吉林大学学报(工学版) ›› 2025, Vol. 55 ›› Issue (11): 3774-3782.doi: 10.13229/j.cnki.jdxbgxb.20240171

• 农业工程·仿生工程 • 上一篇    

一种高表面适应性仿生吸盘的设计

丁建宁1,2(),殷子健1,胡宏伟1,程广贵1(),张忠强1   

  1. 1.江苏大学 智能柔性机械电子研究院，江苏 镇江 212013
    2.扬州大学 机械学院，江苏 扬州 225127
  • 收稿日期:2024-02-21 出版日期:2025-11-01 发布日期:2026-02-03
  • 通讯作者: 程广贵 E-mail:dingjn@ujs.edu.cn;ggcheng@ujs.edu.cn
  • 作者简介:丁建宁（1966-），男，教授，博士.研究方向：柔性机械电子设计与制造.E-mail：dingjn@ujs.edu.cn
  • 基金资助:
    国家自然科学基金重大研究计划集成项目(92248301);国家自然科学基金项目(52275191);江苏省333工程项目（2021年）

A bionic sucker design with high surface adaptability

Jian-ning DING1,2(),Zi-jian YIN1,Hong-wei HU1,Guang-gui CHENG1(),Zhong-qiang ZHANG1   

  1. 1.Institute of Intelligent Flexible Mechatronics，Jiangsu University，Zhenjiang 212013，China
    2.School of Mechanical Engineering，Yangzhou University，Yangzhou 225127，China
  • Received:2024-02-21 Online:2025-11-01 Published:2026-02-03
  • Contact: Guang-gui CHENG E-mail:dingjn@ujs.edu.cn;ggcheng@ujs.edu.cn

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摘要：

针对现有吸盘在粗糙表面以及小结构物体难附着、易脱落问题，仿生水蛭吸盘的凹坑结构，设计一种多褶皱且底部带有小孔阵列的新型吸盘RSS，通过建模和模拟仿真研究吸盘附着机理，实验探究了不同褶皱数量和阵列孔尺寸对吸盘在粗糙表面的垂直吸附性能以及水平抗剪切力性能的影响规律。结果表明：在-40 kPa真空度下，多褶皱结构可显著提升RSS吸盘的垂直吸附性能，最大提升约为87.9%，孔径大小对垂直吸附性能影响不大。在接触150目和800目砂纸时，孔径0.5 mm和1 mm对双褶皱和三褶皱吸盘水平抗剪切力影响较小，当孔径增加到1.5 mm时，水平抗剪切力值出现最大40.5%的增幅。当砂纸目数达到1 600目时，水平抗剪切力值随着孔径的增大而增大。对于单褶皱吸盘，小孔孔径对水平抗剪切性能无明显影响。

关键词: 仿生吸盘, 多褶皱, 小孔阵列, 建模和模拟仿真

Abstract:

Aims to address the challenge of poor adhesion and easy detachment of existing suction cups on rough surfaces and small structural objects. Inspired by the structure of leech suckers， we designed a novel type of sucker， RSS （rough-small-sucker）， which has multiple folds and a bottom array of small pits. Modeling and simulation are employed to investigate the adhesion mechanism， while experiments explore the impact of fold quantity and pit size on vertical adhesion and horizontal shear resistance of the sucker on rough surfaces. We study the attachment mechanism of the sucker by modeling and simulation， and experimentally investigate the effects of different fold numbers and hole sizes on the vertical adhesion performance and horizontal shear resistance of the sucker on rough surfaces. Results show that the multi-folded structure significantly improves RSS's vertical adhesion （up to 87.9% improvement under -40 kPa vacuum）. Pit size has minimal effect on vertical adhesion. For various sandpaper grits， small pit sizes （0.5 mm and 1 mm） have minimal impact on horizontal shear resistance of double-folded and triple-folded suckers. However， with a hole size of 1.5 mm， there is a 40.5% increase in horizontal shear resistance. The horizontal shear resistance increases with pit size for 1 600-grit sandpaper. Pit size has no significant effect on horizontal shear resistance for single-folded suction cups.

Key words: bionic sucker, multi-folded, array of small pit, modeling and simulation

中图分类号: 

  • TB17

表1

不同RSS吸盘尺寸参数"

吸盘编号褶皱数量/个小孔直径/mm
①10.5
②11.0
③11.5
④20.5
⑤21.0
⑥21.5
⑦30.5
⑧31.0
⑨31.5

图1

不同结构参数的RSS吸盘三维模型"

图2

3种RSS吸盘吸附变形过程仿真图"

图3

9种不同仿生吸盘Mises应力仿真图"

图4

RSS吸盘制造流程"

图5

RSS吸盘性能测试装置"

表2

真空度-40 kPa RSS吸盘垂直吸附力值 (N)"

孔径大小/0.5 mm褶皱结构
单褶皱双褶皱三褶皱
0.52.447 8003.593 7753.568 600
1.02.345 4753.986 5264.051 725
1.52.324 8004.226 0004.370 275

表3

真空度-40 kPa RSS吸盘水平抗剪切力值 (N)"

吸盘编号砂纸数目
150目800目1 600目
①1.535 01.402 51.362 5
②1.495 01.412 51.385 0
③1.490 01.390 01.377 5
④1.435 01.467 51.397 5
⑤1.467 51.472 51.482 5
⑥1.847 51.787 51.712 5
⑦1.525 01.290 01.117 5
⑧1.407 51.392 51.427 5
⑨1.822 51.802 51.785 0

图6

RSS吸盘结构与垂直吸附力以及水平抗剪切力关系"

图7

RSS吸盘与普通吸盘吸附粗糙表面和小尺寸物体"

图8

RSS吸盘与普通吸盘吸附对比实验"

图9

不同粗糙度下最佳吸盘结构吸附力与真空度的关系图"

图10

RSS吸盘吸附性能测试实验"

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