Free positioning device and control method thereof

Abstract

This invention discloses a free positioning device and its control method, comprising: a housing with a flexible sealing structure at its open edge; a flexible seal for fitting against the surface to be positioned to form a seal, creating a sealed space between them; the flexible seal is directly or indirectly connected to the housing for transmitting pressure to the housing; and a fluid interface disposed on the housing for filling the cavity with pressurized fluid and maintaining the pressure state within the cavity after filling. When the device is pressed against the surface, pressurized fluid is filled into the cavity to form a high-pressure zone, creating a pressure difference between the high-pressure zone and the sealed space between the flexible seal and the surface. This pressure difference drives the flexible seal to press firmly against the surface to be positioned, achieving a secure fixation. After releasing the pressure, the device can be easily removed. This device actively controls the adsorption force by adjusting the fluid pressure within the cavity; the adsorption force is positively correlated with the fluid pressure. The housing isolates the external environment from the cavity, ensuring that the high-pressure state within the cavity is unaffected by external environmental pressure conditions. This device can operate in vacuum environments in space, high-pressure environments in the deep sea, and conventional environments on Earth. It is adaptable to a wide range of surface types, from smooth to rough, and can be integrated and installed as a functional component on other objects. This invention also provides a depth- and load-based intelligent pressure control method to achieve dynamic adjustment of the adsorption force.

Description

Technical Field

[0001] This invention relates to a fixing device, specifically, to a free positioning device and its control method that achieves positioning by filling with pressurized fluid. This device can be used as a standalone tool or as a functional component mounted on other objects for temporary or long-term fixation to various surfaces. This device can be applied to various scenarios such as spacecraft extravehicular activities, on-orbit manufacturing, deep-sea operations, underwater construction, ground industrial manufacturing, building construction, and home life. Background Technology

[0002] During extravehicular activities (EVAs), astronauts need to temporarily secure tools and equipment to the surface of the spacecraft. Existing methods mainly include mechanical clips (requiring pre-set interfaces and lacking flexibility), magnetic adsorption (only applicable to ferromagnetic materials), and traditional vacuum suction cups. Traditional vacuum suction cups rely on the pressure difference between the external atmospheric pressure and the pressure inside the cup to generate suction force. However, in the vacuum environment of space (where external pressure approaches 0 Pa), an effective pressure difference cannot be established, causing the suction function to completely fail. In deep-sea operations, underwater robots, submersibles, and deep-sea scientific research equipment also require temporary attachment to ship hulls, pipelines, or seabed structures. Traditional suction cups face severe challenges in the deep-sea environment: although the external water pressure is enormous, traditional suction cups rely on the pressure difference between the negative pressure inside the suction cup and the positive pressure outside. Their effective working depth is limited by the strength of the suction cup structure, and the low temperature, high pressure, and corrosive environment of the deep sea place stringent requirements on sealing materials and structures. Furthermore, traditional suction cups are only suitable for smooth surfaces and cannot form an effective seal on rough surfaces or surfaces covered with organisms. In both industrial and civilian applications, traditional suction cups also suffer from problems such as limited suction force, inability to actively adjust, and applicability only to smooth surfaces. Therefore, there is a lack of a free positioning device in the existing technology that can adapt to both the vacuum environment of space and the high-pressure environment of the deep sea, while also being able to work efficiently in conventional environments, actively adjust its load-bearing capacity as needed, adapt to different surface roughnesses, be easy to operate, and be reusable. Summary of the Invention

[0003] (a) Purpose of the invention The present invention aims to provide a free positioning device and its control method to solve the technical problems in the prior art, such as the inability to form effective adsorption in a vacuum environment, poor structural adaptability in deep-sea high-pressure environment, sealing failure at extreme temperatures, limited adsorption force in ground applications and inability to be actively adjusted, and applicability only to smooth surfaces. The invention achieves reliable free positioning in various environments, adjustable load-bearing capacity and wide surface adaptability.

[0004] (II) Technical Solution The core of this invention lies in isolating the external environment from the internal high-pressure chamber through the shell. This allows the user to independently establish and maintain a high-pressure zone within the chamber, higher than the pressure of the sealed space between the flexible seal and the surface to be positioned, regardless of the external environmental pressure (from space vacuum to deep-sea high pressure). This results in a directional and adjustable adsorption force. This principle enables the adsorption capacity of this invention to move beyond passive dependence on external environmental pressure, achieving a technological leap from "passive dependence" to "active creation." To achieve the above principle, the present invention provides a free positioning device, comprising: A housing having a cavity, wherein the open end edge of the housing is provided with a flexible sealing structure; A flexible seal is used to fit against the surface to be positioned to form a seal, and a sealed space is formed between the flexible seal and the surface to be positioned; the flexible seal is directly or indirectly connected to the housing to transmit the pressure on the flexible seal to the housing; A fluid interface is provided on the housing for filling the cavity with pressurized fluid and for maintaining the pressure state inside the cavity after filling. The cavity is filled with pressurized fluid to form a high-pressure zone, which creates a pressure difference between the cavity and the sealed space between the flexible seal and the surface to be positioned. This pressure difference drives the flexible seal to press against the surface to be positioned. The housing isolates the external environment from the cavity, so that the high-pressure state inside the cavity is not affected by the external environmental pressure conditions. The device achieves active control of the adsorption force by adjusting the fluid pressure inside the cavity, and the adsorption force is positively correlated with the fluid pressure. In a specific implementation, the flexible seal can be indirectly connected to the housing via a separate force transmission component (e.g., Figure 1 (As shown), it can also be directly connected to the housing (as shown). Figure 4 As shown, these include welding, bonding, integral molding, or connecting seats extending from the housing. All these specific connection methods fall within the scope of protection of this invention.

[0005] Explanation regarding enclosed spaces: It should be noted that the "closed space" mentioned in this specification and claims refers to a functional closed space that can establish and maintain an effective pressure difference under the working state of this device, rather than an idealized absolutely airtight state. This device is designed so that the axial position of the flexible seal takes precedence over the flexible sealing structure. That is, during pressing, the flexible seal contacts the surface to be positioned before the flexible sealing structure, thus forming an initial macroscopic closed area. Even if the surface to be positioned has roughness causing microscopic gaps, the rate at which pressurized fluid is injected into the cavity through the fluid interface is designed to be greater than the rate at which gas or liquid leaks into the sealed space from these microscopic gaps. Therefore, the pressure inside the cavity can continuously increase during the pressurization process. As the pressure within the cavity increases, the force exerted on the flexible seal increases, pressing the flexible seal more tightly against the surface to be positioned. This pressing force causes the flexible seal to undergo adaptive deformation, actively filling the microscopic irregularities of the surface, further enhancing the sealing effect and forming a positive feedback self-sealing mechanism. Therefore, even under rough surface conditions, this device can still form and maintain a functionally sealed space between the flexible seal and the surface to be positioned, meeting the adsorption requirements.

[0006] Load-bearing capacity adjustment instructions: The load-bearing capacity of this invention is positively correlated with the fluid pressure inside the cavity. Within the limits of the device's material and structural strength, the higher the fluid pressure, the greater the clamping force between the flexible seal and the surface to be positioned, and thus the greater the device's load-bearing capacity. Users can adjust the device's suction force by controlling the filling pressure according to the required load weight, thereby achieving active control of the load-bearing capacity. Specifically, the required adsorption force F = load weight × safety factor (recommended 1.5-2.0), and the corresponding filling pressure P = F / S, where S is the effective area of ​​the flexible seal. Those skilled in the art can determine the required filling pressure through experiments or calculations based on the specific application scenario.

[0007] Description of the working medium: The "active control of adsorption force by adjusting fluid pressure" mentioned in this invention has different implementation methods under different working media, but their common feature is that the adsorption force of the device is actively set or adjusted by the user, rather than passively depending on the external environmental pressure. - When the working medium is gas, the pressure is continuously adjusted by controlling the mass of gas filled into the cavity, so as to achieve precise and continuous control of the adsorption force; for example, a manual or electric air pump, a pre-pressurized gas tank with a pressure reducing valve, a micro compressor, etc. can be used. - When the working medium is liquid, the pressure can be sealed by closing the control valve under a specific environmental pressure, or by applying pressure to the liquid in the cavity through an external hydraulic source (such as a pump or piston) to achieve active setting and control of the adsorption force; Regardless of the medium or specific control method used, the core principle is that the user can actively determine the magnitude of the suction force provided by the device according to actual load requirements, rather than passively accepting a fixed suction force determined by external environmental pressure, as is the case with traditional suction cups. This feature constitutes the essential difference between this invention and traditional suction cups. Furthermore, the fluid is either a gas or a liquid. When the fluid is a liquid, it can be directly derived from the ambient water body where the device is located.

[0008] Differential pressure enhancement devices (gas / liquid extraction scheme and volume change scheme): To further increase the pressure difference between the sealed space between the flexible seal and the surface to be positioned and the cavity, the present invention may be configured with a pressure differential enhancement device. The pressure differential enhancement device includes any one or more combinations of the following: a. Fluid extraction device: Used to actively extract fluid from the confined space. This device can be an electric vacuum pump, vacuum generator, manual evacuation device, or an evacuation passage integrated into the fluid interface. In deep-sea applications, this device is used to remove water between the flexible seal and the surface; in spacecraft or ground applications, this device is used to extract air and increase the pressure differential. b. Deformation Actuation Device: Used to actively change the volume of the flexible seal to increase the volume of the sealed space, thereby reducing the internal gas or liquid pressure. This deformation actuation device can be any of the following: shape memory material actuation, electroactive polymer actuation, heat-shrinkable material actuation, mechanical retraction mechanism, hydraulic / pneumatic retraction mechanism, or magnetostrictive material actuation. For example, a flexible seal made of a shape memory alloy (such as a nickel-titanium alloy) recovers its preset shrinkage shape after being heated to its phase transition temperature, thereby increasing the volume between the seal and the surface; or a dielectric elastomer (DEAP) material is used, which deforms when a voltage is applied, achieving a volume change. It should be noted that in the vacuum environment of space, since the external environment itself is a vacuum (pressure close to 0 Pa), the sealed space between the flexible seal and the surface to be positioned naturally forms a low-pressure state close to a vacuum after being pressed, without the need for an additional pressure difference enhancement device. The aforementioned pressure difference enhancement device is mainly suitable for environments with fluids (including atmospheric environments, underwater environments, or pressurized environments inside the cabin) to further enhance the adsorption force or shorten the response time.

[0009] Material selection for rough surface applications Surface type Roughness range Recommended materials Design considerations smooth surface Ra ≤ 0.8μm Silicone rubber, nitrile rubber, beryllium copper corrugated diaphragm, porous titanium / porous nickel / pure copper (aerospace) Standard elastic material or porous metal material, reliable seal semi-rough surface Ra 0.8-3.2 μm High-elasticity silicone (hardness ≤30 Shore A) Increase elasticity and fill in minor bumps and depressions rough surface Ra ≥ 3.2μm Foamed rubber, multi-layered composite flexible materials, and sponge-like silicone; for deep-sea applications, reinforced polytetrafluoroethylene, PEEK, and titanium alloy corrugated structures are available. The material has high compressibility and can fill macroscopic irregularities. For surfaces with high roughness (such as concrete surfaces and rough stone), flexible sealing structures can use closed-cell foamed rubber or sponge-like silicone materials, which have a compressibility of over 50% and can effectively fill surface irregularities to form an airtight seal. The edges of the flexible seal can be designed with a skirt-like or wavy structure to increase the contact area with the surface and improve its adaptability to rough surfaces. For the space environment: In the extreme conditions of the extravehicular environment, flexible sealing structures and flexible seals can be made of porous metallic porous materials such as porous titanium, porous nickel, or pure copper. These materials have excellent high and low temperature resistance (-200℃~+200℃), resistance to atomic oxygen corrosion, and their porous structure can produce slight deformation under pressure, adapting to micro-rough surfaces while ensuring a seal; For deep-sea environments: We recommend using a corrugated diaphragm structure made of titanium alloy (such as Ti-6Al-4V), or high-performance engineering plastics such as reinforced polytetrafluoroethylene (PTFE) and polyetheretherketone (PEEK), combined with a metal hard seal. These materials are resistant to seawater corrosion, high pressure (≥110 MPa), and have sufficient elasticity or plastic deformation capacity to adapt to the minor unevenness on the surface of deep-sea equipment.

[0010] Other optional features: Furthermore, the housing has a dome-shaped or bowl-shaped structure; the flexible sealing element has a disc-shaped, bowl-shaped, or corrugated diaphragm structure; Furthermore, the flexible sealing structure and flexible sealing element are made of high and low temperature resistant metal materials (such as titanium alloys and beryllium copper alloys) or elastic polymer materials (such as silicone rubber, nitrile rubber, and foamed rubber). Furthermore, the fluid interface is equipped with a manual safety knob, the lower end of which is connected to a flexible spherical material. By rotating the safety knob, the flexible spherical material moves downward to block the fluid channel, or is lifted upward to open the fluid channel. Furthermore, the outer surface of the housing is provided with a connection interface, which is used to install functional components or to integrate the device onto an external object; Furthermore, the fluid interface is a controllable valve, which has the function of closing at a predetermined pressure or a predetermined depth to seal the current pressure in the cavity within the cavity; Furthermore, it also includes a pressure sensor and a controller; the pressure sensor is used to monitor the external environmental pressure or the depth of the device in real time; the controller calculates the minimum pressure threshold required to maintain adsorption according to preset load parameters, and automatically controls the controllable valve to close when the monitored external environmental pressure drops to the threshold.

[0011] The present invention also provides a free positioning method based on the above-mentioned device, comprising the following steps: a. Press the open end of the housing onto the surface to be positioned; b. Calculate the required fluid pressure based on the required load-bearing capacity, and fill the cavity with pressurized fluid to the calculated pressure value through the fluid interface to drive the flexible seal to press against the surface to be positioned; c. The fluid interface maintains the pressure within the cavity, achieving fixation; d. When release is required, release the pressure inside the cavity through the fluid interface to allow the flexible seal to detach from the surface to be positioned; Furthermore, the fluid is ambient water; step (b) further includes: draining the water between the flexible seal and the surface to be positioned through the fluid interface to form a low-pressure zone, and using ambient water pressure to achieve fixation; Furthermore, the device performs the following steps during the process of buoyancy while carrying the load: - Real-time monitoring of current depth or external environmental pressure; - Calculate the minimum pressure threshold required to maintain adsorption based on the preset load parameters; - When the monitored external environmental pressure drops to the threshold, the fluid interface is automatically closed to seal the current pressure within the cavity; The present invention also provides an object integrated with a free positioning device, comprising an object body and at least one free positioning device as described above mounted thereon; the housing of the free positioning device is fixedly mounted on the bottom or side of the object body for temporarily or permanently fixing the object body to the surface to be positioned. Beneficial effects

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. Advantages in the space environment: - An internal high-pressure cavity is formed by active inflation. The shell isolates the external vacuum environment from the internal cavity, so that the internal high-pressure state does not depend on the external atmospheric pressure and can work normally in the vacuum environment of space. - When high and low temperature resistant metal materials are selected, they can withstand temperature changes from -150℃ to +120℃, making them suitable for extreme extravehicular environments; - The all-metal structure can withstand atomic oxygen erosion and space radiation; 2. Advantages for deep-sea environments: -Using ambient water as the working medium, a low-pressure zone is formed by draining water from the sealed space, and reliable fixation is achieved by cleverly utilizing the ultra-high pressure environment of the deep sea. - By sealing the internal pressure through a controllable valve, stable adsorption can be achieved from the deep sea to the sea surface, and the adsorption force increases as the water depth decreases. - Made of corrosion-resistant materials such as titanium alloy, it can work in seawater environment for a long time; 3. Advantages for the ground environment: -Inflation and positioning, deflation and release, simple and quick operation, no tools required; - The shell edge seal and the internal flexible seal form a double sealing structure, which has strong adsorption force and better vibration and impact resistance than traditional suction cups; - The fluid interface can maintain pressure independently after being filled and disconnected from the air source, making it suitable for operation scenarios without a continuous air supply. -For ground applications, conventional flexible materials such as rubber and silicone can be used, which are cost-controllable and have mature manufacturing processes; 4. Core Advantage – Load-bearing capacity can be actively adjusted: - The load-bearing capacity is positively correlated with the pressure of the filling fluid. Users can precisely adjust the adsorption force by controlling the fluid pressure according to the actual load requirements, so as to achieve flexible adaptation from light load to heavy load. -Different implementation methods are used under different working media: continuous and precise adjustment can be achieved under gaseous media; under liquid media, active setting is achieved by actively selecting the timing of sealing pressure or by using an external hydraulic source; This feature is fundamentally different from traditional suction cups that rely on external environmental pressure, reflecting the technological leap of this invention from "passive dependence" to "active creation"; 5. Advantages in expanding functionality: - It can be integrated and installed on other objects as a component, realizing a modular design that is "ready to use". - Wide surface adaptability; by selecting sealing materials of different flexibility, it can be applied to a wide range of surface types, from mirror smooth to rough flat surfaces. - The external connection interface of the housing can be replaced with different functional components to achieve multiple uses in one machine; 6. Advantages of intelligent control: -Automatic pressure management based on depth and load can be achieved through pressure sensors and controllers; - The valve automatically closes during the ascent to seal the pressure, excluding the high pressure in the deep sea from the system, significantly reducing structural strength requirements and improving safety; 7. Synergistic effect of differential pressure enhancement device: - By actively pumping air / water or changing the volume of the flexible seal, greater adsorption force can be obtained at the same filling pressure; - Both methods can be used independently or in combination to create multiple pressure difference enhancement effects. Attached Figure Description

[0013] Figure 1 : Overall structural cross-sectional view of an embodiment of the present invention (including independent force transmission components).

[0014] Figure 2 : A schematic diagram of the working state of the present invention under the condition of being filled with pressurized fluid (gas).

[0015] Figure 3 This is a schematic diagram of the working state of the present invention under the condition of discharging pressurized fluid (gas).

[0016] Figure 4 : A schematic diagram of the structure in which the flexible seal is directly connected to the shell in an embodiment of the present invention (independent force transmission components are omitted, including an integrated structure).

[0017] Figure 5 : A schematic diagram of the external connection interface and replaceable connection components of the housing in an embodiment of the present invention.

[0018] Figure 6 : A schematic diagram of the structure of the device of the present invention integrated and installed as a component on an external object.

[0019] Figure 7 : Schematic diagram of the application of the device of the present invention on a rough plane.

[0020] Figure 8 : A schematic diagram of the active water / air pumping scheme in this embodiment of the invention.

[0021] Figure 9 : A schematic diagram of the structure of the intelligent control system in this embodiment of the invention.

[0022] Figure 10 : A partial structural diagram of the piston adjustment mechanism in this embodiment of the invention (showing the piston chamber, pipe, rotary knob and piston position). Detailed Implementation

[0023] Explanation of the essential differences between this invention and mechanical clamps: It is particularly important to note that the "pressure difference adsorption" principle of this invention is fundamentally different from traditional mechanical clamps (including but not limited to hydraulically driven clamps, manual clamps, pneumatic clamps, etc.). Mechanical clamps rely on applying concentrated force from outside the object, requiring the object to have structural features suitable for clamping (such as edges, protrusions, grooves, etc.); while this invention generates a uniformly distributed adsorption force through the pressure difference between a flexible seal and the surface to be positioned, without requiring the object to have any specific structure. This fundamental difference gives this invention an irreplaceable advantage in the following scenarios: when the object to be fixed is a giant structure (such as spacecraft sections, large ship hull components, building curtain wall units), a smooth surface object (such as glass plates, polished metal plates), or an object without suitable clamping points, traditional mechanical clamps cannot work or have extremely high operational risks, while this invention only requires a continuous contact surface to achieve reliable fixation. Therefore, the application scope and technical effects of this invention are significantly different from existing mechanical clamp technologies; The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The following embodiments are for illustrative purposes only and do not constitute a limitation on the scope of protection of the present invention.

[0024] Example 1: Preferred solution for space applications (powered transfer component) (e.g.) Figure 1 , Figure 2 (As shown) A free positioning device includes a housing 1, a force transmission component 2, a flexible sealing component 3, and a fluid interface 4; The shell 1 has a dome-shaped structure and is made of titanium alloy. A flexible sealing structure 11 is provided at the edge of its opening end. The flexible sealing structure 11 is a corrugated sealing ring made of beryllium copper alloy and is fixedly connected to the shell 1 by welding. The force transmission component 2 is a stainless steel rod, one end of which is fixedly connected to the center of the housing 1. The flexible sealing element 3 is a corrugated metal diaphragm made of beryllium copper alloy, with a disc-shaped structure, and its center is fixedly connected to the other end of the force transmission element 2. The edges of the flexible sealing element 3 are free and can undergo elastic deformation under pressure. The fluid interface 4 is located on the top of the housing 1 and is a tire valve type one-way valve structure, which has the function of maintaining the pressure state in the cavity after the pressurized fluid is filled in. In this embodiment, a connection interface is provided on the outside of the housing 1, and a connection component, such as a tethering lug, a tool mounting interface, or an equipment mounting base, is detachably mounted on the connection interface 5. Example of load-bearing capacity adjustment: Using the effective area of ​​the flexible seal, S = 1.67 × 10⁻ 4 Taking m² (approximately a disk with a diameter of 14.6 mm) as an example: - At an inflation pressure of 0.2 MPa, the theoretical adsorption force = 0.2 × 10⁻⁶ 6 ×1.67×10⁻ 4 = 33.4 N, which can support approximately 3.4 kg; - At an inflation pressure of 0.3 MPa, the theoretical adsorption force is 50.1 N, which can support approximately 5.1 kg; - At an inflation pressure of 0.5 MPa, the theoretical adsorption force is 83.5 N, which can support approximately 8.5 kg; Users can adjust the inflation pressure within the above range according to actual load requirements.

[0025] Example 2: Preferred solution for ground application (power transmission component) (e.g.) Figure 1 , Figure 2 (As shown) Unlike Example 1, this example is a simplified solution for a ground application scenario; The housing 1 is injection molded from engineering plastics (such as ABS or polycarbonate) and designed to withstand a pressure of 0.6 MPa. The flexible sealing structure 11 uses a sealing ring made of silicone rubber or EPDM rubber, which is fixed to the edge of the opening end of the housing 1 by insert injection molding or bonding. The flexible sealing element 3 is a disc-shaped diaphragm made of nitrile rubber (NBR) or silicone rubber, designed to withstand a pressure of 0.5 MPa. Its center is fixed to the end of the force transmission element 2 by adhesive bonding or insert encapsulation. The force transmission element 2 can be made of stainless steel or aluminum alloy. The fluid interface 4 adopts a standard tire valve structure and is connected to the housing 1 by a thread. The sealing ring ensures that the connection is airtight and has the function of maintaining the air pressure state in the cavity after filling. In this embodiment, a connection interface is provided on the outside of the housing 1, and a connecting component is detachably installed on the connection interface 5. Depending on the different needs of the ground application, the connecting component can be replaced with functional components such as a tool mounting interface, an equipment mounting base, or a suction cup hook; The working principle of this embodiment is the same as that of Embodiment 1: the user can adjust the suction force by controlling the inflation pressure according to the load requirements. For example, when suspending an item weighing 2kg, the required suction force is about 20N, corresponding to an inflation pressure of about 0.12MPa; when fixing a device weighing 5kg, the required suction force is about 50N, corresponding to an inflation pressure of about 0.3MPa. This embodiment is applicable to both indoor and outdoor environments, such as temporary positioning during building curtain wall installation, workpiece fixing on factory production lines, and temporary hanging of items in homes. Using conventional rubber / plastic materials significantly reduces costs, making it suitable for promotion in the civilian market.

[0026] Example 3: Structural modifications omitting force transmission components (e.g.) Figure 4 (As shown) This embodiment illustrates another implementation of the present invention, in which the force transmission component is omitted and the flexible seal is directly connected to the housing; The basic structure is the same as in Embodiment 1, except that there is no independent force transmission component 2. The central region of the flexible seal 3 is directly and fixedly connected to the inner wall of the housing 1 (e.g., by welding, bonding, integral molding, or a connecting seat extending from the housing). The edges of the flexible seal 3 remain free and can undergo elastic deformation under pressure. When pressurized fluid is filled into the cavity, the flexible seal 3 is subjected to pressure. Since its center is fixedly connected to the shell, the pressure is directly transmitted to the shell 1, which also tightens the flexible sealing structure 11 at the edge of the shell opening, forming a reliable seal. This embodiment has a simpler structure and fewer parts, making it suitable for scenarios with strict cost or space requirements. This structural variation falls within the protection scope of this invention.

[0027] Example 4: Preferred Scheme for Deep-Sea Applications (including intelligent control) (e.g.) Figure 2 , Figure 9 (As shown) This embodiment demonstrates the application of this device in a deep-sea environment; The basic structure is the same as in Example 1, the difference being: - The fluid is ambient water; - The fluid interface 4 is a controllable valve with the function of closing at a predetermined depth; - The housing 1 and flexible seal 3 are made of titanium alloy (such as Ti-6Al-4V), which is resistant to seawater corrosion; Working principle: The device is pressed onto the surface of a deep-sea structure, forming a sealed space between the flexible seal 3 and the surface. Water is drained from this sealed space through the fluid interface 4, creating a low-pressure zone. External deep-sea high pressure (e.g., approximately 30 MPa at a depth of 3000 meters) firmly presses the device against the surface. When it is necessary to bring an object back to the surface from the deep sea, the device keeps the fluid interface 4 open during the ascent carrying the load, so that the pressure inside and outside the cavity remains balanced. When it rises to a predetermined depth (e.g., 100 meters, external pressure approximately 1 MPa), the fluid interface 4 is closed, sealing the current pressure inside the cavity. After continuing to rise to the surface, the 1 MPa pressure sealed inside the cavity and the external atmospheric pressure (0.1 MPa) create a pressure difference of approximately 0.9 MPa, which is sufficient to maintain adsorption, while this pressure difference remains within a safe and controllable range. Intelligent control solutions (such as) Figure 9 (as shown) This embodiment adds an intelligent control system to the deep-sea application. It includes: a pressure sensor 6 for real-time monitoring of external environmental pressure or the device's depth; a controller 7 (such as a low-power microcontroller); and a controllable valve 4. Control logic: 1. The user inputs the load weight parameter into controller 7; 2. The controller 7 calculates the minimum pressure threshold P_min (including the safety factor) required to maintain adsorption based on the preset "load-adsorption force" model. 3. During the ascent of the device, pressure sensor 6 continuously monitors the external pressure P_ext; 4. When P_ext first drops to ≤P_min, controller 7 automatically sends a shut-off signal to controllable valve 4 to seal the current pressure; This solution enables "on-demand customization" of adsorption force, eliminating the need to shut down valves in high-pressure deep-sea environments and significantly reducing the strength requirements for valves and housings.

[0028] Example 5: Rough plane application scheme (e.g.) Figure 7(As shown) This embodiment demonstrates the application of this device on a rough surface. The basic structure is the same as in Example 1 or Example 2, except that the materials and structure of the flexible sealing structure 11 and the flexible sealing element 3 have been adaptively optimized. - Material Selection: For concrete surfaces with a roughness Ra ≥ 3.2 μm, the flexible sealing structure 11 uses closed-cell foamed rubber (hardness approximately 15 Shore A, thickness 5 mm), and the flexible sealing element 3 uses sponge-like silicone (compressibility ≥ 50%). When the device is pressed onto the rough surface, the foamed rubber and sponge-like silicone deform under pressure, filling the surface irregularities and forming a preliminary seal. After gas is introduced through the fluid interface 4, the internal air pressure drives the flexible sealing element 3 to further conform to the surface texture, forming a double seal; - Structural optimization scheme: Increase the thickness of the flexible sealing structure (from the conventional 1-2mm to 3-5mm) to increase the compression margin; adopt a multi-layer composite structure, with the outer layer (contact surface) made of highly flexible material (hardness ≤20 Shore A) and the inner layer made of medium hardness material (hardness 40-60 Shore A); the edge of the flexible seal 3 is designed as a skirt-like or wavy structure to increase the contact area with the surface; Performance test (theoretical derivation): On a rough concrete surface (Ra≈6.3 μm), with an inflation pressure of 0.4 MPa, the theoretical adsorption force can reach more than 60 N, which meets the requirements for fixing heavy-duty tools.

[0029] Example 6: Differential Pressure Enhancement Device – Fluid Pumping Solution (Suitable for Ground / Space / Deep Sea) (e.g.) Figure 8 (As shown) This embodiment demonstrates a scheme to enhance pressure difference by actively pumping air or water, which is suitable for scenarios requiring ultra-large adsorption capacity, rapid response, or harsh conditions (such as turbid water). 1. Structural Scheme In addition to the fluid interface 4, the housing 1 is also equipped with an independent fluid extraction interface, which communicates with the sealed space between the flexible seal 3 and the surface to be positioned. The fluid extraction interface is equipped with a check valve or a shut-off valve for connecting a vacuum pump (air extraction) or a high-power water pump (water extraction / spraying), and can switch between suction and spraying via a reversing valve. After extraction, the valve can be closed to maintain low pressure. 2. Working principle a. Gas extraction mode (suitable for ground or space capsule) - Press the device onto the surface to be positioned to form a preliminary seal; Connect the vacuum pump to the pumping port, open the pumping passage, and extract the air from the sealed space to reduce the pressure in the space to a predetermined low pressure value (such as -0.08 MPa gauge pressure, i.e., an absolute pressure of about 0.02 MPa). - Close the valve on the pumping port to maintain a low-pressure state in the space; -Pressed fluid is introduced into the cavity through fluid interface 4 to a predetermined pressure (e.g., 0.3 MPa gauge pressure). At this time, the pressure difference between the high-pressure zone inside the cavity and the low-pressure zone in the sealed space increases significantly, and the adsorption force is correspondingly enhanced. b. Pumping mode (suitable for deep-sea or underwater environments, including pre-flushing step) - Pre-rinsing step: Place the device close to the surface to be positioned, maintaining a certain distance (e.g., 1–5 mm). Switch the water pump to the spray direction, using relatively clean water (which can be taken from the device's built-in miniature water storage chamber, a ship's water tank, or water treated by an on-site filter) to spray out in the opposite direction through the pumping port, rinsing the adsorption area at high speed to wash away surface sediment, debris, and other deposits. The rinsing time can be set according to the turbidity of the water (e.g., 3–10 seconds). - After flushing, press the device onto the surface to be positioned. A sealed space is formed between the flexible seal 3 and the surface, and the space is filled with water. - Switch the water pump to the pumping direction and start the high-power water pump to begin pumping. The strong suction force of the water pump will cause the flexible seal 3 to undergo inward elastic deformation (concave towards the cavity). This deformation actively squeezes the water in the sealed space and forces the water towards the pumping port; - The squeezing action of the flexible seal, combined with the negative pressure suction of the water pump, causes the water to be discharged at a high flow rate. The high-speed water flow can directly flush away residual suspended particles, preventing them from settling and clogging the pipe opening; - As the water is pumped out, the pressure in the sealed space drops rapidly to near vacuum (absolute pressure close to 0 MPa), and the external deep-sea high pressure (e.g., about 30 MPa at a depth of 3000 meters) firmly presses the device against the surface. - After pumping is complete, close the valve on the pumping port and maintain a low pressure. If a release device is needed, open the valve to allow water to flow back. 3. Application Scenarios - Ground industry: Adsorbs porous materials (wood, concrete), quickly grasps workpieces, and can improve sealing effect through pre-rinsing in dusty environments; -Inside the space capsule: to assist in fixing experimental equipment and enhance adsorption reliability; -Deep-sea operations: temporary fixation of underwater robots, installation of seabed equipment, and pumping and adsorption of water in turbid water (containing sand and mud); 4. Advantages - Simple structure: No need for complex components such as micropores, springs, or hydrophilic materials; efficient and clog-proof water pumping can be achieved simply by utilizing the elastic deformation of a high-power water pump and flexible seals. - Dual-mode integration: Air extraction and water pumping can share the same set of interfaces and valves. The reversing valve realizes the switching between water spraying and water pumping, and the structure is compact. - Pre-flushing function: Effectively removes surface deposits, significantly improving sealing reliability in harsh underwater environments; - Self-cleaning: The high-speed water flow has a flushing effect, preventing particles from clogging the water inlet; - Fast response: High-power pumping can quickly establish a low-pressure zone, shortening the adsorption time.

[0030] Example 7: Differential Pressure Enhancement Device – Volume Change Scheme This embodiment demonstrates a method for reducing the pressure in a confined space by actively changing the volume of a flexible seal, which is suitable for scenarios without an external air source, requiring silent operation, or high integration. A. Shape memory material solution: The flexible seal 3 is made of shape memory polymer or shape memory alloy (such as nickel-titanium alloy). In its initial state, the flexible seal 3 is flat and adheres to the surface. By heating the flexible seal 3 to above the phase transition temperature using a heating device (such as an embedded resistance wire), it restores its preset contraction shape (such as arching upwards), thereby increasing the volume of the sealed space between it and the surface and reducing the internal gas pressure. B. Electroactive Polymer (EAP) Solution: The flexible seal 3 is made of dielectric elastomer (DEAP) material, and flexible electrodes are provided on its upper and lower surfaces. When a voltage is applied, the dielectric elastomer contracts in the thickness direction and expands in the area direction, causing the flexible seal 3 to retract away from the surface direction, increasing the volume of the sealed space and reducing the pressure. C. Mechanical retraction mechanism (principle is the same as ceiling suction cup): Force transmission component 2 is connected to an electromagnet or a micro motor. When it is necessary to reduce the pressure in a confined space, the electromagnet or motor drives force transmission component 2 to move upward, causing the central part of the flexible seal 3 to retract upward, making the flexible seal 3 cup-shaped concave, increasing the volume between it and the surface, and reducing the pressure. D. Piston adjustment mechanism scheme (e.g.) Figure 10 (as shown) A piston chamber is provided on the housing 1, which is connected to the sealed space between the flexible seal 3 and the surface to be positioned via a pipe. A piston is provided inside the piston chamber, and a rotary knob is connected to the end of the piston rod. By rotating the rotary knob, the piston can be driven to move back and forth in the piston chamber, thereby changing the total volume of the piston chamber and the sealed space and reducing the pressure. The common principle of the above solutions is: by actively changing the geometry or volume of the flexible seal, the volume of the sealed space between it and the surface to be positioned is increased → the gas density decreases → the pressure drops → a greater pressure difference is formed with the high-pressure area in the cavity → the adsorption force is enhanced; Applicable scenarios: medical equipment, precision instruments, environments without air supply, and occasions requiring silent operation.

[0031] Example 8: As a component, it is integrated and installed on other objects (such as...) Figure 5 , Figure 6 (As shown) This embodiment demonstrates an application method in which the device of the present invention is installed as a functional component on other objects; An object integrating a free positioning device includes an object body 100 and at least one free positioning device 200 mounted thereon. The housing 1 of the free positioning device 200 is fixedly mounted to the bottom or side of the object body 100 by means of threaded connection, snap-fit ​​connection or adhesive. The object body 100 may be a deep-sea sampling box, an underwater robot, a spacecraft, an equipment shell, a robot end effector, a household item, etc. Working principle: When it is necessary to fix the object body 100 to a surface (such as a workbench, cabin wall panel, or wall), the user operates the fluid interface 4 of the free positioning device 200 to fill the cavity with pressurized fluid. The internal pressure drives the flexible seal 3 to press against the surface, forming a firm adhesion. The fluid interface 4 maintains the pressure inside the cavity, and the device remains in the adsorption state, thus fixing the object body 100 to the surface. When it is necessary to move or release the object, the user evacuates or de-escalates the air through the fluid interface 4, the device releases the adhesion, and the object body 100 can be removed. Application example: -Aerospace applications: This device can be integrated into the bottom of spacecraft or scientific payloads, allowing astronauts to temporarily fix it to any surface inside or outside the cabin, replacing a dedicated interface; - Industrial applications: Integrating this device into the end effector of a robot enables the robot to adhere to surfaces such as glass curtain walls and metal sheets, achieving wall-climbing operations; -Civilian applications: This device can be integrated into the bottom of household items such as car phone holders, kitchen hooks, and bathroom shelves to achieve seamless installation and repeated fixing.

[0032] Material Selection Specification Table Material selection for different application scenarios Application scenarios part Recommended materials Design pressure Reasons for selection Space Environment case TC4 titanium alloy ≥1.0 MPa High specific strength, resistant to high and low temperatures, and resistant to atomic oxygen. Space Environment Flexible sealing structure / sealant Porous titanium, porous nickel, pure copper; or beryllium copper alloy ≥0.8 MPa Porous metals possess the ability to undergo micro-deformation, are resistant to high and low temperatures, and are radiation resistant; pure copper has good thermal conductivity and is suitable for temperature homogenization. Space Environment Force transmission components 304 stainless steel ≥1.0 MPa High strength and reliable connection Deep-sea environment case Ti-6Al-4V titanium alloy ≥110 MPa Resistant to seawater corrosion, high specific strength, suitable for all ocean depths Deep-sea environment Flexible sealing structure / sealant Titanium alloy corrugated diaphragm, reinforced PTFE, PEEK; or special rubber (shallow sea). ≥110 MPa Titanium alloy corrugated diaphragms are elastic and pressure-resistant; PTFE / PEEK is corrosion-resistant and creep-resistant, making it suitable for high-pressure sealing. Deep-sea environment Force transmission components Titanium alloys, nickel-based alloys (such as Inconel 625) ≥110 MPa Corrosion resistant, high strength Ground environment (smooth surface) case Engineering plastics such as ABS and polycarbonate 0.6-0.8 MPa Low cost and mature molding process Ground environment (smooth surface) Flexible sealing structure / sealant Silicone rubber, nitrile rubber, EPDM 0.4-0.6 MPa It has good elasticity, reliable sealing, and low cost. Ground environment (rough surface) Flexible sealing structure / sealant Foamed rubber, multi-layer composite silicone, sponge-like materials 0.3-0.5 MPa Highly flexible, capable of filling surface irregularities. Ground environment Force transmission components Stainless steel, aluminum alloy ≥0.6 MPa Strength meets requirements, cost is controllable

[0033] Performance Description a. Theoretical relationship between bearing capacity and filling pressure Theoretical adsorption force under different filling pressures (effective area of ​​flexible seal S = 1.67 × 10⁻) 4 m²) Inlet pressure P (MPa) Theoretical adsorption force F = P × S (N) Equivalent load-bearing capacity (kg) 0.1 16.7 1.7 0.2 33.4 3.4 0.3 50.1 5.1 0.4 66.8 6.8 0.5 83.5 8.5 *Note: The equivalent load-bearing weight is calculated based on the gravitational acceleration g = 9.8 m / s². For actual use, it is recommended to allow for a safety factor of 1.5-2.0.* When the fluid is liquid, the theoretical relationship between the bearing capacity and the filling pressure is the same as above, i.e., the adsorption force F = P × S, where P is the pressure of the filling liquid (gauge pressure) and S is the effective area of ​​the flexible seal. In liquid media, because liquids are almost incompressible, pressure transmission is instantaneous, the system has higher rigidity, and more precise position holding can be achieved. b. Performance Table for Space Environment Applications (Theoretical Derivation) project Theoretical derivation basis Expected performance Vacuum adsorption capacity <![CDATA[Form an internal pressure chamber by active inflation, without relying on external atmospheric pressure. When the inflation pressure is 0.3 MPa, the adsorption force ≥ 50 N. Double-sealing structure, theoretical leakage rate ≤ 1×10⁻ 9 Pa·m³ / s]]> At an inflation pressure of 0.3 MPa, the adsorption force is ≥50 N, and the pressure holding time is theoretically unlimited. High and low temperature adaptability Titanium alloy and beryllium copper have similar coefficients of thermal expansion, with a linear expansion difference of ≤0.2% within the temperature range of -150℃ to +120℃. The corrugated structure allows for an elastic compensation of approximately 0.5mm. Adaptable to temperatures ranging from -200℃ to +200℃, exhibits no plastic deformation under cyclic alternation, and has a sealing attenuation rate of ≤5%. Vibration adaptability Gas buffer + metallic material fatigue limit is much higher than vibration-induced stress. Meets aerospace-grade random vibration requirements Operating life <![CDATA[The theoretical fatigue life of the beryllium copper corrugated diaphragm is ≥ 10 6 times, and the theoretical life of the metal valve core of the air valve is ≥ 5000 times]]> Theoretical operating life ≥ 5000 cycles c. Performance Table for Ground Environment Applications (Based on Structural Principles) project Performance Description Load capacity adjustment range <![CDATA[When the inflation pressure is 0.1 - 0.5 MPa, the adsorption force can reach 16.7 - 83.5 N (calculated based on an effective area of 1.67×10⁻ 4 m²), which can cover the load requirements of 1.7 - 8.5 kg]]> Applicable surfaces A wide range of surface types can be covered through material selection, from smooth surfaces (Ra ≤ 0.8 μm) to rough planes (Ra ≥ 3.2 μm). Ease of use Inflation positioning time ≤ 5 seconds, deflation release time ≤ 3 seconds Air tightness Once the fluid interface is kept under pressure, it can maintain its adsorption state for ≥24 hours (conventional rubber seals) to indefinitely (metal seals) without external interference. Material selection flexibility Metal materials (with a pressure resistance of ≥0.8MPa) are required for space environments; conventional materials such as rubber, silicone, and plastics (with a pressure resistance of 0.4-0.6MPa) can be used in ground environments, reducing costs by more than 50%. d. Water Environment Application Performance Table (Theoretical Derivation) project Theoretical derivation basis Expected performance Working depth range 0 ~ 11,000 meters (full ocean depth), external water pressure 0.1 ~ 110 MPa Adaptable to the entire ocean depth range Adsorption properties <![CDATA[The adsorption force is determined by the pressure difference between the external water pressure and the low-pressure area in the closed space and is proportional to the water depth. At a depth of 1000 m (about 10 MPa), when the discharged water body forms a perfect vacuum, the adsorption force can reach 10 MPa × S. Taking S = 1.67×10⁻ 4 m², the adsorption force is about 1670 N (equivalent weight of about 170 kg)]]> Adsorption force is directly proportional to water depth; the greater the water depth, the stronger the adsorption force. Pressure self-locking capability After the valve is closed at the predetermined depth, the sealed pressure remains essentially unchanged during the ascent (because water is almost incompressible), and upon returning to the surface, it can still maintain more than 80% of the initial pressure (due to minor losses caused by slight expansion of the cavity). Pressure retention rate ≥80%, meeting mission requirements. Sealing reliability Using titanium alloy metal hard seals or special rubber, the seal can be maintained under cyclic pressure of 0-110 MPa. <![CDATA[Leakage rate ≤ 1×10⁻ 6 Pa·m³ / s (gas) or zero leakage (liquid)]]> Corrosion resistance The corrosion rate of Ti-6Al-4V titanium alloy in seawater is < 0.001 mm / year. Long-term maintenance-free use Operating life Theoretical fatigue life of metal valves and seals under full ocean depth circulation Theoretical operating life ≥ 5000 cycles Dynamic adjustment capability The intelligent control system can automatically select the closing depth based on the load during the ascent process. Achieving "on-demand" adsorption force and avoiding extreme pressure differences.

[0034] The embodiments described above are merely preferred embodiments of the present invention, intended to help those skilled in the art better understand and implement the present invention, and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, combinations, or improvements made to the structures, materials, connection methods, operating steps, etc., described in the above embodiments within the scope of the technical concept and the technical solutions defined in the claims of the present invention, as well as the application of the technical features of the device of the present invention to other similar scenarios, should be included within the scope of protection of the present invention. Those skilled in the art should understand that the various technical features disclosed in this invention (including but not limited to the shape of the shell, the material of the flexible seal and the flexible sealing structure, the specific form of the fluid interface, the specific implementation of the differential pressure enhancement device, the structure of the connection interface, and the type of replaceable functional components, etc.) can be flexibly combined and transformed according to actual application requirements. As long as they do not deviate from the core principle of this invention, "isolate the external environment through the shell, actively fill the fluid to form a high-pressure area and form a pressure difference with the closed space to achieve free positioning," they all belong to the equivalent implementation scheme of this invention. Therefore, the scope of protection of this invention should be determined by the appended claims. The specific embodiments in the specification and drawings are only used to interpret the claims and should not be construed as any limitation on the scope of protection of the claims.

Claims

1. A free positioning device, characterized in that, include: A housing having a cavity, wherein the open end edge of the housing is provided with a flexible sealing structure; A flexible seal is used to fit against the surface to be positioned to form a seal, and a closed space is formed between the flexible seal and the surface to be positioned; the flexible seal is directly or indirectly connected to the housing to transmit the pressure on the flexible seal to the housing. A fluid interface is provided on the housing for filling the cavity with pressurized fluid and for maintaining the pressure state inside the cavity after filling. The cavity is filled with pressurized fluid to form a high-pressure zone, which creates a pressure difference between the cavity and the sealed space between the flexible seal and the surface to be positioned. This pressure difference drives the flexible seal to press against the surface to be positioned. The housing isolates the external environment from the cavity, so that the high-pressure state inside the cavity is not affected by the external environmental pressure conditions. The device achieves active control of the adsorption force by adjusting the fluid pressure inside the cavity, and the adsorption force is positively correlated with the fluid pressure.

2. The apparatus of claim 1, wherein, The fluid is either a gas or a liquid; when the fluid is a liquid, the liquid originates directly from the ambient water body where the device is located.

3. The apparatus of claim 1, wherein, It also includes a differential pressure enhancement device for increasing the pressure difference between the sealed space between the flexible seal and the surface to be positioned and the cavity; the differential pressure enhancement device includes any one or more combinations of the following: (a) Fluid extraction device: used to actively extract fluid from the enclosed space; (b) Deformation drive device: used to actively change the volume of the flexible seal to increase the volume of the sealed space.

4. The apparatus of claim 1, wherein, The fluid interface is a controllable valve, which has the function of closing at a predetermined pressure or a predetermined depth to seal the current pressure in the cavity inside the cavity.

5. The apparatus of claim 4, wherein, It also includes a pressure sensor and a controller; the pressure sensor is used to monitor the external environmental pressure or the depth of the device in real time; the controller calculates the minimum pressure threshold required to maintain adsorption according to preset load parameters, and automatically controls the controllable valve to close when the monitored external environmental pressure drops to the threshold.

6. The apparatus of claim 1, wherein, The outer surface of the housing is provided with a connection interface, which is used to install functional components or to integrate the device onto an external object.

7. A method of free positioning based on the device according to any one of claims 1 to 6, characterized in that, Includes the following steps: a. Press the open end of the housing onto the surface to be positioned; b. Calculate the required fluid pressure based on the required load-bearing capacity, and fill the cavity with pressurized fluid to the calculated pressure value through the fluid interface to drive the flexible seal to press against the surface to be positioned; c. The fluid interface maintains the pressure within the cavity, achieving fixation; d. When release is required, release the pressure inside the cavity through the fluid interface to allow the flexible seal to detach from the surface to be positioned.

8. The method of claim 7, wherein, The fluid is ambient water; step (b) further includes: draining the water between the flexible seal and the surface to be positioned through the fluid interface to form a low-pressure zone, and using ambient water pressure to achieve fixation.

9. The method of claim 8, wherein, The device performs the following steps during the process of buoyancy while carrying a load: - Real-time monitoring of current depth or external environmental pressure; - Calculate the minimum pressure threshold required to maintain adsorption based on the preset load parameters; When the monitored external environmental pressure drops to the threshold, the fluid interface is automatically closed to seal the current pressure within the cavity.

10. An object integrating a free positioning device, characterized in that, It includes an object body and at least one free positioning device as described in any one of claims 1-6 mounted thereon; the housing of the free positioning device is fixedly mounted on the bottom or side of the object body for temporarily or permanently fixing the object body to the surface to be positioned.

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