Sensor implantation method of bionic octopus sucker

Abstract

The invention discloses a sensor implantation method of a bionic octopus sucker, which specifically comprises the following steps: preparing the bionic octopus sucker according to the characteristics of the octopus sucker, observing the adsorption characteristics of the octopus sucker, preparing a bionic sucker mold according to the structure of the octopus sucker, selecting a proper soft silica gel material, and preparing the bionic octopus sucker according to the sucker mold. Carrying out adsorption test on the prepared sucker, and checking the weight, the size, the stretchability and the air tightness of the sucker; and the sensor is implanted into the bionic soft sucker. According to the method, the pressure sensor is implanted into the bionic octopus suction cup, the state of the suction cup can be monitored in real time, and therefore the control and operation performance of the bionic octopus is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a method for implanting a sensor of a bionic octopus sucker. Background Art

[0002] Bionics is a discipline that studies the biological characteristics and mechanisms of nature and applies them to the fields of engineering and technology. The purpose of bionics is to design and develop more intelligent, efficient and environmentally friendly technologies and products by drawing on the wisdom of nature. The application background of bionic octopus suckers is mainly based on their unique performance in adsorption and fixation capabilities, as well as their ability to adapt in complex environments. They have high research value, including the following aspects: 1. Flexible robots: Bionic octopus suckers can be used in the design of flexible robots, providing strong adhesion capabilities, enabling robots to move and operate on different surfaces. For example, bionic octopus suckers can be used for satellite maintenance, object handling on industrial production lines, or rescue robots; 2. Medical devices: Bionic octopus suckers can be used in the design of medical devices, such as surgical instruments and medical robots. Suction cups can be used to fix instruments or robots on patients, making surgery more stable and safe. 3. Building maintenance: Bionic octopus suckers can be used in building maintenance. For example, during the cleaning and maintenance of the exterior walls of high-rise buildings, the suckers can cling to the surface, provide strong adhesion, and ensure the safety of maintenance personnel. 4. Automobile industry: Bionic octopus suction cups can be used in automobile manufacturing to absorb and move automobile parts, such as windshields and body parts, making the manufacturing process more efficient and stable.

[0003] However, the bionic octopus sucker currently implemented in the experiment has no sensing function, and it is impossible to grasp the working status and performance of the bionic octopus sucker. It lacks intelligence, so sensors can be implanted into the bionic octopus sucker. These sensors can monitor important parameters such as the adhesion, deformation, and contact area of ​​the sucker in real time, and transmit the data to the external system for analysis and processing. Sensor implantation technology can help researchers better understand the working mechanism of the bionic octopus sucker and optimize its performance. Summary of the invention

[0004] The purpose of the present invention is to provide a method for implanting a sensor of a bionic octopus sucker to solve the problems mentioned in the background technology. To achieve the above purpose, the present invention provides the following technical solution: a method for implanting a sensor of a bionic octopus sucker, specifically comprising the following contents:

[0005] (1) Prepare bionic octopus suckers according to the characteristics of octopus suckers:

[0006] The suction characteristics of the octopus sucker were observed, and a bionic sucker mold was prepared based on its structure: the octopus sucker is in the shape of an inverted bowl, and the part exposed to the outside is called the infundibulum, with radial ridges and radial grooves on the surface. The infundibulum is in the shape of a ring with a hole in the center, which leads to a nearly spherical cavity inside the sucker, called the acetabulum; the acetabulum is surrounded by the acetabulum wall, and there is a circular protrusion-like muscle on the top of the acetabulum facing the hole, called the acetabulum process; the acetabulum and the infundibulum are connected by a circular sphincter;

[0007] Select appropriate soft silicone material and prepare bionic octopus suction cup according to the suction cup mold;

[0008] Conduct an adsorption test on the prepared suction cup to check its weight, size, stretchability and air tightness;

[0009] (2) Implanting sensors into bionic soft suction cups: Prepare bionic soft suction cups made of different materials, and implant sensors into the top of the suction cup acetabulum, the protrusion of the suction cup acetabulum, and the funnel of the suction cup, so as to monitor the pressure on various parts of the suction cup in different states, and then adjust the suction force of the suction cup to realize the intelligent sensing function of the bionic octopus suction cup.

[0010] Preferably, the soft silicone material used to prepare the bionic octopus suction cup in (1) is Ecoflex00-30, Ecoflex00-50 and Dragon Skin 10.

[0011] Preferably, the prepared suction cup in (1) is subjected to an adsorption test to check the weight, size, stretchability and air tightness of the suction cup. The specific method is: the soft suction cup made of the mold is first weighed with an electronic scale, and then the size is measured to ensure that there will be no large error within a certain range. Thereafter, the suction cup is placed on a flat surface and pressed down with a stretching machine. After the suction cup empties the air in the acetabulum, it is pulled up to check whether the stretchability and air tightness of the suction cup meet the standards.

[0012] Preferably, in said (2), the sensing characteristics of the sensor in the soft material and the influence of the material thickness on the sensor are detected before the sensor is implanted into the suction cup, specifically comprising: using Ecoflex00-30, Ecoflex00-50 and DragonSkin 10 materials to make four flexible substrates of different thicknesses, implanting the sensor into the flexible substrate, using a stretching machine to clamp a 2mm cylinder and press down, and recording the sensor data at the top, middle and bottom positions of the three material substrates respectively and performing processing and analysis.

[0013] Technical effects and advantages of the present invention: By implanting a pressure sensor into the bionic octopus suction cup, the method can monitor the state of the suction cup in real time, thereby effectively improving the control and operation performance of the bionic octopus. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the size of the acetabulum of the suction cup;

[0015] Figure 2 It is the size of the acetabular process and infundibulum of the suction cup;

[0016] Figure 3 Make molds for the infundibulum and acetabular process;

[0017] Figure 4 A mold for the acetabulum;

[0018] Figure 5 It is the bionic octopus suction cup mold;

[0019] Figure 6 Schematic diagram of implanting sensors in flexible substrates of different thicknesses;

[0020] Figure 7 is the response curve of the sensor in 2mm soft material;

[0021] Figure 8 This is the response curve of the sensor in 4mm soft material;

[0022] Fig. 9 This is the response curve of the sensor in 6mm soft material;

[0023] Fig.10 This is the response curve of the sensor in 8mm soft material;

[0024] Fig.11 A bionic octopus suction cup for implanted sensors;

[0025] Fig.12 Schematic diagram of implanting sensors in bionic soft suction cups;

[0026] Fig.13 Sensor response curve for Ecoflex00-50 material. DETAILED DESCRIPTION

[0027] In order to make the technical means for realizing the present invention, the creative features, the objectives and effects to be achieved easy to understand, the present invention is further explained below in conjunction with specific diagrams. In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection or 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 the internal connection of two components.

[0028] Example

[0029] A method for implanting a bionic octopus sucker sensor, specifically comprising the following contents:

[0030] (1) Prepare bionic octopus suckers according to the characteristics of octopus suckers:

[0031] The adsorption characteristics of the octopus sucker were observed, and a bionic sucker mold was prepared based on its structure: the octopus sucker is in the shape of an inverted bowl, and the part exposed to the outside is called the funnel, with radial ridges and radial grooves on the surface. When the sucker forms adsorption, the funnel will be squeezed and fit tightly to the surface of the contact object. The funnel is roughly in the shape of a ring, with a hole in the center, which leads to a nearly spherical cavity inside the sucker, called the acetabulum. The acetabulum is surrounded by the acetabular wall, and there is a circular protrusion-like muscle on the top of the acetabulum facing the hole, called the acetabular protrusion. The acetabulum and the funnel are connected by a circular sphincter. When the funnel fits the surface of the contact object to form a seal, the sphincter can control the contraction of the acetabular wall and squeeze out the medium (air or water) in the middle of the acetabulum, thereby forming a pressure difference inside and outside the sucker, acting on the surface of the funnel.

[0032] The bionic octopus suction cup is designed based on the appearance and adsorption mechanism of the suction cup, and the suction cup is enlarged in proportion to the real model to design the mold for subsequent sensor experiments. Figure 1 and Figure 2 The radius of the middle part of the acetabulum is 20.16mm, the radius of the bottom of the acetabulum is 15.00mm, the height of the acetabulum is 17.00mm, the radius of the acetabulum protrusion is 8.90mm, the height of the acetabulum protrusion is 4.16mm, the height of the connection between the acetabulum and the funnel is 1.15mm, the radius of the top of the funnel is 4.66mm, and the radius of the bottom of the funnel is 19.39mm.

[0033] Select appropriate soft silicone material and prepare bionic octopus suction cup according to the suction cup mold: three common materials are usually used to make bionic soft suction cups, namely Ecoflex00-30, Ecoflex00-50 and Dragon Skin 10. Figure 3-Figure 5 shown.

[0034] Conduct an adsorption test on the prepared suction cup to check its weight, size, stretchability and air tightness: first weigh the soft suction cup made of the mold with an electronic scale, and then measure the size to ensure that there will be no large error within a certain range. Then place the suction cup on a flat surface and press it down with a stretching machine. After the suction cup empties the air in the acetabulum, pull it up to check whether the stretchability and air tightness of the suction cup meet the standards.

[0035] (2) Implant the sensor into the bionic soft suction cup:

[0036] Ecoflex00-30, Ecoflex00-50 and Dragon Skin 10 are three commonly used soft silicone materials to make four flexible substrates with different thicknesses, including 2mm, 4mm, 6mm and 8mm. Sensors are implanted into the substrates, such as Figure 6 The sensors were placed on the surface, the middle and the bottom of the flexible substrate respectively, and a 2 mm cylinder was clamped by a stretching machine to test the sensing characteristics of the sensor in the soft material and the influence of the material thickness on the sensor.

[0037] The sensor measurement is carried out with a fixed time and displacement of the stretching machine, and the sensor tests are carried out for 2mm, 4mm, 6mm and 8mm respectively. The test results are as follows Figure 7-10 As shown, the horizontal axis is the weight value and the vertical axis is the sensor AD value. As the thickness increases, the response of the sensor on and below the soft material is less affected by the thickness, while the sensor is more affected by the thickness in the flexible substrate, and the response point gradually increases. The response of the sensor at three positions on the flexible substrate conforms to the sensor sensing characteristics and can be applied in the bionic octopus suction cup, such as Fig.11 and Fig.12 shown.

[0038] According to the structure diagram of the experimental design, the suction cup mold is processed by 3D printing, and the bionic soft suction cups of different materials are prepared. The sensors are implanted into the top of the suction cup acetabulum, the protrusion of the suction cup acetabulum and the funnel of the suction cup, so that the pressure on each part of the suction cup under different conditions can be monitored, and then the suction force of the suction cup can be adjusted to realize the intelligent perception function of the bionic octopus suction cup. Sensors are implanted in the bionic octopus suction cup, and sensor data is measured. The sensor data obtained by experimental analysis of Ecoflex00-50 material is as follows Fig.13 As shown, the horizontal axis is the weight value and the vertical axis is the sensor AD value. The obtained data has the same trend as the data in the flexible substrate.

[0039] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for implanting a bionic octopus suction cup sensor, characterized in that: Specifically include the following: (1) Prepare bionic octopus suckers according to the characteristics of octopus suckers: The suction characteristics of the octopus sucker were observed, and a bionic sucker mold was prepared based on its structure: the octopus sucker is in the shape of an inverted bowl, and the part exposed to the outside is called the infundibulum, with radial ridges and radial grooves on the surface. The infundibulum is in the shape of a ring with a hole in the center, which leads to a nearly spherical cavity inside the sucker, called the acetabulum; the acetabulum is surrounded by the acetabulum wall, and there is a circular protrusion-like muscle on the top of the acetabulum facing the hole, called the acetabulum process; the acetabulum and the infundibulum are connected by a circular sphincter; Select appropriate soft silicone material and prepare bionic octopus suction cup according to the suction cup mold; Conduct an adsorption test on the prepared suction cup to check its weight, size, stretchability and air tightness; (2) Implanting sensors into bionic soft suction cups: Prepare bionic soft suction cups made of different materials, and implant sensors into the top of the suction cup acetabulum, the protrusion of the suction cup acetabulum, and the funnel of the suction cup, so as to monitor the pressure on various parts of the suction cup in different states, and then adjust the suction force of the suction cup to realize the intelligent sensing function of the bionic octopus suction cup.

2. The method for implanting a bionic octopus suction cup sensor according to claim 1, characterized in that: The soft silicone materials used to prepare the bionic octopus suction cup in (1) are Ecoflex00-30, Ecoflex00-50 and Dragon Skin 10.

3. The method for implanting a bionic octopus suction cup sensor according to claim 1, characterized in that: In the step (1), the prepared suction cup is subjected to an adsorption test to check the weight, size, stretchability and air tightness of the suction cup. The specific method is as follows: the soft suction cup made of the mold is first weighed with an electronic scale, and then the size is measured to ensure that there is no large error within a certain range. The suction cup is then placed on a flat surface and pressed down with a stretching machine. After the suction cup empties the air in the acetabulum, it is pulled up to check whether the stretchability and air tightness of the suction cup meet the standards.

4. The method for implanting a bionic octopus suction cup sensor according to claim 2, characterized in that: In the method (2), the sensing characteristics of the sensor in the soft material and the influence of the material thickness on the sensor are detected before the sensor is implanted into the suction cup, specifically including: using Ecoflex00-30, Ecoflex00-50 and Dragon Skin 10 materials to make four flexible substrates with different thicknesses, implanting the sensor into the flexible substrate, using a stretching machine to clamp a 2mm cylinder and press down, and recording the sensor data at the top, middle and bottom positions of the three material substrates respectively and performing processing and analysis.

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