Self-adaptive multi-surface damage-free adhesion and separation executing mechanism

Abstract

The invention relates to a self-adaptive multi-surface damage-free adhesion and separation executing mechanism, and relates to the technical field of adhesion materials. Comprising a mounting base, an external soft shell and an internal film, the top end of the external soft shell is detachably connected with the mounting base, and the edge of the internal film is connected with the inner wall of the external soft shell; a skirt edge is formed between the external soft shell and the internal thin film, and a uniform thin layer is formed on the inner wall of the skirt edge through homogenization treatment; a cavity is formed between the inner film and the outer soft shell, and a center hole communicated with the cavity is formed in the inner film. According to the invention, a synergistic effect of various adhesive forces and negative pressure suction is combined, so that a stable and reliable adhesion effect is ensured, excellent surface adaptability and instant and controllable desorption response are achieved, and diversified requirements in a complex environment are met.

Description

Technical Field

[0001] The invention relates to the technical field of adhesive materials, in particular to an adaptive multi-surface non-destructive adhesive-release actuator. Background Art

[0002] Adhesive materials have become core components in many technological developments due to their efficient adhesion, strong environmental adaptability and diverse functions. They include dry adhesive materials, wet adhesive materials and hydrogels, which are widely used in robotic grasping, bionic engineering and medical devices. However, there are still the following technical challenges in the practical application of adhesive materials: how to achieve sufficient pre-compression during use to stimulate its optimal adhesion performance, and how to balance reliable adhesion and rapid detachment during the adhesion process to meet dynamic needs or repeated use scenarios.

[0003] At present, the adaptability of adhesive materials to various roughness surfaces and complex shapes is particularly prominent. In real applications, ideal smooth plane scenes are relatively rare, and rough, irregular, and even dynamically changing complex surfaces are more common. Improving the adaptability of adhesive materials to these surfaces is a key research direction to promote their widespread application in industrial scenarios.

[0004] Current application scenarios, such as wall-climbing robots, complex object handling, and dynamic surface operations, place higher demands on adhesion solutions, including stronger adhesion, higher robustness, longer service life, and repeatability. However, most existing technologies focus on optimizing a single type of adhesion method, which is difficult to meet the diverse practical needs under complex working conditions.

[0005] Under the above research background, it is necessary to provide an adaptive multi-surface non-destructive sticking and unsticking actuator. Summary of the invention

[0006] In order to solve at least one technical problem in the background technology, the present invention provides an adaptive multi-surface non-destructive adhesion and desorption actuator, which combines the synergistic effect of multiple adhesion forces and negative pressure suction, thereby ensuring a stable and reliable adhesion effect and having excellent surface adaptability and instant and controllable desorption response, thus meeting the diverse needs in complex environments.

[0007] To achieve the above-mentioned purpose, the present invention provides an adaptive multi-surface non-destructive sticking and detaching actuator, comprising: a mounting seat, an external soft shell and an internal film, the top end of the external soft shell is detachably connected to the mounting seat, and the edge of the internal film is connected to the inner wall of the external soft shell; a skirt is formed between the external soft shell and the internal film, and the inner wall of the skirt is formed into a uniform thin layer through homogenization treatment; a cavity is formed between the internal film and the external soft shell, and a center hole connected to the cavity is opened on the internal film.

[0008] Furthermore, a gas channel is provided at the center of the outer soft shell and the mounting seat, and the gas channel is communicated with the cavity.

[0009] Furthermore, the outer diameter of the inner film is between 7 / 10 and 4 / 5 of the outer diameter of the outer soft shell, and the size of the central hole is between 1 / 10 and 1 / 5 of the outer diameter.

[0010] Furthermore, it also includes an adhesive material layer, which adopts a concentric circle design and is tightly combined with the inner wall of the internal film.

[0011] Furthermore, the outer diameter of the adhesive material layer is consistent with the outer diameter of the inner film, and the inner diameter is between 3 / 5 and 7 / 10 of the outer diameter of the outer soft shell.

[0012] Furthermore, the inner film adopts a planar configuration, an external bellows configuration or an external spiral origami configuration.

[0013] Furthermore, the adhesive material layer is a mushroom-shaped adhesive material, a tree frog-like wet adhesive material, a wedge-shaped anisotropic material, a spherical-column-shaped adhesive material or a hydrogel adhesive material.

[0014] Furthermore, the thin layer is a silicon dioxide coating, a silicon nitride coating, a metal coating, a fluoride coating, a ceramic coating, a cemented carbide coating, a polymer coating, a ceramic-based composite coating or an antibacterial coating.

[0015] The beneficial effects of the present invention are:

[0016] The present invention realizes precise control of internal and external air pressure by setting a central hole. The adaptive adhesion and detachment execution uses the pressure difference between the inside and outside of the cavity during the adhesion stage to apply sufficient and uniform pre-pressure to the adhesion material, achieve sufficient contact, and obtain adhesion. At the same time, the edge of the central hole acts as a deformation fulcrum under the positive pressure of external inflation, providing a fast and controllable desorption function. In addition, through the switching of the adhesion material layer and the mechanical design, the present invention combines the synergistic effect of multiple adhesion forces and negative pressure suction, which not only ensures a stable and reliable adhesion effect, but also has excellent surface adaptability and instant and controllable desorption response, meeting the diverse needs in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional schematic diagram of the present invention Figure 1 ;

[0018] Figure 2 A three-dimensional schematic diagram of the present invention Figure 2 ;

[0019] Figure 3 is a cross-sectional view of the present invention;

[0020] Figure 4 It is a schematic diagram of the working state change of the present invention;

[0021] Figure 5 A three-dimensional schematic diagram of the internal film of the present invention adopting an external bellows configuration;

[0022] Figure 6 It is a front view of the internal membrane of the present invention adopting an external bellows configuration;

[0023] Figure 7 It is a three-dimensional schematic diagram of the inner film of the present invention adopting an outer spiral origami configuration;

[0024] Figure 8 It is a front view of the inner film of the present invention adopting an outer spiral origami configuration;

[0025] Fig. 9 A schematic diagram of an adhesive material in the shape of a mushroom head is shown in the adhesive material layer of the present invention;

[0026] Fig.10 It is a schematic diagram of the adhesive material layer of the present invention using a tree frog imitation wet adhesive material;

[0027] Fig.11 A schematic diagram of the adhesive material layer of the present invention using a wedge-shaped anisotropic material;

[0028] Fig.12 A schematic diagram of the adhesive material layer of the present invention using a spherical cylindrical adhesive material;

[0029] Fig.13 It is a schematic diagram of the structure of the thin layer of the present invention.

[0030] Among them, in the figure: 1-mounting seat; 2-external soft shell; 3-internal film; 4-skirt; 5-center hole; 6-adhesive material layer. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0034] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0035] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] To achieve the above purpose, Figure 1-3As shown, the present invention provides an adaptive multi-surface non-destructive sticking and detaching actuator, comprising: a mounting seat 1, an external soft shell 2 and an internal film 3, wherein the top of the external soft shell 2 is detachably connected to the mounting seat 1, and the edge of the internal film 3 is connected to the inner wall of the external soft shell 2; a skirt 4 is formed between the external soft shell 2 and the internal film 3, and the inner wall of the skirt 4 is formed into a uniform thin layer through homogenization treatment; a cavity is formed between the internal film 3 and the external soft shell 2, and a center hole 5 connected to the cavity is opened on the internal film 3. By setting the center hole 5, airflow is allowed to enter the internal cavity from the skirt 4, thereby realizing precise regulation of air pressure. Among them, the external soft shell 2 is made of flexible material, which can achieve close contact with the target surface and ensure the closedness of the cavity.

[0037] To further optimize the technical solution, an annular groove is provided on the upper portion of the external soft shell 2, and a raised snap ring is provided on the mounting seat 1. The raised snap ring is snapped into the annular groove to achieve a mating connection between the external soft shell 2 and the mounting seat 1.

[0038] To further optimize the technical solution, a gas channel is provided at the center of the outer soft shell 2 and the mounting seat 1, and the gas channel is communicated with the cavity.

[0039] The inner film 3 is made of a flexible silicone material (Dragon Skin 10), which can achieve good deformation under changes in air pressure, thereby accelerating the switching speed of adhesion and desorption, and providing a fast and controllable desorption function. The outer diameter of the inner film 3 is between 7 / 10 and 4 / 5 of the outer diameter of the outer soft shell 2, and the size of its center hole 5 is between 1 / 10 and 1 / 5 of the outer diameter. This design ratio can not only maintain the adsorption characteristics of the suction cup, but also effectively achieve sufficient pre-compression of the adhesion material area. In order to adapt to more complex working conditions, the inner film 3 not only has a planar configuration, but also includes an external bellows configuration and an external spiral origami configuration. Figure 5-Figure 8. The bellows configuration effectively resists impact force and is suitable for high-speed grasping and releasing application scenarios; the external spiral origami configuration not only improves the torsion tolerance, but also enhances the adaptability of the system under complex working conditions. Through the rotational movement of the internal film 3, the strain distribution of the adhesive material can be more effectively adjusted, thereby accelerating the rapid peeling of the material, especially in scenarios that require frequent switching or efficient desorption. And the initial peeling angle when the platform is separated can be changed by the corrugated structure and the spiral origami structure, providing control of the initial peeling force of the adhesion. The diversified configuration of the internal film 3 can cope with changing environmental conditions, such as dynamic surfaces, rapid operations, etc., and provide reliable solutions for various industrial applications. The internal film 3 can also be Miura-Ori, which can be freely converted between a planar state and a three-dimensional form. When large-area adsorption is required, the form can be quickly switched to improve adaptability. The honeycomb origami configuration uses distributed deformation to enhance the fit to irregular surfaces, which is suitable for rough surfaces or dynamic surface adsorption conditions.

[0040] The size of the central hole 5 of the inner film 3 is designed according to the actual application. A larger central hole 5 will cause the inner film 3 of the stick-on / off actuator to be unable to produce sufficient deformation on the uneven surface, thereby affecting its desorption ability on the larger concave surface. If the central hole 5 is too small, it will limit the gas flow, thereby affecting the desorption speed and reducing the response efficiency of the system. Reasonable selection of the size of the central hole 5 is crucial to ensure the performance stability and desorption effect of the mechanism on different surfaces.

[0041] The technical solution is further optimized, and also includes an adhesive material layer 6. The adhesive material layer 6 adopts a concentric circle design and is tightly combined with the inner wall of the internal film 3. This design ensures the tight pre-compression of the adhesive material and the adhesive surface, thereby optimizing its adhesive performance.

[0042] To further optimize the technical solution, refer to Figure 9-12 , the adhesive material layer 6 is a mushroom-shaped adhesive material, a tree frog-like wet adhesive material, a wedge-shaped anisotropic material, a spherical cylindrical adhesive material or a hydrogel adhesive material. The present invention successfully achieves the synergistic effect of negative pressure suction and multi-type adhesion by switching a variety of adhesive materials, and significantly enhances the overall adhesion performance through the nonlinear superposition effect. This design not only ensures highly stable and reliable adhesion under complex surfaces, roughness and various shapes, but also has excellent surface adaptability and instant and controllable desorption function, which can meet the diverse application needs in complex environments.

[0043] The adhesive-detachment actuator of the present invention can switch between the adhesive and detachment states within a few seconds, and the specific speed depends on the gas flow rate and the type of the target interface and the adhesive material. When the gas flow rate is large (for example, 3.0 L / min), if the adhesive material is a mushroom-shaped adhesive material and the adhesive interface is a smooth glass plate, the switching speed can reach 0.7 seconds at the fastest.

[0044] The present invention provides five switchable adhesive materials to adapt to different adhesion conditions. Specifically, the mushroom-shaped adhesive material is suitable for grasping smooth surfaces, and can provide uniform pressure distribution to ensure stable adhesion; the tree frog-like wet adhesive material is targeted at wet surfaces, and with its unique wet adhesion characteristics, it provides stronger adhesion to meet the needs of humid environments; the wedge-shaped anisotropic material is designed to enhance the adhesion ability in one direction, and is suitable for conditions that require attachment in a specific direction; the spherical cylindrical adhesive material is specially designed to grasp rough surfaces, such as paper and cloth, and its structure can effectively adapt to the irregularities of the surface and provide strong adhesion. The hydrogel adhesive material is particularly suitable for rougher and more changeable surfaces such as rocks and gravel. By utilizing its flexibility and deformable characteristics, it can form a closer contact with the rough surface, enhance adhesion, and ensure stable adhesion in extreme environments. Through these switchable adhesive materials, the present invention can be widely adapted to a variety of complex application scenarios and provide flexible and efficient adhesion solutions.

[0045] The outer soft shell is made of silicone material (Dragon Skin 30), which has both excellent mechanical properties and good surface adaptability. It can effectively cope with surfaces of various shapes and roughness, achieve close contact with the target surface, and promote the mechanism to obtain a sealed state of the entire cavity. In addition, the inner surface of the skirt can also be homogenized. For example, when the adhesion and desorption mechanism grasps objects made of glass and single crystal silicon, residues are easily left on the glass and single crystal surfaces. To solve this problem, the silicone of the outer soft shell can be combined with silicon dioxide and single crystal silicon materials through magnetron sputtering technology to form a uniform thin layer. This thin layer has good affinity and chemical compatibility with the glass surface, ensuring that the outer soft shell will not undergo unnecessary chemical reactions with the contact surface or produce residues during the adsorption process, thereby achieving non-destructive grasping of various surfaces, especially glass and single crystal silicon. Reference Fig.13, the thin layer adopts silicon dioxide coating, silicon nitride coating, metal coating, fluoride coating, ceramic coating, cemented carbide coating, polymer coating, ceramic-based composite coating or antibacterial coating, etc. For example, if silicon dioxide is grasped, the skirt is homogenized with silicon dioxide; if metal is grasped, the skirt is homogenized with metal; if ceramic is grasped, the skirt is homogenized with ceramic, so that no foreign pollutants are introduced, and the hardness is the same as that of the grasped object, and no damage will occur. These coatings provide various functions such as high temperature resistance, corrosion resistance, wear resistance, oxidation resistance, low friction, conductivity, and antibacterial through different materials and technologies. They are widely used in mechanical parts, electronic equipment, automobiles, aerospace, medical equipment, optical devices, protective coatings and other fields to meet the needs of surface protection and function optimization in different environments.

[0046] The stick-on and stick-off actuators after homogenization treatment of silica coating can be widely used in many fields, including electronic devices, semiconductors, optical device manufacturing, self-cleaning surfaces, medical device surface treatment, etc. In these applications, silica coating can improve the surface wear resistance, corrosion resistance, thermal stability, and enhance the adhesion, durability and performance stability of the material, meeting the needs of surface protection and function optimization in complex environments.

[0047] The present invention realizes precise control of internal and external air pressure by setting a central hole. The adaptive bonding and detachment execution uses the pressure difference between the inside and outside of the cavity during the adhesion stage to apply sufficient and uniform pre-pressure to the adhesion material, achieve sufficient contact, and obtain adhesion. At the same time, the edge of the central hole acts as a deformation fulcrum under the positive pressure of external inflation, providing a fast and controllable desorption function. In addition, through the switching of the adhesion material layer and the mechanical design, the present invention combines the synergistic effect of multiple adhesion forces and negative pressure suction forces, which not only ensures a stable and reliable adhesion effect, but also has excellent surface adaptability and instant and controllable desorption response to meet the diverse needs in complex environments. By integrating multiple mechanical mechanisms and negative pressure technologies, the present invention designs an active bonding and detachment actuator that has adaptability, robustness, and dynamic controllability to meet a wider range of application challenges.

[0048] Example

[0049] This embodiment proposes an adaptive, highly robust active bonding and detachment actuator suitable for a variety of surfaces. The outer diameter of the external soft shell of the mechanism is 40mm, the taper angle is 25°, the outer diameter of the internal film is 30mm, the center hole diameter is 3mm, the outer diameter of the adhesive material layer is 30mm, and the inner diameter is 15mm.

[0050] refer to Figure 4When adhering, negative pressure is passed to the internal cavity of the adhesive-detachment actuator. Once the external soft shell of the adhesive-detachment actuator approaches the target surface, it forms a self-driven pre-pressure with the help of the pressure difference between the cavity and the atmosphere, and contacts the target surface to obtain a closed state of the entire structural cavity. This process enables the internal film to automatically and tightly fit on the bottom surface of the target, and the external soft shell is affected by the atmospheric pressure, which fully and evenly pre-presses the adhesive material layer area, thereby fully stimulating the performance of the adhesive material layer and achieving the best contact adhesion state. When attaching acrylic plates, use mushroom head adhesive materials, and when attaching gravel surfaces, use hydrogel adhesive materials.

[0051] When the adhesive-debonding actuator is detached, the edge of the center hole of the internal film plays a key role as a deformation fulcrum by introducing positive pressure into its internal cavity. Driven by the positive pressure, the peeling angle generated by the edge of the center hole causes the adhesive material to be gradually peeled off from the center of the center hole to the outer diameter along the concentric circle direction. This process can greatly reduce the external force required for desorption, ensure the rapidity and controllability of the adhesive-debonding process, and reduce the impact damage to the adhesive material layer and the target surface, further improving the adaptability and reliability of the system under complex working conditions.

[0052] Homogenization treatment of skirt: After the silica optical lens comes into contact with the commonly used negative pressure suction cup, it is easy for a small amount of suction cup preparation material to remain on the surface, affecting the use of the silica optical lens. The suction cup prepared with the current setting uses homogenization treatment on the surface skirt, and silicon dioxide is magnetron sputtered on the skirt surface. In this way, when it comes into contact with the silica optical lens, no new pollutants will be introduced, thereby not affecting the preparation and use of the optical lens.

[0053] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An adaptive multi-surface non-destructive sticking and releasing actuator, characterized in that: include: A mounting seat, an external soft shell and an internal film, wherein the top end of the external soft shell is detachably connected to the mounting seat, and the edge of the internal film is connected to the inner wall of the external soft shell; a skirt is formed between the external soft shell and the internal film, and the inner wall of the skirt is formed into a uniform thin layer through homogenization treatment; a cavity is formed between the internal film and the external soft shell, and a central hole connected to the cavity is opened on the internal film.

2. The adaptive multi-surface non-destructive sticking and releasing actuator according to claim 1, characterized in that: A gas passage is provided at the center of the outer soft shell and the mounting seat, and the gas passage is communicated with the cavity.

3. An adaptive multi-surface non-destructive sticking and releasing actuator as claimed in claim 1 or 2, characterized in that: The outer diameter of the inner film is between 7 / 10 and 4 / 5 of the outer diameter of the outer soft shell, and the size of the central hole is between 1 / 10 and 1 / 5 of the outer diameter.

4. The adaptive multi-surface non-destructive sticking and releasing actuator according to claim 3, characterized in that: It also includes an adhesive material layer, which adopts a concentric circle design and is tightly combined with the inner wall of the inner film.

5. The adaptive multi-surface non-destructive sticking and releasing actuator according to claim 4, characterized in that: The outer diameter of the adhesive material layer is consistent with the outer diameter of the inner film, and the inner diameter is between 3 / 5 and 7 / 10 of the outer diameter of the outer soft shell.

6. The adaptive multi-surface non-destructive sticking and releasing actuator according to claim 1, characterized in that: The inner film adopts a planar configuration, an outer bellows configuration or an outer spiral origami configuration.

7. An adaptive multi-surface non-destructive bonding and disengagement actuator as claimed in claim 4 or 5, characterized in that: The adhesive material layer is a mushroom-shaped adhesive material, a tree frog-like wet adhesive material, a wedge-shaped anisotropic material, a spherical columnar adhesive material or a hydrogel adhesive material.

8. The adaptive multi-surface non-destructive sticking and releasing actuator according to claim 1, characterized in that: The thin layer is a silicon dioxide coating, a silicon nitride coating, a metal coating, a fluoride coating, a ceramic coating, a hard alloy coating, a polymer coating, a ceramic-based composite coating or an antibacterial coating.

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