Adhesion / desorption conversion method for interface crack regulation and implementation device thereof

Abstract

The invention relates to an adhesion / desorption conversion method for interface crack regulation and an implementation device thereof, the accurate control of the adhesion force is realized by controlling the contact area of an adhesion structure and the surface of an adhered object, the implementation device comprises four bionic adhesion sheets, each bionic adhesion sheet is connected with a lamellar structure, and each bionic adhesion sheet is connected with the lamellar structure. Each sheet-shaped structure is connected with one end of a connecting rod through a small platform, the other ends of the four connecting rods are connected with a lower moving platform, a pair of opposite angles of the lower moving platform are correspondingly connected with an upper moving platform in a corresponding mode, and the other pair of opposite angles of the lower moving platform and the upper moving platform are correspondingly connected with a motor in a corresponding mode through double-end studs. The center of the upper moving platform is connected with a rotating platform, the rotating platform is connected to an output lead screw of a motor, the tail end of the output lead screw of the motor is connected with the platform through a bearing, and the rotating platform is located on the output lead screw, so that the platform and the sheet-shaped structure are just horizontal and make contact; the response speed is high, and accurate control over the adhesion force of the bionic adhesion technology interface can be achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic adhesion operation in micro-nano engineering, and specifically relates to an adhesion / desorption conversion method and an implementation device thereof for regulating interface cracks. Background Art

[0002] Compared with vacuum adsorption, mechanical meshing, electrostatic adsorption or magnetic adsorption and other interface adsorption operation modes, gecko bionic adhesion depends on the intermolecular van der Waals force, does not strongly rely on the surface properties of the target object, has the characteristics of strong adhesion, good stability, strong adaptability to materials and morphology, and will not cause damage and pollution to the surface of the contacted object. It has become an important support for the development of bionic wall-climbing robots, non-destructive precision transportation in space environments / ultra-clean environments, and biomedical diagnosis. Among them, the key to the engineering application of bionic adhesion technology is to achieve the purpose of adhesion / desorption conversion through accurate control of adhesion force, which has attracted many research teams at home and abroad to carry out related research. For example, the Gorb team at the Max Planck Institute in Germany designed a device that controls adhesion through ultraviolet actuation of liquid crystals, and achieves the conversion of adhesion / desorption state by whether ultraviolet light is applied or not; the Hamed team at Kent State University in the United States designed a multi-legged gecko-like gripper with thermally induced self-peeling ability by integrating adhesion film with liquid crystal polymer LCN cantilever, and achieves adhesion / desorption switching by whether thermal field is applied or not; the Pesika team at Tulane University in the United States designed an asymmetric polymer microstructure that achieves adhesion / desorption switching by controlling mechanical load.

[0003] However, the currently developed methods of achieving adhesion / desorption conversion through external field stimulation or mechanical load still have many disadvantages: (1) Slow response speed: The methods driven by temperature field or light field mostly change the magnitude of adhesion force by controlling the deformation of bionic adhesion structure. Such a process usually takes a long time, resulting in slow desorption response; (2) Reduced adhesion strength: Most adhesion / desorption conversion methods need to sacrifice adhesion strength to achieve a higher adhesion / desorption ratio. Although the desorption effect is improved, the decrease in adsorption strength further limits the application ability of bionic adhesion structure; (3) Unable to achieve precise control of adhesion force: Many studies in the field of adhesion / desorption conversion have only achieved the conversion of the two states of adhesion-desorption, and cannot accurately adjust the adhesion strength. If the adhesion strength can be accurately controlled, it can meet more extensive and complex application needs; thus, the magnitude of adhesion force can be adjusted according to needs during the application process, and flexible control and rapid switching of adhesion and grasping functions can be achieved. Therefore, how to achieve precise control of the adhesion force of the interface of bionic adhesion technology to achieve adhesion / desorption conversion is a bottleneck that needs to be broken through in its engineering application. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide an adhesion / desorption conversion method and an implementation device for interface crack regulation, which has a fast response speed, does not reduce the adhesion strength, and can achieve precise control of the interface adhesion force of bionic adhesion technology.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A method for adhesion / desorption conversion regulated by interface cracks realizes precise control of adhesion force by controlling the contact area between the adhesion structure and the surface of the adhered object. First, in the initial state, an external force is applied to a thin sheet structure 2 so that the thin sheet structure 2 generates a peeling driving force F acting on a bionic adhesion sheet 1. Under the action of the external force, the thin sheet structure 2 bends to generate a prefabricated peeling angle θ. Subsequently, the thin sheet structure 2 and the bionic adhesion sheet 1 are pressed downward together to contact the surface 11 of the adhered object. The contact area between the bionic adhesion sheet 1 and the surface 11 of the adhered object is determined by the prefabricated peeling angle θ. By regulating the prefabricated peeling angle θ, the contact area between the bionic adhesion sheet 1 and the surface 11 of the adhered object is changed, thereby realizing precise control of adhesion force.

[0007] The above-mentioned device for implementing the adhesion / desorption conversion method for interface crack regulation includes four bionic adhesion sheets 1 of the same size, each bionic adhesion sheet 1 is connected to a thin sheet structure 2, each thin sheet structure 2 is connected to a small platform 3, each small platform 3 is connected to one end of a connecting rod 4, the other ends of the four connecting rods 4 are connected to a lower moving platform 5, a pair of diagonal corners in the lower moving platform 5 are diagonally connected to an upper moving platform 6, and another pair of diagonal corners of the lower moving platform 5 and the upper moving platform 6 are diagonally connected to a motor 9 through studs 8. The center of the upper moving platform 6 is connected to a rotating platform 7, and the rotating platform 7 is connected to the output screw rod of the motor 9. The end of the output screw rod of the motor 9 is connected to the platform 10 through a bearing, and the position of the rotating platform 7 on the output screw rod makes the platform 10 just horizontal and in contact with the thin sheet structure 2.

[0008] The sheet-like structure 2 is a deformable object.

[0009] The four connecting rods 4 are connected to the lower moving platform 5 to form a certain angle.

[0010] The lower moving platform 5 and the upper moving platform 6 can move up and down.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] The present invention discloses an adhesion / desorption conversion method and an implementation device for controlling interface cracks. Under the premise of maintaining the high adhesion strength of a bionic adhesion sheet, a motor is used to drive a mobile platform, thereby driving a connecting rod to bend the four corners of a thin sheet structure, thereby changing the contact area between the bionic adhesion sheet and the surface of an adhered object, thereby realizing precise control of the adhesion force of the bionic adhesion sheet under the drive of a motor. The present invention can be widely used in bionic adhesion fields such as manipulators and micro-suction cups, and has the following advantages:

[0013] (1) The present invention is actuated by a motor, has a simple structure, does not require other additional devices to achieve the adhesion / detachment of the bionic adhesion sheet, and has low energy loss; has a fast response speed and is non-destructive to the surface of the adhered object.

[0014] (2) The present invention realizes the control of the prefabricated peeling angle θ of the bionic adhesive sheet through motor drive and connecting rod transmission, thereby realizing precise control of its adhesion and having strong controllability.

[0015] (3) The present invention controls the desorption of the bionic adhesive sheet by controlling the bending of the four corners of the thin sheet structure. The desorption process is less destructive to the bionic adhesive sheet, is reversible, and can be reused multiple times. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the adhesion / desorption conversion method for interface crack regulation of the present invention.

[0017] Figure 2 The figure is an overall schematic diagram of a device for implementing the method of the present invention.

[0018] Figure 3 The figure is an overall working flow chart of the device for implementing the present invention.

[0019] Figure 4 The figure is a schematic diagram of the deformation of the sheet-like structure and the bionic adhesion sheet after the output screw of the motor of the device of the present invention rotates.

[0020] Figure 5 The present invention is a schematic diagram of the recovery of the sheet-like structure and the bionic adhesion sheet after the output screw of the motor of the device rotates. DETAILED DESCRIPTION

[0021] The present invention is described in detail below in conjunction with embodiments and drawings.

[0022] An interfacial crack-regulated adhesion / desorption conversion method achieves precise control of adhesion force by controlling the contact area between the adhesion structure and the surface of the adhered object, such as Figure 1As shown, first, in the initial state, an external force is applied to the thin sheet structure 2, so that the thin sheet structure 2 generates a peeling driving force F acting on the bionic adhesive sheet 1; under the action of the external force, the thin sheet structure 2 will bend to generate a prefabricated peeling angle θ, and then the thin sheet structure 2 and the bionic adhesive sheet 1 are pressed down together to contact the surface 11 of the adhered object. Due to the existence of the prefabricated peeling angle θ, the contact area between the bionic adhesive sheet 1 and the surface 11 of the adhered object is determined by the prefabricated peeling angle θ. Since the adhesion of the contact surface is determined by the contact area, the contact area between the bionic adhesive sheet 1 and the surface 11 of the adhered object is changed by adjusting the prefabricated peeling angle θ, thereby achieving precise adjustment of the adhesion.

[0023] Reference Figure 2 The device for implementing the above-mentioned adhesion / desorption conversion method for interface crack regulation includes four bionic adhesion sheets 1 of the same size, each bionic adhesion sheet 1 is connected to a thin sheet structure 2 through an adhesive, each thin sheet structure 2 is connected to a small platform 3 through bolts and nuts, each small platform 3 is connected to one end of a connecting rod 4 through bolts, and the other ends of the four connecting rods 4 are connected to a lower moving platform 5 through bolts, a pair of diagonal points in the lower moving platform 5 are connected to the corresponding diagonal points of the upper moving platform 6 through bolts, and another pair of diagonal points of the lower moving platform 5 and the upper moving platform 6 are connected to the corresponding diagonal points of the motor 9 through studs 8, the center of the upper moving platform 6 is connected to a rotating platform 7 through bolts, the rotating platform 7 is connected to the output screw rod of the motor 9, and the end of the output screw rod of the motor 9 is connected to the platform 10 through a bearing, and the position of the rotating platform 7 on the output screw rod makes the platform 10 just horizontal and in contact with the thin sheet structure 2.

[0024] The sheet-like structure 2 is a deformable object.

[0025] The four connecting rods 4 are connected to the lower moving platform 5 to form a certain angle.

[0026] The lower moving platform 5 and the upper moving platform 6 can move up and down.

[0027] The working principle of a device for realizing an adhesion / desorption conversion method regulated by an interface crack is as follows:

[0028] When sticking, Figure 3 As shown in the initial state, the device is placed directly above the adhered object, and the motor 9 outputs the rotation of the screw rod to drive the lower moving platform 5, the upper moving platform 6, the four connecting rods 4 and the four small platforms 3 to move upward for a certain distance; thereby, the sheet-like structure 2 and the bionic adhesive sheet 1 are bent to generate a prefabricated peeling angle θ, Figure 3 The pre-made peeling angle θ in the embodiment is 0°, and then the whole is controlled to move downward so that the bionic adhesive sheet 1 contacts the adhered object and a certain pre-pressure is applied to generate a predetermined adhesive force, such as Figure 3 The adhesion state is shown.

[0029] When desorbing, Figure 4 As shown, by controlling the rotation of the output screw of the motor 9, the lower moving platform 5, the upper moving platform 6, the four connecting rods 4 and the four small platforms 3 move upward for a certain distance; thereby, the thin sheet structure 2 and the bionic adhesive sheet 1 are bent, so that cracks extend at the interface between the bionic adhesive sheet and the adhered object, thereby achieving controllable peeling, as shown in FIG. Figure 3 The peeling state is shown.

[0030] When recovering, Figure 5 As shown, by controlling the motor 9 to output the screw rotation and Figure 4 During desorption, the lower moving platform 5, the upper moving platform 6, the four connecting rods 4 and the four small platforms 3 move downward by the same distance, thereby restoring the sheet-like structure 2 and the bionic adhesive sheet 1 to their original state. Figure 3 The recovery status is shown in Figure 1. Prepare for the next pickup.

[0031] The present embodiment provides an interface crack-regulated adhesion / desorption conversion method and an implementation device thereof, which overcomes the difficulty of the traditional bionic adhesion device in precisely controlling high-strength adhesion.

Claims

1. An adhesion / desorption conversion method for interface crack regulation, characterized in that: The adhesive force is precisely controlled by controlling the contact area between the adhesive structure and the surface of the adhered object. First, in the initial state, an external force is applied to the thin sheet structure (2) so that the thin sheet structure (2) generates a peeling driving force F acting on the bionic adhesive sheet (1). Under the action of the external force, the thin sheet structure (2) bends to generate a prefabricated peeling angle θ. Subsequently, the thin sheet structure (2) and the bionic adhesive sheet (1) are pressed downward together to contact the surface (11) of the adhered object. The contact area between the bionic adhesive sheet (1) and the surface (11) of the adhered object is determined by the prefabricated peeling angle θ. By adjusting the prefabricated peeling angle θ, the contact area between the bionic adhesive sheet (1) and the surface (11) of the adhered object is changed, thereby achieving precise control of the adhesive force.

2. The device for implementing the adhesion / desorption conversion method for interface crack regulation according to claim 1, characterized in that: The invention comprises four bionic adhesive sheets (1) of the same size, each bionic adhesive sheet (1) is connected to a thin sheet structure (2), each thin sheet structure (2) is connected to a small platform (3), each small platform (3) is connected to one end of a connecting rod (4), the other ends of the four connecting rods (4) are connected to a lower moving platform (5), a pair of diagonal portions in the lower moving platform (5) are diagonally connected to an upper moving platform (6), another pair of diagonal portions of the lower moving platform (5) and the upper moving platform (6) are diagonally connected to a motor (9) via studs (8), the center of the upper moving platform (6) is connected to a rotating platform (7), the rotating platform (7) is connected to an output screw rod of the motor (9), the end of the output screw rod of the motor (9) is connected to a platform (10) via a bearing, and the position of the rotating platform (7) on the output screw rod enables the platform (10) to be exactly horizontal and in contact with the thin sheet structure (2).

3. The implementation device according to claim 2, characterized in that: The thin sheet structure (2) is a deformable object.

4. The implementation device according to claim 2, characterized in that: The four connecting rods (4) are connected to the lower moving platform (5) to form a certain angle.

5. The implementation device according to claim 2, characterized in that: The lower movable platform (5) and the upper movable platform (6) are capable of moving up and down.

Images