Electrostatic adsorption wall-climbing robot foot structure based on variable stiffness material regulation and control

Abstract

The invention discloses an electrostatic adsorption wall-climbing robot foot structure based on variable stiffness material regulation and control. The electrostatic adsorption wall-climbing robot foot structure comprises a transmission device and a foot sole. The transmission device comprises a crank, a connecting rod, a rocker and a steering engine frame which form a four-rod mechanism; the footsole is rotatably connected with the lower end of the connecting rod through a connecting layer, and the connecting layer is composed of a variable stiffness material, an electrostatic adsorption film and an insulating medium; the variable stiffness material is composed of multiple layers of dielectric elastomer driver DEA units. Each DEA unit comprises a clamping electrode and a driving electrode; when the clamping electrodesare powered on, the electrostatic adsorption force between the DEA units enables the rigidity of the whole structure of the variable-rigidity material to be increased, the foot adsorption performance is improved; and when the driving electrode is powered on, the dielectric elastomer adjacent to the driving electrode deforms, then the variable-rigidity material deforms integrally, and foot desorption is achieved. Rapid adsorption and desorption response of the food sole is achieved through rigidity regulation and control and electrostatic adsorption of the variable-rigidity material.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an electrostatic adsorption wall-climbing robot foot structure regulated and controlled based on variable stiffness materials. Background technique [0002] With the acceleration of industrialization and urbanization in modern society, there is a great demand for machine replacement (especially wall-climbing robots) in fields and industries that operate in high-risk environments and harsh conditions. For example: cleaning of glass curtain walls, crack detection of pressure vessels, grinding and cleaning of welded joints, and inspection and repair of bridges and large buildings. [0003] A core technology of the wall-climbing robot is its adsorption and desorption technology. At present, although there are many mature technologies, such as mechanical adsorption, magnetic adsorption, negative pressure adsorption, chemical adsorption and electrostatic adsorption, etc., there are mor...

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