CN110549270B - Micro gripper with bionic super-hydrophobic structure and manufacturing method of jaw end face of micro gripper - Google Patents
Micro gripper with bionic super-hydrophobic structure and manufacturing method of jaw end face of micro gripper Download PDFInfo
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- CN110549270B CN110549270B CN201910913538.4A CN201910913538A CN110549270B CN 110549270 B CN110549270 B CN 110549270B CN 201910913538 A CN201910913538 A CN 201910913538A CN 110549270 B CN110549270 B CN 110549270B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
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Abstract
The micro-gripper comprises a base body and a clamp connected to the base body, the clamp is composed of a left clamping piece body and a right clamping piece body which are identical in structure, and the left clamping piece body and the right clamping piece body are symmetrically and fixedly arranged on the base body through screws. The method comprises the following steps: polishing and cleaning the end face of the jaw head to reduce the roughness Ra of the end face of the jaw to below 1.5, and then sequentially cleaning the end face of the jaw in acetone, ethanol and water for ten minutes by using an ultrasonic cleaner; simulating a micro-nano composite structure on the surface of the lotus leaf by using a picosecond laser to process a secondary structure on the end face of the jaw; the surface energy of the jaw end face of the micro-gripper is reduced. The clamp of the invention can be disassembled, and the corresponding clamp can be assembled according to different working conditions. The end surface of the tail end of the clamp has the characteristics of large friction coefficient, low adhesion, self-cleaning property, corrosion resistance, freezing resistance, frosting resistance and the like, so that the use performance of the micro clamp is improved.
Description
Technical Field
The invention relates to a micro-gripper. In particular to a micro-gripper with a bionic super-hydrophobic structure and a manufacturing method of a jaw end face thereof.
Background
In recent years, micro-grippers are more and more widely applied, at present, most of the micro-grippers are integrally processed, the tail ends of jaws cannot be processed, namely the end faces of clamps cannot be further processed, the flexibility of the micro-grippers is limited by the design, meanwhile, the tail ends of the micro-grippers need to be frequently opened and closed in the working process, the clamps are easily worn, and once the micro-grippers are damaged, the whole micro-grippers are scrapped, so that manpower and resources are wasted. Meanwhile, the end face of the tail end of the clamp of the traditional micro-clamp is easy to adsorb impurities, and the micro-clamp is easy to frost or freeze in a low-temperature environment, so that the micro-clamp cannot work normally. Therefore, the existing micro-gripper has the problems of poor flexibility, easy corrosion, easy frosting and icing, difficult gripping and difficult release. The defects of the micro-gripper clamp severely limit the overall use performance of the micro-gripper, and in recent years, the micro-gripper clamp overcomes the problems of the micro-gripper clamp and improves the use performance of the micro-gripper, so that the micro-gripper clamp is concerned by more and more people.
The special microstructure of the surfaces of some animals and plants in nature and the low surface energy substances of the surfaces of the animals and plants make the animals and plants show special wetting performance. The lotus leaf surface is provided with a micron-sized mastoid structure and nano-sized protrusions distributed on the mastoid, so that the lotus leaf surface has a super-hydrophobic characteristic; the rice leaf microscopic has a corrugated structure, nano-scale particles are distributed on the corrugated structure, and the surface of the rice leaf has super-hydrophobic characteristics and also has anisotropy. Animals in nature such as the legs of water striders and the compound eyes of mosquitoes have the characteristic of super water conveyance,
at present, no report exists on preparing a super-hydrophobic surface on the end face of the end of the micro-gripper to improve the use performance of the micro-gripper.
Disclosure of Invention
The invention aims to solve the technical problem of providing a micro gripper with a bionic super-hydrophobic structure and capable of improving the use performance of the micro gripper and a method for manufacturing a jaw end face of the micro gripper.
The technical scheme adopted by the invention is as follows: a micro-gripper with a bionic super-hydrophobic structure comprises a base body and a gripper connected to the base body, wherein the gripper is composed of a left gripper body and a right gripper body which are identical in structure, and the left gripper body and the right gripper body are symmetrically and fixedly arranged on the base body through screws.
The base member be the rectangle frame structure, be formed with the opening in the middle of the last frame of rectangle frame structure, go up on the frame be formed with respectively the open-ended both sides highly be less than other parts be used for connecting the connection platform of left clamp body and right clamp body, it has the through-hole that is used for through the screw fixation to connect the bench left side clamp body and right clamp body.
The left clamp body and the right clamp body are identical in structure and respectively comprise an L-shaped structure main body, the horizontal part of the L-shaped structure main body is connected with the connecting table on the base body and is provided with a connecting hole corresponding to the through hole on the connecting table of the base body, the top end of the vertical part of the L-shaped structure main body is provided with a jaw head, and jaw heads of the left clamp body and the right clamp body are correspondingly provided with jaw end faces convenient for clamping objects.
The end face of the jaw is formed by arranging micron-sized regular hexagonal convex columns protruding outwards.
The end surface of each micron-sized regular hexagonal convex column is formed by arranging the nanometer convex columns which protrude outwards.
A method for manufacturing a jaw end face of a micro gripper with a bionic super-hydrophobic structure comprises the following steps:
1) polishing and cleaning the end face of the jaw head to reduce the roughness Ra of the end face of the jaw to below 1.5, and then sequentially cleaning the end face of the jaw in acetone, ethanol and water for ten minutes by using an ultrasonic cleaner;
2) simulating a micro-nano composite structure on the surface of the lotus leaf by using a picosecond laser to process a secondary structure on the end face of the jaw;
3) the surface energy of the jaw end face of the micro-gripper is reduced.
The invention relates to a micro-gripper with a bionic super-hydrophobic structure and a manufacturing method of a jaw end face of the micro-gripper, wherein a base body and a clamp are designed in a split mode, the clamp is assembled on the base body of the micro-gripper in a certain assembling mode, the clamp can be disassembled, and the clamp corresponding to the clamp is assembled according to different working conditions, so that the micro-gripper has certain flexibility, and meanwhile, the clamp can be correspondingly processed according to the requirements of the working conditions. According to the invention, the micro-nano structure processing is carried out on the end face of the clamp tail end to achieve super-hydrophobicity. The use performance of the micro-gripper is improved by utilizing the characteristics of large friction coefficient, low adhesion, self-cleaning, corrosion resistance, freezing resistance, frosting resistance and the like of the bionic super-hydrophobic surface. The invention has the beneficial effects that:
1. the micro-gripper clamp is designed to be detachable, so that the flexibility of the micro-gripper clamp is improved, the corresponding clamp can be replaced according to the requirements of different working environments, and meanwhile, the end face of the clamp can be further processed, so that the performance of the clamp is improved. The end face of the tail end of the clamp is a part easy to damage, when the end face is seriously abraded, only the clamp needs to be replaced, and the clamp does not need to be replaced.
2. After the microstructure of the end face of the clamp is machined, the surface of the clamp is provided with a micro-nano composite structure, the friction coefficient of the end face is improved, the micro-clamp is easy to clamp an object, the extrusion force of the micro-clamp is reduced, the clamped object is prevented from being broken due to overlarge pressure, the twisting angle of the micro-clamp can be increased remarkably, and the problem that the object is difficult to clamp is effectively solved.
3. Through surface texture processing, the surface of the tail-end clamp has super-hydrophobic performance, water drops cannot be attached to and spread on the end face of the tail-end clamp, the water drops and impurities in water are prevented from being attached to the surface of the clamp, the cleanness of the end face of the clamp is guaranteed, and the micro clamp can normally work in water.
4. The super-hydrophobic surface has a large number of micro-nano composite structures and extremely low surface energy, so that a protective gas layer can be formed on the surface of the super-hydrophobic surface in liquid, a corrosive medium can be effectively prevented from contacting with the end face of the tail end of the clamp, the corrosion resistance of the tail end clamp is improved, and the service life of the micro clamp is prolonged.
5. The micro-gripper works in a low-temperature environment, the end face of the tail end of the gripper is easy to frost or freeze and cannot clamp objects normally, and the super-hydrophobic surface can prevent water vapor and water mist from being adsorbed, so that the surface is prevented from frosting or freezing, and the micro-gripper is guaranteed to work normally at a low temperature.
6. The invention provides a technical scheme for preparing a bionic super-hydrophobic surface on the end face of the tail end of a micro-gripper clamp by utilizing a picosecond laser precision machining technology, realizes the machining of picosecond laser micron-nanometer structures and the machining of a large number of nanometer structures on micron-scale structures, and has simple operation and low cost.
Drawings
FIG. 1 is a schematic structural diagram of a micro-gripper with a bionic superhydrophobic structure according to the present invention;
FIG. 2 is a schematic view of the structure of a substrate according to the present invention;
FIG. 3 is a schematic structural view of the left/right clamp body of the present invention;
FIG. 4 is a diagram of a jaw end-face bi-linear laser machining path in the machining of micro-scale structures;
FIG. 5 is a three-dimensional effect of the jaw end face with microstructures;
FIG. 6 is a lattice-shaped processing path diagram of laser on the end surface of a clamp in the processing of a nano-scale structure;
fig. 7 is a schematic structural diagram of a jaw end face with a micro-nano composite structure in the invention.
In the drawings
1: matrix 1.1: connecting table
1.2: through hole 2: clamp forceps
2.1: left clamp body 2.2: right clamp body
2.3: connecting hole 2.4: wrench head
2.5: jaw end face 2.6: micron-sized regular hexagonal convex column
2.7: nano convex column
Detailed Description
The invention provides a micro gripper with a bionic super-hydrophobic structure and a manufacturing method of a jaw end face thereof, which are described in detail in the following with reference to embodiments and drawings.
The micro-gripper with the bionic super-hydrophobic structure simulates the microstructure of the surface of animals and plants, and the bionic microstructure is processed on the end face of the tail end of the gripper clamp by laser to ensure that the surface of the micro-gripper clamp has special wettability and achieve super-hydrophobic property, so that the friction coefficient of the tail end of the gripper clamp of the micro-gripper clamp is improved, the adhesion force is reduced, and the micro-gripper with the bionic super-hydrophobic structure has the performances of self-cleaning property, corrosion resistance, freezing resistance, frost resistance and the like.
As shown in fig. 1, the micro gripper with the bionic super-hydrophobic structure of the present invention comprises a base 1 and a gripper 2 connected to the base 1, wherein the gripper 2 is composed of a left gripper body 2.1 and a right gripper body 2.2 which have the same structure, and the left gripper body 2.1 and the right gripper body 2.2 are symmetrically fixed on the base 1 through screws. The invention is designed by splitting the substrate 1 and the clamp 2, the clamp 2 is assembled on the substrate 1 of the micro-clamp holder in a certain assembling mode, the clamp 2 can be disassembled, and the corresponding clamp can be assembled according to different working conditions, so that the micro-clamp holder has certain flexibility.
As shown in fig. 2, the base 1 is a rectangular frame structure, an opening is formed in the middle of an upper frame of the rectangular frame structure, a connection table 1.1 which is lower than other parts and is used for connecting the left clamping member 2.1 and the right clamping member 2.2 is respectively formed on two sides of the opening on the upper frame, and a through hole 1.2 for fixing the left clamping member 2.1 and the right clamping member 2.2 through a screw is formed in the connection table 1.1, so that the clamp 2 and the base 1 are convenient to position in the assembling process, and the positioning accuracy is improved.
As shown in fig. 3, the left clamping body 2.1 and the right clamping body 2.2 have the same structure, and each clamping body includes an L-shaped main body, the horizontal portion of the L-shaped main body is connected with the connecting table 1.1 on the base body 1, and is formed with a connecting hole 2.3 corresponding to the through hole 1.2 on the connecting table 1.1 of the base body 1, the top end of the vertical portion of the L-shaped main body is provided with a jaw head 2.4, and the jaw heads 2.4 of the left clamping body 2.1 and the right clamping body 2.2 are respectively provided with a jaw end face 2.5 for facilitating clamping an object.
As shown in fig. 7, the jaw end face 2.5 is formed by arranging micron-sized regular hexagonal convex columns 2.6 protruding outwards. The end surface of each micron-sized regular hexagonal convex column 2.6 is formed by arranging the nanometer convex columns 2.7 which protrude outwards. Namely, a micro-nano composite structure similar to the lotus leaf surface microstructure is formed on the end face of the jaw of the micro-gripper, and the micro-gripper has certain flexibility.
The invention discloses a method for manufacturing a jaw end face of a micro gripper with a bionic super-hydrophobic structure, which comprises the following steps:
1) grinding and cleaning the end face of the jaw head by using a grinding machine to reduce the roughness Ra of the end face of the jaw to below 1.5, and then sequentially cleaning the end face of the jaw head in acetone, ethanol and water for ten minutes by using an ultrasonic cleaner; the grinding is firstly coarse grinding by using 800-mesh sand paper and then fine grinding by using 2000-mesh sand paper.
2) Simulating a micro-nano composite structure on the surface of the lotus leaf by using a picosecond laser to process a secondary structure on the end face of the jaw; the method comprises the following steps:
(1) setting a double-line type laser processing path which enables the end face of a jaw to form a plurality of micron-sized regular hexagonal convex columns protruding outwards to be arranged in a control system of a picosecond laser, wherein the double-line type laser processing path is a double-line type regular hexagon for increasing the groove width as shown in a regular hexagonal laser processing path diagram shown in figure 4;
(2) and (4) placing the cleaned jaw head on a three-dimensional processing platform, and processing the end face of the jaw by using a picosecond laser. The model of the picosecond laser selected by the embodiment of the invention is a Sagittar-L low-repetition-frequency high-pulse-energy all-solid-state picosecond laser, the model of a lens of the laser is GCO-2133, the multiplying power is 40, and the focal length f is 4.195 mm.
During processing, the end face of the jaw is positioned at a position 0.10-0.26mm below the focal point of a picosecond laser or 0.10-0.26mm above the focal point, the output power is 2w, the moving speed of the platform is 100mm/s, defocused beam processing is carried out, and the end face of the jaw is formed into an end face formed by arranging a plurality of outwards-protruded micron-sized regular hexagonal convex columns, as shown in fig. 5;
(3) because the diameter of a light spot at the laser focus is minimum, the laser energy density reaches the maximum value, and therefore, the nano-scale microstructure can be obtained by processing at the focus even if the end face of the tail end of the clamp is at the position of the focus. A processing path in which a plurality of outwards-protruding nano-scale convex columns are arranged is set in a control system of the picosecond laser, and the processing path is formed on the end surface of each micro-scale regular hexagonal convex column and is shown in figure 6;
(4) the picosecond laser is used for processing the end face of each micron-sized regular hexagonal convex column, during processing, the end face of each micron-sized regular hexagonal convex column is located at the focus of the picosecond laser, focusing processing is carried out, the output power is 15mW, good ablation effect is guaranteed, the platform moving speed is 50mm/s, and the end face formed by arranging a plurality of outwards-protruding nano-sized convex columns is formed on each micron-sized regular hexagonal convex column, as shown in fig. 7.
3) The surface energy of the jaw end face of the micro-gripper is reduced. The method simulates the effect of low-surface-energy substances on the lotus leaf surface, the machined jaw end face is soaked in 1% fluorosilane ethanol solution for two hours, the surface energy of the jaw end face is reduced, and finally the super-hydrophobic surface with a micro-nano composite structure is successfully prepared on the jaw end face of the micro-gripper. The jaw end face of the micro-gripper is made to have specific wetting and mechanical characteristics so as to adapt to different working environment requirements.
Claims (2)
1. A micro-gripper with a bionic super-hydrophobic structure comprises a base body (1) and a gripper (2) connected to the base body (1), and is characterized in that the gripper (2) is composed of a left gripper body (2.1) and a right gripper body (2.2) which are identical in structure, the left gripper body (2.1) and the right gripper body (2.2) are symmetrically and fixedly arranged on the base body (1) through screws, the base body (1) is of a rectangular frame structure, an opening is formed in the middle of an upper frame of the rectangular frame structure, through holes (1.2) which are lower than other parts in height and used for connecting the left gripper body (2.1) and the right gripper body (2.2) are formed in two sides of the opening respectively on the upper frame, the connecting table (1.1) is provided with through holes (1.2) for fixing the left gripper body (2.1) and the right gripper body (2.2) through screws, and the left gripper body (2.1) and the right gripper body (2.2) are identical in structure, the clamping device comprises an L-shaped structure main body, wherein the horizontal part of the L-shaped structure main body is connected with a connecting table (1.1) on a base body (1) and is provided with a connecting hole (2.3) corresponding to a through hole (1.2) on the connecting table (1.1) of the base body (1), the top end of the vertical part of the L-shaped structure main body is provided with a jaw head (2.4), the jaw heads (2.4) of the left clamp body (2.1) and the right clamp body (2.2) are correspondingly and respectively provided with a jaw end surface (2.5) convenient for clamping an object, the jaw end surface (2.5) is formed by arranging micron-sized regular hexagonal convex columns (2.6) which protrude outwards, and the end surface of each micron-sized regular hexagonal convex column (2.6) is formed by arranging nano convex columns (2.7) which protrude outwards.
2. A method for manufacturing a jaw end face of a micro gripper with a bionic super-hydrophobic structure is characterized by comprising the following steps:
1) grinding and cleaning the end face of the jaw head to reduce the roughness Ra of the end face of the jaw to below 1.5, and then sequentially cleaning the end face of the jaw in acetone, ethanol and water for ten minutes by using an ultrasonic cleaner, wherein the grinding is to firstly use 800-mesh abrasive paper for rough grinding and then use 2000-mesh abrasive paper for fine grinding;
2) simulating a micro-nano composite structure on the surface of the lotus leaf by using a picosecond laser to process a secondary structure on the end face of the jaw; the method comprises the following steps:
(1) setting a double-line laser processing path in a control system of a picosecond laser, wherein the double-line laser processing path enables the end face of a jaw to form a plurality of micron-sized regular hexagonal convex columns which protrude outwards;
(2) placing a cleaned jaw head on a three-dimensional processing platform, processing the end face of the jaw by using a picosecond laser, and processing defocused beams by enabling the end face of the jaw to be located at a position which is 0.10-0.26mm below the focus of the picosecond laser or 0.10-0.26mm above the focus so as to enable the end face of the jaw to form an end face formed by arranging a plurality of outwards-protruded micron-sized regular hexagonal convex columns;
(3) setting a processing path for forming an arrangement of a plurality of outwards-protruded nano-grade convex columns on the end surface of each micro-grade regular hexagonal convex column in a control system of a picosecond laser;
(4) processing the end face of each micron-sized regular hexagonal convex column by using a picosecond laser, wherein during processing, the end face of each micron-sized regular hexagonal convex column is positioned at the focus of the picosecond laser, and focusing processing is carried out, so that an end face formed by arranging a plurality of outwards-protruding nano convex columns is formed on each micron-sized regular hexagonal convex column;
3) reducing the surface energy of the jaw end face of the micro-gripper, specifically, soaking the machined jaw end face in a 1% fluorosilane ethanol solution for two hours, reducing the surface energy of the jaw end face, and finally successfully preparing a super-hydrophobic surface with a micro-nano composite structure on the jaw end face of the micro-gripper, wherein when an end formed by arranging a plurality of outwards-protruding micron-sized regular hexagonal convex columns is machined, the output power of a picosecond laser is 2w, and the moving speed of a platform is 100 mm/s; when the end face formed by arranging a plurality of outwards-protruding nano-grade convex columns is processed, the output power of the picosecond laser is 15mW, and the moving speed of the platform is 50 mm/s.
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| CN113090485A (en) * | 2021-04-02 | 2021-07-09 | 燕山大学 | Hydraulic axial plunger pump sliding shoe pair with lotus leaf texture surface |
| CN114839357B (en) * | 2022-03-25 | 2023-05-16 | 河海大学 | Device and method for testing frost heaving stress and frost heaving strain of porous asphalt mixture |
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| CN101704410A (en) * | 2009-12-03 | 2010-05-12 | 上海交通大学 | Nano superhydrophobic surface used for airplane antifreezing and deicing and preparation method thereof |
| KR101401642B1 (en) * | 2012-10-05 | 2014-05-30 | 한국표준과학연구원 | Microgripper for gripping the object using change of frictional force and method for controlling thereof |
| CN204712041U (en) * | 2015-06-25 | 2015-10-21 | 中国工程物理研究院激光聚变研究中心 | Two jaw type micro clamping device |
| CN106367739A (en) * | 2016-12-02 | 2017-02-01 | 江苏理工学院 | Method for preparing brass-based super-hydrophobic microstructural surface |
| CN108393588B (en) * | 2016-12-21 | 2019-11-12 | 中国航空制造技术研究院 | It is a kind of to prepare metal super-hydrophobic bionic surface method using ultrafast laser technique |
| CN107803587A (en) * | 2017-10-12 | 2018-03-16 | 清华大学 | A kind of wind electricity blade super-hydrophobic automatic cleaning surface and preparation method |
| CN108515269B (en) * | 2018-04-03 | 2020-10-09 | 北京航空航天大学 | Method for directly preparing stainless steel super-hydrophobic self-cleaning surface by picosecond laser |
| CN109262647A (en) * | 2018-10-04 | 2019-01-25 | 南京航空航天大学溧水仿生产业研究院有限公司 | A kind of clamp system of medical robot |
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