CN113212586B - Flexible intelligent adsorption device with self-sensing function and preparation method thereof - Google Patents
Flexible intelligent adsorption device with self-sensing function and preparation method thereof Download PDFInfo
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- CN113212586B CN113212586B CN202110685637.9A CN202110685637A CN113212586B CN 113212586 B CN113212586 B CN 113212586B CN 202110685637 A CN202110685637 A CN 202110685637A CN 113212586 B CN113212586 B CN 113212586B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
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Abstract
The invention discloses a flexible intelligent adsorption device with a self-sensing function and a preparation method thereof. The device consists of an adsorption component, a self-sensing component, a shell and a driving component. The self-sensing component is formed by directly writing and printing ink with a certain proportion of conductive particles added into the modified polyurethane, and is a double sensor integrating capacitance-type sensing and resistance-type sensing; the driving part and the shell provide an adsorption power source and mounting conditions for the adsorption device; the adaptive control algorithm causes the device to recognize the topography of the contact surface and thereby change the pose of the robot foot or arm. The invention can be used for wall climbing or grabbing robots, and the robots can be more convenient for wall surface detection, military anti-terrorism, logistics sorting, installation and maintenance and other operations under the complex surface structure under the assistance of the self-adaptive self-sensing function.
Description
Technical Field
The invention belongs to the technical field of device design, and particularly relates to a flexible intelligent adsorption device with a self-sensing function and a preparation method thereof, which are mainly applied to various robot tail end execution devices.
Background
In recent years, with rapid development in the fields of computers, communication, intelligent manufacturing, and the like, special robots used in various industries are increasingly used. The robot solves a plurality of problems for human beings, can replace manual work to finish work with high repeatability, high risk and bad environment, and is the object of important research in the industries of industrial production, emergency rescue, special operation, catering service and the like. For robots, the end stick attachment is an important mechanism for the robot to work.
In the field of logistics transportation, a robot needs an end effector to operate various objects, at present, a grabbing mode mainly comprises a claw type manipulator, an add-on type manipulator and a sucker type manipulator, most of traditional grabbing modes are rigid grabbing and cannot judge grabbing force and grabbing state, whether the manipulator grabs the objects successfully or not is often confirmed by using an additional sensor or a force sensor, or whether the manipulator grabs the objects successfully or not is confirmed at all, and at present, an advanced tiny product grabbing device disclosed by a patent CN111977368A senses the contact force between a sucker and an object to be grabbed in real time through a piezoelectric sensor, and the additional sensor mode is structurally complicated and redundant, so that grabbing effect is seriously affected.
In the field of wall climbing robots for infrastructure maintenance, traditional robots are used for wall surface adhesion by means of electromagnetic adsorption, vacuum adsorption, claw thorn grabbing and the like, however, the traditional adhesion modes generally have no self-sensing function and cannot sense the adhered wall surface environment, and the traditional adhesion modes are a great hidden danger in the working process of the wall climbing robots. Firstly, under the condition that the wall environment is not perceived, the robot is easy to fall due to 'losing' due to adsorption movement, for example, the adsorption is invalid due to the fact that a foot end sucker of the vacuum adsorption robot touches a wall crack; secondly, the robot cannot conduct path planning in time according to the wall environment, for example, the sucker device of the wall climbing robot for complex wall disclosed in patent CN105460100A detects whether the sucker touches the wall or not through an additional sensor, and judges the relative position of the sucker and the suction wall. However, the sensing mode of the additional sensor has the defects of insufficient sensing site limitation and unstable sensing caused by easy damage of the sensor. Recently, as described in Aoyagi, seiji et al, university of Japanese, katsuji, bellows Suction Cup Equipped With Force Sensing Ability by Direct Coating Thin-Film Resistor for Vacuum Type Robotic Hand, the sensing function is achieved by coating a conductive film on a commercial chuck, but the overcoating of the conductive film has problems of fragile sensing structure, low reproducibility, delayed response, limited sensitivity, limited accuracy of a single strain sensing mechanism, and the like.
Therefore, in the field of logistics transportation or other fields such as wall climbing robots, there is an urgent need for an adsorption device capable of performing adaptive self-sensing for the robot terminal, which will enable the robot to work stably and accurately when logistics are sorted, and to be adsorbed on the wall surface stably and effectively when infrastructure is maintained.
Disclosure of Invention
In view of the above, the invention provides a flexible intelligent adsorption device with self-sensing function, which aims to solve the problems that the existing adsorption device cannot perform self-adaptive self-sensing, is uncontrollable, has poor adsorption stability, limited application environment and low intelligent degree, and comprises an adsorption component, a self-sensing component and a driving component, wherein the adsorption component comprises a base body and a plurality of suckers, the non-adsorption ends of the suckers are fixedly connected with the base body, and grooves are formed in the base body; the self-sensing component comprises a sensing protective layer and a conductive layer, wherein the wall of the groove close to the groove is the sensing protective layer, and the conductive layer is arranged on the sensing protective layer; the driving part comprises an air pressure driving interface which is arranged at the non-adsorption end of the sucker.
Specifically, the fixed connection between the suction cup and the substrate may be that the non-suction end of the suction cup is embedded in the substrate. The suckers are arranged in an array.
Further, the adsorption end of the sucker is arranged to be of a corrugated pipe structure, so that the sucker is convenient to adsorb under the negative pressure of the adsorption end and has the characteristic of easy deformation.
And the conducting layer is provided with a resistance signal wiring terminal and a capacitance signal wiring terminal.
Further, the self-sensing component is formed by printing polyurethane ink added with conductive particles in a certain proportion through direct writing of ink. The device can comprise two rectangular sensing parts which are used as flexible strain sensors and can sense the deformation of the adsorption structure when the adsorption structure contacts and adsorbs objects, so as to sense the surface morphology and the adsorption force of the contacted objects. This allows the adsorption device to function not only as an adsorption device but also as a sensor of surface topography and adsorption force.
Furthermore, the two rectangular sensing parts can form two opposite electrode plates at the space positions, so that a pole-changing distance type capacitance sensor is formed, the self-sensing part can sense deformation generated when the adsorption structure adsorbs a contact object as the pole-changing distance type capacitance sensor, further sense the surface morphology and the adsorption force of the contact object, and the sensing performance of the self-sensing structure as the sensor is enhanced.
Further, the driving part further comprises an air pressure pipeline, one end of the air pressure pipeline is connected with the air pressure driving interface, and the other end of the air pressure pipeline is externally connected with the vacuum generator. The pneumatic pipeline and the sucker are connected by direct-writing printing with polyurethane ink containing a certain proportion of dimethyl amide and tetrahydrofuran, and the pneumatic pipeline and the sucker have good air tightness and connection strength.
Furthermore, on the basis of the scheme, the robot further comprises a shell fixedly connected with the base body, and a mechanical arm connector is arranged on the shell. An adaptive control module is disposed within the housing. The shell is a curved surface round platform structure with stronger mechanical strength, which is designed and printed by oneself. The self-adaptive control module is connected with the self-sensing component through a shielding wire, judges whether the adsorption structure is tightly attached to the surface of the object or not according to signals of the shape and the adsorption force of the self-sensing component, judges whether the adsorption action is effective or not, and transmits a judgment result to a main body device (such as a mechanical arm and a robot) controller.
The invention also provides a method for preparing the flexible intelligent adsorption device with the self-sensing function, wherein the adsorption part and the self-sensing part are integrally formed by adopting ink direct-writing printing, and the method comprises the following steps of:
(1) Self-sensing component ink formulation: (1) silver flakes (with the diameter of 1-10 um) or iron nanowires (with the diameter of 9um and the diameter of 150 nm) and polyurethane are respectively weighed according to the volume ratio of 40 percent and placed in a beaker, and N-dimethylformamide and tetrahydrofuran solvent (the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5) are added into the beaker, so that the mass ratio of the solvent to the polyurethane is 10:1. (2) Keeping the beaker in an open state, and stirring to uniformly mix the solution in the previous step; (3) filling the prepared conductive ink solution into a printing needle cylinder for standby; (4) taking polydimethylsiloxane and polyurethane in a beaker, wherein the mass ratio of the polydimethylsiloxane to the polyurethane is 1:15, adding N-dimethylformamide and tetrahydrofuran solvent (the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5) into the beaker, enabling the mass ratio of the solvent to the polyurethane to be 10:1, and repeating the steps (2) and (3) to obtain a protective layer ink solution;
(2) And (3) preparing the ink of the adsorption component: (1) 50g of polyurethane was taken in a beaker, and N-dimethylformamide and tetrahydrofuran solvent (the volume ratio of N-dimethylformamide to tetrahydrofuran was 1:4.5) were added to the beaker so that the mass ratio of the solvent to polyurethane was 10:1. (2) Keeping the beaker in an open state, and stirring to uniformly mix the solution in the previous step; (3) and filling the prepared ink solution into a printing needle cylinder for standby.
(3) Printing: the ink prepared by the steps is printed on the adsorption component and the self-sensing component respectively.
The inner diameter of the needle is 200 mu m, the pressure of the printing needle is 1.6MPa, the printing speed is 1.5mm/s, the orientation of the conductive filler (silver flake or iron nanowire) is induced by the shearing force of the movement of the printing needle, and the formation of the ordered structure of the conductive network is promoted along with the supporting force of the evaporation flow. The electrical conductivity of the sensing structure is improved to a certain extent in the preparation process, and the sensing performance of the self-sensing structure is further enhanced.
Based on the technical scheme, the invention has the beneficial effects that:
1. the invention is based on the mechanism research of the wall climbing actions of animals such as geckos, lizards, octopus and the like, simulates the method of changing the adsorption force and climbing path at the foot end by sensing the wall surface environment and fully utilizing the atmospheric pressure to perform strong adsorption by utilizing the vacuum adsorption mode, and on the basis of the research of polyurethane elastomer rubber materials, modified polyurethane with proper viscoelasticity and flexibility is added into a certain proportion of dimethylformamide and Tetrahydrofuran (THF) solution and a certain proportion of silver flakes or iron nanowires are added to prepare direct writing printing ink.
2. The invention discloses a flexible intelligent adsorption device with a self-sensing function, which utilizes a double sensing principle of integration of a capacitive sensing mechanism and a resistive sensing mechanism to improve sensing precision and sensitivity, and specifically comprises the following steps: the two self-sensing components are respectively two independent resistance-type sensors, when the adsorption structure contacts different wall environments, deformation of the sucker and deformation of the self-sensing structure can cause resistance change of the self-sensing structure, meanwhile, the deformation can cause pole spacing change of the pole-changing distance-type capacitance-type sensor formed by the two self-sensing components, so that capacitance value changes, and the sensitivity and other performances of the sensor are enhanced by two sensing mechanisms. Therefore, the self-adaptive control module can accurately judge whether the adsorption structure is tightly attached to the surface of the object or not and judge whether the adsorption action is effective or not. The invention can make the robot get the information of the surface morphology of the object contacted by the foot contact in time when encountering the environments of cracks, pores, intersecting surfaces, etc. by matching with the negative pressure vacuum adsorption mode, and adjust the gesture and planning the path in real time so as to work stably and reliably.
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
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural diagram of a flexible intelligent adsorption apparatus with self-sensing function according to the present invention;
FIG. 2 is a schematic diagram of the integration of suction surface array suction cups and self-sensing structures of the present invention;
FIG. 3 is a schematic illustration of ink direct-write printing preparation with integrated adsorption and self-sensing structures;
FIG. 4 is a cross-sectional view of a flexible smart adsorption device with self-sensing capabilities of the present invention;
FIG. 5 is a schematic diagram of an adaptive control flow of a flexible intelligent adsorption apparatus with self-sensing function;
in the figure: 1-self-sensing component, 2-adsorption end, 3-base body, 4-shell, 5-arm connector, 6-cylinder, 7-printing ink, 8-air pressure controller, 9-printing needle, 10-self-adaptive control module, 11-air pressure driving interface, 12-sucking disc, 13-air pressure pipeline, 14-sensing protective layer, 15-conducting layer, 16-resistance signal wiring terminal and 17-capacitance signal wiring terminal.
Detailed Description
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 examples merely illustrate the basic idea of the present invention in a schematic manner, and are not intended to limit the scope of the present invention.
As shown in fig. 1, 2 and 4, an intelligent robot adsorption device with self-sensing and self-adapting functions mainly comprises an adsorption component (a base body 3 and a sucker 12), a self-sensing component 1 (a sensing protection layer 14, a conductive layer 15, a resistance signal wiring terminal 16 and a capacitance signal wiring terminal 17), an adaptive control module 10, a housing 4, a mechanical arm connector 5 arranged on the housing 4, and a driving component (an air pressure driving interface 11 and an air pressure pipeline 13). The adsorption components and the self-sensing components 1 are distributed in an integrated manner at intervals, namely, the rectangular self-sensing components 1 are embedded in the middle of the adsorption component array sucker 12, the self-sensing components 1 can be used as resistance type sensors and also can be used as pole-distance-variable capacitance type sensors in space, and the sensing capability of the self-sensing structure is enhanced by two sensing modes of the same structure.
The adsorption component consists of a polyurethane matrix 3 and a plurality of array corrugated suckers 12 embedded in the matrix 3. The self-sensing component 1 is composed of a first rectangular sensing structure and a second rectangular sensing structure, a control board of the self-adaptive control module 10 is installed in the shell 4, adsorption behavior control is carried out through information of sensing adsorption deformation of the self-sensing component 1, and the driving structure is composed of an external vacuum generator and an air path channel 13 and is connected with the sucker 12 for driving.
Referring to fig. 3, the adsorption substrate 3 and the suction cup 12 are obtained by direct writing printing of ink with modified polyurethane, wherein the printing ink 7 is prepared by dissolving polyurethane in one of dimethylformamide and Tetrahydrofuran (THF), adding other additives such as a cross-linking agent, a wetting agent, a conductive filler and the like, and has the characteristics of shear thinning, high storage modulus and high yield strength, can smoothly flow through the printing needle 9 during direct writing printing, and can keep the printing shape after printing without deformation. The adsorption end 2 of each sucking disc 12 is printed into a corrugated pipe sucking disc, the adsorption structure is convenient to have the characteristic of easy deformation when adsorbing under the negative pressure of the sucking disc adhesion contact end, the non-adsorption end of each sucking disc 12 is printed with a flexible pneumatic driving interface 11 connected with a driving air circuit, the size of the array sucking disc in the adsorption part and the number of the array sucking discs can be adjusted according to actual needs, and two groove-shaped structures with proper sizes are reserved in the middle of the array sucking disc when the adsorption part is printed for printing the self-sensing part 1 in the next step.
Polyurethane with a certain thickness is used as a substrate at the bottom of each rectangular structure of the self-sensing part 1, the wall of each rectangular sensing part, which is contacted with the adsorption part, is a sensing protection layer 14, the sensing protection layer 14 is formed by printing polyurethane elastomer ink containing 10% PDMS through direct writing, a conductive layer 15 which is obtained by printing ink through direct writing by adding ink of an iron nanowire or a silver nanosheet into modified polyurethane is arranged between the two sensing protection layers 14, the two self-sensing parts 1 are respectively two independent resistance sensors, and each conductive layer 15 is provided with a resistance signal wiring terminal 16 and a capacitance signal wiring terminal 17. The deformation of the adhesion sucker and the deformation of the sensing component can lead to the deformation of the self-sensing component so as to lead to the change of the resistance of the self-sensing component, and meanwhile, the capacitance value of the capacitor formed by two electrodes serving as the capacitor of the two self-sensing components 1 can also change when the electrode structure of the capacitor is deformed, the self-adaptive control module 10 receives resistance transformation information and capacitance transformation information to judge whether the adsorption structure is tightly attached to the surface of an object or not and judge whether the adsorption action is effective or not, and the two sensing mechanisms lead to higher sensitivity and larger measurable range.
The adsorption component and the self-sensing component can be manufactured by using the inks 7 with different materials and proportions in a dual-function integrated mode, or the ink of the adsorption component can be used for printing the adsorption component, and then the ink of the intelligent sensing component is used for printing the sensing protection layer 14 and the conducting layer 15. The preparation method comprises the following steps:
(1) Self-sensing component ink formulation: (1) silver flakes (with the diameter of 1-10 um) or iron nanowires (with the diameter of 9um and the diameter of 150 nm) and polyurethane are respectively weighed according to the volume ratio of 40 percent in a beaker, N-dimethylformamide and tetrahydrofuran solvent (the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5) are added in the beaker, and the mass ratio of the solvent to the polyurethane is 10:1. (2) The beaker is kept in an open state, the rotating speed of a mechanical stirrer is increased to stir the solution in the last step for 1h, the solvent is volatilized while stirring, and the rotating speed is timely increased according to the viscosity of the solution and attention is paid in the solvent volatilization process. (3) And filling the prepared conductive ink solution into a printing needle cylinder for standby. (4) Taking polydimethylsiloxane and polyurethane in a beaker, wherein the mass ratio of the polydimethylsiloxane to the polyurethane is 1:15, adding N-dimethylformamide and tetrahydrofuran solvent (the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5) into the beaker, and repeating the steps (2) and (3) to obtain the protective layer ink solution, wherein the mass ratio of the solvent to the polyurethane is 10:1.
(2) And (3) preparing the ink of the adsorption component: (1) 50g of polyurethane are taken in a beaker, and N-dimethylformamide and tetrahydrofuran solvent (the volume ratio of N-dimethylformamide to tetrahydrofuran is 1:4.5) are added into the beaker, and the mass ratio of the solvent to the polyurethane is 10:1. (2) Keeping the beaker in an open state, and stirring to uniformly mix the solution in the previous step; (3) and filling the prepared ink solution into a printing needle cylinder for standby.
(3) Printing: the printing process is carried out in two steps, the adsorption part is printed firstly, then the self-sensing part is printed, and the two printing steps are the same and are as follows: (1) and designing a printing structure in the software, exporting a stl file, setting printing parameters by the slicing software to generate a two-dimensional path, and exporting a gcode path file to the ink direct-writing printing control card. (2) Setting printing parameters of a direct-writing printer: the inside diameter of the needle is 200 μm, the pressure of the printing needle is 1.6MPa, and the printing speed is 1.5mm/s. (3) And (3) assembling a printing cylinder filled with the prepared conductive ink solution on a three-dimensional moving platform for structural printing.
The driving part is composed of an air pressure pipeline 13 and an air pressure driving interface 11 at one end of the sucker, the air pressure pipeline adopts an 8mm high-pressure PU pipe, the air pressure driving interface 11 adopts polyurethane material to print into a flexible barrel structure, the air pressure pipeline 13 and the array sucker air pressure driving interface 11 are connected in a sealing way in a direct-writing printing mode when the air pressure driving interface is directly written, and the sealing connection is very effective and reliable when the air pressure driving interface 11 is directly written because the just printed ink contains residual dimethylformamide and a solvent of tetrahydrofuran.
The adsorption component, the self-sensing component and the adsorption driving component are integrated and then embedded into the shell 4, specifically, one end of the adsorption component and the self-sensing component, which is provided with the pneumatic driving interface 11, is embedded into the shell 4 after being manufactured in an integrated way, the embedding depth is 1/4 of the thickness of the adsorption component and the self-sensing component, and the adsorption component and the self-sensing component are reinforced by using strong glue after being embedded.
The upper end of the shell 4 is provided with a mechanical arm connector 5 for connecting a robot gripper or a foot end, the mechanical arm connector 5 or the shell 4 is embedded with an adaptive control module 10, the adaptive control module 10 judges whether the adsorption structure is tightly attached to the surface of an object or not and judges whether the adsorption action is effective or not according to signals of the contact surface appearance and the adsorption force of the self-sensing module, and the judgment result is transmitted to a main body device (such as a mechanical arm and a robot) controller.
The self-adaptive control process is shown in fig. 5, the self-sensing structure is started to judge whether the sucker is completely attached to the wall surface by sensing the shape of the wall surface and the size of the adsorption force, and if the sucker is judged to be not completely attached, a signal and specific shape information of incomplete attachment are sent to the robot, so that the robot can adjust the gesture; if the sucker is completely attached, the driving structure drives the flexible sucker to carry out negative pressure adsorption, and meanwhile, the self-sensing structure judges whether the sucker is in a complete adsorption state, if not, incomplete adsorption information and adsorption force information are sent to the robot, so that the robot can carry out gesture or path adjustment; if the adsorption is complete, sending the complete adsorption information to the robot so as to enable the robot to act next.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (9)
1. Flexible intelligent adsorption device with self-sensing function, its characterized in that: the self-sensing type suction device comprises a suction component, a self-sensing component (1) and a driving component, wherein the suction component comprises a base body (3) and a plurality of suckers (12), the non-suction ends of the suckers (12) are fixedly connected with the base body (3), and grooves are formed in the base body (3); the self-sensing component (1) is arranged in the groove, the self-sensing component (1) comprises a sensing protection layer (14) and a conducting layer (15), the wall of the groove close to the groove is the sensing protection layer (14), and the conducting layer (15) is arranged on the sensing protection layer (14); the driving component comprises an air pressure driving interface (11), and the air pressure driving interface (11) is arranged at the non-adsorption end of the sucker (12);
the adsorption components and the self-sensing components (1) are distributed in an integrated manner at intervals, namely, the self-sensing components (1) are embedded in the middle of the adsorption component array sucker (12), and the self-sensing components (1) can be used as a resistance type sensor and a pole-pitch-variable type capacitive sensor in space; the two self-sensing parts (1) are respectively two independent resistance type sensors, each conducting layer (15) is provided with a resistance signal wiring terminal (16) and a capacitance signal wiring terminal (17), deformation of the adhesion sucking disc and deformation of the sensing parts can lead to deformation of the self-sensing parts to change resistance, meanwhile, the capacitance formed by the two electrodes of the two self-sensing parts (1) serving as capacitance is changed in electrode structure deformation, meanwhile, the capacitance value of the capacitance formed by the two electrodes of the two self-sensing parts can also change, and the self-adaptive control module receives resistance transformation information and capacitance transformation information to judge whether the adsorption structure is tightly attached to the surface of an object or not and judge whether adsorption behavior is effective or not.
2. The flexible intelligent adsorption apparatus with self-sensing function according to claim 1, wherein: the non-adsorption end of the sucker (12) is embedded into the matrix (3).
3. The flexible intelligent adsorption apparatus with self-sensing function according to claim 1, wherein: the suckers (12) are arranged in an array.
4. The flexible intelligent adsorption apparatus with self-sensing function according to claim 1, wherein: the adsorption end (2) of the sucker (12) is of a corrugated pipe structure.
5. The flexible intelligent adsorption apparatus with self-sensing function according to claim 1, wherein: the driving part also comprises an air pressure pipeline (13), one end of the air pressure pipeline (13) is connected with the air pressure driving interface (11), and the other end is externally connected with the vacuum generator.
6. A flexible intelligent adsorption apparatus with self-sensing function according to any one of claims 1-5, wherein: the mechanical arm type robot further comprises a shell (4) fixedly connected with the base body (3), and a mechanical arm connector (5) is arranged on the shell (4).
7. The flexible intelligent adsorption apparatus with self-sensing function according to claim 6, wherein: an adaptive control module (10) is arranged in the shell (4).
8. A method for preparing the flexible intelligent adsorption apparatus with self-sensing function according to any one of claims 1 to 5, characterized in that: the adsorption component and the self-sensing component are integrally formed by ink direct-writing printing, and the method comprises the following steps:
(1) Self-sensing component ink formulation: (1) weighing silver flakes or iron nanowires and polyurethane according to the volume ratio of 40% respectively, adding N-dimethylformamide and tetrahydrofuran solvent into a beaker, wherein the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5, enabling the mass ratio of the solvent to the polyurethane to be 10:1, (2) keeping the beaker in an open state, and stirring to enable the solution in the previous step to be uniformly mixed; (3) filling the prepared conductive ink solution into a printing needle cylinder for standby; (4) taking polydimethylsiloxane and polyurethane in a beaker, wherein the mass ratio of the polydimethylsiloxane to the polyurethane is 1:15, adding N-dimethylformamide and tetrahydrofuran solvent into the beaker, wherein the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5, enabling the mass ratio of the solvent to the polyurethane to be 10:1, and repeating the steps (2) and (3) to obtain a protective layer ink solution;
(2) And (3) preparing the ink of the adsorption component: (1) taking 50g of polyurethane in a beaker, adding N-dimethylformamide and tetrahydrofuran solvent into the beaker, wherein the volume ratio of the N-dimethylformamide to the tetrahydrofuran is 1:4.5, and enabling the mass ratio of the solvent to the polyurethane to be 10:1, (2) keeping the beaker in an open state, and stirring to enable the solution in the last step to be uniformly mixed; (3) filling the prepared ink solution into a printing needle cylinder for standby;
(3) Printing: the ink prepared by the steps is printed on the adsorption component and the self-sensing component respectively.
9. The method for preparing the flexible intelligent adsorption apparatus with the self-sensing function according to claim 8, wherein the method comprises the following steps: the inner diameter of the needle is 200 mu m, the pressure of the printing needle is 1.6MPa, the printing speed is 1.5mm/s, the orientation of the silver flake or the iron nanowire is induced by the shearing force of the movement of the printing needle, and the formation of an ordered structure of the conductive network is promoted along with the supporting force of the evaporation flow.
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