CN111687868B - Magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc - Google Patents
Magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc Download PDFInfo
- Publication number
- CN111687868B CN111687868B CN202010542920.1A CN202010542920A CN111687868B CN 111687868 B CN111687868 B CN 111687868B CN 202010542920 A CN202010542920 A CN 202010542920A CN 111687868 B CN111687868 B CN 111687868B
- Authority
- CN
- China
- Prior art keywords
- adhesion
- sucker
- adhesive
- inner cavity
- outer pad
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The invention discloses a magnetic control negative pressure adhesion enhancing device imitating an octopus sucker, belonging to the field of intelligent devices with bionic structures, and comprising structural design, working principle and manufacturing mode. The adhesion device mainly comprises an adhesion sucker and a regulating electromagnet. The invention adopts the magnetic response material to manufacture the adhering suction cup imitating the octopus suction cup through design, regulates and controls the electromagnet to be integrated above the adhering suction cup, drives the inner cavity of the adhering suction cup to deform through controlling the magnetic field, generates negative pressure change similar to the octopus suction cup, can enhance the adhesion force with the contact surface during adsorption, accelerates the stripping process during separation, and simultaneously regulates the pressure and the adhesion performance of the outer pad of the adhering suction cup and the contact surface, thereby guaranteeing the sealing effect of the negative pressure cavity. The invention has the advantages of convenient manufacture, low cost, adjustable and controllable adhesion performance, flexible contact and strong environmental adaptability, and can be used for complex environmental occasions needing to realize a rapid adhesion/desorption process, including rapid carrying manipulators, foot-leg wall robots and the like.
Description
Technical Field
The invention belongs to the field of intelligent devices with bionic structures, and relates to a magnetic control negative pressure adhesion enhancing device imitating an octopus suction cup, which is mainly applied to the functions of carrying, walking, wall parking and the like of a quick carrying manipulator, a wall robot of feet and legs and the like.
Background
In modern industry and infrastructure engineering, the facility equipment inevitably has problems such as friction damage, fatigue relaxation, ageing drop, etc., and can cause serious threat to infrastructure and equipment safety, and the health condition of facility equipment structure is influenced by light, and serious damage or collapse is caused, causes serious casualties and economic losses. The conventional inspection of facility equipment by manual investigation and site-directed monitoring is time-consuming and labor-intensive, and it is difficult to perform the inspection and execution safely and accurately in complex special environments. Along with the rapid development of the robot technology, the mobile robot technology and the adhesion device are combined, so that the overall wall crawling capability can be effectively improved, and the intelligent detection, monitoring and maintenance can be performed on inclined or vertical surfaces such as the wall and the tank wall in a complex environment.
In addition, in the industry, the use of robots, handling manipulators, and the like to replace human work has been quite widespread, wherein it is not uncommon to perform handling of fragile objects and walking at a slippery or greasy interface. In the traditional manipulator, the joint type manipulator simulating the constitution and the movement mode of the human body is insufficient in flexibility, and aims at grabbing hard objects, and objects are easy to damage when fragile objects such as eggs are grabbed, so that a new and softer technical scheme is necessary to solve the problem, the problem of insufficient flexibility can be solved to a certain extent by adopting the adhesion device, the interactivity can be improved, the complex environment adaptability is enhanced, and the manipulator is more flexible.
At present, the traditional adhesion device adopts the means of holding and grabbing, electromagnetic adsorption, vacuum negative pressure, electrostatic attraction, guide rail mooring and the like, and has certain defects although being widely used. The vacuum chuck based devices have low operational reliability and cannot be used in environments with high roughness and near vacuum. The electromagnetic adsorption device can only work on the surface of the magnetic conductive material, and meanwhile, the ferromagnetic material can generate certain side effects on some instruments and meters. Devices based on the electrostatic adsorption principle require that the attached surface have electrical conductivity and that the resulting adsorption force is small. In addition, these modes have high energy consumption, generally require an electromagnetic or vacuum generator which is heavy, have high noise during operation, are difficult to be miniaturized and lightened, and are not suitable for working in a narrow and complicated environment.
The magnetically responsive material is a novel smart material, which is generallyConsists of two parts, namely a polymer matrix and micron-sized magnetic particles filled in the polymer matrix. The filled magnetic particles are magnetized in an externally applied magnetic field and are subjected to magnetic field force, so that a chain-like structure is formed along the direction of the magnetic field, and the physical property parameters of the material which externally show can be regulated and controlled by the magnetic field. The adhesive material has magnetic control adhesiveness and great potential in the field of controllable reversible adhesion. Drotlef D et al report an array of micro-cylinders driven by a magnetic field, the micro-cylinders in the array being made of PDMS and Nd 2 Fe 14 The B particle mixture is molded, and the array realizes the adhesion of the gecko-like sole. In addition, similar mixtures are used, such as gilles a. Et al, and the magnetic field is used to control the micro saw tooth like relief characteristics to alter the modulus of elasticity of the material surface, thereby demonstrating that such adhesive materials have magnetically controllable adhesion. In the present, although the adhesion strength of part of the materials reaches or even exceeds that of gecko bristles, a large pressing force is required to reach higher adhesion; in the desorption process, the desorption force is required to be greatly, the adhesion and desorption cost is high, the mechanical regulation is complex, and the system performance is required to be very high. The current adhesion sucker structure is widely adhered by force control, and the use effect and the device controllability are far insufficient compared with biological organs. The sealing skirt of the sliding wall climbing robot can better fill the gap between the sucker and the wall surface, so that a vacuum environment is formed in the sucker cavity, and the sliding wall climbing robot has certain adaptability to the unsmooth wall surface, but the sucker and the wall surface of the robot are always rubbed in the moving process, the sealing skirt is easy to wear, and the moving resistance is large; the negative pressure sucker type wall climbing robot without the sealing mechanism has strong adaptability to the wall surface, has no sliding friction, but has small negative pressure, the required negative pressure generating device mechanism is heavy, and the sucker volume is increased. In addition, the complex preparation process and the higher manufacturing cost are also barriers to large-scale popularization and use at present. Inspired by an adhesion strategy of the octopus sucker, a corresponding bionic adhesion structure is designed, wherein the adhesion strength can be actively controlled through the magneto deformation of the magnetically responsive material, so that the pressure of an adhesion area is changed, and a negative pressure enhanced adhesion effect is generated.
Under the current situation, there is an urgent need for an adhesion sole structure and a matching control method that can provide better adhesion performance and simultaneously have controllability, on the one hand, can provide efficient and reliable adhesion capability, and has good environmental adaptability; on the other hand, the device has lower manufacturing cost, and is widely popularized and used under actual working conditions.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. A magnetic control negative pressure adhesion enhancing device imitating an octopus sucking disc is provided. The technical scheme of the invention is as follows:
a magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc, it includes: adhering a sucking disc and regulating an electromagnet; the adhesive sucker is used for realizing flexible contact with a contact surface and intelligently controlling adhesion and desorption, the adhesive sucker consists of an adhesive sucker outer pad (1) and an adhesive sucker inner cavity (2), the adhesive sucker outer pad (1) and the adhesive sucker inner cavity (2) are made of flexible magnetic response materials, the adhesive sucker outer pad (1) and the adhesive sucker inner cavity (2) are made of octopus-like sucker, the adhesive sucker outer pad (1) and the adhesive sucker inner cavity (2) are subjected to completely opposite acting forces under the same magnetic field and generate opposite deformation directions, and the magnetic response controllable adhesion and magnetic response large deformation characteristics of the magnetic response materials are utilized, namely, the adhesive performance of the magnetic response materials can be changed under the external magnetic field environment, and meanwhile, stress deformation can be generated, so that negative pressure change similar to that the octopus sucker is generated, and the adhesive sucker is used for realizing rapid adhesion and desorption; the inner cavity (2) of the adhesion sucker is nested in the outer pad (1) of the adhesion sucker, the outer pad (1) of the adhesion sucker is used for realizing a closed cavity environment and increasing contact adhesion force, and the inner cavity (2) of the adhesion sucker is used for generating negative pressure adsorption and reducing contact area during desorption.
The regulating electromagnet is used for controlling the integral deformation of the closed cavity of the adhesion sucker by regulating the magnetic field intensity through current, and providing negative pressure with different magnitudes for the adhesion sucker by regulating different magnetic field intensities under different complex environments.
Further, electro-magnet regulation and control system includes iron core (3), coil (4), power (15), upper control module (16), and coil (4) are accomplished by the enameled wire winding, are filled iron core (3) in the middle of coil (4), and coil (4) periphery comprises upper cover plate (8) and steel shell sleeve (6), and coil (4) use power cord (7) to insert power (15) to insert upper control module (16) and receive control, the mechanical fixation of upper cover plate (8) and steel shell sleeve (6) and go-between (5) and steel shell sleeve (6) are connected fixedly and are accomplished through screw I (9), screw II (10), screw IV (12) and screw V (13), and the connection of upper cover plate (8) and iron core (3) is accomplished mechanical fixation by means of screw III (11), adheres sucking disc outer pad (1) and closely laminates and is fixed in go-between (5) lower surface, and go-between (5) upper surface and steel shell sleeve (6) are connected, and upper control module (16) are used for the output current of real-time control power (15).
Further, the thickness of the adhesion sucker is 3-8mm, and the radius is 20-60mm; the radius of the outer pad (1) of the adhesion sucker is 20-60mm, and the inner cavities (2) of the adhesion sucker in various forms are nested inside, and the inner cavities are respectively: a complete inner cavity (2) of the adhesion sucker is nested in the middle of the outer pad (1) of the adhesion sucker, and the radius value is 15-45mm; a plurality of adhesive sucker inner cavities (2) with different deformation effects are nested in the middle of an adhesive sucker outer pad (1), the negative pressure deformation capacity is gradually enhanced from outside to inside, the radius value of the outermost adhesive sucker inner cavity (2) is 15-45mm, and the radius attenuation value from outside to inside is 5-10mm; 2n+1 adhesive sucker cavities (2) are uniformly distributed in the middle of the adhesive sucker outer pad (1) and on the outer ring, the adhesive sucker cavities (2) of the outer ring are mutually separated by 360 degrees of 2n, the distance between the adhesive sucker cavities (2) in the middle is equal, n is at most 5, and the radius value is 6-15mm.
Furthermore, a cylindrical cavity larger than the deformation range is arranged in the middle of the connecting ring (5) and is used as a deformation domain regulator (14) for adhering the sucker inner cavity (2).
Furthermore, the magnetic induction intensity generated at the position of the adhesion sucker is adjustable between 0mT and 1000 mT.
Further, the preparation method of the adhesion sucker comprises the following steps:
firstly, preparing an inner cavity (2) of an adhesion sucker, taking out after solidification and forming, and magnetizing in a forward magnetic field; then preparing an outer pad (1) of the adhesion sucking disc, taking out after solidification and forming, and magnetizing in a reverse magnetic field to ensure that the magnetic field orientations of the outer pad (1) of the adhesion sucking disc and an inner cavity (2) of the adhesion sucking disc are completely different; then the inner cavity (2) of the adhesion sucking disc and the outer pad (1) of the adhesion sucking disc are nested and fixed in the die, polyurethane adhesive is injected between gaps of the inner cavity (2) of the adhesion sucking disc and the outer pad (1) of the adhesion sucking disc for standing, so that the inner cavity and the outer pad are connected together and tightly combined; and finally, taking the whole adhesive sucker out of the die.
Further, the preparation method of the magnetic response material comprises the following steps:
continuously heating the polyalcohol at the temperature of 100-120 ℃ for 1-2 hours to remove water in the polyalcohol, rapidly mixing the polyalcohol and diisocyanate raw materials according to the mass ratio of 4:1 at the temperature of 50-70 ℃ and fully and mechanically stirring, and adding a catalyst to prepare an adhesion matrix material of the magnetic response material;
weighing a proper amount of hard magnetic particles according to the range given by a mass composition table, adding the hard magnetic particles into an adhesion matrix material, fully stirring, adding a plasticizer and a chain extender into the formed mixture, heating at 80-90 ℃, and simultaneously continuing mechanical stirring;
after the viscosity of the mixture in the last step is obviously large enough, putting the mixture into a vacuum box, pumping out bubbles, pouring the mixture with the bubbles pumped out into a mould, heating at 80-90 ℃ for about 2-4 hours for curing and forming, taking the magnetically responsive material out of the mould, and standing and curing at room temperature.
Further, the content of each component by mass is: selecting 20-30% of magnetic response prepolymer, 70-75% of hard magnetic particles, 3-7% of plasticizer and 3-7% of chain extender adhered to the outer pad (1) of the sucker; the magnetic response prepolymer adhered to the inner cavity (2) of the sucker accounts for 40-50%, the hard magnetic particles account for 50-55%, the plasticizer accounts for 3-11%, and the chain extender accounts for 3-7%.
Further, the polyol in the adhesion matrix material of the magnetic response material is at least one of polyethylene glycol or castor oil, the diisocyanate in the adhesion matrix material of the magnetic response material is at least one of diphenylmethane diisocyanate MDI and toluene diisocyanate TDI, and the hard magnetic particles are neodymium iron boronNd 2 Fe 14 B. At least one of samarium cobalt and alnico, wherein the plasticizer is dibutyl phthalate DBP, the catalyst is stannous octoate, and the chain extender is 1, 4-butanediol BDO.
Further, the distribution of hard magnetic particles inside the adhesive suction cup includes the following cases:
hard magnetic particles in the adhesion sucker are uniformly distributed in the whole body;
hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface contacted with the contact surface;
hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface connected with the connecting ring (5).
The invention has the advantages and beneficial effects as follows:
1. the magnetic control negative pressure adhesion enhancing device of the octopus-like sucker disclosed by the invention can realize flexible contact like the octopus sucker, can greatly adapt to the surface of a contact object or protect the grabbed fragile object, improves the environmental adaptability of the adhesion device, has good effect on complex surfaces such as a curved surface or large roughness at a certain angle, and can better realize better adhesion effect. The invention is inspired by the bonding strategy of the octopus suction cup, can quickly respond to realize the switching of adhesion and desorption, when the octopus suction cup contacts a target surface, the outer pad of the adhesion suction cup can be pressed downwards to form a sealing cavity between the adhesion suction cup and the contact surface, the adhesion effect is enhanced, and the volume of the inner cavity is enlarged due to the deformation and shrinkage of the inner cavity of the adhesion suction cup, negative pressure is generated in the inner cavity of the adhesion suction cup, the pressure in the inner cavity of the adhesion suction cup is reduced, the adhesion force of the adhesion suction cup is enhanced, and the whole adhesion effect is further improved; when the adhesive suction cup is separated from the target surface, the outer pad of the adhesive suction cup can arch upwards, a sealing cavity between the adhesive suction cup and the contact surface is instantaneously eliminated, and the actual contact area between the adhesive suction cup and the contact surface can be instantaneously reduced due to the fact that the deformation bulge of the inner cavity of the adhesive suction cup is pressed down, so that the adhesive force is greatly reduced, and desorption can be easily realized. More importantly, the plurality of adhesion chucks can be controlled independently and matched uniformly, so that the adhesion chucks can firmly adsorb on various surfaces, including smooth, rough and even dirty target surfaces.
2. The invention fully utilizes the magnetic response controllable adhesion and magnetic response large deformation characteristics of the magnetic response material, namely the adhesion performance of the magnetic response material can be changed under the external magnetic field environment, and meanwhile, stress deformation can be generated, the external pad of the adhesion sucker and the inner cavity of the adhesion sucker are manufactured by adopting flexible magnetic response materials through ingenious design of the octopus-like sucker, the external pad of the adhesion sucker and the inner cavity of the adhesion sucker can be subjected to completely opposite acting force under the same magnetic field, opposite deformation directions are generated, negative pressure change similar to the octopus sucker is generated, and adhesion and desorption are realized rapidly. The magnetic field intensity is adjusted by preferentially selecting the proportion of the material components, the geometric dimension, the number of turns of the coils of the electromagnet and the current, so that the integral deformation of the adhesion sucker is controlled, different magnetic field intensities can be adjusted under different complex environments, support is provided for negative pressure enhanced adhesion of the adhesion sucker, and the control of adhesion and desorption capacity can be effectively realized. The inner cavity of the adhesion sucker is effectively driven to deform by controlling the magnetic field, the adhesion force with the contact surface can be enhanced to a greater extent during adsorption, the stripping process is accelerated during separation, and meanwhile, the pressure and the adhesion performance of the outer pad of the adhesion sucker and the contact surface are regulated, so that the sealing effect of the negative pressure cavity is better ensured. The invention can provide high-efficiency controllable adhesion capability for the functions of carrying, walking, wall standing and the like of a rapid carrying manipulator, a foot-leg wall robot and the like, and overcomes a series of defects of insufficient adhesion, difficult desorption and the like of the traditional adhesion/adsorption technology. In general, the invention has simple structure, low cost, reliable performance and wider application field, provides a new method and approach for further development of intelligent reversible bionic adhesion technology, expands the application scene of magnetic response materials, overcomes the defect of device achievement in the intelligent adhesion field at present, and provides more inspiration for developing adhesion technology in complex actual scenes.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
FIG. 1 is a schematic view of an adhesive device according to the present invention according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of an adhesive device assembly of the present invention;
FIG. 3 is a flow chart of the manufacturing process of the adhesive device of the present invention;
FIG. 4 is a simulation diagram of the magnetic field effect of an electromagnet according to the present invention;
FIG. 5 is a graph showing the deformation effect of the inner cavity of the adhesive sucker in the invention;
fig. 6 is a schematic diagram of an adhesion desorption process in the present invention.
Reference numerals: the device comprises a 1-adhesion sucker outer pad, a 2-adhesion sucker inner cavity, a 3-iron core, a 4-coil, a 5-connecting ring, a 6-steel shell sleeve, a 7-power line, an 8-upper cover plate, a 9-screw I, a 10-screw II, a 11-screw III, a 12-screw IV, a 13-screw V, a 14-deformation domain regulator, a 15-power supply and a 16-upper control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and specifically described below with reference to the drawings in the embodiments of the present invention. The described embodiments are only a few embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the devices or elements referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present invention, and specific meanings of the above terms may be understood by those of ordinary skill in the art according to specific circumstances.
Referring to fig. 1 to 6, a magnetic control negative pressure adhesion enhancing device imitating an octopus suction cup is shown, and reference numerals of elements in the drawings respectively indicate: the device comprises a 1-adhesion sucker outer pad, a 2-adhesion sucker inner cavity, a 3-iron core, a 4-coil, a 5-connecting ring, a 6-steel shell sleeve, a 7-power line, an 8-upper cover plate, a 9-screw I, a 10-screw II, a 11-screw III, a 12-screw IV, a 13-screw V, a 14-deformation domain regulator, a 15-power supply and a 16-upper control module.
Example 1
The invention relates to an intelligent structure device, in particular to a magnetic control negative pressure reinforcing adhesion device imitating an octopus sucking disc, which mainly comprises an adhesion sucking disc and a regulating electromagnet, wherein the adhesion sucking disc is used for realizing flexible contact with a contact surface and intelligently controlling adhesion and desorption, the adhesion sucking disc consists of an adhesion sucking disc outer pad 1 and an adhesion sucking disc inner cavity 2, the adhesion sucking disc outer pad 1 and the adhesion sucking disc inner cavity 2 are both made of flexible magnetic response materials, the shape of the adhesion sucking disc outer pad 1 and the adhesion sucking disc inner cavity 2 is imitated to be manufactured by the design of the octopus sucking disc, the adhesion sucking disc outer pad 1 and the adhesion sucking disc inner cavity 2 can be subjected to completely opposite acting force under the same magnetic field and generate opposite deformation directions, and the adhesion performance of the magnetic response material can be changed by utilizing the magnetic response controllable adhesion and magnetic response large deformation characteristics of the magnetic response material, namely, under the external magnetic field environment, the adhesion performance of the magnetic response material can be changed under stress, and negative pressure change similar to the octopus sucking disc can be generated at the same time, and the magnetic response is used for realizing rapid adhesion and desorption; the inner cavity 2 of the adhesion sucker is nested in the outer pad 1 of the adhesion sucker, the outer pad 1 of the adhesion sucker is used for realizing the environment of a closed cavity and increasing contact adhesion force, and the inner cavity 2 of the adhesion sucker is used for generating negative pressure absorption and reducing the contact area during desorption.
Preferably, the regulating electromagnet is used for controlling the integral deformation of the closed cavity of the adhesion sucker by regulating the magnetic field intensity through current, and providing negative pressures with different magnitudes for the adhesion sucker by regulating different magnetic field intensities under different complex environments.
Preferably, the thickness of the adhesion sucker is 4mm, and the radius is 20mm.
Preferably, the design scheme of the octopus-like suction cup of the adhesion suction cup is characterized in that a complete adhesion suction cup inner cavity 2 is nested in the middle of an adhesion suction cup outer pad 1: the outer diameter of the outer pad 1 of the adhesive suction cup is 20mm, the inner diameter is 15mm, and the radius of the inner cavity 2 of the adhesive suction cup is 15mm, as shown in fig. 2 (a).
Preferably, the outer pad 1 of the adhesion sucker is tightly attached and fixed on the lower surface of the connecting ring 5, and the upper surface of the connecting ring 5 is connected with the electromagnet steel shell sleeve 6.
Preferably, a cylindrical cavity of 13mm is arranged in the middle of the connecting ring 5 and is used as a deformation area regulator 14 for adhering the sucker inner cavity 2.
Preferably, the SolidWorks three-dimensional modeling software is utilized to design the electromagnet, the COMSOL multi-physical field simulation software is used for analyzing the magnetic control effect, and the sizes and parameters of the iron core 3 and the coil 4 are optimized.
Preferably, the coil 4 is wound by a high temperature resistant enameled wire with the diameter of 0.6 mm; parts such as an upper cover plate 8, an iron core 3, a steel shell sleeve 6, a connecting ring 5 and the like are processed.
Preferably, the regulating electromagnet comprises a coil 4, the coil is wound by an enameled wire, the middle of the regulating electromagnet is filled with an iron core 3, the periphery of the regulating electromagnet is formed by an upper cover plate 8 and a steel shell sleeve 6, the coil 4 is connected into a power supply 15 by using a power wire 7 and is connected into an upper control module 16 to be controlled, the mechanical fixing of the upper cover plate 8 and the steel shell sleeve 6 and the connection fixing of a connecting ring 5 and the steel shell sleeve 6 are both completed by a screw I9, a screw II 10, a screw IV 12 and a screw V13, and the connection fixing of the upper cover plate 8 and the iron core 3 is completed by a screw III 11.
Preferably, the magnetic induction intensity generated by the regulating electromagnet at the position of the adhesion sucker is adjustable between 0mT and 1000 mT.
Preferably, the upper control module 16 and the power supply 15 are external, the power supply 15 is electrically connected with the upper control module 16, the upper control module 16 is electrically connected with the coil 4, and the upper control module 16 is used for controlling the output current of the power supply 15 in real time on line.
Preferably, the adhesive sucker is manufactured according to the following preparation method: firstly, preparing an inner cavity 2 of an adhesion sucker, taking out after solidification and forming, and magnetizing in a forward magnetic field of 1.5T for 2 hours; then preparing an adhesive sucker outer pad 1, taking out after solidification and forming, and magnetizing in a reverse magnetic field of 1.5T for 2 hours to enable the magnetic field orientations of the adhesive sucker outer pad 1 and an adhesive sucker inner cavity 2 to be different; then the inner cavity 2 of the adhesion sucking disc and the outer pad 1 of the adhesion sucking disc are nested and fixed in the die, polyurethane adhesive is injected between gaps of the inner cavity 2 of the adhesion sucking disc and the outer pad 1 of the adhesion sucking disc for standing for 1h, so that the inner cavity 2 of the adhesion sucking disc and the outer pad 1 of the adhesion sucking disc are connected together and tightly combined; and finally, taking the whole adhesive sucker out of the die.
Preferably, the generally conventional preparation method of the magnetic response material comprises the following steps:
continuously heating the polyol at the temperature of about 100 ℃ for 1h to remove water in the polyol, rapidly mixing the polyol and diisocyanate raw materials according to the mass ratio of 4:1 at 70-90 ℃ and fully and mechanically stirring, and adding a catalyst to prepare the adhesive matrix material of the magnetic response material.
Selecting 20% of magnetic response prepolymer, 70% of hard magnetic particles, 5% of plasticizer and 5% of chain extender adhered to the sucker outer pad 1; the magnetic response prepolymer accounting for 40 percent, the hard magnetic particles accounting for 50 percent, the plasticizer accounting for 5 percent and the chain extender accounting for 5 percent of the inner cavity 2 of the adhesion sucker are weighed according to the range, and are added into the adhesion matrix material to be fully stirred, so that the hard magnetic particles are uniformly distributed in the whole, and then the plasticizer and the chain extender are added into the formed mixture to be heated at 80 ℃ and simultaneously to be mechanically stirred continuously.
After the viscosity of the mixture in the last step is obviously large enough, putting the mixture into a vacuum box to extract bubbles, pouring the mixture from which the bubbles are extracted into a mould, heating at 80 ℃ for about 2 hours for curing and forming, taking the magnetically responsive material out of the mould, and standing and curing at room temperature.
Preferably, the polyol in the adhesion matrix material of the magnetically responsive material is castor oil, the diisocyanate in the adhesion matrix material of the magnetically responsive material is diphenylmethane diisocyanate MDI, and the hard magnetic particles are neodymium iron boron Nd 2 Fe 14 And B, the plasticizer is dibutyl phthalate DBP, the catalyst is stannous octoate, and the chain extender is 1, 4-butanediol BDO.
Preferably, polyurethane adhesive is used to bond the upper surface of the outer pad 1 of the adhesive suction cup and the lower surface of the connecting ring 5 together, ensuring that the two are tightly combined without bubbles and gaps.
Preferably, the access point of the coil 4 is led out from a reserved gap in the steel shell sleeve 6 and is connected to the power supply 15 and the upper control module 16, so that the control and the debugging of the whole device are realized.
Example two
This embodiment differs from the first embodiment in that the thickness of the adhesive suction cup in this embodiment is 6mm and the radius is 40mm.
The design scheme of the octopus-like sucker of the adhesion sucker selects an adhesion sucker inner cavity 2 with a plurality of different deformation effects to be nested in the middle of an adhesion sucker outer pad 1, and the negative pressure deformation capacity is gradually enhanced from outside to inside: the outer diameter of the adhesive sucker outer pad 1 is 40mm, the inner diameter is 30mm, the inner cavity 2 of the adhesive sucker is divided into two parts, the deformation effect of the innermost part of the inner cavity is optimal, the radius is 20mm, the outer diameter of the outer part of the inner cavity is 30mm, and the inner diameter is 20mm, as shown in fig. 2 (b).
A cylindrical cavity of 14mm is arranged in the middle of the connecting ring 5 and is used as a deformation domain regulator 14 for adhering the sucker inner cavity 2.
The adhesive sucker is manufactured according to the following preparation method: firstly, preparing an inner cavity 2 of an adhesion sucker, taking out after solidification and forming, and magnetizing in a 2T forward magnetic field for 3 hours; then preparing an adhesive sucker outer pad 1, taking out after solidification and forming, and magnetizing in a 2T reverse magnetic field for 3 hours to enable the magnetic field orientations of the adhesive sucker outer pad 1 and the adhesive sucker inner cavity 2 to be completely different.
The polyalcohol for preparing the magnetic response materials in the outer pad 1 and the inner cavity 2 of the adhesion sucker is polyethylene glycol, the diisocyanate is toluene diisocyanate TDI, and the hard magnetic particles are samarium cobalt.
Hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface contacted with the contact surface.
The magnetic response prepolymer of the adhesive sucker outer pad 1 accounts for 22%, the hard magnetic particles account for 72%, the plasticizer accounts for 3%, and the chain extender accounts for 3%; 42% of magnetically responsive prepolymer adhered to the inner cavity 2 of the sucker, 52% of hard magnetic particles, 3% of plasticizer and 3% of chain extender.
Example III
This embodiment differs from the above embodiment in that the thickness of the adhesive suction cup in this embodiment is 8mm and the radius is 60mm.
The design scheme of the octopus-like sucker of the adhesion sucker is characterized in that 2n+1 adhesion sucker cavities are uniformly distributed in the middle of an adhesion sucker outer pad and on an outer ring, the adhesion sucker cavities on the outer ring are mutually separated by 360 degrees of 2n, the distances between the adhesion sucker cavities and the middle adhesion sucker cavities are equal, and n is 3: the adhesive suction cup is internally provided with 7 adhesive suction cup inner cavities 2 with the radius of 18mm, the center part of the adhesive suction cup inner cavity 2 is provided with 6 adhesive suction cup inner cavities 2 which are 3mm away from the edge of the adhesive suction cup inner cavity 2 and the edge of the adhesive suction cup outer pad 1 in the middle, the adhesive suction cup inner cavities are uniformly distributed in the adhesive suction cup inner cavities at intervals of 60 degrees, and the adhesive suction cup outer pads 1 are arranged at the left positions of the adhesive suction cup, as shown in the figure 2 (c).
A cylindrical cavity of 15mm is arranged in the middle of the connecting ring 5 and is used as a deformation domain regulator 14 for adhering the sucker inner cavity 2.
The adhesive sucker is manufactured according to the following preparation method: firstly, preparing an inner cavity 2 of an adhesion sucker, taking out after solidification and forming, and magnetizing in a forward magnetic field of 3T for 4 hours; then preparing an adhesive sucker outer pad 1, taking out after solidification and forming, and magnetizing in a reverse magnetic field of 3T for 4h to enable the magnetic field orientations of the adhesive sucker outer pad 1 and the adhesive sucker inner cavity 2 to be completely different.
The polyol for preparing the magnetic response materials in the adhesive sucker outer pad 1 and the adhesive sucker inner cavity 2 is castor oil, the diisocyanate is diphenylmethane diisocyanate MDI, and the hard magnetic particles are aluminum nickel cobalt.
The hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface connected with the connecting ring 5.
The magnetic response prepolymer of the adhesive sucker outer pad 1 accounts for 20%, the hard magnetic particles account for 72%, the plasticizer accounts for 5%, and the chain extender accounts for 3%; the magnetic response prepolymer adhered to the inner cavity 2 of the sucker accounts for 40 percent, the hard magnetic particles account for 52 percent, the plasticizer accounts for 5 percent and the chain extender accounts for 3 percent.
The working principle of the invention is as follows: the invention fully utilizes the magnetic response controllable adhesion and magnetic response large deformation characteristics of the magnetic response material, namely the adhesion performance of the magnetic response material can be changed under the external magnetic field environment, and meanwhile, the magnetic response material can be stressed to deform to generate negative pressure change similar to an octopus sucker. As shown in fig. 5, a general adhesion desorption flow of the adhesion device is as follows: when in adhesion, the outer pad 1 of the adhesion sucker is tightly attached to the surface of a contact object under a certain pretightening force, and a certain air area exists between the inner cavity 2 of the adhesion sucker and the surface of the contact object. When the forward current is increased, a forward magnetic field is generated, the inner cavity 2 of the adhesion sucker is effectively driven to deform upwards by controlling the magnetic field, the outer pad 1 of the adhesion sucker presses down on the wall surface, the sealing effect of the negative pressure cavity is better ensured, the volume of an air field is increased, the air pressure is reduced, negative pressure is formed, and the adhesion force of the adhesion device is enhanced. In the desorption process, the reverse magnetic field generated by reverse current enables the outer pad 1 of the adhesion sucker to be separated from the surface of a contact object upwards, the inner cavity 2 of the adhesion sucker is deformed downwards, and negative pressure is relieved, so that the outer pad is separated from the surface of the contact object.
The invention adopts the integrated combination structure of the adhesive sucker and the regulating electromagnet, which is formed by bonding the adhesive sucker outer pad 1 and the adhesive sucker inner cavity 2. The adhesive suction cup outer pad 1 and the adhesive suction cup inner cavity 2 have the same main components, so that the adhesive suction cup outer pad and the adhesive suction cup inner cavity can show more compact adhesion performance. Meanwhile, the higher content of hard magnetic particles contained in the adhesive sucker outer pad 1 gives higher rigidity to the adhesive sucker outer pad, and the adhesive sucker outer pad can be tightly combined with the surface of a contact object in the pressing process; the hard magnetic particles contained in the inner cavity 2 of the adhesion sucker have relatively low content, have considerable flexibility and can generate more obvious deformation under a magnetic field.
The power supply 15 and the upper control module 16 mainly realize the regulation and control of the on-off, the size and the direction of the current of the coil in the electromagnet, thereby influencing the size and the polarity of the magnetic field generated by the coil 4, so as to achieve the effect of changing the deformation condition of the outer pad 1 of the adhesion sucker and the inner cavity 2 of the adhesion sucker, realize the coordinated action of the outer pad 1 of the adhesion sucker and the inner cavity 2 of the adhesion sucker through a reasonable coordination control algorithm, and ensure the coordination and the stability of the whole adhesion device.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The above examples should be understood as illustrative only and not limiting the scope of the invention. Various changes and modifications to the present invention may be made by one skilled in the art after reading the teachings herein, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.
Claims (4)
1. The utility model provides an octopus sucking disc imitated magnetic control negative pressure reinforcing adheres device which characterized in that includes: adhering a sucking disc and regulating an electromagnet; the adhesive sucker is used for realizing flexible contact with a contact surface and intelligently controlling adhesion and desorption, the adhesive sucker consists of an adhesive sucker outer pad (1) and an adhesive sucker inner cavity (2), the adhesive sucker outer pad (1) and the adhesive sucker inner cavity (2) are made of flexible magnetic response materials, the adhesive sucker outer pad (1) and the adhesive sucker inner cavity (2) are manufactured by adopting the design of an octopus-like sucker, the adhesive sucker outer pad (1) and the adhesive sucker inner cavity (2) can be subjected to completely opposite acting forces under the same magnetic field and generate opposite deformation directions, and the magnetic response controllable adhesion and magnetic response large deformation characteristics of the magnetic response materials are utilized, namely, the adhesion performance of the magnetic response materials can be changed under the external magnetic field environment, and meanwhile, stress deformation can be generated, so that negative pressure change similar to the octopus sucker is generated, and the adhesive sucker is used for realizing rapid adhesion and desorption; the inner cavity (2) of the adhesion sucker is nested in the outer pad (1) of the adhesion sucker, the outer pad (1) of the adhesion sucker is used for realizing a closed cavity environment and increasing contact adhesion, and the inner cavity (2) of the adhesion sucker is used for generating negative pressure adsorption and reducing contact area during desorption;
the regulating electromagnet is used for controlling the integral deformation of the closed cavity of the adhesion sucker by regulating the magnetic field intensity through current, and driving the adhesion sucker to generate negative pressure with different magnitudes by regulating different magnetic field intensities in different complex environments;
the preparation method of the adhesion sucker comprises the following steps:
firstly, preparing an inner cavity (2) of an adhesion sucker, taking out after solidification and forming, and magnetizing in a forward magnetic field; then preparing an outer pad (1) of the adhesion sucking disc, taking out after solidification and forming, and magnetizing in a reverse magnetic field to ensure that the magnetic field orientations of the outer pad (1) of the adhesion sucking disc and an inner cavity (2) of the adhesion sucking disc are completely different; then the inner cavity (2) of the adhesion sucking disc and the outer pad (1) of the adhesion sucking disc are nested and fixed in the die, polyurethane adhesive is injected between gaps of the inner cavity (2) of the adhesion sucking disc and the outer pad (1) of the adhesion sucking disc for standing, so that the inner cavity and the outer pad are connected together and tightly combined; finally, taking out the whole adhesive sucker from the die;
the distribution of hard magnetic particles inside the adhesive suction cup includes the following cases:
hard magnetic particles in the adhesion sucker are uniformly distributed in the whole body;
hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface contacted with the contact surface;
hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface connected with the connecting ring (5);
the design scheme of the octopus-like sucker of the adhesion sucker is characterized in that 2n+1 adhesion sucker cavities are uniformly distributed in the middle of an adhesion sucker outer pad and on an outer ring, the adhesion sucker cavities on the outer ring are mutually separated by 360 degrees of 2n, the distances between the adhesion sucker cavities and the middle adhesion sucker cavities are equal, and n is 3: 7 adhesive sucker cavities (2) with the radius of 18mm are arranged in the adhesive sucker, one adhesive sucker cavity (2) is arranged at the center of the circle, the left 6 adhesive sucker cavities (2) are 3mm away from the edges of the adhesive sucker cavity (2) and the adhesive sucker outer pad (1) in the middle, and are uniformly distributed in the adhesive sucker cavities at intervals of 60 degrees, and the left positions of the adhesive sucker are all adhesive sucker outer pads (1);
a cylindrical cavity with the diameter of 15mm is arranged in the middle of the connecting ring (5) and is used as a deformation domain regulator (14) for adhering the sucker inner cavity (2);
the adhesive sucker is manufactured according to the following preparation method: firstly, preparing an inner cavity (2) of an adhesion sucker, taking out after solidification and forming, and magnetizing in a forward magnetic field of 3T for 4 hours; then preparing an adhesive sucker outer pad (1), taking out after solidification and forming, and magnetizing in a reverse magnetic field of 3T for 4 hours to ensure that the magnetic field orientations of the adhesive sucker outer pad (1) and an adhesive sucker inner cavity (2) are completely different;
the polyol for preparing the magnetic response materials in the outer pad (1) and the inner cavity (2) of the adhesion sucking disc is castor oil, the diisocyanate is diphenylmethane diisocyanate MDI, and the hard magnetic particles are aluminum nickel cobalt;
hard magnetic particles in the adhesion sucker are unevenly distributed and all the hard magnetic particles are gathered on the surface connected with the connecting ring (5);
the magnetic response prepolymer of the adhesive sucker outer pad (1) accounts for 20%, the hard magnetic particles account for 72%, the plasticizer accounts for 5%, and the chain extender accounts for 3%; the magnetic response prepolymer adhered to the inner cavity (2) of the sucker accounts for 40 percent, the hard magnetic particles account for 52 percent, the plasticizer accounts for 5 percent, and the chain extender accounts for 3 percent;
the regulating electromagnet comprises an iron core (3), a coil (4), a power supply (15) and an upper control module (16), wherein the coil (4) is wound by an enameled wire, the middle of the coil (4) is filled with the iron core (3), the periphery of the coil (4) is formed by an upper cover plate (8) and a steel shell sleeve (6), the coil (4) is connected with the power supply (15) by using a power line (7) and is connected with the upper control module (16) to be controlled, the upper cover plate (8) and the steel shell sleeve (6) are mechanically fixed, the connecting fixing of the connecting ring (5) and the steel shell sleeve (6) is completed by a screw I (9), a screw II (10), a screw IV (12) and a screw V (13), the connecting fixing of the upper cover plate (8) and the iron core (3) is completed by a screw III (11), the sucking disc is tightly adhered to the lower surface of the connecting ring (5), the upper surface of the connecting ring (5) is connected with the steel shell sleeve (6), and the upper control module (16) is used for controlling the output current of the power supply (15) in real time and online.
2. The magnetically controlled negative pressure adhesion enhancing device of the octopus-like sucking disc according to claim 1, wherein the magnetic induction intensity generated at the position of the adhesion sucking disc is adjustable between 0mT and 1000 mT.
3. The magnetically controlled negative pressure adhesion enhancing device of an octopus-like sucking disc according to any one of claims 1 to 2, wherein the preparation method of the magnetically responsive material comprises the steps of:
continuously heating the polyalcohol at the temperature of 100-120 ℃ for 1-2 hours to remove water in the polyalcohol, rapidly mixing the polyalcohol and diisocyanate raw materials according to the mass ratio of 4:1 at the temperature of 50-70 ℃ and fully and mechanically stirring, and adding a catalyst to prepare an adhesion matrix material of the magnetic response material;
weighing a proper amount of hard magnetic particles according to the range given by a mass composition table, adding the hard magnetic particles into an adhesion matrix material, fully stirring, adding a plasticizer and a chain extender into the formed mixture, heating at 80-90 ℃, and simultaneously continuing mechanical stirring;
after the viscosity of the mixture in the last step is obviously large enough, putting the mixture into a vacuum box, pumping out bubbles, pouring the mixture with the bubbles pumped out into a mould, heating at 80-90 ℃ for about 2-4 hours for curing and forming, taking the magnetically responsive material out of the mould, and standing and curing at room temperature.
4. A magnetic control negative pressure adhesion enhancing device imitating an octopus sucking disc as recited in claim 3, wherein the polyalcohol in the adhesion matrix material of the magnetically responsive material is poly-urethaneAt least one of glycol or castor oil, wherein diisocyanate in the adhesion matrix material of the magnetic response material is at least one of diphenylmethane diisocyanate MDI and toluene diisocyanate TDI, and the hard magnetic particles are neodymium iron boron Nd 2 Fe 14 B. At least one of samarium cobalt and alnico, wherein the plasticizer is dibutyl phthalate DBP, the catalyst is stannous octoate, and the chain extender is 1, 4-butanediol BDO.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010542920.1A CN111687868B (en) | 2020-06-15 | 2020-06-15 | Magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010542920.1A CN111687868B (en) | 2020-06-15 | 2020-06-15 | Magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111687868A CN111687868A (en) | 2020-09-22 |
| CN111687868B true CN111687868B (en) | 2023-05-26 |
Family
ID=72481096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010542920.1A Active CN111687868B (en) | 2020-06-15 | 2020-06-15 | Magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111687868B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112466630A (en) * | 2020-11-21 | 2021-03-09 | 沈阳工业大学 | Transformer core structure capable of reducing noise and manufacturing method thereof |
| CN112683777A (en) * | 2020-11-27 | 2021-04-20 | 中国汽车工程研究院股份有限公司 | Material friction abnormal sound test stand with magnetic suspension type objective table |
| CN112617988A (en) * | 2021-01-20 | 2021-04-09 | 济南市章丘区中医医院 | Obstetric device for obstetrics and gynecology department |
| CN112919129B (en) * | 2021-01-28 | 2022-06-17 | 南京航空航天大学 | Bionic adhesion and desorption device, bionic dry adhesion material and preparation process |
| CN113006348B (en) * | 2021-03-09 | 2023-02-17 | 重庆邮电大学 | Automatic installation type intelligent robot for high-altitude curtain wall |
| CN114800584B (en) * | 2022-04-22 | 2023-08-11 | 南京航空航天大学 | Variable-rigidity flexible end effector coupled with dry adhesion and vacuum adsorption |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2100842C (en) * | 1993-07-19 | 1998-11-24 | James E. Poil | Magnetic motion producing device |
| CN102122901A (en) * | 2011-03-07 | 2011-07-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Precise motion driving device based on bionics principle |
| CN105234953B (en) * | 2014-07-07 | 2019-06-11 | 科沃斯商用机器人有限公司 | For moving the sucker and its removable adsorbent equipment of adsorbent equipment |
| CN105515319B (en) * | 2014-10-11 | 2018-05-25 | 江苏磁谷科技股份有限公司 | The method that non-magnetic conductive material is adsorbed using magnetic suction disc |
| CN109632633B (en) * | 2018-12-28 | 2021-05-11 | 重庆邮电大学 | Magneto-sensitive rubber with controllable adhesion characteristic and preparation method and testing device thereof |
| CN109850027B (en) * | 2019-02-28 | 2021-03-16 | 重庆邮电大学 | Bionic biped wall-climbing robot based on magnetic-sensitive rubber adhesion material |
| CN110143245B (en) * | 2019-05-28 | 2021-11-02 | 重庆邮电大学 | Magnetic control bionic adhesion sole device based on magnetic sensitive adhesion material |
| CN111098321B (en) * | 2020-01-06 | 2021-10-12 | 吉林大学 | Pneumatic variable-rigidity soft manipulator |
-
2020
- 2020-06-15 CN CN202010542920.1A patent/CN111687868B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 肖启鹏.基于磁控负压的仿生粘附装置设计与研究.《基于磁控负压的仿生粘附装置设计与研究》.2021,(第2（2021）期),C029-154. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111687868A (en) | 2020-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111687868B (en) | Magnetic control negative pressure reinforcing adhesion device of imitative octopus sucking disc | |
| Takishima et al. | Fully 3D-printed hydrogel actuator for jellyfish soft robots | |
| EP2073088A3 (en) | Robot docking station and robot for use therewith | |
| Zhang et al. | Magnetoelectric soft composites with a self-powered tactile sensing capacity | |
| CN104191318B (en) | Magneto-rheological polishing method and tool | |
| CN108100598B (en) | A kind of magnet automatically generates line | |
| CN106165029A (en) | Modified magnetic fluid, the handle sturcture employing this modified magnetic fluid and grasping device | |
| Hong et al. | Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot | |
| CN106920622A (en) | A kind of preparation technology of high-performance SMC soft-magnetic composite materials | |
| CN103199766A (en) | Omnidirectional freely-moving device | |
| CN106374601A (en) | Mobile terminal | |
| CN108045448A (en) | A kind of memory alloy driven multi-modal robot | |
| CN110143245B (en) | Magnetic control bionic adhesion sole device based on magnetic sensitive adhesion material | |
| CN107342161A (en) | A kind of preparation method of halbach magnets, halbach magnets and electronic equipment | |
| CN112847391A (en) | Magnetizing system and magnetizing method of magnetic control multi-foot soft robot | |
| Yuan et al. | Soft tactile sensor and curvature sensor for caterpillar-like soft robot's adaptive motion | |
| CN105141106B (en) | A kind of motion workbench of Three Degree Of Freedom | |
| CN108279160A (en) | A kind of magnetic core bonded structure compression shear loads fixture and its test method | |
| Manabe et al. | A functional adhesive robot skin with integrated micro rubber suction cups | |
| Li et al. | Design and optimization of the magnetic field-driven spherical gripper with adjustable stiffness | |
| CN109412288B (en) | Motor with non-metal rotor structure and application thereof in pipeline | |
| CN206840087U (en) | A kind of gas or liquid machine muscle unit | |
| Li et al. | Small Multi-Attitude Soft Amphibious Robot | |
| CN206163309U (en) | One shot forming neodymium iron boron radiation ring extruder | |
| CN206814148U (en) | A kind of core structure for being used to prepare brass wire coiling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |