Detachably attachable structure, method for producing same, wall surface climbing aid, robot, and conveyance aid

Abstract

A structure (100) that is detachably attachable to a target surface (21a) includes: a support body (10) having a facing side (11) and a back side (12); a plurality of detachable attachment sections (20) which are detachably attachable to the target surface (21a); an operation section (30); and a buffer section (40) arranged between the detachable attachment sections (20) and the operation section (30). One end on one side in a direction of arrangement (y) in each of the plurality of detachable attachment sections (20) is a fixed end (20a) fixed to the support body (10), and the other end is a movable end (20b) configured so as to be movable in a direction leading away from the support body with the fixed end serving as an axis. The plurality of detachable attachment sections (20) have at least two first aggregates (22, 22A, 22B) connecting the fixed end (20a) and the movable end (20b), and an adhesive film (21) supported by the first aggregates.

Description

Detachable structure and manufacturing method of the structure, wall climbing aid, robot, and transport aid

[0001] The present invention relates to a detachable structure, a manufacturing method for the structure, a wall-climbing aid, a robot, and a transportation aid. This application claims priority to Japanese Patent Application No. 2023-041211, filed on March 15, 2023, the contents of which are incorporated herein by reference.

[0002] Various wall-climbing aids have been proposed for humans and robots to climb walls, including those using suction cups or magnets that utilize pressure differences. For example, a wall-climbing jig developed by Stanford University has numerous wedge-shaped, minute adhesive structures arranged on the contact surface, which provide adhesion to the wall surface and allow for easy detachment (Non-Patent Document 1). Furthermore, the U.S. Defense Advanced Research Projects Agency (DARPA) has proposed a glove that combines an adhesive part, suction cups, and a piston for climbing vertical walls (Patent Document 2).

[0003] Meanwhile, the present inventor has disclosed an adhesive structure imitating the legs of a fly in Patent Document 1, which can be attached to and detached from an object without using a suction cup, magnet, etc. Patent Document 1 does not describe or suggest a wall climbing aid using this adhesive structure.

[0004] Journal of the Royal Society Interface, Volume 12, Issue 102, January 2015

[0005] Japanese Patent No. 7195026 (B) International Publication No. 2017 / 184398 (A)

[0006] However, conventional wall climbing aids have had the following problems. For example, suction cups that utilize pressure differences require a pressure reducing device, which increases costs and places a burden on the climber (or robot) when climbing. When magnets are used, the wall surfaces that can be used are limited to ferromagnetic materials, etc. Furthermore, the wall climbing jig disclosed in Non-Patent Document 1 is easy to detach, but poses a safety issue because it detaches with even a slight lift. Furthermore, the device disclosed in Patent Document 2 uses suction cups and is therefore limited to use on smooth surfaces.

[0007] The present invention aims to solve the above-mentioned problems. It is an object of the present invention to provide a structure that does not require a driving device such as a pressure reducing device, can be applied to wall surfaces (target surfaces) other than ferromagnetic or smooth surfaces, has strong adhesive strength to the target surface, and can be easily detached, and a wall climbing aid that uses the structure.

[0008] As a result of extensive research into achieving the above object, the inventors of the present application have found that the above object can be achieved by the following configuration.

[0009] [1] A structure that is detachable from a target surface, comprising: a support having an opposing side that is arranged opposite the target surface when the structure is adhered to the target surface, and a back side that is located on the opposite side of the opposing side in a stacking direction that intersects with the target surface; a plurality of detachable parts that are supported on the opposing side of the support and are detachable from the target surface; an action part that is arranged opposite the back side in the stacking direction; and a buffer part that corresponds to at least one of the plurality of detachable parts and is arranged between the corresponding at least one detachable part and the action part in the stacking direction, wherein each of the plurality of detachable parts has, in an arrangement direction perpendicular to the stacking direction, a fixed end at one end that is fixed to the support, and a movable end at the other end that is configured to be movable in a direction away from the support around the fixed end as an axis, and each of the plurality of detachable parts has at least two first aggregates that connect the fixed end and the movable end, and an adhesive film supported by the first aggregates. [2] The structure according to [1], wherein each of the plurality of detachable sections further includes at least one second aggregate intersecting the at least two first aggregates. [3] The structure according to [1] or [2], wherein the buffer section is a gel. [4] The structure according to [3], wherein the buffer section is a urethane gel. [5] The structure according to any one of [1] to [4], wherein the adhesive film has an adhesive surface detachably attached to the target surface, and the width of the adhesive surface in a width direction perpendicular to the stacking direction and the arrangement direction continuously increases from an end on one side in the arrangement direction to a predetermined position toward the other side. [6] The structure according to [5], wherein the width of the adhesive surface in the width direction continuously increases from an end on one side to an end on the other side in the arrangement direction. [7] The structure according to any one of [1] to [6], wherein the adhesive film includes at least one adhesive selected from the group consisting of an acrylic adhesive, a urethane adhesive, a rubber adhesive, and a silicone adhesive. [8] The structure according to any one of [1] to [7], wherein the at least two first aggregates are fibers.[9] The structure according to any one of [1] to [8], wherein in each of the plurality of detachable sections, the at least two first aggregates are joined at the fixed end.

[10] The structure according to [9], wherein the joined at least two first aggregates form an axis.

[11] The structure according to

[10] , wherein the axes of the plurality of detachable sections are parallel to each other.

[12] The structure according to any one of [1] to

[11] , wherein the working section is provided with any one selected from the group consisting of a gripping section, a glove, a shoe, a mitten, a band, and a hook.

[13] A wall-climbing aid having the structure according to any one of [1] to

[12] .

[14] A robot having the structure according to any one of [1] to

[12] , configured to be attachable to and detachable from the target surface.

[15] The robot according to

[14] , which is an unmanned aerial vehicle having a plurality of rotors.

[16] A transport aid having the structure according to any one of [1] to

[12] .

[17] A method for manufacturing a structure according to any one of [1] to

[12] , comprising: a step S1 of fixing at least two first aggregates, each having a first end and a second end, at a predetermined distance from each other on one surface of a temporary support, and connecting the at least two first aggregates with at least one second aggregate, to obtain an aggregate-attached temporary support; a step S2 of immersing at least the first and second aggregates in a composition containing a pressure-sensitive adhesive; a step S3 of removing the aggregate-attached temporary support from the composition, and obtaining a detachable part having a shaft formed by the at least two first aggregates coalescing together by the surface tension of the composition and an adhesive film made of the pressure-sensitive adhesive supported by the first and second aggregates; and a step S4 of separating the detachable part from the temporary support and then fixing it to the support.

[18] An adhesive pad comprising: a support; a plurality of small plate members provided on a first main surface perpendicular to the thickness direction of the support; at least one elastic member provided between at least one of the plurality of small plate members and the first main surface; and a backing material provided on a second main surface side perpendicular to the thickness direction of the support and opposite the first main surface, wherein each of the plurality of small plate members has a fixed end fixed to the first main surface and a movable end located opposite the fixed end and configured to be movable in a direction toward or away from the first main surface, and each of the plurality of small plate members has at least two first aggregates connecting the fixed end and the movable end, and an adhesive film supported by the first aggregates.

[0010] The structure of the present invention has strong adhesive strength to target surfaces such as wall surfaces and can be easily detached. Furthermore, it does not require a driving device such as a pressure reducing device, and can be applied to wall surfaces (target surfaces) other than ferromagnetic surfaces and smooth surfaces.

[0011] 1A is a photograph of a structure produced in an example. 1B is a photograph of the structure shown in FIG. 1A taken from the opposite side of the support. 1C is a front view of a structure of an embodiment. 2B-2B cross-sectional view of the structure shown in FIG. 2A. 2D is also a diagram illustrating a target surface to be adhered. 2E is a partial enlarged view of a detachable part. 2F is a schematic diagram illustrating a state in which a structure of an embodiment is used as a wall-climbing aid. 2G is a photograph illustrating an example of a structure of an embodiment. 3G is a flowchart illustrating a method for manufacturing a structure of an embodiment. 3G is a diagram illustrating an example of a method for manufacturing a detachable part (adhesive film: triangle). 3G is a diagram illustrating another example of a method for manufacturing a detachable part (adhesive film: triangle). 3G is a diagram and photograph illustrating an example of a method for manufacturing a detachable part (adhesive film: diamond). 3G is a diagram and photograph illustrating an example of a method for manufacturing a detachable part (adhesive film: diamond). 3G is a diagram and photograph illustrating an example of a method for manufacturing a detachable part (adhesive film: diamond). 3G is a diagram and photograph illustrating an example of a method for manufacturing a detachable part (adhesive film: diamond). 3G is a diagram and photograph illustrating an example of a method for manufacturing a detachable part (adhesive film: heart-shaped). 7B-7B cross-sectional view of the third unit shown in FIG. 7A. FIG. 7C is a diagram illustrating another part of the method for manufacturing a structure. FIG. 7D is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7E is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7F is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7G is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7G is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7H is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7H is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7H is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7G is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7H is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7H is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7F is a diagram illustrating the structure of an embodiment used as a carrying aid. FIG. 7H is a diagram illustrating the structure of an embodiment used as a carrying aid.

[0012] The present invention will be described in detail below. The following description of the constituent elements may be based on a representative embodiment of the present invention, but the present invention is not limited to such an embodiment. In this specification, a range expressed using "to" means a range that includes the numerical values ​​before and after "to" as the lower and upper limits.

[0013] <Structure 100> The structure 100 (adhesive pad) of this embodiment is detachable from a target surface 200 (e.g., a wall surface) (see FIG. 3). As shown in FIGS. 2A to 2C and 4, the structure 100 includes a support 10, a plurality of detachable portions 20 (a plurality of small plate pieces) supported by the support 10 and detachable from the target surface 200, an action portion 30, and a buffer portion 40 corresponding to at least one of the detachable portions 20. In the following description, when the structure 100 is adhered to the target surface 200, the direction intersecting the target surface 200 (the z direction shown in FIG. 2B, the direction perpendicular to the paper surface of FIGS. 2A and 2C) is defined as the "stacking direction (thickness direction of the support)," the direction perpendicular to the stacking direction is defined as the "arrangement direction" (the y direction shown in FIGS. 2A to 2C), and the direction perpendicular to the stacking direction and the arrangement direction is defined as the "width direction" (the x direction shown in FIGS. 2A and 2C). Each component of the structure 100 will be described below.

[0014] <Support 10> The support 10 has an opposing side 11 (a first main surface side described later) and a back side 12 (a second main surface side described later) located on the opposite side of the opposing side 11 in the stacking direction (z direction). The shape and size (thickness, area of ​​the opposing side 11 and the back side 12, etc.) of the support 10 are not particularly limited and can be designed appropriately depending on the application of the structure 100. For example, the support 10 may be flat or sheet-shaped, may have a three-dimensional shape with a curved surface, or may have a shape that combines these. Furthermore, the support 10 may be a fabric such as a woven fabric, a nonwoven fabric, or a knitted fabric, and may be a single-layer body or a multi-layer body (laminate). When the support 10 is a fabric, it is easy to align and fix multiple detachable parts 20 on the support 10 by sewing or the like. Furthermore, the support 10 preferably has flexibility and / or pliability so as to easily follow the unevenness (surface roughness), curvature, etc. of the target surface 200. The first main surface perpendicular to the thickness direction of the support 10 can also be considered as the opposing side 11, and the second main surface perpendicular to the thickness direction of the support 10 and opposite to the first main surface can also be considered as the back side 12.

[0015] The material of the support 10 is not particularly limited, and examples thereof include organic materials, inorganic materials, and composite materials thereof. The organic material is not particularly limited, and examples thereof include resins. Examples of resins include polyamide resins (e.g., nylon), polyethylene resins, polyester resins such as polyethylene terephthalate (PET), polycarbonate resins, (meth)acrylic resins, epoxy resins, polyurethane resins, polyolefin resins, cellulose derivatives, silicone resins, and polyvinyl alcohol (PVA). The support 10 may be a foam of these resins. Furthermore, when cloth is used for the support 10, the material is not particularly limited, and examples include natural fibers (e.g., animal hair such as cotton, linen, silk, and wool), chemical fibers (e.g., nylon, the above-mentioned resins), and blends thereof. The support 10 may be made of a single material or multiple materials.

[0016] <Detachable Units 20> The plurality of detachable units 20 are supported on the opposing side 11 of the support body 10. Each detachable unit 20 has a fixed end 20a fixed to the support body 10 and a movable end 20b configured to be movable (e.g., rotatable) around the fixed end 20a in a direction away from the support body 10. Each of the plurality of detachable units 20 is capable of flapping on the opposing side 11 of the support body 10, with the fixed end 20a as a fulcrum. The fixed end 20a is an end on one side in the arrangement direction (y direction), and the movable end 20b is an end on the other side in the arrangement direction. The arrangement of the plurality of detachable units 20 is not particularly limited, but rather, as described above, is arranged directionally along one direction (arrangement direction y) with the fixed end 20a facing one side in the arrangement direction and the movable end 20b facing the other side in the arrangement direction.

[0017] Each of the multiple detachable sections 20 has at least two first aggregates 22 connecting the fixed end 20a and the movable end 20b, and an adhesive film 21 supported by the first aggregates 22. When there are two first aggregates 22, they are arranged at both ends of the adhesive film 21 in the width direction (x direction) (22A in FIG. 2C). When there are three or more first aggregates 22, one or more first aggregates 22B are provided between the first aggregates 22A at both ends. The number of first aggregates 22 is not particularly limited as long as it is two or more, and may be designed based on the intended use of the structure 100, etc. However, from the viewpoint of increasing the strength of the detachable section 20, it is preferable to provide three or more first aggregates 22, for example, 3 to 30 first aggregates 22. Furthermore, the first aggregates 22 may be linear, curved, or a combination thereof.

[0018] As shown in FIG. 2C , in each of the multiple detachable portions 20, the multiple first aggregates 22 may be bonded together at the fixed end 20 a, or may be bonded together to form a shaft 24. This structure allows for efficient production of the multiple detachable portions 20. Furthermore, to prevent the detachable portions 20 from coming off the structure 100 due to repeated attachment and detachment of the structure 100, the bonded shaft 24 is preferably fixed to the support 10. For example, when a fabric laminate is used as the support 10, the shaft 24 may be folded between layers of the laminate and then sewn to the support 10. Furthermore, the shaft 24 is preferably fixed to the support 10 while extending in the arrangement direction (y direction), and the multiple shafts 24 are preferably substantially parallel to each other.

[0019] The multiple detachable portions 20 may be made of a material similar to the "structure" disclosed in Patent Document 1, which was previously filed by the inventor of the present application. For example, the first aggregate 22 of this embodiment may be made of a material similar to the flexible material constituting the shaft material of Patent Document 1, and the adhesive film 21 of this embodiment may be made of a material similar to the adhesive portion of Patent Document 1. The contents of Patent Document 1 are incorporated herein by reference.

[0020] In this embodiment, the first aggregate 22 is preferably fiber. The fiber is preferably a flexible material. This allows the first aggregate 22 to deform to conform to the surface shape of the target surface 200 and exhibit excellent adhesive strength. In this specification, a flexible material refers to a material that is elastically deformable due to stress when pressed against the target surface 200 (e.g., a solid surface). In other words, the flexibility of a material can be defined by whether it is elastically deformable in relation to the stress required for initial adhesion between the detachable part 20 and the target surface 200. Because the detachable part 20 includes aggregates made of a flexible material, the aggregates deform in accordance with the surface structure of the target surface 200 when the detachable part 20 is adhered to the target surface 200. Therefore, the detachable part 20 has excellent conformability. Furthermore, the repulsive force of the aggregates makes it easier for the adhesive film 21 to be pressed against the target surface 200, resulting in superior adhesive strength of the detachable part 20 to the target surface 200.

[0021] Examples of fibers include nylon fibers (tensile strength 4.2 to 5.6 cN / dtex, elongation 28 to 45%), polyethylene fibers (tensile strength 4.4 to 7.9 cN / dtex, elongation 8 to 35%), polyester fibers (tensile strength 4.6 to 7.3 cN / dtex, elongation 11 to 43%), and acrylic fibers (tensile strength 2.2 to 4.4 cN / dtex, elongation 25 to 50%). The first aggregate 22 may be made of a single material or two or more types of materials.

[0022] The adhesive film 21 of this embodiment preferably contains a pressure-sensitive adhesive, such as an acrylic adhesive, a urethane adhesive, a rubber adhesive, a silicone adhesive, etc. The adhesive film 21 may be made of a single material or two or more types of materials.

[0023] Preferably, the detachable portion 20 further includes at least one second aggregate 23 that intersects with the first aggregate 22. The second aggregate 23 can be made of the same material as the first aggregate 22. The inclusion of the second aggregate 23 increases the strength of the detachable portion 20 and at the same time increases the degree of freedom in the shape of the adhesive film 21. For example, as will be described in detail later, the inclusion of the second aggregate 23 makes it possible to efficiently produce adhesive films 21 in shapes such as diamonds and hearts (see FIGS. 6D to 6K). The number of second aggregates 23 is not particularly limited and may be designed based on the intended use of the structure 100, but may be, for example, 1 to 10.

[0024] The adhesive film 21 has an adhesive surface 21a that can be attached to and detached from the target surface 200. The shape of the adhesive surface 21a is not particularly limited, but it is preferable that the width in the width direction (x direction) continuously increases from one end in the arrangement direction (y direction) to a predetermined position toward the other end (e.g., up to P1 shown in Figures 6A to 6K). When the adhesive surface 21a is detached from the target surface 200, peeling begins from one end in the arrangement direction (y direction) where the fixed end 20a is located. By reducing the width of the end on one side of the adhesive surface 21a in the arrangement direction (y direction), detachment (peeling) can be achieved with less force. Furthermore, by continuously increasing the area along the arrangement direction, the area of ​​the adhesive surface 21a can be maintained, thereby maintaining high adhesive strength. Examples of such shapes of the adhesive surface 21a include triangles (spatula-shaped), sectors, trapezoids, semicircles, circles, polygons such as diamonds, and hearts (see Figures 6A to 6K). From the viewpoint of further enhancing the effect, it is more preferable that the width of the adhesive surface 21 a in the width direction (x direction) continuously increases from one end to the other end in the arrangement direction (y direction). Examples of the shape of such adhesive surface 21 a include a triangle (spatula shape), a sector shape, a trapezoid, a semicircle, etc.

[0025] The fixed end 20a may be provided on the adhesive film 21 or on the shaft 24. When the fixed end 20a is provided on the adhesive film 21, the entire shaft 24 is fixed to the support 10, and only the adhesive film 21 is configured to be movable. On the other hand, when the fixed end 20a is provided on the shaft 24, a portion of the shaft 24 located closer to the adhesive film 21 than the fixed end 24a (hereinafter referred to as the "movable portion of the shaft 24") is not fixed to the support 10 and is configured to be movable together with the adhesive film 21. However, if the portion of the movable shaft 24 is too long, there is a risk of increased variation in waviness, orientation, etc. between the multiple adhesive surfaces 21a. In the arrangement direction (y direction), it is preferable that the length (L1) of the portion of the movable shaft 24 be sufficiently shorter than the length (L2) of the adhesive film 21. For example, the ratio (L1 / L2) is preferably 0 to 0.5.

[0026] The size (thickness, width, etc. of the adhesive film 21), number, etc. of the detachable parts 20 are not particularly limited and can be designed appropriately depending on the application of the structure 100, and may be within the following ranges, for example: width of the adhesive surface 21a (maximum width in the x direction): 1 mm to 20 mm, thickness of the adhesive film 21: 0.1 mm to 5 mm, thickness of the first aggregate 22: 50 μm to 600 μm, thickness of the second aggregate 23: 50 to 600 μm, thickness of the shaft 24: 0.1 mm to 5 mm, number of detachable parts 20 provided on the support body 10: 1 to 300.

[0027] <Action Unit 30> The action unit 30 (backing) is disposed opposite the back side 12 of the support in the stacking direction (z direction). The action unit 30 is a portion that applies (acts on) a force to the multiple detachable units 20 when attaching or detaching the structure 100 to or from the target surface 200 and / or while the structure 100 is adhered to the target surface 200. From the viewpoint of efficiently transmitting force to the multiple detachable units 20, the action unit 30 preferably comprises a plate-like body that is disposed so as to cover all of the detachable units 20 when viewed from the stacking direction (z direction). The material of the action unit 30 (typically, the plate-like body) is not particularly limited, but various plastics (resins, polymers), wood, paper (e.g., cardboard), metal, etc. can be used. The action unit 30 preferably further comprises a gripping portion (handle), glove, shoes, mittens, tabi socks, a band, a hook, etc., depending on the application of the structure 100. Since the action part 30 is the part to which force is applied from the outside, it is preferable that it be placed at the outermost position in the stacking direction (z direction) of the structure 100 (the position farthest from the target surface 200 in the z direction when the structure 100 is adhered to the target surface 200).

[0028] <Buffer section 40> The buffer section 40 (elastic member) is a flexible and / or elastic member that corresponds to at least one of the multiple detachable sections 20. The buffer section 40 is disposed between the corresponding detachable section 20 and the action section 30 in the stacking direction z. When the structure 100 is adhered to the target surface 200, a pressing force is applied from the action section 30 toward the detachable section 20, i.e., toward the target surface 200, via the buffer section 40, and the adhesive surface 21 a adheres to the target surface 200. At this time, the presence of the buffer section 40 allows the adhesive surface 21 a of the detachable section 20 to be sufficiently in close contact with the target surface 200.

[0029] The buffer section 40 may be disposed between the corresponding detachable section 20 and the action section 30 in the stacking direction z, and the other positions of the buffer section 40 are not particularly limited. For example, as shown in FIG. 2B , the buffer section 40 may be incorporated inside the support body 10, which is a laminate (between the layers of the laminate). The buffer section 40 may be located between the corresponding detachable section 20 and the opposing side 11 of the support body 10, or between the back side 12 of the support body 10 and the action section 30. The number of detachable sections 20 corresponding to one buffer section 40 is not particularly limited. For example, as shown in FIG. 7A , one buffer section 40 may correspond to multiple detachable sections 20 (six detachable sections 20 in FIG. 7A ). Alternatively, multiple buffer sections 40 may be provided in one-to-one correspondence with the multiple detachable sections 20, or a single buffer section 40 may be provided in common to all the detachable sections 20.

[0030] The material of the buffer section 40 is not particularly limited as long as it has flexibility and / or elasticity, but examples thereof include resin (polymer) materials such as rubber, foam, and gel, with gel being preferred. Examples of gel include urethane gel and silicone gel. From the viewpoint of achieving higher adhesiveness, the buffer section 40 is preferably made of urethane gel, and preferably has an Asker C hardness of 0 to 15 or 0 to 7.

[0031] The size of the buffer section 40 is not particularly limited, but from the viewpoint of having high adhesiveness, it is preferable that the size (area) be such that it covers all of the corresponding detachable sections 20 when viewed from the stacking direction z, and the thickness in the stacking direction z is preferably, for example, 0.1 to 10 mm, or 0.5 mm to 2 mm.

[0032] <Other Constituent Members> The structure 100 of this embodiment may be composed of only the support body 10, the plurality of detachable portions 20, the action portion 30, and the buffer portion 40, or may include other members within the scope of the effects of the present invention. For example, a reinforcing material or the like may be provided between the support body 10 and the action portion 30 to increase the strength of the structure 100.

[0033] <Target Surface 200> The shape of the target surface 200 to be adhered is not particularly limited. A flat surface is preferable from the viewpoint of obtaining a stronger adhesive force. However, unlike conventional devices (wall-climbing aids) that use suction cups, the structure of this embodiment has the buffer portion 40, and therefore exhibits sufficient adhesive force even on target surfaces 200 that have a certain degree of unevenness (surface roughness) and curvature. Furthermore, the material of the target surface 200 is not particularly limited. For example, unlike conventional devices (wall-climbing aids) that use magnets, the structure can be applied to target surfaces 200 that are not made of ferromagnetic materials.

[0034] <Effects of Structure 100> As described above, the inventor of the present application disclosed an adhesive structure imitating fly legs in Patent Document 1. In this embodiment, the detachable unit 20 corresponds to the adhesive structure imitating fly legs of Patent Document 1. The direction of the force applied to the detachable unit 20 when the detachable unit 20 is adhered to the target surface 200 (for example, the gravity acting on a moving body (person, robot) when the structure 100 is used as a wall-climbing aid) is shown as direction F1 in FIG. 2B. Note that the arrow (F1) in FIG. 2B indicates only the "direction" of the force, and the length of the arrow is unrelated to the magnitude of the force.

[0035] When the detachable part 20 is adhered to the target surface 200, the closer the force direction F1 is to the direction Y1, which is from the movable end 20b toward the fixed end 20a of the detachable part 20, the stronger the adhesive force of the adhesive surface 21a to the target surface 200. The direction Y1 is parallel to the arrangement direction Y. Here, the smaller angle between the direction Y1 and the force direction F1 is defined as the angle θ. When the angle θ is, for example, 10° or less or 0° (i.e., the direction Y1 and the direction F1 are the same), the adhesive surface 21a exhibits a high adhesive force to the target surface 200. On the other hand, when the angle θ exceeds, for example, 20 to 30°, the adhesive force of the adhesive surface 21a to the target surface 200 rapidly decreases. Therefore, if a high adhesive strength is desired, it is sufficient to apply force so that the angle θ is, for example, 10° or less. On the other hand, if it is desired to detach the detachable part 20, it can be easily detached by applying force so that the angle θ is, for example, an angle exceeding 20 to 30°.

[0036] To apply the adhesive structure of Patent Document 1 (i.e., the detachable parts 20 of this embodiment) to a wall-climbing aid for humans (or robots), it is necessary to increase the number of detachable parts 20 and form an assembly. However, simply increasing the number of detachable parts 20 does not achieve the adhesive strength that should be calculated for the assembly. This is presumably due to variations in the undulations and orientations of the adhesive surfaces 21 a among the detachable parts 20 constituting the assembly, resulting in variations in the adhesive state of the adhesive surfaces 21 a relative to the target surface 200. Based on this presumption, the inventors of the present application conducted extensive research to eliminate the performance degradation of the detachable parts 20 that occurs in the assembly, and as a result, arrived at the structure 100 of this embodiment having the above-described configuration. The effects of the structure 100 of this embodiment are described below.

[0037] When adhering the structure 100 to the target surface 200, the opposing side 11 of the support 10 is placed facing the target surface 200, and a force is applied from the acting portion 30 toward the target surface 200. As a result, the adhesive surface 21a is pressed against the target surface 200 and adhered. At this time, the structure 100 of this embodiment has the buffer portion 40, which absorbs variations in waviness, orientation, etc. between the multiple adhesive surfaces 21a, and also absorbs unevenness (surface roughness) of the target surface 200. This reduces variations in the adhesive state of the adhesive surface 21a relative to the target surface 200, improving adhesive strength.

[0038] Furthermore, since the multiple detachable parts 20 of this embodiment are arranged along one direction (arrangement direction y), the direction F1 of the force applied from the action part 30 to the multiple detachable parts 20 can be aligned (or variations can be suppressed). Each detachable part 20 has one end in the arrangement direction y fixed to the support 10 (fixed end 20a), and the other end not fixed to the support 10 (movable end 20b). Furthermore, in each detachable part 20, multiple first aggregates 22 extend from the fixed end 20a toward the movable end 20b. By aligning the detachable parts 20 in this manner, the direction F1 of the force applied from the action part 30 to the detachable parts 20 can be aligned. By aligning the force direction F1 among the multiple detachable parts 20, the structure 100, as an assembly of bonded structures, can exert stronger adhesive strength and, at the same time, can be easily detached from the target surface 200.

[0039] 2C , the plurality of first aggregates 22 are preferably joined at the fixed ends 20a to form shafts 24. By aligning the plurality of shafts 24 substantially parallel to each other and arranging them parallel to the arrangement direction y and fixing them to the support body 10, it is possible to more efficiently suppress variations in waviness, orientation, etc. between the adhesive surfaces 21a, and further to align the direction F1 of the force applied from the action unit 30 to the plurality of detachable units 20.

[0040] Furthermore, since the detachable part 20 of this embodiment has the fixed end 20a and the movable end 20b, when the structure 100 is detached from the target surface 200, the adhesive surface 21a peels off from the target surface 200 in such a way that it is rolled up from the fixed end 20a toward the movable end 20b along the arrangement direction (y direction). This allows the structure 100 to be detached from the target surface 200 with even less force.

[0041] <Method for Manufacturing Structure 100> There are no particular limitations on the method for manufacturing structure 100, but structure 100 may be manufactured, for example, by a manufacturing method including the following steps S1 to S4 (see FIGS. 5 to 7C).

[0042] (Step S1): Fixing the first ends 22a of at least two first aggregates 22, each having a first end 22a and a second end 22b, to one surface of a temporary support 70 at a predetermined distance from each other to obtain an aggregate-attached temporary support 71; (Step S2): Immersing at least the first aggregates in a composition containing a pressure-sensitive adhesive; (Step S3): Removing the aggregate-attached temporary support 71 from the composition, and obtaining a detachable part 20 having a shaft 24 formed by the at least two first aggregates 22 coalescing together due to the surface tension of the composition, and an adhesive film 21 made of pressure-sensitive adhesive supported by the first aggregates 22; and (Step S4) Separating the detachable part 20 from the temporary support 70 and then fixing it to the support 10.

[0043] (Steps S1) to S3): The detachable part 20 can be manufactured using a method similar to that disclosed in Patent Document 1. This manufacturing method was developed based on the idea of ​​the process of setae formation in fly pupae. After forming a framework with a first aggregate 22 (typically, fiber), a composition is filled in, and the resulting surface tension can be used to autonomously create a structure. This method is advantageous in that it can more easily create structures with complex shapes at room temperature and pressure, and can also create structures at low cost. The contents of Patent Document 1 are incorporated herein by reference.

[0044] In the temporary support 71, multiple first aggregates 22 may be connected together by one or more second aggregates 23 ( Figures 6B to 6K ). Adding the second aggregates 23 can prevent the first aggregates 22 near the second aggregates 23 from coalescing. As a result, it is possible to form adhesive films 21 with complex shapes, such as diamond shapes ( Figures 6D to 6G ) and heart shapes ( Figures 6H to 6K ), while also increasing the strength of the adhesive film 21. Furthermore, as can be seen from a comparison of Figures 6A and 6B to 6C , by providing the second aggregates 23 to prevent the first aggregates 22 from coalescing together, the adhesive film 21 can be formed at a position farther away from the temporary support 70. This prevents contact between the temporary support 70 and a composition containing a pressure-sensitive adhesive, and prevents contamination of the composition due to contact.

[0045] (Step S4): There are no particular limitations on the method for separating the detachable part 20 from the temporary support 70. There are also no particular limitations on the method for fixing the detachable part 20 to the support 10, but one example will be described below (see FIGS. 7A to 7C).

[0046] First, as shown in FIG. 7A , adhesive or pressure-sensitive adhesive is applied to one surface of the first support material 13, and multiple detachable units 20 are aligned and temporarily fixed thereon. At this time, the adhesive surfaces 21 a of the multiple adhesive films 21 are oriented parallel to one surface of the first support material 13. The axes 24 of the multiple detachable units 20 are aligned parallel to one another. Next, the first support material 13 with the axes 24 temporarily fixed thereto is folded multiple times together with the axes 24 to obtain a first unit 51. Next, a buffer portion (typically, gel) 40 is provided on one surface of the second support material 14 to obtain a second unit 52. The other surface of the first support material 13 (the surface without the detachable units 20) faces the other surface of the second support material 14 (the surface without the buffer portion 40), and the first unit 51 and the second unit 52 are bonded together to produce a third unit 53 (see FIG. 7B ). A plurality of third units 53 (a desired number) are produced in accordance with the intended use of the structure 100 .

[0047] As shown in FIG. 7C , a third support member 15 is prepared, and multiple third units 53 are attached to one side of the third support member 15, with their adhesive surfaces 21 a arranged so as not to overlap. This results in a support member 54 with a detachable portion. The materials for the first, second, and third support members 13-15 are not particularly limited. For example, using cloth makes it easy to secure the detachable portion 20 and connect the support members 13-15 to each other by sewing. In this embodiment, the support member 10 is a composite (laminate) of the first, second, and third support members 13-15, with the buffer portion 40 located inside the support member 10 (between the second support member 14 and the third support member 15) and the shaft 24 of the detachable portion 20 located inside the support member 10 (folded together with the first support member 13).

[0048] The working portion 30 is attached to the back side 12 of the support 10 of the support body 54 with the detachable portion, thereby obtaining the structure 100 of this embodiment.

[0049] <Uses of Structure> The structure 100 of this embodiment can be used in a variety of applications. For example, as shown in FIG. 3 , the structure 100 can be used as a wall-climbing aid for humans or robots to climb walls. Because the structure 100 exhibits strong adhesive strength to a target surface 200 such as a wall and can be easily detached, it is suitable for application to heavy mobile objects. When used as a wall-climbing aid, the structure 100 is adhered to a target surface (wall) 200 so that the direction Y1 from the movable end 20b of the detachable part 20 to the fixed end 20a is a direction from the top to the bottom of the wall. By using the structure 100 in this manner, the difference between the load direction F1 of the mobile object (human or robot) and the direction Y1 is reduced (or coincides), and the structure 100 exhibits a stronger adhesive strength to the wall (target surface 200). In addition, in order to secure a person or robot to the wall climbing aid (structure 100), or to make it easier for a person or robot to operate the wall climbing aid, a gripping portion, gloves, shoes, mittens, bands, hooks, etc. may be provided on the action portion 30 of the structure 100.

[0050] Furthermore, the structure 100 can be applied to a robot that includes the structure 100 as a component and is configured to be detachable from a target surface (e.g., a wall surface) 200. In the robot, the structure 100 is placed with the adhesive surface 21 a facing outward. Examples of the robot include a wall-climbing robot and an unmanned aerial vehicle (a so-called drone) with multiple rotors.

[0051] Furthermore, as shown in FIG. 8 , the structure 100 can also be used as a transport aid for transporting an object 210 to be transported. For example, two structures 100 each having a gripping portion (handle) 31 on the action portion 30 are prepared and attached to both surfaces (object surface 200) of the object 210 to be transported. In this state, the object 210 can be transported while being held by the gripping portion 31. In this state, the structure 100 is attached to the object surface 200 so that the direction Y1 from the movable end 20b of the detachable portion 20 to the fixed end 20a is a direction from the bottom to the top of the object surface 200. By using the structure 100 in this manner, the difference between the direction F1 and the direction Y1 of the force transmitted from the gripping portion 31 to the detachable portion 20 becomes smaller (or coincides), and the structure 100 exhibits a stronger adhesive strength to the object surface 200.

[0052] The present invention will be described below with reference to examples, but the present invention is not limited to these examples.

[0053] [Example 1] In this example, a wall-climbing aid was produced using the structure 100 shown in Figures 1A and 1B by the method described below. Figure 3 shows an example in which a total of four structures 100, one for each hand and each foot, are used as a wall-climbing aid, but in this example, a total of eight structures 100, two for the hands, two for the feet, two for the arms, and two for the knees, were produced as a wall-climbing aid.

[0054] 6B and 6C , the upper ends (first ends 22 a) of 25 first aggregates 22 were fixed to one surface of a temporary support 70 at a predetermined interval, and the first aggregates 22 were connected to each other by five second aggregates 23. Five sets of the same structures (25 first aggregates 22 x 5 sets = 125 in total) were provided to produce a temporary support 71 with aggregates. Paper (manufactured by Kokuyo Co., Ltd., Tuck Index, thickness 0.14 mm, size 29 mm x 23 mm) was used as the temporary support 70, and nylon thread (fiber) with a diameter of 0.06 mm and a length of 13 cm was used as the first aggregates 22 and the second aggregates 23. The spacing between the first aggregates 22 in the same group (25 pieces) (spacing between the first ends 22a) was 0.05 mm to 2 mm, and the spacing between adjacent groups was 10 mm to 20 mm.

[0055] Next, an acrylic resin solution (manufactured by Yutaka Make Co., Ltd.) was used as a pressure-sensitive adhesive-containing composition. The first aggregates 22 and second aggregates 23 of the aggregate-attached temporary support 71 were immersed in the composition and immediately removed. Care was taken to prevent the temporary support 70 from coming into contact with the composition. Five detachable portions 20 were formed on the removed aggregate-attached temporary support 71, each having a shaft 24 formed by the 25 first aggregates 22 coalescing together due to the surface tension of the composition, and an adhesive film 21 (triangle) made of pressure-sensitive adhesive supported by the first aggregates 22 and second aggregates 23. This was left to stand on a flat polypropylene sheet at 50 degrees for 30 minutes to 2 days to harden the acrylic resin. The five detachable portions 20 were then cut off from the temporary support 70, and excess nylon fibers (first aggregates 22) were also cut off. The resulting detachable portions 20 had the following dimensions: Area of ​​adhesive surface (triangle) 21a: approximately 74 mm ２ (width (base) 7 mm x length (height) 18 mm x 1 / 2), thickness of adhesive film 21: 0.3 mm to 2 mm, diameter of shaft 24: 0.3 mm to 2 mm. The above-described process was repeated to manufacture the required number of detachable parts 20.

[0056] <Manufacturing a Hand Supporting Device> Using the method described in the embodiment and shown in Figures 7A to 7C, the fabricated detachable portion 20 was sewn to the support 10 to fabricate a support 54 with a detachable portion. The first support material 13, which constitutes the support 10, was a bias tape made of 65% polyester and 35% cotton (Captain Corporation, width 45 mm), the second support material 14 was nylon taffeta (thickness 0.1 mm), and the third support material 15 was foamed polyethylene (Clover Corporation, thickness 1.5 mm). The buffer portion 40 was made of urethane gel (manufactured by Exseal Co., Ltd., thickness: 1 mm, Asker C hardness: 0). The urethane gel was formed by creating a 1 mm-high enclosure on one side of the support material 14, pouring urethane resin into the enclosure, and then removing the enclosure after gelation.

[0057] The size of the hand assisting device on the opposite side 11 of the support 10 (i.e., the size of the third support material 15) is 200 mm (x direction) x 234 mm (y direction), and a total of 288 detachable parts 20 are provided thereon (24 in the x direction) x (12 rows in the y direction).

[0058] The working part 30 (wooden board, 200 mm x 234 mm x 8 mm) was attached to the back side 12 of the detachable support 54 with a commercially available adhesive to obtain the structure (hand-operated wall climbing aid) 100 of this example. Furthermore, gloves were attached to the working part 30 to make it easier to secure the wall climbing aid (structure 100) to the climber.

[0059] <Fabrication of Foot Aid> The wall climbing aid for feet had a size of 160 mm (x direction) x 160 mm (y direction) on the opposite side 11 of the support 10 (i.e., the size of the third support member 15), and 133 detachable parts 20 were provided thereon. Furthermore, tabi socks were provided on the action part 30 to make it easier to secure the wall climbing aid (structure 100) to the climber. Otherwise, the wall climbing aid for feet was fabricated in the same manner as the wall climbing aid for hands.

[0060] <Fabrication of knee aid> The wall climbing aid for the knee had a size of 116 mm (x direction) x 126 mm (y direction) on the opposite side 11 of the support 10 (i.e., the size of the third support member 15), and 84 detachable parts 20 were provided thereon. Furthermore, a band was provided on the action part 30 to make it easier to secure the wall climbing aid (structure 100) to the climber. Otherwise, the wall climbing aid for the knee was fabricated in the same manner as the wall climbing aid for the hand.

[0061] <Fabrication of Arm Aid> The wall climbing aid for the arms had a size of 100 mm (x direction) x 145 mm (y direction) on the opposite side 11 of the support 10 (i.e., the size of the third support member 15), and 84 detachable parts 20 were provided thereon. Furthermore, a band was provided on the action part 30 to make it easier to secure the wall climbing aid (structure 100) to the climber. Otherwise, the wall climbing aid for the arms was fabricated in the same manner as the wall climbing aid for the hands.

[0062] [Calculation of Peel Strength] When the detachable part 20 adheres to the target surface 200 and a force in the direction F1 is applied to detach the detachable part 20 from the target surface 200, the magnitude of this force is defined as the "peel strength." When the angle θ between the direction Y1 (the direction from the movable end 20b of the detachable part 20 toward the fixed end 20a) and the force direction F1 is 10° or less, the detachable part 20 of this embodiment exhibits a high calculated peel strength of 6.5 N on average against the marble target surface 200. Similarly, for the wall climbing aid of Example 1, which includes multiple detachable parts 20, the peel strength against a marble wall was calculated when the angle θ was 10° or less. The results are shown below.

[0063] The total peel strength of the eight assisting devices (two of each type) was 782 kgf. The wall-climbing aid of Example 1 was determined to have sufficient adhesive strength to assist the test subject in the wall-climbing experiment described below.

[0064] Furthermore, when the angle θ between the direction Y1 and the force direction F1 is 90°, the peel strength is calculated to be 1 / 10 to 1 / 100 of the peel strength when the angle θ is 10° or less. From this result, it can be determined that in the wall climbing experiment described below, a climber can easily detach the assisting device from the wall with a small force by, for example, peeling the assisting device in a direction approximately perpendicular to the wall surface.

[0065] [Wall Climbing Experiment] A subject (climber) (weight: approximately 50 kg) wore the eight wall climbing aids prepared in Example 1 and conducted a wall climbing experiment. A vertical marble surface was prepared as the wall (target surface) 200. As shown in the schematic diagram of FIG. 3 , the aid (structure) 100 was attached to the target surface (wall) 200 so that the direction Y1 from the movable end 20b of the detachable part 20 to the fixed end 20a was oriented from the top to the bottom of the wall 200. The subject successfully climbed 1.2 m (moved upward) up the wall 200 using the aid (structure) 100. The aid (structure) 100 was able to adequately support the subject's weight and remain attached to the wall 200. During the movement, the subject was able to easily detach the assisting device (structure) 100 from the wall surface 200, and was able to move along the wall surface 200 by repeatedly adhering and detaching it.

[0066] The structure of the present invention has strong adhesive strength to a target surface (wall surface) and can be easily detached (peeled off). The structure can be used, for example, as a wall-climbing aid for humans or robots to climb walls, a robot configured to be detachable from a target surface, a transportation aid, etc.

[0067] 10 Support 11 Opposite side 12 Back side 13 First support material 14 Second support material 15 Third support material 20 Detachable part 20a Fixed end 20b Movable end 21 Adhesive film 21a Adhesive surface 22, 22A, 22B First aggregate 22a First end 22b Second end 23 Second aggregate 24 Shaft 30 Action part 31 Gripping part (handle) 40 Buffer part 51 First unit 52 Second unit 53 Third unit 54 Support with detachable part 70 Temporary support 71 Temporary support with aggregate 100 Structure 200 Target surface 210 Transported object z Stacking direction y Arrangement direction x Width direction F1 Force direction Y1 Direction from the movable end to the fixed end when the detachable part is adhered to the target surface P1 Predetermined position in the arrangement direction

Claims

1. A structure that is detachable from a target surface, a support having an opposing side that is disposed opposite the target surface when the structure is adhered to the target surface, and a back side that is located on the opposite side of the opposing side in a stacking direction that intersects with the target surface; a plurality of detachable portions supported on the opposing side of the support body and detachable from the target surface; An action portion arranged opposite to the back side in the stacking direction; a buffer portion corresponding to at least one of the plurality of detachable portions and disposed between the corresponding at least one detachable portion and the action portion in the stacking direction; each of the plurality of detachable portions has, in an arrangement direction perpendicular to the stacking direction, a fixed end on one side that is fixed to the support body, and a movable end on the other side that is configured to be movable around the fixed end as an axis in a direction away from the support body; Each of the plurality of detachable parts is At least two first aggregates connecting the fixed end and the movable end; and an adhesive film supported on the first aggregate.

2. The structure according to claim 1 , wherein each of the plurality of detachable portions further includes at least one second rib intersecting the at least two first ribs.

3. The structure of claim 1 , wherein the buffer is a gel.

4. The structure of claim 3 , wherein the buffer portion is a urethane gel.

5. the adhesive film has an adhesive surface that is detachable from the target surface; 2. The structure according to claim 1, wherein the width of the adhesive surface in a width direction perpendicular to the stacking direction and the arrangement direction increases continuously from the end on one side in the arrangement direction to a predetermined position toward the other side.

6. The structure according to claim 5 , wherein the width of the adhesive surface in the width direction increases continuously from the end on one side to the end on the other side in the arrangement direction.

7. The structure according to claim 1 , wherein the adhesive film comprises at least one adhesive selected from the group consisting of an acrylic adhesive, a urethane adhesive, a rubber adhesive, and a silicone adhesive.

8. The structure of claim 1 , wherein the at least two first aggregates are fibers.

9. The structure according to claim 1 , wherein in each of the plurality of detachable portions, the at least two first aggregates are joined together at the fixed end.

10. 10. The structure of claim 9, wherein the at least two first aggregates coalesce to form a shaft.

11. The structure according to claim 10 , wherein the axes of the plurality of detachable portions are parallel to each other.

12. The structure according to claim 1 , wherein the working portion is provided with any one selected from the group consisting of a gripping portion, a glove, a shoe, a mitten, a band, and a hook.

13. A wall climbing aid having the structure according to any one of claims 1 to 12.

14. A robot having the structure according to any one of claims 1 to 12, configured to be detachable from the target surface.

15. 15. The robot of claim 14, wherein the robot is an unmanned aerial vehicle having multiple rotors.

16. A carrying aid comprising a structure according to any one of claims 1 to 12.

17. A method for producing the structure according to any one of claims 1 to 12, comprising: a step S1 of fixing at least two first aggregates, each having a first end and a second end, to one surface of a temporary support at a predetermined interval, and connecting the at least two first aggregates to each other with at least one second aggregate, to obtain an aggregate-attached temporary support; A step S2 of immersing at least the first and second aggregates in a composition containing a pressure-sensitive adhesive; a step S3 of removing the aggregate-attached temporary support from the composition to obtain a detachable part having a shaft formed by the at least two first aggregates coalescing together by the surface tension of the composition and an adhesive film made of the pressure-sensitive adhesive supported by the first and second aggregates; and a step S4 of separating the detachable portion from the temporary support and then fixing the detachable portion to the support.