CN110865026A - Adhesion testing device and adhesion testing method thereof - Google Patents

Abstract

The invention discloses an adhesion test device and an adhesion test method thereof. The prior art lacks a device and method for detecting the adhesive force and friction force of organisms with strong adhesion ability. The present invention is an adhesion testing device, comprising a test stand bracket, a flip platform, a motor, an angle sensor, a rotating shaft, a sliding table, a sliding block, a sliding rod, a camera bracket, a camera and a base plate. The invention can not only test the adhesion force of the organism with adhesion ability, but also can test the friction force and the adhesion force of the bionic adhesion device. The present invention does not cause any damage to the tested organisms or non-living organisms during the test. The present invention can replace substrates with different surface roughness, so as to test the effect of roughness on adhesion. The invention can test the friction force and adhesion force of organisms through the reversible platform.

Description

A kind of adhesion test device and adhesion test method thereof

technical field

The invention belongs to the technical field of force testing devices, and particularly relates to an adhesion testing device and an adhesion testing method thereof.

Background technique

After hundreds of years of evolution, creatures in nature have obtained morphological structures or movement patterns that can adapt to survival. Biomimicry, as a new discipline, mainly studies the creatures in nature. For example, the ability of bats to use ultrasonic waves to determine the position of obstacles in the dark and then fly freely, an ultrasonic positioning system was invented; using the ability of geckos to climb freely on walls, a climbing robot that imitated geckos was invented. In the prior art, there is no device and method for detecting the adhesive force and friction force of organisms with strong adhesion ability. Therefore, it is very important to design a test device that can detect the adhesion force and friction force of organisms and attached devices.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an adhesion test device and a test method thereof.

The present invention is an adhesion testing device, comprising a test stand bracket, a flip platform, a motor, an angle sensor, a rotating shaft, a sliding table, a sliding block, a sliding rod, a camera bracket, a camera and a base plate. The horizontally arranged rotating shaft is supported on the test stand support. The turning platform is fixed with the rotating shaft. The rotating shaft is driven by a motor. The angle sensor detects the angle of the rotating shaft. The middle of the flip platform shown has a gap to give way. The two sides of the flip platform are the working side and the installation side respectively. A base plate is arranged in the middle of the turning platform. The camera bracket is fixed to the mounting side of the flip platform. The camera is fixed in the middle of the camera bracket. The camera's lens faces the substrate. The sliding table is U-shaped, and both ends form a sliding pair with the working side surface of the turning platform. The sliding block and the sliding table constitute a sliding pair. The slider is provided with a sliding hole. The central axis of the sliding hole is perpendicular to the side surface of the base plate. The sliding rod and the sliding hole on the sliding block form a sliding pair.

Preferably, the motor is fixed on the support of the test bench, and the output shaft is fixed with one end of the rotating shaft. The motor adopts double shaft motor. The angle sensor is fixed to the motor, and the input shaft is fixed to the output shaft of the motor. The angle sensor uses an absolute encoder.

Preferably, an adhesion testing device of the present invention further comprises a substrate fixing strip. The two base plate fixing strips are fixed on the working side of the turning platform, and are respectively located on both sides of the vacant gap. The opposite sides of the two substrate fixing bars are provided with chute grooves. The edges of the two sides of the base plate are respectively arranged in the sliding grooves of the two base plate fixing bars to form a sliding pair.

Preferably, a plurality of LED lights are embedded in the bottom of the chute of the substrate fixing strip.

Preferably, the substrate is made of transparent material.

Preferably, the roughness of the two sides of the substrate is different.

Preferably, the inner end of the sliding rod is provided with a clamp, and the outer end is provided with a shackle.

The test methods used by the adhesion test device include biostatic friction-adhesion test method and attachment device adhesion-static friction test method.

The specific steps of the biostatic friction-adhesion test method are as follows:

Step 1. In the initial state, the substrate is in a horizontal state. The test organism is placed on the substrate.

Step 2: The motor drives the rotating shaft to rotate, so that the turning platform continues to rotate. The rotation angle θ is measured by the angle sensor, and θ continues to increase during the rotation.

Step 3. If the tested organism moves when 0°≤θ≤90°, calculate the maximum static friction force F ₁ =mg·sinθ ₁ that the tested organism can generate under the roughness of the current substrate; where m is the measured The weight of the creature, g is the gravitational acceleration; θ ₁ is the rotation angle of the flipping platform when the tested creature moves. Then go directly to step five.

If the tested creature does not move when 0°≤θ≤90°, go to step 4.

Step 4. If the tested organism falls from the substrate when 90°<θ≤180°, calculate the maximum adhesion force F ₂ =mg·cos(180° that the tested organism can produce under the roughness of the current substrate. -θ ₂ ); wherein, θ ₂ is the rotation angle of the flip platform when the tested organism falls from the substrate.

Step 5. If the tested creature moves in step 3, record the maximum static friction force that the tested creature can generate under the roughness of the current substrate; if the tested creature falls in step 4, record the tested creature on the current substrate. The maximum adhesion force that can be produced under the roughness.

Step 6: Repeat steps 2 to 5 for n times, and the substrate returns to a horizontal state before each execution. If the tested organism moves every time step 3 is performed, the maximum value of the maximum static friction force F ₁ obtained in each test is taken as the final maximum static friction force under the current roughness. Otherwise, take the maximum value of the maximum adhesion force F2 _obtained in each test as the final maximum adhesion force under the current roughness.

By replacing substrates with different roughnesses, the maximum static friction force and maximum adhesion force of the tested organisms on surfaces with different roughnesses can be detected.

The specific steps of the adhesion-static friction test method of the attachment device are as follows:

Step 1. In the initial state, the substrate is in a horizontal state. Secure the attachment device under test to the inner end of the slide bar.

Step 2: Attach the tested attachment device to the substrate. The tester uses the tension meter to pull the slide bar in the direction perpendicular to the side of the substrate, so that the tested attachment device is subjected to a vertical tension. The tester continues to increase the pulling force, and when the tested attachment device is separated from the substrate, record the pulling force of the pull-down force gauge; the tensile force minus the gravity of the tested attachment device is the maximum adhesion of the tested attachment device under the current substrate roughness force F ₃ .

Step 3: Attach the tested attachment device to the substrate. The tester uses the tension meter to pull the slide bar parallel to the side of the substrate, so that the tested attachment is subjected to a horizontal tension. The tester continued to increase the pulling force, and when the tested attachment device moved relative to the substrate, the pulling force of the pull-down force meter was recorded; this pulling force was the maximum static friction force F ₄ of the tested attachment device under the current substrate roughness.

The beneficial effects that the present invention has are:

1. The present invention can not only test the adhesion force of the organism with adhesion ability, but also can test the friction force and adhesion force of the bionic adhesion device.

2. The present invention will not cause any damage to the tested organisms or non-organisms during the test.

3. The present invention can replace substrates with different surface roughness, so as to test the influence of roughness on adhesion.

4. The present invention can test the friction force and adhesion force of organisms through a reversible platform.

5. In the present invention, the bionic attached device to be tested is fixed by means of a sliding rod and a fixture, and forces in different directions can be applied to it to realize the test of adhesion force and friction force.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the static friction force test schematic diagram of biological static friction force-adhesion test method in the present invention;

3 is a schematic diagram of the adhesion test of the biostatic friction force-adhesion test method in the present invention;

FIG. 4 is a test schematic diagram of the adhesion-static friction test method of the attachment device in the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in FIG. 1 , an adhesion test device includes a test bench support 101, a flip platform 102, a motor, an angle sensor, a rotating shaft 103, a sliding table 104, a sliding block 107, a sliding rod 108, a camera support 110, a camera 111, the base plate 112, the base plate fixing strip 113 and the controller. The horizontally arranged rotating shaft 103 is supported on the test stand support 101 . The turning platform 102 is fixed to the rotating shaft 103 . The motor is fixed on the test stand bracket 101 , and the output shaft is fixed to one end of the rotating shaft 103 . The rotation and locking of the turning platform 102 are realized by controlling the motor. The motor adopts double shaft motor.

The angle sensor is fixed to the motor, and the input shaft is fixed to the output shaft of the motor. The angle sensor adopts an absolute encoder, which can determine the angle between the flip platform 102 and the horizontal plane by testing the rotation angle of the rotating shaft 103 .

The center of the flip platform 102 is provided with a gap for letting go. The two sides of the turning platform 102 are the working side and the installation side respectively. A first slideway 105 and a second slideway 106 are respectively provided on both sides of the working side of the turning platform 102 . The two substrate fixing bars 113 are fixed on the working side of the turning platform 102, and are respectively located on both sides of the gap. The opposite side surfaces of the two substrate fixing bars 113 are provided with sliding grooves. Edges on both sides of the base plate 112 are respectively disposed in the sliding grooves of the two base plate fixing bars 113 to form a sliding pair. Substrates with different surface roughness can be replaced by pulling the substrate 112 . The substrate 112 is a transparent material substrate. The roughness of the two sides of the substrate 112 is different. A plurality of LED lights are embedded in the bottom of the chute of the substrate fixing strip 113 .

After the LED lamp is turned on, the transparent substrate 112 can be illuminated. The camera bracket 110 is fixed to the installation side of the flip platform 102 . The camera bracket 110 is turned over with the turning of the turning platform 102 . The camera 111 is fixed in the middle of the camera bracket 110 . The lens of the camera 111 faces the substrate 112 .

If an object is placed on the side of the substrate 112 away from the camera, a shadow will be generated; the camera 111 takes a picture and transmits it to the controller. The controller can calculate the contact area between the object and the substrate 112 by calculating the size of the shadow in the photo.

The slide table 104 is U-shaped, and the two ends thereof, the first slide way 105 and the second slide way 106 respectively form a slide pair. A third slideway 109 is opened on the slide table 104 . The central axis of the third chute 109 is parallel to the axis of the rotating shaft 103 . The sliding block 107 and the third sliding track 109 on the sliding table 104 constitute a sliding pair. The slider 107 is provided with a sliding hole. The central axis of the sliding hole is perpendicular to the side surface of the base plate 112 . The sliding rod 108 and the sliding hole on the sliding block 107 constitute a sliding pair. The inner end of the slide bar 108 (the end facing the base plate 112 ) is provided with a clamp. Grips are used to clamp the object under test. The outer end of the sliding rod 108 is provided with a shackle (not shown in the figure).

The signal output interfaces of the camera 111 and the angle sensor are connected to the controller. The motor is connected to the controller through a motor driver. The controller adopts a single-chip microcomputer.

As a preferred solution, the clamp adopts a suction cup.

The test methods used by the adhesion test device include biostatic friction-adhesion test method and attachment device adhesion-static friction test method.

The specific steps of the biostatic friction-adhesion test method are as follows:

Step 1. In the initial state, the substrate 112 is in a horizontal state. The test organism is placed on the substrate 112 . As a preferred specific solution, the tested organism adopts tree frog. The tree frog's front and back palms can attach to a variety of different objects, and testing its adhesion could help guide bionic climbing devices.

In step 2, the motor drives the rotation shaft 103 to rotate, so that the turning platform 102 is continuously rotated, and the rotation angle θ is measured by the angle sensor. During the rotation, θ continues to increase; when 0°≤θ≤90°, the working side of the substrate is inclined upward, and the included angle with the horizontal plane is θ. When 90°<θ≤180°, the working side of the substrate is inclined upward, and the included angle with the horizontal plane is 180°-θ. The camera 111 continuously shoots the creature under test and transmits it to the controller; the controller determines whether the creature under test moves (the creature under test moves downward or moves away from the substrate) or falls according to the received photo.

Step 3: As shown in Figure 2, if the tested organism moves when 0°≤θ≤90°, calculate the maximum static friction force F ₁ =mg·sinθ ₁ that the tested organism can generate under the roughness of the current substrate ; where m is the weight of the tested creature, g is the acceleration of gravity; θ ₁ is the rotation angle of the flip platform 102 when the tested creature moves (ie, the angle between the substrate and the horizontal plane). It should be noted here that the organism to be tested is an organism with adhesion ability, and the static friction force generated by the pressure of its own weight on the substrate is relatively small compared to the static friction force generated by the vacuum suction cup, mucus and other principles, which can be ignored. Therefore, it is considered that the maximum static friction force that can be generated under different slopes is the same, and then directly enter step 5.

If the tested creature does not move when 0°≤θ≤90°, go to step 4.

Step 4. As shown in Figure 3, if the tested organism falls from the substrate when 90°<θ≤180°, calculate the maximum adhesion force F ₂ = mg·cos(180°-θ ₂ ); wherein, θ ₂ is the rotation angle of the flip platform 102 when the tested organism is dropped from the substrate.

Step 5. If the tested creature moves in step 3, record the maximum static friction force that the tested creature can generate under the roughness of the current substrate; if the tested creature falls in step 4, record the tested creature on the current substrate. The maximum adhesion force that can be produced under the roughness.

Step 6: Repeat steps 2 to 5 for n times, and the substrate returns to a horizontal state before each execution, n=10. If the tested organism moves every time step 3 is performed, the maximum value of the maximum static friction force F ₁ obtained in each test is taken as the final maximum static friction force under the current roughness. Otherwise, take the maximum value of the maximum adhesion force F2 _obtained in each test as the final maximum adhesion force under the current roughness.

By replacing substrates with different roughnesses, the maximum static friction force and maximum adhesion force of the tested organisms on surfaces with different roughnesses can be detected.

As shown in Figure 4, the specific steps of the adhesion-static friction test method of the attachment device are as follows:

Step 1. In the initial state, the substrate 112 is in a horizontal state. The attachment device under test is clamped to the clamp at the inner end of the slide bar 108 . As a preferred specific solution, the tested attachment device is a vacuum suction cup.

Step 2: Attach the tested attachment device to the substrate. The tester pulls the slide bar 108 in the direction perpendicular to the side surface of the substrate with the tension meter, so that the tested attachment device is subjected to a vertical tension. The tester continues to increase the pulling force, and when the tested attachment device is separated from the substrate, record the pulling force of the pull-down force meter (the tension meter uses the mode of locking when it reaches the peak value); the tensile force minus the gravity of the tested attachment device is the measured adhesion The maximum adhesion force F3 _of the device at the current substrate roughness.

Step 3: Attach the tested attachment device to the substrate. The tester pulls the slide bar 108 in a direction parallel to the side surface of the substrate with a tension meter, so that the tested attachment device is subjected to a horizontal tension. The tester continues to increase the pulling force. When the tested attachment device moves relative to the substrate, record the pulling force of the pull-down force meter (the tension meter uses the locked mode when it reaches the peak value); this pulling force is the measured attachment device under the current substrate roughness. The maximum static friction force F ₄ .

Claims (8)

1. An adhesion testing device, comprising a test bench support, a turning platform, a motor, an angle sensor, a rotating shaft, a sliding table, a sliding block, a sliding rod, a camera support, a camera and a substrate; it is characterized in that: the rotation of the horizontal setting The shaft is supported on the support of the test bench; the turning platform is fixed with the rotating shaft; the rotating shaft is driven by a motor; the angle sensor detects the angle of the rotating shaft; It is the working side and the installation side; the middle of the flipping platform is provided with a base plate; the camera bracket is fixed with the installation side of the flipping platform; the camera is fixed in the middle of the camera bracket; the lens of the camera faces the base plate; Both of them form a sliding pair with the working side of the flipping platform; the sliding block and the sliding table form a sliding pair; the sliding block is provided with a sliding hole; the central axis of the sliding hole is perpendicular to the side surface of the base plate; the sliding rod and the sliding hole on the sliding block constitute a sliding pair vice. 2. An adhesion testing device according to claim 1, characterized in that: the motor is fixed on the test bench support, and the output shaft and one end of the rotating shaft are fixed; the motor adopts a double-shaft motor; The sensor is fixed with the motor, and the input shaft is fixed with the output shaft of the motor; the angle sensor adopts an absolute encoder. 3. An adhesion testing device according to claim 1, characterized in that: it further comprises a base plate fixing strip; two base plate fixing strips are fixed on the working side of the flipping platform, and are respectively located on both sides of the gap; two The opposite sides of the substrate fixing bars are provided with sliding grooves; the edges of the two sides of the substrate are respectively arranged on the sliding grooves of the two substrate fixing bars to form a sliding pair. 4 . The adhesion test device according to claim 3 , wherein a plurality of LED lights are embedded in the bottom of the chute of the substrate fixing strip. 5 . 5 . The adhesion test device according to claim 1 , wherein the substrate is made of transparent material. 6 . 6 . The adhesion test device according to claim 1 , wherein the roughness of the two sides of the substrate is different. 7 . 7 . The adhesion test device according to claim 1 , wherein the inner end of the sliding rod is provided with a clamp, and the outer end is provided with a shackle. 8 . 8. the adhesion test method of a kind of adhesion test device as claimed in claim 1, is characterized in that: comprise biostatic friction force-adhesion test method and adhesion device adhesion-static friction test method; The specific steps of the biostatic friction-adhesion test method are as follows: Step 1. In the initial state, the substrate is in a horizontal state; the tested organism is placed on the substrate; Step 2, the motor drives the rotating shaft to rotate, so that the turning platform continues to rotate, the rotation angle θ is measured by the angle sensor, and the θ continues to increase during the rotation; Step 3. If the tested organism moves when 0°≤θ≤90°, calculate the maximum static friction force F ₁ =mg·sinθ ₁ that the tested organism can generate under the roughness of the current substrate; where m is the measured The weight of the creature, g is the acceleration of gravity; θ ₁ is the rotation angle of the flipping platform when the tested creature moves; then go directly to step 5; If the tested creature does not move when 0°≤θ≤90°, go to step 4; Step 4. If the tested organism falls from the substrate when 90°<θ≤180°, calculate the maximum adhesion force F ₂ =mg·cos(180° that the tested organism can produce under the roughness of the current substrate. -θ ₂ ); wherein, θ ₂ is the rotation angle of the flip platform when the tested organism falls from the substrate; Step 5. If the tested creature moves in step 3, record the maximum static friction force that the tested creature can generate under the roughness of the current substrate; if the tested creature falls in step 4, record the tested creature on the current substrate. The maximum adhesion force that can be produced under the roughness; Step 6: Repeat steps 2 to 5 for n times, and the substrate returns to a horizontal state before each execution; if the tested organism moves every time step ₃ is executed, take the maximum static friction force F1 obtained in each test. The maximum value of is the final maximum static friction force under the current roughness; otherwise, the maximum value of the maximum adhesion force F2 obtained in each test is taken as the final maximum adhesion force under the current roughness _; By replacing substrates with different roughnesses, the maximum static friction force and maximum adhesion force of the tested organisms on surfaces with different roughness can be detected; The specific steps of the adhesion-static friction test method of the attachment device are as follows: Step 1. In the initial state, the substrate is in a horizontal state; the tested attachment device is fixed on the inner end of the sliding rod; Step 2: Attach the tested attachment device to the substrate; the tester uses the tension meter to pull the slide bar in the direction perpendicular to the side of the substrate, so that the tested attachment device is subjected to a vertical tension; the tester continues to increase the tension, when the tested When the attachment device is separated from the substrate, record the pulling force of the pull-down force gauge; the tensile force minus the gravity of the tested attachment device is the maximum adhesion force F ₃ of the tested attachment device under the current substrate roughness; Step 3: Attach the tested attachment device to the substrate; the tester pulls the slide bar in the direction parallel to the side of the substrate with the tension meter, so that the tested attachment device is subjected to a horizontal tension; the tester continues to increase the tension, when the tested When the attachment device moves relative to the substrate, record the pulling force of the pull-down force gauge; the pulling force is the maximum static friction force F ₄ of the tested attachment device under the current roughness of the substrate.

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