Vibratory adhesion module based on resonance coupling enhancement

Abstract

Disclosed is a vibration adhesion module based on resonance coupling enhancement, in which an elastic body is connected to a variable mass support at one end, the elastic body comprising a spring, a flexible polymer material, rubber, a paper folding elastic mechanism, the variable mass support representing a part connected to the elastic body and in contact with an adherend, a motor fixing part connected to the other end of the elastic body, a vibration motor installed in the motor fixing part to provide controllable vibration, and a vibration diaphragm connected to the motor fixing part to resonate in the vibration adhesion module, a negative pressure area being formed between the vibration diaphragm and the adherend to provide adhesion.

Description

Technical Field

[0001] This invention belongs to the field of adhesion technology, specifically a vibration adhesion module based on resonant coupling enhancement. Background Technology

[0002] Adhesion technology is a core technology for wall-climbing robots and robotic grippers, and its adhesive force, controllability, and reliability determine the key performance characteristics of these robots and grippers during operation. Vibration adhesion technology has attracted attention from the scientific community due to its small size and high adhesion ratio, and it is expected to become the next generation of fundamental adhesion methods. However, current traditional vibration adhesion methods suffer from adhesion performance that falls short of theoretical values.

[0003] The information disclosed in the background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention proposes a vibration adhesion module based on resonant coupling enhancement. By optimizing the elastic coefficient and fine-tuning the vibration mass, the resonance of the entire adhesion module is optimized, giving full play to the performance of vibration adhesion and greatly improving the reliability and practicality of the invention.

[0005] The objective of this invention is achieved through the following technical solution: a vibration adhesion module based on resonant coupling enhancement includes,

[0006] Variable mass support

[0007] An elastomer, one end of which is connected to the variable mass support.

[0008] A motor mounting bracket, which connects to the other end of the elastic body.

[0009] A vibration motor, mounted in the motor fixture, provides controllable vibration.

[0010] A vibrating diaphragm, connected to the motor fixture, resonates within the vibrating adhesion module, and a negative pressure area is formed between the vibrating diaphragm and the object to be adhered to provide adhesive force.

[0011] In the vibration adhesion module based on resonant coupling enhancement, the bottom surface of the vibration membrane is provided with a microstructure to enhance the normal adhesion force.

[0012] In the vibration adhesion module based on resonant coupling enhancement, the microstructure includes nanoscale concave-convex microstructures or arc-shaped microstructures.

[0013] In the vibration adhesion module based on resonant coupling enhancement, when the vibration source is turned off and no longer provides vibration, the vibration membrane and the adhered object detach, and the internal negative pressure area connects with the outside world, thus detaching.

[0014] In the aforementioned vibration adhesion module based on resonant coupling enhancement, the vibration membrane and other parts can resonate in a controllable manner by adjusting the elastic coefficient of the elastomer and the mass of the variable mass support.

[0015] In the aforementioned vibration adhesion module based on resonant coupling enhancement, the vibration amplitude expression of the vibrating membrane is as follows:

[0016] in,

[0017] m1 represents the mass of the diaphragm, m2 represents the mass of the variable mass support; c2 represents the contact damping between the variable mass support and the ground; k1 represents the elastic coefficient of the elastic body, k2 represents the contact elastic coefficient between the variable mass support and the ground, A0 represents the average vibration force of the vibratory motor, ω0 represents the natural frequency of the diaphragm, ω a The natural frequency of the variable mass support.

[0018] In the vibration adhesion module based on resonant coupling enhancement, the vibration motor and the motor fixing component are interference-fitted.

[0019] In the vibration adhesion module based on resonant coupling enhancement, the vibration diaphragm and motor fixture, the motor fixture and elastomer, and the elastomer and variable mass support are all bonded together with silicone.

[0020] In the vibration adhesion module based on resonant coupling enhancement, the motor fixing component has a horizontal bottom surface and a horizontal top surface.

[0021] In the vibration adhesion module based on resonant coupling enhancement, the vibration adhesion module has a centrosymmetric structure.

[0022] Compared with the prior art, the present invention has the following advantages: The vibration adhesion module based on resonance coupling enhancement described in the present invention analyzes the resonance effect generated by motor vibration, has a strong adhesion effect, and optimizes the elastic coefficient and fine-tunes the vibration mass to achieve the optimal resonance of the entire adhesion module, giving full play to the performance of vibration adhesion and greatly improving the reliability and practicality of the vibration adhesion module. Attached Figure Description

[0023] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0024] In the attached diagram:

[0025] Figure 1 This is a schematic diagram of a vibration adhesion module based on resonant coupling enhancement according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a vibration adhesion module based on resonant coupling enhancement according to another embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a variable mass support based on resonant coupling enhancement according to another embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of a variable mass support based on resonant coupling enhancement according to another embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of a variable mass support based on resonant coupling enhancement according to another embodiment of the present invention.

[0030] The present invention will be further explained below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0031] Specific embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0032] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0033] To facilitate understanding of the embodiments of the present invention, further explanations and descriptions will be provided below with reference to the accompanying drawings and specific embodiments. The accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0034] To better understand, such as Figures 1 to 5 As shown, the vibration adhesion module based on resonant coupling enhancement includes:

[0035] Variable mass support 5,

[0036] The elastic body 4 has one end connected to the variable mass support 5.

[0037] Motor fixing component 3, which is connected to the other end of the elastic body 4.

[0038] Vibration motor 2, which is mounted in the motor fixing member 3, provides controllable vibration.

[0039] A vibrating diaphragm 1, which is connected to the motor fixing member 3 to resonate in the vibrating adhesion module, forms a negative pressure area between the vibrating diaphragm 1 and the object to be adhered to provide adhesive force.

[0040] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the bottom surface of the vibration membrane 1 is provided with a microstructure to enhance the normal adhesion force.

[0041] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the microstructure includes nanoscale concave-convex microstructures or arc-shaped microstructures.

[0042] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, when the vibration source is turned off and no longer provides vibration, the vibration membrane 1 and the object to be adhered separate, and the internal negative pressure area is connected to the outside world, thereby detaching.

[0043] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the vibrating diaphragm 1 resonates controllably with other parts by adjusting the elastic coefficient of the elastomer 4 and the mass of the variable mass support 5.

[0044] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the vibration amplitude expression of the vibrating diaphragm 1 is as follows:

[0045] in,

[0046]

[0047] m1 represents the mass of the diaphragm 1, m2 represents the mass of the variable mass support 5; c2 represents the contact damping between the variable mass support 5 and the ground; k1 represents the elastic coefficient of the elastic body 4, k2 represents the contact elastic coefficient between the variable mass support 5 and the ground; x1 represents the axial displacement of the diaphragm 1, x2 represents the axial displacement of the variable mass support 5, ω represents the vibration angular frequency, t represents time, A0 represents the average vibration force of the vibrating motor, and ω0 represents the natural frequency of the diaphragm. a This represents the natural frequency of a variable-mass support, an inherent property of every object, indicating how the object vibrates when no external force is applied.

[0048] F represents the total force acting on the module, due to the periodic vibration force from the vibrating motor.

[0049] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the vibration motor 2 and the motor fixing component 3 are interference-fitted.

[0050] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the vibration diaphragm 1 and the motor fixing component 3, the motor fixing component 3 and the elastomer 4, and the elastomer 4 and the variable mass support 5 are all bonded together with silicone.

[0051] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the motor fixing member 3 has a horizontal bottom surface and a horizontal top surface.

[0052] In a preferred embodiment of the vibration adhesion module based on resonant coupling enhancement, the vibration adhesion module has a centrosymmetric structure.

[0053] In one embodiment, the vibration motor 2 and the motor fixing member 3 are connected by an interference fit, and the vibration diaphragm 1 and the motor fixing member 3, the motor fixing member 3 and the elastomer 4, and the elastomer 4 and the variable mass support 5 are all bonded with silicone.

[0054] In one embodiment, the elastomer 4 includes a spring, a flexible polymer material, rubber, and an origami elastic mechanism.

[0055] like Figure 1As shown, the improved vibration adhesion module includes a vibrating diaphragm 1, a vibration motor 2, and a motor mounting bracket 3. During operation, the atmospheric pressure adhesion force generated by the vibrating diaphragm 1 is transmitted to the variable mass support 5 via the elastomer 4. Both the variable mass support 5 and the vibrating diaphragm 1 are attached to a wall or ceiling. The variable mass support 5 is used to connect external devices, such as… Figure 2 The middle adhesive module is hung upside down on the ceiling and the weights are held in place by ropes.

[0056] The standard equation for resonance analysis is as follows:

[0057]

[0058] M, C, K, and x represent the mass matrix, damping matrix, elasticity matrix, and displacement, respectively.

[0059]

[0060] Where m1 represents the mass of the vibrating diaphragm 1, m2 represents the mass of the variable mass support 5; c2 represents the contact damping between the variable mass support 5 and the ground; k1 represents the elastic coefficient of the elastic body 4, k2 represents the contact elastic coefficient between the variable mass support 5 and the ground; x1 represents the axial displacement of the vibrating diaphragm 1, and x2 represents the axial displacement of the variable mass support 5.

[0061] F represents the total force acting on the module. Due to the periodic vibration force from the vibrating motor, it can be written as:

[0062]

[0063] in ω represents the average vibrational force. ω represents the angular frequency of vibration, and t represents time.

[0064] By solving the second-order equation above, we can derive the expression for the vibration amplitude of diaphragm 1:

[0065]

[0066] For ease of analysis, it is converted into a dimensionless form.

[0067]

[0068] Each dimensionless quantity is:

[0069]

[0070] Studies have shown that the greater the vibration amplitude of the diaphragm 1, the stronger the adhesion of the vibration module. Therefore, we can use this vibration mathematical model to adjust the elastic coefficient of the elastic body 4 and the mass of the variable mass support 5, so that the diaphragm 1 can resonate with other parts in a controllable manner, thereby strengthening the adhesion.

[0071] A variable mass support is a component that connects to an elastomer and comes into contact with the adhered object; it can be replaced with other types of components or modules. See also Figures 3 to 5 .

[0072] Although embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, and not restrictive. Those skilled in the art can make many other forms based on the guidance of this specification and without departing from the scope of protection of the claims of the present invention, and all of these are within the scope of protection of the present invention.

Claims

1. A vibration adhesion module based on resonant coupling enhancement, characterized in that, It includes, Variable mass support An elastomer, one end of which is connected to the variable mass support. A motor mounting bracket, which connects to the other end of the elastic body. A vibration motor, mounted in the motor fixture, provides controllable vibration. A vibrating diaphragm, which is connected to the motor fixture to resonate in the vibrating adhesion module, forms a negative pressure area between the vibrating diaphragm and the object to be adhered to provide adhesive force; The expression for the vibration amplitude of the diaphragm is as follows: ,in, , This indicates the vibration amplitude of the diaphragm. Indicates the mass of the diaphragm. Indicates the mass of the variable mass support; This indicates the contact damping between the variable mass support and the ground; This represents the elastic modulus of an elastic body. This represents the contact elastic coefficient between the variable mass support and the ground. This represents the average vibration force of the vibratory motor. Indicates the angular frequency of vibration. This represents the natural frequency of the diaphragm. The natural frequency of the variable mass support.

2. The vibration adhesion module based on resonant coupling enhancement according to claim 1, characterized in that, The bottom surface of the vibrating diaphragm is provided with microstructures to enhance normal adhesion.

3. The vibration adhesion module based on resonant coupling enhancement according to claim 2, characterized in that, The microstructures include nanoscale concave-convex microstructures or arc-shaped microstructures.

4. The vibration adhesion module based on resonant coupling enhancement according to claim 1, characterized in that, The vibration motor and the motor mounting component are interference-fitted.

5. The vibration adhesion module based on resonant coupling enhancement according to claim 1, characterized in that, The diaphragm and motor fixture, the motor fixture and elastomer, and the elastomer and variable mass support are all bonded together with silicone.

6. The vibration adhesion module based on resonant coupling enhancement according to claim 1, characterized in that, The motor mounting component has a horizontal bottom surface and a horizontal top surface.

7. The vibration adhesion module based on resonant coupling enhancement according to claim 1, characterized in that, The vibration adhesion module has a centrally symmetrical structure.

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