Wall-climbing robot and method based on dielectric elastomer actuator and electrostatic adsorption
A dielectric elastomer and wall-climbing robot technology, applied in the field of wall-climbing robots, can solve the problems of complex mechanical structure, poor environmental adaptability, weak load capacity, etc., and achieve the effect of flexible action, light weight, simple and reasonable structure
Active Publication Date: 2020-06-12
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
Although these two driving methods have a large driving force and are easy to control accurately, their mechanical structures are complex, and they are all rigid materials, which have the disadvantages of heavy weight, weak load capacity, and poor environmental adaptability.
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[0027] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0028] The invention provides a wall-climbing robot based on a dielectric elastomer driver and electrostatically adsorbed soles, which has the advantages of simple structure, small volume, light weight, large load, strong environmental adaptability and strong flexibility.
[0029] refer to Figure 1 to Figure 3 , a wall-climbing robot based on dielectric elastomer actuators and electrostatic adsorption feet, including two dielectric elastomer actuators 1, a cage 2, an end cover 3, four electrostatic ads...
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Abstract
The invention provides a wall-climbing robot based on dielectric elastomer drivers and electrostatic adsorption and a control method. The wall-climbing robot comprises the two dielectric elastomer drivers, four electrostatic adsorption foot soles, universal hinges and a retainer, wherein each dielectric elastomer driver comprises a front end cover, a back end cover, dielectric elastomer films andflexible electrodes; each electrostatic adsorption foot sole consists of a dielectric layer, an electrode layer and a protective layer; the two ends of each dielectric elastomer driver are connectedwith the electrostatic adsorption foot soles through the universal hinges; and the two dielectric elastomer drivers are arranged side by side and are connected through one retainer in the middle. Thewall-climbing robot is simple in structure, light in weight, small in size, large in load, strong in flexibility and strong in environmental adaptability.
Description
technical field [0001] The present invention relates to a wall-climbing robot, in particular to a wall-climbing robot based on a dielectric elastomer driver and electrostatic adsorption. In particular, robots that can enter some narrow spaces or dangerous environments and complete tasks that are difficult for humans to complete, such as pipeline detection, bridge detection, and high-rise building cleaning. Background technique [0002] As a robot that can crawl on a vertical plane, the wall-climbing robot has important application value in the fields of reconnaissance, environmental detection, and cleaning. Wall-climbing robots usually need to have two functions of adsorption and movement. At present, the adsorption principles commonly used by wall-climbing robots include magnetic adsorption and vacuum adsorption. These two kinds of adsorption have the characteristics of large adsorption force and convenient control, but magnetic adsorption can only be used to adsorb ferro...
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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 谷国迎邹江
Owner SHANGHAI JIAOTONG UNIV