Biomimetic dry adhesion mechanisms and pick-and-place mechanisms suitable for flexible circuit boards

Abstract

This invention discloses a biomimetic dry adhesion mechanism and a pick-and-carry mechanism suitable for flexible circuit boards. The biomimetic dry adhesion mechanism utilizes a wedge-shaped bristle bundle assembly mimicking gecko dry adhesion. Through the coordination of a loading spring and a tangential load loading / unloading drive, the wedge-shaped bristle bundle assembly is reciprocated relative to an open outer shell. This allows the wedge-shaped bristle bundle assembly to switch between an unloaded and a loaded state. In the loaded state, the wedge-shaped bristle bundle is bent at its tip under tangential force, achieving firm adhesion to the target object. In the unloaded state, the tangential force weakens or disappears, allowing the bent portion of the wedge-shaped bristle bundle to recover, releasing the adhesion between the wedge-shaped bristle bundle and the target object such as the flexible circuit board. Simultaneously, an elastic element applies elastic force to the wedge-shaped bristle bundle in the loaded state, achieving adaptive adhesion of the wedge-shaped bristle bundle to the target object, further ensuring the adhesion effect. The aforementioned pick-and-carry mechanism includes the aforementioned biomimetic dry adhesion mechanism.

Description

Technical Field

[0001] This invention belongs to the field of electrical component manufacturing and relates to the picking and handling technology of flexible circuit boards, and in particular to a biomimetic dry adhesion mechanism and a picking and handling mechanism suitable for flexible circuit boards. Background Technology

[0002] Flexible printed circuit boards (FPCs) are printed circuits made from flexible insulating substrates. In recent years, flexible circuit structures have become increasingly important, and their applications now encompass medical devices, consumer electronics, industrial equipment, automotive, aerospace, and other industries, continuously evolving into new sectors and applications. However, their flexibility and perforations make handling FPCs before final processing and assembly challenging. Mechanical grippers require the target object to have a mechanical interface for gripping or a certain thickness, making them unsuitable for thin flexible circuit boards. They are also prone to stress concentration and deformation at the gripping point, limiting their effectiveness in precision machining. Adsorption-type end effectors rely on creating a localized vacuum environment, making stable gripping difficult or prone to errors due to simultaneous multi-layer gripping of printed circuit boards with numerous through-holes. Multi-fingered dexterous hands and other robotic arm end effectors also struggle to stably pick up and move printed circuit boards from fixed positions.

[0003] The existing mechanical grippers, adsorption-type end effectors, and robotic arm end effectors are not only complex in structure, but also cannot meet the requirements of non-deformation, high precision, and high stability in picking and handling flexible circuit boards. Therefore, there is an urgent need for a new type of picking and handling mechanism suitable for flexible circuit boards to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic dry adhesion mechanism and a picking and handling mechanism for flexible circuit boards. Based on the biomimetic design of gecko dry adhesion, it can accurately adsorb, pick up and handle flexible circuit boards without causing deformation of the flexible circuit boards. Moreover, it has a simple and compact structure and can solve the problems of existing mechanical grippers, adsorption end effectors and robotic arm end effectors.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a biomimetic dry adhesion mechanism, comprising:

[0007] Open shell;

[0008] A wedge-shaped bristle bundle assembly is disposed inside the open housing. The wedge-shaped bristle bundle assembly includes an outer frame, wedge-shaped bristle bundles, and an elastic element. The outer frame is movably connected to the inner wall of the open housing. The wedge-shaped bristle bundles are movably engaged with the outer frame and connected to the outer frame through the elastic element. The wedge-shaped bristle bundles can press the target object under the pressing action of the elastic element.

[0009] A tangential load loading and unloading assembly is disposed within the open outer shell. The tangential load loading and unloading assembly includes a loading spring and a tangential load loading and unloading drive. The loading spring is disposed between the outer frame and the side wall of the open outer shell. The tangential load loading and unloading drive is used to drive the outer frame to reciprocate relative to the open outer shell, thereby realizing the switching between the wedge-shaped bristle bundle and the loading state. In the unloading state, the outer frame presses against the loading spring, the wedge-shaped bristle bundle is not subject to tangential force, and the wedge-shaped bristle bundle separates from the target object. In the loading state, the loading spring returns to its original position and applies a tangential force to the wedge-shaped bristle bundle, causing the wedge-shaped bristle bundle to bend and adhere to the target object.

[0010] Optionally, the wedge-shaped bristle bundle assembly is symmetrically distributed in two sets within the open housing;

[0011] The tangential load loading and unloading drive includes a drive cam and a drive servo connected to the drive cam. The drive servo is connected to the open housing. The drive cam is located between the two sets of wedge-shaped bristle bundle assemblies to drive the two sets of wedge-shaped bristle bundle assemblies to move symmetrically.

[0012] Optionally, the loading spring is a wave spring sheet, which is disposed on the inner side wall of the open housing.

[0013] Optionally, the outer frame is slidably connected to the inner top wall of the open shell via a guide structure.

[0014] Optionally, the guide structure includes:

[0015] A slide rail is provided on the inner top wall of the open shell and is arranged along the driving direction of the tangential load application and unloading drive on the outer frame;

[0016] A slider is disposed on the outer frame, and the outer frame is slidably connected to the slide rail via the slider.

[0017] Optionally, the side wall of the open housing is also threaded with a fine-adjustment bolt. The end of the fine-adjustment bolt passes through the side wall of the open housing and extends into the open housing. By rotating the fine-adjustment bolt to adjust its length extending into the open housing, the travel of the outer frame in the unloaded state can be adjusted, thereby adjusting the energy storage of the loading spring.

[0018] Optionally, the wedge-shaped bristle bundle includes a rigid sheet and wedge-shaped bristles cast from polyimide, the wedge-shaped bristles being fixed to one side of the rigid sheet by epoxy resin.

[0019] Optionally, a pressure plate is provided inside the outer frame, and an opening is provided on one side of the outer frame opposite to the pressure plate; a snap fastener is provided on the other side of the rigid sheet, the snap fastener is movably inserted into the opening, and a limiting structure is provided at the end position of the portion of the snap fastener inserted into the opening, the limiting structure can overlap with the opening to prevent the snap fastener from coming out of the opening; the snap fastener is connected to the pressure plate through the elastic element.

[0020] Optionally, the elastic element is a compression spring.

[0021] The present invention also proposes a pick-and-carry mechanism suitable for flexible circuit boards, including the biomimetic dry adhesion mechanism as described in any of the preceding claims.

[0022] The present invention achieves the following technical effects compared to the prior art:

[0023] The biomimetic dry adhesion mechanism proposed in this invention features a simple, compact, novel, and rational structure. It utilizes a wedge-shaped bristle bundle assembly mimicking gecko dry adhesion, and through the coordination of a loading spring and a tangential load for loading and unloading, it achieves reciprocating drive of the wedge-shaped bristle bundle assembly relative to the open outer shell. This allows the wedge-shaped bristle bundle assembly to switch between unloaded and loaded states. In the loaded state, the wedge-shaped bristle bundle is bent at its tip under tangential force and contacts the target object, generating a "van der Waals force," thus achieving firm adhesion to targets such as flexible circuit boards. In the unloaded state, the tangential force weakens or disappears, allowing the bent portion of the wedge-shaped bristle bundle to recover, releasing the adhesion between the wedge-shaped bristle bundle and the target object, facilitating separation. Simultaneously, an elastic element can apply an elastic force to the wedge-shaped bristle bundle in the loaded state, pushing it to press against the target object, achieving adaptive adhesion of the wedge-shaped bristle bundle to the target object, further ensuring the adhesion effect. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the external structure of the biomimetic dry adhesion mechanism disclosed in the embodiments of the present invention;

[0026] Figure 2 This is a schematic diagram of the internal structure of the biomimetic dry adhesion mechanism disclosed in an embodiment of the present invention;

[0027] Figure 3 for Figure 2 A schematic diagram of the AA cross-section of the biomimetic dry adhesion mechanism;

[0028] Figure 4 This is a schematic diagram of the biomimetic dry adhesion mechanism disclosed in the embodiments of the present invention in a loaded state;

[0029] Figure 5 This is a schematic diagram of the biomimetic dry adhesion mechanism disclosed in the embodiments of the present invention in the unloading state.

[0030] The attached figures are labeled as follows:

[0031] 100. Bionic dry adhesion mechanism;

[0032] 1. Open outer shell; 11. Shell bottom plate; 12. First shell side plate; 13. Second shell side plate;

[0033] 2. Wedge-shaped bristle bundle assembly; 21. Outer frame; 22. Wedge-shaped bristle bundle; 221. Rigid sheet; 222. Wedge-shaped bristles; 23. Elastic element; 24. Pressure plate; 25. Snap fastener; 251. Limiting structure;

[0034] 3. Tangential load loading and unloading assembly; 31. Loading spring; 32. Drive cam; 33. Drive servo motor;

[0035] 4. Guide structure; 41. Slide rail; 42. Slider;

[0036] 5. Fine-tuning bolts;

[0037] 6. Target object. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] One of the objectives of this invention is to provide a biomimetic dry adhesion mechanism suitable for picking up and transporting flexible circuit boards. Based on the biomimetic design of gecko dry adhesion, it can accurately adsorb, pick up and transport flexible circuit boards without causing deformation of the flexible circuit boards. Moreover, it has a simple and compact structure, which can solve the problems existing in existing mechanical grippers, adsorption end effectors and robotic arm end effectors.

[0040] Another object of the present invention is to provide a pick-and-carry mechanism suitable for flexible circuit boards having the above-mentioned biomimetic dry adhesion mechanism.

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Example 1

[0043] like Figures 1-5 As shown, this embodiment proposes a biomimetic dry adhesion mechanism 100, including an open shell 1, a wedge-shaped bristle bundle assembly 2, and a tangential load application / removal assembly 3. The wedge-shaped bristle bundle assembly 2 is disposed inside the open shell 1 and located at the opening of the open shell 1. The wedge-shaped bristle bundle assembly 2 includes an outer frame 21, wedge-shaped bristle bundles 22, and an elastic element 23. The outer frame 21 is movably connected to the inner wall of the open shell 1, and the wedge-shaped bristle bundles 22 are movably engaged with the outer frame 21 and connected to the outer frame 21 through the elastic element 23. The wedge-shaped bristle bundles 22 can press the target object 6 under the pressing action of the elastic element 23. The tangential load application / removal assembly 3 is disposed inside the open shell 1 and includes a loading spring 31 and a tangential load application / removal drive. The loading spring 31 is disposed on the side wall of the outer frame 21 and the open shell 1. Between these states, the tangential load loading and unloading drive is used to drive the outer frame 21 to reciprocate relative to the open shell 1, so as to realize the switching between the wedge-shaped bristle bundle 22 in the unloading state and the loading state. In the unloading state, the outer frame 21 presses the loading spring 31 under the driving action of the tangential load loading and unloading drive, and the wedge-shaped bristle bundle 22 is not subject to tangential force. The wedge-shaped bristle bundle 22 separates from the target object 6 (here, separation means that the wedge-shaped bristle bundle 22 and the target object 6 do not adhere to each other, and it is not necessary for there to be a distance between them). In the loading state, the outer frame 21 moves away from the loading spring 31 under the driving action of the tangential load loading and unloading drive, reducing or removing the pressing force on the loading spring 31. At this time, the loading spring 31 returns to its original position and applies a tangential force to the wedge-shaped bristle bundle 22, so that the wedge-shaped bristle bundle 22 bends and adheres to the target object 6. Under loading conditions, the wedge-shaped bristle bundle 22 can press the target object 6 under the top pressure of the elastic member 23, realizing the adaptability of the wedge-shaped bristle bundle 22 to the target object 6. This not only further ensures the adhesion effect, but also enables smooth tangential loading and unloading of the wedge-shaped bristle bundle 22, thereby meeting the needs of gripping flexible circuit boards in industrial applications.

[0044] The aforementioned biomimetic dry adhesion mechanism 100 is based on a biomimetic design inspired by gecko dry adhesion. Compared to other adhesion mechanisms in nature (such as mechanical hinges, vacuum suction, and capillary adhesion), gecko dry adhesion has the advantages of strong adhesion and easy separation. It is also environmentally friendly, reusable, self-cleaning, and leaves no residue. Traditional adhesion methods are subject to certain limitations. The aforementioned biomimetic dry adhesion mechanism 100, which uses biomimetic wedge-shaped bristle bundles to effectively adhere to the target object, is an effective method that overcomes the limitations of traditional adhesion methods in terms of usage and effectiveness. The biomimetic adhesion mechanism 100 works by applying a tangential force to the micron-sized wedge-shaped bristle bundles 22. The wedge-shaped bristle bundles 22 bend and contact the target object, generating a "van der Waals force," i.e., a normal adhesion force. In the loaded state, a tangential force is applied to the wedge-shaped bristle bundle 22, causing it to bend and change its contact with the target object 6 from point-to-point contact to large-area contact, thus generating a considerable tangential adhesive force. At this point, the target object 6 can be picked up and transported. In the unloaded state, the tangential force is removed, and the elastic energy stored in the wedge-shaped bristle bundle 22 restores its original shape, changing the contact with the target object 6 back to point-to-point contact. At this point, the wedge-shaped bristle bundle 22 no longer adheres to the target object 6, and it is easily removed from the surface of the target object 6. Because the biomimetic wedge-shaped bristle bundle is unaffected by environmental factors such as the material of the adhered object, radiation, and temperature, and can generate a sufficiently large normal adhesive force to achieve "flexible adhesion" to the target object 6, it enables stable and traceless adhesion and transport of flexible circuit boards, providing a more reliable operating method for planar gripping of flexible circuit boards in industrial applications.

[0045] In this embodiment, the tangential load loading and unloading drive can be provided by a linear servo motor, electric actuator, linear cylinder, etc., to achieve reciprocating loading and unloading of the wedge-shaped bristle bundle 22. Figure 2 and Figure 3 As shown, in this embodiment, the wedge-shaped bristle bundle assemblies 2 are preferably arranged in two symmetrical groups within the open outer shell 1, with a gap between the two groups of wedge-shaped bristle bundle assemblies 2. Loading springs 31 are provided between the two groups of wedge-shaped bristle bundle assemblies 2 and the two side walls of the open outer shell 1. Correspondingly, the tangential load loading and unloading is driven by a cam drive mechanism. Specifically, the cam drive mechanism includes a drive cam 32 and a drive servo motor 33 connected to the drive cam 32. The drive servo motor 33 is connected to the open outer shell 1. The drive cam 32 adopts a symmetrical structure cam, such as an elliptical cam, and is located between the two groups of wedge-shaped bristle bundle assemblies 2. The drive cam 32 rotates forward and backward under the drive of the drive servo motor 33, which can drive the two groups of wedge-shaped bristle bundle assemblies 2 to move synchronously and symmetrically.

[0046] Furthermore, in this embodiment, as Figure 2As shown, preferably, each set of wedge-shaped bristle bundles 2 includes two sets of wedge-shaped bristle bundles 22, and the two sets of wedge-shaped bristle bundles 2 contain a total of four sets of wedge-shaped bristle bundles 22, which are symmetrically distributed in two rows. The two sets of wedge-shaped bristle bundles 22 in each set of wedge-shaped bristle bundles 2 can be connected as one unit, in which case the two sets of wedge-shaped bristle bundles 2 can be driven by a single drive cam 32; alternatively, the two sets of wedge-shaped bristle bundles 22 in each set of wedge-shaped bristle bundles 2 can be set separately, with the wedge-shaped bristle bundles 22 in each set of wedge-shaped bristle bundles 2 paired up, and each pair of wedge-shaped bristle bundles 22 can be independently configured with a drive cam 32. After multiple drive cams 32 are connected in series on the same rotating shaft, they are then connected to a drive servo motor 33, which can realize the synchronous rotation of multiple drive cams 32, thereby realizing the synchronous drive of multiple pairs of wedge-shaped bristle bundles 22. In practical applications, the number of wedge-shaped bristle bundles 22 in each group of wedge-shaped bristle bundle components 2 is not limited to two groups. The number and layout of the wedge-shaped bristle bundles 22 in each group of wedge-shaped bristle bundle components 2 can be adaptively adjusted according to actual needs. Similarly, in this embodiment, the number of wedge-shaped bristle bundle components 2 is not limited to two groups. The specific number and layout of the wedge-shaped bristle bundle components 2 can be adjusted according to actual needs. For example, when four groups of wedge-shaped bristle bundle components 2 are set, they can be symmetrically distributed vertically and horizontally.

[0047] In this embodiment, the loading spring 31 is preferably a wave spring sheet, which is disposed on the inner side wall of the open outer shell 1.

[0048] In this embodiment, the open outer shell 1 can be a rectangular shell or a cylindrical shell, such as... Figure 1 and Figure 2 As shown, the open outer shell 1 is generally rectangular, comprising a bottom plate 11 and first side plates 12 and second side plates 13 symmetrically arranged on both sides of the bottom plate 11. The first side plates 12 and second side plates 13 can be fixedly and vertically connected to the bottom plate 11, or they can be hinged to it, meaning both can be rotated relative to the bottom plate 11. Under normal use, the first side plates 12 and second side plates 13 are perpendicular to the bottom plate 11 and parallel to it. Taking two sets of the wedge-shaped bristle bundle assemblies 2 symmetrically arranged as an example, the two sets of wedge-shaped bristle bundle assemblies 2 are positioned between the first side plates 12 and the second side plates 13. Figure 2 As shown, a wave spring sheet is provided on the inner wall of the first shell side plate 12 and the inner wall of the second shell side plate 13, respectively, to correspond to the two sets of wedge-shaped bristle bundle assemblies 2.

[0049] In this embodiment, preferably, the outer frame 21 and the inner top wall of the open outer shell 1 are also slidably connected by a guide structure 4. Figure 2 and Figure 3As shown, the guide structure 4 includes a slide rail 41 and a slider 42 adapted to the slide rail 41. The slide rail 41 is disposed on the inner side wall of the shell bottom plate 11 in the open shell 1 and is arranged along the driving direction of the tangential load application and unloading drive to the outer frame 21, that is, the slide rail 41 is perpendicular to the first shell side plate 12 and the second shell side plate 13. The slider 42 is disposed on the outer frame 21 of the wedge-shaped bristle bundle 22, and the outer frame 21 is slidably connected to the slide rail 41 through the slider 42. When the tangential load application and unloading drive reciprocates to drive the outer frame 21, the above-mentioned guide structure 4 plays a guiding role. In practical applications, depending on the number of groups and the layout of the wedge-shaped bristle bundles 22 in the wedge-shaped bristle bundle assembly 2, a set of guide structures 4 can be set between each group of wedge-shaped bristle bundles 22 and the shell bottom plate 11, or the entire group of wedge-shaped bristle bundle assemblies 2 can share a set of guide structures 4. Taking the two sets of wedge-shaped bristle bundle assemblies 2 arranged in two symmetrical rows in this embodiment as an example, the two sets of wedge-shaped bristle bundle assemblies 2 share a slide rail 41, and the two sets of wedge-shaped bristle bundle assemblies 2 are respectively slidably engaged with the slide rail 41 through a slider 42.

[0050] In this embodiment, to improve the overall flexibility and adaptability of the biomimetic dry adhesion mechanism 100, it is preferable that a fine-tuning bolt 5 is also threadedly connected to the side wall of the open outer shell 1. For example... Figure 2 and Figure 3 As shown, both ends of the first shell side plate 12 and the second shell side plate 13 are provided with fine-adjustment bolts 5. The ends of the fine-adjustment bolts 5 penetrate through the side walls of the first shell side plate 12 and the second shell side plate 13 and extend into the open shell 1. The ends of the fine-adjustment bolts 5 can limit the movement stroke of the outer frame 21. That is, when the outer frame 21 moves under the drive of tangential load addition and unloading, it can no longer move after it contacts the end of the fine-adjustment bolts 5. However, the setting position of the end of the fine-adjustment bolts 5 does not affect the compression effect of the outer frame 21 on the loading spring 31, but only changes the degree of compression that the outer frame 21 can exert on the loading spring 31. In practical applications, rotating the fine-tuning bolt 5 adjusts its length extending into the open outer shell 1, thereby adjusting the travel of the outer frame 21 under unloaded conditions. This, in turn, adjusts the pressure of the outer frame 21 on the loading spring 31 and the energy stored in the loading spring 31, thus regulating the adhesion force of the wedge-shaped bristle bundle 22. This allows the biomimetic dry adhesion mechanism 100 to apply different adhesion forces to different target objects 6. Generally, the shorter the length of the fine-tuning bolt 5 extending into the open outer shell 1, the greater the compressibility of the loading spring 31, the greater the tangential force applied to the wedge-shaped bristle bundle 22, and the greater the adhesion force generated by the wedge-shaped bristle bundle 22 on the target object 6; conversely, the longer the length, the smaller the adhesion force generated by the wedge-shaped bristle bundle 22 on the target object 6.

[0051] In this embodiment, the wedge-shaped bristle bundle 22 specifically includes a rigid sheet 221 and wedge-shaped bristles 222 cast from polyimide. The wedge-shaped bristles 222 are preferably fixed to one side of the rigid sheet 221 with epoxy resin. Generally, after the overall mechanism is assembled, the wedge-shaped bristles 222 cast from polyimide are cured onto the rigid sheet 221 with epoxy resin so that they can be leveled by the epoxy resin. At the same time, a heavy object can be applied to flatten the bundle during the curing process of the epoxy resin, so as to achieve the purpose of aligning the tips of the wedge-shaped bristle bundle, so that the bristles can bear the tangential load evenly and ensure that the tangential load of the symmetrically arranged wedge-shaped bristle bundles is the same. Finally, the tangential force on the wedge-shaped bristle bundle 22 can be transmitted to the outer frame 21 through the elastic element 23, so that the outer frame 21 and the open shell 1 bear the weight of the target object 6. One of the functions of the outer frame 21 is to support the tangential loading and unloading of the wedge-shaped bristle bundle 22.

[0052] In this embodiment, the outer frame 21 and the open outer shell 1 are preferably made of PLA plastic.

[0053] Furthermore, in this embodiment, as Figure 3 As shown, a pressure plate 24 is provided inside the outer frame 21, and an opening is provided on the side of the outer frame 21 opposite to the pressure plate 24; a snap fastener 25 is provided on the other side of the rigid plate 221, and the snap fastener 25 is movably inserted into the opening. A limiting structure 251 is provided at the end of the part of the snap fastener 25 inserted into the opening, which can overlap with the opening of the outer frame 21 to prevent the snap fastener 25 from coming out of the opening; the snap fastener 25 is connected to the pressure plate 24 through an elastic element 23. The elastic element 23 is preferably a compression spring, which is provided between the pressure plate 24 and the snap fastener 25 to adjust the contact between the bottom wedge-shaped bristle bundle 22 and the surface of the object to be adhered. The two ends of the compression spring are rigidly connected to the pressure plate 24 and the snap fastener 25 respectively by bolts, and the central axis of the compression spring is concentric with the rotation center of the wedge-shaped bristle bundle 22.

[0054] The following uses the picking up of a flexible circuit board as an example to specifically explain the working process and working principle of the biomimetic dry adhesion mechanism 100 in this embodiment. In the biomimetic dry adhesion mechanism 100, two sets of wedge-shaped bristle bundle assemblies 2 are arranged symmetrically at intervals.

[0055] In the initial state, such as Figure 5As shown, the wedge-shaped bristle bundle 22 is in the unloaded state. At this time, the elliptical drive cam 32 is in a horizontal state, and the two sets of wedge-shaped bristle bundle assemblies 2 are pressed to both sides, and both loading springs 31 are compressed. When it is necessary to pick up the flexible circuit board, the wedge-shaped bristle bundle 22 is brought close to the surface of the flexible circuit board, and the wedge-shaped bristle bundle 22 is pressed slightly towards the flexible circuit board to apply a slight preload to the elastic element 3. The compression of the elastic element 3 can alleviate the impact caused by the preload, so that the snap button will slightly pitch and sway, and drive the wedge-shaped bristle bundle 22 to fully contact the adhesive surface of the flexible circuit board. After the wedge-shaped bristle bundle 22 contacts the flexible circuit board, the drive servo 33 rotates forward, and the drive cam 32 rotates from... Figure 5 The horizontal state shown has been changed to Figure 4 In the vertical position shown, the clamping force of the drive cam 32 on the two sets of wedge-shaped bristle bundle assemblies 2 disappears, the two loading springs 31 return to their original position, and push the two sets of wedge-shaped bristle bundle assemblies 2 closer together, so as to apply a tangential force to both sides on the wedge-shaped bristle bundles 22 at the bottom of the two sets of wedge-shaped bristle bundle assemblies 2. During this process, both sets of wedge-shaped bristle bundle assemblies 2 produce a small displacement Δx relative to the flexible circuit board, and the wedge-shaped bristle bundles 22 are fully bent, and their contact area with the flexible circuit board increases significantly in a very short time, thereby completing the joint adhesion of the two sets of wedge-shaped bristle bundle assemblies 2 to the flexible circuit board. When unloading is required, the drive servo 33 reverses, and the drive cam 32 moves from... Figure 4 The vertical state shown is switched to Figure 5 As shown in the horizontal state, the two sets of wedge-shaped bristle bundle assemblies 2 are pushed away from each other, the tangential force on the wedge-shaped bristle bundle 22 disappears, and the unloading is completed. At this time, the wedge-shaped bristle bundle 22 is released from the adhesion state with the target object 6, and the wedge-shaped bristle bundle 22 can be easily peeled off from the flexible circuit board at any time. At the same time, the two loading springs 31 are compressed and stored again to prepare for the next loading.

[0056] During the application of tangential force to the wedge-shaped bristle bundle 22, an elastic element 23 is used to passively adapt and control the bottom wedge-shaped bristle bundle 22. When the wedge-shaped bristle bundle 22 comes into contact with the target object 6, the target object 6 applies a slight pre-pressure to the wedge-shaped bristle bundle 22. Under the action of this pre-pressure, the elastic element 23 is compressed. On the one hand, this can alleviate the impact of the pre-pressure on the wedge-shaped bristle bundle 22. On the other hand, after the elastic element 23 is compressed, it can ensure the continuous transmission of tangential adhesion force, improve the adhesion of the wedge-shaped bristle bundle 22 to the target object. Furthermore, the elastic element 23 provides the wedge-shaped bristle bundle 22 with a small rotation angle for passively adapting to the surface of the target object, which can make the wedge-shaped bristle bundle 22 fully contact the adhesion surface. If the bottom plane is slightly uneven, the wedge-shaped bristle bundle 22 can passively adapt to the bottom plane under the action of the elastic element 23, ensuring good contact and complete adhesion between the wedge-shaped bristle bundle 22 and the surface of the target object, ensuring the adhesion area between the wedge-shaped bristle bundle 22 and the target object, until the loading adhesion.

[0057] During use, the deformation of the loading spring 31 can be adjusted by rotating the fine-tuning bolts 5 on both sides, thereby adjusting the tangential loading force on the wedge-shaped bristle bundle 22, improving the adaptability and flexibility of the mechanism to different targets.

[0058] As described above, the biomimetic dry adhesion mechanism 100 proposed in this technical solution utilizes the tangential adhesion force of wedge-shaped bristle bundles to achieve dry adhesion gripping of flexible circuit boards in industrial applications. Simultaneously, the elastic element can apply elastic force to the wedge-shaped bristle bundles during tangential force loading to fully utilize the adaptability of the wedge-shaped bristle bundles to planar objects, thereby enabling the mechanism to meet the requirements for gripping flexible circuit boards in industrial applications. The biomimetic dry adhesion mechanism 100 specifically has the following beneficial effects:

[0059] (1) This scheme uses cam rotation to control the tangential loading of the wedge-shaped bristle bundles, which greatly increases the stability and success rate of the mechanism when picking up planar objects. The cam and servo drive mechanism have a simple and compact structure, which can greatly reduce the size required by the mechanism and is conducive to the miniaturization of the mechanism. At the same time, the cam adopts an elliptical structure, which on the one hand can convert the rotation direction of the servo into the horizontal movement direction, push the outer frame to compress the loading spring, and on the other hand, according to the principle of equal torque, the elliptical cam can ensure that the force on the symmetrically arranged outer frame on both sides is the same, and thus the tangential load transmitted to the wedge-shaped bristle bundles is the same, ensuring that the adhesion force of all wedge-shaped bristle bundles is evenly distributed.

[0060] (2) This solution uses a wave spring sheet in conjunction with a cam to control the tangential force. The wave spring sheet can transmit the tangential loading force evenly. Furthermore, by adjusting the length of the fine-tuning bolt before loading, the magnitude of the tangential loading force generated by the wave spring sheet can be controlled. This allows the bristles to be fully bent while also preventing excessive tangential force from reducing adhesion or causing adhesion failure. It is very effective for picking up and handling perforated, fragile, and easily broken flat objects.

[0061] (3) The setting of elastic elements can realize the adaptive gripping of flexible circuit boards by wedge-shaped bristle bundles, which is conducive to the smooth tangential loading and unloading of wedge-shaped bristle bundles. This not only greatly reduces the difficulty of mechanism manufacturing and size, but also increases the feasibility of mechanism, thereby meeting the needs of gripping flexible circuit boards in industrial applications.

[0062] (4) The outer frame is connected to the end wedge-shaped bristle bundle via an elastic element. The elastic element pulls the wedge-shaped bristle bundle to adhere to the surface of the target object, realizing the passive adaptive adhesion of the wedge-shaped bristle bundle. The entire mechanism can be used not only for adsorption and pickup of flexible circuit boards, but also for robot climbing. The elastic element has a short compression distance and high stiffness, which can prevent the mechanism from shaking during climbing and movement, thus solving the problem of insufficient stiffness despite excessive flexibility of the flexible foot.

[0063] (5) The wedge-shaped bristle bundle adopts a split design. First, the rigid plate is assembled into the mechanism, and then the wedge-shaped bristles cast with polyimide film are cured on the rigid plate with epoxy resin material. This allows the epoxy resin to level the bristle bundle, ensuring that the tips of the wedge-shaped bristle bundle are aligned. This ensures that the tips of the wedge-shaped bristle bundle can bear the tangential load evenly, and that the tangential load of the symmetrically arranged wedge-shaped bristle bundles on both sides is the same, ensuring that the adhesion force of all wedge-shaped bristle bundles is evenly distributed.

[0064] (6) The wedge-shaped bristle bundle assembly adopts two sets of symmetrical arrangement for counter-loading, which increases the space utilization of the mechanism, makes the mechanism smaller and helps to reduce its own weight.

[0065] Example 2

[0066] This embodiment proposes a picking and handling mechanism suitable for flexible circuit boards. The mechanism includes a biomimetic dry adhesion mechanism 100 as disclosed in Embodiment 1, which can perform high-stability, high-reliability, and traceless adsorption on flexible circuit boards. The biomimetic dry adhesion mechanism 100 can be installed on a structure such as a three-dimensional adjustment slide or a six-axis robotic arm to realize the automatic handling of flexible circuit boards.

[0067] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A biomimetic dry adhesion mechanism, characterized in that, include: Open shell; A wedge-shaped bristle bundle assembly is disposed within the open housing. The assembly includes an outer frame, micron-sized wedge-shaped bristle bundles, and an elastic element. The outer frame is movably connected to the inner wall of the open housing. The wedge-shaped bristle bundles are movably fitted with the outer frame and connected to it via the elastic element. The wedge-shaped bristle bundles can press against the target object under the pressure of the elastic element. Each wedge-shaped bristle bundle includes a rigid sheet and wedge-shaped bristles cast from polyimide. The wedge-shaped bristles are fixed to one side of the rigid sheet with epoxy resin. The tips of the wedge-shaped bristle bundles are aligned to ensure that the tips evenly bear the tangential load and that the tangential load is the same for the symmetrically arranged wedge-shaped bristle bundles on both sides. A pressure plate is disposed within the outer frame. An opening is provided on one side of the outer frame opposite to the pressure plate; a snap fastener is provided on the other side of the rigid sheet, the snap fastener is movably inserted into the opening, and a limiting structure is provided at the end of the portion of the snap fastener inserted into the opening, the limiting structure being able to overlap with the opening to prevent the snap fastener from coming out of the opening; the snap fastener is connected to the pressure plate through the elastic element; the outer frame is slidably connected to the inner top wall of the open shell through a guide structure, the guide structure including a slide rail and a slider, the slide rail being disposed on the inner top wall of the open shell and arranged along the driving direction of the tangential load application and unloading drive on the outer frame; the slider is disposed on the outer frame, and the outer frame is slidably connected to the slide rail through the slider; A tangential load loading and unloading assembly is disposed within the open outer shell. It includes a loading spring and a tangential load loading and unloading drive. The loading spring is a wave spring sheet disposed on the inner sidewall of the open outer shell. The loading spring is disposed between the outer frame and the sidewall of the open outer shell. The tangential load loading and unloading drive is used to drive the outer frame to reciprocate relative to the open outer shell, thereby switching the wedge-shaped bristle bundle between an unloaded state and a loaded state. In the unloaded state, the outer frame presses against the loading spring, the wedge-shaped bristle bundle is not subjected to tangential force, and the wedge-shaped bristle bundle separates from the target object. In the loaded state, the loading spring returns to its original position and applies a tangential force to the wedge-shaped bristle bundle, causing the wedge-shaped bristle bundle to bend and adhere to the target object. The side wall of the open shell is also threaded with a fine-adjustment bolt. The end of the fine-adjustment bolt passes through the side wall of the open shell and extends into the open shell. By rotating the fine-adjustment bolt, the length of its extension into the open shell can be adjusted, thereby adjusting the travel of the outer frame in the unloaded state, and thus adjusting the energy storage of the loading spring. The wedge-shaped bristle bundle assemblies are symmetrically distributed in two groups within the open housing; the tangential load application and unloading drive includes a drive cam and a drive servo connected to the drive cam, the drive servo is connected to the open housing, and the drive cam is located between the two groups of wedge-shaped bristle bundle assemblies to drive the two groups of wedge-shaped bristle bundle assemblies to move symmetrically.

2. The biomimetic dry adhesion mechanism according to claim 1, characterized in that, The elastic element is a compression spring.

3. A picking and handling mechanism suitable for flexible circuit boards, characterized in that, Includes the biomimetic dry adhesion mechanism as described in any one of claims 1 to 2.

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