CN112172955A - Biomimetic dry-adhesive sole with rigid-flexible structure - Google Patents
Biomimetic dry-adhesive sole with rigid-flexible structure Download PDFInfo
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- CN112172955A CN112172955A CN202011064802.0A CN202011064802A CN112172955A CN 112172955 A CN112172955 A CN 112172955A CN 202011064802 A CN202011064802 A CN 202011064802A CN 112172955 A CN112172955 A CN 112172955A
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- 230000003592 biomimetic effect Effects 0.000 title claims abstract 3
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- 239000004205 dimethyl polysiloxane Substances 0.000 claims abstract description 41
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- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims abstract description 41
- -1 polydimethylsiloxane Polymers 0.000 claims abstract description 38
- 230000001070 adhesive effect Effects 0.000 claims abstract description 34
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 claims abstract description 26
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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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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
本发明公开一种具有刚柔结合结构的仿生干黏附脚掌，包括上层的刚性脚掌、中间层的可调柔性脚垫和底层的仿生干黏附材料层，可调柔性脚垫粘合在刚性脚掌的下表面上，仿生干黏附材料层粘合在可调柔性脚垫的下表面上；刚性脚掌包括一个小腿、一个向心关节轴承和一个脚掌；可调柔性脚垫采用聚二甲基硅氧烷PDMS材料制备而成的柔性层，可调柔性脚垫通过材料制备中各组分的配比调节刚度，来控制仿生干黏附材料层的形变程度；仿生干黏附材料层采用仿生干黏附材料制成。优点：本发明脚掌，显著增加了对足底黏附材料的利用率，从有效黏附面积的测试中看到，总体的黏附面积能达到黏附材料总面积的70%—95%；有效黏附面积的增加，意味着机器人使用脚掌过程中黏附力的增加。
The invention discloses a bionic dry-adhesive sole with a rigid-flexible combination structure, which comprises an upper rigid sole, an adjustable flexible foot pad in the middle layer, and a bionic dry adhesive material layer at the bottom layer. On the lower surface, a layer of biomimetic dry adhesive material is bonded to the lower surface of the adjustable flexible foot pad; the rigid foot pad includes a calf, a radial joint bearing and a foot pad; the adjustable flexible foot pad is made of polydimethylsiloxane The flexible layer made of PDMS material, the adjustable flexible foot pad adjusts the stiffness through the ratio of each component in the material preparation to control the deformation degree of the bionic dry adhesive material layer; the bionic dry adhesive material layer is made of bionic dry adhesive material . Advantages: The sole of the present invention significantly increases the utilization rate of the sole adhesion material. From the test of the effective adhesion area, it can be seen that the overall adhesion area can reach 70%-95% of the total area of the adhesion material; the increase in the effective adhesion area , which means the increase in the adhesion of the robot during the use of the sole.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a bionic dry-adhesion sole with a rigid-flexible combined structure.
Background
The wall climbing robot has the special capability of climbing on various special surface motions, such as a large inclined surface, a vertical surface and even an inverted surface. Therefore, the method has great application environments, such as high-altitude and high-risk operation, spacecraft maintenance, disaster resistance and relief and the like. And therefore are receiving increasing attention.
According to the different adhesion principles, the adhesion mechanism is generally classified into a negative pressure type, a magnetic type, a dry adhesion type, a hook claw and the like. Wherein, the sole mechanism suitable for dry adhesion materials is the simplest and the easiest to use. At present, many researches on bionic dry adhesion materials are carried out, many bionic dry adhesion materials enter the market as mature products, and the selected bionic gecko seta adhesion material based on the mushroom head structure is one of the existing bionic dry adhesion materials with excellent adhesion performance in the market.
However, most sole mechanisms using dry adhesion materials have a single flexible or rigid structure, so that the adhesion efficiency is low, and it is difficult to fully exert the superior performance of the bionic dry adhesion materials, so that a high-mass wall-climbing robot structure cannot be realized, and the large load and the operation capacity of the robot cannot be realized.
Disclosure of Invention
The invention aims to provide a bionic dry-adhesion sole with a rigid-flexible combined structure, aiming at solving the problems in the background art, and simulating the adhesion and desorption movement tracks of a gecko sole to realize firm adhesion and easy desorption of a bionic sole mechanism.
The technical scheme is as follows: aiming at the defects and limitations of the existing sole design and the technical requirements of small size and large load capacity, a bionic dry adhesion sole with a rigid-flexible combination structure is designed, and comprises an upper rigid sole, a middle adjustable flexible sole and a bottom bionic dry adhesion material layer, wherein the adjustable flexible sole is adhered to the lower surface of the rigid sole, and the bionic dry adhesion material layer is adhered to the lower surface of the adjustable flexible sole;
the rigid sole comprises a shank, a centripetal joint bearing and a sole, the sole is a cylinder, a bearing hole is arranged at the axis of the sole, the centripetal joint bearing is arranged in the bearing hole of the sole, the shank is a multilayer cylinder, and a tail end shaft of the shank is inserted into the centripetal joint bearing;
the adjustable flexible foot pad is a flexible layer prepared from polydimethylsiloxane PDMS material, and the adjustable flexible foot pad adjusts the rigidity through the proportion of each component in the preparation of the material so as to control the deformation degree of the bionic dry adhesion material layer; the thickness of the adjustable flexible foot pad is 5-10mm, and the adjustable flexible foot pad is adhered to the lower surface of the sole of the foot by adopting room-temperature curing silicon rubber;
the polydimethylsiloxane PDMS material is formed by mixing two components, namely Polymethylhydrosiloxane (PMHS) and Polymethylvinylsiloxane (PMVS), according to a certain proportion;
the bionic dry adhesion material layer is made of a bionic dry adhesion material, and the thickness of the bionic dry adhesion material layer is 0.5-2 mm; the bionic dry adhesion material layer and the adjustable flexible foot pad are connected by adopting a bonding agent formed by mixing and stirring a polydimethylsiloxane PDMS material and silicon dioxide.
In the technical scheme of the invention, the radial spherical plain bearing in the sole adopts the existing standard parts in the market, is a spherical joint with passive freedom degree, and the freedom degree of the movement of the spherical joint is limited by the self structure of the ball bearing.
According to the technical scheme, the end face of the tail end of the shank is provided with a threaded hole inwards, the tail end shaft of the shank is inserted into an inner ring of the radial spherical plain bearing, the shank and the radial spherical plain bearing are fixed through a bolt, the bolt is screwed into the threaded hole, and the end face of the bolt head abuts against the end face of the radial spherical plain bearing. The shank and the radial spherical plain bearing are inserted into the bearing hole of the sole, when the outer surface of the shank contacts the inner wall of the bearing hole on the sole, the shank cannot move, and the sole can be changed into a fixed joint from a movable joint. The fixed joint may better apply a force in a particular direction to the ball of the foot. Therefore, in the design scheme of the invention, the active angle a of the lower leg is +/-30 degrees, and the sole has proper rigidity in sticking-desorption.
The sole adhering-desorbing working principle is as follows: the maximum effective adhesion area is achieved by the calf structure, the sole structure and the sole material, and a smaller desorption force is required in the desorption process. The sole is used on the wall-climbing robot and is connected with the wall-climbing legs of the wall-climbing robot;
when the sole of the foot approaches the adhesive surface, the lower leg moves to the extreme position in the direction of the heel end, making an angle of 120 ° with the surface in the forward direction. This allows the ball of the foot to contact the surface in the form of a hard substrate without relative displacement from the contact surface.
When the ball of the foot contacts the adhesive surface, the ball of the foot will slowly rest the remainder of the area of the ball of the foot on the adhesive surface, with the heel point as the support point.
In the movement process, under the condition of keeping the position of the ankle joint of the sole unchanged, the lower arm and the lower leg of the climbing leg are rotated to drive the body of the robot to move forward. When the lower leg moves to the extreme position at the front of the toe (at an angle of 60 degrees to the surface in the forward direction), the ball of the foot also becomes a hard base and the desorption action can begin. The sole of the hard substrate can exert an illegal phase desorption force on the adhered material at the foot end, so that a smaller desorption force is obtained.
Preferably, in the technical scheme of the invention, Polymethylhydrosiloxane (PMHS) is defined as an X component, Polymethylvinylsiloxane (PMVS) is defined as a Y component, and the weight ratio of the X component to the Y component is as follows: 1:5, 1:10, 1:15, 1:20 and 1:30, the Young's moduli of the polydimethylsiloxane PDMS materials corresponding to the weight ratios are 1.59MPa, 2.05MPa, 1.25MPa, 0.35MPa and 0.14MPa, respectively. In the technical scheme of the invention, 5 flexible layers with different rigidities can be obtained by adjusting the proportion of the X (polymethylhydrosiloxane) and Y (polymethylvinylsiloxane) components of polydimethylsiloxane PDMS. The weight ratio of the X component and the Y component proposed in the present invention is recorded as "langmuir 2005, 21, 10487-: guogonge, shogaojun, liuhong bo, zhao jie, xiabing, wang jing, jiapei, panyi, the exchange of lugze and wandering, proposed in the article, and therefore known in terms of the weight ratio of Polymethylhydrosiloxane (PMHS) to Polymethylvinylsiloxane (PMVS).
Preferably, the preparation method of the adjustable flexible foot pad comprises the following steps:
step 1) preparing a mould;
step 2) synthesis of liquid material: pouring the X component and the Y component into a plastic container according to the weight ratio, mixing and stirring for 15 minutes, placing the mixture into a vacuum chamber after stirring, vacuumizing, and standing for 30-45 minutes until no obvious bubbles emerge from the mixture;
step 3) injection molding of the mixture: pouring the mixture obtained in the step 2 into a needle cylinder, and injecting the mixture into a mold cavity from the bottom of the mold by utilizing the needle cylinder;
step 4), after the injection molding is finished, the whole die in the step 3 is placed in a vacuum chamber, vacuumized and kept stand for 30-45 min;
step 5) forming: putting the whole die in the step 4 into an oven, keeping the temperature in the oven at 60 ℃, and heating for 2 hours at the temperature of 60 ℃;
step 6), cooling and demolding: taking out the mold from the oven, cooling for 5-10min, and demolding to obtain a semi-finished adjustable flexible foot pad;
and 7) cutting and polishing the semi-finished adjustable flexible foot pad to obtain the adjustable flexible foot pad.
Further preferably, in the step 1, the mold comprises an upper cover, a main body and a base, wherein the base is concave, the base is horizontally arranged, and the main body is supported on the base and suspended in a groove of the base;
the die cavity of the main body is a cylindrical cavity, two supporting blocks are symmetrically arranged on the outer wall of the main body, the main body is suspended in the groove of the base through the two supporting blocks, the axis of the die cavity is horizontal, the die cavity protrudes outwards to form a rectangular groove for containing interference liquid, the rectangular groove is positioned at the top of the main body, and the two supporting blocks are defined to be positioned at the left side and the right side of the main body; an injection port and an exhaust hole are formed in the main body, and the injection port is positioned at the bottom of the main body and communicated with the mold cavity; the vent hole is positioned at the top of the main body and penetrates through the rectangular groove and is communicated with the die cavity;
an upper cover mounting cavity is arranged at the opening end of the die cavity in an outward extending mode, a convex block clamped with the rectangular groove is arranged on the edge of the upper cover in an outward protruding mode, and a demolding handle is arranged on the outer end face of the upper cover;
the mould is made of polytetrafluoroethylene.
In the technical scheme of the invention, the selection of the mold is that the flatness of the flexible foot pad is a key factor influencing the performance of the adhesion material, so that the consistency of the thickness and the shape of the flexible layer is ensured, the upper surface and the lower surface are as flat as possible, and the mold is manufactured by selecting polytetrafluoroethylene to be made into a material, because the material has good high-temperature stability, the surface can be processed to be higher in flatness, and the adhesion with the PDMS material is not easy to occur.
In the die, the outer end face of the upper cover is provided with the demolding handle, so that the upper cover can be conveniently opened during demolding. The size of the cavity of the body can be adjusted according to design requirements. However, under the same size, five polydimethylsiloxane PDMS materials are obtained by mixing five different weight ratios, and the rigidity of the adjustable flexible foot pad prepared in the mold is also five.
Preferably, the bionic dry adhesion material layer connected with the adhesive and the adjustable flexible foot pad are placed in an oven, the temperature in the oven is kept at 60 ℃, and the bionic dry adhesion material layer and the adjustable flexible foot pad are heated for 2 hours at the temperature of 60 ℃; the adhesive comprises the components of polymethylhydrosiloxane, polymethylvinylsiloxane and silicon dioxide, wherein the polymethylhydrosiloxane, the polymethylvinylsiloxane and the silicon dioxide are mixed according to the weight ratio of 1:10:1.6 to form the adhesive;
and (3) curing the adjustable flexible foot pad and the sole bonded by the silicon rubber at room temperature, and standing for 24 hours at room temperature until the bonding is firm.
Preferably, the sole surface of the sole is a round surface.
Compared with the prior art, the invention has the beneficial effects that:
the sole of the foot provided by the invention obviously increases the utilization rate of the sole adhesive material, and the total adhesive area can reach 70% -95% of the total area of the adhesive material in the effective adhesive area test; the increase of the effective adhesion area means the increase of the adhesion force of the robot in the sole using process.
Drawings
Fig. 1 is a schematic view of the sole structure of the present invention.
Figure 2 is an exploded view of the sole of the foot of the present invention.
Fig. 3 is a schematic view of the path of movement of the lower leg in the ball of the foot.
Fig. 4 is an exploded view of the mold.
FIG. 5 is a flow chart of the preparation of an adjustable flexible footpad.
Fig. 6 is a schematic view of the initial contact stage of sole adhesion.
Fig. 7 is a schematic view of the ball support stage.
Fig. 8 is a schematic view of the sole desorption phase.
Fig. 9 is a mathematical model diagram of the start-stop line of the adhesion and detachment locus of the sole.
Fig. 10 is a mathematical model diagram of the sole direction sticking and detaching trajectory.
Fig. 11 is a graph showing the results of testing the effective adhesion area of five kinds of test subjects.
Fig. 12 is a graph showing the results of the adhesion test in the support stage for five test subjects.
Fig. 13 is a graph showing the results of the desorption force test for five test subjects.
FIG. 14 shows the force applied in each axial direction when the test object is peeled off from the adhesive surface.
Fig. 15 shows the force in the z-axis direction in the case of five kinds of test subjects in desorption.
Fig. 16 shows the resultant force in the x-axis and y-axis directions of five kinds of test subjects in desorption.
Fig. 17 is a desorption force comparison for five test subjects at two desorption traces.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the disclosure of the present invention more comprehensible, the following description is further made in conjunction with fig. 1 to 17 and the detailed description.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present embodiment provides a bionic dry-adhesion sole with a rigid-flexible combined structure, which includes an upper rigid sole 1, a middle adjustable flexible sole 2, and a bottom bionic dry-adhesion material layer 3, where the adjustable flexible sole 2 is adhered to the lower surface of the rigid sole 1, and the bionic dry-adhesion material layer 3 is adhered to the lower surface of the adjustable flexible sole 2.
The bionic dry-adhesion sole of the embodiment can be used in combination with a wall-climbing robot; when the bionic dry adhesion sole is used for a wall-climbing robot, the bionic dry adhesion sole of the embodiment is connected to a single leg of the wall-climbing robot.
As shown in figures 1 and 2, the rigid sole 1 comprises a shank 1-1, a radial spherical plain bearing 1-2 and a sole 1-3, wherein the sole 1-3 is a cylinder, and the sole surface of the sole 1-3 is a round surface. The axial line of the sole 1-3 is provided with a bearing hole, a radial joint bearing 1-2 is arranged in the bearing hole of the sole 1-3, the shank 1-1 is a multi-layer cylinder, and the tail end shaft of the shank 1-1 is inserted into the radial joint bearing 1-2.
When the bionic dry adhesion type robot is used for a wall climbing robot, the upper end of the lower leg 1-1 in the bionic dry adhesion sole of the embodiment is connected to a single leg of the wall climbing robot.
As shown in fig. 2 and 3, the radial spherical plain bearing 1-2 adopts a standard part existing in the market, the radial spherical plain bearing adopts an IKO radial spherical plain bearing PB5, the IKO radial spherical plain bearing PB5 is a spherical joint with passive degree of freedom, and the degree of freedom of movement of the spherical joint is limited by the structure of the ball bearing. In this embodiment, the IKO radial spherical plain bearing PB5 is selected and used in cooperation with the lower leg, so that the active angle a of the lower leg is ± 30 °, and the sole surface has suitable rigidity during adhesion-desorption, so that when the sole contacts with the adhesion surfaces with different inclination degrees, the sole changes from a movable joint to a fixed joint.
As shown in fig. 2, in this embodiment, the end of the shank is a cylindrical shaft, a threaded hole is formed in the end face of the end of the shank, the end shaft of the shank is inserted into the inner ring of the IKO radial spherical plain bearing PB5, the shank and the IKO radial spherical plain bearing PB5 are fixed by a bolt, the bolt is screwed into the threaded hole, and the end face of the bolt head abuts against the end face of the IKO radial spherical plain bearing PB 5. The shank and the IKO radial joint bearing PB5 are inserted into the bearing hole of the sole, when the outer circle surface of the end of the shank contacts the inner wall of the bearing hole on the sole, the shank cannot move, at the moment, the sole is changed into a fixed joint from a movable joint, and the fixed joint can better apply force in a specific direction to the sole.
As shown in fig. 2, the adjustable flexible foot pad 2 is a flexible layer prepared from polydimethylsiloxane PDMS material, and the adjustable flexible foot pad 2 adjusts the rigidity through the proportion of each component in the material preparation to control the deformation degree of the bionic dry adhesion material layer 3; the thickness of the adjustable flexible foot pad 2 is 5-10mm, and the adjustable flexible foot pad 2 is adhered to the lower surfaces of the soles 1-3 by adopting room temperature curing silicon rubber.
The adjustable flexible foot pad 2 in this embodiment is deformed under the action of an external force (the external force refers to the action force of a single leg on the robot) through the rigidity of the adjustable flexible foot pad 2, so that the adhesion force of the bionic dry adhesion material layer 3 is reduced, and the sole desorption action is realized.
In this embodiment, the polydimethylsiloxane PDMS material is formed by mixing two components, namely polymethylhydrosiloxane PMHS and polymethylvinylsiloxane PMVS, in a certain ratio.
Defining polymethylhydrosiloxane PMHS as an X component and polymethylvinylsiloxane PMVS as a Y component, wherein the weight ratio of the X component to the Y component is as follows: 1:5, 1:10, 1:15, 1:20 and 1:30, the Young's moduli of the polydimethylsiloxane PDMS materials corresponding to the weight ratios are 1.59MPa, 2.05MPa, 1.25MPa, 0.35MPa and 0.14MPa, respectively.
The weight ratios of the five components proposed in this example are reported in "langmuir 2005, 21, 10487-: guogonge, shogaojun, liuhong bo, zhao jie, xiabing, wang jing, jiapei, panyi, the exchange of lugze and wandering, proposed in the article, and therefore known in terms of the weight ratio of Polymethylhydrosiloxane (PMHS) to Polymethylvinylsiloxane (PMVS).
As shown in FIG. 5, the present embodiment provides a method for preparing an adjustable flexible foot pad 2, which comprises the following steps:
step 1) preparing a mould;
step 2) synthesis of liquid material: pouring the X component and the Y component into a plastic container according to the weight ratio, mixing and stirring for 15 minutes, placing the mixture into a vacuum chamber after stirring, vacuumizing, and standing for 30-45 minutes until no obvious bubbles emerge from the mixture;
step 3) injection molding of the mixture: pouring the mixture obtained in the step 2 into a needle cylinder, and injecting the mixture into a mold cavity from the bottom of the mold by utilizing the needle cylinder;
step 4), after the injection molding is finished, the whole die in the step 3 is placed in a vacuum chamber, vacuumized and kept stand for 30-45 min;
step 5) forming: putting the whole die in the step 4 into an oven, keeping the temperature in the oven at 60 ℃, and heating for 2 hours at the temperature of 60 ℃;
step 6), cooling and demolding: taking out the mold from the oven, cooling for 5-10min, and demolding to obtain a semi-finished adjustable flexible foot pad 2;
and 7) cutting and polishing the semi-finished adjustable flexible foot pad 2 to obtain the adjustable flexible foot pad 2.
As shown in figure 4, in the preparation method of the adjustable flexible foot pad 2, in the step 1, the mold comprises an upper cover a-1, a main body a-2 and a base a-3, wherein the base a-3 is concave, the base a-3 is horizontally placed, and the main body a-2 is supported on the base a-3 and is suspended in a groove of the base a-3.
As shown in fig. 4, the die cavity of the main body a-2 is a cylindrical cavity, two supporting blocks are symmetrically arranged on the outer wall of the main body a-2, the main body a-2 is suspended in the groove of the base a-3 through the two supporting blocks, the axis of the die cavity is horizontal, the die cavity protrudes outwards to form a rectangular groove for containing interference liquid, the rectangular groove is located at the top of the main body a-2, and the two supporting blocks are defined to be located at the left side and the right side of the main body a-2; the two supporting blocks are used for hanging the main body on the base a-3 and play roles of fixing and clamping. An injection port and an exhaust hole are formed in the main body a-2, and the injection port is positioned at the bottom of the main body a-2 and communicated with the mold cavity; the vent hole is positioned at the top of the main body a-2, and the vent hole penetrates through the rectangular groove and is communicated with the die cavity. An upper cover a-1 installation cavity is arranged at the opening end of the mold cavity in an outward extending mode, a convex block clamped with the rectangular groove is arranged on the edge of the upper cover a-1 in an outward protruding mode, and a demolding handle is arranged on the outer end face of the upper cover a-1; the demoulding handle is convenient for opening the upper cover a-1 during demoulding.
As shown in fig. 4, the mold is made of teflon. Because the flatness of the adjustable flexible foot pad 2 is a key factor influencing the performance of the adhesion material, the consistency of the thickness and the shape of the flexible layer is ensured, the upper surface and the lower surface are as flat as possible, and the polytetrafluoroethylene is selected to be made into a material for processing and manufacturing a mold.
In the preparation method of the adjustable flexible foot pad 2, step 2, the weight ratio of the X component and the Y component is set, wherein the weight ratio can be selected according to the weight ratio of the X component to the Y component mentioned above: 1:5, 1:10, 1:15, 1:20, and 1: 30. During the stirring process, a large amount of air enters the mixture, which affects the mechanical properties of the PDMS flexible layer. Therefore, the stirred mixture needs to be placed in a vacuum chamber to be vacuumized, so as to remove air generated by stirring. The mixture is placed in a vacuum chamber and evacuated, which is a known technique, by means of a pump. Standing for 30-45min after primary vacuum pumping is finished; bubbles emerge in the process of multiple standing, and the pump is required to be internally vacuumized again and stand; this step was repeated until no significant bubbles emerged from the mixture.
In the preparation method of the adjustable flexible foot pad 2, the synthesis part of the liquid material is as follows according to the weight ratio of the X component to the Y component: 1:5, 1:10, 1:15, 1:20 and 1:30, corresponding to Young's moduli of 1.59MPa, 2.05MPa, 1.25MPa, 0.35MPa and 0.14 MPa. A teflon-processed abrasive tool was used to ensure that the flexible layer had the same thickness, flatness and shape (thickness of 5mm, shape of a circular surface with a radius of 20 mm). Because the flexible layers have the same thickness, the rigidity of the flexible layers is respectively from large to small according to the Young modulus: 2.05MPa, 1.59MPa, 1.25MPa, 0.35MPa and 0.14 MPa.
In the preparation method of the adjustable flexible foot pad 2, step 3, the mixture is poured into a syringe, the mixture is injected into the mold from an injection opening at the bottom of the mold through the syringe, and air bubbles generated during injection are removed from an exhaust hole at the top of the mold. When the mixture liquid overflowed the vent holes in the top layer of the mold, the injection was stopped and the bottom of the mold was immediately sealed with a raw material tape. The mold is then placed in a vacuum chamber and the de-bubbling process described above is repeated.
In the preparation method of the adjustable flexible foot pad 2, step 5, the mixture in the mold is subjected to heat treatment, so that the PDMS flexible layer is cured. The mold needs to be placed in such a way that the vent holes face upwards, so that bubbles generated by heating can be discharged out of the mold. The mixture was placed in an oven and heated at a temperature of 60 ℃ for 2 h.
In the preparation method of the adjustable flexible foot pad 2, in the step 6, after cooling, the outer end face of the upper cover a-1 is held by a hand to be provided with a demolding handle, the upper cover a-1 is pulled out, and the PDMS flexible layer molded in the mold cavity is taken out by the hand. Because the mold is manufactured by processing the polytetrafluoroethylene material, the polytetrafluoroethylene material is not easy to adhere to the PDMS material, and the mold can be directly taken by hands. Meanwhile, because the polytetrafluoroethylene made material has good high-temperature stability, the surface of the PDMS flexible layer molded in the mold cavity can be processed to a higher flatness.
In the preparation method of the adjustable flexible foot pad 2, step 7, the convex part of the PDMS flexible layer, which is positioned in the rectangular groove, is cut off and polished smoothly, so as to obtain the adjustable flexible foot pad 2.
As shown in FIG. 2, the adjustable flexible foot pad 2 of the present embodiment is bonded to the lower surface of the sole 1-3 using room temperature curing silicone rubber. Curing the adjustable flexible foot pad 2 bonded by the silicone rubber at room temperature and 1-3 soles, and standing for 24 hours at room temperature until bonding is firm.
As shown in fig. 2, the bionic dry adhesion material layer 3 is made of bionic dry adhesion material, and the thickness of the bionic dry adhesion material layer 3 is 0.5-2 mm; the bionic dry adhesion material layer 3 and the adjustable flexible foot pad 2 are connected by adopting a bonding agent formed by mixing and stirring a polydimethylsiloxane PDMS material and silicon dioxide. The adhesive comprises the components of polymethylhydrosiloxane, polymethylvinylsiloxane and silicon dioxide, wherein the polymethylhydrosiloxane, the polymethylvinylsiloxane and the silicon dioxide are mixed according to the weight ratio of 1:10:1.6 to form the adhesive.
The bionic dry adhesion material in this embodiment is a dry adhesion material with a gecko seta-like structure that has been developed.
The bionic dry adhesion material layer 3 and the adjustable flexible foot pad 2 which are connected by the adhesive are placed in an oven, the temperature in the oven is kept at 60 ℃, and the oven is heated for 2 hours at the temperature of 60 ℃.
The adhesion-desorption strategy of the sole in this example:
the designed sole stick-detach behavior is shown in fig. 6, 7 and 8, with the goal of achieving the maximum effective stick area with the leg structure, sole structure and sole material, and requiring less desorption force during the desorption process. The adhering-desorbing action process of the sole is three stages, namely an adhering initial contact stage, a supporting stage and a desorbing stage.
When the sole of the robot approaches the adhesive surface, the lower leg of the robot moves to the extreme position in the direction of the heel end, forming an angle of 120 degrees with the surface in the advancing direction. This allows the ball of the foot to contact the surface in the form of a hard substrate without relative displacement from the contact surface. When the ball of the foot contacts the adhesive surface, the ball of the foot will slowly rest the remainder of the area of the ball of the foot on the adhesive surface, with the heel point as the support point. In the movement process, the lower arm and the lower leg are rotated to drive the machine body to move forward under the condition of keeping the position of the ankle joint of the sole unchanged. When the lower arm or leg cylinder is moved to the extreme position at the front of the toe (60 degrees from the surface in the forward direction), the ball of the foot also becomes a hard base and the desorption can begin. The sole of the hard substrate can exert an illegal phase desorption force on the adhered material at the foot end, so that a smaller desorption force is obtained.
Specific embodiments of the sticking-desorption:
the motion planning is carried out on the sole structure in the sticking-desorption stage, then the abstraction of a mathematical model is carried out on the sole structure, and the track of the wrist joint is designed. A circular surface with a radius r of a bottom surface (sole surface) and a wrist joint with a height h at the center of the circular surface are abstracted from the sole. Fig. 9 shows a schematic view of the sticking-detaching movement along the y-axis direction, where the solid line indicates the posture of the lower leg when sticking occurs and the dotted line indicates the posture of the lower leg when detaching occurs. Fig. 10 shows the adhesion-desorption curves of the ball ankle joint in all directions, and the thick line in the figure indicates the adhesion-desorption curve when the leg posture of fig. 9 is desorbed. When the adhesion starts, the forearm is at the limit position at the left side, the mobility of the wrist joint of the sole is locked at the moment, the sole becomes a rigid structure, the ankle joint gradually falls along a minor arc (an arc line in fig. 9) taking the intersection point of the projection line of the lower leg on the bottom surface of the sole and the circular surface as a supporting point and taking the connecting line of the supporting point and the wrist joint as a radius, and the sole approaches and contacts with the adhesion surface to generate the adhesion effect. When the gecko robot moves forward, the position of the sole ankle joint does not change, and the lower leg moves from the solid line position to the dotted line position. When the lower leg reaches the dotted line position, the ankle joint will once again be locked and the desorption takes place and the wrist joint will desorb along a trajectory (arc in fig. 9) that is the same way as the adhesion but in the opposite direction.
The adhesion-desorption trajectory curve of the metacarpal and carpal joints is shown in the formula (3.1), and the height of the ankle from the disc on the bottom surface is
The radius of the bottom disc is
When the adhesion occurs, the included angle between the projection of the lower leg on the bottom surface and the positive direction of the y axis is called as
。
The adhesion-desorption performance of the bionic dry adhesion sole of the embodiment is subjected to relevant tests, including a limited adhesion area test, a single-foot adhesion test and a desorption test.
The test object of the bionic dry adhesion sole in the embodiment is that the weight ratio of the X component to the Y component is as follows: 1:5, 1:10, 1:15, 1:20 and 1:30, wherein five adjustable flexible foot pads 2 with different rigidities are obtained due to five different weight ratios of the components, and the rigidities of the five adjustable flexible foot pads 2 are respectively from large to small: 2.05MPa, 1.59MPa, 1.25MPa, 0.35MPa and 0.14 MPa.
A test object with the rigidity of 2.05MPa, a test object B with the rigidity of 1.59MPa, a test object C with the rigidity of 1.25MPa, a test object D with the rigidity of 0.35MPa and a test object E with the rigidity of 0.14MPa are defined.
The limited adhesion area test was performed on all five test subjects. The limited adhesion area test mentioned in this embodiment is a known test method in the art, and the specific test process is not described in detail in this embodiment.
As shown in fig. 11, the ratio of the effective adhesion area of the five test subjects to the area of the sole adhesion material is shown, and among these soles, the sole a has the largest elastic modulus and the highest effective adhesion area, which is 99.56 ± 0.27% of the area of the sole adhesion material. The adhering area of the rest soles is different, but is approximately 70 percent to 80 percent of the area of the sole adhering material.
The single-pin adhesion test was performed on all five test subjects. The single-pin adhesion test mentioned in this embodiment is a known test method in the art, and the specific test process is not described in detail in this embodiment.
The single foot adhesion test is used to determine the maximum load capacity that a sole of different stiffness can provide. When the robot provided with the bionic dry-adhesion soles of the embodiment is in a supporting stage, the adhesion capacity of each sole is important, and the adhesion capacity can support the weight of the robot and provide the adhesion force required by the robot in the moving process. The sole with the single leg of the robot will be adhesively placed on a 90 degree vertical force platform surface for testing. In the experiments, a single sole was given a pre-stress of 8N per experiment. A force F in the y direction will then be applied to the end of the leg, increasing the force F in the y direction by increasing the weight on the hook at the bottom of the single leg. The maximum supporting force is the total weight of the weight born by the leg when the sole can keep the adhesion state.
As shown in FIG. 12, the supporting force of the feet of five kinds of test subjects is shown. The sole A can provide the maximum supporting force of 19.03 +/-2.76N. The sole B, C and D provide approximately the same amount of support, approximately 11N to 12N. The support force provided by the sole E is about 7.60 + -1.64N at the minimum. On the premise that the shape and thickness of the PDMS flexible layer are the same, the larger the elastic modulus is, the smaller the deformation generated by the flexible layer is when the same force is applied to the flexible layer. Therefore, under the same force in the Y direction, the deformation of the sole A (2.05 MPa) is the smallest, and the deformation of the sole E (0.14 MPa) is the largest. When the deformation reaches a certain limit in a certain area of the sole, the adhesive material will be peeled off the adhesive surface. Adhesion failure occurs a very short time thereafter.
The five test subjects were subjected to desorption force testing. The desorption force test mentioned in this embodiment is a known test method in the art, and the specific test process is not described in detail in this embodiment.
In performing the test, the desorption trajectory is selected to be applied to the right rear leg and the robot is placed on a horizontal force platform for testing. When the robot calf moves to the extreme position at the time of desorption, the desorption force will be the resultant force along x, y and z, and the resultant force varies with the desorption angle during desorption. The force imparted by the ball of the foot to the desorption surface during desorption was measured from the three-dimensional force test platform mentioned above and the resultant force value calculated is shown in fig. 13. It is apparent from fig. 13 that the desorption force decreases from 7.02 ± 0.214N to 3.34 ± 0.30N in a downward trend as the young's modulus decreases. This tendency of variation is also due to the different elastic moduli of the flexible layers leading to different degrees of deformation of the sole of the foot, which is further amplified under the influence of the desorption strategy. Under the action of the tensile force, the flexible layer at the edge generates the maximum deformation relative to the whole sole, and in the process of continuously increasing the tensile force, the adhesion material is preferentially peeled off from the adhesion surface at the maximum deformation position. Thus, sole E (0.14 MPa) with the least stiffness will reach this extreme deformation position with the least desorption force. The more rigid the flexible layer, the greater the adhesion required to release the ball of the foot.
Fig. 14 shows the forces in each axial direction as the ball of the foot peels off the adhesive surface. It can be seen that the desorption force in the z-axis direction is dominant, and the desorption force in the x-axis direction and the y-axis direction is smaller, but the application direction of the desorption force is changed, which is very important for reducing the desorption force.
And analyzing and comparing the desorption force in the z-axis direction with the desorption force in the x-axis direction and the desorption force in the y-axis direction after analyzing the resultant force data. It can be seen that the z-axis force at the time of desorption is always the dominant force and is consistent with the trend of the resultant force, as shown in fig. 15. The maximum desorption force of the sole A (2.05 MPa) in the z-axis direction is gradually reduced to the minimum desorption force of the sole E (0.14 MPa) along with the reduction of the sole rigidity. The magnitude of the resultant force in the x-axis and y-axis directions is substantially constant as shown in fig. 16.
In order to further explain that the planned bionic desorption trajectory can effectively reduce the desorption force, the desorption trajectory which is directly pulled up is applied to the right rear leg to be compared with the planned bionic desorption trajectory. The right rear leg executes the same adhesion track, in the desorption stage, the desorption track of a single leg of the robot directly pulls up the sole, and the desorption track of the sole follows the desorption track planned in the front of the section.
The force data obtained from the experiment are shown in figure 17. The desorption force shown by the test group of the vertically-pulled adhesion and desorption tracks is not related to the rigidity of the PDMS layer of the sole and is about 15N, and the adhesion tracks are indirectly displayed, so that each sole can obtain a larger adhesion area, and thus, larger desorption force is generated. And the maximum desorption force of the sole is only half of that of the control group and the minimum desorption force is only one fourth of that of the control group by using the bionic desorption track. The analysis shows that the desorption mode of pulling up vertical to the adhesion surface only exists the whole deformation quantity of the PDMS flexible layer vertical to the sole plane, so that the adhesion materials of the sole act on the adhesion surface together in the desorption process, thereby generating larger resultant force. The designed bionic desorption track can enable the PDMS flexible layer to generate local deformation, and the adhered materials on the sole are firstly desorbed by the tensile force in partial areas, so that relatively small desorption force can be obtained.
In this embodiment, the adhesion-desorption performance of the bionic dry-adhesion sole of the invention is tested, including a limited adhesion area test, a single-foot adhesion test and a desorption test, and the utilization rate of the sole adhesion material is significantly increased by the bionic dry-adhesion sole, and the total adhesion area can reach 70% to 95% of the total area of the adhesion material in the effective adhesion area test. The increase of the effective adhesion area means the increase of the adhesion force of the robot in the sole using process.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
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