Device for calculating adhesive force between objects, adhesive force calculation method, adhesive force calculation system, and program

Abstract

To provide an adhesive force calculation system, device, and method, and a program that perform stable adhesive force calculation.SOLUTION: An adhesive force calculation device described in an aspect of the present invention comprises: a time-series data acquisition unit that acquires time-series data acquired by using a first sensor that measures a load in a first direction from the amount of strain of an elastic body supporting a first object, and a second sensor that measures a load in a second direction from the amount of strain of an elastic body supporting a second object; and an adhesive force calculation unit that acquires time-series data of frictional force and time-series data of a vertical load from the time-series data, acquires a coefficient of static friction, vertical load, and frictional force based on the timing when the vertical load is removed, by using the time-series data of frictional force and the time-series data of the vertical load, and calculates adhesive force by using the coefficient of static friction, the vertical load, and the frictional force.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an adhesive force calculation device, an adhesive force calculation method, an adhesive force calculation system, and a program for calculating an adhesive force between objects. [Background technology]

[0002] A commonly used method for calculating the adhesive force between objects is to calculate the force that is being exerted on the objects as they are being pulled apart. Non-Patent Document 1 discloses a method for calculating the adhesive force between objects by pulling the objects apart in a direction perpendicular to the contact interface. Specifically, it discloses a system configuration in which one object is fixed and the other object is connected to a leaf spring, and the adhesive force is calculated from the amount of strain of the leaf spring when the objects are being pulled apart. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Yasuhisa Ando, ​​"Study on the effect of adhesive force on friction under small loads," Doctoral thesis, Tokyo Institute of Technology, February 28, 1997 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the adhesive force calculation method disclosed in Non-Patent Document 1, the adhesive force is calculated by peeling in a direction perpendicular to the contact interface, so the value of the adhesive force changes depending on the peeling speed, making it difficult to perform a stable calculation. Specifically, when the peeling speed is slow, some of the contact surfaces peel off during peeling, and when the objects separate, a smaller adhesive force is calculated compared to when the objects are in contact. By increasing the peeling speed, peeling of some of the contact surfaces can be suppressed, but the sampling speed of the distortion calculator cannot keep up with the peeling speed, resulting in data loss. [Means for solving the problem]

[0005] In order to solve the above problems, an adhesion force calculation device in one embodiment of the present invention has a time series data acquisition unit that acquires time series data acquired using a first sensor that measures a load in a first direction from the amount of distortion of an elastic body supporting a first object, and a second sensor that measures a load in a second direction from the amount of distortion of an elastic body supporting a second object, and an adhesion force calculation unit that acquires time series data of friction force and time series data of normal load from the time series data, and uses the time series data of friction force and the time series data of normal load to acquire a static friction coefficient, a normal load, and a friction force based on the timing when the normal load was removed, and calculates the adhesion force using the static friction coefficient, the normal load, and the friction force. Effect of the Invention

[0006] According to the present invention, it is possible to provide an adhesion force calculation system, device, method, and program that can sufficiently slow down the peeling speed when removing a vertical load and perform stable adhesion force calculation. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing the configuration of an adhesive force calculation system. [Diagram 2] 4 is a flow diagram showing an adhesion calculation method performed by the adhesion calculation system. [Diagram 3] FIG. 2 is a top view of a measurement device configuration constituting the adhesive force calculation system. [Figure 4] FIG. 2 is a side view of a measurement device configuration constituting the adhesive force calculation system. [Diagram 5] 1A is a top view of the device configuration when the measurement device calculates the inclination of a second object, and FIG. 1B is a top view of the device configuration when the measurement device calculates the inclination of a first object. [Figure 6] 13 is a diagram showing an example of calculated time-series data of a vertical load measured by a load sensor before and after contact determination; FIG. [Figure 7] FIG. 13 is a diagram showing an example of time-series data of a normal load calculated by a load sensor and time-series data of a friction force with respect to an experimental operation from the start of sliding to waiting after the end of sliding. [Figure 8] FIG. 13 shows examples of calculated time series data of vertical load, friction force, and friction coefficient before and after unloading the vertical load. [Figure 9] FIG. 13 is a graph showing time series data of calculated adhesive force. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] An embodiment of the present invention will be described below with reference to the drawings. Fig. 1 is a diagram showing the system configuration of an adhesive force calculation system 100 according to an embodiment of the present invention. The adhesive force calculation system 100 includes a measuring device 110 that measures time-series data of voltage, and an adhesive force calculation device 120 that calculates adhesive force from the time-series data measured by the measuring device 110. Here, the measuring device 110 is connected to the adhesive force calculation device 120 via a network, and receives a control signal from the adhesive force calculation device 120 to obtain measurement data.

[0009] The measuring device 110 is a device equipped with a first sensor that measures a load in a horizontal direction relative to a contact interface of the objects from the amount of distortion of an elastic body supporting a first object, and a second sensor that measures a load in a vertical direction relative to a contact interface of the objects from the amount of distortion of an elastic body supporting a second object, and measures and acquires time-series data of voltage by a measuring unit 111. The time-series data measured by the measuring unit 111 is stored in a memory unit 112.

[0010] The adhesion force calculation device 120 includes a memory unit 121 that stores measurement data measured by the measuring device 110, a time series data acquisition unit 122 that acquires measurement data, which is time series data, using the memory unit 121, and an adhesion force calculation unit 123 that calculates the adhesion force from the measurement data acquired by the time series data acquisition unit 122.

[0011] The adhesive force calculation device 120 is composed of a CPU, a GPU, a RAM, a ROM, a storage device, etc., which are connected via a system bus.

[0012] Here, the adhesive force calculation unit 123 acquires time series data of the frictional force and time series data of the normal load from the time series data acquired by the time series data acquisition unit 122 .

[0013] Next, the adhesion calculation unit 123 obtains the static friction coefficient, the normal load, and the friction force based on the timing of removing the normal load using the time series data of the friction force and the time series data of the normal load, and further calculates the adhesion force from the information. Here, the timing information of removing the normal load is predetermined timing information set in advance when controlling the measuring device 110, and is set in advance by the operator of the measuring device 110, for example.

[0014] Here, the configuration of the measuring device 110 constituting the adhesive force calculation system of the present invention will be described with reference to FIG. 3. FIG. 3 is a top view of the measuring device 110. In the measuring device 110, the first object 13 and the second object 14 are connected to the load sensor 5 (first sensor) and the load sensor 10 (second sensor) via the object holding jigs 12 and 11, respectively. Here, it is preferable that the first object 13 used in the measuring device 110 has a curved surface with a positive curvature exposed so as not to come into partial contact with the second object 14. The positions of the first object 13 and the second object 14 are not limited to those shown in FIG. 3, and for example, the first object 13 may be connected to the object holding jig 11 and the second object 14 may be connected to the object holding jig 12. This is because the sliding and adhesion, which are physical phenomena occurring at the contact surface, are symmetrical phenomena with respect to the contact interface, and even if the positions of the first object 13 and the second object 14 are reversed, they can be considered to be equivalent to the physical phenomena occurring in the positional relationship of FIG. 3.

[0015] The load sensor 5 (first sensor) and the load sensor 10 (second sensor) have the y-axis direction (first direction) and the x-axis direction (second direction) as their detection axes, respectively. In addition, it is desirable to use a load sensor that can independently calculate the force on the detection axis even if a force is applied in the z-axis direction so as not to be affected by the weights of the first object 13, the second object 14, and the object holding jigs 11 and 12 in the measuring device 110. In general, when the object to be calculated is a solid that is not covered with a special adhesive component, the adhesive force is small, so it is desirable to use a sensor that can calculate a small load for the load sensor 5 (first sensor) and the load sensor 10 (second sensor). The load sensor 10 (second sensor) plays a role of applying a force in the x-axis direction to the second object 14 in order to transition the first object 13 and the second object 14 from a stick state to a slip state in an operation process described later. In this embodiment, the second object 14 is connected to a leaf spring, and the load sensor 10 is used, which can measure the force acting in the x-axis direction of the second object 14 by measuring the amount of strain of the leaf spring with a capacitance-type displacement sensor. What is connected to the second object 14 is not limited to a leaf spring, but may be any elastic body that is deformable in the x-axis direction, as long as the load sensor 10 (second sensor) has a mechanism that can measure the amount of strain of the elastic body.

[0016] The automatic stages 1 and 6 and the load sensor 5 (first sensor) and the load sensor 10 (second sensor) are connected to a control device 16 via electric wires 18, 19, 20, and 21. The control device 16 can send operation signals to the automatic stages 1 and 6 via the electric wires 18 and 19 to set the movement speed and movement time. The control device 16 can also read signals (voltages) from the load sensor 5 (first sensor) and the load sensor 10 (second sensor) via the electric wires 20 and 21, and can record the read signals in a recording unit 112.

[0017] A load sensor 5 (first sensor) and a load sensor 10 (second sensor) are connected to the automatic stages 1 and 6 via the goniostages 3, 4, and 8, the rotation stage 9, and the manual stages 2 and 7 which are movable in the x-axis and z-axis directions.

[0018] FIG. 4 is a side view illustrating the configuration of the measuring device 110. The automatic stages 1 and 6 are connected to the vibration isolation table 29. The laser displacement meter 15 is connected to the vibration isolation table 29 via a z-axis manual stage 26, a y-axis manual stage 27, and an x-axis manual stage 28. The mirror 22 is connected to a mirror holding member 23 that is extendable in the z-axis direction. When the mirror holding member 23 is extended in the +z-axis direction, the positional relationship allows the mirror 22 to be placed between the objects 13 and 14 as shown in FIG. 4. The mirror holding member 23 is connected to the vibration isolation table 29 via a z-axis manual stage 24 and a y-axis automatic stage 25, and the position of the mirror 22 can be adjusted.

[0019] The adhesive force calculation method using the adhesive force calculation system 100 will be described below along the flow shown in FIG. 2 and with reference to other drawings as appropriate.

[0020] Here, steps S1 to S7 are processes mainly performed by the measuring device 110, and steps S8 and S9 are processes mainly performed by the adhesion force calculation device 120. Note that, although the following description is given as a continuous flow, the processes of the measuring device 110 and the adhesion force calculation device 120 may be performed by different entities, and when data measured by the measuring device 110 is available, only the flow related to the adhesion force calculation device 120 that calculates the adhesion force may be performed.

[0021] (Advance preparation) Before describing each flow, the advance preparation for the measuring device 110 constituting the adhesive force calculation system 100 will be described. First, the objects 13 and 14 are attached to the object holding jigs 11 and 12 in the measuring device 110 and connected to the load sensors 5 and 10. It is desirable that the first object 13 and the second object 14 are de-electrified in advance using an ionizer or the like so that the electrostatic forces of the first object 13 and the second object 14 do not affect the load sensors 5 and 10 before contact. The inclination of the first object 13 and the second object 14 is corrected using the goniostages 3, 4, and 8 and the rotation stage 9 connected to the load sensor. The inclination is calculated using a laser displacement meter 15. In this embodiment, a laser displacement meter is used, but the inclination calculation is not limited to the laser displacement meter, and any calculator capable of calculating the inclination of an object without contact may be used. FIG. 5 shows a top view of the device configuration when calculating the inclination. As shown in Fig. 5(a), the laser is directed at the second object 14 by changing the optical path using a mirror 22, and the second object 14 is moved by the manual stage 7 so that the laser scans the surface. The tilt is calculated from the displacement calculated at this time, and the second object 14 is moved using the goniostage 8 and the rotation stage 9 so that the tilt becomes smaller. Tilt correction should be performed to the extent that the vertical load during sliding does not change drastically. As shown in Fig. 5(b), the position where the laser is directed may be changed to the first object 13, and the tilt correction of the first object 13 may be performed by following the same procedure using the goniostages 3 and 4.

[0022] (Step S1: First Process) After the above preparation steps are completed, the measuring device 110 starts recording the amount of strain of the elastic body. Specifically, the measuring device 110 sets the vertical load to be applied between the first object 13 and the second object 14, and causes the control device 16 to record the set vertical load 30. Next, a signal to move the y-axis automatic stage 1 in the +y direction is sent from the control device 16 to the y-axis automatic stage 1 via the electric wire 18. When the y-axis automatic stage 1 receives the signal, the y-axis automatic stage 1 starts moving. At the same time as the movement starts, the control device 16 starts receiving a signal from the load sensor 5 via the electric wire 20. In addition, the load sensor 5, 10 signal storage device 17 receives the signals from the load sensor 5 and the load sensor 10, and continues to store them until the end of the measurement. This operation corresponds to S1 in FIG. 2. The signal from the load sensor 5 is converted into the force that the load sensor 5 received in the y-axis direction and recorded in the control device 16. The control device 16 may continue to record the signal from the load sensor 5, or may discard the signal information recorded up to that point when a new signal arrives from the load sensor 5 in order to save memory capacity. In order to prevent noise due to vibration from being introduced into the signal received from the load sensor 5, it is desirable that the vibration during movement of the y-axis automatic stage 1 be small.

[0023] (Step S2 & Step S3 & Step S4: Second Process) In steps 2 to 4, the measuring device 110 performs a second process of bringing the first object and the second object into contact with each other and starting and ending the sliding. Specifically, as the movement of the automatic stage 1 continues, the measuring device 110 detects a moment when the force converted from the signal transmitted from the load sensor 5 becomes equal to or exceeds the vertical load 30 recorded by the control device 16. At this moment, the control device 16 transmits a stop command to the automatic stage 1 via the electric wire 18. This operation corresponds to S2 in FIG. 2.

[0024] After bringing the first object 13 and the second object 14 into contact with each other, the measuring device 110 waits for a certain period of time and then sends a signal from the control device 16 via the electric wire 19 to move the x-axis automatic stage 6 in the +x direction. Since the first object 13 and the second object 14 are in contact with each other, a frictional force occurs between the first object 13 and the second object 14. This operation corresponds to S3 in FIG. 2.

[0025] After sliding for a certain period of time, the measuring device 110 sends a signal to stop the x-axis automatic stage 6 from the control device 16 via the electric wire 19. After receiving the signal, the x-axis automatic stage 6 stops operating and enters a standby state. This operation corresponds to S4 in Fig. 2. Here, the contact and sliding are performed within a force range in which the amount of distortion of the elastic body can be detected and in which the amount of distortion is linear with respect to the load received by the elastic body.

[0026] (Step S5: Third Process) After step S4 is completed, in step S5, the measuring device 110 performs a third step of unloading the vertical load on the contact interface between the first object and the second object. Specifically, the measuring device 110 enters a standby state for a certain period of time, and then sends a signal from the control device 16 to the y-axis automatic stage 1 via the electric wire 18 to move in the -y direction in order to unload the vertical load. This operation corresponds to S5 in Fig. 2. Here, the unloading of the vertical load in the measuring device 110 is adjusted so that the change in the vertical load over time falls within the range of the resolution of the sensor that measures the amount of strain.

[0027] (Step S6 & Step S7: Fourth Process) In steps S6 and S7, the measuring device 110 separates the first object from the second object, and executes a fourth step of ending the recording of the amount of distortion. Specifically, after the measuring device 110 releases the load for a certain period of time, the control device 16 sends a signal to the y-axis automatic stage 1 via the electric wire 18 to stop the stage. This operation corresponds to S6 in FIG. 2. Furthermore, the measuring device 110 stops the recording of the load sensors 5, 10 and the signal storage device 17, and the load sensors 5, 10 signal storage device 17 stores the signal information of the load sensors 5, 10 recorded in steps S1 to S6 in the storage unit 112. This operation corresponds to S7 in FIG. 2.

[0028] The above are the steps required for acquiring measurement data related to the measuring device 110.

[0029] When the measurement device 110 in the adhesive force calculation system 100 has completed acquisition of the time-series voltage data, the measurement data is transmitted to the adhesive force calculation device 120 .

[0030] (Step S8: Calculate the static friction coefficient) In step S8, the adhesion calculation device 120 calculates the static friction coefficient from the friction force corresponding to the timing when the normal load was removed in the third step in the measurement device 110 and the normal load based on the measurement data, and then proceeds to the next step.

[0031] (Step S9: Calculation of adhesive force) In step S9, the adhesion calculation device 120 calculates the adhesion force from the static friction coefficient calculated in step S8 and the friction force and normal load after the timing when the normal load is removed from the measurement device 110, and then ends the adhesion calculation flow.

[0032] The adhesive force calculation system 100 of the present invention, configured as described above, can calculate the adhesive force between objects with stable accuracy.

[0033] Specifically, the adhesion force calculation system 100 applies a frictional force by bringing the objects into contact with each other and then sliding them with a normal load applied. After the objects come to rest, the normal load is removed. Although a frictional force is applied to the objects, the objects do not immediately transition to a moving state because an adhesion force is generated between the objects, and remain in a stationary state for a while. By calculating the adhesion force from the normal load, frictional force, and static friction coefficient at this time, the peeling speed can be sufficiently slowed down when the normal load is removed, making it possible to stably calculate the adhesion force. EXAMPLES

[0034] Hereinafter, a method for measuring adhesive force in the adhesive force calculation system 100 will be described using a specific example.

[0035] The first object 13 used had a surface shape that exposed a convex portion with a curvature of 8 mm. The curvature is not limited to this value, and it is sufficient that a curved surface having a curvature that prevents the first object 13 and the second object 14 from contacting each other on one side is exposed. For the automatic stages 1 and 6, automatic stages that satisfy the specifications of a moving range of ±10 [mm] and a feed distance of 1 [um] per step were used, and for the control device 16, one that can divide one step into a maximum of 250 was used.

[0036] An example of the first step in the measuring device 110 will be described. The pulse rate of the y-axis automatic stage 1 is set to 50 [pulse / sec], and the number of microstep divisions is set to 100. The moving speed is calculated from the pulse rate and the number of microstep divisions, and is 0.5 [um / sec]. FIG. 6 shows the calculated load of the load sensor 4 before and after the contact determination. It can be seen from FIG. 6 that the increase in the vertical load stops at the vertical load 30 set in the control device 16. The moving speed of the y-axis automatic stage 1 is not limited to that of this example, but in order to reduce the deviation between the set vertical load and the actually applied vertical load, it is preferable that the moving speed of the y-axis automatic stage 1 is slow.

[0037] An example of the second step in the measuring device 110 will be described. After waiting for 60 [sec], the x-axis automatic stage 6 was moved with a pulse rate of 100 [pulse / sec] and a microstep division number of 100 (sliding speed is 1 [um / sec]). After sliding for 80 [sec], the x-axis automatic stage 6 was stopped and waited for 30 [sec]. The waiting time after contact, sliding speed, sliding time, and waiting time after sliding shown in this example are not limited to the values ​​in this example, and can be freely changed as experimental conditions. However, it is desirable to set the sliding speed and sliding time to a speed range and time range in which the vertical load does not change drastically during sliding. The calculation results of the vertical load and friction force calculated by the load sensor 5 (first sensor) and the load sensor 10 (second sensor) for the operation from the start of sliding to waiting after the end of sliding are shown in FIG. 7.

[0038] An example of the third step in the measuring device 110 will be described. Fig. 8 shows the calculation results of the normal load, friction force, and friction coefficient before and after the normal load is removed. The normal load is removed at the point 36 where the static friction coefficient is calculated. When the normal load starts to be removed, the friction force hardly changes. As the normal load is continued to be removed, the friction force is greatly reduced at the point 37 where the friction force is reduced. This means that the stick state of the first object 13 and the second object 14 is transitioning to a slip state.

[0039] Next, a method for calculating the adhesion force by the adhesion force calculation device 120 will be described. First, the time series data of the friction force and the time series data of the normal load are calculated from the time series data. Next, based on the timing at which the normal load is removed, the friction force and the normal load at the stationary state are obtained from the time series data of the friction force and the time series data of the normal load. That is, the friction force and the normal load at the static friction coefficient calculation point 36 are used. The adhesion force calculation device 120 calculates the static friction coefficient by substituting the friction force and the normal load into formula (1). This process corresponds to S8 in FIG. 2.

[0040]

number

[0041] The normal load starts to be removed from static friction coefficient calculation point 36, but objects 13 and 14 remain stationary. This can be confirmed by the fact that the calculated friction force is constant, as shown in Figure 8. While the load is being removed, an adhesive force acts between the objects in addition to the force measured by load sensor 5, and the normal load acting between objects 13 and 14 is the resultant force of these two forces. This resultant force is expressed by equation (2).

[0042]

number

[0043] Since the objects 13 and 14 remain stationary until they reach the slip state at the friction reduction point 37, equation (1) holds. Substituting equation (2) into equation (1) and rearranging it with respect to the adhesive force, equation (3) is derived.

[0044]

number

[0045] The adhesion calculation device 120 calculates the adhesion as time-series data from the static friction coefficient calculation point 36 to the friction force reduction point 37 by using the formula (3). This process corresponds to S9 in FIG. 2. The adhesion result calculated in this embodiment is shown in FIG. 9. The adhesion calculation start point 38 and the adhesion calculation end point 39 are the same as the timing of the static friction coefficient calculation point 36 and the friction force reduction point 37, respectively. From the result in FIG. 9, it can be seen that the adhesion increases continuously (until the maximum adhesion is reached) until the slip state is entered, and the adhesion decreases when the slip occurs. That is, the adhesion calculation device 120 calculates the adhesion for the time-series data of the section in the stick state, and the section in the stick state is the section from the timing when the vertical load is removed to the timing when the adhesion shows its maximum value. It is considered that the decrease in adhesion due to slipping is due to the fact that the distance between the object 13 and the object 14 increases due to the collapse of the contact surface, and the adhesion decreases. With the above configuration, it is possible to calculate the adhesion between the objects.

[0046] (Other Examples) The present invention can also be realized by executing the following process: That is, software (programs) that realize the functions of the above-described embodiments are supplied to a system or device via a network or various storage media, and the computer (or CPU, MPU, etc.) of the system or device reads and executes the programs. [Explanation of symbols]

[0047] 100 Adhesion Calculation System 110 Measuring Equipment 111 Measuring section 112 Storage section 120 Adhesion Calculation Device 121 Storage section 122 Time series data acquisition section 123 Adhesion Calculation Unit 1 y-axis motorized stage 2 Manual stages with x- and z-axis movement 3 Gonio stage with x-axis as rotation axis 4 Gonio stage with z-axis as rotation axis 5. Load sensor with y-axis direction as detection direction 6 x-axis motorized stage 7 Manual stage with x- and z-axis movement 8 Gonio stage with z-axis as rotation axis 9 Rotation stage with x-axis as rotation axis 10 Load sensor with x-axis direction as detection direction 11 Object holding jig (for 10 only) 12 Object holding jig (for 5 only) 13 The First Object 14 The Second Object 15 Laser displacement meter 16 Control device 17 Load sensor 5, 10 signal storage device 18 Wire for transmitting signals from the control device 16 to the y-axis automatic stage 1 19 Wire for transmitting signals from the control device 16 to the x-axis automatic stage 6 20 Wire for reading signals from load sensor 5 21 Wire for reading signals from the load sensor 10 22. Mirror 23 Mirror holding member that can be extended and contracted in the z-axis direction 24 z-axis manual stage 25 y-axis manual stage 26 z-axis manual stage 27 y-axis manual stage 28 x-axis manual stage 29 Vibration isolation table 30 Vertical load set in the control device 16 31 Vertical load calculated by load sensor 5 32 Friction force calculated by the load sensor 10 33 Vertical load calculated by load sensor 5 34 Friction force calculated by the load sensor 10 35 Friction coefficient calculated from normal load 33 and friction force 34 36 Calculation point of static friction coefficient 37 Friction force reduction point 38 Adhesion force calculation starting point 39 End point of adhesion calculation

Claims

1. a time series data acquisition unit that acquires time series data acquired using a first sensor that measures a load in a first direction from an amount of distortion of an elastic body that supports a first object, and a second sensor that measures a load in a second direction from an amount of distortion of an elastic body that supports a second object; From the time series data, time series data of friction force and time series data of normal load are obtained; Using the time series data of the friction force and the time series data of the normal load, A static friction coefficient, a normal load, and a friction force based on the timing at which the normal load is removed are obtained; an adhesion force calculation unit that calculates an adhesion force using the static friction coefficient, the normal load, and the friction force; An adhesive force calculation device comprising:

2. The adhesion calculation device according to claim 1 , wherein the adhesion calculation unit further acquires timing information for removing the normal load.

3. 3. The adhesion force calculation device according to claim 1, wherein the adhesion force calculation unit acquires a maximum adhesion force among the calculated adhesion forces as the adhesion force between the first object and the second object.

4. 3. The adhesion force calculation device according to claim 1, wherein the adhesion force calculation unit calculates the adhesion force by substituting the static friction coefficient, the normal load, and the friction force into equation (1). [0010]

5. 3. The adhesive force calculation device according to claim 1, wherein the time series data is time series data of a voltage.

6. 3. The adhesive force calculation system according to claim 1, wherein at least one of the first object and the second object has a curvature on its surface.

7. a measurement data acquisition step of acquiring time series data acquired using a first sensor that measures a load in a first direction from a strain amount of an elastic body that supports a first object, and a second sensor that measures a load in a second direction from a strain amount of an elastic body that supports a second object; From the time series data, time series data of friction force and time series data of normal load are obtained; Using the time series data of the friction force and the time series data of the normal load, A static friction coefficient, a normal load, and a friction force based on the timing at which the normal load is removed are obtained; an adhesion force calculation step of calculating an adhesion force using the static friction coefficient, the normal load, and the friction force; An adhesive force calculation method comprising the steps of:

8. A program for causing a computer to execute the adhesive force calculation method according to claim 7.

9. An adhesion calculation system including a measurement device and an adhesion calculation device that calculates an adhesion force from measurement data acquired from the measurement device, The measuring device is a first sensor that measures a load in a horizontal direction relative to a contact interface of the object from an amount of strain of an elastic body that supports the first object; a second sensor that measures a load in a direction perpendicular to a contact interface of the object from an amount of strain of an elastic body that supports the second object; a first step of starting to record the amount of strain of the elastic body; a second step of bringing the first object and the second object into contact with each other and starting and ending the sliding movement; a third step of removing a normal load applied to a contact interface between the first object and the second object; a fourth step of separating the first object from the second object and completing the recording of the amount of strain of the elastic body described in the first step, thereby obtaining time-series data of the voltage; The adhesive force calculation device is A time series data acquisition unit that acquires time series data of the voltage; From the time series data of the voltage, Calculating a static friction coefficient from the friction force and the normal load corresponding to the timing at which the normal load is removed in the third step in the measuring device; an adhesion force calculation unit that calculates an adhesion force from the static friction coefficient, and the friction force and normal load after the timing when the normal load is removed in the measurement device; An adhesion calculation system comprising:

10. The adhesion force calculation system described in claim 8, characterized in that the adhesion force calculation unit calculates the adhesion force by substituting the static friction coefficient, the friction force and the normal load after the timing when the normal load is removed into equation (1). [0025]

11. The adhesion calculation system described in claim 9 or 10, characterized in that the contact and sliding described in the second step in the measuring device are performed within a force range in which the amount of distortion of the elastic body can be detected and the amount of distortion is linear with respect to the load received by the elastic body.

12. 11. The adhesion force calculation system according to claim 9, wherein the adhesion force calculation unit calculates the adhesion force for data of a section in which the first object and the second object are in a stick state.

13. 13. The adhesion force calculation system according to claim 12, wherein the section in the stick state is from the time when the normal load is removed to the time when the adhesion force reaches a maximum value.

14. 11. The adhesion calculation system according to claim 9, wherein the timing at which the normal load is removed is information that is set in advance as predetermined timing information.

15. The adhesion calculation system described in claim 9 or 10, characterized in that the unloading of the vertical load in the third step in the measuring device is performed in a range where the change in the vertical load over time is within the resolution of the sensor that measures the amount of strain.

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