CN110216706B - Adhesion method - Google Patents

Abstract

The invention discloses an adhesion method, which belongs to the field of adhesion. The device of the invention includes a plurality of hydrophobic rectangular structures. There are gaps between the hydrophobic rectangular structures. Vertical electrodes are arranged on both sides of the interior of the hydrophobic rectangular structures. The hydrophobic rectangular structures have Transverse electrodes are provided at the bottom, and an electronic control switch is provided between the transverse electrodes of the hydrophobic rectangular structure. A liquid storage tank is provided below the hydrophobic rectangular structure. The liquid storage tank is connected through the gap between the electric control switch and the hydrophobic rectangular structure to facilitate storage. The liquid in the liquid pool flows into the gap of the hydrophobic rectangular structure. The liquid storage pool is connected to a circuit control board, and the circuit control board is connected to a battery. The circuit control board is connected to the vertical electrodes, transverse electrodes and electronic control switches through wires, and uses the battery to its power supply. The invention has the characteristics of simple structure, wide application range, safe operation, fast adhesion, convenient desorption, low energy consumption, and has a wider application space.

Description

a method of adhesion

Technical field

The invention belongs to the field of adhesion, and specifically relates to an adhesion method.

Background technique

With the development of the country and society, people have begun to step into the fast lane of high-tech development. Similarly, factories have also entered the era of unmanned factories, that is, all product processing processes are basically completed by machines. This requires the robot's processing arm to be flexible enough to grab and transfer products quickly and efficiently. On the one hand, mechanical grabbing can be used, but this requires extremely high precision control of the robotic arm and has poor adaptability. On the other hand, adhesion is used to stick the product on the robotic arm and transfer the product. However, most of the existing adhesion methods use vacuum suction cups, which are not suitable for adhesion of products with irregular appearances. Therefore, a controllable, wide-ranging, fast, and efficient adhesion device is needed.

Contents of the invention

In view of the above technical problems existing in the prior art, the present invention proposes an adhesion method, which is reasonably designed, overcomes the shortcomings of the prior art, and has good effects.

In order to achieve the above objects, the present invention adopts the following technical solutions:

A controllable adhesion device that uses an electric field to generate a liquid bridge, including a plurality of hydrophobic rectangular structures. Vertical electrodes are provided on both sides of the interior of the hydrophobic rectangular structure. A transverse electrode is provided at the bottom of the hydrophobic rectangular structure. The vertical electrode and the transverse electrode They are all located under the hydrophobic surface of the hydrophobic rectangular structure. An electronically controlled switch is provided between the transverse electrodes of the hydrophobic rectangular structure. A liquid storage tank is provided below the hydrophobic rectangular structure. The liquid storage tank is connected to a circuit control board, and the circuit control board is connected to Battery; the circuit control board is connected to the vertical electrodes, horizontal electrodes and electronic control switches through wires, and uses the battery to power them.

Preferably, the surface of the hydrophobic rectangular structure is made of polytetrafluoroethylene material to make the surface hydrophobic; the height to width ratio of the hydrophobic rectangular structure ranges from 1 to 1.5, and the distance between two hydrophobic rectangular structures is hydrophobic 1.2-1.5 times the width of the rectangular structure itself, and the width of the hydrophobic rectangular structure ranges from 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 can control the working status of the vertical electrodes, horizontal electrodes and electronically controlled switches.

Preferably, the battery is made of graphene, which has a certain degree of flexibility and can deform along with the device.

In addition, the present invention also mentions an adhesion method, which uses a controllable adhesion device that uses an electric field to generate a liquid bridge as described above, and specifically includes the following steps:

Step 1: Open the electronic control switch through the circuit control board and battery, connect the vertical electrode and the horizontal electrode, and generate an electric field. Because there is water stored in the storage tank, the water itself is a polar liquid, and it will form a hydrophobic rectangle under the action of the electric field. The surface of the structure spreads spontaneously, causing the surface of the hydrophobic rectangular structure with electrodes to become hydrophilic. Under the action of capillary force, water will spontaneously enter the gaps of the hydrophobic rectangular structure through the electronically controlled switch and cover the surface with electrodes. , forming a liquid column in its gap;

Step 2: Turn off the electronic control switch through the circuit control board to prevent the backflow of the liquid column entering the gap of the hydrophobic rectangular structure. Turn off the vertical electrode so that there is no electric field on the side of the hydrophobic rectangular structure. The surface restores the hydrophobic characteristics, making the gap between the hydrophobic rectangular structure The liquid column is away from the side and shrinks inward. Since the volume of the liquid column remains unchanged and the diameter decreases, the height of the liquid column becomes larger, forming a cap-shaped droplet that exceeds the height of the hydrophobic rectangular structure;

Step 3: The rise of the cap-shaped droplets eventually brings the droplets in the gaps between the hydrophobic rectangular structures into contact with the surface of the grabbed object. Since water has good wettability on most object surfaces, it will form in the gaps between the hydrophobic rectangular structures. A liquid bridge is formed between the object and the object to be grasped; because the diameter of the water column is within 1mm, the surface tension of the object to be grasped plays a dominant role at this scale, and the pulling force generated by the surface tension of the object to be grasped will pull the liquid column away from the object. The object is tightly connected to the device to achieve stable adhesion to the object, and the device itself is made of flexible materials, so it can make corresponding changes according to the shape of the object to ensure adhesion strength;

Step 4: When the circuit control board closes the lateral electrodes, the bottom of the gap in the hydrophobic rectangular structure will also return to its original hydrophobic surface, causing the liquid bridge to spontaneously detach from the device and release the adhesion between the device and the object, resulting in rapid debonding.

Beneficial technical effects brought by the present invention:

1. The device of the present invention mainly uses an electric field to control the generation of liquid bridges, thereby causing adhesion. There is no transmission device in the middle, which reduces the consumption of useless work, has low energy consumption, and also makes the structure simple.

2. The device of the present invention simply relies on electric field transformation to realize the adhesion and debonding process, breaking through the speed limit of mechanical transmission, realizing a rapid adhesion and debonding process, and achieving high work efficiency.

3. The device of the present invention itself is flexible, so that it can be applied to most objects, and has the characteristics of wide application range, safe operation and convenient manufacturing.

In summary, the present invention is a controllable adhesion device that uses an electric field to generate a liquid bridge. It has the characteristics of simple structure, wide application range, safe operation, fast adhesion, convenient desorption, and low energy consumption. In a certain sense, It is separated from the traditional adhesive device and has a wider application space than most existing adhesive devices.

Description of the drawings

Figure 1 is a schematic structural diagram of the device of the present invention;

Figure 2 is a schematic diagram of the device of the present invention preparing for adhesion;

Figure 3 is a schematic diagram of the device of the present invention when it is adhered;

Figure 4 is a schematic diagram of the device of the present invention after desorption.

Among them, 1-hydrophobic rectangular structure; 2-vertical electrode; 3-transverse electrode; 4-electrically controlled switch; 5-liquid reservoir; 6-circuit control board; 7-battery.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments:

Example 1

A controllable adhesion device that uses an electric field to generate a liquid bridge. As shown in Figure 1, it includes a plurality of hydrophobic rectangular structures 1. Vertical electrodes 2 are provided on both sides of the hydrophobic rectangular structure 1. The bottom of the hydrophobic rectangular structure 1 is provided with There are transverse electrodes 3. The vertical electrodes 2 and the transverse electrodes 3 are both located under the hydrophobic surface of the hydrophobic rectangular structure 1. An electronically controlled switch 4 is provided between the transverse electrodes 3 of the hydrophobic rectangular structure 1. A liquid reservoir 5 is provided below the hydrophobic rectangular structure 1 . The liquid reservoir 5 is connected to a circuit control board 6 , and the circuit control board 6 is connected to a battery 7 . The circuit control board 6 is connected to the vertical electrode 2, the transverse electrode 3 and the electric switch 4 through wires, and is powered by the battery 7.

The surface of the hydrophobic rectangular structure 1 is made of polytetrafluoroethylene material, making the surface hydrophobic. The ratio of the height to the width of the hydrophobic rectangular structure 1 is between 1-1.5. The distance between two hydrophobic rectangular structures 1 is 1.2-1.5 times the width of the hydrophobic rectangular structure 1 itself. The width of the hydrophobic rectangular structure 1 is between 0.1 -1 mm.

The height of the vertical electrode 2 is 0.6-0.8 times the height of the hydrophobic rectangular structure 1 . The transverse electrode 3 is located at the bottom of the hydrophobic rectangular structure 1 and covers the entire bottom of the hydrophobic rectangular structure. The diameter of the electronically controlled switch is 0.05mm.

The liquid reservoir 5 can be connected through the gap between the electronically controlled switch 4 and the hydrophobic rectangular structure 1, thereby facilitating the internal liquid to flow from the liquid reservoir 5 into the gap of the hydrophobic rectangular structure 1.

The circuit control board 6 can control the working status of the vertical electrode 2, the horizontal electrode 3 and the electric switch 4.

The battery 7 is made of graphene, so that it has a certain degree of flexibility and can deform along with the device.

Example 2

An adhesion method using an electric field to generate a liquid bridge described in the above embodiment 1 includes the following steps:

(1) Open the electronic control switch 4 through the circuit control board 6 and the battery 7, connect the vertical electrode 2 and the horizontal electrode 3 to generate an electric field. Since there is water stored in the reservoir 5, the water itself is a polar liquid and will spontaneously spread on the surface of the hydrophobic rectangular structure 1 under the action of the electric field, thereby making the surface with the electrodes hydrophilic. Under the action of capillary force, Water will spontaneously enter the gap of the hydrophobic rectangular structure 1 through the electronically controlled switch, cover the surface with electrodes, and form a liquid column in the gap, as shown in Figure 1;

(2) The circuit control board 6 closes the electronic control switch 4 to prevent the liquid column entering the gap of the hydrophobic rectangular structure 1 from flowing back, and closes the vertical electrode 2 so that there is no electric field on the side of the hydrophobic rectangular structure 1, and the surface returns to hydrophobic characteristics, so that the gap The liquid column moves away from the side of the cylinder and contracts inward. Since the volume of the liquid column remains unchanged and the diameter decreases, the height of the liquid column becomes larger, forming a cap-shaped droplet that exceeds the height of the hydrophobic rectangular structure 1, as shown in Figure 2.

(3) The rise of the cap-shaped droplets eventually makes the droplets in the gap come into contact with the surface of the grasped object. Since water has good wettability on most object surfaces, it will interact with the grasped object in the gap of the hydrophobic rectangular structure 1. A liquid bridge forms between the objects. Because the diameter of the water column is within 1mm, surface tension plays a dominant role at this scale. The pulling force generated by the surface tension of the liquid column will tightly connect the grabbed object to the device, thereby achieving stable adhesion to the object, and The device itself is made of flexible materials, so it can make corresponding changes according to the shape of the grabbed object to ensure adhesion strength, as shown in Figure 3.

(4) When the circuit control board 6 closes the transverse electrode 3, the bottom of the gap in the hydrophobic rectangular structure 1 will also return to its original hydrophobic surface, causing the liquid bridge to spontaneously detach from the device and release the adhesion between the device and the object, resulting in rapid debonding. ,As shown in Figure 4.

Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention should also fall within the scope of the present invention. protection 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.