CN103010328B - Foot pad of bionic wet-sucking wall-climbing robot with semispherical microstructure - Google Patents
Foot pad of bionic wet-sucking wall-climbing robot with semispherical microstructure Download PDFInfo
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- CN103010328B CN103010328B CN201210479175.6A CN201210479175A CN103010328B CN 103010328 B CN103010328 B CN 103010328B CN 201210479175 A CN201210479175 A CN 201210479175A CN 103010328 B CN103010328 B CN 103010328B
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Abstract
The invention belongs to the field of bionics, and particularly relates to a foot pad of a bionic wet-sucking wall-climbing robot with a semispherical microstructure. The foot pad comprises a foot pad substrate, a foot pad microstructure array and an ejected liquid micro flow path; when the foot pad is manufactured, the foot pad substrate, the foot pad microstructure array and the ejected liquid micro flow path are integrally manufactured by casting silicon rubber, and are installed on a wall-climbing robot by using screws through through holes on a foot pad substrate plane. According to the foot pad, the area of the semispherical three-dimensional microstructure with a contact plane in the sorption is rapidly increased, and the sorption force is subsequently increased, so that the sorption is more effect; in desorption, the area of a separation angle and the contact plane is rapidly decreased, and the sorption force is rapidly decreased, so that the desorption process becomes relatively easier, as a result, the alternative operation of sorption and non-sorption can be rapidly accomplished, and requirements of the bionic wet-sucking wall-climbing robot on sorption and non-sorption are met; and in addition, a great number of ejected liquid flow paths which pass through the semispherical microstructure are beneficial for the secretion and discharge of grume, so that the sorption force is effectively increased. The foot pad is simple in structure, and main parts of the foot pad are manufactured in a silicon rubber casting and are easy to machine.
Description
Technical field
The invention belongs to bionics field, relate to a kind of wall climbing mechanism of bionic wetness-absorption wall-climbing robot, especially a kind of foot pad for wet-adhesion wall climbing bio-robot.
Background technology
The design of bionical foot pad is one of gordian technique of bionic wetness-absorption wall-climbing robot.Researchers climb wall animal absorption principle to wet suction class and have carried out comparatively deep research, find that adsorption affinity is mainly derived from the sufficient mucus padding secretion and forms one deck nano-level thin-membrane between foot pad and wall, produce surface tension and capillary force, and propose wet adsorptive liquid bridge model.Take a hint thus, by imitating the wet surface micro-structure inhaling class animal foot pad, design foot pad for wet-adhesion wall climbing bio-robot.Continue to be formed wet suction to carry out in-depth study, confirmed that the micro-meter scale microstructure on surface fully effectively contacts with wall, wet suction can be significantly improved.But climb in wall process, between foot pad and wall, adsorption and desorption needs to hocket fast, the ability overcoming wet suction during desorption produces large wet suction no less important with during absorption.Regulation and control desorption performance has become the important research direction of bionical bristle technology, but the research with the biomimetic wet-sucking mechanism of desorption mechanism has no report.
In view of the blank of at present research, simultaneously in order to meet hocketing fast of absorption and desorption when biomimetic wet-sucking robot climbs wall, provide a kind of novel foot pad for wet-adhesion wall climbing bio-robot with hemispherical microstructure.
Summary of the invention
The object of the present invention is to provide a kind of foot pad for wet-adhesion wall climbing bio-robot.
This sufficient spacer has good visoelasticity, and absorption and desorption ability are all better, can complete hocketing of absorption and desorption fast.Structure is simple, and cast is convenient, is easy to realize.
Foot pad for wet-adhesion wall climbing bio-robot provided by the invention, at the bottom of sufficient brace 1, foot pads micro structure array, hydrojet fluid channel 4 and liquid storage groove 5; Wherein:
At the bottom of described sufficient brace 1, foot pads micro structure array, hydrojet fluid channel 4 and liquid storage groove 5 and forms by silaatic unit-cast unit;
At the bottom of described sufficient brace, the surrounding of 1 is distributed with through hole 3, and at the bottom of sufficient brace, 1 is arranged on climbing robot by screw and through hole 3, and at the bottom of sufficient brace, the lower surface of 1 has liquid storage groove 5, and the upper surface of 1 at the bottom of sufficient brace is provided with foot and pads micro structure array;
Described foot pad micro structure array is formed by several hemispherical microstructure 2 linear arraies, hemispherical microstructure 2 to be uniformly distributed at the bottom of sufficient brace on 1, and the array direction of foot pad micro structure array is all parallel to 1 surface at the bottom of sufficient brace, and the centre of sphere of all hemispherical microstructures 2 is all arranged in the upper surface of at the bottom of sufficient brace 1;
Described hydrojet fluid channel 4 is straight hole, and through hemispherical microstructure 2, go directly liquid storage groove 5 in its one end, and the quantity of hydrojet fluid channel 4 is identical with the quantity of hemispherical microstructure 2, and its axis is by the centre of sphere of hemispherical microstructure 2 and perpendicular to 1 surface at the bottom of sufficient brace.
In the present invention, the diameter of each hemispherical microstructure 2 in described hemispherical micro structure array is identical, is less than 100 μm, and can changes the number of array as required, to reach optimal adsorption effect.The diameter of described hydrojet fluid channel 4 is less than 20 μm.
In the present invention, at the bottom of described sufficient brace 1 liquid storage groove 5 by the bottom of sufficient brace 1 the distance that concaves of lower surface be 1mm.
Hemispherical three-dimensional microstructures on the present invention's foot pad contributes to absorption and desorption simultaneously; Foot pad microstructure has hydrojet fluid channel, for mucus secretion with arrange, this sufficient mat structure is simple, and adopt metal die casting to form, there is hemispherical micro-hole on casting die surface, convenient and swift.
Accompanying drawing explanation
Fig. 1 has hemispherical microstructure biomimetic wet-sucking foot and pads schematic diagram.
The adsorption/desorption process schematic of Fig. 2 biomimetic wet-sucking foot pad microstructure.
Fig. 3 has hemispherical microstructure biomimetic wet-sucking foot pad lower surface schematic diagram.
The hemispherical microstructure of Fig. 4 and hydrojet fluid channel schematic diagram.
Number in the figure: 1, at the bottom of sufficient brace, 2, hemispherical microstructure, 3, through hole, 4, hydrojet fluid channel, 5, liquid storage groove.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
As shown in Figure 1, have that hemispherical microstructure biomimetic wet-sucking foot pad mainly to comprise at the bottom of sufficient brace 1, foot pad microstructure 2, hydrojet fluid channel 4.Foot pad integral structure is formed by silaatic unit-cast unit, concrete steps are as follows: adopt metal LIGA technique or non-traditional machining method to prepare fine casting die, silaatic liquid glue and curing agent are mixed according to a certain percentage, and in vacuum drying oven, make it be full of casting die, be heated to a little more than room temperature, and keep a period of time, after solidification is peeled off, obtain the silaatic foot pad with microstructure.Be arranged on climbing robot with screw by the through hole 3 in foot pad planar substrates 1.
As shown in Figure 1, described foot pad micro structure array is formed by several hemispherical microstructure 2 linear arraies, and array direction is all parallel to 1 surface at the bottom of sufficient brace, and the centre of sphere of all hemispherical microstructures 2 is all arranged in the upper surface of at the bottom of sufficient brace 1.Absorption and desorption process are as shown in Figure 2, when adsorbing with contact surface, under the effect of precompressed compression, touch the top of hemispherical microstructure, waist and root successively, what bring is that area of contact expands rapidly thereupon, again because wet suction and real contact area are directly proportional, so corresponding wet suction also increases rapidly.Desorption process is contrary with adsorption process, reduces, so just there is angle of departure θ from the root of hemispherical microstructure to top contact area.Therefore very little separating force is only needed just can to complete desorption process rapidly.Make biomimetic wet-sucking foot pad not only have stronger adsorption power, but also there is good desorption mechanism.
As shown in Figure 1, the diameter of the hemispherical microstructure of described foot pad is all less than 100 μm, in limited foot pad surface, therefore increase effectively the number of microstructure.Now, when climbing robot foot pad is creeped at hydraulically rough surface, obviously can increase the real contact area of sufficient cushion material and hydraulically rough surface, thus greatly increase wet suction.
Hydrojet fluid channel 4 is as described in fig. 3 and fig. 4 for running through hemispherical microstructure 2 and the straight hole of through liquid storage groove 5, and its axis is by the centre of sphere of hemispherical microstructure 2 and perpendicular to sufficient brace bottom surface.Wet suction be formed at foot pad and wall between liquid bridge, when liquid thickness is less, liquid arrange speed faster time, wet suction also increases thereupon.On the one hand in order to accelerating liquid arranges speed in the present invention, the quantity of hydrojet fluid channel is identical with the quantity of hemispherical microstructure 2; On the other hand in order to obtain the less liquid bridge film of thickness, the diameter of fluid channel is less than 20 μm usually.
The present invention has following characteristics: the hemispherical three-dimensional microstructures on foot pad contributes to absorption and desorption, in adsorption process, contact surface increases rapidly, wet suction also increases thereupon, during desorption, contact surface is then quick reduction, owing to being sectional area difference, there is the angle of departure, desorption can become and be more prone to; Foot pad microstructure on there is hydrojet fluid channel, for mucus secretion with arrange, two ends attachment face is then smooth, rational in infrastructure, economical; This sufficient mat structure is simple, and adopt metal die casting to form, there is hemispherical micro-hole on casting die surface, convenient and swift.
Claims (5)
1. a foot pad for wet-adhesion wall climbing bio-robot, is characterized in that comprising: at the bottom of sufficient brace, (1), foot pad micro structure array, hydrojet fluid channel (4) and liquid storage groove (5); Wherein:
At the bottom of described sufficient brace, (1), foot pad micro structure array, hydrojet fluid channel (4) and liquid storage groove (5) and form by silaatic unit-cast unit;
At the bottom of described sufficient brace, the surrounding of (1) is distributed with through hole (3), at the bottom of foot brace, (1) is arranged on climbing robot by screw and through hole (3), at the bottom of foot brace, the lower surface of (1) has liquid storage groove (5), and the upper surface of (1) at the bottom of sufficient brace is provided with foot and pads micro structure array;
Described foot pad micro structure array is formed by several hemispherical microstructure (2) linear arraies, hemispherical microstructure (2) is uniformly distributed on (1) at the bottom of sufficient brace, and the array direction of foot pad micro structure array is all parallel to (1) surface at the bottom of sufficient brace, and the centre of sphere of all hemispherical microstructures (2) is all arranged in the upper surface of (1) at the bottom of sufficient brace;
Described hydrojet fluid channel (4) is straight hole, through hemispherical microstructure (2), go directly liquid storage groove (5) in its one end, the quantity of hydrojet fluid channel (4) is identical with the quantity of hemispherical microstructure (2), and its axis is by the centre of sphere of hemispherical microstructure (2) and perpendicular to (1) surface at the bottom of sufficient brace.
2. foot pad for wet-adhesion wall climbing bio-robot according to claim 1, is characterized in that the diameter of each hemispherical microstructure (2) in described hemispherical micro structure array is identical.
3. foot pad for wet-adhesion wall climbing bio-robot according to claim 1, is characterized in that the diameter of described hemispherical microstructure (2) is less than 100 μm.
4. foot pad for wet-adhesion wall climbing bio-robot according to claim 1, is characterized in that the diameter of described hydrojet fluid channel (4) is less than 20 μm.
5. foot pad for wet-adhesion wall climbing bio-robot according to claim 1, is characterized in that the distance that the liquid storage groove (5) of (1) at the bottom of described sufficient brace is concaved by the lower surface of (1) at the bottom of sufficient brace is 1mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210479175.6A CN103010328B (en) | 2012-11-23 | 2012-11-23 | Foot pad of bionic wet-sucking wall-climbing robot with semispherical microstructure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210479175.6A CN103010328B (en) | 2012-11-23 | 2012-11-23 | Foot pad of bionic wet-sucking wall-climbing robot with semispherical microstructure |
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| Publication Number | Publication Date |
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| CN103010328A CN103010328A (en) | 2013-04-03 |
| CN103010328B true CN103010328B (en) | 2015-01-14 |
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| CN201210479175.6A Expired - Fee Related CN103010328B (en) | 2012-11-23 | 2012-11-23 | Foot pad of bionic wet-sucking wall-climbing robot with semispherical microstructure |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908841B (en) * | 2017-11-03 | 2020-10-20 | 南京邮电大学 | Three-dimensional wall surface graspable position discrimination algorithm |
| CN107757744B (en) * | 2017-11-28 | 2023-10-20 | 吉林大学 | Self-adaptive multi-ground unscrewing type four-foot robot foot pad |
| CN109436118B (en) * | 2018-10-30 | 2021-06-08 | 同济大学 | Rigid-soft combined wet absorption foot of bionic wall-climbing robot with self-adaptive wall roughness |
| CN111561510B (en) * | 2020-04-26 | 2021-06-29 | 浙江大学 | Vacuum chuck based on liquid seal and adsorption method thereof |
| CN111806589B (en) * | 2020-07-31 | 2023-12-22 | 苏州荣坤智能机器科技有限公司 | Wall climbing robot foot pad based on electromagnetic adsorption |
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| DE10101327A1 (en) * | 2001-01-13 | 2002-07-25 | Fraunhofer Ges Forschung | Track-bound self-propelled vehicle esp. climbing robot on building facades has frame with two deflector units, one motor-driven, for esp. toothed belt with grab-shaped holders to lock on rails |
| CN101525010A (en) * | 2009-03-24 | 2009-09-09 | 同济大学 | Wheel-claw type wet-absorbing wall-climbing Robert wheel claw capable of being recombined |
| CN101774407A (en) * | 2010-02-04 | 2010-07-14 | 同济大学 | Wet-absorbing type vacuum assisted sucking disc |
| CN101786273A (en) * | 2010-01-28 | 2010-07-28 | 同济大学 | Foot pad for wet-adhesion wall climbing bio-robot |
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2012
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Patent Citations (4)
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|---|---|---|---|---|
| DE10101327A1 (en) * | 2001-01-13 | 2002-07-25 | Fraunhofer Ges Forschung | Track-bound self-propelled vehicle esp. climbing robot on building facades has frame with two deflector units, one motor-driven, for esp. toothed belt with grab-shaped holders to lock on rails |
| CN101525010A (en) * | 2009-03-24 | 2009-09-09 | 同济大学 | Wheel-claw type wet-absorbing wall-climbing Robert wheel claw capable of being recombined |
| CN101786273A (en) * | 2010-01-28 | 2010-07-28 | 同济大学 | Foot pad for wet-adhesion wall climbing bio-robot |
| CN101774407A (en) * | 2010-02-04 | 2010-07-14 | 同济大学 | Wet-absorbing type vacuum assisted sucking disc |
Non-Patent Citations (4)
| Title |
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| A Survey of Technologies for Climbing Robots Adhesion to Surfaces;Manuel F.Silva J.A.Tenreiro Machado;《ICCC2008●IEEE 6th International Conference on Computational Cybernetics》;20081231;127-132 * |
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