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章鱼吸盘高吸附性能研究及仿生吸盘设计

发布时间:2018-06-03 22:17

  本文选题:真空吸盘 + 仿生学 ; 参考:《吉林大学》2016年硕士论文


【摘要】:随着科学技术的不断进步,人们对生产和生活水平自动化的要求显著提高,吸盘类机器人及大功率吸附设备作为自动吸附装备的主要部件,在科学研究、工业生产、海底资源探测与开发等领域的应用日益普遍。在新的环境下,吸盘作为工业生产和日常生活必备品,其发展必将迎来前所未有的机遇。为满足吸附设备对较高吸附强度及日益广阔作业环境的需求,设计出吸附能力强、作业范围广的新型吸盘已成为当今吸盘工业发展的主要方向。吸盘行业在满足社会对高新吸盘需求的同时,必将创造巨大经济效益。然而现用的单个吸盘的吸附性能与作业范围很有限,针对真空吸盘的研究也多集中在吸盘材料、结构及与其配套的真空发生装置方面。通过对具有较高吸附性能的生物吸盘进行研究,并将生物吸盘的形态特点应用于现有吸盘设计中的思路,为新型高吸附性吸盘的研究指引了新的方向,具有十分重要的意义。仿生学作为一门新兴的模仿生物高超本领的学科,在形态仿生和结构仿生方面的研究最为普遍和成熟。本实验室根据多种生物体表面存在的非光滑形态,建立了系统全面的仿生非光滑理论,以此为基础设计的仿生钻头、仿生发动机活塞、仿生泥浆泵活塞、仿生针头等均表现出较好的工作性能。本文根据工业常用吸盘的形态特点,选择章鱼吸盘作为生物原型,对其高吸附性能进行研究。应用体视显微镜、扫描电子显微镜、原子力显微镜等设备对章鱼吸盘的生物学及运动学进行观察,得出章鱼吸盘的吸附机理及吸盘表面的非光滑形态对吸附性能的作用。本文根据仿生学原理,将章鱼吸盘表面存在的一字形、人字形、圆环形形态应用于生活及工业吸盘形态的设计中,并对吸盘非光滑形态的排布方案进行设计,得到仿生一字形5凹槽、10凹槽、20凹槽,仿生人字形5凹槽、10凹槽、20凹槽,仿生圆环形2凹槽、3凹槽、4凹槽九种仿生形态吸盘。应用ANSYSWorkbench有限元软件对标准吸盘与仿生吸盘的吸附过程进行模拟,通过对吸盘底面应力及边缘部位位移变形量的分析,得知章鱼吸盘表面分布的非光滑形态有利于吸盘边缘部位形成较好的密封效果且利于吸盘产生较大的密封面积。根据标准吸盘及仿生吸盘三维模型,应用逆向工程计算方法,设计出与各种形态吸盘完全配套的吸盘模具模型。应用3D打印技术,用PLA材料打印出吸盘模具实物模型。基于打印完成的吸盘模具,按照经多组试验得到的吸盘材料最佳配比方案,进行标准吸盘及仿生吸盘的实物浇注。在透明硅胶、固化剂(硫化物)、硅油以质量比20:1:3配比时,吸盘浇注实验效果及得到的吸盘实物性能最佳。分别在干燥条件和湿润条件下对加工的实物吸盘进行吸附性能测试,对比分析标准吸盘与仿生吸盘的吸附性能,研究仿生吸盘表面存在的非光滑形态对吸盘吸附能力的影响。结合有限元模拟结果,找出吸附效果最佳的仿生吸盘形态,研究其密封及吸附机理,为非光滑形态对吸盘吸附性能影响的研究提供一定理论基础。
[Abstract]:With the continuous progress of science and technology, the demand for automation of production and living standards has been greatly improved. As the main component of automatic adsorption equipment, the suction disc robot and high-power adsorption equipment are widely used in the fields of scientific research, industrial production, seabed resources exploration and development. In the new environment, the sucker is used as a worker. The development of industrial production and daily life must meet unprecedented opportunities. In order to meet the needs of adsorption equipment for higher adsorption strength and increasingly wide operating environment, the design of a new type of suction cup with a strong adsorption capacity and a wide range of operation has become the main direction of the development of the modern suction industry. The suction disc industry meets the society for Gao Xinxi. While the demand for the disc will create great economic benefits, the adsorption performance and the operation range of the single sucker are limited. The research on vacuum sucker is concentrated on the sucker material, the structure and its supporting vacuum generator. The shape characteristics of the disk are applied to the design of the current sucker. It is of great significance to guide the research of new high adsorptive sucker. Bionics is the most popular and mature research in the aspects of morphological bionics and structure bionics. A comprehensive bionic non smooth theory is established on the surface of the organism. On this basis, the bionic drill bit, the bionic engine piston, the bionic mud pump piston, the bionic needle and so on, show good working performance. The paper selects the octopus sucker as a biological prototype according to the morphological characteristics of the commonly used industrial suction plates. The adsorption mechanism of Octopus sucker and the effect of non smooth morphology on the surface of the sucker on the adsorption properties of the octopus sucker were obtained by observing the biology and kinematics of the octopus sucker with stereoscopic microscope, scanning electron microscope and atomic force microscope. The existence of a word shape, human shape and circular shape used in the design of life and industrial sucker shape, and design of the non smooth arrangement of the suction disc, the bionic 5 grooves, 10 grooves, 20 grooves, the bionic 5 grooves, 10 grooves, 20 grooves, the bionic round ring 2 grooves, the 3 grooves, and the 4 grooves of nine bionic forms sucker. The ANSYSWorkbench finite element software is used to simulate the adsorption process of the standard sucker and the bionic suction cup. Through the analysis of the stress and displacement of the edge of the suction cup, it is found that the non smooth morphology of the surface distribution of the octopus sucker is beneficial to the sealing effect of the edge of the suction disc and the larger seal of the suction disc. Area. According to the three-dimensional model of standard suction disc and bionic suction disc, the model of sucker die with all kinds of shape sucker is designed by reverse engineering calculation method. 3D printing technology is used to print out the model of the sucker die with PLA material. In the mixture ratio scheme, the standard sucker and the bionic sucker are poured in material. In the transparent silica gel, the curing agent (sulfide) and the silicone oil with the mass ratio of 20:1:3, the effect of the sucker and the best physical properties of the sucker are the best. The adsorption performance of the processed sucker is tested under the drying condition and the wetting condition, and the comparison and analysis standard are made respectively. The influence of the non smooth morphology of the bionic suction disc on the adsorption capacity of the suction disc is studied. The shape of the bionic sucker with the best adsorption effect is found out with the finite element simulation results, and the mechanism of sealing and adsorption is studied to provide a theoretical basis for the study of the influence of the non smooth shape on the absorption performance of the suction disc. Foundation.
【学位授予单位】:吉林大学
【学位级别】:硕士
【学位授予年份】:2016
【分类号】:Q811

【参考文献】

相关期刊论文 前10条

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