CN108217182A - A kind of microminiature grabbing device and its grasping means based on Van der Waals force - Google Patents
A kind of microminiature grabbing device and its grasping means based on Van der Waals force Download PDFInfo
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- CN108217182A CN108217182A CN201810035541.6A CN201810035541A CN108217182A CN 108217182 A CN108217182 A CN 108217182A CN 201810035541 A CN201810035541 A CN 201810035541A CN 108217182 A CN108217182 A CN 108217182A
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- Prior art keywords
- pasting material
- bionical
- connecting line
- driving motor
- microminiature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Mechanical Engineering (AREA)
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Abstract
The present invention discloses a kind of microminiature grabbing device based on Van der Waals force and its grasping means, including support fixed frame, bionical pasting material and glutinous desorption control system, support fixed frame includes bottom plate and the longitudinal riser for being installed on bottom plate both sides, bionical pasting material side is installed on longitudinal riser lower end, opposite side for free end and can Yan'an be loaded on the side rotation of longitudinal riser, glutinous desorption control system includes the pressure apparatus being located above bionical pasting material and removes device with what bionical pasting material free end was connect；Bionical pasting material is pushed by pressure apparatus with pre- crawl object surface to be sticked, and is transferred to behind precalculated position and bionical pasting material is prolonged into free end side by removing device is again removed to detach crawl object.The device is mainly applied to industrially being clamped, being carried and being unloaded to target object, target object is captured in space environment.
Description
Technical field
The present invention relates to a kind of microminiature grabbing device based on Van der Waals force and its grasping means, belong to and stick mechanism neck
Domain.
Background technology
Gecko can stablize the mechanism sticked and be derived from Van der Waals force on a variety of surfaces, and the mechanism has benefited from its sole
Upper hundreds thousand of micro-nano bristles.Biomimetic material and structure based on gecko mechanism and structure design microminiature clamping device, because of it
There is extensive adaptability, and do not limited by space environment to different roughness surface, be with a wide range of applications, in industry
On target object can be clamped, carried and be unloaded, target object can be captured under space environment, assist astronaut
Operation or fixed position, safely, conveniently, efficiently different objects are captured and be carried.
The existing related utility device with identical function has：Jing Yixi tribology National Key Laboratory of Tsinghua University
Devise a kind of clamper prototype based on imitative gecko bristle surface, so have developed it is a kind of for lightweights such as silicon chips, easily
The small retainer device that the body that minces transfer is carried tenses the rope being located between three spring steel cantilever beams by steering engine, makes to be located at
The pasting material of cantilever beam end generates the tangential force to center, release rope may be used smaller desorption power make clamper from
Open object.It is primarily adapted for use in that Mass Distribution is uniform, and barycenter can be located at the gripped object at clamper center, and (week inscription is bionical viscous
The mechanism and application study [D] Tsinghua University, 2013).The researcher of Stanford Univ USA designs a kind of clamping dress
It puts, to the more demanding of pasting material, it is necessary to could realize clamping (Jiang H, Hawkes using the array with incline structure
E W,Arutyunov V,et al.Scaling controllable adhesives to grapple floating
objects in space[C]//Robotics and Automation(ICRA),2015IEEE International
Conference on.IEEE,2015:2828-2835.).Shanghai Aerospace Control technical research institute has studied a kind of based on bionical
The space-orbit acquisition equipment (CN106564629A) of the dry pasting material of gecko, closed loop is formed using being connected by pulley line
Multiple fixed pulley groups and running block and resetting spring are as transmission mechanism, and transmission mechanism to load tendon and connects tendon when sticking
Stress is tight, generates normal direction adhesive force, and when desorption then cancels the normal direction adhesive force.
The shortcomings of existing microminiature adhering device is actually rare, and there are adhesion power is small, difficult desorption, applicability
Range is small, and cost performance is relatively low, thus is unfavorable for promoting the use of on a large scale.
Invention content
Goal of the invention：The technical problems to be solved by the invention are in view of the deficiencies of the prior art, to provide one kind and stick work
With big, the good microminiature grabbing device based on Van der Waals force of desorption effect, can be applied to industrially carry out target object
Stick, clamp, carry and unload, spatially target object is captured, assist astronaut's operation or fixed position, with peace
Entirely, it is convenient, efficiently different objects are captured and are carried.
In order to solve the above-mentioned technical problem, the invention discloses a kind of microminiature grabbing device based on Van der Waals force, packets
The bionical pasting material for including support fixed frame and being arranged in support fixed frame is desorbed control system with glutinous；
The support fixed frame includes bottom plate and two longitudinal risers for being installed on bottom plate both sides；
The bionical pasting material is a planar structure, and one side is installed vertically on longitudinal riser lower end, and opposite side is certainly
By holding, and the side for being installed on longitudinal riser can be prolonged and be rotated up and down；
The glutinous desorption control system includes being located at the pressure apparatus above bionical pasting material plane and is sticked with bionical
The connection of enclosure material free end removes device；
Bionical pasting material is pushed by pressure apparatus with pre- crawl object surface to be sticked, and is transferred to behind precalculated position again
Bionical pasting material is prolonged free end side by removing device to remove to detach crawl object.
Wherein, the pressure apparatus includes being located on two block pressur plates above bionical pasting material plane and driving pressing plate
The telescopic rod of lower movement.
The device that removes includes the first driving motor and the first connecting line, and first connecting line passes through pressing plate closely longitudinal
Bionical pasting material is prolonged it certainly by one end of riser and the free end for connecting bionical pasting material side by the first driving motor
By side is held to be lifted up.
Second driving motor on the bottom plate is installed, a branch of second connection is full of in the drive shaft of the second driving motor
Line, second connecting line connect the free end of bionical pasting material side, and can tense in the horizontal direction and bionical stick material
Material is bionical pasting material with providing a horizontal tangential power during pre- crawl object surface adhesion.
The bottom plate lower part is equipped with U-frame body, and bottom is with longitudinal riser lower end in same level height, the second connecting line
It is connect across U-frame body bottom with the free end of bionical pasting material, to ensure that the second connecting line can tense in the horizontal direction
Bionical pasting material.
Further, the telescopic rod includes interior bar and sleeve, and the interior bar is located at sleeve inner, electricity is equipped at the top of interior bar
Machine, sleeve lining are equipped with screw thread, and interior bar is moved up and down by the thread fitting in motor and sleeve, driving interior bar.
Further, the interior bar can also use spring to drive, with the weight of alleviator.Pressure apparatus is also at this time
Including third driving motor, third connecting line is full of in third driving motor output shaft；The telescopic rod includes interior bar and sleeve,
The interior bar is located at sleeve inner, passes through spring and sleeve connection at the top of interior bar；Third connecting line is connect with telescopic rod bottom, is led to
It crosses third driving motor and spring driving telescopic rod moves up and down.
First transverse plate and the second transverse plate are installed on the base plate plane；First transverse plate and the second transverse plate are the bottom of by
Plate is separated into three pieces of upper, middle and lower region, and both ends are connect respectively with two longitudinal risers, and riser, bottom plate and transverse plate hang down two-by-two
Directly；The telescopic rod runs through the first transverse plate and the second transverse plate；First connecting line is horizontal through the first transverse plate and second
To one end of the closely longitudinal riser of plate, start to remove to ensure that bionical pasting material is prolonged its free end side by the first connecting line.
The longitudinal direction riser, bottom plate and transverse plate are fixed between any two by L-type connection sheet；The U-frame body and bottom plate
Between fixed by L-type connection sheet.
The present invention also provides the grasping means of above device, include the following steps：
Step a：Device is adjusted to original state, telescopic rod driving pressing plate rises, and makes pressing plate far from bionical pasting material,
Bionical pasting material is lifted up by the first driving motor by the first connecting line, and the second driving motor discharges the second connecting line；
Step b：First driving motor discharges the first connecting line, and the second driving motor tenses the second connecting line, makes bionical glutinous
Enclosure material whereabouts is laid flat, and contacts the surface of pre- crawl object, and telescopic rod driving pressing plate declines, and pushes bionical pasting material；
Step c：Second driving motor further tenses the second connecting line, and a horizontal tangential is provided for bionical pasting material
Pre- crawl object is attached to bionical pasting material surface by power；
Step d：Pre- crawl object is sent to precalculated position, the second driving motor discharges the second connecting line, releases horizontal tangential
Power, telescopic rod driving pressing plate rise away from bionical pasting material, and the first driving motor sticks material by the first connecting line by bionical
The free end side of material removes and is lifted up from pre- crawl object surface, so as to capture object separation.
In step d, it may be necessary to risen using third driving motor secondary spring driving telescopic rod driving pressing plate, so as to
The speed that it is further controlled to rise so that the speed that pressing plate rises is more than the pull-up speed of the second connecting line, it is ensured that imitative
The most fast peeling rate of raw pasting material.
The present invention is based on gecko adherence mechanisms, devise a kind of microminiature grabbing device based on Van der Waals force, using glutinous
The bottom plate on enclosure material top pushes bionical pasting material, is bionical pasting material with capturing the object surface pressure that provide one vertical in advance
Power, while by tensing the second connecting line, a horizontal tangential power is provided for bionical pasting material, in vertical and horizontal cutting
Under the collective effect of power so that bionical pasting material sticks securely with pre- crawl object；During desorption, then by vertical and water
Flat tangential force is cancelled, and is removed since crawl object surface in advance the side free end of bionical pasting material by the first connecting line,
And design the rate of climb of pressing plate and coordinate with the pull rate of the first connecting line, so as to will quickly capture object separation in advance.
Advantageous effect：
1st, apparatus of the present invention drive bionical pasting material to be sticked and be desorbed to capturing object in advance using mechanical transmission structure,
Glutinous/desorption process is controllable, sticks reliably, desorption is easy, and the stress being applied on held object is smaller, applied widely.
2nd, the present apparatus does not have accordance with tolerance to the microstructure of pasting material, and applicability is wide, industrially can be to target object
It clamped, carried and is unloaded, target object is captured under space environment, assist astronaut's operation or fixed position.
Description of the drawings
The present invention is done with reference to the accompanying drawings and detailed description and is further illustrated, of the invention is above-mentioned
And/or otherwise advantage will become apparent.
Fig. 1 is the overall structure diagram of 1 device of embodiment；
Fig. 2 is 1 device exploded view of embodiment；
Fig. 3 to Fig. 7 is the procedure chart of 1 device of embodiment crawl object.
Specific embodiment
According to following embodiments, the present invention may be better understood.
Embodiment 1
As illustrated in fig. 1 and 2, which includes support fixed frame and is arranged on imitative in support fixed frame
Raw pasting material and glutinous desorption control system；Support fixed frame is built using poly (methyl methacrylate) plate, including bottom plate 11, passes through L-type
The two longitudinal risers 12 and the first transverse plate 13 and second in 11 plane of bottom plate that connection sheet is installed on bottom plate both sides
Transverse plate 14, riser, bottom plate are vertical two-by-two with transverse plate；A U-frame body 51, U is installed in the middle part of second transverse plate, 14 lower surface
Shape framework 51 includes two pieces of risers 511 and one piece of transverse slat 512 of bottom, and riser 511 and transverse slat 512 are connected with bottom plate 11 by L-type
Contact pin is fixed.
The side of bionical pasting material 21 is installed vertically on longitudinal 12 lower end of riser, and vertical with bottom plate 11, opposite
Side is free end, and the side that Yan'an dress is capable of in free end is rotated up and down.
Glutinous desorption control system includes being located at two block pressur plates 31 above bionical 21 plane of pasting material, on driving pressing plate 31
32 and first driving motor 33 of telescopic rod and third driving motor 34 of lower movement, telescopic rod 32 include interior bar 321 and sleeve
322, the interior bar 321 is located inside sleeve 322, and 321 top of interior bar is connect by spring with sleeve 322, and telescopic rod 32 runs through
First transverse plate 13 and the second transverse plate 14；First driving motor 33 and third driving motor 34 are mounted on the first transverse plate 13
On, two the first connecting lines of beam 331 are full of on 33 output shaft of the first driving motor, pass through the first transverse plate 13, the second transverse plate
14, one end of the nearly longitudinal riser 12 of pressing plate 31 is then passed through, and free with side of the bionical pasting material 21 far from longitudinal riser 12
End connection, bionical pasting material 21 is lifted by the first connecting line 331；Two beam thirds are full of on 34 output shaft of third driving motor
Connecting line 341 connect with two 321 tops of interior bar, is driven on telescopic rod 32 by 341 secondary spring of third connecting line respectively
Lower movement, the speed that pressing plate 31 rises during controlling desorption process..
11 middle part of bottom plate is equipped with the second driving motor 41, between the first transverse plate 13 and the second transverse plate 14,
A branch of second connecting line 411 is full of in the drive shaft of second driving motor 41, the second connecting line 411 passes through the second transverse plate 14 simultaneously
Inside U-frame 41, it is connect across transverse slat 412 with side free end of the bionical pasting material 21 far from longitudinal riser 12.
As shown in Fig. 3 to Fig. 7, the grasping means of the device includes the following steps：
Step a：Device is adjusted to original state, interior bar 321 is driven to rise by third driving motor 34, makes pressing plate 31
Far from bionical pasting material 21, bionical pasting material 21 is lifted up by the first driving motor 33 by the first connecting line 331, the
Two driving motors 41 discharge the second connecting line 411, as shown in Figure 3；
Step b：First driving motor 33 discharges the first connecting line 331, and the second driving motor 41 tenses the second connecting line
411, it is laid flat the bionical whereabouts of pasting material 21, and contact the surface of pre- crawl object, release third connecting line 341, interior bar 321 exists
Spring driving declines, and pressing plate 31 pushes bionical pasting material 21, as shown in Figure 4；
Step c：Second driving motor 41 further tenses the second connecting line 411, and a water is provided for bionical pasting material 21
Pre- crawl object is attached to bionical 21 surface of pasting material, as shown in Figure 5 by flat tangential force；
Step d：Pre- crawl object is sent to precalculated position, the second driving motor 41 discharges the second connecting line 411, releases tangential
Power, third driving motor 34 pull up interior bar 321 by third connecting line 341, and driving pressing plate 31 rises away from bionical pasting material
21, the side free end of bionical pasting material 21 is captured object surface by the first driving motor 33 by the first connecting line 331 from pre-
It removes and is lifted up, and ensure that the speed that pressing plate 31 rises is more than the pull-up speed of the first connecting line 331, so that object will be captured
Quick separating, as shown in Figure 6 and Figure 7.
Embodiment 2
The apparatus structure that the device and embodiment 1 provide substantially, but motor progress of the telescopic rod 32 inside
Driving, i.e. 321 top of interior bar are equipped with motor, and 322 inner wall of sleeve is equipped with screw thread, and interior bar 321 passes through the spiral shell in motor and sleeve 322
Line coordinates, and driving interior bar 321 moves up and down.
The present invention provides a kind of microminiature grabbing device based on Van der Waals force and its thinking and method of grasping means,
There are many method and the approach for implementing the technical solution, and the above is only the preferred embodiment of the present invention, it is noted that
For those skilled in the art, without departing from the principle of the present invention, several change can also be made
Into and retouching, these improvements and modifications also should be regarded as protection scope of the present invention.Each component part being not known in the present embodiment
The available prior art is realized.
Claims (10)
1. a kind of microminiature grabbing device based on Van der Waals force, which is characterized in that including support fixed frame and be arranged on
Support the bionical pasting material in fixed frame and glutinous desorption control system；
The support fixed frame includes bottom plate (11) and the longitudinal riser (12) for being installed on bottom plate both sides；
The side of the bionical pasting material (21) is installed on longitudinal riser (12) lower end, and opposite side is free end and being capable of Yan'an
Side rotation loaded on longitudinal riser (12)；
The glutinous desorption control system includes the pressure apparatus being located above bionical pasting material (21) and sticks material with bionical
The connection of material (21) free end removes device；
Bionical pasting material (21) is pushed by pressure apparatus with pre- crawl object surface to be sticked, and is transferred to behind precalculated position again
Bionical pasting material (21) is prolonged free end side by removing device to remove to detach crawl object.
A kind of 2. microminiature grabbing device based on Van der Waals force according to claim 1, which is characterized in that the pressure
Device includes being located at two block pressur plates (31) above bionical pasting material (21) and drives the flexible of pressing plate (31) up and down motion
Bar (32).
3. a kind of microminiature grabbing device based on Van der Waals force according to claim 2, which is characterized in that described to remove
Device includes the first driving motor (33) and the first connecting line (331), and first connecting line (331) is closely vertical across pressing plate (31)
To one end of riser (12) and the free end of bionical pasting material (21) side is connected, it will be bionical by the first driving motor (33)
Pasting material (21) prolongs its free end side and is lifted up.
A kind of 4. microminiature grabbing device based on Van der Waals force according to claim 3, which is characterized in that the bottom plate
(11) the second driving motor (41) on is installed, a branch of second connecting line is full of in the drive shaft of the second driving motor (41)
(411), second connecting line (411) connects the free end of bionical pasting material (21) side, and can draw in the horizontal direction
Tight bionical pasting material (21).
A kind of 5. microminiature grabbing device based on Van der Waals force according to claim 4, which is characterized in that the bottom plate
(11) lower part is equipped with U-frame body (51), and U-frame body (51) bottom is located at same level height with longitudinal riser (12) lower end
Degree, the second connecting line (411) are connect across U-frame body (51) bottom with the free end of bionical pasting material (21).
6. a kind of microminiature grabbing device based on Van der Waals force according to claim 2, which is characterized in that described flexible
Bar (32) includes interior bar (321) and sleeve (322), and the interior bar (321) is internal positioned at sleeve (322), is set at the top of interior bar (321)
There is a motor, sleeve (322) inner wall is equipped with screw thread, and interior bar (321) is by the thread fitting in motor and sleeve (322), in driving
Bar (321) moves up and down.
A kind of 7. microminiature grabbing device based on Van der Waals force according to claim 2, which is characterized in that the pressure
Device further includes third driving motor (34), and third connecting line (341) is full of on third driving motor (34) output shaft；It is described to stretch
Contracting bar (32) includes interior bar (321) and sleeve (322), and the interior bar (321) is internal positioned at sleeve (322), at the top of interior bar (321)
It is connect by spring with sleeve (322)；Third connecting line (341) is connect with telescopic rod (32) bottom, passes through third driving motor
(34) it moves up and down with spring driving telescopic rod (32).
8. a kind of microminiature grabbing device based on Van der Waals force described according to claim 6 or 7, which is characterized in that described
The first transverse plate (13) and the second transverse plate (14) are installed in bottom plate (11) plane；First transverse plate (13) and the second transverse plate
(14) bottom plate (11) is separated into three pieces of upper, middle and lower region, and both ends are connect respectively with two longitudinal risers (12), riser, bottom
Plate is vertical two-by-two with transverse plate；The telescopic rod (32) is through the first transverse plate (13) and the second transverse plate (14)；Described first
Connecting line (331) is through one end of the nearly longitudinal riser (12) of the first transverse plate (13) and the second transverse plate (14).
9. the grasping means of claim 8 described device, which is characterized in that include the following steps：
Step a：Device is adjusted to original state, telescopic rod (32) driving pressing plate (31) rises, and makes pressing plate (31) far from bionical
Bionical pasting material (21) is lifted up by pasting material (21), the first driving motor (33) by the first connecting line (331), the
Two driving motors (41) discharge the second connecting line (411)；
Step b：First driving motor (33) discharges the first connecting line (331), and the second driving motor (41) tenses the second connecting line
(411), it is laid flat bionical pasting material (21) whereabouts, and contacts the surface of pre- crawl object, telescopic rod (32) driving pressing plate (31)
Decline, push bionical pasting material (21)；
Step c：Second driving motor (41) further tenses the second connecting line (411), and one is provided for bionical pasting material (21)
Pre- crawl object is attached to bionical pasting material (21) surface by horizontal tangential power；
Step d：Pre- crawl object is sent to precalculated position, the second driving motor (41) discharges the second connecting line (411), releases horizontal
Tangential force, telescopic rod (32) driving pressing plate (31) rise away from bionical pasting material (21), and the first driving motor (33) passes through the
The free end side of bionical pasting material (21) is removed and is lifted up from pre- crawl object surface by one connecting line (331), so as to
It will crawl object separation.
10. the grasping means of device according to claim 9, which is characterized in that in step d, what the pressing plate (31) rose
Speed is more than the pull-up speed of the first connecting line (331).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035541.6A CN108217182B (en) | 2018-01-15 | 2018-01-15 | A kind of microminiature grabbing device and its grasping means based on Van der Waals force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035541.6A CN108217182B (en) | 2018-01-15 | 2018-01-15 | A kind of microminiature grabbing device and its grasping means based on Van der Waals force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108217182A true CN108217182A (en) | 2018-06-29 |
| CN108217182B CN108217182B (en) | 2019-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810035541.6A Active CN108217182B (en) | 2018-01-15 | 2018-01-15 | A kind of microminiature grabbing device and its grasping means based on Van der Waals force |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109637326A (en) * | 2018-12-18 | 2019-04-16 | 上海航天控制技术研究所 | The magneticaction rope for simulating free target limits destination apparatus |
| CN110294041A (en) * | 2019-07-15 | 2019-10-01 | 哈尔滨工业大学 | A kind of soft robot and adherency climbing method based on flexible bristle configurations |
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| CN106379434A (en) * | 2016-09-29 | 2017-02-08 | 南京航空航天大学 | Imitated gecko sole capable of self-sensing and self-adapting to contact force with initiative sticking/desorbing function |
| CN106494652A (en) * | 2016-09-20 | 2017-03-15 | 北京工业大学 | A kind of bionical dry stick mechanism based on what compound constant force spring was loaded |
| CN106564629A (en) * | 2016-10-27 | 2017-04-19 | 上海航天控制技术研究所 | Space on-orbit capturing device based on bionic gecko dry adhesive material |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2007121450A2 (en) * | 2006-04-17 | 2007-10-25 | Arom Technologies, Inc. | Device and method for handling an object of interest using a directional adhesive structure |
| CN106494652A (en) * | 2016-09-20 | 2017-03-15 | 北京工业大学 | A kind of bionical dry stick mechanism based on what compound constant force spring was loaded |
| CN106379434A (en) * | 2016-09-29 | 2017-02-08 | 南京航空航天大学 | Imitated gecko sole capable of self-sensing and self-adapting to contact force with initiative sticking/desorbing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109637326A (en) * | 2018-12-18 | 2019-04-16 | 上海航天控制技术研究所 | The magneticaction rope for simulating free target limits destination apparatus |
| CN110294041A (en) * | 2019-07-15 | 2019-10-01 | 哈尔滨工业大学 | A kind of soft robot and adherency climbing method based on flexible bristle configurations |
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| Publication number | Publication date |
|---|---|
| CN108217182B (en) | 2019-08-06 |
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