CN111169554A - Bionic sucker-bristle composite structure for wet and slippery rough wall surface - Google Patents
Bionic sucker-bristle composite structure for wet and slippery rough wall surface Download PDFInfo
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- CN111169554A CN111169554A CN202010028267.7A CN202010028267A CN111169554A CN 111169554 A CN111169554 A CN 111169554A CN 202010028267 A CN202010028267 A CN 202010028267A CN 111169554 A CN111169554 A CN 111169554A
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- 239000002131 composite material Substances 0.000 title claims abstract description 17
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 43
- 238000001179 sorption measurement Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000017525 heat dissipation Effects 0.000 claims description 25
- 239000002105 nanoparticle Substances 0.000 claims description 7
- 238000003795 desorption Methods 0.000 abstract description 4
- 229920000642 polymer Polymers 0.000 description 9
- 239000007788 liquid Substances 0.000 description 8
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 229910052710 silicon Inorganic materials 0.000 description 5
- 239000010703 silicon Substances 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004205 dimethyl polysiloxane Substances 0.000 description 1
- 235000013870 dimethyl polysiloxane Nutrition 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000010884 ion-beam technique Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002086 nanomaterial Substances 0.000 description 1
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000001259 photo etching Methods 0.000 description 1
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 description 1
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
- Brushes (AREA)
Abstract
The invention discloses a bionic sucker-bristle composite structure for a wet and slippery rough wall surface, which comprises a sucker body, wherein a cavity is formed in the center of the bottom of the sucker body in a concave mode, a circle of flange is formed on the periphery of the cavity of the sucker body, a plurality of submillimeter-level bulges are arranged at the bottom of the flange of the sucker body, a plurality of micron-level bristles are arranged at the bottom of each submillimeter-level bulge, a plurality of nano-level villi are arranged at the bottom of each micron-level bristle, a shape memory alloy driving structure is embedded in the sucker body, and the shape memory alloy driving structure is electrified to deform due to temperature change so as to drive the sucker body to deform, so that the volume of a cavity of the sucker body is changed, and further the adsorption force of the sucker body. The invention has the advantages that: stable adsorption on the wet and slippery rough wall surface is realized. And can realize independent adsorption and desorption.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a bionic sucker-bristle composite structure for a wet and slippery rough wall surface.
Background
The detection of the wet and slippery rough wall surface is always a technical problem in the related industrial field, in particular to the inner wall surfaces of narrow tanks and pipelines which are difficult or not suitable for human beings to enter, such as: cleaning and routing inspection of inner walls of a transformer, an oil gas tank, a power station cooling pipeline and the like. With the development of robot technology, intelligent mobile robots have been widely used in the fields of construction, investigation, security, service, and the like. The wall-climbing robot is used as a mobile robot with the capability of walking and staying on a three-dimensional wall surface, can replace human beings to carry out operation on a steep wall surface, effectively improves the operation efficiency and ensures the operation safety. The traditional wall climbing robot provides wall adsorption capacity for the robot by using electromagnetic adsorption, air pressure adsorption and other methods, and is widely applied to the aspects of cleaning of outer walls of high-rise buildings, detection of outer walls of tanks, welding of ship hulls and the like. However, the conventional wall-climbing robot is likely to slip at the contact portion with the rough wall surface, and is difficult to work on the rough wall surface. The wall-climbing robot technology for detecting the wet and slippery wall surface in a narrow and closed space is designed at present and is mainly limited by an adsorption device, and no better solution is provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a bionic sucker-bristle composite structure for a wet and slippery rough wall surface.
The invention is realized by the following technical scheme:
the utility model provides a bionical sucking disc-seta composite construction for wet and smooth coarse wall, includes the sucking disc body, sucking disc body bottom center indent forms the cavity, the sucking disc body forms the round flange lieing in the outlying part of cavity, and the flange bottom of sucking disc body is equipped with a plurality of submillimeter level archs, and every submillimeter level protruding bottom is equipped with a plurality of micron level seta, and every micron level seta bottom is equipped with a plurality of nanometer fine hair, the embedded shape memory alloy drive structure that is equipped with of sucking disc body, through circular telegram for shape memory alloy drive structure produces deformation because temperature variation, produces deformation from driving the sucking disc body, makes the cavity volume of sucking disc body produce the change, and then adjusts the adsorption affinity of sucking disc body.
Further, the shape memory alloy driving structure comprises a plurality of shape memory alloy wires, the top parts of the plurality of shape memory alloy wires are connected together, the bottom parts of the plurality of shape memory alloy wires are diffused outwards to form a radial structure, and each shape memory alloy wire extends along the radial direction of the sucker body.
Further, the inside a plurality of heat dissipation cavities that are equipped with of sucking disc body, a plurality of heat dissipation cavities are including the central heat dissipation cavity that is located the middle part and being located a plurality of annular heat dissipation cavities of central heat dissipation cavity outlying, sucking disc body top is opened has an air pocket with central heat dissipation cavity intercommunication, and every shape memory alloy silk all passes a plurality of annular heat dissipation cavities, and a plurality of shape memory alloy silk tops collect in central heat dissipation cavity and link together and be connected with a top electrode, is connected with a bottom electrode after a plurality of shape memory alloy silk bottoms are parallelly connected, and top electrode and bottom electrode are drawn forth the external power supply behind the sucking disc body outside through the air pocket respectively.
Further, the cross section of the submillimeter-sized bulge is a regular polygon.
Further, the micron-sized bristles are of a micron-sized cylindrical structure, and the nano-sized fluff is of a nano-sized cylindrical structure.
Compared with the prior art, the invention has the following advantages:
according to the bionic sucker-bristle composite structure for the wet and slippery rough wall surface, the friction locking effect is generated between the submillimeter-level protrusions and the micron-level bristle structure and the wall surface, the adhesion force between the sucker and the wall surface is increased, and the tangential slippage of the contact part between the sucker and the wall surface is effectively reduced; the nano-scale villus structure is laterally contacted and adhered with the rough wall surface bulges, a liquid film with certain thickness and flow rate is generated in lateral contact, so that capillary force and viscoelasticity force are generated, and meanwhile, the nano-scale villus structure fills gaps of the rough wall surface, so that the sealing property of the sucking disc is improved; the sucking disc adopts the combination of the inner cavity and the submillimeter-level bulge, the micron-level setae and the nanometer-level villus structure, so that the applicability of the sucking disc to different wall surfaces is greatly increased, and the stable adsorption on the wet and slippery rough wall surface is realized. The sucker is simple in structure, can be repeatedly used, is low in production cost, controls the adsorption force through the shape memory alloy driving structure, and can achieve autonomous adsorption and desorption.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a diagrammatic plan view of the invention.
FIG. 3 is a mechanical model diagram of the present invention.
FIG. 4 is an assembled perspective view of submillimeter-sized protrusions, micro-sized bristles, and nano-sized fluff according to the present invention.
Figure 5 is a cross-sectional view of the body of the chuck of the present invention.
FIG. 6 is an isolated perspective view of the shape memory alloy actuation structure of the present invention.
FIG. 7 is a rough, wet-wall adhesion model of the present invention with characteristic dimensions on the order of nanometers.
FIG. 8 is a rough, wet wall adhesion model of the present invention with feature sizes on the order of microns and sub-millimeters.
Fig. 9 is a schematic diagram of a modified structure of the present invention.
FIG. 10 is a schematic view of the manufacturing apparatus of the sucker body and the submillimeter-sized bump according to the present invention.
FIG. 11 is a schematic view of an apparatus for preparing micron bristles according to the present invention.
Reference numbers in the figures: the novel vacuum suction cup comprises a suction cup body 1, a cavity 2, a flange 3, a submillimeter-sized bulge 4, a micron-sized bristle 5, a nanometer-sized fluff 6, a shape memory alloy driving structure 7, a shape memory alloy wire 8, a central heat dissipation cavity 9, an annular heat dissipation cavity 10, air holes 11, a wet-smooth rough wall 12, a nanometer-sized wet-smooth rough wall 13, a liquid film 14, a micron-sized wet-smooth rough wall 15 and a submillimeter-sized wet-smooth rough wall, a suction cup body mold 16, a high polymer-based soft template 17, a liquid high polymer 18 and a micron-sized silicon template 19.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Referring to fig. 1 to 11, this embodiment discloses a bionic sucker-seta composite structure for wet and slippery rough wall surface, including sucker body 1, the central indent in sucker body 1 bottom forms cavity 2, sucker body 1 forms round flange 3 in the part that lies in cavity 2 outlying, 3 bottoms of flange of sucker body 1 are equipped with a plurality of submillimeter level archs 4, every submillimeter level protruding 4 bottoms are equipped with a plurality of micron level seta 5, every micron level seta 5 bottoms are equipped with a plurality of nanometer fine hair 6, 4 cross sections of submillimeter level archs are regular polygon. The micron-sized seta 5 is a micron-sized cylindrical structure, and the nano-sized fluff 6 is a nano-sized cylindrical structure.
The embedded shape memory alloy drive structure 7 that is equipped with of sucking disc body 1 is through for shape memory alloy drive structure 7 circular telegram for shape memory alloy drive structure 7 produces deformation because of temperature variation, produces deformation from driving sucking disc body 1, makes the cavity volume of sucking disc body 1 produce the change, and then adjusts the adsorption affinity of sucking disc body 1.
Specifically, the shape memory alloy driving structure 7 includes a plurality of shape memory alloy wires 8, the plurality of shape memory alloy wires 8 are connected together at the top and are diffused outwards at the bottom to form a radial structure, and each shape memory alloy wire 8 extends along the radial direction of the sucker body 1. Considering the electrothermal effect of the shape memory alloy, a plurality of heat dissipation cavities are arranged inside the sucker body 1, the heat dissipation cavities comprise a central heat dissipation cavity 9 located in the middle and a plurality of annular heat dissipation cavities 10 located on the periphery of the central heat dissipation cavity 9, an air hole 11 communicated with the central heat dissipation cavity 9 is formed in the top of the sucker body 1, each shape memory alloy wire 8 penetrates through the annular heat dissipation cavities 10, the tops of the shape memory alloy wires 8 are collected in the central heat dissipation cavity 9 and connected together and connected with a top electrode, the bottoms of the shape memory alloy wires 8 are connected in parallel and then connected with a bottom electrode, and the top electrode and the bottom electrode are respectively led out of the sucker body 1 through the air hole 11 and then externally connected with a power supply.
The sucker body 1 has elasticity, and is elastically deformed under the action of the driving force of the shape memory alloy driving structure 7, and the elastic deformation causes the pressure difference between the inner wall and the outer wall of the sucker body 1, namely the difference between the outer wall pressure P + and the inner wall pressure P-, to form the main source of the suction force of the sucker. The deformation simultaneously transmits the bending moment Mp and the internal force Fp to the flange 3 of the sucker, and causes the changes of the normal contact force Fn and the tangential contact force Ft between the submillimeter-sized bulge 4 and the micro-nano structure and the rough wall surface, and the changes of the normal contact force and the tangential contact force are different on the rough wall surfaces with different scale characteristic sizes.
Referring to fig. 7, in the nano-scale wet-slippery rough wall surface 13, the nano-scale fluff 6 structure is in lateral contact adhesion with the projections of the wet-slippery rough wall surface 12, a liquid film 14 with a certain thickness and flow rate is generated in the lateral contact, so that capillary force and viscoelasticity force are generated, and meanwhile, the nano-scale fluff 6 structure fills the gaps of the rough wall surface, so that the sealing performance of the sucker is improved.
Referring to fig. 8, in the micron-scale and sub-millimeter-scale wet-slippery rough wall surface 15, in addition to the adhesion force generated by the nano-scale fluff 6 structure, a friction locking effect is generated between the sub-millimeter-scale protrusions 4 and the micron-scale bristles 5 structure and the wall surface, so that the adhesion force between the sucker and the wall surface is increased, the tangential slippage of the contact part between the sucker and the wall surface is effectively reduced, the sucker can maintain deformation, and the internal and external pressure difference is kept. Therefore, after the bending moment Mp, the internal force Fp and the contact forces Fn and Ft of the bionic sucker-bristle composite structure comprehensively act on the flange 3 of the sucker, the bionic sucker-bristle composite structure can keep stable directional adhesion under the condition that the sucker body 1 bears a certain external load Fload, and does not generate tangential slip and normal desorption, thereby realizing stable adhesion of the wet-slippery rough wall surface 12.
When the sucker is in a natural state, the shape memory alloy wire 8 is in a plane shape, the shape memory alloy wire 8 is electrified, the temperature of the shape memory alloy wire 8 rises, phase change is generated, and bending deformation is realized. As shown in fig. 9, the volume of the cavity 2 inside the suction cup is changed by the deformation of the shape memory alloy wire 8, so that the suction cup generates negative pressure to provide suction force for the suction cup, thereby realizing suction. The power supply is turned off and the shape memory alloy wire 8 deforms back to the original state as the temperature decreases, thereby achieving desorption.
The manufacturing process of the sucker-bristle composite structure is as follows:
referring to fig. 10, the suction cup body 1 and the plurality of submillimeter-sized protrusions 4 at the bottom thereof are integrally formed. The specific process is as follows: firstly, a sucker body mould 16 is manufactured by using a 3D printing technology, a high polymer soft base template 17 such as silica gel (PDMS), Polyurethane (PU) and the like is prepared by using a photoetching method, the sucker body mould 16 is positioned on the high polymer soft base template 17, liquid high polymer 18 is poured into the sucker body mould 16, and the sucker body 1 with the submillimeter-level bulge 4 is prepared after the liquid high polymer 18 is solidified.
Referring to fig. 11, micron-sized bristles 5 are then prepared by the specific process of: dipping a layer of liquid high polymer 18 on the lower surface of the submillimeter-sized protrusion 4, covering the liquid high polymer on a micron-sized silicon template 19 with a micron-sized fiber structure, and removing the micron-sized silicon template 19 by using an ion beam bombardment etching method after the high polymer is solidified, thereby preparing the micron-sized bristle 5 structure.
And finally, preparing the nano-scale fluff 6, replacing the micron-scale silicon template 19 with a nano-scale silicon template, and repeating the preparation steps of the micron-scale bristle 5 structure to obtain the nano-scale fluff 6 structure.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A bionic sucker-bristle composite structure for a wet and slippery rough wall surface comprises a sucker body, wherein a cavity is formed in the center of the bottom of the sucker body, and a circle of flange is formed on the periphery of the cavity by the sucker body, and the bionic sucker-bristle composite structure is characterized in that: the flange bottom of sucking disc body is equipped with a plurality of submillimeter level archs, and every submillimeter level protruding bottom is equipped with a plurality of micron level setae, and every micron level setae bottom is equipped with a plurality of nanometer fine hair, the embedded shape memory alloy drive structure that is equipped with of sucking disc body is through circular telegram for shape memory alloy drive structure produces deformation because temperature variation, produces deformation from driving the sucking disc body, makes the cavity volume of sucking disc body produce the change, and then adjusts the adsorption affinity of sucking disc body.
2. A bionic sucker-bristle composite structure for use on slippery rough walls as defined in claim 1 wherein: the shape memory alloy driving structure comprises a plurality of shape memory alloy wires, the tops of the shape memory alloy wires are connected together, the bottoms of the shape memory alloy wires are diffused outwards to form a radial structure, and each shape memory alloy wire extends along the radial direction of the sucker body.
3. A bionic sucker-bristle composite structure for use on slippery rough walls as defined in claim 2 wherein: the novel sucker is characterized in that a plurality of heat dissipation cavities are arranged inside the sucker body and comprise a central heat dissipation cavity located in the middle and a plurality of annular heat dissipation cavities located on the periphery of the central heat dissipation cavity, an air hole communicated with the central heat dissipation cavity is formed in the top of the sucker body, each shape memory alloy wire penetrates through the annular heat dissipation cavities, the tops of the shape memory alloy wires are collected in the central heat dissipation cavity, connected together and connected with a top electrode, the bottoms of the shape memory alloy wires are connected in parallel and then connected with a bottom electrode, and the top electrode and the bottom electrode are respectively led out of the sucker body through the air hole and then connected with an external power supply.
4. A bionic sucker-bristle composite structure for use on slippery rough walls as defined in claim 1 wherein: the cross section of the submillimeter-sized bulge is a regular polygon.
5. A bionic sucker-bristle composite structure for use on slippery rough walls as defined in claim 1 wherein: the micron-sized bristles are of a micron-sized cylindrical structure, and the nano-sized fluff is of a nano-sized cylindrical structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010028267.7A CN111169554B (en) | 2020-01-10 | 2020-01-10 | Bionic sucker-bristle composite structure for wet and slippery rough wall surface |
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| CN202010028267.7A CN111169554B (en) | 2020-01-10 | 2020-01-10 | Bionic sucker-bristle composite structure for wet and slippery rough wall surface |
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| CN111169554A true CN111169554A (en) | 2020-05-19 |
| CN111169554B CN111169554B (en) | 2021-02-26 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111734730A (en) * | 2020-07-03 | 2020-10-02 | 河海大学常州校区 | Bionic sucker |
| CN111959630A (en) * | 2020-08-12 | 2020-11-20 | 苏州永鼎智联科技有限公司 | Modularized bionic wall-climbing robot |
| CN112093291A (en) * | 2020-09-04 | 2020-12-18 | 中山大学 | Multi-viscosity adaptive bionic fluid transfer device |
| CN112850444A (en) * | 2021-01-25 | 2021-05-28 | 北京工业大学 | Negative-pressure-driven annular micro-wedge-shaped bristle bundle sucker and preparation method thereof |
| CN114233740A (en) * | 2021-12-29 | 2022-03-25 | 吉林大学 | Self-adaptive vacuum chuck |
| CN114308834A (en) * | 2022-01-05 | 2022-04-12 | 江南造船(集团)有限责任公司 | Sucking disc device for cleaning surface of plate by ultrahigh-pressure water injection and injection equipment |
| CN114435501A (en) * | 2022-01-12 | 2022-05-06 | 浙江大学 | Amphibious micro-milling forming adsorption mechanism with microneedle array |
| CN114909386A (en) * | 2022-06-02 | 2022-08-16 | 北京航空航天大学 | Bionic adhesion friction microstructure and bionic adhesion friction surface |
| CN115367013A (en) * | 2022-07-22 | 2022-11-22 | 西安交通大学 | Adhesion-desorption device |
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| CN114909386A (en) * | 2022-06-02 | 2022-08-16 | 北京航空航天大学 | Bionic adhesion friction microstructure and bionic adhesion friction surface |
| CN115367013A (en) * | 2022-07-22 | 2022-11-22 | 西安交通大学 | Adhesion-desorption device |
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| CN111169554B (en) | 2021-02-26 |
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