Biomimetic dry adhesion mechanism

Abstract

The application discloses a kind of bionic dry adhesion mechanism, it is related to electrical component manufacturing technical field, including rack and two adhesion mechanisms of symmetrical arrangement;Adhesion mechanism includes tangential micro-displacement mechanism, moving seat, sensing component and adhesion pad;Tangential micro-displacement mechanism is arranged on rack;Tangential micro-displacement mechanism output end can drive moving seat to approach or away from another adhesion mechanism;Sensing component includes force sensing element and distance sensing element;Force sensing element is fixedly arranged in moving seat lower end, and distance sensing element is fixedly arranged in force sensing element lower end;Adhesion pad is fixedly arranged below distance sensing element;Arrayed wedge-shaped bristle bundle for adhesion target is fixedly arranged on adhesion pad;Force sensing element can sense tangential force and normal force;The direction of tangential force is parallel to the adhesion surface of adhesion target, and normal force is perpendicular to the adhesion surface of adhesion target. Flexible attachment can be realized to target, guarantee adhesion effect, improve the safety of target object handling.

Description

Technical Field

[0001] This invention relates to the field of electrical component manufacturing technology, and in particular to a biomimetic dry adhesion mechanism. Background Technology

[0002] The development of high-precision integrated circuits is particularly rapid in the fields of communications, medical care, military, and aerospace. Currently, the production and handling of high-precision electronic components includes wet adhesion, pressure differential adhesion, and mechanical interlocking adhesion, but all of them have drawbacks: wet adhesion mainly relies on the liquid generated by the component itself to achieve adhesion, but the liquid medium is very easy to leave behind after adhesion, which can easily contaminate circuit components; pressure differential adhesion mainly uses suction cups with special surface structures to create an environmental pressure difference with the surface to be adhered to, but its feasibility is low in a vacuum environment; mechanical interlocking adhesion generates adhesion through macroscopic methods such as hooking, interlocking, and clamping, but this method can easily damage the surface of the circuit board.

[0003] Therefore, there is an urgent need for a dry adhesion mechanism that is unaffected by environmental factors such as the material of the object being adhered to, vacuum, etc., and can generate a sufficiently large normal adhesion force to achieve "flexible adhesion" to the target, so as to ensure stable adhesion effect and improve the safety of handling electronic components. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic dry adhesion mechanism to solve the problems existing in the prior art, which can achieve flexible adhesion to the target object, ensure the adhesion effect, and improve the handling safety of the target object.

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

[0006] This invention provides a biomimetic dry adhesion mechanism, comprising a frame and two adhesion mechanisms symmetrically arranged on the frame. Each adhesion mechanism includes a tangential micro-displacement mechanism, a movable seat, a sensing component, and an adhesion pad. The tangential micro-displacement mechanism is mounted on the frame. The upper end of the movable seat is fixedly mounted on the output end of the tangential micro-displacement mechanism, and the output end of the tangential micro-displacement mechanism can drive the movable seat to move towards or away from the other adhesion mechanism. The sensing component includes a force sensing element and a distance sensing element. The force sensing element is fixedly mounted on the lower end of the movable seat, and the distance sensing element is fixedly mounted on the lower end of the force sensing element. The adhesion pad is fixedly mounted below the distance sensing element. An array of wedge-shaped bristles for adhering to a target object is fixedly mounted on the adhesion pad. The force sensing element can sense tangential force and normal force. The direction of the tangential force is parallel to the adhesion surface of the target object, and the direction of the normal force is perpendicular to the adhesion surface of the target object.

[0007] Preferably, the force sensing element includes an upper substrate, a silicone dielectric layer, and a lower substrate; the upper end of the upper substrate is fixedly disposed below the movable base; the silicone dielectric layer is located between the upper substrate and the lower substrate, and the silicone dielectric layer is fixedly connected to both the upper substrate and the lower substrate; a plurality of differential finger electrodes are fixedly disposed on both the side of the upper substrate near the lower substrate and the side of the lower substrate near the upper substrate; the differential finger electrodes on the upper substrate correspond one-to-one with the differential finger electrodes on the lower substrate.

[0008] Preferably, the distance sensing element is a planar electrode.

[0009] Preferably, it further includes a horizontal guide assembly; the horizontal guide assembly includes a slide rail and two sliders; the frame includes a fixed plate; the tangential micro-displacement mechanism is disposed on the fixed plate; the slide rail is fixedly disposed at the lower end of the fixed plate; each slider is slidably disposed within the slide rail along a first direction, the first direction being parallel to the direction in which the two movable seats approach or move away from each other; one of the sliders is fixedly connected to the movable seat of one of the adhesive mechanisms, and the other slider is fixedly connected to the movable seat of another adhesive mechanism; and each movable seat is fixedly connected to the output end of the corresponding tangential micro-displacement mechanism.

[0010] Preferably, the tangential micro-displacement mechanism includes a magnetic fixing frame, a magnetic plate, a return spring, an electromagnet, and a magnetic fixing frame; the magnetic fixing frame is fixedly mounted on the fixing plate; the magnetic plate is fixedly mounted on the magnetic fixing frame; the electromagnet is disposed opposite to the magnetic plate and is fixedly mounted on the magnetic fixing frame; the magnetic fixing frame straddles the fixing plate and is movable relative to the fixing plate in the first direction, and the lower end of the magnetic fixing frame is fixedly connected to the corresponding movable seat; the return spring is located between the magnetic fixing frame and the magnetic fixing frame, and is sleeved on the electromagnet, one end of the return spring abuts against the magnetic fixing frame, and the other end of the return spring abuts against the magnetic fixing frame or the magnetic plate.

[0011] Preferably, the magnet holder has a mounting groove and at least one fastening threaded hole communicating with the mounting groove; the electromagnet is slidably inserted into the mounting groove in a direction close to or away from the magnetic plate; each of the fastening threaded holes is threaded with a fastening bolt, and the threaded end of the fastening bolt can pass through the fastening threaded hole and abut against the outer wall of the electromagnet.

[0012] Preferably, when the two movable seats move away from each other, the adhesive pad can adhere to the target object; and when the two movable seats move closer to each other, the adhesive pad can detach from the target object; a first limiting plate is fixedly provided at one end of the movable seat near the other movable seat; and a second limiting plate is fixedly provided at the corresponding position of the other movable seat; in the vertical direction, the lower ends of the first limiting plate and the second limiting plate are not higher than the lower ends of the corresponding lower substrate.

[0013] Preferably, the first limiting plate includes a first side plate and a second side plate; the second limiting plate includes a middle plate; on the projection of the side wall of the movable seat, the middle plate is located between the first side plate and the second side plate, and the two sides of the middle plate are respectively spaced from the first side plate and the second side plate.

[0014] Preferably, the frame further includes an upper connecting bracket; the upper connecting bracket is fixedly disposed on the upper end of the fixed plate, and the upper connecting bracket is provided with a plurality of connecting holes.

[0015] Preferably, circuit board mounting brackets are fixedly installed on both sides of the upper connecting bracket, a first circuit board is fixedly installed on one of the circuit board mounting brackets, and a second circuit board is fixedly installed on the other circuit board mounting bracket; all the electronic control units are integrated on the first circuit board and the second circuit board.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] The biomimetic dry adhesion mechanism provided by this invention uses gecko feet as a biomimetic model. Based on the biomimetic design of gecko dry adhesion, it employs an adhesion pad with an array of wedge-shaped bristle bundles. This adhesion pad is anisotropic, exhibiting low pre-pressure, high adhesion, and easy detachment characteristics. It can be controlled by a small normal pressure, controlling the tangential force to easily achieve bidirectional switching from "high adhesion force" to "low detachment force." A sensing component composed of distance and force sensors is used to realize and monitor the relative posture of the adhesion pad and the target object, as well as the application and monitoring of the force. The distance sensor detects the distance to the target object, calculates the posture relative to the target object, and then adjusts its relative posture accordingly. The device comes into contact with the target object, and the force sensing element detects the normal pre-pressure between the device and the target object. Once the set value is reached, a loading command is triggered. The tangential micro-displacement mechanism causes the wedge-shaped bristle bundle to be passively loaded and bent under the influence of tangential displacement and friction, and to contact the adhesion surface of the target object to generate a stable "van der Waals force", that is, normal adhesion force. After the loading stabilizes, the sensing component can also detect whether the tangential loading force has reached the target set value to determine whether the adhesion is successful. Because it is not affected by environmental factors such as the material of the object being adhered to, vacuum, etc., and can generate a sufficiently large normal adhesion force, combined with the contact information sensed by the sensing component, it can achieve flexible adhesion to the target object, ensure the adhesion effect, and improve the handling safety of the target object.

[0018] Furthermore, by utilizing the characteristics of the differential finger electrode distribution between the upper and lower substrates, highly sensitive force detection can be achieved, including tangential force measurement, normal force measurement, and bending moment measurement. Moreover, the silicone dielectric layer enhances the adaptability of the adhesive pad to the target object's adhesion contact surface, ensuring that the wedge-shaped bristle bundles of the two adhesion mechanisms are coplanar when in contact with the target object's adhesion surface.

[0019] Furthermore, the distance sensing element uses planar electrodes to detect the distance to the target object through the edge electric field effect, calculates its pose relative to the target object through the distance, and then adjusts its own relative pose before it comes into contact with the target object.

[0020] Furthermore, the horizontal guide assembly consisting of the slide rail and slider ensures that the moving seat makes precise linear motion in the first direction; this precision of linear motion ensures that the wedge-shaped bristle bundles can accurately contact the corresponding position of the target object, avoiding adhesion failure due to deviation of the moving seat; during the movement of the moving seat, the horizontal guide assembly makes the entire movement process more stable; the horizontal guide assembly can enhance the anti-interference ability of the mechanism, so that the moving seat can still maintain the correct movement trajectory when subjected to external interference.

[0021] Furthermore, by utilizing the magnetic force between the electromagnet and the magnetic plate, precise driving of the magnet holder can be achieved. The electromagnet enables micron-level loading, making it more precise than electrode-based large-displacement driving, achieving accurate micron-level loading while significantly reducing overall size and resulting in a simple and compact structure. In the loaded state, the electromagnet magnetically attracts the magnetic plate, driving the moving base to provide a tangential loading force, causing the wedge-shaped bristle bundle to bend and adhere to the target object under tangential displacement. In the unloaded state, the electromagnet demagnetizes and releases, and under the action of the return spring, the wedge-shaped bristle bundle returns to its original shape due to the disappearance of the tangential loading force, reducing the adhesion area and separating the wedge-shaped bristle bundle from the target object. At this point, under the action of the return spring, the moving base and related components return to their initial position.

[0022] Furthermore, the attraction distance between the electromagnet and the magnetic plate can be adjusted by adjusting the position of the electromagnet in the mounting slot, which is the tangential displacement under load.

[0023] Furthermore, the first and second limiting plates can provide blocking and limiting for the lower substrate under load, thereby driving the corresponding lower substrate to achieve tangential loading displacement synchronously and reducing excessive deformation of the silicone dielectric layer.

[0024] Furthermore, the first and second side plates can provide uniform limiting and abutting action at both ends of the corresponding side; the middle plate can provide uniform limiting and abutting action in the middle of the corresponding side; this arrangement can reduce the distance between the two adhesive pads, drive the load with a low point of action, lower the tangential force loading point, reduce the influence of bending moment effect on the adhesion performance of the wedge-shaped bristle bundle, and improve its adhesion force.

[0025] Furthermore, the upper connecting bracket facilitates its connection, installation, and use with the connecting mechanism.

[0026] Furthermore, all the electronic control units are integrated by the first and second circuit boards, which is more compact than a single circuit board that integrates all the electronic control units, and can significantly reduce the overall size; and it adopts intelligent control, making it more intelligent and improving the level of automation. Attached Figure Description

[0027] 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.

[0028] Figure 1 A schematic diagram of the overall structure of the biomimetic dry adhesion mechanism provided by the present invention;

[0029] Figure 2 An exploded view of the structure of the biomimetic dry adhesion mechanism provided by the present invention, excluding the components related to the first and second circuit boards.

[0030] Figure 3 An exploded view of the structure of the first and second circuit boards and the upper connecting bracket in the biomimetic dry adhesion mechanism provided by the present invention.

[0031] Figure 4 This is a schematic diagram of the structure of one of the adhesion mechanisms in the biomimetic dry adhesion mechanism provided by the present invention.

[0032] Figure 5 This is a schematic diagram of another adhesion mechanism in the biomimetic dry adhesion mechanism provided by the present invention.

[0033] Figure 6 A bottom view of the biomimetic dry adhesion mechanism provided by the present invention;

[0034] Figure 7 for Figure 6 Schematic diagram of the cross section at point AA;

[0035] Figure 8 This is a schematic diagram of the force sensing element in the biomimetic dry adhesion mechanism provided by the present invention.

[0036] Figure 9 for Figure 8 Schematic diagram of the bottom structure of the middle and lower layer substrate;

[0037] Figure 10 This is a schematic diagram of the biomimetic dry adhesion mechanism provided by the present invention in a loaded state;

[0038] Figure 11 This is a schematic diagram of the biomimetic dry adhesion mechanism provided by the present invention in the unloading state.

[0039] In the picture:

[0040] 100-Bionic dry adhesion mechanism;

[0041] 10-Fixing plate; 11-Upper connecting bracket; 12-Circuit board mounting bracket; 13-Slide rail; 14-First circuit board; 15-Second circuit board;

[0042] 20 - Tangential micro-displacement mechanism; 21 - Magnetic fixing bracket; 22 - Magnetic plate; 23 - Return spring; 24 - Electromagnet; 25 - Magnetic fixing bracket; 26 - Fastening bolt;

[0043] 30-Moving seat; 31-Slider; 32-First side plate; 33-Second side plate; 34-Middle plate;

[0044] 40 - Sensing component; 41 - Upper substrate; 42 - Silicone dielectric layer; 43 - Lower substrate; 431 - Planar electrode; 432 - Differential finger electrode;

[0045] 50-Wedge-shaped bristle bundles;

[0046] 60 - Adhesion to the target object. Detailed Implementation

[0047] 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.

[0048] The purpose of this invention is to provide a biomimetic dry adhesion mechanism to solve the problems existing in the prior art, which can achieve flexible adhesion to the target object, ensure the adhesion effect, and improve the handling safety of the target object.

[0049] 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.

[0050] Example 1

[0051] This embodiment provides a biomimetic dry adhesion mechanism 100, primarily but not limited to applications on high-precision integrated circuits, such as... Figures 1 to 11 As shown, the device includes a frame and two adhesion mechanisms symmetrically arranged on the frame. Each adhesion mechanism includes a tangential micro-displacement mechanism 20, a movable seat 30, a sensing component 40, and an adhesion pad. The tangential micro-displacement mechanism 20 is mounted on the frame. The upper end of the movable seat 30 is fixedly mounted on the output end of the tangential micro-displacement mechanism 20, which can drive the movable seat 30 to move closer to or further away from the other adhesion mechanism. The sensing component 40 includes a force sensing element and a distance sensing element. The force sensing element is fixedly mounted on the lower end of the movable seat 30, and the distance sensing element is fixedly mounted on the lower end of the force sensing element. The adhesion pad is fixedly mounted below the distance sensing element. An array of wedge-shaped bristle bundles 50 for adhering to the target object 60 is fixedly mounted on the adhesion pad. The force sensing element can sense tangential force and normal force. The direction of the tangential force is parallel to the adhesion surface of the target object 60, and the normal force is perpendicular to the adhesion surface of the target object 60.

[0052] Using gecko feet as a biomimetic model, and based on the biomimetic design of gecko dry adhesion, an adhesive pad with an array of wedge-shaped bristle bundles 50 is employed. This adhesive pad is anisotropic, exhibiting low pre-pressure, high adhesion, and easy detachment characteristics. It can be controlled by a small normal pressure, controlling the tangential force to easily achieve bidirectional switching from "high adhesion" to "low detachment." A sensing component 40, composed of distance and force sensors, is used to monitor the relative position and force application between the adhesive pad and the target object 60. By detecting the distance to the target object using the distance sensor, the pad's position relative to the target object is calculated, and the pad adjusts its relative posture before making contact with the target object. The force sensing element detects the normal pre-pressure between the object and the target. Once the set value is reached, a loading command is triggered. The tangential micro-displacement mechanism 20 causes the wedge-shaped bristle bundle 50 to be passively loaded and bent under the influence of tangential displacement and friction, and to contact the adhesion surface of the target to generate a stable "van der Waals force", that is, normal adhesion force. After the loading stabilizes, the sensing component 40 can detect whether the tangential loading force has reached the target set value to determine whether the adhesion is successful. Because it is not affected by environmental factors such as the material of the object to be adhered to, vacuum, etc., and can generate a sufficiently large normal adhesion force, combined with the contact information sensed by the sensing component 40, flexible adhesion to the target can be achieved, ensuring the adhesion effect and improving the handling safety of the target.

[0053] Regarding the rack structure:

[0054] Specifically, the frame includes a fixed frame and an upper connecting bracket 11, wherein the upper connecting bracket 11 is configured as follows:

[0055] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1-3 As shown, the frame also includes an upper connecting bracket 11; the upper connecting bracket 11 is fixedly mounted on the upper end of the fixed plate 10, and the upper connecting bracket 11 is provided with multiple connecting holes. The upper connecting bracket 11 facilitates its connection, installation, and use with the connecting mechanism.

[0056] Specifically, such as Figures 1-3 As shown, the upper connecting bracket 11 is located at the center of the fixing plate 10 to serve as an external mechanical interface.

[0057] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 3As shown, circuit board mounting brackets 12 are fixedly installed on both sides of the upper connecting bracket 11. A first circuit board 14 is fixedly installed on one circuit board mounting bracket 12, and a second circuit board 15 is fixedly installed on the other circuit board mounting bracket 12. All the electronic control units are integrated on the first circuit board 14 and the second circuit board 15. Compared with a single circuit board integrating all the electronic control units, the first circuit board 14 and the second circuit board 15 are more compact and can significantly reduce the overall size. Moreover, the use of intelligent control makes it more intelligent and improves the level of automation.

[0058] Specifically, the electronic control units integrated on the first circuit board 14 and the second circuit board 15 include, but are not limited to, electronic control units containing components such as the sensing component 40 and the electromagnet 24.

[0059] The following are the specifications regarding the adhesive mechanism:

[0060] Specifically, the two adhesive mechanisms are arranged symmetrically on the left and right. Except for the difference in structure between the first limiting plate and the second limiting plate, the other structures are the same.

[0061] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1-5 and Figure 7 As shown, it also includes a horizontal guide assembly; the horizontal guide assembly includes a slide rail 13 and two sliders 31; the frame includes a fixed plate 10; a tangential micro-displacement mechanism 20 is disposed on the fixed plate 10; the slide rail 13 is fixedly disposed at the lower end of the fixed plate 10; each slider 31 is slidably disposed in the slide rail 13 along a first direction, the first direction being parallel to the direction in which the two movable seats 30 approach or move away from each other; one slider 31 is fixedly connected to the movable seat 30 of an adhesive mechanism, and the other slider 31 is fixedly connected to the movable seat 30 of another adhesive mechanism; and each movable seat 30 is fixedly connected to the output end of the corresponding tangential micro-displacement mechanism 20. The horizontal guide assembly consisting of slide rail 13 and slider 31 ensures that the moving seat 30 makes precise linear motion in the first direction. This precision of linear motion ensures that the wedge-shaped bristle bundle 50 can accurately contact the corresponding position of the target object, avoiding adhesion failure due to movement deviation of the moving seat 30. During the movement of the moving seat 30, the horizontal guide assembly makes the entire movement process more stable. The horizontal guide assembly enhances the anti-interference ability of the mechanism, enabling the moving seat 30 to maintain the correct movement trajectory when subjected to external interference.

[0062] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 , Figure 2 and Figure 4 and Figure 5As shown, when the two movable seats 30 move away from each other, the adhesive pad can adhere to the target object 60; and when the two movable seats 30 move closer to each other, the adhesive pad can detach from the target object. A first limiting plate is fixedly provided at one end of the movable seat 30 near the other movable seat 30; and a second limiting plate is fixedly provided at the corresponding position of the other movable seat 30. In the vertical direction, the lower ends of the first limiting plate and the lower ends of the second limiting plate are not higher than the lower ends of the corresponding lower substrate 43. The first limiting plate and the second limiting plate can provide blocking and limiting for the lower substrate 43 under load, driving the corresponding lower substrate 43 to synchronously achieve tangential loading displacement, reducing excessive deformation of the silicone dielectric layer 42.

[0063] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 2 and Figure 4 and Figure 5 As shown, the first limiting plate includes a first side plate 32 and a second side plate 33; the second limiting plate includes a middle plate 34; on the projection of the side wall of the movable seat 30, the middle plate 34 is located between the first side plate 32 and the second side plate 33, and the two sides of the middle plate 34 are respectively spaced from the first side plate 32 and the second side plate 33. The first side plate 32 and the second side plate 33 can provide uniform limiting and abutting action at both ends of the corresponding side; the middle plate 34 can provide uniform limiting and abutting action in the middle of the corresponding side; this arrangement can reduce the distance between the two adhesive pads, drive with low point of action loading, lower the tangential force loading point, weaken the influence of bending moment effect on the adhesion performance of the wedge-shaped bristle bundle 50, and improve its adhesion force.

[0064] Specifically, during the loading process, without affecting the detection function of the sensing component 40, the first limiting plate and the second limiting plate push the side wall of the lower substrate 43 of the corresponding sensing component 40 to load. The loading point acts on its side wall. Loading at a low point helps to reduce the bending moment effect, thereby affecting the contact area between the wedge-shaped bristle bundle 50 and the adhesive wall of the target object, and affecting the adhesion performance.

[0065] The following is a description of the setup of the tangential micro-displacement mechanism 20:

[0066] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 , Figure 2 and Figure 8 and Figure 9As shown, the tangential micro-displacement mechanism 20 includes a magnetic fixing frame 21, a magnetic plate 22, a return spring 23, an electromagnet 24, and a magnet fixing frame 25. The magnetic fixing frame 21 is fixedly mounted on the fixing plate 10. The magnetic plate 22 is fixedly mounted on the magnetic fixing frame 21. The electromagnet 24 is disposed opposite to the magnetic plate 22 and is fixedly mounted on the magnet fixing frame 25. The magnet fixing frame 25 straddles the fixing plate 10 and can move relative to the fixing plate 10 in a first direction. The lower end of the magnet fixing frame 25 is fixedly connected to the corresponding movable seat 30. The return spring 23 is located between the magnet fixing frame 25 and the magnetic fixing frame 21 and is sleeved on the electromagnet 24. One end of the return spring 23 abuts against the magnet fixing frame 25, and the other end of the return spring 23 abuts against the magnetic fixing frame 21 or the magnetic plate 22. By utilizing the magnetic force between electromagnet 24 and magnetic plate 22, precise driving of magnet holder 25 can be achieved. The electromagnet 24 enables micron-level loading and driving, making it more precise than electrode large displacement driving, achieving precise micron-level driving and loading, and significantly reducing the overall size, resulting in a simple and compact structure. In the loaded state, electromagnet 24 magnetically attracts magnetic plate 22, driving moving seat 30 to provide loading tangential force, causing wedge-shaped bristle bundle 50 to bend and adhere to target object 60 under tangential displacement. In the unloaded state, electromagnet 24 is demagnetized and released, and under the action of return spring 23, wedge-shaped bristle bundle 50 returns to its original shape due to the disappearance of tangential loading force, the adhesion area is reduced, and wedge-shaped bristle bundle 50 separates from target object. At this time, under the action of return spring 23, moving seat 30 and related components return to the initial position.

[0067] Specifically, the return spring 23 is a compression spring.

[0068] Specifically, electromagnet 24 is a de-energized electromagnet 24.

[0069] Specifically, such as Figures 1-5 As shown, the magnetic fixing bracket 21 includes two fixing brackets, which are respectively arranged on both sides of the magnetic plate 22 for installing and fixing the magnetic plate 22.

[0070] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1-5 As shown, the magnet holder 25 has a mounting groove and at least one fastening threaded hole communicating with the mounting groove; the electromagnet 24 is slidably inserted into the mounting groove in a direction close to or away from the magnetic suction plate 22; each fastening threaded hole is threaded with a fastening bolt 26, the threaded end of the fastening bolt 26 can pass through the fastening threaded hole and abut against the outer wall of the electromagnet 24. The attraction distance between the electromagnet 24 and the magnetic suction plate 22, i.e., the tangential displacement under load, can be adjusted by adjusting the position of the electromagnet 24 in the mounting groove.

[0071] The following are the settings instructions for the sensing component 40:

[0072] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 , Figure 2 and Figure 8 and Figure 9 As shown, the force sensing element includes an upper substrate 41, a silicone dielectric layer 42, and a lower substrate 43. The upper end of the upper substrate 41 is fixedly disposed below the movable base 30. The silicone dielectric layer 42 is located between the upper substrate 41 and the lower substrate 43, and the silicone dielectric layer 42 is fixedly connected to the upper substrate 41 and the lower substrate 43 respectively. Multiple differential finger electrodes 432 are fixedly disposed on the side of the upper substrate 41 near the lower substrate 43 and the side of the lower substrate 43 near the upper substrate 41. The differential finger electrodes 432 on the upper substrate 41 correspond one-to-one with the differential finger electrodes 432 on the lower substrate 43. By utilizing the distribution characteristics of the differential finger electrodes 432 disposed between the upper substrate 41 and the lower substrate 43, high-sensitivity force detection can be achieved, including tangential force measurement, normal force measurement, and bending moment measurement; and the provision of the silicone dielectric layer 42 enhances the adaptability of the adhesive pad to the target object's adhesive contact surface, ensuring that the wedge-shaped bristle bundles 50 of the two adhesive mechanisms are coplanar when in contact with the target object's adhesive contact surface.

[0073] Specifically, the upper substrate 41 is fixedly connected to the movable base 30 by epoxy resin adhesive, and the adhesive pad is fixedly connected to the lower substrate 43 by epoxy resin adhesive. An array of wedge-shaped bristle bundles 50 are fixed on the adhesive pad.

[0074] In the optional solutions of this embodiment, a more preferred approach is to use a planar electrode 431 as the distance sensing element. The planar electrode 431 is used to detect the distance to the target object through the edge electric field effect, calculate its pose relative to the target object based on the distance, adjust its own relative pose, and then bring it into contact with the target object.

[0075] Specifically, the distance sensing element adopts a symmetrical planar structure electrode, which is fixedly set at the lower end of the lower substrate 43. The two pairs of electrodes are symmetrically distributed and detect the distance between themselves and the target object without affecting each other.

[0076] Specifically, a gap (micrometer-level gap) is left between the lower substrate 43 of the sensing component 40 and the first side plate 32 and the second side plate 33 or the middle plate 34 on the side of the moving seat 30, so that the sensing component 40 can realize displacement change after being subjected to force under the loaded state.

[0077] Specifically, the use of planar electrodes 431 in the sensing component 40 for sensing distance, and the use of differential finger electrodes 432 in combination for detecting tangential force, normal force and bending moment are all existing technologies and will not be described in detail here.

[0078] Regarding other related settings:

[0079] Specifically, under loading conditions, by applying a normal preload to the biomimetic dry adhesion mechanism 100, the wedge-shaped bristle bundle 50 can be flattened and pressed against the target object under the action of the silicone medium layer 42 in the sensing component 40. Under the magnetic force of the electromagnet 24, the magnetic suction plate 22 is attracted. The magnet fixing frame 25, the moving seat 30, the sensing component 40, and the adhesion pad in each adhesion mechanism move outward relative to the fixing plate 10 on the slider 31 for loading. The two symmetrically distributed adhesion mechanisms move in opposite directions and perform loading movements respectively, so that the wedge-shaped bristle bundle 50 is subjected to the influence of tangential loading and friction. Under the influence of the bending and adhesion mechanism 100 to the target object 60, the electromagnet 24 is demagnetized. Due to the disappearance of the tangential loading force, the wedge-shaped bristle bundle 50 and the silicone medium layer 42 in the sensing component 40 recover their deformation. The wedge-shaped bristle bundle 50 separates from the adhesive wall of the target object (separation here means that the wedge-shaped bristle bundle 50 does not adhere to the adhesive wall of the target object, and does not necessarily mean that there must be a distance between them). When the bionic dry adhesion mechanism 100 is completely separated from the target object, the linkage components of each tangential loading force are affected by the reset spring force of the reset spring 23 and return to the initial position, waiting for the next adhesion.

[0080] Specifically, the unique loading method of the biomimetic dry adhesion mechanism 100 in this embodiment, compared with the current biomimetic adhesion mechanisms (wet adhesion, pressure difference adhesion, mechanical locking adhesion), has strong adhesion in the loaded state, is easy to separate in the unloaded state, and does not damage the smooth target object wall. The overall mechanism is adaptable to a large temperature difference range and is versatile for various smooth walls.

[0081] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A biomimetic dry adhesion mechanism, characterized in that: Includes a frame and two adhesive mechanisms; The two adhesion mechanisms are symmetrically arranged on the frame; The adhesion mechanism includes a tangential micro-displacement mechanism, a moving seat, a sensing component, and an adhesion pad; The tangential micro-displacement mechanism is mounted on the frame; The upper end of the movable seat is fixedly disposed at the output end of the tangential micro-displacement mechanism, and the output end of the tangential micro-displacement mechanism can drive the movable seat to move towards or away from another of the adhesion mechanisms. The sensing component includes a force sensing element and a distance sensing element; the force sensing element is fixedly disposed at the lower end of the movable base, and the distance sensing element is fixedly disposed at the lower end of the force sensing element. The adhesive pad is fixedly disposed below the distance sensing element; an array of wedge-shaped bristle bundles for adhering to the target object are fixedly disposed on the adhesive pad; The force sensing element can sense tangential force and normal force; the direction of the tangential force is parallel to the adhesion surface of the target object, and the direction of the normal force is perpendicular to the adhesion surface of the target object. The frame includes a fixed plate; the tangential micro-displacement mechanism is disposed on the fixed plate; the tangential micro-displacement mechanism includes a magnetic fixing frame, a magnetic plate, a return spring, an electromagnet, and a magnetic fixing frame; the magnetic fixing frame is fixedly disposed on the fixed plate; the magnetic plate is fixedly disposed on the magnetic fixing frame; the electromagnet is disposed opposite to the magnetic plate and is fixedly disposed on the magnetic fixing frame; the magnetic fixing frame straddles the fixed plate and is movable relative to the fixed plate in a first direction, the first direction being parallel to the direction in which the two movable seats move closer or further apart; the lower end of the magnetic fixing frame is fixedly connected to the corresponding movable seat; the return spring is located between the magnetic fixing frame and the magnetic fixing frame, and the return spring is sleeved on the electromagnet, one end of the return spring abuts against the magnetic fixing frame, and the other end of the return spring abuts against the magnetic fixing frame or the magnetic plate; The force sensing element includes an upper substrate, a silicone dielectric layer, and a lower substrate; the upper end of the upper substrate is fixedly disposed below the movable base; the silicone dielectric layer is located between the upper substrate and the lower substrate, and the silicone dielectric layer is fixedly connected to both the upper substrate and the lower substrate; a plurality of differential finger electrodes are fixedly disposed on the side of the upper substrate near the lower substrate and the side of the lower substrate near the upper substrate; the differential finger electrodes on the upper substrate correspond one-to-one with the differential finger electrodes on the lower substrate.

2. The biomimetic dry adhesion mechanism according to claim 1, characterized in that: The distance sensing element is a planar electrode.

3. The biomimetic dry adhesion mechanism according to claim 1, characterized in that: It also includes a horizontal guide assembly; the horizontal guide assembly includes a slide rail and two sliders; The slide rail is fixedly installed at the lower end of the fixed plate; Each of the sliders is slidably disposed within the slide rail along the first direction. One of the sliders is fixedly connected to the movable seat of one of the adhesive mechanisms, and the other slider is fixedly connected to the movable seat of another adhesive mechanism. Each movable seat is fixedly connected to the output end of the corresponding tangential micro-displacement mechanism.

4. The biomimetic dry adhesion mechanism according to claim 1, characterized in that: The magnet holder has a mounting groove and at least one fastening threaded hole communicating with the mounting groove. The electromagnet is slidably inserted into the mounting groove in a direction that is close to or away from the magnetic plate; Each of the aforementioned threaded holes is internally threaded with a fastening bolt, and the threaded end of the fastening bolt can pass through the threaded hole and abut against the outer wall of the electromagnet.

5. The biomimetic dry adhesion mechanism according to claim 1, characterized in that: When the two movable seats move away from each other, the adhesive pad can adhere to the target object; and when the two movable seats move closer to each other, the adhesive pad can detach from the target object. A first limiting plate is fixedly provided at one end of the movable seat near the other movable seat; and a second limiting plate is fixedly provided at the corresponding position of the other movable seat; In the vertical direction, the lower ends of the first limiting plate and the second limiting plate are not higher than the lower ends of the corresponding lower substrate.

6. The biomimetic dry adhesion mechanism according to claim 5, characterized in that: The first limiting plate includes a first side plate and a second side plate; the second limiting plate includes a middle plate; On the projection of the side wall of the movable seat, the central plate is located between the first side plate and the second side plate, and the two sides of the central plate are respectively spaced from the first side plate and the second side plate.

7. The biomimetic dry adhesion mechanism according to claim 1, characterized in that: The frame also includes an upper connecting bracket; The upper connecting bracket is fixedly mounted on the upper end of the fixed plate, and the upper connecting bracket is provided with multiple connecting holes.

8. The biomimetic dry adhesion mechanism according to claim 7, characterized in that: Circuit board mounting brackets are fixedly installed on both sides of the upper connecting bracket, a first circuit board is fixedly installed on one of the circuit board mounting brackets, and a second circuit board is fixedly installed on the other circuit board mounting bracket. All the electronic control units are integrated on the first circuit board and the second circuit board.

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