A microneedle adsorption device with curved surface adaptability

Abstract

The present invention discloses a microneedle adsorption device with curved surface adaptability. The waterproof motor is fixed on the support platform, the guide wheel unit and the limit component are both arranged at intervals along the circumferential direction of the support platform, the waterproof motor and the microneedle limiter are connected by a wire rope, the U-shaped bracket is fixedly connected to the rotating shaft, a microneedle limiter connected to the open end of the U-shaped bracket is provided with microneedles, the waterproof stepper motor is installed on the top of the housing, one end of the waterproof stepper motor is fixedly connected to one end of the connecting rod, the other end of the connecting rod is movably connected to the circular flat plate, the upper tooth column and the bearing are respectively installed on the inner circumference and the outer circumference of the circular flat plate, the inner ring and the outer ring of the bearing are respectively fixedly connected to the upper tooth column and the locking pressure plate, the microneedle platform is placed on the bottom surface of the housing, and the upper tooth column and the lower tooth column of the microneedle platform are meshed so as to be movable up and down. The present invention utilizes microneedles to micro-drill and fix the adsorbed curved surface, provides the adsorption force in the tangential direction of the curved surface, makes the adsorption of the curved surface safer and more reliable, and has a simple structure and is easy to manufacture.

Description

Technical Field

[0001] The present invention belongs to a micro-needle swirl adsorption device in the technical field of underwater adsorption technology, and particularly relates to a micro-needle swirl adsorption device with curved surface adaptability. Background Technique

[0002] Underwater adsorption technology is one of the key technologies for underwater detection and operation, and is widely used in various operations such as ship inspection and repair, underwater equipment maintenance, and dam inspection and repair. Most traditional underwater adsorption technologies use positive and negative pressure and swirl negative pressure methods to achieve underwater adsorption. However, since the adsorption force of the suction cup is perpendicular to the adsorption surface, when the adsorption device is in a complex environment such as a large water flow impact or large vibration during its own operation, it is difficult to ensure the stability of the adsorption device in the tangential direction of the adsorption surface.

[0003] With the development of special robot technology, the underwater wall-climbing robot technology has emerged in response to the needs of underwater operations. It is designed to replace humans for underwater detection and operation in dangerous and harsh underwater environments, and is widely used in industries such as nuclear fuel pool detection, underwater maintenance of water conservancy dams, and ship cleaning and repair. A stable and reliable underwater adsorption structure provides a good guarantee for the operating conditions of underwater wall-climbing robots.

[0004] Existing underwater adsorption structures often use a suction cup plus a crawler type or a suction cup plus a wheel type structure to increase the limiting ability of the adsorption structure. The friction provided by these two structures is often insufficient during the operation of the robot, especially in an environment with a large water flow velocity or a large tangential force, and the practicability is poor. Most of the existing needle-type underwater adsorption structures can only be used to adsorb on a plane or a curved surface with a low curvature, and it is difficult to meet the working requirements of stable adsorption in the case of a high curvature.

[0005] In summary, the existing underwater adsorption structures have limitations in their application scenarios and cannot well meet the operating requirements of underwater robots. Summary of the Invention

[0006] In order to solve the problems in the background technique, the purpose of the present invention is to design a micro-needle swirl adsorption device with curved surface adaptability, which can well meet the operating requirements of underwater robots.

[0007] The technical solution of the present invention is as follows:

[0008] It mainly consists of a support platform, a limiting component, a guide wheel unit, and a waterproof motor; the waterproof motor is coaxially fixed on the upper surface of the support platform, several groups of guide wheel units are arranged at intervals along the circumference of the support platform, a plurality of through grooves are provided on the outer circumference of the support platform at intervals along its circumference, a limiting component is fixedly connected between the two side walls of each through groove, one end of a wire rope is tied to the output shaft of the waterproof motor, and the other end is tied to the limiting component after passing around the guide wheel unit;

[0009] The lower surface of the support platform is fixedly connected with a suction cup for adsorbing the curved surface.

[0010] The limiting component includes a rotating shaft, a torsion spring, an electromagnetic brake, a U-shaped bracket with one end closed and one end open, and a micro-needle limiter; both sides of the rotating shaft are coaxially and rotatably connected with two electromagnetic brakes, the closed end of the U-shaped bracket is coaxially and fixedly connected to the middle of the rotating shaft, two torsion springs are respectively wound around both ends of the rotating shaft, and both ends of each torsion spring are respectively fixedly connected with the electromagnetic brake and the closed end of the U-shaped bracket. The electromagnetic brake is externally connected to a controller. A micro-needle limiter is fixedly connected between the inner side walls of the open end of the U-shaped bracket, and a micro-needle is installed on the micro-needle limiter.

[0011] Both side walls of each through groove in the support platform are fixedly connected with two electromagnetic brakes.

[0012] The micro-needle limiter includes a housing with a closed top and a semi-open bottom, a waterproof stepper motor, a compression spring, an upper tooth column, a micro-needle platform, and a locking pressing disc. The waterproof stepper motor, the upper tooth column, the micro-needle platform, and the locking pressing disc are all located inside the housing.

[0013] The waterproof stepper motor is fixedly installed at the top of the inner side wall of the housing. A connecting rod is located below the waterproof stepper motor. The output shaft of the waterproof stepper motor and one end of the connecting rod are fixedly connected by a flange. The other end of the connecting rod passes through the middle of a circular plate and is movably connected with the circular plate in a vertically movable manner. The compression spring is wound around the connecting rod, and both ends of the compression spring are respectively fixedly connected with the lower surface of the flange and the upper surface of the circular plate. The upper tooth column and a bearing are respectively installed on the inner circumference and outer circumference of the lower surface of the circular plate. The inner ring and outer ring of the bearing are respectively fixedly connected with the upper tooth column and the locking pressing disc. There is no contact between the upper tooth column and the locking pressing disc. The micro-needle platform is located below the upper tooth column and placed on the bottom surface of the housing. The upper tooth column and the micro-needle platform are meshed in a vertically movable manner. Both inner side walls of the open end of the U-shaped bracket are fixedly connected with both sides of the outer side wall of the housing.

[0014] The micro-needle platform includes a lower tooth column, a protruding member, and a frustum. A plurality of micro-needles are fixedly installed on the lower surface of the frustum. A plurality of lower tooth columns are fixedly installed on the outer periphery of the upper surface of the frustum. The lower tooth column and the upper tooth column are not fully meshed. A plurality of protruding members are connected to the outer side wall of the frustum at intervals along the circumferential direction of the frustum.

[0015] A circular groove located below the frustum is opened in the middle of the bottom surface of the housing. A plurality of strip-shaped grooves are opened in the lower part of the housing at intervals along its circumferential direction. The strip-shaped grooves are arranged along the axial direction of the housing. One end of each protruding member is fixedly connected with the frustum, and the other end extends into the strip-shaped groove and is placed on the bottom surface of the housing in a vertically movable manner.

[0016] The described locking pressure plate includes several strip-shaped pressing pieces and a circular ring connecting plate. The several strip-shaped pressing pieces are fixedly connected to the lower surface of the circular ring connecting plate at intervals along the circumferential direction of the circular ring connecting plate, and each strip-shaped pressing piece is arranged along the axial direction of the circular ring connecting plate; the inner side wall of the circular ring connecting plate is fixedly connected to the outer ring of the bearing.

[0017] Each group of wire guiding wheel units includes two wire guiding wheels. One wire guiding wheel in each group of wire guiding wheel units is placed on the inner circumference of the upper surface of the support platform, and the other wire guiding wheel is fixedly connected to the outer side wall of the waterproof motor; one end of the wire rope is tied to the output shaft of the waterproof motor, and then winds around one wire guiding wheel connected to the waterproof motor and the other wire guiding wheel connected to the support platform in an S-shaped route in sequence, and the other end is tied to the outer side wall of the circular ring connecting plate. The wire guiding wheel is used to control the position of the wire rope.

[0018] The lower part of the upper tooth column and the lower tooth column are both uneven tooth-shaped structures, and the shape of the lower surface of the upper tooth column coincides with the shape of the upper surface of the lower tooth column.

[0019] Each group of wire guiding wheel units corresponds to a limiting component, and the symmetry axis of the wire guiding wheel unit is parallel to the symmetry axis of a corresponding limiting component itself.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. The present invention only needs to install one motor on the support platform, and the motor drives the locking pressure plate through the wire rope to realize the limitation of the microneedle platform. The structure is simple and easy to manufacture, and has the potential for large-scale production and application.

[0022] 2. The present invention uses the microneedles in the microneedle platform to micro-drill the adsorbed curved surface, and uses the microneedles to fixedly connect the adsorbed curved surface with the microneedle limiter, providing the adsorption force in the tangential direction of the curved surface, making up for the deficiency of the normal adsorption force of the adsorbed curved surface, and making the adsorption of the curved surface safer and more reliable. Brief Description of the Drawings

[0023] Figure 1 is a schematic diagram of the device of the present invention;

[0024] Figure 2 is a schematic diagram of the angle adjustment on the support platform;

[0025] Figure 3 is a schematic diagram of the driving structure of the locking pressure plate on the support platform;

[0026] Figure 4 is a schematic diagram of the vibration structure in the microneedle limiter;

[0027] Figure 5 is a schematic diagram of the microneedle limiter.

[0028] Figure 6Schematic diagram of the connection of the upper tooth column.

[0029] Figure 7 Schematic diagram of the microneedle platform.

[0030] Figure 8 Schematic diagram of the locking chuck.

[0031] Figure 9 Schematic diagram of the meshing of the upper tooth column and the microneedle platform.

[0032] In the figure: 1, support platform; 2, rotating shaft; 3, torsion spring; 4, electromagnetic brake; 5, U-shaped bracket; 6, wire guiding pulley; 7, waterproof motor; 8, waterproof stepping motor; 9, flange; 10, compression spring; 11, upper tooth column; 12, microneedle platform; 12.1, lower tooth column; 12.2, protruding part; 12.3, frustum; 13, locking chuck; 13.1, strip-shaped pressing piece; 13.2, ring connecting plate. Specific implementation mode

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] In order to more clearly illustrate the technical solutions implemented by the present invention, the accompanying drawings of the embodiments will be briefly introduced below.

[0035] As Figures 1 - 3 shown, the device mainly consists of a support platform 1, an angle-adjustable limiting component, a guide wheel unit, and a waterproof motor 7; the waterproof motor 7 is coaxially fixed on the upper surface of the support platform 1, and several groups of guide wheel units are arranged at intervals along the circumferential direction of the support platform 1. A plurality of through grooves are provided on the outer circumference of the support platform 1 at intervals along its circumferential direction, and a limiting component is fixedly connected between the two side walls of each through groove. One end of the wire rope is tied to the output shaft of the waterproof motor 7, and the other end is tied to the limiting component after passing through the guide wheel unit. The guide wheel unit is used to control the direction of the wire rope;

[0036] The lower surface of the disc-shaped support platform 1 is fixedly connected with a suction cup for adsorbing a curved surface. The suction cup is used to provide an adsorption force in the normal direction of the adsorbed curved surface to achieve the adsorption function, and the limiting component is used to limit the tangential movement of the adsorbed curved surface.

[0037] As Figure 1 and Figure 2As shown, the limit component includes a rotating shaft 2, a torsion spring 3, an electromagnetic brake 4, a U-shaped bracket 5 with one end closed and one end open, and a micro-needle limiter; both sides of the rotating shaft 13 are rotatably and movably connected to two electromagnetic brakes 4 coaxially. The closed end of the U-shaped bracket 5 is fixedly connected to the middle of the rotating shaft 2 coaxially. Two torsion springs 3 are respectively wound around both ends of the rotating shaft 2, so that the torsion spring 3 can drive the rotating shaft 2 to rotate. Both ends of each torsion spring 3 are fixedly connected to the electromagnetic brake 4 and the closed end of the U-shaped bracket 5 respectively. The electromagnetic brake 4 is externally connected to a controller. A micro-needle limiter is fixedly connected between the inner side walls at the open end of the U-shaped bracket 5, and a micro-needle is installed on the micro-needle limiter.

[0038] Both side walls of each through groove in the support platform 1 are fixedly connected to two electromagnetic brakes 4 respectively.

[0039] The electromagnetic brake 4 is used to control the rotation of the rotating shaft 2: when the electromagnetic brake 4 works, the rotating shaft 2 is locked and cannot rotate; when the electromagnetic brake 4 does not work, the rotating shaft 2 can rotate arbitrarily. When the suction cup adsorbs to any curved surface, the torsion spring 3 on the rotating shaft 2 is twisted. After the U-shaped bracket 5 rotates to a suitable angle, the electromagnetic brake 4 works to lock the rotating shaft 2 and then fix the U-shaped bracket 5, so as to ensure that the micro-needle limiter connected to the U-shaped bracket 5 can fit the adsorbed curved surface, and then penetrate the micro-needle into the curved surface to prevent the curved surface from slipping in its own tangential direction.

[0040] As Figures 4 - 6 shown, the micro-needle limiter includes a housing with a closed top and a semi-open bottom, a waterproof stepper motor 8, a compression spring 10, an upper tooth column 11, a micro-needle platform 12 and a locking press plate 13. The waterproof stepper motor 8, the upper tooth column 11, the micro-needle platform 12 and the locking press plate 13 are all located inside the housing. When the device does not adsorb to the curved surface, the lower surface of the locking press plate 13 adheres to the lower surface of the housing.

[0041] The waterproof stepper motor 8 is fixedly installed at the top of the inner side wall of the housing. The connecting rod is located below the waterproof stepper motor 8. One end of the output shaft of the waterproof stepper motor 8 and one end of the connecting rod are fixedly connected by a flange 9. The other end of the connecting rod passes through the middle of the circular flat plate and is movably connected to the circular flat plate in a vertically movable manner. The compression spring 10 is wound around the connecting rod, and both ends of the compression spring 10 are fixedly connected to the lower surface of the flange 9 and the upper surface of the circular flat plate respectively. The upper tooth column 11 and the bearing are respectively installed on the inner circumference and the outer circumference of the lower surface of the circular flat plate. The inner ring and the outer ring of the bearing are respectively fixedly connected to the upper tooth column 11 and the locking press plate 13. The upper tooth column 11 and the locking press plate 13 do not contact each other. The bearing is used to ensure that the rotation of the upper tooth column 11 and the locking press plate 13 does not interfere. The micro-needle platform 12 is located below the upper tooth column 11 and is placed on the bottom surface of the housing. The upper tooth column 11 and the micro-needle platform 12 are meshed in a vertically movable manner, as Figure 9 shown.

[0042] The two inner side walls at the open end of the U-shaped bracket 5 are respectively fixedly connected to both sides of the outer side wall of the housing.

[0043] By rotating the U-shaped bracket 5, the entire microneedle limiter fixedly connected to the U-shaped bracket 5 can adjust its own angle according to the curvature of different adsorption curved surfaces, realizing the curved surface self-adaptation of the microneedle limiter, and ensuring that the microneedle platform 12 can fully press on the adsorbed curved surface.

[0044] As Figure 7 shown, the microneedle platform 12 includes a lower tooth column 12.1, a convex member 12.2 and a frustum 12.3. A plurality of microneedles are fixedly installed on the lower surface of the frustum 12.3, and the microneedles are used for punching holes in the curved surface. A plurality of lower tooth columns 12.1 are fixedly installed on the outer periphery of the upper surface of the frustum 12.3, and a plurality of convex members 12.2 are connected to the outer side wall of the frustum 12.3 at intervals along the circumferential direction of the frustum 12.2. Specifically, the lower tooth column 12.1, the convex member 12.2 and the frustum 12.2 are connected into an integral structure;

[0045] The lower tooth column 12.1 is not fully engaged with the upper tooth column 11, and the meshing degree between the upper tooth column 11 and the lower tooth column 12.1 is controlled by controlling the rotation position of the upper tooth column 11;

[0046] A circular groove located below the frustum 12.3 is opened in the middle of the bottom surface of the housing. The circular groove enables the frustum 12.3 to be in direct contact with the adsorbed curved surface, and the microneedles on the frustum 12.3 penetrate into the curved surface. A plurality of strip-shaped grooves are opened in the lower part of the housing at intervals along its circumferential direction, and the strip-shaped grooves are arranged along the axial direction of the housing. One end of each convex member is fixedly connected to the frustum 12.3, and the other end extends into the strip-shaped groove and is placed on the bottom surface of the housing in a vertically movable manner. The convex member 12.2 is not fixedly connected to the housing, so that the convex member 12.2 can move up and down.

[0047] As Figure 8 shown, the locking pressure plate 13 includes a plurality of strip-shaped pressing pieces 13.1 and a circular ring connecting plate 13.2. A plurality of strip-shaped pressing pieces 13.1 are fixedly connected to the lower surface of the circular ring connecting plate 13.2 at intervals along the circumferential direction of the circular ring connecting plate 13.2. Each strip-shaped pressing piece 13.1 is arranged along the axial direction of the circular ring connecting plate 13.2, and the strip-shaped pressing piece 13.1 and the circular ring connecting plate 13.2 form an integral structure;

[0048] The inner side wall of the circular ring connecting plate 13.2 is fixedly connected to the outer ring of the bearing.

[0049] Each set of guide wheel units includes two wire-passing guide wheels 6. One wire-passing guide wheel 6 in each set of guide wheel units is placed on the inner circumference of the upper surface of the support platform 1, and the other wire-passing guide wheel 6 is fixedly connected to the outer side wall of the waterproof motor 7. The two wire-passing guide wheels 6 in each set of guide wheel units are located on the same diameter of the support platform 1;

[0050] One end of the wire rope is tied to the output shaft of the waterproof motor 7. It winds in an S-shaped route successively around a wire guiding pulley 6 connected to the waterproof motor 7 and another wire guiding pulley 6 connected to the support platform 1 in the wire guiding pulley unit, and then the other end is tied to the outer side wall of the circular ring connecting plate 13.2. The rotation of the locking pressing plate 13 is controlled by the waterproof motor 7, and the wire guiding pulley 6 is used to control the position of the wire rope.

[0051] The lower part of the upper tooth column 11 and the lower tooth column 12.1 are both uneven tooth-shaped structures. The shape of the lower surface of the upper tooth column 11 matches the shape of the upper surface of the lower tooth column 12.1, so that the upper tooth column 11 and the lower tooth column 12.1 can be incompletely meshed with each other.

[0052] More specifically, an incomplete tooth-shaped structure arranged along its circumferential direction is provided on the outer edge of the lower end surface of the upper tooth column 11. The shape of the lower tooth column 12.1 is the same as the incomplete tooth-shaped structure in the upper tooth column 11. The shape of the incomplete tooth-shaped structure is half of the shape of an ordinary tooth. The incomplete tooth-shaped structure in the upper tooth column 11 and the lower tooth column 12.1 are meshed to form a meshing system, and this meshing system is an incomplete meshing, and the formed meshing system is similar to the incomplete meshing structure inside a spring pen.

[0053] Each group of wire guiding pulley units corresponds to a limiting component in the horizontal position, and the symmetry axis of the wire guiding pulley unit is parallel to the symmetry axis of a corresponding limiting component itself.

[0054] When the suction cup connected to the lower surface of the support platform 1 adsorbs the curved surface, the suction cup provides a suction force in the normal direction of the adsorbed curved surface. The angle of the U-shaped bracket 5 in the limiting component is adjusted by the torsion spring 3, so that the micro-needle platform 12 in the micro-needle limiter fixedly connected to the U-shaped bracket 5 can fit the adsorbed curved surface. After the micro-needles on the micro-needle platform 12 contact the adsorbed curved surface, the micro-needle platform 12 is lifted upward due to the reaction force of the adsorbed curved surface, resulting in the simultaneous upward lifting of the upper tooth column 11 meshed with the lower tooth column 12.1. Then, the upper tooth column 11 is driven to rotate by the waterproof stepper motor 8, so that the upper tooth column 11 and the lower tooth column 12.1 are no longer meshed, and the gap size between the upper tooth column 11 and the lower tooth column 12.1 increases. Since the lower tooth column 12.1 is blocked by the curved surface and cannot move downward, the lower tooth column 12.1 pushes the upper tooth column 11 upward, causing the compression spring 10 to shorten and generate elastic potential energy. As the upper tooth column 11 rotates, the gap size between the upper tooth column 11 and the lower tooth column 12.1 decreases, and the elastic potential energy of the compression spring 10 pushes the upper tooth column 11 downward, and the upper tooth column 11 gives an impact force to the lower tooth column 12.1, and the impact force drives a part of the micro-needles on the micro-needle platform 12 to be nailed into the curved surface, and at the same time the micro-needle platform 12 is lifted upward again due to the reaction force of the curved surface.

[0055] When the suction cup is adsorbed on the curved surface and the microneedle platform 12 is attached to the adsorbed curved surface, the waterproof stepper motor 8 continues to work, the upper tooth column 11 rotates continuously, causing the lower tooth column to move up and down continuously, thereby controlling the intermittent up and down movement of the microneedle platform 12, and using the impact force to drive the microneedle to gradually nail into the curved surface, thereby realizing the micro-drilling of the adsorbed curved surface by the microneedle platform 12. After the microneedle drills into the curved surface, the curved surface is connected to the device through the microneedle, and the microneedle drills along the normal direction of the curved surface to limit the slippage of the curved surface in the tangential direction, which makes up for the lack of normal adsorption force of the curved surface provided by the suction cup, making the adsorption of the curved surface safer and more reliable.

[0056] When the microneedle is completely drilled into the curved surface, that is, after the microneedle platform 12 completes the micro-drilling of the curved surface, the underwater waterproof motor 8 stops working, and then the waterproof motor 7 starts working. The winding wire rope is wound by the rotation of the output shaft of the waterproof motor 7, and the wire rope is guided by the wire guide wheel 6 to control the rotation of the locking pressure plate 13 in the microneedle limiter. When the locking pressure plate 13 rotates, the strip pressure plate 13.1 in the locking pressure plate 13 will touch the protrusion 12.1 on the outer periphery of the microneedle platform 12, and the locking pressure plate 13 interacts with the microneedle platform 12. Since the microneedle platform 12 is supported by the curved surface and cannot move downward, the locking pressure plate 13 is lifted upward due to the reaction provided by the microneedle platform 12, and the locking pressure plate 13 drives the compression spring 10 to compress upward. When the compression spring 10 is compressed to the limit displacement and cannot be compressed any further, the position of the locking pressure plate 13 is locked at the same time, and the locked locking pressure plate 13 plays a limiting role on the microneedle platform 12. When the underwater waterproof motor 8 is working, the pressure plate in the locking pressure plate 13 is always out of contact with the microneedle platform 12 .

Claims

1. A microneedle adsorption device with curved surface adaptability, characterized in that: it mainly consists of a support platform (1), a limit component, a guide wheel unit and a waterproof motor (7); the waterproof motor (7) is coaxially fixed on the upper surface of the support platform (1), several groups of guide wheel units are arranged at intervals along the circumference of the support platform (1), a plurality of through grooves are provided on the outer circumference of the support platform (1) at intervals along its own circumference, a limit component is fixedly connected between the two side walls of each through groove, one end of a wire rope is tied to the output shaft of the waterproof motor (7), and the other end is tied to the limit component after passing around the guide wheel unit; a suction cup for adsorbing a curved surface is fixedly connected to the lower surface of the support platform (1); the limit component includes a rotating shaft (2), a torsion spring (3), an electromagnetic brake (4), a U-shaped bracket (5) with one end closed and one end open, and a microneedle limiter; both sides of the rotating shaft (2) are coaxially and rotatably connected to two electromagnetic brakes (4) respectively, the closed end of the U-shaped bracket (5) is coaxially fixedly connected to the middle of the rotating shaft (2), two torsion springs (3) are respectively wound around both ends of the rotating shaft (2), and both ends of each torsion spring (3) are fixedly connected to the electromagnetic brake (4) and the closed end of the U-shaped bracket (5) respectively, the electromagnetic brake (4) is externally connected to a controller, a microneedle limiter is fixedly connected between the two inner side walls of the open end of the U-shaped bracket (5), and a microneedle is installed on the microneedle limiter; both side walls of each through groove in the support platform (1) are fixedly connected to two electromagnetic brakes (4) respectively.

2. The microneedle adsorption device with curved surface adaptability according to claim 1, characterized in that: the microneedle limiter includes a housing with a closed top and a semi-open bottom, a waterproof stepper motor (8), a compression spring (10), an upper tooth column (11), a microneedle platform (12) and a locking pressure plate (13), and the waterproof stepper motor (8), the upper tooth column (11), the microneedle platform (12) and the locking pressure plate (13) are all located inside the housing; the waterproof stepper motor (8) is fixedly installed at the top of the inner side wall of the housing, a connecting rod is located below the waterproof stepper motor (8), the output shaft of the waterproof stepper motor (8) and one end of the connecting rod are fixedly connected through a flange (9), the other end of the connecting rod passes through the middle of a circular flat plate and is movably connected to the circular flat plate up and down, the compression spring (10) is wound around the connecting rod, and both ends of the compression spring (10) are fixedly connected to the lower surface of the flange (9) and the upper surface of the circular flat plate respectively, the upper tooth column (11) and a bearing are respectively installed on the inner circumference and the outer circumference of the lower surface of the circular flat plate, the inner ring and the outer ring of the bearing are respectively fixedly connected to the upper tooth column (11) and the locking pressure plate (13), the upper tooth column (11) and the locking pressure plate (13) do not contact each other, the microneedle platform (12) is located below the upper tooth column (11) and placed on the bottom surface of the housing, and the upper tooth column (11) and the microneedle platform (12) are meshed with each other up and down; both inner side walls of the open end of the U-shaped bracket (5) are fixedly connected to both sides of the outer side wall of the housing.

3. The microneedle adsorption device with curved surface adaptability according to claim 2, characterized in that: The described microneedle platform (12) includes a lower tooth column (12.1), a raised part (12.2), and a frustum (12.3). A plurality of microneedles are fixedly installed on the lower surface of the frustum (12.3). A plurality of lower tooth columns (12.1) are fixedly installed on the outer periphery of the upper surface of the frustum (12.3). The lower tooth column (12.1) and the upper tooth column (11) are not fully meshed. A plurality of raised parts (12.2) are connected to the outer side wall of the frustum (12.3) at intervals along the circumferential direction of the frustum (12.3); A circular groove located below the frustum (12.3) is opened in the middle of the bottom surface of the housing. A plurality of strip-shaped grooves are opened in the lower part of the housing at intervals along its circumferential direction. The strip-shaped grooves are arranged along the axial direction of the housing. One end of each raised part is fixedly connected to the frustum (12.3), and the other end extends into the strip-shaped groove and is placed on the bottom surface of the housing so as to be movable up and down.

4. A microneedle adsorption device with curved surface adaptability according to claim 2, characterized in that: The locking pressing disc (13) includes a plurality of strip-shaped pressing pieces (13.1) and an annular connecting plate (13.2). A plurality of strip-shaped pressing pieces (13.1) are fixedly connected to the lower surface of the annular connecting plate (13.2) at intervals along the circumferential direction of the annular connecting plate (13.2). Each strip-shaped pressing piece (13.1) is arranged along the axial direction of the annular connecting plate (13.2); The inner side wall of the annular connecting plate (13.2) is fixedly connected to the outer ring of the bearing.

5. A microneedle adsorption device with curved surface adaptability according to claim 4, characterized in that: Each set of wire guiding wheel units includes two wire guiding wheels (6). One wire guiding wheel (6) in each set of wire guiding wheel units is placed on the inner periphery of the upper surface of the support platform (1), and the other wire guiding wheel (6) is fixedly connected to the outer side wall of the waterproof motor (7); One end of the wire rope is tied to the output shaft of the waterproof motor (7), and then winds around one wire guiding wheel (6) connected to the waterproof motor (7) and the other wire guiding wheel (6) connected to the support platform (1) in an S-shaped route in sequence, and the other end is tied to the outer side wall of the annular connecting plate (13.2). The wire guiding wheel (6) is used to control the position of the wire rope.

6. A microneedle adsorption device with curved surface adaptability according to claim 3, characterized in that: The lower part of the upper tooth column (11) and the lower tooth column (12.1) are both uneven tooth-shaped structures, and the shape of the lower surface of the upper tooth column (11) coincides with the shape of the upper surface of the lower tooth column (12.1).

7. A microneedle adsorption device with curved surface adaptability according to claim 3, characterized in that: Each set of wire guiding wheel units corresponds to a limiting component, and the axis of symmetry of the wire guiding wheel unit is parallel to the axis of symmetry of a corresponding limiting component.

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