Software wall-climbing robot and control method thereof

Abstract

The present application relates to wall-climbing robot technical field, especially to soft wall-climbing robot and its control method. The soft wall-climbing robot comprises a soft driver and electrostatic adsorption feet installed on both ends of the soft driver. The soft driver comprises a telescopic and deformable shell, spring limit plates are fixedly connected to both ends of the telescopic and deformable shell, and SMA springs are symmetrically arranged on both sides inside the telescopic and deformable shell. Both ends of the two SMA springs are fixedly provided with spring connectors, and the surface of the spring limit plate is further provided with a limit hole, and the spring connector is fixed in the limit hole. The electrostatic adsorption of the electrostatic adsorption feet is fixed by the electrostatic adsorption, so that the wall-climbing robot can be applied to various complex wall surfaces. The two SMA springs are powered to stretch and contract, so that the whole soft wall-climbing robot can change its shape and size in a large range, thereby realizing the functions of moving and turning, and the structure is simple and light, and the use and control are convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly to a soft wall-climbing robot and a control method thereof. BACKGROUND

[0002] A wall-climbing robot is a complex electromechanical system capable of carrying a certain load, moving on a vertical wall surface, and completing a specific task. Due to its ability to move on a vertical wall surface, it can work in some special environments, such as pipeline inspection, ship hull rust removal, high-altitude wall surface spraying, and other special application scenarios.

[0003] A traditional rigid wall-climbing robot is composed of rigid components and joints, which are driven by motors, hydraulic drives, pneumatic drives, and other drives, resulting in a complex structure, large volume, and heavy weight. Wall surface adsorption is achieved by using magnetic adsorption, negative pressure adsorption, and bionic adsorption, which has specific requirements for the wall surface conditions.

[0004] Therefore, in order to solve the above technical problems of the traditional rigid wall-climbing robot, the present application aims to design a soft wall-climbing robot and a control method thereof, which can change its shape and size in a large range, has a simple structure, is light and portable, and is suitable for a wide range of wall materials. SUMMARY

[0005] The purpose of the present application is to provide a soft wall-climbing robot and a control method thereof, which can solve the technical problems of the traditional rigid wall-climbing robot, such as complex structure and high requirements for wall surface conditions.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] The soft wall-climbing robot comprises a soft actuator and electrostatic adsorption feet installed at both ends of the soft actuator.

[0008] The soft actuator comprises a telescopic and deformable shell, spring limit plates are fixedly connected to the front and rear ends of the telescopic and deformable shell, and SMA springs are symmetrically arranged on the left and right sides inside the telescopic and deformable shell.

[0009] Spring connectors are fixed to the two ends of the two SMA springs, and limit holes are formed in the surface of the spring limit plate, and the spring connectors are fixed inside the limit holes.

[0010] Further, the telescopic and deformable shell has a corrugated tube structure and is made of ecoflex-0030 silicone material.

[0011] Further, the spring connectors are connected to an Arduino control board, the Arduino control board controls the SMA springs by energizing or de-energizing the SMA springs through the spring connectors, and the SMA springs heat and shrink when energized.

[0012] Further, the electrostatic adsorption foot comprises a foot plate, and the bottom of the foot plate is sequentially fixed with an upper polyimide film, a flexible electrode and a lower polyimide film from top to bottom.

[0013] Further, two terminal ends of the flexible electrode are respectively provided with two connecting terminals for being connected with an Arduino control panel, and the flexible electrode is powered on or powered off through the Arduino control panel, and the electrostatic adsorption force is generated when the flexible electrode is powered on to enable the soft wall-climbing robot to be adsorbed on the wall.

[0014] Further, the electrostatic adsorption foot is detachably fixed at the two ends of the soft actuator.

[0015] Further, one side of the spring limiting plate is fixed with a T-shaped clamping groove at the bottom.

[0016] The top of the foot plate is fixed with a vertical plate, and one side of the top of the vertical plate is fixed with a T-shaped clamping block.

[0017] The detachable fixing is realized through the clamping fixing mode of the T-shaped clamping block and the T-shaped clamping groove between the soft actuator and the electrostatic adsorption foot.

[0018] The application also provides a control method of the soft wall-climbing robot, and the movement control method comprises a movement control method and a turning control method.

[0019] Further, the movement control method comprises:

[0020] Step 11. Entering an initial state:

[0021] The flexible electrodes of the two electrostatic adsorption feet are powered on, and the two SMA springs in the soft actuator are powered off at the same time;

[0022] Step 12. Entering a contraction stage:

[0023] The flexible electrode of the electrostatic adsorption foot at the end of the movement direction is kept powered on, and the flexible electrode of the electrostatic adsorption foot at the end of the movement direction is powered off; at the same time, the two SMA springs in the soft actuator are powered on, and the two SMA springs are heated and contracted after being powered on, drive the telescopic deformation shell to be shortened, and drive the electrostatic adsorption foot at the end of the movement direction to move;

[0024] Step 13. Entering a recovery stage:

[0025] When the length is shortened to a predetermined stroke, the flexible electrode of the electrostatic adsorption foot at the end of the movement direction is powered off, the flexible electrode of the electrostatic adsorption foot at the end of the movement direction is powered on, and the two SMA springs in the soft actuator are powered off at the same time;

[0026] Meanwhile, the telescopic deforming shell drives the two SMA springs to accelerate recovery under its own stress;

[0027] When the soft body driver is elongated to complete recovery, it enters the initial state, and a moving cycle is completed.

[0028] Further, the turning control method comprises:

[0029] Step 21. Entering the initial state:

[0030] Both of the electrostatic adsorption flexible electrodes are powered on; meanwhile, both of the two SMA springs inside the soft body driver are powered off;

[0031] Step 22. Entering the turning stage:

[0032] One of the electrostatic adsorption flexible electrodes is powered off, and the other one is kept powered on; meanwhile, the SMA spring at the turning far end is kept powered off, and the SMA spring at the turning direction end is powered on;

[0033] The powered-on SMA spring (14) is heated and shrunk, drives the other SMA spring (14) to bend, and drives the telescopic deforming shell (11) to bend;

[0034] Step 23. Entering the recovery stage:

[0035] When the turning reaches a predetermined angle, the electrostatic adsorption flexible electrode powered on in the turning stage is powered off, and the electrostatic adsorption flexible electrode powered off in the turning stage is powered on; meanwhile, both of the two SMA springs are powered off;

[0036] Meanwhile, the telescopic deforming shell drives the two SMA springs to accelerate recovery under its own stress;

[0037] When the soft body driver is completely recovered, it enters the initial state, and a turning cycle is completed.

[0038] The present application has at least the following beneficial effects:

[0039] (1) The soft wall-climbing robot of the present application is fixed by the electrostatic adsorption of the electrostatic adsorption feet, so that the wall-climbing robot is suitable for a wide range of wall materials, and can be applied to various complex structure walls;

[0040] (2) The present application drives the entire soft wall-climbing robot to change its shape and size in a large range through the contraction of the two powered SMA springs, thereby realizing the functions of moving and turning, and the structure is simple and light, and the use and control are convenient.

[0041] (3) The detachable connecting structure between the electrostatic adsorption foot and the soft body driver saves the maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 It is a whole schematic diagram of the soft body wall climbing robot of the present application.

[0044] Figure 2 It is a schematic diagram of the soft body driver.

[0045] Figure 3 It is a schematic diagram of the electrostatic adsorption foot.

[0046] Figure 4 It is a schematic diagram of the connecting structure of the soft body driver and the electrostatic adsorption foot.

[0047] Figure 5 It is a schematic diagram of the forward and backward movement.

[0048] Figure 6 It is a schematic diagram of the turning.

[0049] Figure 7 It is a schematic diagram of the principle of the flexible electrode generating electrostatic adsorption.

[0050] In the drawings: 1, soft body driver; 2, electrostatic adsorption foot; 11, shell; 12, spring connection; 13, spring limiting plate; 14, SMA spring; 21, foot plate; 22, upper polyimide film; 23, flexible electrode; 24, lower polyimide film. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail in combination with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

[0052] Embodiment 1:

[0053] Please refer to Figure 1The soft-wall-climbing robot comprises a soft driver 1 and electrostatic adsorption feet 2 fixed to both ends of the soft driver 1, and the robot is in different forms through the active deformation of the soft driver 1 to realize movement, and the electrostatic adsorption feet 2 are used for adsorption and fixation, and the soft-wall-climbing robot is suitable for various wall materials such as conductors and insulators, can climb various walls vertically, carry a payload, and move along a certain route.

[0054] Please refer to Figure 2 The soft driver 1 comprises a telescopic and deformable shell 11, spring limiting plates 13 are fixedly connected to both ends of the telescopic and deformable shell 11, SMA springs 14 are symmetrically arranged on both sides of the inside of the telescopic and deformable shell 11, and spring connectors 12 are fixed to both ends of the two SMA springs 14.

[0055] The surface of the spring limiting plate 13 is also provided with a limiting hole, and the spring connector 12 is fixed in the limiting hole.

[0056] In a specific application, the telescopic and deformable shell 11 is fixedly connected to the spring limiting plate 13 through an adhesive mode, and the spring connector 12 is fixedly connected to the SMA spring 14 through a welding mode.

[0057] In a specific application, the outer side of the spring limiting plate 13 comprises a layer of silica gel material, and the limiting hole also comprises a layer of silica gel, the spring connector 12 is inserted into the limiting hole and fixedly connected to the spring limiting plate 13 through an adhesive mode.

[0058] In a specific application, the telescopic and deformable shell 11 has a corrugated tube structure and is made of ecoflex-0030 silica gel. When the structure is subjected to a certain extrusion or stretching, it can be folded and greatly deformed in the axial direction. The ecoflex-0030 material has good heat resistance, insulation and elastic deformation capacity.

[0059] The outer side of the spring connector 12 exposed from the spring limiting plate 13 is connected to an Arduino control board through wiring, so that the SMA spring 14 can be powered through the spring connector 12 at both ends of the SMA spring 14 under the control of the Arduino control board. When the SMA spring 14 is powered on, the temperature of the SMA spring 14 will rise and emit a large amount of heat, but the heat resistance of the ecoflex-0030 material makes it not significantly affected, and because it has good plastic deformation capacity, the telescopic and deformable shell 11 will also shrink when the SMA spring 14 starts to shrink under power, and will accelerate the SMA spring 14 to return to the original length after the SMA spring 14 is powered off.

[0060] Please refer to Figure 3 , the electrostatic adsorption foot 2 includes a foot plate 21, and the bottom of the foot plate 21 is sequentially fixedly installed from top to bottom with an upper polyimide film 22, a flexible electrode 23 and a lower polyimide film 24.

[0061] Please refer to Figure 7 , both ends of the flexible electrode 23 are respectively provided with two terminal blocks for being connected with an Arduino control panel, and the flexible electrode 23 is powered on or powered off through the Arduino control panel; when powered on, the flexible electrode 23 generates an electric field to polarize the lower polyimide film 24 and a target wall surface, the side of the lower polyimide film 24 close to the flexible electrode 23 is negatively charged, the side close to the target wall surface is positively charged, and the side of the target wall surface close to the lower polyimide film 24 is negatively charged, so that the electrodes attract each other to generate an adsorption force, so that the electrostatic adsorption foot 2 can be adsorbed on the wall surface.

[0062] Embodiment 2:

[0063] Based on the above embodiment 1, a specific detachable connection structure between the soft driver 1 and the electrostatic adsorption foot 2 is provided.

[0064] Specifically, please refer to Figure 4 , one side of the bottom of the spring limiting plate 13 is fixed with a T-shaped clamping groove;

[0065] The top of the foot plate 21 is fixed with a vertical plate, and one side of the top of the vertical plate is fixed with a T-shaped clamping block.

[0066] The soft driver 1 and the electrostatic adsorption foot 2 are connected through the T-shaped clamping block slidingly clamped in the T-shaped clamping groove, realizing detachable connection.

[0067] In use, the T-shaped clamping block is clamped in the T-shaped clamping groove, and the connection reliability is ensured by the friction force at the connection part, which can be a transition fit. If the electrostatic adsorption foot 2 is damaged, the damaged electrostatic adsorption foot 2 can be directly pulled out and replaced with a complete electrostatic adsorption foot 2, which facilitates component replacement and saves maintenance cost to a certain extent.

[0068] In this embodiment, the profile connection mode of the T-shaped clamping block clamped between the T-shaped clamping grooves can simultaneously withstand the lateral force, and the connection parts of the two parts can be formed at one time, and the disassembly is convenient.

[0069] Of course, in other embodiments, the spring limiting plate 13 and the foot plate 21 can also be fixed by bolts, and detachable fixing can also be realized.

[0070] Embodiment 3:

[0071] The embodiment is mainly used for disclosing the specific operation mode of the soft wall-climbing robot in the embodiment 1.

[0072] The specific operation mode of the soft wall-climbing robot includes forward and backward movement and turning;

[0073] (1) About forward and backward movement

[0074] Please refer to Figure 5 :

[0075] The direction in which the soft wall-climbing robot needs to move is the movement direction end, and the other end is the movement away end.

[0076] Step 11. Enter the initial state:

[0077] The flexible electrodes 23 of the two electrostatic adsorption feet 2 are powered on, and the two SMA springs 14 inside the soft actuator 1 are powered off, so that the soft wall-climbing robot is adsorbed on the wall.

[0078] Step 12. Enter the contraction phase

[0079] The flexible electrodes 23 of the electrostatic adsorption feet 2 at the movement direction end continue to be powered on, and the electrostatic adsorption feet 2 at the movement away end are powered off, and the two SMA springs 14 inside the soft actuator 1 are powered on. The SMA springs 14 contract in the powered and heated state, drive the telescopic deformation shell 11 to become shorter, and simultaneously drive the electrostatic adsorption feet 2 at the movement away end to move.

[0080] Step 13. Enter the recovery phase

[0081] When the contraction reaches the predetermined stroke, the flexible electrodes 23 of the electrostatic adsorption feet 2 at the movement direction end are powered off, and the two SMA springs 14 inside the soft actuator 1 are powered off, and the flexible electrodes 23 of the electrostatic adsorption feet 2 at the movement away end are powered on.

[0082] When the two SMA springs 14 are powered off, their temperature gradually decreases, and they gradually recover to the original length. At this time, the electrostatic adsorption feet 2 at the movement direction end are in a non-adsorbed state, and the electrostatic adsorption feet 2 at the movement away end are in an adsorbed state, so that the electrostatic adsorption feet 2 at the movement direction end recover and elongate in the movement direction. At the same time, the telescopic deformation shell 11 can also accelerate the recovery speed under its own stress;

[0083] When the soft actuator 1 is completely recovered, it enters the initial state. One movement cycle is completed.

[0084] Repeat the above steps 11-13 to complete the multi-cycle forward and backward movement of the soft wall-climbing robot.

[0085] (2) about turning

[0086] Please refer to Figure 6 :

[0087] The direction in which the soft-wall-climbing robot needs to turn is the turning direction end, and the other end is the turning away end.

[0088] Step 21. Enter the initial state:

[0089] Both flexible electrodes 23 of the two electrostatic adsorption feet 2 are powered on; at the same time, both SMA springs 14 inside the soft driver 1 are powered off, so that the soft-wall-climbing robot is adsorbed on the wall.

[0090] Step 22. Enter the turning stage:

[0091] The flexible electrode 23 of one of the two electrostatic adsorption feet 2 is powered off, and the flexible electrode 23 of the other electrostatic adsorption foot 2 is kept powered on, while the SMA spring 14 located at the turning away end is kept powered off, and the SMA spring 14 located at the turning direction end is powered on.

[0092] At this time, the SMA spring 14 located at the turning away end is powered on and heated to shrink, and under the combined action, the other SMA spring 14 is bent, and the telescopic deformable shell 11 is bent towards the turning direction end, and the powered-off electrostatic adsorption foot 2 is moved.

[0093] Step 23. Enter the recovery stage

[0094] When the soft-wall-climbing robot turns to the predetermined angle, the flexible electrode 23 of the electrostatic adsorption foot 2 powered on in the turning stage is powered off, and the flexible electrode 23 of the electrostatic adsorption foot 2 powered off in the turning stage is powered on; at the same time, both SMA springs 14 are powered off.

[0095] At this time, the SMA spring 14 previously powered on and heated to shrink is powered off, so that the soft-wall-climbing robot recovers with the powered-on electrostatic adsorption foot 2 at this time as the fixed end; at the same time, the telescopic deformable shell 11 can also accelerate the recovery speed under its own stress.

[0096] When the soft driver 1 is completely recovered, it enters the initial state. One turning cycle is completed.

[0097] Repeat steps 21-23 above to complete the turning action of the soft-wall-climbing robot.

[0098] Therefore, in combination with the above content, it can be seen that:

[0099] The soft-wall-climbing robot of the present application is fixed by the electrostatic adsorption of the electrostatic adsorption feet 2, which makes the present wall-climbing robot suitable for a wide range of wall materials, and makes the present wall-climbing robot suitable for various complex structure walls.

[0100] The soft wall-climbing robot can change its shape and size in a large range, and realize moving and turning functions by the contraction of the two SMA springs 14, and the structure is simple and light, and the use and control are convenient.

[0101] In addition, the detachable connection structure between the electrostatic adsorption feet 2 and the soft driver 1 can save the maintenance cost to a certain extent.

[0102] The basic principle, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements fall within the scope of the claimed present application. The scope of protection required by the present application is defined by the appended claims and their equivalents.

Claims

1. A control method of a soft wall-climbing robot, characterized by, The control method is applied to a soft-wall-climbing robot, and the soft-wall-climbing robot comprises a soft driver (1) and electrostatic adsorption feet (2) mounted at both ends of the soft driver (1); The soft driver (1) comprises a telescopic deformable shell (11), the front and rear ends of the telescopic deformable shell (11) are fixedly connected with spring limiting plates (13), and the left and right sides in the telescopic deformable shell (11) are symmetrically provided with SMA springs (14); The two ends of the two SMA springs (14) are respectively fixed with spring connectors (12), and the surface of the spring limiting plate (13) is also provided with a limiting hole, and the spring connector (12) is fixed in the limiting hole; The control method of the soft-wall-climbing robot comprises a movement control method and a turning control method; The movement control method comprises: Step 11. Entering an initial state: The flexible electrodes (23) of the two electrostatic adsorption feet (2) are powered on; at the same time, the two SMA springs (14) in the soft driver (1) are powered off; Step 12. Entering a contraction stage: The flexible electrode (23) of the electrostatic adsorption foot (2) at the moving direction end is kept powered on, and the electrostatic adsorption foot (2) at the moving away end is powered off; at the same time, the two SMA springs (14) in the soft driver (1) are powered on, and the two SMA springs (14) are heated and contracted after being powered on, drive the telescopic deformable shell (11) to be shortened, and drive the electrostatic adsorption foot (2) at the moving away end to move; Step 13. Entering a recovery stage: When the telescopic deformable shell (11) is shortened to a predetermined stroke, the flexible electrode (23) of the electrostatic adsorption foot (2) at the moving direction end is powered off, the flexible electrode (23) of the electrostatic adsorption foot (2) at the moving away end is powered on, and the two SMA springs (14) in the soft driver (1) are powered off; At the same time, the telescopic deformable shell (11) drives the two SMA springs (14) to accelerate recovery under its own stress; When the soft driver (1) is elongated to completely recover, the initial state is entered, and a movement cycle is completed; The turning control method comprises: Step 21. Entering an initial state: The flexible electrodes (23) of the two electrostatic adsorption feet (2) are powered on; at the same time, the two SMA springs (14) in the soft driver (1) are powered off; Step 22. Entering a turning stage: The flexible electrode (23) of one of the electrostatic adsorption feet (2) is powered off, and the flexible electrode (23) of the other electrostatic adsorption foot (2) is kept powered on; at the same time, the SMA spring (14) at the turning away end is kept powered off, and the SMA spring (14) at the turning direction end is powered on; The powered-on SMA spring (14) is heated and contracted, drives the other SMA spring (14) to bend, and drives the telescopic deformable shell (11) to bend; Step 23. Entering a recovery stage: When turning to the predetermined angle, the flexible electrode (23) of the electrostatic adsorption foot (2) powered in the turning stage is powered off, and the flexible electrode (23) of the electrostatic adsorption foot (2) powered off in the turning stage is powered on; at the same time, both SMA springs (14) are powered off; At the same time, the telescopic deformable shell (11) drives the two SMA springs (14) to accelerate recovery under its own stress; When the soft driver (1) is completely recovered, it enters the initial state, and a turning cycle is completed.

2. The control method of the soft wall-climbing robot according to claim 1, wherein The telescopic deformable shell (11) is in the shape of a corrugated pipe structure and is made of ecoflex-0030 silicone material.

3. The control method of the soft wall-climbing robot according to claim 1, wherein The spring connector (12) is connected with the Arduino control board, and the Arduino control board powers on or powers off the SMA spring (14) through the spring connector (12). When powered on, the SMA spring (14) heats and shrinks.

4. The control method of the soft wall-climbing robot according to claim 1, wherein The electrostatic adsorption foot (2) includes a foot plate (21), and the bottom of the foot plate (21) is sequentially fixed with an upper polyimide film (22), a flexible electrode (23) and a lower polyimide film (24) from top to bottom.

5. The control method of the soft wall-climbing robot according to claim 4, wherein Both ends of the flexible electrode (23) are provided with two wire terminals respectively, which are used for connecting with the Arduino control board respectively, and the flexible electrode (23) is powered on or powered off through the Arduino control board. When the flexible electrode (23) is powered on, it generates electrostatic adsorption force to make the soft wall-climbing robot adsorb on the wall.

6. The control method of the soft wall-climbing robot according to claim 4, wherein The electrostatic adsorption foot (2) is detachably fixed on both ends of the soft driver (1).

7. The control method of the soft wall-climbing robot according to claim 6, wherein One side of the spring limiting plate (13) is fixed with a T-shaped clamping groove at the bottom; The top of the foot plate (21) is fixed with a vertical plate, and one side of the top of the vertical plate is fixed with a T-shaped clamping block; The soft driver (1) and the electrostatic adsorption foot (2) are detachably fixed through the clamping and fixing mode of the T-shaped clamping block and the T-shaped clamping groove.

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