Bionic adhesion tool based on caterpillar type clamping mechanism and rolling peeling and detachment method

Abstract

The application discloses a bionic adhesion tool based on a caterpillar type holding and clamping mechanism and a rolling peeling and detaching method. The bionic adhesion tool based on the caterpillar type holding and clamping mechanism comprises a base body part, a clamping part, a sliding part and a first contact part. The clamping part is arranged on the base body part, and a first clamping surface is formed on the clamping part. The sliding part is movably arranged on the base body part, and the sliding part is moved to selectively approach or move away from the first clamping surface. The first contact part is movably arranged on the sliding part and is formed with a second clamping surface arranged opposite to the first clamping surface. The first clamping surface and the second clamping surface are adapted to abut against a clamped object. The first contact part is moved relative to the sliding part, and the edge of the first contact part is deformed in the moving process to separate from the surface of the clamped object, so that the detaching efficiency and the work efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of mobile tooling, and in particular to a biomimetic adhesion tooling based on a tracked clamping mechanism and a rolling peeling and desorption method. Background Technology

[0002] In related technologies, adhesion technology has become an important means of lossless transport of heavy loads in applications such as new energy battery manufacturing (e.g., cell module handling) and semiconductor panel manufacturing due to its advantages such as strong adhesion, high material adaptability, and no surface damage. However, its characteristic of requiring a large adhesion contact area for large-sized, heavy-load objects leads to a double dilemma in the desorption stage: direct normal desorption requires extremely high pulling force, which not only necessitates a large drive mechanism but also easily tears the adhered object or damages the material itself; existing auxiliary desorption mechanisms (such as simple pneumatic lifting or material phase change) have long response times and complex structures, which cannot match the high-frequency, fast-paced production requirements of robotic arms. Therefore, how to improve desorption efficiency and operational efficiency has become the technical problem to be solved in this application. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, one objective of this application is to propose a biomimetic adhesion tooling based on a tracked clamping mechanism, which can improve desorption efficiency and increase operational efficiency.

[0004] This application also proposes a rolling peeling and desorption method for the aforementioned biomimetic adhesion tooling based on a tracked clamping mechanism.

[0005] A biomimetic adhesion tooling based on a tracked clamping mechanism according to an embodiment of this application includes: a base portion; a clamping portion disposed on the base portion, the clamping portion having a first clamping surface formed thereon; a sliding portion movably disposed on the base portion, the sliding portion moving to selectively approach or move away from the first clamping surface; a first contact member movably disposed on the sliding portion and having a second clamping surface formed opposite to the first clamping surface, the first clamping surface and the second clamping surface being adapted to abut against a clamped object; wherein the first contact member moves relative to the sliding portion, and during the movement, the edge of the first contact member deforms to separate from the surface of the clamped object.

[0006] According to the embodiments of this application, a biomimetic adhesion tooling based on a tracked clamping mechanism is provided on the base part, with a clamping part and a sliding part. Two sets of opposing clamping surfaces cooperate to clamp each other. During the desorption stage, the first contact component assembled on the sliding part generates relative displacement, causing its own edge to deform, so that the contact area between the clamping surface and the clamped object gradually decreases, and the bonding force between the interfaces continues to decrease, reducing the peak destructive force at the moment of desorption and reducing the tearing damage to the adhesive material. There is no need to apply a large normal tensile force. Desorption is completed through the displacement and deformation of the first contact component. The motion process is simple, the action is smoothly connected, and the running rhythm can match the working conditions of high-frequency operation of the robotic arm. The operating efficiency of the desorption stage is improved, and the efficiency of the overall handling operation of the clamped object is optimized.

[0007] According to some embodiments of this application, a biomimetic adhesive tooling based on a tracked clamping mechanism is provided, wherein the first contact component is configured to rotate cyclically relative to the second clamping surface.

[0008] According to some embodiments of this application, a biomimetic adhesion tooling based on a tracked clamping mechanism is provided, wherein the first contact component includes: a support wheel assembly rotatably disposed on the sliding portion; an annular belt wrapped around the support wheel assembly and capable of cyclic rotation around the support wheel assembly; and an adhesion layer disposed on the outer surface of the annular belt, at least a portion of the outer surface of the adhesion layer being configured as the second clamping surface, the adhesion layer moving with the movement of the annular belt.

[0009] According to some embodiments of this application, a biomimetic adhesive tooling based on a tracked clamping mechanism is provided, wherein the adhesive layer is constructed as an organosilicon elastic element, and a flexible backing layer for compressibility in the thickness direction is provided between the adhesive layer and the annular belt.

[0010] According to some embodiments of this application, a biomimetic adhesion tooling based on a tracked clamping mechanism is provided, wherein the clamping part is movably disposed on the base part and moves in the same direction as the sliding part so that the clamping part and the sliding part move closer to or further away from each other; wherein the clamping part is provided with a second contact member having the same structure as the first contact member, the second contact member is movably disposed on the clamping part and the first clamping surface is formed on the second contact member, the second contact member moves relative to the clamping part, and during the movement, the edge of the second contact member deforms to separate from the surface of the clamped object.

[0011] The biomimetic adhesion tooling based on a tracked clamping mechanism according to some embodiments of this application further includes: a first rack and a second rack, the first rack and the second rack being movably disposed on the base portion and arranged parallel to each other, the teeth of the first rack and the teeth of the second rack being disposed on surfaces facing each other; a first driving member, the output shaft of the first driving member being connected to a driving gear, the driving gear meshing with the first rack and the second rack respectively to drive the clamping portion and the sliding portion to move closer to or away from each other.

[0012] According to some embodiments of this application, a biomimetic adhesion tooling based on a tracked clamping mechanism is provided, wherein the sliding part includes: a first moving part disposed on the first rack and displaced relative to the base part along a first direction; a second moving part movably disposed on the first moving part along a second direction, and a first contact member disposed on the second moving part; the clamping part includes: a third moving part disposed on the second rack and displaced relative to the base part along a first direction; and a fourth moving part movably disposed on the third moving part along a second direction, and a second contact member disposed on the fourth moving part.

[0013] According to some embodiments of this application, a biomimetic adhesion tooling based on a tracked clamping mechanism is provided, wherein the second moving part includes: a first positioning plate, which is disposed on the first moving part and moves with the first moving part, and the first positioning plate is provided with a first guide portion extending in a second direction; a second driving member, which is disposed on the first positioning plate, and the output shaft of the second driving member is connected to a first driving screw; and a first sliding plate, which is provided with a second guide portion that cooperates with the first guide portion, and the first sliding plate is provided with a first mating screw hole that is screwed to the first driving screw to drive the first sliding plate to move in a second direction. The moving plate is also provided with the support wheel assembly; the fourth moving part includes: a second positioning plate, which is disposed on the third moving part and moves with the third moving part, and the second positioning plate is provided with a third guide portion extending in a second direction; a third driving member, which is disposed on the second positioning plate, and the output shaft of the third driving member is connected to a second driving screw; a second sliding plate, which is provided with a fourth guide portion that cooperates with the third guide portion, and the second sliding plate is provided with a second mating screw hole that is screwed to the second driving screw to drive the second sliding plate to move in a second direction, and the second sliding plate is also provided with the support wheel assembly.

[0014] The biomimetic adhesion tooling based on a tracked clamping mechanism according to some embodiments of this application further includes: a first shock absorber, one end of which is disposed on the first sliding plate and the other end of which is connected to the annular belt or the support wheel assembly, wherein at least a portion of the first shock absorber is configured as an elastic element to counteract the bending moment experienced by the first contact member in the clamping state; and a second shock absorber, one end of which is disposed on the second sliding plate and the other end of which is connected to the annular belt or the support wheel assembly, wherein at least a portion of the second shock absorber is configured as an elastic element to counteract the bending moment experienced by the second contact member in the clamping state.

[0015] The following is a brief description of the rolling peeling and desorption method according to an embodiment of this application.

[0016] The rolling peeling and desorption method according to the embodiments of this application is used in the biomimetic adhesion tooling based on the tracked clamping mechanism of any of the above embodiments, including: controlling the sliding part to move relative to the base part, so that the sliding part moves closer to the clamping part until the second clamping surface of the first contact member and the first clamping surface of the clamping part jointly clamp the clamped object, and making the adhesion layer on the second clamping surface adhere to the surface of the clamped object; driving the first contact member to rotate relative to the sliding part, and changing the contact state between the adhesion layer and the surface of the clamped object by the circumferential movement of the first contact member.

[0017] According to the rolling peeling and desorption method of this application embodiment, the sliding part is first controlled to move towards the clamping part, so that the clamping surfaces on both sides clamp the object, and the adhesive layer completely adheres to the surface of the workpiece to form a stable adhesive clamping, which meets the basic requirements for non-destructive transfer of heavy-duty materials. After the transfer is in place, the first contact component is driven to rotate, and the adhesive layer continuously changes the interface contact state with the circumferential movement of the annular belt. The rotational movement causes the contact interface to gradually form a linear separation zone from the edge and continue to extend. The interface bonding force is released smoothly as the contact area shrinks, weakening the instantaneous peak force of desorption and reducing tearing damage between the workpiece and the adhesive layer. The rotational movement is continuous and smooth without unnecessary pauses, which is suitable for high-frequency and fast-paced production line operations. At the same time, the smooth unloading reduces the impact loss of the tooling transmission components and maintains the long-term stable operation of the tooling.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a biomimetic adhesion tooling based on a tracked clamping mechanism according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a biomimetic adhesion tooling based on a tracked clamping mechanism according to another embodiment of this application; Figure 3 This is a bottom view of a biomimetic adhesive tooling based on a tracked clamping mechanism according to another embodiment of this application. Figure 4 This is a schematic diagram of the process structure of the rolling stripping and desorption method according to this application.

[0020] Figure label: 100. Bionic adhesion tooling based on tracked clamping mechanism; 1. Base section; 11. Third limiting plate; 2. Clamping part; 21. Third moving part; 22. Fourth moving part; 221. Second positioning plate; 2211. Third guide section; 222, Third drive component; 2221, Second drive screw; 223. Second sliding plate; 2231. Fourth guide part; 2232. Second shock absorber; 2233. Second mating screw hole; 224. Second limiting plate; 3. Sliding part; 31. First moving part; 32. Second moving part; 321. First positioning plate; 3211. First guide section; 322. Second driving component; 3221. First driving screw; 323, First sliding plate; 3231, Second guide section; 3232, First shock absorber; 324. First limiting plate; 4. First contact component; 41. Support wheel assembly; 42. Annular belt; 43. Adhesive layer; 44. Second clamping surface; 5. Second contact component; 51. First clamping surface; 6. First rack; 7. Second rack; 8. First driving component; 81. Drive gear. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0022] The following is for reference. Figures 1-3This application describes a biomimetic adhesion tooling 100 based on a tracked clamping mechanism according to an embodiment of the present application.

[0023] According to an embodiment of this application, a biomimetic adhesion tooling 100 based on a tracked clamping mechanism includes: a base portion 1, a clamping portion 2, a sliding portion 3, and a first contact member 4. The clamping portion 2 is disposed on the base portion 1, and a first clamping surface 51 is formed on the clamping portion 2. The sliding portion 3 is movably disposed on the base portion 1, and the sliding portion 3 can move to selectively approach or move away from the first clamping surface 51. The first contact member 4 is movably disposed on the sliding portion 3 and has a second clamping surface 44 formed opposite to the first clamping surface 51. The first clamping surface 51 and the second clamping surface 44 are adapted to abut against the clamped object. The first contact member 4 moves relative to the sliding portion 3, and during the movement, the edge of the first contact member 4 deforms to separate from the surface of the clamped object.

[0024] In related technologies, in applications such as new energy battery manufacturing (e.g., cell module handling) and semiconductor panel manufacturing, adhesion technology has become an important means of lossless transportation of large loads due to its advantages such as strong adhesion force, strong material adaptability, and no surface damage. However, its characteristic of requiring a large adhesion contact area for large-sized heavy-duty objects leads to a double dilemma in the desorption stage: direct normal desorption requires extremely large pulling force, which not only requires a huge drive mechanism, but also easily tears the adhered object or damages the material itself; existing auxiliary desorption mechanisms (such as simple pneumatic lifting or material phase change) have long response times and complex structures, which cannot match the high-frequency and fast-paced production needs of robotic arms.

[0025] The base part 1 serves as the overall load-bearing foundation, providing an installation carrier for the clamping part 2 and the sliding part 3. The clamping part 2 is fixedly arranged on the surface of the base part 1. The first clamping surface 51 formed on the clamping part 2 can fit against one side of the surface of the clamped object. The sliding part 3 is movably assembled on the base part 1. The distance between the sliding part 3 and the first clamping surface 51 can be adjusted by switching positions, thereby completing the initial clamping and positioning of the clamped object. The first contact part 4 is movably assembled inside the sliding part 3 and has the ability to move relative to the sliding part 3. The second clamping surface 44 formed on its surface is directly opposite to the first clamping surface 51. The two clamping surfaces work together to clamp and fix the clamped object. The transportation is achieved through the contact between the first clamping surface 51, the second clamping surface 44 and the surface of the clamped object. This method continues the characteristics of adhesive transport that is adaptable to various materials and will not damage the surface of the clamped object.

[0026] Furthermore, when the equipment enters the desorption stage, the first contact component 4 will be displaced relative to the sliding part 3. During the displacement, the edge of the first contact component 4 gradually changes shape. The originally integrally fitted contact interface no longer separates synchronously, but gradually detaches from the surface of the clamped object starting from the edge of the contact area. The crack formed by the interface separation extends and advances in a linear form along the contact surface between the first contact component 4 and the clamped object, realizing the gradual separation of the contact surface from local to overall. This changes the traditional synchronous separation mode of the entire interface. The large stroke normal separation force that originally needed to be applied is replaced by a gradual interface peeling force from the edge. The instantaneous force peak generated during the separation process is effectively weakened, and the mutual pulling force between the contact interfaces is reduced accordingly, which can reduce the damage to the adhesive structure and the surface of the clamped object caused by the separation action. Meanwhile, the motion flow of component displacement and edge deformation is smooth and concise, with fewer overall motion links and a more streamlined structural composition. The motion execution process can maintain a fast pace, which can adapt to the high-frequency continuous operation mode of the robotic arm. The overall operating efficiency of the detachment link is improved, thereby improving the overall operational efficiency of the entire clamping object handling process. During long-term use, the wear and tear of the adhesive material and the bionic adhesive tooling 100 based on the tracked clamping mechanism is reduced, and the overall service life is extended.

[0027] In short, the base 1 is provided with a clamping part 2 and a sliding part 3. The two sets of opposing clamping surfaces cooperate to clamp each other. During the desorption stage, the first contact component 4 assembled on the sliding part 3 generates relative displacement, which causes its own edge to deform, so that the contact area between the clamping surface and the clamped object gradually decreases. The bonding force between the interfaces continues to decrease, reducing the peak destructive force at the moment of desorption and reducing the tearing damage to the adhesive material. There is no need to apply a large normal tensile force. Desorption is completed by the displacement and deformation of the first contact component 4. The movement process is simple, the action is smoothly connected, and the running rhythm can match the high-frequency operation of the robotic arm. The operating efficiency of the desorption stage is improved, and the efficiency of the overall handling operation of the clamped object is optimized.

[0028] According to some embodiments of this application, a biomimetic adhesive tooling 100 based on a tracked clamping mechanism is provided, wherein the first contact member 4 is configured to rotate cyclically relative to the second clamping surface 44.

[0029] The first contact component 4 is configured to rotate cyclically relative to the second clamping surface 44. After entering the desorption process, the cyclic rotation of the first contact component 4 will cause the second clamping surface 44 to undergo continuous changes in position and shape, and the contact area will not be in a state of overall synchronous detachment.

[0030] The cyclical rotation of the first contact component 4 causes the contact interface to gradually separate, starting from one edge. The linear separation area formed by the contact interface extends forward along the contact surface, and the entire separation process is a gradual peeling process. This smoothly releases the forces between the contact interfaces, reduces the peak force generated during the desorption phase, and minimizes damage to the adhered material and the clamped object caused by pulling. Furthermore, it should be noted that the desorption action is achieved through the rotation of the first contact component 4, resulting in a compact arrangement of related components. This avoids creating unnecessary space requirements in the working area and reduces the overall space occupied by the entire assembly during operation.

[0031] According to some embodiments of this application, a biomimetic adhesion tooling 100 based on a tracked clamping mechanism includes a first contact component 4 comprising: a support wheel assembly 41, an annular belt 42, and an adhesion layer 43. The support wheel assembly 41 is rotatably mounted on a sliding portion 3. The annular belt 42 is wound around the support wheel assembly 41 and can rotate cyclically around the support wheel assembly 41. The adhesion layer 43 is disposed on the outer surface of the annular belt 42. At least a portion of the outer surface of the adhesion layer 43 is configured as a second clamping surface 44. The adhesion layer 43 moves with the movement of the annular belt 42.

[0032] The support wheel assembly 41 is mounted on the sliding part 3 and rotates relative to the sliding part 3. The annular belt 42 is arranged around the outside of the support wheel assembly 41 and can complete continuous cyclic rotational motion following the rotation of the support wheel assembly 41. The adhesive layer 43 is laid on the outer surface of the annular belt 42, and a portion of its outer surface forms a second clamping surface 44, which changes position synchronously with the rotation of the annular belt 42. During the clamping operation, the surface of the adhesive layer 43 can adhere to the surface of the object being clamped, forming a stable contact through its own material properties, ensuring the positional stability of the heavy load object during transportation, while preventing damage to the surface of the object being clamped.

[0033] After entering the desorption stage, the support wheel assembly 41 drives the annular belt 42 to rotate continuously, causing the adhesive layer 43 to move continuously. The contact area between the second clamping surface 44 and the clamped object will not detach synchronously as a whole. The contact interface will gradually form a separation area from the edge, and this area will continue to extend along the contact surface, so that the entire contact interface will be separated in a gradual peeling manner.

[0034] According to some embodiments of this application, a biomimetic adhesion tooling 100 based on a tracked clamping mechanism has an adhesion layer 43 constructed as an organosilicon elastic element, and a flexible backing layer for compressibility in the thickness direction is provided between the adhesion layer 43 and the annular belt 42.

[0035] The adhesive layer 43, composed of silicone elastic elements, possesses elastic deformation capability. Combined with a flexible backing layer positioned between the adhesive layer 43 and the annular belt 42, the flexible backing layer can undergo compressive deformation in the thickness direction. During clamping operations, the first clamping surface 51 and the second clamping surface 44 gradually approach the clamped object and come into contact with it. The force generated by this compression is sequentially transmitted to the adhesive layer 43 and the flexible backing layer, causing both layers to compress simultaneously. The pre-compression energy generated during contact is gradually absorbed and dissipated by the deformed structure, preventing pressure concentration in localized areas. The contour differences on the surface of the clamped object are adapted to by the adaptive deformation of the flexible backing layer and the silicone elastic elements during contact compression. The adhesive layer 43 and the flexible backing layer follow the surface undulations, generating varying degrees of compression. This allows the second clamping surface 44 to conform to the overall surface shape of the clamped object, compensating for surface contour tolerances, ensuring uniformity of contact in the contact area, and improving the stability of the clamping fixation.

[0036] In some embodiments of this application, the flexible backing layer may be composed of nano-adhesive and polyethylene foam.

[0037] In other embodiments of this application, the surface of the adhesion layer 43 is uniformly distributed with a discrete array of mushroom-shaped micro / nano structures. It is understood that each micro / nano structure in the array can undergo moderate deformation with contact pressure, further adapting to subtle morphological changes on the surface of the object being held, and continuing the compensation effect for surface profile tolerances. The contact area is divided into a large number of dispersed action points, allowing the contact force to be evenly distributed across the entire holding contact surface, avoiding localized stress concentration. During the desorption phase, the separation action of the overall contact interface is decomposed into the sequential detachment of each micro / nano structure from the surface of the object being held. The separation force is released step by step, further smoothing the force changes between the interfaces and reducing the possibility of tearing during separation. Simultaneously, the discrete arrangement of the structure makes the gradual peeling process smoother, helping to maintain stability under high-frequency operating conditions and mitigating structural wear caused by long-term repetitive operation.

[0038] In some other embodiments of this application, the flexible backing layer and the adhesive layer 43, or the flexible backing layer and the annular belt 42, can be connected by adhesive or snap-fit.

[0039] According to some embodiments of this application, a biomimetic adhesion tooling 100 based on a tracked clamping mechanism is provided, wherein the clamping part 2 is movably disposed on the base part 1 and moves in the same direction as the sliding part 3 so that the clamping part 2 and the sliding part 3 move closer to or further away from each other; wherein the clamping part 2 is provided with a second contact part 5 having the same structure as the first contact part 4, the second contact part 5 is movably disposed on the clamping part 2 and a first clamping surface 51 is formed on the second contact part 5, the second contact part 5 moves relative to the clamping part 2, and during the movement, the edge of the second contact part 5 is deformed to separate from the surface of the clamped object.

[0040] The clamping part 2 is movably mounted on the surface of the base part 1, and its movement direction is consistent with that of the sliding part 3. The sliding part 3 and the clamping part 2 can move closer to each other or further away from each other. The first contact part 4 and the second contact part 5 are respectively arranged on the clamping part 2 and the sliding part 3, and their structures are consistent. Both the first contact part 4 and the second contact part 5 can move relative to the sliding part 3 and the clamping part 2 and separate from the surface of the clamped object through edge deformation. Clamped objects with different specifications and dimensions will have different clamping spacing requirements. The synchronous adjustment of the position of the clamping part 2 and the sliding part 3 can change the relative spacing between the two sets of clamping surfaces, thereby adapting to clamped objects of various sizes, so that the biomimetic adhesive tooling 100 based on the tracked clamping mechanism of this application can be used in more working scenarios. The first contact component 4 and the second contact component 5 with the same structure are adopted on both sides, so that the contact separation action of the biomimetic adhesion tooling 100 based on the tracked clamping mechanism is kept uniform. Both sides of the interface can be separated by gradual deformation. The force state on both sides tends to be balanced. This not only continues the characteristic of smooth peeling and reducing instantaneous force, but also allows different clamped objects to maintain a stable operating state during clamping and de-adhesion.

[0041] In some embodiments of this application, the linear velocity of the annular belt 42 can be uniform during the cyclic rotation, and the support wheel group 41 on the first contact member 4 and the second contact member 5 needs to move synchronously to ensure that the clamped object is in force balance at the moment of de-adhesion, and to prevent the clamped object from deflecting or falling.

[0042] The biomimetic adhesion tooling 100 based on a tracked clamping mechanism according to some embodiments of this application further includes: a first rack 6, a second rack 7, and a first drive member 8. The first rack 6 and the second rack 7 are movably disposed on the base portion 1 and are arranged parallel to each other. The teeth of the first rack 6 and the teeth of the second rack 7 are disposed on surfaces facing each other. The output shaft of the first drive member 8 is connected to a drive gear 81. The drive gear 81 meshes with the first rack 6 and the second rack 7 respectively to drive the clamping portion 2 and the sliding portion 3 to move closer to or away from each other.

[0043] The first rack 6 and the second rack 7 are mounted parallel to each other on the base 1. Both racks 6 and 7 can move along their length, and their toothed structures are arranged opposite each other on the facing sides of the two racks. The output end of the first drive unit 8 is fixedly equipped with a drive gear 81, which simultaneously forms a meshing transmission structure with the first rack 6 and the second rack 7. When the first drive unit 8 starts operating, the output shaft drives the drive gear 81 to rotate continuously. The teeth of the drive gear 81 mesh with the teeth of the first rack 6 and the second rack 7 on both sides in sequence, and the mechanical force generated by the rotation is evenly transmitted to the first rack 6 and the second rack 7. Due to the transmission law of gear and rack meshing, the two racks will synchronously generate linear displacement in opposite directions. The clamping part 2 mounted on the first rack 6 and the sliding part 3 mounted on the second rack 7 will synchronously change position with the corresponding racks. During the overall movement, the travel speed and displacement amplitude always remain coordinated.

[0044] This transmission method allows the clamping part 2 and the sliding part 3 to maintain synchronized movement as they approach or move away from each other, preventing positional shifts or lags in their movements. During clamping, the contact components on both sides contact the object being clamped simultaneously, resulting in a more uniform distribution of contact pressure and stable clamping. Upon entering the debonding stage, the positional changes of the two structures are synchronized, and the deformation and separation actions of the first contact component 4 and the second contact component 5 are coordinated. This leads to a more balanced force distribution at the contact interface, reducing the impact of uneven force on one side. This ensures the entire biomimetic adhesion fixture 100 based on the tracked clamping mechanism maintains stable operation during continuous work and allows for a smoother transition between clamping and debonding processes.

[0045] According to some embodiments of this application, a biomimetic adhesion tooling 100 based on a tracked clamping mechanism includes a sliding part 3 comprising: a first moving part 31 and a second moving part 32. The first moving part 31 is disposed on a first rack 6 and is displaced relative to the base part 1 in a first direction. The second moving part 32 is movably disposed on the first moving part 31 in a second direction. A first contact member 4 is disposed on the second moving part 32. The clamping part 2 comprises: a third moving part 21 and a fourth moving part 22. The third moving part 21 is disposed on a second rack 7 and is displaced relative to the base part 1 in a first direction. The fourth moving part 22 is movably disposed on the third moving part 21 in a second direction. A second contact member 5 is disposed on the fourth moving part 22.

[0046] It should be noted that the first direction corresponds to the width direction of the clamped object, and the second direction corresponds to the height direction of the clamped object, forming a mutually perpendicular spatial layout. The sliding part 3 consists of a first moving part 31 and a second moving part 32. The first moving part 31 is mounted on the first rack 6 and can move relative to the base part 1 along the first direction. The second moving part 32 is assembled on the surface of the first moving part 31 and can move along the second direction. The first contact member 4 is fixedly arranged on the second moving part 32. The clamping part 2 consists of a third moving part 21 and a fourth moving part 22. The third moving part 21 is mounted on the second rack 7 and moves along the first direction following the rack. The fourth moving part 22 is assembled on the surface of the third moving part 21 and can move along the second direction. The second contact member 5 is fixedly arranged on the fourth moving part 22. The rack and pinion transmission structure drives the first moving part 31 and the third moving part 21 to move synchronously along the first direction, thereby achieving spacing adjustment in the width dimension to adapt to clamped objects of different widths.

[0047] The second moving part 32 and the fourth moving part 22 move independently along the second direction on their respective base structures, adding height-direction position adjustment capability to the entire assembly. The biomimetic adhesive tooling 100 based on the tracked clamping mechanism can change the vertical position of the first contact part 4 and the second contact part 5 according to the different height dimensions of the clamped object. The two vertical position adjustments work together to adapt to clamping objects of more shapes and sizes; clamping objects with different dimensions can find matching clamping points, and the contact parts can stably adhere to the surface of the clamped object to complete the clamping operation. The multi-directional position adjustment mode allows the assembly to adapt to more types of working conditions, further expanding its overall applicability.

[0048] In some other embodiments of this application, two sliding parts 3 are provided in the third direction, and two clamping parts 2 are constructed to correspond one-to-one with the sliding parts 3. In other embodiments, a second moving part 32 is provided between the two sliding parts 3, and a fourth moving part 22 is provided between the two clamping parts 2, which can improve the load-bearing capacity of the biomimetic adhesive tooling 100 based on the tracked clamping mechanism.

[0049] According to some embodiments of this application, a biomimetic adhesion fixture 100 based on a tracked clamping mechanism includes a second moving part 32 comprising: a first positioning plate, a second driving member 322 plate, and a first sliding plate 323. The first positioning plate 321 is disposed on the first moving part 31 and moves with the first moving part 31. The first positioning plate 321 is provided with a first guide portion 3211 extending in a second direction. The second driving member 322 is disposed on the first positioning plate 321. The output shaft of the second driving member 322 is connected to a first driving screw 3221. The first sliding plate 323 is provided with a second guide portion 3231 that cooperates with the first guide portion 3211. The first sliding plate 323 is provided with a first mating screw hole that is screwed to the first driving screw 3221 to drive the first sliding plate 323 to move in the second direction. The upper part is also provided with a support wheel set 41; the fourth moving part 22 includes: a second positioning plate 221, a third driving member 222 and a second sliding plate 223. The second positioning plate 221 is disposed on the third moving part 21 and moves with the third moving part 21. The second positioning plate 221 is provided with a third guide part 2211 extending in the second direction. The third driving member 222 is disposed on the second positioning plate 221. The output shaft of the third driving member 222 is connected to a second driving screw 2221. The second sliding plate 223 is provided with a fourth guide part 2231 that cooperates with the third guide part 2211. The second sliding plate 223 is provided with a second mating screw hole 2233 that is screwed to the second driving screw 2221 to drive the second sliding plate 223 to move in the second direction. The second sliding plate 223 is also provided with a support wheel set 41.

[0050] Understandably, the first positioning plate 321 is fixed to the first moving part 31 and moves synchronously with the first moving part 31. The first positioning plate 321 is provided with a first guide part 3211 extending in the second direction. The second driving member 322 is mounted on the surface of the first positioning plate 321, and its output shaft is connected to the first driving screw 3221. The first sliding plate 323 forms a mating structure with the first guide part 3211 through the second guide part 3231. At the same time, the first mating screw hole opened on the first sliding plate 323 forms a threaded connection with the first driving screw 3221. The support wheel set 41 is arranged on the first sliding plate 323. Correspondingly, the second positioning plate 221 is fixed to the third moving part 21 and moves synchronously with the third moving part 21. The second positioning plate 221 is provided with a third guide part 2211 extending in the second direction. The third driving member 222 is mounted on the surface of the second positioning plate 221, and its output shaft is connected to the second driving screw 2221. The second sliding plate 223 forms a mating structure with the third guide portion 2211 through the fourth guide portion 2231. At the same time, the second mating screw hole 2233 opened on the second sliding plate 223 forms a threaded connection with the second drive screw 2221. The support wheel group 41 is arranged on the second sliding plate 223. When the second driving member 322 operates, it drives the first driving screw 3221 to rotate. When the third driving member 222 operates, it drives the second driving screw 2221 to rotate. The rotational motion of the first driving screw 3221 and the second driving screw 2221 is converted into linear displacement of the first sliding plate 323 and the second sliding plate 223 along the second direction through thread engagement. Moreover, the mutual cooperation between the first guide part 3211 and the second guide part 3231, the third guide part 2211 and the fourth guide part 2231 can constrain the movement trajectory of the first sliding plate 323 and the second sliding plate 223, so that the first sliding plate 323 and the second sliding plate 223 can only move smoothly along the preset direction, avoiding positional deviation during the movement. Furthermore, the first sliding plate and the second sliding plate 223 can be raised or lowered by rotating the first driving screw 3221 and the second driving screw 2221 in the forward or reverse direction.

[0051] The transmission structure composed of a lead screw and a threaded hole smoothly transmits power to the sliding plate and the support wheel assembly 41 connected to the sliding plate. The support wheel assembly 41, together with the annular belt 42 and the adhesive layer 43, completes the height adjustment, enabling independent position adjustment according to actual usage requirements. The threaded transmission motion mode allows for a smooth movement during position adjustment, with gradual adjustment actions. Changes in the contact point do not generate additional impact, protecting the surface of the clamped object and the component's own structure. The independent drive and transmission structures on both sides also allow for adjustment of the contact position for clamped objects with different shapes, further enriching the component's adaptability. This allows the biomimetic adhesive fixture 100 based on the tracked clamping mechanism to perform clamping and de-attachment operations normally under more working conditions.

[0052] The biomimetic adhesion tooling 100 based on a tracked clamping mechanism according to some embodiments of this application further includes: a first shock absorber 3232, one end of which is disposed on a first sliding plate 323 and the other end is connected to an annular belt 42 or a support wheel assembly 41. At least a portion of the first shock absorber 3232 is constructed as an elastic element to counteract the bending moment experienced by the first contact member 4 in the clamping state; and a second shock absorber 2232, one end of which is disposed on a second sliding plate 223 and the other end is connected to an annular belt 42 or a support wheel assembly 41. At least a portion of the second shock absorber 2232 is constructed as an elastic element to counteract the bending moment experienced by the second contact member 5 in the clamping state.

[0053] The first damping element 3232 is provided on the first sliding plate 323, and the second damping element 2232 is provided on the second sliding plate 223. Both damping elements possess elastic properties in some parts of their structure. One end of each damping element is fixed to the surface of its corresponding sliding plate, and the other end is connected to either the annular belt 42 or the support wheel assembly 41. After the clamp completes the clamping action on the object, the contact parts and the surface of the object are pressed together, generating a force. This force is transmitted to the support wheel assembly 41 and the annular belt 42, causing the contact parts to bear a bending moment. This bending moment alters the original shape of the parts and causes uneven internal stress distribution. The damping element with an elastic structure can undergo elastic deformation simultaneously during the bending moment generation process. Through its own deformation, it absorbs and disperses the bending moment force on the contact parts, offsetting the impact of the force and allowing the support wheel assembly 41 and the annular belt 42 to maintain their original assembly shape and operating posture. This ensures that the overall stress state of the first contact component 4 and the second contact component 5 is balanced, and the first contact component 4 and the second contact component 5 will not become skewed due to continuous bending moment. The contact area can maintain a regular fit, and the clamping stability is maintained.

[0054] According to some embodiments of this application, a biomimetic adhesion fixture 100 based on a tracked clamping mechanism is provided at both ends of a first guide portion 3211 or a second guide portion 3231, with two first limiting plates 324 disposed opposite to each other to limit the displacement of a first sliding plate 323 on a first positioning plate 321; and at both ends of a third guide portion 2211 or a fourth guide portion 2231, a second limiting plate 224 is provided, with two second limiting plates 224 disposed opposite to each other to limit the displacement of a second sliding plate 223 on a second positioning plate 221.

[0055] The first guide portion 3211 and the second guide portion 3231 cooperate to form the motion guide structure of the first sliding plate 323. First limiting plates 324 are installed at both ends of either the first guide portion 3211 or the second guide portion 3231, and the third guide portion 2211 and the fourth guide portion 2231 cooperate to form the motion guide structure of the second sliding plate 223. Second limiting plates 224 are installed at both ends of either the first guide portion 3211 or the second guide portion 3231, respectively. When the first sliding plate 323 completes its position adjustment along the second direction, the entire structure will continuously move within the constraint range of the guide structure. When the first sliding plate 323 travels to the end position of the preset stroke of the guide structure, it will contact and block the corresponding first limiting plate 324, thereby defining the maximum range of motion of the first sliding plate 323. During the displacement of the second sliding plate 223 on the corresponding guide structure, the second limiting plate 224 at the end will also constrain its movement stroke, preventing the sliding plate from continuing to move outward.

[0056] The limiting plate constrains the travel of the sliding plate, preventing excessive movement under the action of the lead screw, avoiding the sliding plate from leaving the guide structure's engagement range, and ensuring a stable assembly relationship between the guide structure and the sliding plate. The support wheel assembly 41 and other components on the sliding plate remain within the working range, with the contact parts always positioned within the appropriate clamping area, preventing structural collisions or misalignment due to excessive displacement. With the travel regulated, the threaded engagement between the lead screw and the screw hole maintains normal transmission, preventing the transmission structure from bearing additional loads due to abnormal displacement. The entire assembly's height adjustment can maintain orderly operation over a long period, ensuring both the positioning accuracy of the clamping operation and the safety of the structural operation.

[0057] In some other embodiments of this application, the base portion 1 is provided with a third limiting plate 11 at both ends in the first direction. The third limiting plate 11 is adapted to abut against the first moving portion 31 and the second moving portion 32 after the first moving portion 31 and the second moving portion 32 reach the extreme position away from each other, so as to limit the displacement of the first moving portion 31 and the second moving portion 32 and prevent the first moving portion 31 and the second moving portion 32 from rushing out of the driving range of the first rack 6 and the second rack 7 in the first direction.

[0058] Furthermore, it should be noted that the first, second, and third limiting members are all constructed of polyurethane material, which possesses elastic deformation capability and cushioning properties. When the first sliding plate 323 moves to the end of its stroke and contacts the first limiting plate 324, or when the second sliding plate 223 touches the second limiting plate 224, or when the first moving part 31 and the second moving part 32 come into contact with the third limiting plate 11, the impact force generated will first act on the surface of the limiting plate. The polyurethane material will undergo moderate deformation, gradually absorbing the impact energy brought by the movement of the sliding plate and weakening the rigid collision effect generated at the moment of contact.

[0059] In some other embodiments of this application, a pressure sensor and a position sensor are also provided on the first contact member 4 or the second contact member 5 to detect the real-time position of the first contact member 4 or the second contact member 5, as well as the magnitude of the pressure after contact with the clamped object.

[0060] In some other embodiments of this application, multiple biomimetic adhesion fixtures 100 based on tracked clamping mechanisms can work together to clamp an object. The biomimetic adhesion fixtures 100 based on tracked clamping mechanisms can be distributed at the four corners of the clamped object to further improve the stability of clamping movement.

[0061] The following is combined Figure 4 A brief description of the rolling peeling and desorption method according to an embodiment of this application.

[0062] The rolling peeling and desorption method according to the embodiments of this application is used in the biomimetic adhesion tooling based on the tracked clamping mechanism in any of the above embodiments. It includes controlling the sliding part 3 to move relative to the base part 1, so that the sliding part 3 moves closer to the clamping part 2 until the second clamping surface 44 of the first contact member 4 and the first clamping surface 51 of the clamping part 2 jointly clamp the clamping object, and make the adhesion layer 43 on the second clamping surface 44 adhere to the surface of the clamping object; driving the first contact member 4 to rotate relative to the sliding part 3, and changing the contact state between the adhesion layer 43 and the surface of the clamping object by the circumferential movement of the first contact member 4.

[0063] According to the rolling peeling and desorption method of the present application embodiment, the biomimetic adhesion tooling adapted to the tracked clamping mechanism first controls the sliding part 3 to generate displacement relative to the base part 1, pushes the sliding part 3 toward the clamping part 2 to complete directional movement, and continuously adjusts the relative distance between the two sets of structures until the second clamping surface 44 of the first contact part 4 and the first clamping surface 51 of the clamping part 2 respectively abut against the two sides of the clamped object to form a bidirectional clamping constraint. The adhesion layer 43 arranged on the surface of the second clamping surface 44 completely adheres to the outer surface of the clamped object. The spatial position of the clamped object is locked by the interface bonding force formed between the adhesion layer 43 and the workpiece surface, and a stable clamping condition required for the transfer of heavy-load workpieces is constructed, and the workpiece surface is kept free from hard extrusion damage throughout the process.

[0064] After the workpiece is transferred and arrives at the target placement station, the method enters the desorption action execution process. The output drive command drives the first contact component 4 to carry out continuous rotational motion relative to the sliding part 3 (that is, the annular belt 42 starts to perform cyclic rotational motion). The first contact component 4 as a whole generates uninterrupted circumferential displacement. The adhesive layer 43 follows the first contact component 4 to complete the cyclic rotation synchronously. The contact interface between the adhesive layer 43 and the clamped object, which is fully attached, continuously switches the effective contact area with the circumferential motion. The contact boundary gradually shows a separation trend from one side edge. The separation area continues to extend and advance along the contact surface. The bonding force inside the interface is gradually released as the effective contact area decreases.

[0065] This motion pattern avoids the instantaneous peak tension caused by traditional overall synchronous desorption, weakens the tearing effect generated during the separation process, and reduces the damage caused by the tearing effect to the surface material of the clamped object and the main structure of the adhesion layer 43. The rotation of the first contact component 4 is continuous and uninterrupted, and there are no unnecessary pauses in the action switching. The entire desorption process operates at a compact pace, which can match the high-frequency continuous operation rhythm of the production line robotic arm. At the same time, the gently released interface force will not transmit instantaneous impact loads to the support and transmission structures such as the base part 1, sliding part 3, and clamping part 2, reducing the wear caused by the reciprocating operation of each component and extending the continuous cycle of stable operation of the tooling as a whole.

[0066] It should be noted that when both the sliding part 3 and the clamping part 2 are in motion, the sliding part 3 is controlled to move relative to the base part 1, and the clamping part 2 moves synchronously towards the base part in the direction 1. The two sets of structures move closer to each other synchronously, continuously adjusting the relative distance between the clamping part 2 and the sliding part 3 until the second clamping surface 44 of the first contact member 4 and the first clamping surface 51 formed by the second contact member 5 of the clamping part 2 respectively abut against the two sides of the clamped object, forming a bidirectional clamping constraint. At the same time, the adhesive layer 43 arranged on the surface of the second clamping surface 44 completely adheres to one side of the outer surface of the clamped object, and the corresponding adhesive structure on the surface of the second contact member 5 simultaneously adheres to the other side of the clamped object. The spatial position of the clamped object is locked by the interface bonding force formed by the two adhesive layers and the surface of the clamped object, thus constructing a stable clamping condition required for the transfer of heavy-load workpieces and maintaining the surface of the workpiece from hard extrusion damage throughout the process.

[0067] After the workpiece is transferred and arrives at the target placement station, the double-sided synchronous debonding action is executed. The output drive command drives the first contact component 4 to perform continuous rotation relative to the sliding part 3. At the same time, it drives the second contact component 5 to move synchronously relative to the clamping part 2. The first contact component 4 is equipped with a support wheel set 41 that rotates and is mounted on the surface of the sliding part 3. The annular belt 42 is arranged around the outside of the support wheel set 41. The support wheel set 41 rotates continuously, driving the annular belt 42 to complete uninterrupted cyclic rotation. The adhesive layer 43 is laid on the outer surface of the annular belt 42 and moves synchronously circumferentially with the annular belt 42. The contact interface between the adhesive layer 43 and the clamped object, which is fully attached, continuously switches the effective contact area as the annular belt 42 rotates. The contact boundary gradually shows a separation trend from one side edge. The separation area continues to extend and advance along the contact surface. The bonding force inside the interface is gradually released as the effective contact area decreases. The second contact component 5 on the other side synchronously generates edge deformation by its own movement, completing the gradual peeling and separation of the contact surface on the other side.

[0068] The gradual peeling motion carried out simultaneously on both sides avoids the instantaneous peak tension caused by traditional single-sided overall synchronous desorption. The bonding force of the interfaces on both sides is released synchronously and smoothly, weakening the tearing effect generated during the separation process and reducing the damage caused by the tearing effect to the surface material of the clamped object and the main structure of the adhesive layer 43. The rotational motion of the support wheel assembly 41 driving the annular belt 42 is continuous and uninterrupted. The deformation separation action of the second contact component 5 and the rotational peeling action of the first contact component 4 are matched in rhythm, which can further match the high-frequency continuous operation rhythm of the production line robot arm. At the same time, the smoothly released interface force will not transmit instantaneous impact loads to the support and transmission structures such as the base part 1, sliding part 3, and clamping part 2, reducing the wear caused by the reciprocating operation of each component and extending the continuous cycle of stable operation of the tooling as a whole.

[0069] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0070] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0071] In the description of this application, "multiple" means two or more.

[0072] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0073] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0074] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0075] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A biomimetic adhesion tooling based on a tracked clamping mechanism, characterized in that, include: Basal part (1); A clamping part (2) is disposed on the base part (1), and a first clamping surface (51) is formed on the clamping part (2). Sliding part (3); the sliding part (3) is movably disposed on the base part (1), and the sliding part (3) can move to selectively approach or move away from the first clamping surface (51). A first contact member (4) is movably disposed on a sliding portion (3) and has a second clamping surface (44) opposite to the first clamping surface (51). The first clamping surface (51) and the second clamping surface (44) are adapted to abut against the clamped object. The first contact member (4) moves relative to the sliding part (3) and deforms the edge of the first contact member (4) during the movement to separate it from the surface of the object being held.

2. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 1, characterized in that, The first contact member (4) is configured to rotate cyclically relative to the second clamping surface (44).

3. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 2, characterized in that, The first contact component (4) includes: Support wheel assembly (41), which is rotatably mounted on the sliding part (3); An annular belt (42) is wound around the support wheel assembly (41) and can rotate cyclically around the support wheel assembly (41); An adhesive layer (43) is disposed on the outer surface of the annular belt (42), at least a portion of the outer surface of the adhesive layer (43) is configured as the second clamping surface (44), and the adhesive layer (43) moves with the movement of the annular belt (42).

4. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 3, characterized in that, The adhesive layer (43) is constructed as an organosilicon elastic element, and a flexible backing layer for compressibility in the thickness direction is provided between the adhesive layer (43) and the annular belt (42).

5. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 3, characterized in that, The clamping part (2) is movably disposed on the base part (1) and has the same movable direction as the sliding part (3) so that the clamping part (2) and the sliding part (3) are close to or far from each other; in The clamping part (2) is provided with a second contacting part (5) having the same structure as the first contacting part (4). The second contacting part (5) is movably disposed on the clamping part (2) and the first clamping surface (51) is formed on the second contacting part (5). The second contacting part (5) moves relative to the clamping part (2) and deforms the edge of the second contacting part (5) during the movement to separate it from the surface of the clamped object.

6. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 5, characterized in that, Also includes: A first rack (6) and a second rack (7) are movably disposed on the base portion (1) and are arranged parallel to each other. The teeth of the first rack (6) and the teeth of the second rack (7) are disposed on surfaces facing each other. The first driving member (8) has a drive gear (81) connected to its output shaft. The drive gear (81) meshes with the first rack (6) and the second rack (7) respectively to drive the clamping part (2) and the sliding part (3) to move closer to or further away from each other.

7. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 6, characterized in that, The sliding part (3) includes: The first moving part (31) is disposed on the first rack (6), and the first moving part (31) is displaced relative to the base part (1) in a first direction; The second moving part (32) is movably disposed on the first moving part (31) along the second direction, and the first contact member (4) is disposed on the second moving part (32); The clamping part (2) includes: The third moving part (21) is disposed on the second rack (7) and the third moving part (21) is displaced relative to the base part (1) in a first direction; The fourth moving part (22) is movably disposed on the third moving part (21) along the second direction, and the second contact member (5) is disposed on the fourth moving part (22).

8. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 7, characterized in that, The second moving part (32) includes: The first positioning plate (321) is disposed on the first moving part (31) and moves with the first moving part (31), and the first positioning plate (321) is provided with a first guide part (3211) extending in the second direction. The second driving member (322) is disposed on the first positioning plate (321), and the output shaft of the second driving member (322) is connected to the first driving screw (3221). The first sliding plate (323) is provided with a second guide portion (3231) that cooperates with the first guide portion (3211), and the first sliding plate (323) is provided with a first mating screw hole that is screwed to the first drive screw (3221) to drive the first sliding plate (323) to move in the second direction. The first sliding plate (323) is also provided with the support wheel assembly (41). The fourth moving part (22) includes: The second positioning plate (221) is disposed on the third moving part (21) and moves with the third moving part (21), and the second positioning plate (221) is provided with a third guide part (2211) extending in the second direction. The third driving member (222) is disposed on the second positioning plate (221), and the output shaft of the third driving member (222) is connected to the second driving screw (2221). The second sliding plate (223) is provided with a fourth guide part (2231) that cooperates with the third guide part (2211), and the second sliding plate (223) is provided with a second mating screw hole (2233) that is screwed to the second drive screw (2221) to drive the second sliding plate (223) to move in the second direction. The second sliding plate (223) is also provided with the support wheel group (41).

9. The biomimetic adhesion tooling based on a tracked clamping mechanism according to claim 8, characterized in that, Also includes: The first shock absorber (3232) has one end disposed on the first sliding plate (323) and the other end connected to the annular belt (42) or the support wheel assembly (41). At least part of the first shock absorber (3232) is constructed as an elastic element to counteract the bending moment of the first contact member (4) in the clamping state. The second shock absorber (2232) has one end disposed on the second sliding plate (223) and the other end connected to the annular belt (42) or the support wheel assembly (41). At least part of the second shock absorber (2232) is constructed as an elastic element to counteract the bending moment of the second contact member (5) in the clamping state.

10. A rolling peeling and desorption method for the biomimetic adhesion tooling based on a tracked clamping mechanism as described in any one of claims 1-9, characterized in that, include: Control the sliding part (3) to move relative to the base part (1), so that the sliding part (3) moves closer to the clamping part (2) until the second clamping surface (44) of the first contact member (4) and the first clamping surface (51) of the clamping part (2) clamp the object together, and make the adhesive layer (43) on the second clamping surface (44) adhere to the surface of the object; The first contact component (4) is driven to rotate relative to the sliding part (3), and the circumferential movement of the first contact component (4) changes the contact state between the adhesive layer (43) and the surface of the clamped object.

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