Multi-degree-of-freedom stripping platform system and stripping method

Abstract

The invention provides a multi-degree-of-freedom stripping platform system and a stripping method. The multi-degree-of-freedom stripping platform system comprises at least one stripping driving device for providing a degree of freedom for stripping motion, a stripping clamp, a flexible adsorption structure, a stripping table, a sensor and a stripping table base, the stripping driving device is connected with the stripping clamp; the end, away from the stripping driving device, of the stripping clamp is connected with a flexible adsorption structure. A stripping table is correspondingly arranged on the side, away from the stripping clamp, of the flexible adsorption structure. The stripping drive device drives the stripping clamp to control the flexible adsorption structure, and the to-be-stripped sample placed on the stripping table is stripped. According to the multi-degree-of-freedom stripping platform system and the stripping method provided by the embodiment of the invention, compared with a traditional single-degree-of-freedom stripping platform, a researcher can test the stripping performance of an adsorbed sample from multiple angles through the platform, and more interested experiments can be carried out.

Description

Technical Field

[0001] The present invention relates to the field of stripping technology, and in particular to a multi-degree-of-freedom stripping platform system and a stripping method. Background Art

[0002] The debonding phenomenon of controllable adsorption materials or structures plays a key role in life and industry, especially in the field of controllable electrosorption. This phenomenon not only affects applications ranging from smart tapes to responsive coatings, but also covers transfer technology, flexible electronics and soft robotics, and its importance spans multiple disciplines. With the rapid development of composite materials, flexible electronics and nanotechnology, multi-faceted testing of the debonding phenomenon of controllable adsorption structures and their mechanical properties has become increasingly important.

[0003] Common peel test methods include 180° peel test and T peel test. Although they are widely used in the performance evaluation of adhesives and coatings, they are often inadequate under the action of complex geometric structures and multi-dimensional forces. For example, the existing technology has defects such as a single degree of freedom for peeling and the need to improve measurement accuracy. Summary of the invention

[0004] In order to solve the above problems, an object of the embodiments of the present invention is to provide a multi-degree-of-freedom peeling platform system and a peeling method.

[0005] In the first aspect, an embodiment of the present invention provides a multi-degree-of-freedom stripping platform system, comprising: at least one stripping drive device providing degrees of freedom for stripping movement, a stripping clamp, a flexible adsorption structure, a stripping table, a sensor and a stripping table base; the stripping table base is arranged on a horizontal base surface, the sensor is arranged on the upper surface of the stripping table base, and the stripping table is arranged on the upper surface of the sensor; the stripping table is used to place a sample to be stripped; the stripping drive device is connected to the stripping clamp; the flexible adsorption structure is connected to the end of the stripping clamp away from the stripping drive device; the stripping table is correspondingly arranged on a side of the flexible adsorption structure away from the stripping clamp; based on the stripping drive device driving the stripping clamp to control the flexible adsorption structure, the sample to be stripped placed on the stripping table is stripped.

[0006] In the second aspect, an embodiment of the present invention also provides a stripping method, comprising: generating a stripping clamp, a stripping table and a stripping table base of the multi-degree-of-freedom stripping platform system by 3D printing according to stripping requirements, and assembling the stripping clamp, the stripping table and the stripping table base with a stripping drive device, a flexible adsorption structure and a sensor of the multi-degree-of-freedom stripping platform system to form the multi-degree-of-freedom stripping platform system; controlling the stripping drive device to drive the stripping clamp to control the flexible adsorption structure according to a preset stripping speed and stripping path to strip the sample to be stripped placed on the stripping table; the sensor measures the stripping force during the stripping process.

[0007] In the solution provided in the first aspect of the embodiment of the present invention, not only can the sample to be peeled off be peeled off with multiple degrees of freedom, but the peeling method can also be adjusted as needed, thereby achieving accurate simulation and testing of more complex peeling scenarios.

[0008] In the solution provided in the second aspect of the embodiment of the present invention, not only can the sample to be tested be peeled with multiple degrees of freedom, but the peeling method and surface geometry can also be adjusted as needed, thereby achieving accurate simulation and testing of more complex peeling scenarios.

[0009] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 A schematic structural diagram of a multi-degree-of-freedom peeling platform system provided by an embodiment of the present invention is shown;

[0012] Figure 2 A schematic diagram showing a method of supplying power to a flexible adsorption structure through a high voltage source is shown;

[0013] Figure 3 Another schematic diagram of supplying power to the flexible adsorption structure through a high voltage source is shown;

[0014] Figure 4 A schematic diagram showing a peeling fixture controlling a flexible adsorption structure to twist upward to achieve peeling;

[0015] Figure 5 Schematic diagrams showing peeling at different angles (45°, 90°, 135°);

[0016] Figure 6 A schematic structural diagram of another multi-degree-of-freedom peeling platform system provided by an embodiment of the present invention is shown;

[0017] Figure 7 A schematic diagram showing that the surface of the peeling fixture contacting the flexible adsorption structure is circular and point peeling is performed;

[0018] Figure 8 A schematic diagram showing line peeling of a sample to be peeled off on a peeling table with a curvature radius of 200 mm;

[0019] Fig. 9 A schematic diagram showing the linear peeling of a sample to be peeled off on a peeling table with a curvature radius of 800 mm;

[0020] Fig.10 A schematic diagram of the surface structure of a double-layer peeling table is shown;

[0021] Fig.11 A schematic diagram of the surface structure of the peeling table base with a double-layer design is shown;

[0022] Fig.12 A schematic diagram of the process of performing data processing and control on a multi-degree-of-freedom peeling platform system in combination with accessories to achieve peeling is shown;

[0023] Fig.13 A flow chart of a stripping method provided by an embodiment of the present invention is shown.

[0024] icon:

[0025] 1-peeling drive device, 2-peeling fixture, 3-flexible adsorption structure, 4-peeling table, 5-sensor, 6-peeling table base, 7-body base, 41-5mm screw hole, 42-nut hole for 6mm screw, 43-6mm screw hole, 61-6mm screw hole, 62-nut hole for 3mm screw, 63-3mm screw hole, A-robot control cabinet, B-data collector, C-control unit, D-PC terminal. DETAILED DESCRIPTION

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] The embodiment of the present invention provides a multi-degree-of-freedom peeling platform system, see Figure 1 As shown, the multi-degree-of-freedom peeling platform system includes: at least one peeling drive device 1 that provides freedom for the peeling movement, a peeling clamp 2, a flexible adsorption structure 3, a peeling table 4, a sensor 5 and a peeling table base 6. Among them, the peeling table base 6 is arranged on a horizontal base surface. It can be understood that the horizontal base surface can be a placement plane such as a horizontal desktop or an optical platform for placing the multi-degree-of-freedom peeling platform system. A sensor 5 is arranged on the upper surface of the peeling table base 6, and the sensor 5 can be a multi-freedom force sensor. A peeling table 4 is arranged on the upper surface of the sensor 5, that is, the sensor 5 is clamped between the peeling table base 6 and the peeling table 4. Among them, the peeling table 4 is used to place the sample to be peeled.

[0030] like Figure 1 As shown, in the embodiment of the present invention, the stripping drive device 1 is connected to the stripping clamp 2. For example, one end of the stripping clamp 2 (such as one end of the handle-shaped stripping clamp 2) can be connected to one end of the stripping drive device 1 (such as the end effector) by a screw, and the other end of the stripping clamp 2 away from the stripping drive device 1 is connected to the flexible adsorption structure 3. Figure 1 It can be seen that the side of the flexible adsorption structure 3 away from the stripping fixture 2 is correspondingly provided with the stripping platform 4, that is, the flexible adsorption structure 3 and the stripping platform 4 are located close to each other. The stripping driving device 1 drives the stripping fixture 2, and then controls the flexible adsorption structure 3, so as to finally realize the stripping of the sample to be stripped placed on the stripping platform 4. Figure 2 and Figure 3 As shown, it is a schematic diagram of different controllable adsorption structures. Figure 2 and Figure 3 The high voltage source and control together correspond to Fig.12 The control unit C can supply power to the flexible adsorption structure 3 through a high voltage source, and the presence or size of the adsorption force can be controlled according to the voltage.

[0031] Figure 3 The stripping drive device 1 ( Figure 3 Not directly shown) drives the stripping fixture 2 ( Figure 3 (not directly shown) a schematic diagram of controlling the upward movement of the flexible adsorption structure 3 to achieve peeling. Figure 4 and Figure 5 As shown, Figure 4 A schematic diagram showing the peeling fixture 2 controlling the flexible adsorption structure 3 to twist upward to achieve peeling; Figure 5 Schematic diagrams of peeling at different angles (45°, 90°, 135°) are shown. It can be seen that the multi-degree-of-freedom peeling platform system provided by the embodiment of the present invention can not only realize conventional peeling by pulling up, but also perform a series of advanced peeling operations, such as torque rotation peeling, lateral flip peeling and other complex spatial peeling modes.

[0032] The multi-degree-of-freedom peeling platform system provided by the embodiment of the present invention can not only peel the sample to be peeled with multiple degrees of freedom, but also adjust the peeling method as needed, thereby realizing accurate simulation and testing of more complex peeling scenarios.

[0033] Optionally, the stripping drive device 1 comprises: Figure 1 The six-degree-of-freedom robot shown in Figure 6 The motor shown. Among them, when the stripping drive device 1 is a six-degree-of-freedom robotic arm, the number of the stripping drive device 1 is one; when the stripping drive device 1 is a motor, the number of the stripping drive devices 1 is two. It should be noted that the multi-degree-of-freedom stripping platform system with a six-degree-of-freedom robotic arm, as an advanced stripping platform, can meet almost all stripping experiments. However, in most stripping research cases, a two-degree-of-freedom stripping platform is sufficient to meet the research requirements. In order to save space and cost, an embodiment of the present invention can replace a six-degree-of-freedom robotic arm with two motors, each motor providing one degree of freedom for stripping, thereby converting the multi-degree-of-freedom stripping platform system into a two-degree-of-freedom stripping platform system. The motor positions of the two-degree-of-freedom stripping platform system can be referred to. Figure 6 As shown, no further description is given here.

[0034] Optionally, when the peeling drive device 1 is a six-degree-of-freedom robot (such as Figure 1 In the case shown), the multi-degree-of-freedom peeling platform system may also include: a main body base 7, one end of the six-degree-of-freedom robotic arm is connected to the main body base 7, and the other end is connected to the peeling clamp 2.

[0035] Optionally, the flexible adsorption structure 3 represents a flexible adsorption structure with controllable adsorption force. It may at least include: an electrostatic adsorption structure, an electrostatic gecko-like adsorption structure (such as Figure 3 As shown) or electrostatic negative pressure adsorption structure.

[0036] Optionally, the stripping fixture 2 and the sample to be stripped can be achieved by bonding the tape and the flexible adsorption structure 3 at different positions, and the stripping can be performed from different positions of the flexible adsorption structure 3. The tape can be bonded by nano double-sided adhesive, for example, it can be bonded by 2mm thick nano double-sided adhesive. Specifically, there are many advantages of bonding by nano adhesive. For example, nano adhesive has a strong bond and is generally removable. When it is necessary to strip the same sample to be stripped in multiple ways, multiple bonding methods can be adopted as needed. And it can be disassembled when necessary. In addition, compared with clamping the sample to be stripped by mechanical tightening, the nano adhesive bonding method has less influence on the sample to be stripped and the required position can be freely selected for stripping, such as center stripping.

[0037] Specifically, when it is necessary to peel from the edge, the nano double-sided tape can be adhered to the edge of the flexible adsorption structure 3; when it is necessary to peel from the middle, the nano double-sided tape can be attached to the middle of the flexible adsorption structure 3; when point peeling or surface peeling is required, the nano double-sided tape of the required size can be attached to the position to be peeled on the flexible adsorption structure 3.

[0038] Optionally, the stripping clamp 2 and the stripping table 4 are devices with replaceable shapes and / or sizes. That is, the stripping clamp 2 is detachably connected to the end of the stripping drive device 1, so that the stripping clamp 2 of different shapes and sizes can be replaced; the stripping table 4 can also be detachably connected, so that it can be easily replaced with a stripping table 4 of different shapes and sizes. For example, the stripping clamp 2 can be replaced with a stripping clamp 2 of different shapes and sizes such as a rectangle, a circle, or a needle point shape (such as a stripping clamp 2 of different shapes and sizes with a bottom adhesive surface (a surface contacting the flexible adsorption structure 3)). Figure 7 The surface of the peeling fixture 2 contacting the flexible adsorption structure 3 is circular), so that experiments of different peeling forms such as point peeling, line peeling, and surface peeling can be completed. In addition, the peeling table 4 can also be replaced according to needs. Optionally, the peeling table 4 can be replaced with a flat peeling table or a curved peeling table. For example, if it is necessary to characterize the mechanical properties of the peeling of the sample to be peeled on the curved surface, the flat peeling table can be replaced with the required curved form, that is, the curved peeling table. Figures 8 to 9 As shown, the two figures respectively show schematic diagrams of linear peeling of the sample to be peeled on the peeling table 4 with a curvature radius of 200 mm and a curvature radius of 800 mm.

[0039] It should be noted that the stripping fixture 2, the stripping platform 4 and the stripping platform base 6 can all be 3D printed from PLA (polylactic acid) material. In other words, through the multi-degree-of-freedom stripping platform system provided by the embodiment of the present invention, by controlling the movement mode of the stripping drive device 1, the printing shape of the stripping fixture 2, the adhesion mode of the stripping fixture 2 and the sample to be stripped, and the printing shape of the stripping platform 4, various stripping forms of experiments such as point stripping, line stripping, surface stripping, center stripping, edge stripping, torsion stripping, curved surface stripping, etc. can be completed.

[0040] Alternatively, if Figure 4 As shown, the stripping platform 4 and the stripping platform base 6 each include two layers. The lower layer of the stripping platform 4 is used to connect the sensor 5, and the upper layer of the stripping platform 4 is used to attach the sample to be stripped. Fig.10 As shown, the upper and lower layers can be fixed together by four 5mm screws and nuts ( Fig.10 The lower layer can be screwed in place with four 6mm screws ( Fig.10 The reference numeral 42 denotes a nut hole for a 6 mm screw; the reference numeral 43 denotes a 6 mm screw hole) and the sensor 5 are fixedly connected. The lower layer of the peeling platform 4 leaves space for the nut during printing, so that the screws used to connect the sensor 5 and the lower layer of the peeling platform 4 will not affect the bonding of the upper and lower layers. The advantage of this double-layer design is that the metal screws used to connect the sensor 5 will not affect the design of the surface of the adsorption platform.

[0041] Similarly, the upper layer of the peeling table base 6 is used to connect the sensor 5, and the lower layer of the peeling table base 6 is used to connect the horizontal base surface. Fig.11 As shown, the upper and lower layers can be fixed by four 6mm screws ( Fig.11 The upper layer can be fixedly connected to the desktop or optical platform by eight 3mm screws ( Fig.11 The nut hole for a 3mm screw is indicated by reference numeral 62; the 3mm screw hole is indicated by reference numeral 63) and is fixedly connected to the sensor 5, and a space is reserved for the nut on the upper layer during printing, so that the screws used to connect the sensor 5 to the upper base will not affect the fit between the upper and lower bases.

[0042] In addition, Fig.12As shown, the accessories of the multi-degree-of-freedom peeling platform system provided in the embodiment of the present invention may also include a robot control cabinet A, a data acquisition device B for processing and transmitting measurement data, a control unit C and a PC terminal D. Among them, the control unit C includes two parts, one is a low-voltage DC power supply that can control the output voltage, and the other is a high-voltage module. The high-voltage module amplifies the voltage of the low-voltage DC power supply by hundreds of times to power the flexible adsorption structure (because the flexible adsorption structure requires a voltage of thousands of volts to be powerful). Among them, the control of the adsorption force is achieved by controlling the output voltage of the DC power supply. Optionally, if there is a method for controlling the voltage supply by computer programming, it can also be controlled by computer programming.

[0043] The embodiment of the present invention also provides a stripping method, such as Fig.13 As shown, the stripping method at least includes the following steps 101-103.

[0044] Step 101: According to the peeling requirements, a peeling fixture, a peeling table and a peeling table base of a multi-degree-of-freedom peeling platform system are generated by 3D printing, and the peeling fixture, the peeling table and the peeling table base are assembled with the peeling drive device, the flexible adsorption structure and the sensor of the multi-degree-of-freedom peeling platform system to form a multi-degree-of-freedom peeling platform system.

[0045] Step 102: Control the peeling drive device to drive the peeling fixture to control the flexible adsorption structure according to the preset peeling speed and peeling path to peel the sample to be peeled placed on the peeling table.

[0046] Step 103: The sensor measures the peeling force during the peeling process.

[0047] Finally, the sensor can be used to transmit the force measurement data to the computer via a data acquisition card, thereby finally completing the collection of the peeling force.

[0048] Optionally, the peeling driving device is controlled to drive the peeling fixture to control the flexible adsorption structure according to a preset peeling speed and peeling path, including:

[0049] By rotating one end of the peeling driving device connected to the peeling clamp (θ-90°), the peeling speed in the y and z directions is set to the following formula (1), so that the sample to be peeled can be peeled at a constant angle θ.

[0050] Formula (1):

[0051] Among them, v y represents the speed provided by the peeling drive in the y direction during the peeling process, v z It indicates the speed provided by the peeling drive device in the z direction during the peeling process; v peel Indicates the set peeling speed.

[0052] It should be noted that the above formula is effective when the edge is peeled off (see Figure 5 ). When other peeling methods are used, such as intermediate peeling, the angle of movement of the peeling drive device can be controlled by a related formula, and any related formula that can calculate the angle of movement can be used here. No further description is given here.

[0053] It should be noted that the above content is an example of a specific peeling method based on a multi-degree-of-freedom peeling platform system and is not intended to limit the protection scope of the present invention.

[0054] The stripping method provided by the embodiment of the present invention can strip the object to be tested in multiple degrees of freedom and in multiple forms according to the research needs, and can characterize the stripping mechanical characteristics of the test in multiple degrees of freedom. With this multi-degree-of-freedom stripping platform system and the corresponding stripping method, researchers can accurately control the key parameters of the stripping process, such as speed, angle, and position, according to specific needs, so as to more accurately evaluate the stripping performance of materials in complex environments, providing a powerful tool for material science research.

[0055] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technical solution that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A multi-degree-of-freedom peeling platform system, characterized in that: include: At least one peeling drive device (1) providing freedom for peeling movement, a peeling clamp (2), a flexible adsorption structure (3), a peeling table (4), a sensor (5) and a peeling table base (6); The stripping table base (6) is arranged on a horizontal base surface, the sensor (5) is arranged on the upper surface of the stripping table base (6), and the stripping table (4) is arranged on the upper surface of the sensor (5); the stripping table (4) is used to place the sample to be stripped; The stripping drive device (1) is connected to the stripping clamp (2); the end of the stripping clamp (2) away from the stripping drive device (1) is connected to the flexible adsorption structure (3); the side of the flexible adsorption structure (3) away from the stripping clamp (2) is correspondingly provided with the stripping table (4); based on the stripping drive device (1) driving the stripping clamp (2) to control the flexible adsorption structure (3), the sample to be stripped placed on the stripping table (4) is stripped.

2. The multi-degree-of-freedom peeling platform system according to claim 1, characterized in that: The peeling drive device (1) comprises: a six-degree-of-freedom mechanical arm or a motor.

3. The multi-degree-of-freedom peeling platform system according to claim 2, characterized in that: When the peeling drive device (1) is a six-degree-of-freedom mechanical arm, it also includes: a main body base (7), one end of the six-degree-of-freedom mechanical arm is connected to the main body base (7), and the other end is connected to the peeling clamp (2).

4. The multi-degree-of-freedom peeling platform system according to claim 1, characterized in that: The flexible adsorption structure (3) at least comprises: an electrostatic adsorption structure, an electrostatic gecko-like adsorption structure or an electrostatic negative pressure adsorption structure.

5. The multi-degree-of-freedom peeling platform system according to claim 1, characterized in that: The stripping fixture (2) and the sample to be stripped are bonded together by means of adhesive tape and the flexible adsorption structure (3) at different positions, and the stripping is performed from different positions of the flexible adsorption structure (3).

6. The multi-degree-of-freedom peeling platform system according to claim 5, characterized in that: When it is necessary to peel from the edge, the tape is adhered to the edge of the flexible adsorption structure (3); when it is necessary to peel from the middle, the tape is attached to the middle of the flexible adsorption structure (3); when point peeling or surface peeling is required, a tape of the required size is attached to the position to be peeled on the flexible adsorption structure (3).

7. The multi-degree-of-freedom peeling platform system according to claim 1, characterized in that: The stripping clamp (2) and the stripping table (4) are devices whose shapes and / or sizes are replaceable.

8. The multi-degree-of-freedom peeling platform system according to claim 6, characterized in that: The stripping table (4) comprises: a flat stripping table or a curved stripping table.

9. The multi-degree-of-freedom peeling platform system according to claim 1, characterized in that: The stripping table (4) and the stripping table base (6) each comprise two layers; The lower layer of the stripping platform (4) is used to connect the sensor (5), and the upper layer of the stripping platform (4) is used to adhere to the sample to be stripped; The upper layer of the peeling table base (6) is used to connect the sensor (5), and the lower layer of the peeling table base (6) is used to connect the horizontal base surface.

10. A stripping method, characterized in that: At least: According to the peeling requirements, a peeling fixture, a peeling table and a peeling table base of the multi-degree-of-freedom peeling platform system are generated by 3D printing, and the peeling fixture, the peeling table and the peeling table base are assembled with the peeling drive device, the flexible adsorption structure and the sensor of the multi-degree-of-freedom peeling platform system to form the multi-degree-of-freedom peeling platform system; Controlling the peeling drive device to drive the peeling fixture to control the flexible adsorption structure according to a preset peeling speed and peeling path, so as to peel the sample to be peeled placed on the peeling table; The sensor measures the peel force during the peeling process.

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