A magnetically controlled negative pressure adhesion device imitating octopus tentacles and its preparation method

Abstract

The present invention discloses a magnetically controlled negative pressure adhesion device that mimics an octopus tentacle and a preparation method thereof, relating to the technical field of bionic structure intelligent devices. The device comprises a housing; a tentacle body, the tentacle body being conical in shape, the large-diameter end of the tentacle body being mounted on the housing; a suction cup, mounted on the side wall of the tentacle body and being a structural component made of an improved magnetically responsive polymer; a magnetic control assembly, mounted within the tentacle body and used to control the overall deformation of the suction cup, thereby driving the suction cup to generate different amounts of negative pressure; and a wire drive, mounted within the tentacle body and used to drive the tentacle body to extend and reel. The combination of the suction cup, made of an improved magnetically responsive polymer, and the magnetic control assembly facilitates adjustment of the negative pressure within the suction cup according to different objects, thereby achieving the goal of regulating the adhesion capability of the magnetically controlled negative pressure adhesion device that mimics an octopus tentacle provided by the present invention. Furthermore, the present invention has a simple structure and low manufacturing cost.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic structure intelligent devices, and more specifically, to a magnetically controlled negative pressure adhesion device imitating octopus tentacles and a preparation method thereof. Background Art

[0002] With the continuous development of modern industrial technology, controllable and reversible adhesion technology plays an important role in controlling grasping movements and other aspects. Therefore, it has wide applications in the manufacturing of automotive soft-pack batteries, precision instrument manufacturing, and wall-climbing robots. In the biological world, many organisms exhibit remarkable adhesion capabilities. For example, spider silk, the soles of geckos, and the tentacles of octopuses all possess exceptionally strong adhesion properties. Octopus tentacles, in particular, exhibit exceptionally strong adhesion and flexibility, making them a hot topic in biomimetics research. Octopus tentacles have a suction-cup-like structure, with hundreds of small vesicles on them that generate negative pressure, enabling them to securely adhere to objects. Furthermore, octopus tentacles possess exceptional flexibility and adaptability, allowing them to adapt to a variety of surface shapes, enabling flexible adhesion operations.

[0003] In the study of biomimetic adhesion, researchers have used emerging smart materials such as micro-nano adhesive arrays, carbon nanotube adhesives, and directional adhesive arrays to fabricate various types of adhesive devices using MEMS (microelectromechanical systems) fabrication processes and vapor / chemical deposition methods. However, these devices still have significant drawbacks. Firstly, because the adhesive materials use relatively soft substrates, deformation, twisting, and even tearing are common in actual use. Furthermore, the material surface is highly sensitive to factors such as dust and air gaps, resulting in adhesion controllability significantly different from that of biological prototypes. In particular, regulating adhesion performance is extremely difficult, often requiring a large adhesion preload and a similar reverse desorption force. Therefore, improving adhesion control using other types of control methods, such as external energy fields such as magnetic, electric, thermal, optical, and acoustic fields, is also a current research direction. Although some researchers have conducted research on the application of magnetic-responsive polymers (MRPs) in the field of adhesion, the research is relatively limited. Furthermore, there are challenges such as high cost, difficulty in adhesion control, and insufficient structural performance.

[0004] Under the current circumstances, there is an urgent need for a new type of adhesion device that can combine excellent performance and preparation cost. On the one hand, it can provide efficient, reliable and controllable adhesion capabilities; on the other hand, it has a relatively low manufacturing cost, providing support for enriching and developing the adhesion performance regulation of adhesion materials, and facilitating large-scale promotion and use under actual working conditions. Summary of the Invention

[0005] The present invention provides a magnetically controlled negative pressure adhesion device imitating an octopus tentacle and a preparation method thereof, which solves the technical problems in the prior art that the adhesion ability of the adhesion device cannot be controlled and the manufacturing cost is high.

[0006] The present invention is achieved through the following technical solutions:

[0007] A magnetically controlled negative pressure adhesion device imitating an octopus tentacle and a preparation method thereof, comprising:

[0008] shell;

[0009] a tentacle body, the tentacle body being conical in shape, and the large-diameter end of the tentacle body being mounted on the shell;

[0010] Suction cups, wherein the number of the suction cups is multiple, and the multiple suction cups are all installed on the side wall of the tentacle body, and the suction cups are structural parts made of improved magnetic responsive polymers, and the suction cups are used to achieve adhesion and desorption;

[0011] A magnetic control component is installed on the tentacle body and is used to control the overall deformation of the magnetic disk, thereby driving the suction cup to generate negative pressures of different sizes;

[0012] A pull-wire driver is installed in the tentacle body and is used to drive the tentacle body to extend and reel.

[0013] Furthermore, the suction cup is in a regular hexagonal shape, one end of the suction cup is mounted on the tentacle body, the other end of the suction cup has an adsorption groove, and the side wall of the adsorption groove is provided with an annular groove.

[0014] Furthermore, it also includes:

[0015] A mounting base, one end of which is mounted on the tentacle body, and seven suction cups forming a suction cup group. One end of one of the seven suction cups is mounted at the center of the mounting base, and the remaining six suction cups are arranged around the suction cup at the center of the mounting base;

[0016] There are multiple suction cup groups and multiple mounting seats. The multiple suction cup groups are arranged in a one-to-one correspondence with the multiple mounting seats, and the multiple suction cup groups are evenly arranged along the direction of the busbar of the tentacle body.

[0017] Furthermore, the size of the suction cup gradually decreases from the large diameter end of the tentacle toward the small diameter end of the tentacle body.

[0018] Furthermore, the magnetron assembly includes:

[0019] a housing, the housing being mounted within the tentacle body;

[0020] An iron core, the shell having a cavity, one end of the iron core being mounted in the cavity;

[0021] The coil is installed in the housing and is wound around the iron core.

[0022] Furthermore, there are multiple magnetic control components, and the multiple magnetic control components are arranged in a one-to-one correspondence with the multiple suction cup groups.

[0023] Furthermore, the wire driver includes:

[0024] A pull rope, wherein a mounting hole is provided at the bottom end of the tentacle body, the mounting hole being located at the center of the tentacle body, and one end of the pull rope is mounted in the mounting hole;

[0025] A driving motor is installed in the housing, and the other end of the pull rope is installed on the driving motor.

[0026] Furthermore, it also includes:

[0027] A controller is electrically connected to the magnetic control component and the wire driver through lines.

[0028] Furthermore, the preparation method of the improved magnetic responsive polymer comprises the following steps:

[0029] Step 1: adding magnetic filler particles to a cross-linking agent, mechanically stirring, and then washing the particles with deionized water to obtain a mixture 1;

[0030] Step 2: taking castor oil and distilling and drying it in a drying oven, then adding the castor oil to the first mixture and mechanically stirring the mixture to obtain the second mixture;

[0031] Step 3: adding magnetic filler particles to the mixture 2 and mechanically stirring the mixture, then adding a plasticizer and stirring the mixture to obtain a mixture 3;

[0032] Step 4: adding a curing agent to the mixture 3, and then adding a catalyst, and continuing to stir to obtain a mixture 4;

[0033] Step 5: Place the mixture 4 in a vacuum drying oven for reaction, stir again, then pour into a mold and let it stand at room temperature until solidified;

[0034] Step 6: Place the solidified material in an electromagnet and apply a predetermined magnetic field by energizing the electromagnet to magnetize the material.

[0035] Further, the following steps are included:

[0036] Step 1: Place the mold of the tentacle body on a workbench and clean the mold surface with deionized water;

[0037] Step 2: Pour the prepared polymer material into the mold, and then place the mold in an oven for heat curing;

[0038] Step three: After processing, remove the tentacle body from the mold and polish the surface with fine sandpaper. Then install the wire drive inside the tentacle body and tie it to fix it. Make the improved magnetic responsive polymer into a suction cup, and finally install the magnetic control component on the tentacle body.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention provides a magnetically controlled negative pressure adhesion device imitating an octopus tentacle, comprising a shell, a tentacle body, a suction cup, a magnetically controlled component, and a pull-wire driver. The tentacle body is conical, and the large-diameter end of the tentacle body is mounted on the shell. There are multiple suction cups, all of which are mounted on the side walls of the tentacle body. The suction cup is a structural component made of an improved magnetically responsive polymer and is used to achieve adhesion and desorption. The magnetically controlled component is mounted in the tentacle body and is used to control the overall deformation of the suction cup, thereby driving the suction cup to generate negative pressures of different sizes. The pull-wire driver is mounted in the tentacle body and is used to drive the tentacle body to extend and reel.

[0041] Through the above structure, when using the magnetically controlled negative pressure adhesion device for imitating octopus tentacles provided by the present invention, the tentacle body is first driven to reel by the pull-wire driver until the suction cup on the tentacle body fits the object to be transferred, and then the line between the magnetic control component and the power supply is connected, so that the suction cup generates negative pressure to adsorb the object to be transferred, and finally the object is transferred to the destination, and then the line between the magnetic control component and the power supply is disconnected, and the negative pressure in the suction cup disappears, thereby achieving desorption. By setting the suction cup made of the improved magnetically responsive polymer, the adhesion performance of the improved magnetically responsive material itself changes in the external magnetic field environment, so that the suction cup Deformation is generated, thereby achieving the purpose of adhesion and desorption. By setting the magnetic control component, the magnetic field strength is adjusted by current to control the overall deformation of the suction cup. The strength of the magnetic field is adjusted according to different environmental conditions, so that the suction cup produces different sizes of deformation, and then the negative pressure inside the suction cup is adjusted. In this way, the combination of the suction cup made of an improved magnetic responsive polymer and the magnetic control component is convenient for the staff to adjust the negative pressure inside the suction cup according to different objects and different environmental conditions, thereby achieving the purpose of regulating the adhesion ability of the magnetic control negative pressure adhesion device imitating octopus tentacles provided by the present invention. In addition, the present invention has a simple structure and low manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0043] Figure 1 A schematic structural diagram of a magnetically controlled negative pressure adhesion device for imitating octopus tentacles provided in an embodiment of the present invention;

[0044] Figure 2 A cross-sectional view of a magnetically controlled negative pressure adhesion device for imitating octopus tentacles provided in an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the structure of an octopus-like tentacle grabbing an object provided by an embodiment of the present invention;

[0046] Figure 4 Schematic diagram of the structure of the magnetron assembly in an embodiment of the present invention;

[0047] Figure 5 Schematic diagram of the structure of the suction cup in an embodiment of the present invention.

[0048] Markings and corresponding parts names in the accompanying drawings:

[0049] 1-shell, 2-tentacle body, 3-suction cup, 4-magnetic control component, 41-shell, 42-iron core, 43-coil, 5-wire driver, 51-pull rope, 52-drive motor, 6-mounting base, 7-controller. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0051] It should be noted that when a component is referred to as being “fixed to” or “disposed on” another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being “connected to” another component, it can be directly or indirectly connected to the other component.

[0052] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0054] Example

[0055] This embodiment provides a magnetically controlled negative pressure adhesion device that mimics an octopus tentacle and a preparation method thereof, which is used to solve the technical problems of the uncontrollable adhesion ability and high manufacturing cost of the adhesion devices in the prior art. The magnetically controlled negative pressure adhesion device that mimics an octopus tentacle includes a housing 1, a tentacle body 2, a suction cup 3, a magnetic control assembly 4, and a wire driver 5, wherein:

[0056] The shell 1 is a hollow sphere, and an opening is provided at the top of the shell 1.

[0057] The tentacle body 2 is conical in shape, and the large diameter end of the tentacle body 2 is installed on the shell 1. Specifically, the large diameter end of the tentacle body 2 is installed at the above-mentioned opening. The tentacle body 2 is cast from an elastic polymer material. The ratio of the bottom radius of the tentacle body 2 to the height of the tentacle body 2 is between 1:7 and 1:9. In this way, the flexibility and grasping strength of the tentacle can be taken into account. The diameter range of the small diameter end of the tip part of the tentacle body 2 is between 2mm and 4mm, ensuring that it can stick to the object being grasped during grasping.

[0058] There are multiple suction cups 3, all of which are installed on the side walls of the tentacle body 2. The suction cups 3 are structural parts made of improved magnetically responsive polymers. The suction cups 3 are used to achieve adhesion and desorption. Optionally, the outer surface of the suction cup 3 is coated with a high molecular weight resin layer to improve the negative pressure adsorption capacity of the suction cup 3.

[0059] The magnetic control component 4 is installed in the tentacle body 2. The magnetic control component 4 is used to control the overall deformation of the suction cup 3, thereby driving the suction cup 3 to generate negative pressures of different sizes.

[0060] In an external magnetic field environment, the adhesion properties of the magnetic responsive polymer itself may change, and it will deform when subjected to force. Through the setting of the magnetic control component 4, when the tentacle body 2 contacts the object, the line between the magnetic control component 4 and the power supply is connected, so that the negative pressure in the suction cup 3 increases, thereby forming a sealed cavity between the contact surface of the suction cup 3 and the object, and then adsorption is carried out. The greater the negative pressure in the suction cup 3, the greater the deformation of the suction cup 3, and the stronger the adhesion ability of the suction cup 3; when desorption is required, it is only necessary to disconnect the line between the magnetic control component 4 and the power supply, the negative pressure in the suction cup 3 disappears, the deformation of the suction cup 3 also disappears, and the sealed cavity between the contact surface of the suction cup 3 and the object is released at the same time, thereby reducing the adhesion ability and achieving desorption.

[0061] The pull wire driver 5 is installed in the tentacle body 2. The pull wire driver 5 is used to drive the tentacle body 2 to extend and reel. Through the setting of the pull wire driver 5, when it is necessary to grab an object, the pull wire controller 7 controls the tentacle body 2 to bend and reel the object; when it is necessary to release the object, the pull wire controller 7 controls the tentacle body 2 to even release the object.

[0062] Through the above structure, when using the magnetically controlled negative pressure adhesion device for imitating octopus tentacles provided by the present invention, the tentacle body 2 is first driven to reel by the wire driver 5 until the suction cup 3 on the tentacle body 2 is in contact with the object to be transferred, and then the line between the magnetic control component 4 and the power supply is connected, so that the suction cup 3 generates negative pressure to adsorb the object to be transferred, and finally the object is transferred to the destination, and then the line between the magnetic control component 4 and the power supply is disconnected, and the negative pressure in the suction cup 3 disappears, thereby achieving desorption. By setting the suction cup 3 made of the improved magnetically responsive polymer, the adhesion performance of the improved magnetically responsive material itself changes in the external magnetic field environment, so that the suction cup 3 can be adsorbed. The disc 3 deforms, thereby achieving the purpose of adhesion and desorption. The magnetic control component 4 is set to adjust the magnetic field strength through current, thereby controlling the overall deformation of the suction cup 3. The magnetic field strength is adjusted according to different environmental conditions, so that the suction cup 3 produces different sizes of deformation, and the negative pressure inside the suction cup 3 is further adjusted. In this way, the combination of the suction cup 3 and the magnetic control component 4 made of an improved magnetically responsive polymer facilitates the operator to adjust the negative pressure inside the suction cup 3 according to different objects and different environmental conditions, thereby achieving the purpose of regulating the adhesion ability of the magnetic control negative pressure adhesion device imitating octopus tentacles provided by the present invention. The present invention has a simple structure and low manufacturing cost.

[0063] An optional implementation of this embodiment is as follows: the suction cup 3 is a regular hexagon, one end of the suction cup 3 is installed on the tentacle body 2, and the other end of the suction cup 3 has an adsorption groove, and the side wall of the adsorption groove is provided with an annular groove. By setting the annular groove, the volume of the adsorption groove of the suction cup 3 is increased, so that the space for the suction cup 3 to accommodate gas is increased, and the suction cup 3 can generate greater adsorption force.

[0064] An optional implementation of this embodiment is as follows: further comprising a mounting seat 6, wherein:

[0065] One end of the mounting base 6 is mounted on the tentacle body 2, and seven suction cups 3 form a group of suction cups 3. One end of one of the seven suction cups 3 is mounted at the center of the mounting base 6, and the remaining six suction cups 3 of the seven suction cups 3 are arranged around the suction cup 3 at the center of the mounting base 6;

[0066] There are multiple groups of suction cups 3 and multiple mounting seats 6. The multiple groups of suction cups 3 are arranged in a one-to-one correspondence with the multiple mounting seats 6, and the multiple groups of suction cups 3 are evenly arranged along the direction of the busbar of the tentacle body 2.

[0067] Through the above structure, the regular hexagonal suction cup 3 and the three groups of suction cups arranged in a regular hexagon are more stable, and according to the circular close-packed theorem, the regular hexagonal arrangement can make more effective use of space, making the distribution of the suction cups 3 denser, thereby enhancing the adsorption capacity. Compared with individual control, the group-controlled suction cups 3 are more cost-effective and space-saving, and unified control is more convenient and reliable. The multiple groups of suction cups 3 arranged along the busbar of the tentacle body 2 enable the tentacle body 2 to stably bend to the same side each time it bends.

[0068] Optionally, the size of multiple groups of suction cups 3 gradually decreases from the large diameter end of the tentacle body 2 toward the small diameter end of the tentacle body 2. In this way, the size of the group of suction cups 3 decreases as the size of the tentacle body decreases, reducing the probability of the tentacle body 2 being torn. More preferably, the side length of a single suction cup 3 in each group is 0.18-0.24 times the circumference of the circle in which it is located, the depth of the adsorption groove of a single suction cup 3 is 0.1-0.2 times the diameter of the circle in which it is located, and the distance between two parallel lines in the regular hexagon formed by each group of suction cups 3 is 0.32-0.43 times the circumference of the circle in which it is located. Within this range, the adsorption force of the present device achieves optimal effect.

[0069] Optionally, the suction cup 3 can be detachably mounted on the mounting base 6, making it easier to replace a worn or damaged suction cup 3. Specifically, the suction cup 3 is bonded to the mounting base 6 by UV peelable adhesive, which is easy to install and has low cost.

[0070] An optional implementation of this embodiment is as follows: the magnetron assembly 4 includes a housing 41, an iron core 42, and a coil 43, wherein:

[0071] The housing 41 is installed in the tentacle body 2 .

[0072] The housing 41 has a cavity, and one end of the iron core 42 is installed in the cavity.

[0073] The coil 43 is installed in the shell 41 and is wound on the iron core 42. The coil 43 is a copper coil 43. By winding the coil 43 on the iron core 42, the magnetic field distribution is made more uniform. The multi-layer coil 43 is set to improve the accuracy and stability of the magnetic control component 4.

[0074] Optionally, there are multiple magnetic control components 4, and the multiple magnetic control components 4 are arranged in a one-to-one correspondence with the multiple suction cups 3 groups. In this way, the multiple suction cups 3 groups are controlled separately by the arrangement of the multiple magnetic control components 4, thereby reducing the probability of the suction cups 3 groups losing control, thereby making the octopus tentacle-like magnetic control negative pressure adhesion device provided by the present invention more reliable.

[0075] An optional implementation of this embodiment is as follows: the wire drive 5 includes a pull rope 51 and a drive motor 52, wherein:

[0076] A mounting hole is provided at the bottom end of the tentacle body 2, and the mounting hole is located at the center of the tentacle body 2. One end of the pull rope 51 is installed in the mounting hole. Optionally, the diameter of the pull rope 51 is 5 mm, so that the pulling force is maximized while occupying less internal space. More preferably, a 4 mm gap is left at the small diameter end of the tentacle body 2, so that the pull rope 51 has enough space to be fixed and force applied.

[0077] The drive motor 52 is installed in the housing 41, and the other end of the pull rope 51 is installed on the drive motor 52. More preferably, the drive motor 52 adopts a programmable motor controller 7, which can control the speed and direction of the motor through external control signals.

[0078] An optional implementation of this embodiment is as follows: further comprising a controller 7, wherein:

[0079] The controller 7 is electrically connected to the magnetic control assembly 4 and the wire driver 5 through lines. In this way, through the setting of the controller 7, it is easier for the staff to control the extension and reeling of the tentacle body 2 and the contraction and expansion of the suction cup 3.

[0080] The preparation method of the improved magnetic responsive polymer comprises the following steps:

[0081] In step 1, magnetic filling particles are added to a cross-linking agent and mechanically stirred, and then the particles are washed with deionized water to obtain mixture 1. Optionally, the magnetic filling particles are NdFeB and the cross-linking agent is KH550. The mixture is stirred until an envelope is formed on the surface of the magnetic filling particles, and excess cross-linking agent is removed with deionized water.

[0082] Step 2: Take castor oil and distill and dry it in a drying oven at 100° C. for 3 hours, then add the castor oil to mixture 1 and mechanically stir it to obtain mixture 2. The water in the castor oil is fully removed by distillation and drying to prevent the water from affecting the subsequent preparation.

[0083] Step 3: Add magnetic filler particles to the mixture 2, and mechanically stir at 80° C. at a stirring speed of 1200 r / min. Then, add plasticizer DBP and stir to obtain a mixture 3 to increase the flexibility of the material;

[0084] Step 4: Add curing agent MDI to mixture 3 to promote curing, add one drop (about 0.05g) of catalyst stannous octoate, and continue stirring until the viscosity increases significantly to obtain mixture 4. This allows the components in mixture 4 to be evenly distributed, so that the final prepared material has good performance;

[0085] Step 5: Place the mixture 4 in a vacuum drying oven with a vacuum degree of 101 Pa and react for 3 hours, then stir again, pour it into a mold, and let it stand in air at room temperature for 3 days until it solidifies into shape.

[0086] Step 6: Place the solidified material in an electromagnet and apply a predetermined magnetic field by energizing the electromagnet to magnetize the material.

[0087] Preferably, in steps 1, 2, 3, and 4, the mixture contains a large number of bubbles, which can affect the properties of the material after curing. Therefore, the mixture is placed in a vacuum drying oven at a vacuum level of 101 Pa for 5 to 10 minutes until all bubbles are completely removed. The NdFeB particle filling volume fraction is 26.7%, the filling mass fraction is 70%, and the mass ratio of castor oil CO to curing agent MDI is 4:1.

[0088] Preferably, in step six, the magnetization process should be performed after MRP plastic forming, otherwise the magnetized NdFeB particles will aggregate in the unsolidified matrix, which will aggravate the hysteresis and nonlinearity of the hard magnetic domain.

[0089] More preferably, in step six, placing the material under a magnetic field strength of 1.5 T and forward magnetizing it can obtain better magnetic control performance.

[0090] The preparation method of the octopus tentacle-like magnetically controlled negative pressure adhesion device comprises the following steps:

[0091] Step 1: Place the mold of the tentacle body 2 on a workbench and clean the mold surface with deionized water;

[0092] Step 2: Pour the prepared polymer material into the mold, and then place the mold in an oven for heat curing;

[0093] Step three, after processing, remove the tentacle body 2 from the mold and polish the surface with fine sandpaper, then install the wire drive 5 in the tentacle body 2 and tie it to fix it, make the improved magnetic responsive polymer into a suction cup 3, and finally install the magnetic control component 4 on the tentacle body 2.

[0094] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A magnetically controlled negative pressure adhesion device imitating octopus tentacles, characterized in that: include: Housing (1); A tentacle body (2), the tentacle body (2) is conical, and the large-diameter end of the tentacle body (2) is mounted on the housing (1); Suction cups (3), the number of the suction cups (3) is multiple, and the multiple suction cups (3) are all installed on the side wall of the tentacle body (2), the suction cups (3) are structural parts made of improved magnetic responsive polymers, and the suction cups (3) are used to achieve adhesion and desorption; A magnetic control component (4), the magnetic control component (4) being installed in the tentacle body (2), the magnetic control component (4) being used to control the overall deformation of the suction cup (3), thereby driving the suction cup (3) to generate negative pressures of different magnitudes; A pull-wire driver (5), the pull-wire driver (5) being installed in the tentacle body (2), and the pull-wire driver (5) being used to drive the tentacle body (2) to extend and reel; The suction cup (3) is in the shape of a regular hexagon, one end of the suction cup (3) is mounted on the tentacle body (2), the other end of the suction cup (3) is provided with an adsorption groove, and the side wall of the adsorption groove is provided with an annular groove; Also includes: A mounting seat (6), one end of the mounting seat (6) is mounted on the tentacle body (2), the seven suction cups (3) form a group of suction cups (3), one end of one of the seven suction cups (3) is mounted at the center of the mounting seat (6), and the remaining six of the seven suction cups (3) are arranged around the suction cup (3) at the center of the mounting seat (6); There are multiple groups of suction cups (3) and multiple mounting seats (6). Multiple groups of suction cups (3) are arranged in a one-to-one correspondence with multiple mounting seats (6), and multiple groups of suction cups (3) are evenly arranged along the direction of the busbar of the tentacle body (2).

2. The magnetically controlled negative pressure adhesion device imitating an octopus tentacle according to claim 1, characterized in that: The sizes of the multiple groups of suction cups (3) gradually decrease along the direction from the large diameter end of the tentacle body (2) toward the small diameter end of the tentacle body (2).

3. The magnetically controlled negative pressure adhesion device imitating an octopus tentacle according to claim 1, characterized in that: The magnetron assembly (4) comprises: a housing (41), the housing (41) being mounted inside the tentacle body (2); An iron core (42), the housing (41) having a cavity, one end of the iron core (42) being mounted in the cavity; A coil (43) is installed in the housing (41) and is wound around the iron core (42).

4. The magnetically controlled negative pressure adhesion device imitating an octopus tentacle according to claim 3, characterized in that: The number of the magnetic control components (4) is also multiple, and the multiple magnetic control components (4) are arranged in a one-to-one correspondence with the multiple suction cup (3) groups.

5. The magnetically controlled negative pressure adhesion device imitating an octopus tentacle according to claim 1, characterized in that: The wire driver (5) comprises: A pull rope (51), wherein a mounting hole is provided at the bottom end of the tentacle body (2), the mounting hole being located at the center of the tentacle body (2), and one end of the pull rope (51) is mounted in the mounting hole; A drive motor (52) is installed in the housing (1), and the other end of the pull rope (51) is installed on the drive motor (52).

6. The magnetically controlled negative pressure adhesion device imitating an octopus tentacle according to claim 1, characterized in that: Also includes: A controller (7) is electrically connected to the magnetic control assembly (4) and the wire driver (5) via a circuit.

7. A method for preparing a magnetically controlled negative pressure adhesion device imitating an octopus tentacle, characterized in that: For preparing the improved magnetically responsive polymer according to any one of claims 1 to 6, the preparation method comprises the following steps: Step 1: adding magnetic filler particles to a cross-linking agent, mechanically stirring, and then washing the particles with deionized water to obtain a mixture 1; Step 2: taking castor oil and distilling and drying it in a drying oven, then adding the castor oil to the first mixture and mechanically stirring the mixture to obtain the second mixture; Step 3: adding magnetic filler particles to the mixture 2 and mechanically stirring the mixture, then adding a plasticizer and stirring the mixture to obtain a mixture 3; Step 4: adding a curing agent to the mixture 3, and then adding a catalyst, and continuing to stir to obtain a mixture 4; Step 5: Place the mixture 4 in a vacuum drying oven for reaction, stir again, then pour into a mold and let it stand at room temperature until solidified; Step 6: Place the solidified material in an electromagnet and apply a predetermined magnetic field by energizing the electromagnet to magnetize the material.

8. The method for preparing a magnetically controlled negative pressure adhesion device imitating an octopus tentacle according to claim 7, characterized in that: The following steps are involved: Step 1: Place the mold of the tentacle body (2) on a workbench and clean the surface of the mold with deionized water; Step 2: Pour the prepared polymer material into the mold, and then place the mold in an oven for heat curing; Step three, after processing, remove the tentacle body (2) from the mold and polish the surface with fine sandpaper, then install the wire drive (5) in the tentacle body (2) and tie it to fix it, make the improved magnetic responsive polymer into a suction cup (3), and finally install the magnetic control component (4) on the tentacle body (2).

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