An adhesion property test device and method for adhesion materials

Abstract

The present invention discloses an adhesion property test device and method for an adhesion material, which relates to the technical field of measuring devices, and includes a base, a test panel, and a three-dimensional force sensor for measuring and obtaining the spatial force of the test panel. A linear actuator provides a linear sliding pair. The front end of the robotic arm is fixedly installed on the sliding part of the linear actuator, and an adaptive mounting plate is fixedly installed at the end. According to the actual application scenario of the adhesion material, the robotic arm of the present invention can drive the adhesion material to contact and adhere to the test panel by simulating the set motion trajectory and speed, and can simulate and reproduce the force condition of the adhesion material through the loading structure, greatly improving the degree of fit between the test conditions of the adhesion property test and the actual application scenario, and being able to more accurately and effectively reflect the adhesion performance of the adhesion material in actual application, so that the test results obtained from the adhesion property test have practical guiding significance.

Description

Technical Field

[0001] The present invention relates to the technical field of force measuring devices, and in particular to a device and method for measuring adhesion force. Background Art

[0002] Adhesive materials are widely used in daily life and industrial fields, such as reusable tapes, industrial grippers with adhesive materials, and wall-climbing robots. Obtaining the mechanical properties of adhesive materials such as adhesion by testing is an essential process to guide and realize the practical application of adhesive materials.

[0003] Through the prior art search, there are the following known technical solutions for evaluating the mechanical properties of adhesive materials:

[0004] Prior art 1:

[0005] Application number: CN202121062465.1, Application date: 2021.05.18, Publication (announcement) date:

[0006] 2021.12.14, this prior art relates to the technical field of force measurement devices, and in particular to a device for measuring the wet adhesion and friction of mucus, which can measure vertical adhesion and horizontal friction while ensuring accuracy. The measuring device provided by the present invention includes: a base plate, a vertical fixed platform, the vertical fixed platform is fixedly connected to one side of the base plate; a horizontal support plate, the horizontal support plate is fixedly connected to the upper surface of the base plate, and horizontal slide grooves are formed on both sides thereof; a horizontal slide plate, the horizontal slide plate is slidably connected to the horizontal slide groove; a force measuring platform is fixedly connected to one side of the horizontal slide plate close to the vertical fixed platform; a first transmission mechanism is transmission-connected to the horizontal slide plate; a vertical support plate, the vertical support plate is fixedly connected to the inner side of the vertical fixed platform, and vertical slide grooves are formed on both sides thereof; a vertical slide plate, the vertical slide plate is slidably connected to the vertical slide groove; and a second sensing mechanism is transmission-connected to the vertical slide plate.

[0007] This existing technology can measure the vertical adhesion force and horizontal friction force of biological mucus by applying displacement

[0008] Prior art 2: A device for measuring the plane force of a bionic claw spine

[0009] Application number: CN202210858259.4, Application date: 2022.07.20, Publication (announcement) date:

[0010] On September 16, 2022, this prior art relates to the field of space exploration technology, and particularly relates to a device for measuring the planar force of a bionic claw thorn piece. The device includes a profile main frame, a two-dimensional moving platform, a bionic claw thorn piece to be measured, a transverse tension sensor, and a longitudinal tension sensor. Among them, the two-dimensional moving platform is arranged on the profile main frame, and the two-dimensional moving platform has degrees of freedom to move in the transverse and vertical directions; the longitudinal tension sensor is arranged on the two-dimensional moving platform, the transverse tension sensor is vertically connected to the longitudinal tension sensor, and the bionic claw thorn piece to be measured is connected to the transverse tension sensor; when the bionic claw thorn piece to be measured grabs the surface to be measured, the transverse tension sensor measures the transverse tension, and the longitudinal tension sensor measures the vertical normal tension. The present invention can accurately measure the magnitude of the vertical planar force of the bionic claw thorn piece, has high test accuracy, is easy to operate, and the collected data is accurate and effective.

[0011] This prior art can measure the transverse tension and the vertical normal tension on the bionic claw thorn piece through two moving platforms.

[0012] Prior art 3:

[0013] The University of California, Santa Barbara in the United States designed an experimental device for measuring the adhesion and friction of gecko-inspired adhesion materials. Similarly, by controlling the displacement to drag the adhesion material adsorbed on the surface, the adhesion and friction are measured.

[0014] Prior art 4:

[0015] Stanford University in the United States designed an experimental device for measuring the tangential force of micro claw thorns. This device can measure the tangential force on the surface by tangentially dragging the micro claw thorns.

[0016] However, in some practical applications, such as industrial grippers with adhesion materials, they need to contact objects and grab them at a certain speed and direction in three-dimensional space; another example is that during the climbing process of wall-climbing robots, the adhesion materials at the end of the feet will contact and detach from the wall surface along a certain trajectory and speed, and are subjected to the constant gravity of the robot in the tangential direction. Although these measurement devices have measured the mechanical properties of the adhesion materials to a certain extent, they cannot simulate the actual movement trajectory and force conditions of the adhesion materials in space, resulting in the mechanical properties of the adhesion materials obtained by their measurement not being able to match the actual application situation, unable to better evaluate the performance of the adhesion materials in actual applications, and also unable to better guide the actual application of the adhesion materials.

[0017] Through the above retrieval, it is found that the above technical solutions do not affect the novelty of the present invention; and the combination of the above prior arts does not destroy the creativity of the present invention. Summary of the Invention

[0018] The present invention precisely aims to avoid the deficiencies existing in the above-mentioned prior art, and provides an adhesion property test device for adhesive materials.

[0019] The present invention adopts the following technical solutions to solve the technical problems:

[0020] An adhesion property test device for adhesive materials, including a base serving as a frame and a test panel located above the base. A three-dimensional force sensor is provided between the base and the test panel. The three-dimensional force sensor is installed and fixed to the base, and its sensitive element is installed and connected to the test panel for measuring and obtaining the spatial force of the test panel.

[0021] It further includes a linear actuator, a robotic arm, a loading structure, and an adaptive structure;

[0022] The linear actuator is installed and fixed on the side of the test panel and provides a linear sliding pair; the front end of the robotic arm is installed and fixed to the sliding part of the linear actuator, and an adaptive mounting plate is installed and fixed at the end.

[0023] The loading structure outputs a constant force, and its output end acts on the sliding part of the linear actuator, causing the sliding part to have a tendency to slide along the linear sliding pair; the end of the robotic arm can move along a set trajectory in space relative to the front end, and the adaptive mounting plate provides an underactuated degree of freedom for passive three-way rotation in space.

[0024] Further, the adaptive mounting plate includes a mounting adapter, a fixed upper plate, and a sample mounting plate arranged in sequence from top to bottom;

[0025] The mounting adapter is installed and fixed to the end of the robotic arm, and a fixed shaft is fixedly arranged vertically through it; an elastic rubber block is located between the fixed shaft and the fixed upper plate, and its top and bottom are respectively connected and fixed to the bottom of the fixed shaft and the top surface of the fixed upper plate, enabling the fixed upper plate and the sample mounting plate as a whole to make a passive rotation with the vertical axis as the rotation axis;

[0026] A universal joint is installed and connected between the fixed upper plate and the sample mounting plate, enabling the fixed upper plate and the sample mounting plate to make a passive two-way relative rotation with the rotation axis in the horizontal plane; at least three adaptive springs are circumferentially and evenly arranged between the fixed upper plate and the sample mounting plate, and the top and bottom of the adaptive spring are respectively installed and fixed to the fixed upper plate and the sample mounting plate.

[0027] Further, the robotic arm includes a large arm connector, a large arm, a small arm connector, and a small arm arranged in sequence from its front end to the rear end;

[0028] The front end of the large arm connecting piece is installed and connected to the sliding part of the linear actuator through the upper and lower swing servos, and a rotating pair for the large arm connecting piece to swing up or down is formed between the large arm connecting piece and the sliding part of the linear actuator; the front end of the large arm is installed and connected to the end of the large arm connecting piece through the large arm front and rear swing servos, and a rotating pair for the large arm to swing forward or backward is formed between the large arm and the end of the large arm connecting piece; the end of the small arm connecting piece is fixedly installed with the small arm, and the front end is installed and connected to the end of the large arm through the small arm front and rear swing servos, and a rotating pair for the small arm connecting piece and the whole small arm to swing forward or backward is formed between the small arm connecting piece and the end of the large arm.

[0029] Further, the loading structure includes a roller mounting seat, a roller, a rope, and a weight. The roller is rotatably mounted on the base through the roller mounting seat, and the rope is tensioned around it; the front end of the rope is used as the output end of the loading structure and is fixedly connected to the sliding part of the linear actuator, and the end of the rope is bolted and suspended with a weight outside the base.

[0030] Further, an annular limiting groove for limiting the rope is provided on the outer edge of the roller.

[0031] Further, the linear actuator includes a linear guide rail and a slider. The linear guide rail is fixedly installed on the base, and the slider, as the sliding part of the linear actuator, is slidably connected with the linear guide rail.

[0032] Further, the linear actuator further includes a pair of oppositely arranged guide rail mounting seats, and the linear guide rail is fixedly installed on the base through the pair of symmetrically arranged guide rail mounting seats at both ends.

[0033] Further, a robotic arm mounting plate for installing and fixing the robotic arm is also provided on the slider.

[0034] Further, the three-dimensional force sensor is fixedly installed on the base through a sensor fixing seat.

[0035] An adhesion characteristic test method for an adhesion material includes the following steps:

[0036] In the first step, the adhesion material to be tested is installed at the bottom of the sample mounting plate;

[0037] In the second step, the slider is locked at the front end of the linear guide rail, and a weight is bolted to the end of the rope;

[0038] In the third step, according to the test requirements, the robotic arm is controlled to drive the adhesion material to move along a set spatial motion trajectory and speed until the adhesion material contacts the test panel;

[0039] In the fourth step, after the adhesion material contacts the test panel, the robotic arm continues to drive the adhesion material to move along a set spatial motion trajectory and speed;

[0040] Meanwhile, the fixed upper plate and the sample mounting plate as a whole utilize the rotational freedom provided by the elastic force of the elastic rubber blocks to perform adaptive yaw rotation for stress relief; under the driving action of the robotic arm, the sample mounting plate overcomes the elastic force of the adaptive spring and utilizes the two-way rotational freedom provided by the universal joint to perform adaptive two-way rotation relative to the fixed upper plate until the bottom surface of the adhesive material is completely and adhesively attached to the test panel;

[0041] In the fifth step, the three-dimensional force sensor measures and obtains the contact force between the test panel and the adhesive material at this time as the initial contact force, including the tangential contact force F parallel to the rotation axes of the upper swing and the lower swing t0 , the normal contact force F parallel to the rotation axes of the front swing and the rear swing n0 , and the lateral contact force F perpendicular to both the tangential contact force F t0 and the normal contact force F n0 ; l0

[0042] In the sixth step, before the adhesive material detaches from the test panel, the adhesive material uses its adhesion to the test panel to fix the end of the robotic arm;

[0043] Release the relative locking between the slider and the linear guide rail, control the robotic arm to output power according to the set motion, so that its front end drives the slider to slide along the linear guide rail starting from the front end of the linear guide rail, and the three-dimensional force sensor measures and obtains in real time the contact force change curve between the test panel and the adhesive material under the constant force provided by the weight of the weight during this sliding process;

[0044] Case 1: If the adhesive material detaches from the test panel before the slider slides to the end of the linear guide rail, then analyze the contact force change curve to obtain the adhesion characteristics of the adhesive material under the current test conditions, including the contact force change trend during the non-detachment process, the contact force change trend during the detachment process, and the ultimate contact force at the time of detachment;

[0045] At this time, one or several parameters among the motion trajectory of the robotic arm, the motion speed of the robotic arm, the adhesion coefficient of the test panel, and the weight of the weight can be changed and the test process of the second to sixth steps can be carried out again to obtain the adhesion characteristics of the adhesive material under different test conditions;

[0046] Case 2: If the adhesive material and the test panel do not detach before the slider slides to the end of the linear guide rail, then analyze the contact force change curve to obtain the contact force change trend during the non-detachment process of the adhesive material under the current test conditions, and then reduce the adhesion coefficient of the test panel and / or increase the weight of the weight, and carry out the test of the second to sixth steps again until the adhesive material detaches from the test panel before the slider slides to the end of the linear guide rail.

[0047] The present invention provides an adhesion property test device and method for an adhesion material, having the following beneficial effects:

[0048] 1. The robotic arm of the present invention can, based on the actual application scenario of the adhesion material, simulate the driving of the adhesion material to contact and adhere to the test panel according to the set movement trajectory and speed through the robotic arm, and simulate the force-bearing situation of the adhesion material through the loading structure, greatly improving the degree of fit between the test conditions of the adhesion property test and the actual application scenario, and being able to more accurately and effectively reflect the adhesion performance of the adhesion material in actual application, making the test results obtained from the adhesion property test have practical guiding significance;

[0049] 2. The present invention utilizes the principle of action and reaction, and measures the force on the test panel through a three-dimensional force sensor to obtain the tangential contact force F t 、lateral contact force F l and normal contact force F n of the adhesion material. The entire test process can obtain the adhesion force limit curve including the initial contact force and the ultimate adhesion force under specified test conditions, and can comprehensively and accurately represent the dynamic adhesion characteristics of the adhesion material;

[0050] 3. The mechanical properties of the adhesion material obtained by the present invention have high accuracy and good fit, have good practicality, and can better meet the needs of actual research. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic structural diagram of the present invention;

[0052] Figure 2 is a schematic structural diagram of the linear actuator and the loading structure of the present invention;

[0053] Figure 3 is a schematic structural diagram of the three-degree-of-freedom robotic arm of the present invention;

[0054] Figure 4 is a schematic structural diagram of the adaptive mounting plate of the present invention;

[0055] Figure 5 is a schematic diagram of the test process of the present invention.

[0056] In the figure:

[0057] 1. Base; 2. Linear actuator, 21. Guide rail mounting seat, 22. Linear guide rail, 23. Robot arm mounting plate, 24. Slide block; 3. Robot arm, 31. Up-and-down swing servo, 32. Big arm connecting piece, 33. Big arm front-and-back swing servo, 34. Big arm, 35. Small arm front-and-back swing servo, 36. Small arm connecting piece, 37. Small arm; 4. Adaptive mounting plate, 41. Mounting adapter, 42. Fixed upper plate, 43. Sample mounting plate, 44. Universal joint, 45. Fixed shaft, 46. Elastic rubber block, 47. Adaptive spring; 5. Test panel; 6. Three-dimensional force sensor; 7. Sensor fixing seat; 8. Loading structure, 81. Roller mounting seat, 82. Roller, 83. Rope, 84. Weight. Detailed implementation manners

[0058] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0059] As Figures 1 to 4 shown, the structural relationship is as follows: It includes a base 1 serving as a frame and a test panel 5 located above the base 1. A three-dimensional force sensor 6 is provided between the base 1 and the test panel 5. The three-dimensional force sensor 6 is installed and fixed to the base 1, and its sensitive element is installed and connected to the test panel 5 for measuring and obtaining the spatial force of the test panel 5.

[0060] It also includes a linear actuator 2, a robot arm 3, a loading structure 8 and an adaptive structure 9;

[0061] The linear actuator 2 is installed and fixed on the side of the test panel 5 and provides a linear sliding pair; the front end of the robot arm 3 is installed and fixed to the sliding part of the linear actuator 2, and an adaptive mounting plate 4 is installed and fixed at the end.

[0062] The loading structure 8 outputs a constant force, and its output end acts on the sliding part of the linear actuator 2 to make the sliding part have a movement tendency to slide along the linear sliding pair; the end of the robot arm 3 can move along a set trajectory in space relative to the front end, and the adaptive mounting plate 4 provides an underactuated degree of freedom for passive three-way rotation in space.

[0063] Preferably, the adaptive mounting plate 4 includes a mounting adapter 41, a fixed upper plate 42 and a sample mounting plate 43 arranged in sequence from top to bottom;

[0064] The installation adapter 41 is fixedly installed at the end of the robotic arm 3, and a fixed shaft 45 is fixedly installed vertically through it; the elastic rubber block 46 is located between the fixed shaft 45 and the fixed upper plate 42, and its top and bottom are respectively connected and fixed to the bottom end of the fixed shaft 45 and the top surface of the fixed upper plate 42, so that the fixed upper plate 42 and the sample mounting plate 43 can rotate passively along the vertical direction around the rotating shaft;

[0065] The universal joint 44 is installed and connected between the fixed upper plate 42 and the sample mounting plate 43, so that the fixed upper plate 42 and the sample mounting plate 43 can rotate passively in two directions relative to each other around the rotating shaft in the horizontal plane; at least three adaptive springs 47 are circumferentially arranged between the fixed upper plate 42 and the sample mounting plate 43, and the top and bottom ends of the adaptive spring 47 are respectively installed and fixed to the fixed upper plate 42 and the sample mounting plate 43;

[0066] In actual setting, the number of the adaptive springs 47 is set to four, and it is better that the four adaptive springs 47 are respectively arranged at the positions around the fixed upper plate 42.

[0067] Preferably, the robotic arm 3 includes a large arm connecting piece 32, a large arm 34, a small arm connecting piece 36 and a small arm 37 which are arranged in sequence from its front end to the rear end;

[0068] The front end of the large arm connecting piece 32 is installed and connected to the sliding part of the linear actuator 2 through the up and down swing servo 31, and a rotating pair for the large arm connecting piece 32 to swing up or down is formed between the large arm connecting piece 32 and the sliding part of the linear actuator 2; the front end of the large arm 34 is installed and connected to the end of the large arm connecting piece 32 through the large arm front and rear swing servo 33, and a rotating pair for the large arm 34 to swing forward or backward is formed between the large arm 34 and the end of the large arm connecting piece 32; the small arm 37 is fixedly installed at the end of the small arm connecting piece 36, and the front end is installed and connected to the end of the large arm 34 through the small arm front and rear swing servo 35, and a rotating pair for the small arm connecting piece 36 and the small arm 37 as a whole to swing forward or backward is formed between the small arm connecting piece 36 and the end of the large arm 34.

[0069] Preferably, the loading structure 8 includes a roller mounting seat 81, a roller 82, a rope 83 and a weight 84. The roller 82 is rotatably installed on the base 1 through the roller mounting seat 81, and the rope 83 is tensioned around it; the front end of the rope 83 is used as the output end of the loading structure 8 and is connected and fixed to the sliding part of the linear actuator 2, and the end of the rope 83 is bolted and suspended to the weight 84 outside the base 1;

[0070] The weight 84 provides a constant acting force by its own gravity, and its gravity is transmitted through the rope 83 and acts on the sliding part of the linear actuator 2, so that the sliding part of the linear actuator 2 has a tendency to slide along the linear sliding pair;

[0071] The roller 82 is used to change the direction of the force transmitted on the rope 83, avoiding excessive frictional force caused by direct friction between the rope 83 and the base 1 and wear of the rope 83. At the same time, it changes the position of the weight 84, creating a space above the weight 84 for the weight 84 to move upward, avoiding movement interference between the weight 84 and the base 1, and ensuring that the loading structure 8 can stably output a constant force acting on the sliding part.

[0072] Preferably, an annular limiting groove for limiting the rope 83 is provided on the outer edge of the roller 82.

[0073] Preferably, the linear actuator 2 includes a linear guide rail 22 and a slider 24. The linear guide rail 22 is fixedly installed on the base 1, and the slider 24 serves as the sliding part of the linear actuator 2 and is slidably connected to the linear guide rail 22, with the travel between the two along the linear sliding pair of the linear guide rail 22.

[0074] Preferably, the linear actuator 2 further includes a pair of oppositely arranged guide rail mounting seats 21, and the linear guide rail 22 is fixedly installed on the base 1 through the pair of guide rail mounting seats 21 symmetrically arranged at both ends thereof.

[0075] Preferably, a robotic arm mounting plate 23 for mounting and fixing the robotic arm 3 is further provided on the slider 24.

[0076] Preferably, the three-dimensional force sensor 6 is fixedly installed on the base 1 through a sensor fixing seat 7.

[0077] As Figure 5 shown, the x-axis and the z-axis intersecting at point O are respectively parallel to the rotation axes of the up-and-down swing and the front-and-back swing, and a straight line passing through point O and perpendicular to both the x-axis and the z-axis is taken as the y-axis to establish a rectangular coordinate system:

[0078] Using the above test device to conduct tests on the adhesion characteristics of the adhesion material, including the following steps:

[0079] The first step is to install the adhesion material to be tested at the bottom of the sample mounting plate 43;

[0080] The second step is to take the end of the linear guide rail 22 close to the weight 84 as the front end of the linear guide rail 22 and the end far from the weight 84 as the end of the linear guide rail 22, lock the slider 24 at the front end of the linear guide rail 22, and bolt the weight 84 to the end of the rope 83; the weight of the weight 84 can be set accordingly according to the needs of the test;

[0081] The third step is to control the robotic arm 3 to drive the adhesion material to move according to the set spatial movement trajectory and speed according to the test needs until the adhesion material contacts the test panel 5;

[0082] The fourth step is that after the adhesion material contacts the test panel 5, the robotic arm 3 continues to drive the adhesion material to move according to the set spatial movement trajectory and speed;

[0083] Meanwhile, the fixing upper plate 42 and the sample mounting plate 43 as a whole utilize the rotational freedom provided by the elastic force of the elastic rubber block 46 to perform adaptive yaw rotation for relieving internal stress; under the driving action of the robotic arm 3, the sample mounting plate 43 overcomes the elastic force of the adaptive spring 47 and utilizes the two-direction rotational freedom provided by the universal joint 44 to perform adaptive two-direction rotation relative to the fixing upper plate 42 until the bottom surface of the adhesive material is completely attached to the test panel 5;

[0084] In the fifth step, the three-dimensional force sensor 6 measures and obtains the contact force between the test panel 5 and the adhesive material at this time as the initial contact force, including the tangential contact force F parallel to the rotation axis of the upswing and downswing movements t0 , the normal contact force F parallel to the rotation axis of the front swing and back swing movements n0 , and the lateral contact force F perpendicular to both the tangential contact force F t0 and the normal contact force F n0 ; l0

[0085] In the sixth step, before the adhesive material detaches from the test panel 5, the end of the robotic arm 3 is fixed by the adhesive force between the adhesive material itself and the test panel 5;

[0086] The relative locking between the slider 24 and the linear guide 22 is released, and the robotic arm 3 is controlled to output power according to the set motion, so that the front end of the robotic arm 3 drives the slider 24 to slide along the linear guide 22 starting from the front end of the linear guide 22, and the three-dimensional force sensor 6 measures and obtains the contact force change curve between the test panel 5 and the adhesive material under the action of the constant force provided by the gravity of the weight 84 in real time during the sliding process;

[0087] In Case 1, if the adhesive material detaches from the test panel 5 before the slider 24 slides to the end of the linear guide 22, the adhesion characteristics of the adhesive material under the test conditions in this test, including the contact force change trend during the non-detachment process, the contact force change trend during the detachment process, and the ultimate contact force at the time of detachment, are obtained by analyzing the contact force change curve;

[0088] At this time, one or several parameters among the motion trajectory of the robotic arm 3, the motion speed of the robotic arm 3, the adhesion coefficient of the test panel 5, and the weight of the weight 84 can be changed and the test process of the second step to the sixth step can be performed again to obtain the adhesion characteristics of the adhesive material under different test conditions;

[0089] Case 2: If the adhesion material and the test panel 5 have not been detached when the slider 24 slides to the end of the linear guide 22, analyze the change trend of the contact force during the non-detachment process of the adhesion material under the test conditions based on the contact force change curve, and then reduce the adhesion coefficient of the test panel 5 and / or increase the weight of the weight 84, and conduct the tests of the second to sixth steps again until the adhesion material and the test panel 5 are detached before the slider 24 slides to the end of the linear guide 22;

[0090] In the above process, each contact force in the change trend of the contact force during the non-detachment process and the change trend of the contact force during the detachment process includes the tangential contact force F corresponding to the contact force t , the normal contact force F n and the lateral contact force F l ; the ultimate contact force at the time of detachment includes the tangential ultimate contact force F tt , the normal ultimate contact force F nt and the lateral ultimate contact force F lt ;

[0091] During the actual test, the change of the adhesion coefficient of the test panel 5 can be realized by changing the relevant parameters such as the roughness and adhesion of its upper surface. The changing method can be to increase or change the patch on the top of the test panel 5, replace the test panel 5 or any other method that can realize the change of the adhesion coefficient of the upper surface of the test panel 5;

[0092] The test process of the sixth step can be simplified according to actual needs. For example, when only the adhesion characteristics of a certain adhesion material under certain test conditions need to be tested without obtaining its ultimate contact force and the adhesion force characteristics under different test conditions, only one test under Case 1 in the sixth step is required.

[0093] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0094] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adhesion property test device for an adhesive material, comprising a base (1) serving as a frame and a test panel (5) located above the base (1), characterized in that: A three-dimensional force sensor (6) is provided between the base (1) and the test panel (5). The three-dimensional force sensor (6) is fixedly mounted on the base (1), and its sensitive element is installed and connected to the test panel (5) for measuring and obtaining the spatial force on the test panel (5). It further includes a linear actuator (2), a robotic arm (3), a loading structure (8), and an adaptive structure (9). The linear actuator (2) is fixedly mounted on the side of the test panel (5) and provides a linear sliding pair. The front end of the robotic arm (3) is fixedly mounted on the sliding part of the linear actuator (2), and an adaptive mounting plate (4) is fixedly mounted at the end. The loading structure (8) outputs a constant force, and its output end acts on the sliding part of the linear actuator (2) to cause the sliding part to have a tendency to slide along the linear sliding pair. The end of the robotic arm (3) can move along a set trajectory in space, and the adaptive mounting plate (4) provides an underactuated degree of freedom for passive three-way rotation in space. The adaptive mounting plate (4) includes a mounting adapter (41), a fixed upper plate (42), and a sample mounting plate (43) arranged in sequence from top to bottom. The mounting adapter (41) is fixedly mounted at the end of the robotic arm (3), and a fixed shaft (45) is fixedly arranged vertically through it. An elastic rubber block (46) is located between the fixed shaft (45) and the fixed upper plate (42), and its top and bottom are respectively connected and fixed to the bottom end of the fixed shaft (45) and the top surface of the fixed upper plate (42), so that the fixed upper plate (42) and the sample mounting plate (43) can rotate passively about the vertical axis. A universal joint (44) is installed and connected between the fixed upper plate (42) and the sample mounting plate (43) to enable the fixed upper plate (42) and the sample mounting plate (43) to rotate passively relative to each other in two directions in the horizontal plane. At least three adaptive springs (47) are circumferentially and evenly arranged between the fixed upper plate (42) and the sample mounting plate (43), and the top and bottom ends of the adaptive springs (47) are respectively installed and fixed to the fixed upper plate (42) and the sample mounting plate (43). The robotic arm (3) includes a large arm connector (32), a large arm (34), a small arm connector (36), and a small arm (37) arranged in sequence from its front end to the rear end. The front end of the boom connecting member (32) is installed and connected to the sliding part of the linear actuator (2) through the upper and lower swing servos (31), and a rotating pair for the boom connecting member (32) to swing up or down is formed between the boom connecting member (32) and the sliding part of the linear actuator (2); the front end of the boom (34) is installed and connected to the end of the boom connecting member (32) through the boom front and rear swing servos (33), and a rotating pair for the boom (34) to swing forward or backward is formed between the boom (34) and the end of the boom connecting member (32); the end of the forearm connecting member (36) is fixedly installed with the forearm (37), and the front end is installed and connected to the end of the boom (34) through the forearm front and rear swing servos (35), and a rotating pair for the forearm connecting member (36) and the forearm (37) to swing forward or backward as a whole is formed between the forearm connecting member (36) and the end of the boom (34). The loading structure (8) includes a roller mounting seat (81), a roller (82), a rope (83) and a weight (84). The roller (82) is rotatably mounted on the base (1) through the roller mounting seat (81), and the rope (83) is tensioned around it; the front end of the rope (83) is used as the output end of the loading structure (8) and is fixedly connected to the sliding part of the linear actuator (2), and the end of the rope (83) is bolted and suspended with the weight (84) outside the base (1). An annular limiting groove for limiting the rope (83) is formed on the outer edge of the roller (82). The linear actuator (2) includes a linear guide rail (22) and a slider (24). The linear guide rail (22) is installed and fixed on the base (1), and the slider (24) serves as the sliding part of the linear actuator (2) and is slidably connected with the linear guide rail (22).

2. The adhesion property test device for an adhesion material according to claim 1, characterized in that: The linear actuator (2) further includes a pair of oppositely arranged guide rail mounting seats (21). The linear guide rail (22) is installed and fixed on the base (1) through the pair of guide rail mounting seats (21) symmetrically arranged at both ends thereof.

3. The adhesion property test device for an adhesion material according to claim 1, characterized in that: A robotic arm mounting plate (23) for installing and fixing the robotic arm (3) is further provided on the slider (24).

4. An adhesion property test device for an adhesive material according to any one of claims 1 to 3, characterized in that: The three-dimensional force sensor (6) is installed and fixed on the base (1) through the sensor fixing seat (7).

5. A test method for the adhesion characteristics of an adhesive material, which uses the test device as described in claim 1 to test the adhesion characteristics of the adhesive material, is characterized in that, Including the following steps: First step, install the adhesive material to be tested at the bottom of the sample mounting plate (43). Second step, lock the slider (24) at the front end of the linear guide rail (22), and bolt the weight (84) to the end of the rope (83). Third step, according to the test requirements, control the robotic arm (3) to drive the adhesive material to move along the set spatial motion trajectory and speed until the adhesive material contacts the test panel (5). Fourth step, after the adhesive material contacts the test panel (5), the robotic arm (3) continues to drive the adhesive material to move along the set spatial motion trajectory and speed. Meanwhile, the fixed upper plate (42) and the sample mounting plate (43) as a whole utilize the rotational freedom provided by the elastic force of the elastic rubber block (46) to perform adaptive yaw rotation for stress relief; under the driving action of the robotic arm (3), the sample mounting plate (43) overcomes the elastic force of the adaptive spring (47) and utilizes the two-way rotational freedom provided by the universal joint (44) to perform adaptive two-way rotation relative to the fixed upper plate (42) until the bottom surface of the adhesive material is completely adhered to the test panel (5); In the fifth step, the three-dimensional force sensor (6) measures and obtains the contact force between the test panel (5) and the adhesive material at this time as the initial contact force, including the tangential contact force F parallel to the rotation axis of the upward and downward swing movements. t0 , the normal contact force F parallel to the axis of rotation of the forward and backward swing motions n0 , and the tangential contact force F t0 and the normal contact force F n0 The vertical lateral contact force F l0 ; In the sixth step, the adhesive material uses the adhesion force between itself and the test panel (5) to fix the end of the robotic arm (3) before it detaches from the test panel (5); Release the relative lock between the slider (24) and the linear guide (22), control the robotic arm (3) to output power according to the set motion, so that its front end drives the slider (24) to slide along the linear guide (22) starting from the front end of the linear guide (22), and the three-dimensional force sensor (6) measures and obtains the contact force change curve between the test panel (5) and the adhesive material under the action of the constant force provided by the gravity of the weight (84) in real time during this sliding process; In Case 1, if the adhesive material detaches from the test panel (5) before the slider (24) slides to the end of the linear guide (22), the adhesion characteristics of the adhesive material under the current test conditions, including the contact force change trend during the non-detachment process, the contact force change trend during the detachment process, and the ultimate contact force at the time of detachment, are obtained by analyzing the contact force change curve; At this time, one or several parameters among the motion trajectory of the robotic arm (3), the motion speed of the robotic arm (3), the adhesion coefficient of the test panel (5), and the weight of the weight (84) can be changed to repeat the test process of the second to sixth steps to obtain the adhesion characteristics of the adhesive material under different test conditions; In Case 2, if the adhesive material does not detach from the test panel (5) when the slider (24) slides to the end of the linear guide (22), the contact force change trend during the non-detachment process of the adhesive material under the current test conditions is obtained by analyzing the contact force change curve, and then the adhesion coefficient of the test panel (5) is reduced and / or the weight of the weight (84) is increased, and the second to sixth steps are repeated until the adhesive material detaches from the test panel (5) before the slider (24) slides to the end of the linear guide (22).

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