Adhesive force testing device for bionic dry adhesive material

Abstract

The utility model provides an adhesive force testing device for a bionic dry adhesive material and a testing method of the adhesive force testing device. The utility model belongs to the field of stress testing devices. In the prior art, only a device and a method for measuring the normal adhesive force, the tangential adhesive force and the stripping force of the bionic dry adhesive material exist, and a device and a method for measuring the adhesive force of the bionic dry adhesive material under different spatial poses are lacked. The utility model relates to an adhesive force testing device for a bionic dry adhesive material. The adhesive force testing device consists of a frame, a bottom plate, a horizontal rotating mechanism, a U-shaped bracket, a pitching mechanism, a mounted bearing, a shaft sleeve, a connecting shaft, a Z-axis sliding table, a guide rail, a sliding block, a pull pressure sensor, a sensor mounting seat, a universal damping ball head, an objective table, a clamping mechanism and a plate to be tested. The device not only can be used for testing the normal and tangential adhesive forces of the bionic dry adhesive material, but also can be used for testing the adhesive forces of the bionic dry adhesive material under different spatial poses. According to the utility model, rapid clamping and replacement of to-be-tested plates made of different materials and having surface roughness can be completed, so that the influence of the roughness on the adhesive force can be tested.

Description

Technical Field

[0001] The utility model relates to an adhesion test device, in particular to an adhesion test device for a bionic dry adhesion material, and belongs to the technical field of force testing devices. Background Art

[0002] During the millions of years of evolution, the gecko's feet have acquired the best biomaterial properties, ensuring that it can move and stay on surfaces of different materials and roughness, such as walls, tree trunks, and ceilings. Scientists have studied the adhesion mechanism of geckos and prepared different types of bionic dry adhesive materials for the development of space crawling robots. The development of bionic dry adhesive materials is inseparable from the support of corresponding adhesion testing technology. The existing characterization of the adhesion performance of bionic dry adhesive materials only stays in the measurement of normal adhesion, tangential adhesion, and peeling force. For example: Patent (application number CN201810352124A) discloses an adhesion test device and a test method for bionic adhesive materials. By setting a vertical moving adapter unit and a lateral moving unit, the adhesion performance test of the adhesive sample to be tested can be carried out at different peeling angles and the same peeling angle after being subjected to tension. In actual applications, the adhesion force of bionic dry adhesive materials is not only in the normal, tangential, and peeling forms, but also lacks the measurement of the adhesion force of bionic dry adhesive materials in different spatial positions. Therefore, it is very important to design a device that can measure the adhesion force of bionic dry adhesion materials in different spatial positions. Utility Model Content

[0003] The utility model aims to provide a device for testing the adhesion of bionic dry adhesive materials.

[0004] The utility model provides a bionic dry adhesive material adhesion test device, comprising a frame, a base plate, a horizontal rotation mechanism, a U-shaped bracket, a pitch mechanism, a stage, a seat bearing, a bushing, a connecting shaft, a mirror bracket, a reflector, a clamping mechanism, a plate to be tested, a profile connecting plate, a guide rail, a slider, a Z-axis slide, a tension and pressure sensor, a sensor mounting seat, and a universal damping ball head; the base plate is connected to the frame, and the horizontal rotation mechanism is mounted on the base plate; a U-shaped bracket composed of plates is mounted above the horizontal rotation mechanism; the pitch mechanism is mounted on one side of the U-shaped bracket, and the bushing is mounted on the other side and is connected to the seat bearing through a connecting shaft; the stage is connected to the pitch mechanism and the seat bearing, The test platform is fixed in the middle of the U-shaped bracket; a clearance gap is provided in the middle of the stage; clamping mechanisms are installed on both sides of the clearance gap above the stage; the plate to be tested is fixed on the stage by the clamping mechanism; a mirror bracket is installed below the stage for placing a reflector; an X-direction translation mechanism composed of a guide rail and a slider is installed above the frame; a profile bracket is installed above the slider and connected by a profile connecting plate; a Y-direction translation mechanism composed of a guide rail and a slider is installed above the profile; a Z-axis slide bracket is installed above the slider of the Y-direction translation mechanism; the Z-axis slide is connected to the Z-axis slide bracket; a tension pressure sensor is installed on the Z-axis slide through a sensor mounting seat; a universal damping ball head is installed below the tension pressure sensor.

[0005] Preferably, the loading platform can be adjusted to any position in space under the drive of the horizontal rotation mechanism and the pitch mechanism.

[0006] Preferably, a mirror bracket is installed below the stage of the utility model for installing a reflector, and the reflector can be adjusted in angle to observe the state of the bionic dry adhesive material during adhesion and desorption.

[0007] Preferably, a clamping mechanism is installed above the stage, which can quickly clamp and replace the plate to be tested.

[0008] Preferably, the Z-axis slide table can move in the X-direction and the Y-direction through an X-direction translation mechanism and a Y-direction translation mechanism, and two sliders are installed on each guide rail.

[0009] Preferably, the universal damping ball head can adapt to different spatial posture changes of the stage to ensure that the bionic dry adhesive material fits tightly to the plate to be tested.

[0010] Preferably, the plate to be tested is made of transparent material.

[0011] The specific steps of the test method used by the bionic dry adhesive material adhesion test device are as follows:

[0012] Step 1: Use glue to stick the bionic dry adhesive material to the bottom of the universal damping ball head.

[0013] Step 2: In the initial state, the horizontal rotation mechanism and the pitch mechanism are both at the 0° position, and the plate to be tested is clamped to the gap of the stage using the clamping mechanism.

[0014] Step 3: The stepper motor drives the horizontal rotation mechanism and the pitch mechanism to rotate to a preset angle.

[0015] Step 4: Move the Z-axis slide by sliding the guide slider to align the bionic dry adhesion material with the plate to be tested.

[0016] Step 5: Drive the Z-axis slide stepper motor to make the bionic dry adhesive slowly approach the plate to be tested until the bionic dry adhesive material is in full contact with the plate to be tested.

[0017] Step 6: Drive the Z-axis slide stepper motor to separate the bionic dry adhesive material from the plate to be tested, and use the pull pressure sensor to measure the adhesion force of the bionic dry adhesive material in a certain spatial position.

[0018] Step 7: Repeat steps 5 to 6 multiple times and measure multiple times to obtain the average adhesion force.

[0019] Step 8: Continue to drive the horizontal rotation mechanism and the pitch mechanism stepper motor to rotate other preset angles and repeat steps 3 to 7.

[0020] By replacing the test panels with different roughness, the influence of surfaces with different roughness on the adhesion performance of the bionic dry adhesion material can be measured.

[0021] The present invention has the following beneficial effects:

[0022] 1. The utility model can not only test the normal adhesion and tangential adhesion of the bionic dry adhesive material, but also measure the adhesion of the bionic dry adhesive material in different spatial positions.

[0023] 2. The utility model can quickly replace the plates to be tested with different roughness, so as to test the influence of the roughness on the adhesion of the bionic dry adhesive material.

[0024] 3. The utility model can observe the adhesion state of the bionic dry adhesion material in real time through a reflector. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an axonometric diagram of a device for testing the adhesion of a bionic dry adhesive material;

[0026] Figure 2 It is a front view of a bionic dry adhesive material adhesion test device;

[0027] Figure 3 It is a schematic diagram of the horizontal rotation and pitch mechanism;

[0028] Figure 4 It is a schematic diagram of a universal damping ball head;

[0029] Figure 5 It is a schematic diagram of the cylindrical bionic dry adhesion used in the utility model;

[0030] Figure 6 This is a flow chart of the test method in the utility model;

[0031] Among them, 101, frame, 102, base plate, 103, horizontal rotation mechanism, 104, U-shaped bracket, 105, pitch mechanism, 106, seat bearing, 107, bushing, 108, connecting shaft, 109, stage, 110, mirror bracket, 111, reflector, 112, clamping mechanism, 113, plate to be tested, 201, guide rail, 202, slider, 203, profile connecting plate, 204, Z-axis slide bracket, 205, Z-axis slide, 206, sensor mounting seat, 207, tension and pressure sensor, 208, universal damping ball head. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] The utility model measures the adhesion performance of the bionic dry adhesive material in different spatial positions by means of a tension pressure sensor. To make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0034] Reference Figure 1 A bionic dry adhesive material adhesion test device of the present embodiment includes a frame 101, a base plate 102, a horizontal rotation mechanism 103, a U-shaped bracket 104, a pitch mechanism 105, a seat bearing 106, a sleeve 107, a connecting shaft 108, a stage 109, a mirror bracket 110, a reflector 111, a clamping mechanism 112, a plate to be tested 113, a guide rail 201, a slider 202, a profile connecting plate 203, a Z-axis slide bracket 204, a Z-axis slide 205, a sensor mounting seat 206, a tension and pressure sensor 207 and a universal damping ball head 208.

[0035] The frame 101 is constructed of aluminum profiles and connected by angle pieces; the bottom plate 102 is connected to the frame 101; the horizontal rotation mechanism 103 is installed on the bottom plate 102; a U-shaped bracket 104 composed of plates is installed above the horizontal rotation mechanism 103; a pitch mechanism is installed on one side of the U-shaped bracket 104, and a sleeve 107 is installed on the other side and connected to a seat bearing 106 through a connecting shaft 108; a stage 109 is connected to the pitch mechanism 105 and the seat bearing 106 and fixed in the middle of the U-shaped bracket; a clearance gap is opened in the middle of the stage 109; clamping mechanisms 112 are installed on both sides of the clearance gap above the stage 109; a plate 113 to be tested is fixed by the clamping mechanism 112 On the stage 109; a mirror bracket 110 is installed below the stage 109 for placing a reflector 111; an X-axis translation mechanism consisting of a guide rail 201 and a slider 202 is installed above the frame; a profile bracket is installed above the slider 202 and connected via a profile connecting plate 203; a Y-axis translation mechanism consisting of a guide rail 201 and a slider 202 is installed above the profile; a Z-axis slide bracket 204 is installed above the slider 202 of the Y-axis translation mechanism; a Z-axis slide bracket 204 is connected to the Z-axis slide bracket 204; a pull pressure sensor 207 is installed on the Z-axis slide 205 via a sensor mounting seat 206; a universal damping ball head 208 is installed below the pull pressure sensor 207.

[0036] The horizontal rotation mechanism 103 is driven by a 42 stepper motor, the transmission mode is a worm gear transmission, and the horizontal rotation mechanism can rotate within a range of 0-±180°; the pitch mechanism 105 is also driven by a 42 stepper motor, the transmission mode is a worm gear transmission, and the pitch mechanism can rotate within a range of 0-±90°; the Z-axis slide 205 is driven by a 57 stepper motor, and the stroke is 0-100mm.

[0037] Commonly used biomimetic dry adhesive materials are used in the test experiments, such as cylindrical biomimetic dry adhesive materials made of polydimethylsiloxane (PDMS, polydimethylsiloxane, Sylgard 184, Dow Corning), such as Figure 2 As shown, the microarray size is the diameter Depth d = 40 μm.

[0038] The specific steps of the method for measuring the adhesion force of bionic dry adhesion materials under different spatial postures are as follows:

[0039] Step 1: Cut the cylindrical bionic dry adhesive material into a 20 mm×20 mm square and glue it to the bottom of the universal damping ball head 209 with glue.

[0040] Step 2: In the initial state, the horizontal rotation mechanism 103 and the pitch mechanism 105 are both at the 0° position. The plate 113 to be tested is clamped to the gap of the stage 109 by the clamping mechanism 112 .

[0041] Step 3: The stepper motor drives the horizontal rotation mechanism 103 and the pitch mechanism 105 to rotate to a specified angle.

[0042] Step 4: Move the Z-axis slide table 205 by sliding the X-axis translation mechanism and the Y-axis translation mechanism composed of the guide rail 201 and the slider 202 to align the bionic dry adhesive material with the plate to be tested 113 .

[0043] Step 5: Drive the Z-axis slide 205 downward to allow the bionic dry adhesive material to slowly approach the plate to be tested 113. The universal damping ball head 208 automatically adapts to the spatial angle of the plate to be tested. When the bionic dry adhesive material contacts the plate to be tested 113, the adhesion state of the bionic dry adhesive material and the plate to be tested 113 is observed through the reflector 111.

[0044] Step 6: Drive the Z-axis slide 205 upward to separate the bionic dry adhesive material from the plate 113 to be tested, observe the separation state of the bionic dry adhesive material and the plate 113 to be tested through the reflector 111, and at the same time, pull the pressure sensor 207 to measure the adhesion force of the bionic dry adhesive material in a certain spatial position.

[0045] Step 7: Repeat steps 5 to 6 multiple times and measure multiple times to obtain the average adhesion force.

[0046] Step 8: Continue to drive the horizontal rotation mechanism 103 and the pitch mechanism 105 to rotate to a specified angle, and repeat steps 3 to 7.

[0047] By replacing the test plate 113 with different roughness, the influence of surfaces with different roughness on the adhesion performance of the bionic dry adhesion material can be measured.

[0048] The standard parts used in the utility model can all be purchased from the market, and each connecting plate can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0049] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bionic dry adhesive material adhesion test device, comprising a frame, a base plate, a horizontal rotation mechanism, a U-shaped bracket, a pitch mechanism, a stage, a seat bearing, a bushing, a connecting shaft, a mirror bracket, a reflector, a clamping mechanism, a plate to be tested, a profile connecting plate, a guide rail, a slider, a Z-axis slide, a tension and pressure sensor, a sensor mounting seat, and a universal damping ball head; the base plate is connected to the frame, and the horizontal rotation mechanism is mounted on the base plate; a U-shaped bracket composed of plates is mounted above the horizontal rotation mechanism; a pitch mechanism is mounted on one side of the U-shaped bracket, and a bushing is mounted on the other side and connected to the seat bearing through a connecting shaft; the stage is connected to the pitch mechanism and the seat bearing, and is fixed in the middle of the U-shaped bracket; a clearance gap is opened in the middle of the stage; clamping mechanisms are mounted on both sides of the clearance gap above the stage; the plate to be tested is fixed on the stage by the clamping mechanism; A mirror bracket is installed under the table to place the reflector; an X-axis translation mechanism consisting of a guide rail and a slider is installed above the frame; a profile bracket is installed above the slider and connected through a profile connecting plate; a Y-axis translation mechanism consisting of a guide rail and a slider is installed above the profile; a Z-axis slide bracket is installed above the slider of the Y-axis translation mechanism; the Z-axis slide is connected to the Z-axis slide bracket; the tension and pressure sensor is installed on the Z-axis slide through the sensor mounting seat; a universal damping ball head is installed below the tension and pressure sensor; the frame is built of aluminum profiles and connected through angle pieces; the horizontal rotation mechanism and the pitch mechanism are both driven by a 42 stepper motor, and the transmission method is a worm gear; the horizontal rotation mechanism can rotate within a range of 0-±180°; the pitch mechanism can rotate within a range of 0-±90°; the Z-axis slide is driven by a 57 stepper motor, and the transmission method is a ball screw, and the stroke is 100mm.

2. The bionic dry adhesive material adhesion test device according to claim 1, characterized in that: The object carrier can be adjusted to any position in space under the drive of the horizontal rotation mechanism and the pitch mechanism.

3. The bionic dry adhesive material adhesion test device according to claim 1, characterized in that: A mirror bracket is installed below the stage for installing a reflector. The reflector can be adjusted in angle to observe the state of the bionic dry adhesive material during adhesion and desorption.

4. The bionic dry adhesive material adhesion test device according to claim 1, characterized in that: A clamping mechanism is installed above the stage, which can quickly clamp and replace the plate to be tested.

5. The bionic dry adhesive material adhesion test device according to claim 1, characterized in that: The Z-axis slide can move in the X-direction and Y-direction through the X-direction translation mechanism and the Y-direction translation mechanism.

6. The device for testing the adhesion of biomimetic dry adhesive materials according to claim 1, characterized in that: The universal damping ball head can adapt to the different spatial posture changes of the stage, ensuring that the bionic dry adhesive material fits tightly with the plate to be tested.

7. The device for testing the adhesion of biomimetic dry adhesive materials according to claim 1, characterized in that: The plate to be tested is made of transparent material.

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