CN210364119U - Sucking disc with highly bionic characteristic - Google Patents
Sucking disc with highly bionic characteristic Download PDFInfo
- Publication number
- CN210364119U CN210364119U CN201920684156.4U CN201920684156U CN210364119U CN 210364119 U CN210364119 U CN 210364119U CN 201920684156 U CN201920684156 U CN 201920684156U CN 210364119 U CN210364119 U CN 210364119U
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- Prior art keywords
- bionic
- gecko
- shell
- membrane
- fold
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 39
- 239000012528 membrane Substances 0.000 claims abstract description 22
- 230000037303 wrinkles Effects 0.000 claims description 8
- 229920001721 polyimide Polymers 0.000 claims description 4
- 239000004642 Polyimide Substances 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 2
- 238000003491 array Methods 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010030 laminating Methods 0.000 abstract 2
- 210000003371 toe Anatomy 0.000 description 14
- 235000001968 nicotinic acid Nutrition 0.000 description 5
- 229910000861 Mg alloy Inorganic materials 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000010894 electron beam technology Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 238000000992 sputter etching Methods 0.000 description 1
Images
Landscapes
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The utility model discloses a sucker with high bionic property, which comprises a gecko-like sole shell, a bionic toe structure arranged along the edge of the gecko-like sole shell and corresponding to a bulge of the gecko-like sole shell, a fold structure arranged at the lower end of the gecko-like sole shell and a membrane arranged at the lower end of the fold structure; the folding structure is formed by combining a plurality of folding generation units, through holes are formed in the centers of the gecko-imitated sole shell, the folding structure and the membrane, a vacuum device is arranged at the through hole of the gecko-imitated sole shell, and the folding structure and the membrane are attached in a gapless mode under the action of the vacuum device through the respective through holes. The utility model discloses a sucking disc is through combining fold structure and membrane, and then can carry out the zero clearance laminating under vacuum apparatus's effect, forms a large amount of nanometer's small vacuum cell cube behind the laminating, reaches "small-size effect" required critical dimension, and then increased with external contact surface between the specific surface area of contact, strengthened adsorption effect.
Description
Technical Field
The utility model belongs to high altitude rescue robot field especially relates to a have high bionical characteristic sucking disc.
Background
With the continuous progress of scientific technology, the requirement of people on the automation level in production and life is obviously improved, and the vacuum chuck robot, the mechanical arm and the high-power adsorption equipment are used as main parts of automatic adsorption equipment, so that the operation efficiency and the operation precision are greatly improved in the fields of scientific research, industrial production, military reconnaissance, logistics transportation and the like. In addition, in industrial and agricultural production and daily life of common people worldwide, the use of new energy and clean energy is drawing more and more attention and rapidly spreading. The vacuum adsorption equipment is taken as a typical representative of clean energy, the service performance of the vacuum adsorption equipment is optimized and developed, and the vacuum adsorption equipment has very important significance for popularizing a clean energy strategy.
Bionics as an emerging discipline simulating the high capability of living beings has achieved many excellent bionics results for the structural bionics and the morphological bionics of living beings, and is greatly enriched and convenient for daily work and life. The high bionic characteristic suction cup can be widely applied to the fields of building cleaning, paint spraying, simulation elimination and lifesaving, military reconnaissance and the like, but the conventional negative pressure suction cup cannot be popularized and used due to a plurality of defects. Firstly, the existing negative pressure suction cup has poor environmental adaptability and is difficult to adsorb and work on a spherical surface, a curved surface and a wall surface with poor smoothness; secondly, the existing suction cups are weak in load carrying capacity, and the types and the number of the devices capable of carrying work are limited, so that the application range is limited. Therefore, how to improve the adsorption force of the sucker becomes an important research direction related to new processes and bionics of new materials. However, most of the existing negative pressure adsorption type wall-climbing robots adopt a vacuum pump to provide negative pressure, and the mode is noisy and is not beneficial to microminiaturization.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims at providing a high adsorptivity sucking disc of imitative gecko sole suitable for climbing robot.
The technical scheme is as follows: the utility model discloses a sucker with highly bionic property, which comprises a gecko-like sole shell, a bionic toe structure arranged along the edge of the gecko-like sole shell and corresponding to the bulge of the gecko-like sole shell, a fold structure arranged at the lower end of the gecko-like sole shell and a membrane arranged at the lower end of the fold structure; the folding structure is formed by combining a plurality of folding generation units, through holes are formed in the centers of the gecko-imitated sole shell, the folding structure and the membrane, a vacuum device is arranged at the through hole of the gecko-imitated sole shell, and the folding structure and the membrane are attached in a gapless mode under the action of the vacuum device through the respective through holes.
Furthermore, the utility model discloses a plurality of fold generating element are a plurality of protruding structures. The interval between the wrinkle generating unit bodies is 2-10mm, and the interval forms 2-10mm vacuum unit bodies under the action of a vacuum device and a film.
Furthermore, the bionic toe structure comprises a bionic toe shell, a bionic fold structure arranged in the bionic toe shell and bionic seta arranged on the bionic fold structure. The bionic fold structure is arranged in the bionic toe shell in a layered mode. The bionic bristle is a polyimide fiber array with the length of 2-3 mu m, the diameter of 0.5-1 mu m and the distance of 1.6-3.6 mu m.
Has the advantages that: compared with the prior art, the utility model has the advantages that: the suction cup combines the gecko-like sole shell and the bionic toe structure, adopts the high gecko-like sole structure, and enhances the adsorption force of the suction cup; secondly, the folded structures and the film can be attached without gaps under the action of a vacuum device, a large number of gaps of 2-10mm exist between the folded structures covered by the film after the film is attached, and a large number of nanoscale micro vacuum unit bodies are formed intermittently by 2-10mm, so that the critical dimension required by the small-dimension effect is achieved, the specific surface area of contact between the folded structures and the external contact surface is increased, and the adsorption effect is enhanced.
Drawings
FIG. 1 is an exploded view of the suction cup of the present invention;
FIG. 2 is a bottom view of the gecko-like sole shell of the present invention;
FIG. 3 is a schematic structural view of the bionic toe of the present invention;
FIG. 4 is an enlarged schematic view of the membrane and wrinkle generation unit of the present invention without the use of a vacuum device;
fig. 5 is an enlarged view of the vacuum unit body formed by the membrane and the wrinkle generating unit under the action of the vacuum device.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model discloses sucking disc with high bionical characteristic, the shared ratio of bionical component reaches more than 90%, and it includes imitative gecko sole casing 1 in proper order, along this imitative gecko sole casing 1 edge and correspond the bionical toe structure 3 that imitative gecko sole casing 1 bellying 2 set up, locate imitative gecko sole casing 1 lower extreme fold structure 4 and locate the membrane 5 of this fold structure 4 lower extreme. Round through holes 7 are formed in the centers of the gecko-like sole shell 1, the fold structure and the membrane 5. A vacuum device 8 is arranged at the position of a circular through hole 7 of the gecko-like sole shell 1, so that the integral structure is ensured to have good air tightness. The vacuum device 8 is just an existing air extracting device.
The gecko-like sole shell 1 is arranged to imitate the gecko sole and is in a five-petal shape, as shown in fig. 2, and can be made of a high-strength magnesium alloy plate, so that the sole part is more stable.
The bionic toe structure 3 comprises a bionic toe shell 9, a bionic fold structure 10 embedded in the bionic toe shell 9 and bionic bristles 11 adhered to the bionic fold structure 10, and as shown in fig. 3, the bionic toe structure provides a more closed environment for a sole part. The bionic toe shell 9 can be made of magnesium alloy plates, and stability of the sole part is further improved. The bionic fold structure 10 can be a layered fold structure made of nitrile rubber, and the gaps between layers are extremely small. The bionic setae 11 are in a geometric arrangement structure imitating the setae of gecko toes, and a high-elasticity polyimide fiber array with the length of 2-3 mu m, the diameter of 0.5-1 mu m and the distance of 1.6-3.6 mu m is prepared on a polyimide film with the thickness of 5 mu m by a method combining electron beams and oxygen ion etching.
The fold structure 4 is formed by combining a plurality of fold generating units 6, and the plurality of fold generating units 6 are a plurality of convex structures, which are not limited to shapes, and only need non-sharp convex parts. When the vacuum device 8 acts, the membrane 5 and the wrinkle generating units 6 are separated by 2-10mm, and then a plurality of 2-10mm vacuum units can be formed through adsorption, the wrinkle structure 4 and the membrane 5 are attached without gap under the action of the vacuum device 8 through respective through holes 7, as shown in fig. 4, and the plurality of 2-10mm vacuum units 9 are adsorbed on an external contact surface due to negative pressure between the vacuum units and the external environment. When the vacuum device 8 is not in use, the membrane 5 covers the bottom of the corrugated structure 4 and is in a flat state, as shown in fig. 5, and the sucking disc is detached from the external contact surface. The membrane 5 of the present invention is made of a material having good elasticity and flexibility (e.g., a rubber elastic alloy, a shape memory alloy, a silicone rubber, etc.). The wrinkle generation unit 6 has good mechanical properties (high strength, hardness, wear resistance, etc.).
The working principle is as follows: by the operation of the vacuum device 8, air between the membrane 5 and the external contact surface is pumped out to form negative pressure, and the membrane 5 is sunken in a gap of 2-10mm and attached to the plurality of wrinkle generation unit bodies 6 under the action of the negative pressure to form a vacuum unit of 2-10mm for adsorption. And when the vacuum control device is in a non-operation state, the membrane 5 covers the bottom of the fold structure 4 and is in a plane state, and the sucking disc is desorbed with an external contact surface.
Claims (6)
1. The utility model provides a have high bionical characteristic sucking disc which characterized in that: the bionic gecko foot palm shell comprises a gecko foot palm imitating shell (1), a bionic toe structure (3) arranged along the edge of the gecko foot palm imitating shell (1) and corresponding to a bulge (2) of the gecko foot palm imitating shell (1), a fold structure (4) arranged at the lower end of the gecko foot palm imitating shell (1) and a membrane (5) arranged at the lower end of the fold structure (4); the artificial gecko sole is characterized in that the fold structure (4) is formed by combining a plurality of fold generation units (6), through holes (7) are formed in the centers of the artificial gecko sole shell (1), the fold structure and the membrane (5), a vacuum device (8) is arranged at the through holes (7) of the artificial gecko sole shell (1), and the fold structure (4) and the membrane (5) are attached in a gapless mode under the action of the vacuum device (8) through the respective through holes (7).
2. The chuck as claimed in claim 1, wherein: the plurality of fold generating units (6) are of a plurality of convex structures.
3. The chuck with highly biomimetic properties according to claim 1, wherein: the interval between the wrinkle generating units (6) is 2-10mm, and the interval forms a 2-10mm vacuum unit under the action of a vacuum device (8) and the membrane (5).
4. The chuck with highly biomimetic properties according to claim 1, wherein: the bionic toe structure (3) comprises a bionic toe shell (9), a bionic fold structure (10) arranged in the bionic toe shell (9) and bionic bristles (11) arranged on the bionic fold structure (10).
5. The chuck of claim 4, wherein: the bionic fold structure (10) is arranged in the bionic toe shell (9) in a layered mode.
6. The chuck of claim 4, wherein: the bionic setae (11) are polyimide fiber arrays with the length of 2-3 mu m, the diameter of 0.5-1 mu m and the distance of 1.6-3.6 mu m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920684156.4U CN210364119U (en) | 2019-05-14 | 2019-05-14 | Sucking disc with highly bionic characteristic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920684156.4U CN210364119U (en) | 2019-05-14 | 2019-05-14 | Sucking disc with highly bionic characteristic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210364119U true CN210364119U (en) | 2020-04-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920684156.4U Expired - Fee Related CN210364119U (en) | 2019-05-14 | 2019-05-14 | Sucking disc with highly bionic characteristic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210364119U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203295A (en) * | 2019-05-14 | 2019-09-06 | 江苏科技大学 | One kind having the bionical characteristic sucker of height |
| CN112339877A (en) * | 2020-08-27 | 2021-02-09 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
-
2019
- 2019-05-14 CN CN201920684156.4U patent/CN210364119U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203295A (en) * | 2019-05-14 | 2019-09-06 | 江苏科技大学 | One kind having the bionical characteristic sucker of height |
| CN112339877A (en) * | 2020-08-27 | 2021-02-09 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
| CN112339877B (en) * | 2020-08-27 | 2021-09-10 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200421 |