer enhances the adaptability of the adhesion pad to the target object adhesion contact wall, ensuring that the wedge-shaped bristle bundles of the two adhesion mechanisms are coplanar when contacting the target object adhesion wall.

[0019] Furthermore, the distance sensing element uses a planar electrode to detect the distance to the target through the edge electric field effect, calculates its position relative to the target through the distance, and then adjusts its own relative position, and then it moves closer to contact the target.

[0020] Furthermore, the horizontal guide assembly composed of the slide rail and the slider can ensure that the moving seat performs precise linear motion in the first direction; the accuracy of this linear motion can ensure that the wedge-shaped bristle bundle can accurately contact the corresponding position of the target object, avoiding adhesion failure due to movement deviation of the moving seat; during the movement of the moving seat, the horizontal guide assembly can make the entire movement process more stable; the horizontal guide assembly can enhance the anti-interference ability of the mechanism, so that the moving seat can still maintain the correct motion trajectory when subjected to external interference.

[0021] Furthermore, by utilizing the magnetic force between the electromagnet and the magnetic attraction plate, the magnet fixing frame can be precisely driven; the setting of the electromagnet can realize micron-level loading drive, making its structure more precise than the electrode large displacement drive, and can achieve precise micron-level drive loading, and the overall size can be greatly reduced, and the structure is simple and compact; in the loaded state, the electromagnet magnetically attracts the magnetic attraction plate, drives the moving seat to provide loading tangential force, so that the wedge-shaped bristle bundle bends and adheres to the target object under the tangential displacement; in the unloading state, the electromagnet is demagnetized and released, and under the action of the reset spring, the wedge-shaped bristle bundle returns to its original state due to the disappearance of the tangential loading force, the adhesion area is reduced, and the wedge-shaped bristle bundle is separated from the target object. At this time, under the action of the reset spring, the moving seat and related components return to their initial positions.

[0022] Furthermore, the attraction distance between the electromagnet and the magnetic attraction plate, that is, the tangential displacement under the loading state, can be adjusted by adjusting the position of the electromagnet in the installation groove.

[0023] Furthermore, the first limiting plate and the second limiting plate can provide blocking and limiting for the lower substrate in the loaded state, drive the corresponding lower substrate to synchronously realize tangential loading displacement, and reduce excessive deformation of the silicone dielectric layer.

[0024] Furthermore, the first side plate and the second side plate can provide a uniform limiting abutment effect at both ends of the corresponding side; the middle plate can provide a uniform limiting abutment effect in the middle of the corresponding side; this setting can reduce the distance between the two adhesion pads, drive with low action point loading, lower the tangential force loading point, weaken the influence of the bending moment effect on the adhesion performance of the wedge-shaped bristle bundle, and improve its adhesion.

[0025] Furthermore, the provision of the upper end connecting bracket facilitates its connection, installation and use with the connecting mechanism.

[0026] Furthermore, all the electronic control units are integrated by the first circuit board and the second circuit board, which is more compact than a single circuit board integrating all the electronic control units, and can significantly reduce the overall size; and the use of intelligent control makes it more intelligent and improves the level of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of the overall structure of the bionic stem adhesion mechanism provided by the present invention;

[0029] Figure 2 An exploded view of the structure of the bionic dry adhesion mechanism provided by the present invention except for the first circuit board and the second circuit board related components;

[0030] Figure 3 An exploded view of the structure of the first circuit board, the second circuit board and the upper end connecting bracket in the bionic dry adhesion mechanism provided by the present invention;

[0031] Figure 4 A schematic structural diagram of one of the bionic stem adhesion mechanisms provided by the present invention;

[0032] Figure 5 A schematic structural diagram of another adhesion mechanism in the bionic stem adhesion mechanism provided by the present invention;

[0033] Figure 6 A bottom view of the bionic stem adhesion mechanism provided by the present invention;

[0034] Figure 7 for Figure 6 Schematic diagram of the cross section at AA in the middle;

[0035] Figure 8 A schematic diagram of the structure of a force sensing element in the bionic stem adhesion mechanism provided by the present invention;

[0036] Fig. 9 for Figure 8 Schematic diagram of the bottom structure of the middle and lower substrate;

[0037] Fig.10 A schematic diagram of the bionic stem adhesion mechanism provided by the present invention in a loaded state;

[0038] Fig.11 This is a schematic diagram of the bionic stem adhesion mechanism provided by the present invention in an unloaded state.

[0039] In the figure:

[0040] 100-Bionic stem adhesion mechanism;

[0041] 10-fixed plate; 11-upper end connecting bracket; 12-circuit board fixing frame; 13-slide rail; 14-first circuit board; 15-second circuit board;

[0042] 20-tangential micro displacement mechanism; 21-magnetic fixing frame; 22-magnetic plate; 23-reset spring; 24-electromagnet; 25-magnet fixing frame; 26-fastening bolt;

[0043] 30-movable seat; 31-sliding block; 32-first side plate; 33-second side plate; 34-middle plate;

[0044] 40-sensing component; 41-upper substrate; 42-silica gel dielectric layer; 43-lower substrate; 431-planar electrode; 432-differential finger electrode;

[0045] 50-cuneate setae bundles;

[0046] 60-Adhesion target. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] The purpose of the present invention is to provide a bionic dry adhesion mechanism to solve the problems existing in the prior art, to achieve flexible adhesion to a target object, to ensure the adhesion effect, and to improve the handling safety of the target object.

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Embodiment 1

[0051] This embodiment provides a bionic stem adhesion mechanism 100, which is mainly but not limited to being used on high-precision integrated circuits, such as Figures 1 to 11 As shown, it includes a frame and two adhesion mechanisms; the two adhesion mechanisms are symmetrically arranged on the frame; the adhesion mechanism includes a tangential micro-displacement mechanism 20, a moving seat 30, a sensing component 40 and an adhesion pad; the tangential micro-displacement mechanism 20 is arranged on the frame; the upper end of the moving seat 30 is fixedly arranged at the output end of the tangential micro-displacement mechanism 20, and the output end of the tangential micro-displacement mechanism 20 can drive the moving seat 30 to move in the direction close to or away from the other adhesion mechanism; the sensing component 40 includes a force sensing element and a distance sensing element; the force sensing element is fixedly arranged at the lower end of the moving seat 30, and the distance sensing element is fixedly arranged at the lower end of the force sensing element; the adhesion pad is fixedly arranged below the distance sensing element; an array of wedge-shaped bristle bundles 50 for adhering to the target object 60 is fixedly arranged on the adhesion pad; the force sensing element can sense tangential force and normal force; the direction of the tangential force is parallel to the adhesion surface of the adhesion target object 60, and the normal force is perpendicular to the adhesion surface of the adhesion target object 60.

[0052] Taking the gecko foot as the bionic object and based on the bionic design of the gecko trunk adhesion, an adhesion pad with an array of wedge-shaped bristle bundles 50 is adopted. The adhesion pad is anisotropic and has the characteristics of low preload, high adhesion and easy desorption. It can control the tangential force by relying only on a small normal pressure control, and easily realize the two-way switching from "high adhesion" to "low desorption". By adopting a sensing component 40 composed of a distance sensing element and a force sensing element, the sensing component 40 realizes the relative posture of the adhesion pad and the adhesion target 60, as well as the application and monitoring of the force. The distance sensing element detects the distance to the target, and the posture relative to the target is calculated by the distance, and then its relative posture is adjusted, and then it moves into contact with the target. , and the force sensing element detects the normal pre-pressure between it and the target object. When it reaches the set value, the loading command is triggered, and the tangential micro-displacement mechanism 20 makes the wedge-shaped bristle bundle 50 passively loaded and bent under the influence of tangential displacement and friction force and contact with the adhesion surface of the target object to generate a stable "van der Waals force", that is, normal adhesion force. At this time, after the loading is stable, the sensing component 40 can also detect whether the tangential loading force reaches the target set value to determine whether the adhesion is successful, because it is not affected by environmental factors such as the material of the adhesion object and vacuum, and can generate a sufficiently large normal adhesion force, combined with the contact information sensed by the sensing component 40, thereby achieving flexible adhesion to the target object, ensuring the adhesion effect, and improving the handling safety of the target object.

[0053] Among them, the relevant structure of the rack:

[0054] Specifically, the rack includes a fixed frame and an upper connecting bracket 11, wherein the upper connecting bracket 11 is configured as follows:

[0055] In the optional scheme of this embodiment, it is more preferred that Figure 1 to Figure 3 As shown, the frame also includes an upper connecting bracket 11; the upper connecting bracket 11 is fixedly arranged on the upper end of the fixing plate 10, and a plurality of connecting holes are arranged on the upper connecting bracket 11. The arrangement of the upper connecting bracket 11 facilitates its connection, installation and use with the connecting mechanism.

[0056] Specifically, Figure 1 to Figure 3 As shown, the upper connecting bracket 11 is located at the center of the fixing plate 10 to serve as an external mechanical interface.

[0057] In the optional scheme of this embodiment, it is more preferred that Figure 1 and Figure 3As shown, circuit board fixing frames 12 are fixedly arranged on both sides of the upper connecting bracket 11, a first circuit board 14 is fixedly arranged on one circuit board fixing frame 12, and a second circuit board 15 is fixedly arranged on the other circuit board fixing frame 12; all the electric control units are integrated on the first circuit board 14 and the second circuit board 15. Compared with a single circuit board integrating all the electric control units, the first circuit board 14 and the second circuit board 15 integrate all the electric control units, which is more compact and can greatly reduce the overall size; and the intelligent control is adopted to make it more intelligent and improve the automation level.

[0058] Specifically, the electronic control units integrated on the first circuit board 14 and the second circuit board 15 include but are not limited to electronic control units of components such as the induction component 40 and the electromagnet 24 .

[0059] Among them, the relevant settings in the adhesion mechanism are as follows:

[0060] Specifically, the two adhesion mechanisms are bilaterally symmetrically arranged, and except that the structures of the first limiting plate and the second limiting plate are different, other structures are the same.

[0061] In the optional scheme of this embodiment, it is more preferred that Figure 1 to Figure 5 and Figure 7 As shown, it also includes a horizontal guide component; the horizontal guide component includes a slide rail 13 and two sliders 31; the frame includes a fixed plate 10; the tangential micro-displacement mechanism 20 is arranged on the fixed plate 10; the slide rail 13 is fixedly arranged at the lower end of the fixed plate 10; each slider 31 is slidably arranged in the slide rail 13 along a first direction, and the first direction is parallel to the direction in which the two moving seats 30 approach or move away from each other; one of the sliders 31 is fixedly connected to the moving seat 30 of one adhesion mechanism, and the other slider 31 is fixedly connected to the moving seat 30 of another adhesion mechanism; and each moving seat 30 is fixedly connected to the output end of the corresponding tangential micro-displacement mechanism 20. The horizontal guide assembly formed by the slide rail 13 and the slider 31 can ensure that the moving seat 30 can perform precise linear motion in the first direction; the accuracy of this linear motion can ensure that the wedge-shaped bristle bundle 50 can accurately contact the corresponding position of the target object, avoiding adhesion failure due to movement deviation of the moving seat 30; during the movement of the moving seat 30, the horizontal guide assembly can make the entire movement process more stable; the horizontal guide assembly can enhance the anti-interference ability of the mechanism, so that the moving seat 30 can still maintain the correct motion trajectory when subjected to external interference.

[0062] In the optional scheme of this embodiment, it is more preferred that Figure 1 , Figure 2 and Figure 4 and Figure 5As shown, when the two moving seats 30 move in a direction away from each other, the adhesive pad can adhere to the target object 60; and when the two moving seats 30 move in a direction close to each other, the adhesive pad can be separated from the target object; a first limit plate is fixedly provided at one end of the moving seat 30 close to the other moving seat 30; and a second limit plate is fixedly provided at the corresponding position of the other moving seat 30; in the vertical direction, the lower end of the first limit plate and the lower end of the second limit plate are not higher than the lower end of the corresponding lower substrate 43. The first limit plate and the second limit plate can provide blocking and limiting for the lower substrate 43 under the loading state, drive the corresponding lower substrate 43 to synchronously realize tangential loading displacement, and reduce excessive deformation of the silicone medium layer 42.

[0063] In the optional scheme of this embodiment, it is more preferred that Figure 2 and Figure 4 and Figure 5 As shown, the first limiting plate includes a first side plate 32 and a second side plate 33; the second limiting plate includes a middle plate 34; on the projection of the side wall surface of the moving seat 30, the middle plate 34 is located between the first side plate 32 and the second side plate 33, and the two sides of the middle plate 34 are spaced from the first side plate 32 and the second side plate 33 respectively. The first side plate 32 and the second side plate 33 can provide a uniform limiting abutment effect at both ends of the corresponding side; the middle plate 34 can provide a uniform limiting abutment effect in the middle of the corresponding side; this arrangement can reduce the distance between the two adhesive pads, drive with low action point loading, reduce the tangential force loading point, reduce the influence of the bending moment effect on the adhesion performance of the wedge-shaped bristle bundle 50, and improve its adhesion.

[0064] Specifically, during the loading process, without affecting the detection function of the sensing component 40, the first limit plate and the second limit plate push the side wall of the lower substrate 43 of the corresponding sensing component 40 to load, and the loading point acts on its side wall. Low-point loading helps to reduce the bending moment effect, thereby affecting the contact area between the wedge-shaped bristle bundle 50 and the target object's adhesion wall, affecting the adhesion performance.

[0065] Among them, the setting description of the tangential micro-displacement mechanism 20 is as follows:

[0066] In the optional scheme of this embodiment, it is more preferred that Figure 1 , Figure 2 and Figure 8 and Fig. 9As shown, the tangential micro-displacement mechanism 20 includes a magnetic fixing frame 21, a magnetic plate 22, a reset spring 23, an electromagnet 24 and a magnet fixing frame 25; the magnetic fixing frame 21 is fixedly arranged on the fixing plate 10; the magnetic plate 22 is fixedly arranged on the magnetic fixing frame 21; the electromagnet 24 is arranged opposite to the magnetic plate 22, and the electromagnet 24 is fixedly arranged on the magnet fixing frame 25; the magnet fixing frame 25 straddles the fixing plate 10, and the magnet fixing frame 25 can move relative to the fixing plate 10 along a first direction, and the lower end of the magnet fixing frame 25 is fixedly connected to the corresponding moving seat 30; the reset spring 23 is located between the magnet fixing frame 25 and the magnetic fixing frame 21, and the reset spring 23 is sleeved on the electromagnet 24, one end of the reset spring 23 abuts against the magnet fixing frame 25, and the other end of the reset spring 23 abuts against the magnetic fixing frame 21 or the magnetic plate 22. By utilizing the magnetic force between the electromagnet 24 and the magnetic attraction plate 22, the magnet fixing frame 25 can be precisely driven; the setting of the electromagnet 24 can realize micron-level loading drive, making its structure more accurate than the electrode large displacement drive, and can achieve precise micron-level drive loading, and the overall size can be greatly reduced, and the structure is simple and compact; in the loaded state, the electromagnet 24 magnetically attracts the magnetic attraction plate 22, drives the moving seat 30 to provide a loading tangential force, so that the wedge-shaped bristle bundle 50 bends and adheres to the target object 60 under the tangential displacement; in the unloading state, the electromagnet 24 is demagnetized and released, and under the action of the reset spring 23, the wedge-shaped bristle bundle 50 is restored to its original state due to the disappearance of the tangential loading force, the adhesion area is reduced, and the wedge-shaped bristle bundle 50 is separated from the target object. At this time, under the action of the reset spring 23, the moving seat 30 and related components return to their initial positions.

[0067] Specifically, the return spring 23 is a compression spring.

[0068] Specifically, the electromagnet 24 is a de-energized electromagnet 24 .

[0069] Specifically, Figure 1 to Figure 5 As shown, the magnetic fixing frame 21 includes two fixing brackets, which are respectively arranged on both sides of the magnetic attraction plate 22 for installing and fixing the magnetic attraction plate 22.

[0070] In the optional scheme of this embodiment, it is more preferred that Figure 1 to Figure 5 As shown, the magnet fixing frame 25 has a mounting groove and at least one fastening threaded hole connected to the mounting groove; the electromagnet 24 is slidably arranged in the mounting groove in the direction of approaching or moving away from the magnetic attraction plate 22; each fastening threaded hole is threadedly connected with a fastening bolt 26, and the threaded end of the fastening bolt 26 can pass through the fastening threaded hole and abut against the outer wall of the electromagnet 24. The position of the electromagnet 24 in the mounting groove can be adjusted, and then the suction distance between the electromagnet 24 and the magnetic attraction plate 22, that is, the tangential displacement under the loading state, can be adjusted.

[0071] The following are the relevant settings of the sensing component 40:

[0072] In the optional scheme of this embodiment, it is more preferred that Figure 1 , Figure 2 and Figure 8 and Fig. 9 As shown, the force sensing element includes an upper substrate 41, a silicone dielectric layer 42 and a lower substrate 43; the upper end of the upper substrate 41 is fixedly arranged below the moving seat 30; the silicone dielectric layer 42 is located between the upper substrate 41 and the lower substrate 43, and the silicone dielectric layer 42 is fixedly connected to the upper substrate 41 and the lower substrate 43 respectively; a plurality of differential finger electrodes 432 are fixedly arranged on one side of the upper substrate 41 close to the lower substrate 43 and on one side of the lower substrate 43 close to the upper substrate 41; the differential finger electrodes 432 on the upper substrate 41 correspond one to one to the differential finger electrodes 432 on the lower substrate 43. Through the distribution characteristics of the differential finger electrodes 432 set between the upper substrate 41 and the lower substrate 43, high-sensitivity force detection can be achieved, including tangential force measurement, normal force measurement and bending moment measurement; and the setting of the silicone dielectric layer 42 enhances the adaptability of the adhesion pad to the target object adhesion contact wall, ensuring that the wedge-shaped bristle bundles 50 of the two adhesion mechanisms reach the same plane when contacting the target object adhesion wall.

[0073] Specifically, the upper substrate 41 is fixedly connected to the movable seat 30 by epoxy resin glue, the adhesive pad is fixedly connected to the lower substrate 43 by epoxy resin glue, and the array-type wedge-shaped bristle bundle 50 is fixedly arranged on the adhesive pad.

[0074] In the optional scheme of this embodiment, it is more preferred that the distance sensing element is a planar electrode 431. The distance sensing element uses a planar electrode 431, detects the distance to the target through the edge electric field effect, calculates its position relative to the target through the distance, and then adjusts its relative position, and then it moves closer to contact the target.

[0075] Specifically, the distance sensing element adopts a symmetrical planar structure electrode, which is fixedly arranged at the lower end of the lower substrate 43. The two pairs of electrodes are symmetrically distributed to detect the distance between each pair relative to the target without affecting each other.

[0076] Specifically, a gap (this gap is a micron-level gap) is left between the lower substrate 43 in the sensing component 40 and the first side plate 32 and the second side plate 33 or the middle plate 34 on the side of the movable seat 30, so that when loaded, the sensing component 40 can achieve displacement changes after being subjected to force.

[0077] Specifically, the planar electrode 431 used in the sensing component 40 to sense the distance, and the differential finger electrodes 432 used to cooperate with each other to detect the tangential force, normal force and bending moment are both existing technologies and will not be described in detail here.

[0078] Among them, about other related settings description:

[0079] Specifically, in the loaded state, by applying normal pre-pressure to the bionic stem adhesion mechanism 100, the wedge-shaped bristle bundle 50 can flatten and press the target object under the action of the silicone medium layer 42 in the sensing component 40, and the magnetic plate 22 is attracted under the magnetic force of the electromagnet 24. The magnet fixing frame 25, the moving seat 30, the sensing component 40 and the adhesion pad in each adhesion mechanism move outward relative to the fixed plate 10 on the slider 31 for loading, and the two symmetrically distributed adhesion mechanisms move in opposite directions and perform loading movements respectively, so that the wedge-shaped bristle bundle 50 is subjected to the influence of its tangential loading and friction force. The bionic stem adhesion mechanism 100 is completely separated from the target object, and the linkage components of each tangential loading force return to their initial positions under the influence of the reset elastic force of the reset spring 23, waiting for the next adhesion.

[0080] Specifically, the unique loading method of the bionic dry adhesion mechanism 100 of this embodiment, compared with the current bionic adhesion mechanisms (wet adhesion, pressure difference adhesion, and mechanical locking adhesion), has strong adhesion in the loaded state, is easy to separate in the unloaded state, and does not damage the smooth wall surface of the target object. The overall mechanism can adapt to a larger temperature difference range and is universal to a variety of smooth wall surfaces.

[0081] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A bionic stem adhesion mechanism, characterized in that: It includes a frame and two adhesive mechanisms; The two adhesion mechanisms are symmetrically arranged on the frame; The adhesion mechanism includes a tangential micro-displacement mechanism, a moving seat, a sensing component and an adhesion pad; The tangential micro-displacement mechanism is arranged on the frame; The upper end of the moving seat is fixedly arranged at the output end of the tangential micro-displacement mechanism, and the output end of the tangential micro-displacement mechanism can drive the moving seat to move towards or away from another adhesion mechanism; The sensing component includes a force sensing element and a distance sensing element; the force sensing element is fixedly arranged at the lower end of the moving seat, and the distance sensing element is fixedly arranged at the lower end of the force sensing element; The adhesive pad is fixedly arranged below the distance sensing element; an array of wedge-shaped bristle bundles for adhering to the target object is fixedly arranged on the adhesive pad; The force sensing element can sense a tangential force and a normal force; the direction of the tangential force is parallel to the adhesion surface of the adhesion target object, and the normal force is perpendicular to the adhesion surface of the adhesion target object.

2. The bionic stem adhesion mechanism according to claim 1, characterized in that: The force sensing element comprises an upper substrate, a silicone dielectric layer and a lower substrate; The upper end of the upper substrate is fixedly arranged below the moving seat; The silicone dielectric layer is located between the upper substrate and the lower substrate, and the silicone dielectric layer is fixedly connected to the upper substrate and the lower substrate respectively; A plurality of differential finger electrodes are fixedly disposed on one side of the upper substrate close to the lower substrate and on one side of the lower substrate close to the upper substrate; the differential finger electrodes on the upper substrate correspond one to one with the differential finger electrodes on the lower substrate.

3. The bionic stem adhesion mechanism according to claim 1, characterized in that: The distance sensing element is a planar electrode.

4. The bionic stem adhesion mechanism according to claim 1, characterized in that: It also includes a horizontal guide assembly; the horizontal guide assembly includes a slide rail and two sliders; The frame includes a fixed plate; the tangential micro-displacement mechanism is arranged on the fixed plate; The slide rail is fixedly arranged at the lower end of the fixing plate; Each of the sliders is slidably arranged in the slide rail along a first direction, and the first direction is parallel to the direction in which the two moving seats approach or move away from each other; one of the sliders is fixedly connected to the moving seat of one of the adhesion mechanisms, and the other slider is fixedly connected to the moving seat of another of the adhesion mechanisms; and each of the moving seats is fixedly connected to the output end of the corresponding tangential micro-displacement mechanism.

5. The bionic stem adhesion mechanism according to claim 4, characterized in that: The tangential micro-displacement mechanism comprises a magnetic fixing frame, a magnetic plate, a return spring, an electromagnet and a magnet fixing frame; The magnetic fixing frame is fixedly arranged on the fixing plate; The magnetic plate is fixedly arranged on the magnetic fixing frame; The electromagnet is arranged opposite to the magnetic attraction plate, and the electromagnet is fixed on the magnet fixing frame; The magnet fixing frame straddles the fixing plate, and the magnet fixing frame can move relative to the fixing plate along the first direction, and the lower end of the magnet fixing frame is fixedly connected to the corresponding moving seat; The return spring is located between the magnet fixing frame and the magnetic attraction fixing frame, and the return spring is sleeved on the electromagnet, one end of the return spring abuts against the magnet fixing frame, and the other end of the return spring abuts against the magnetic attraction fixing frame or the magnetic attraction plate.

6. The bionic stem adhesion mechanism according to claim 5, characterized in that: The magnet fixing frame has a mounting groove and at least one fastening threaded hole communicating with the mounting groove; The electromagnet is slidably arranged in the installation groove in a direction approaching or moving away from the magnetic attraction plate; A fastening bolt is threadedly connected to each of the fastening threaded holes, and a threaded end of the fastening bolt can pass through the fastening threaded hole and abut against the outer side wall of the electromagnet.

7. The bionic stem adhesion mechanism according to claim 2, characterized in that: When the two movable seats move in directions away from each other, the adhesive pad can adhere to the target object; and when the two movable seats move in directions approaching each other, the adhesive pad can be separated from the target object; A first limiting plate is fixedly provided at one end of the movable seat close to the other movable seat; and a second limiting plate is fixedly provided at a corresponding position of the other movable seat; In the vertical direction, the lower end of the first limiting plate and the lower end of the second limiting plate are not higher than the lower end of the corresponding lower substrate.

8. The bionic stem adhesion mechanism according to claim 7, characterized in that: The first limiting plate includes a first side plate and a second side plate; the second limiting plate includes a middle plate; On the projection of the side wall surface of the movable seat, the middle plate is located between the first side plate and the second side plate, and two sides of the middle plate are spaced apart from the first side plate and the second side plate respectively.

9. The bionic stem adhesion mechanism according to claim 4, characterized in that: The frame also includes an upper end connecting bracket; The upper end connecting bracket is fixedly arranged on the upper end of the fixing plate, and a plurality of connecting holes are arranged on the upper end connecting bracket.

10. The bionic stem adhesion mechanism according to claim 9, characterized in that: Circuit board fixing frames are fixedly arranged on both sides of the upper end connecting bracket, a first circuit board is fixedly arranged on one of the circuit board fixing frames, and a second circuit board is fixedly arranged on the other circuit board fixing frame; All electronic control units are integrated on the first circuit board and the second circuit board.

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