CN110216706B - Adhesion method - Google Patents
Adhesion method Download PDFInfo
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- CN110216706B CN110216706B CN201910587753.XA CN201910587753A CN110216706B CN 110216706 B CN110216706 B CN 110216706B CN 201910587753 A CN201910587753 A CN 201910587753A CN 110216706 B CN110216706 B CN 110216706B
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- hydrophobic
- rectangular structure
- liquid
- electrode
- control board
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Water Treatment By Electricity Or Magnetism (AREA)
Abstract
The invention discloses an adhesion method, which belongs to the adhesion field, and comprises a plurality of hydrophobic rectangular structures, gaps are formed between the hydrophobic rectangular structures, vertical electrodes are arranged on two sides of the inside of the hydrophobic rectangular structures, transverse electrodes are arranged at the bottoms of the hydrophobic rectangular structures, an electric control switch is arranged between the transverse electrodes of the hydrophobic rectangular structures, a liquid storage tank is arranged below the hydrophobic rectangular structures, the liquid storage tank is connected with the hydrophobic rectangular structures through the gaps between the electric control switch, liquid in the liquid storage tank conveniently flows into the gaps of the hydrophobic rectangular structures, the liquid storage tank is connected with a circuit control board, and the circuit control board is connected with a battery; the circuit control board is connected with the vertical electrode, the transverse electrode and the electric control switch through wires and is powered by the battery. The invention has the characteristics of simple structure, wide application range, safe operation, quick adhesion, convenient desorption and small energy consumption, and has wider application space.
Description
Technical Field
The invention belongs to the field of adhesion, and particularly relates to an adhesion method.
Background
With the development of countries and society, people start to walk into expressways of advanced high-tech development, and the factories also walk into unmanned factory times at the same time, namely all product processing processes are basically finished by means of machines. This requires the robot's processing arm to be flexible enough to quickly and efficiently grasp and transfer the product. On one hand, a mechanical grabbing mode can be adopted, the requirement on precision control of a mechanical arm is extremely high, and the adaptability is poor. On the other hand, the product is adhered to the mechanical arm in an adhering mode, and the product is transferred. However, the existing adhesion mode is mainly an adhesion mode adopting a vacuum chuck, which is not suitable for adhesion of products with irregular appearance, so that a controllable, wide-application-range, rapid and efficient adhesion device is needed.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an adhesion method which is reasonable in design, overcomes the defects in the prior art and has good effect.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the controllable adhesion device for generating the liquid bridge by utilizing the electric field comprises a plurality of hydrophobic rectangular structures, wherein vertical electrodes are arranged on two sides of the inside of each hydrophobic rectangular structure, transverse electrodes are arranged at the bottom of each hydrophobic rectangular structure, the vertical electrodes and the transverse electrodes are positioned below the hydrophobic surfaces of each hydrophobic rectangular structure, an electric control switch is arranged between the transverse electrodes of each hydrophobic rectangular structure, a liquid storage tank is arranged below each hydrophobic rectangular structure, the liquid storage tank is connected with a circuit control board, and the circuit control board is connected with a battery; the circuit control board is connected with the vertical electrode, the transverse electrode and the electric control switch through wires and is powered by the battery.
Preferably, the surface of the hydrophobic rectangular structure is made of polytetrafluoroethylene material and is used for making the surface hydrophobic; the ratio of the height to the width of the hydrophobic rectangular structures is in the range of 1-1.5, the distance between the two hydrophobic rectangular structures is 1.2-1.5 times of the width of the hydrophobic rectangular structures, and the width of the hydrophobic rectangular structures is in the range of 0.1-1 mm.
Preferably, the height of the vertical electrode is 0.6-0.8 times the height of the hydrophobic rectangular structure.
Preferably, the diameter of the electronically controlled switch is 0.05mm.
Preferably, the circuit control board is capable of controlling the operating states of the vertical electrode, the horizontal electrode and the electric control switch.
Preferably, the battery is made of graphene, has certain flexibility and can deform along with the device.
The invention also relates to a method for adhering, which uses a controllable adhering device for generating a liquid bridge by using an electric field, and comprises the following steps:
step 1: the electric control switch is turned on through the circuit control board and the battery, the vertical electrode and the transverse electrode are connected to generate an electric field, water is stored in the storage pool and is a polar liquid, the water can spontaneously spread on the surface of the hydrophobic rectangular structure under the action of the electric field, so that the surface of the hydrophobic rectangular structure with the electrode becomes hydrophilic, and the water can spontaneously enter a gap of the hydrophobic rectangular structure through the electric control switch under the action of capillary force to spread on the surface with the electrode, and a liquid column is formed in the gap;
step 2: the electric control switch is closed through the circuit control board, liquid column backflow entering a gap of the hydrophobic rectangular structure is prevented, the vertical electrode is closed, the side surface of the hydrophobic rectangular structure has no electric field effect, the surface recovers the hydrophobic characteristic, the liquid column of the gap of the hydrophobic rectangular structure is far away from the side surface and contracts inwards, the liquid column height is increased due to the fact that the liquid column volume is unchanged and the diameter is reduced, and cap-shaped liquid drops exceeding the height of the hydrophobic rectangular structure are formed;
step 3: the rising of the cap-shaped liquid drops finally enables the liquid drops in the gaps of the hydrophobic rectangular structures to be in contact with the surfaces of the grabber, and water has good wettability on the surfaces of most objects, so that a liquid bridge is formed between the gaps of the hydrophobic rectangular structures and the grabber; because the diameter of the water column is within 1mm, the surface tension of the grabber plays a dominant role under the scale, and the grabber is tightly connected with the device by the tension generated by the surface tension of the grabber, so that the object is stably adhered, and the device is made of flexible materials, so that the corresponding change can be made according to the shape of the grabber, and the adhesive strength is ensured;
step 4: when the circuit control board closes the transverse electrode, the bottom of the gap of the hydrophobic rectangular structure can be restored to the original hydrophobic surface, so that the liquid bridge spontaneously breaks away from the device, the adhesion between the device and an object is relieved, and quick debonding is formed.
The invention has the beneficial technical effects that:
1. the device mainly utilizes an electric field to control the generation of a liquid bridge, so that adhesion is generated, a transmission device is not arranged in the middle, the consumption of useless work is reduced, the energy consumption is low, and meanwhile, the structure is simple.
2. The device disclosed by the invention realizes the adhesion and debonding process by simply relying on electric field transformation, breaks through the speed limit of mechanical transmission, can realize the rapid adhesion and debonding process, and has high working efficiency.
3. The device has flexibility, so that the device can be suitable for most objects, and has the characteristics of wide application range, safe operation and convenient manufacture.
In summary, the controllable adhesion device for generating the liquid bridge by utilizing the electric field has the characteristics of simple structure, wide application range, safe operation, quick adhesion, convenient desorption and low energy consumption, is separated from the traditional adhesion device in a certain sense, and has wider application space compared with the existing adhesion devices with most designs.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention;
FIG. 2 is a schematic illustration of the device of the present invention ready for adhesion;
FIG. 3 is a schematic illustration of the device of the present invention as attached;
FIG. 4 is a schematic illustration of the device of the present invention after detachment.
Wherein, 1-a hydrophobic rectangular structure; 2-vertical electrodes; 3-a lateral electrode; 4-an electric control switch; 5-a liquid storage tank; 6-a circuit control board; 7-cell.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
example 1
The utility model provides a utilize controllable adhesion device of electric field production liquid bridge, as shown in fig. 1, includes a plurality of hydrophobic rectangle structures 1, and the inside both sides of hydrophobic rectangle structure 1 are provided with vertical electrode 2, and the bottom of hydrophobic rectangle structure 1 is provided with horizontal electrode 3, and vertical electrode 2 and horizontal electrode 3 all are located the hydrophobic surface of hydrophobic rectangle structure 1, are provided with electric control switch 4 between the horizontal electrode 3 of hydrophobic rectangle structure 1. A liquid storage tank 5 is arranged below the hydrophobic rectangular structure 1, the liquid storage tank 5 is connected with a circuit control board 6, and the circuit control board 6 is connected with a battery 7. The circuit control board 6 is connected with the vertical electrode 2, the horizontal electrode 3 and the electric control switch 4 through leads and is powered by the battery 7.
The surface of the hydrophobic rectangular structure 1 is made of polytetrafluoroethylene material, so that the surface is hydrophobic. The ratio of the height to the width of the hydrophobic rectangular structures 1 is 1-1.5, the distance between the two hydrophobic rectangular structures 1 is 1.2-1.5 times of the width of the hydrophobic rectangular structures 1, and the width of the hydrophobic rectangular structures 1 is 0.1-1 mm.
The height of the vertical electrode 2 is 0.6-0.8 times of the height of the hydrophobic rectangular structure 1. The transverse electrode 3 is arranged at the bottom of the hydrophobic rectangular structure 1 and is paved on the bottom of the whole hydrophobic rectangular structure, and the diameter of the electric control switch is 0.05mm.
The liquid storage tank 5 can be connected with the gap between the hydrophobic rectangular structure 1 through the electric control switch 4, so that internal liquid can conveniently flow into the gap of the hydrophobic rectangular structure 1 from the liquid storage tank 5.
The circuit control board 6 can control the working states of the vertical electrode 2, the horizontal electrode 3 and the electric control switch 4.
The battery 7 is made of graphene, so that the battery has certain flexibility and can deform along with the device.
Example 2
An adhesion method for generating a liquid bridge using an electric field as described in the above embodiment 1, comprising the steps of:
(1) The electric control switch 4 is turned on by the circuit control board 6 and the battery 7 to connect the vertical electrode 2 and the horizontal electrode 3, so as to generate an electric field. Because the water is stored in the storage pool 5 and is a polar liquid, the water can spontaneously spread on the surface of the hydrophobic rectangular structure 1 under the action of an electric field, so that the surface with the electrode becomes hydrophilic, and under the action of capillary force, the water can spontaneously enter a gap of the hydrophobic rectangular structure 1 through the electric control switch, and the surface with the electrode is spread to form a liquid column in the gap, as shown in fig. 1;
(2) The circuit control board 6 turns off the electric control switch 4, prevents the liquid column that gets into the clearance of hydrophobic rectangle structure 1 from flowing back, turns off vertical electrode 2 for hydrophobic rectangle structure 1 side does not have the electric field effect, and the surface resumes hydrophobic characteristic, makes the liquid column of clearance keep away from the cylinder side, inwards contracts. As the liquid column volume is unchanged and the diameter is reduced, the height of the liquid column is increased, and cap-shaped liquid drops exceeding the height of the hydrophobic rectangular structure 1 are formed, as shown in fig. 2.
(3) The rising of the cap-shaped liquid drops finally enables the liquid drops in the gap to be in contact with the surface of the grabber, and water has good wettability on the surface of most objects, so that a liquid bridge is formed between the gap of the hydrophobic rectangular structure 1 and the grabber. Because the diameter of the water column is within 1mm, the surface tension plays a leading role under the scale, the grabbing object and the equipment are tightly connected by the tension generated by the surface tension of the liquid column, so that stable adhesion to the object is realized, and the device is made of flexible materials, so that corresponding changes can be made according to the appearance of the grabbing object, and the adhesion strength is ensured, as shown in fig. 3.
(4) When the transverse electrode 3 is closed by the circuit control board 6, the bottom of the gap of the hydrophobic rectangular structure 1 is restored to the original hydrophobic surface, so that the liquid bridge spontaneously breaks away from the device, the adhesion of the device and an object is released, and quick debonding is formed, as shown in fig. 4.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (1)
1. A method of adhering, characterized by: the device comprises a plurality of hydrophobic rectangular structures, vertical electrodes are arranged on two sides of the inside of each hydrophobic rectangular structure, transverse electrodes are arranged at the bottom of each hydrophobic rectangular structure, the vertical electrodes and the transverse electrodes are located below the hydrophobic surfaces of the hydrophobic rectangular structures, an electric control switch is arranged between the transverse electrodes of each hydrophobic rectangular structure, a liquid storage tank is arranged below each hydrophobic rectangular structure, a circuit control board is connected to the liquid storage tank, and a battery is connected to the circuit control board; the circuit control board is connected with the vertical electrode, the transverse electrode and the electric control switch through wires and is powered by a battery;
the method specifically comprises the following steps:
step 1: the electric control switch is turned on through the circuit control board and the battery, the vertical electrode and the transverse electrode are connected to generate an electric field, water is polar liquid and can spontaneously spread on the surface of the hydrophobic rectangular structure under the action of the electric field, so that the surface of the hydrophobic rectangular structure with the electrode becomes hydrophilic, and the water can spontaneously enter a gap of the hydrophobic rectangular structure through the electric control switch under the action of capillary force to spread on the surface with the electrode, and a liquid column is formed in the gap;
step 2: the electric control switch is closed through the circuit control board, liquid column backflow entering a gap of the hydrophobic rectangular structure is prevented, the vertical electrode is closed, the side surface of the hydrophobic rectangular structure has no electric field effect, the surface recovers the hydrophobic characteristic, the liquid column of the gap of the hydrophobic rectangular structure is far away from the side surface and contracts inwards, the liquid column height is increased due to the fact that the liquid column volume is unchanged and the diameter is reduced, and cap-shaped liquid drops exceeding the height of the hydrophobic rectangular structure are formed;
step 3: the rising of the cap-shaped liquid drops finally enables the liquid drops in the gaps of the hydrophobic rectangular structures to be in contact with the surfaces of the grabber, and water has good wettability on the surfaces of most objects, so that a liquid bridge is formed between the gaps of the hydrophobic rectangular structures and the grabber; because the diameter of the water column is within 1mm, the surface tension of the liquid plays a dominant role under the scale, and the grabbing object is tightly connected with the device by the tension generated by the surface tension of the liquid column, so that the stable adhesion to an object is realized, and the device is made of flexible materials, so that the corresponding change can be made according to the appearance of the grabbing object, and the adhesion strength is ensured;
step 4: when the circuit control board closes the transverse electrode, the bottom of the gap of the hydrophobic rectangular structure can be restored to the original hydrophobic surface, so that the liquid bridge spontaneously breaks away from the device, the adhesion between the device and the grabber is relieved, and quick debonding is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910587753.XA CN110216706B (en) | 2019-07-02 | 2019-07-02 | Adhesion method |
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| CN201910587753.XA CN110216706B (en) | 2019-07-02 | 2019-07-02 | Adhesion method |
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| CN110216706A CN110216706A (en) | 2019-09-10 |
| CN110216706B true CN110216706B (en) | 2023-09-29 |
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| CN112936670A (en) * | 2021-01-28 | 2021-06-11 | 清华大学 | Horn-shaped controllable adhesion structure and using method and preparation method thereof |
| CN115553782A (en) * | 2022-09-22 | 2023-01-03 | 南通大学 | Patch type array multiphase conductive liquid bridge electrode device and use method |
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| CN210148121U (en) * | 2019-07-02 | 2020-03-17 | 山东科技大学 | Controllable adhesion device for generating liquid bridge by electric field |
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| US8628648B2 (en) * | 2009-07-07 | 2014-01-14 | The University Of Akron | Apparatus and method for manipulating micro component |
| ITRM20120026A1 (en) * | 2012-01-24 | 2013-07-25 | Uni Campus Bio Medico Di Rom A | DEVICE AND METHOD FOR CONTROLLED ADHESION ON HUMID SUBSTRATE. |
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