A debris collection device based on electrostatic attraction

Abstract

The application provides a debris collecting device based on electrostatic adsorption and belongs to the technical field of adsorption grabbing equipment. The problem of cleaning debris in the narrow space in the aircraft fuel tank is solved. The device comprises an electrostatic chuck, a mechanical arm and a plurality of automatic opening and closing storage mechanisms, the plurality of automatic opening and closing storage mechanisms are evenly arranged on the outer side of the electrostatic chuck in the circumferential direction, a supporting column is arranged on the top of the electrostatic chuck, the top end surface of the supporting column is connected with the mechanical arm, the automatic opening and closing storage mechanism comprises a linear sliding rail, a leaf spring and a storage finger, one end of the linear sliding rail is arranged obliquely on the outer side of the top of the electrostatic chuck, a sliding block is arranged on the linear sliding rail in a sliding mode, a plurality of storage fingers are evenly arranged on the outer side of the electrostatic chuck in the circumferential direction, the sliding block is fixedly connected with the inner wall on one side of the storage finger, and the outer side of the bottom of the mechanical arm is connected with one side of the top of the storage finger through the leaf spring. It is mainly used for cleaning the debris in the aircraft fuel tank.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of adsorbing grabbing equipment, and particularly relates to a debris collecting device based on electrostatic adsorption. BACKGROUND

[0002] The electrostatic chuck is based on the adsorption technology of electrostatic adsorption and is widely used in the fields of ship industry and national defense and military affairs. The debris collecting device based on the adsorption capacity of the electrostatic chuck fully meets the design concept and application background of debris collection in the narrow space inside the aircraft mailbox and embodies great application potential in various space tasks in the future. SUMMARY

[0003] Therefore, the application aims to provide a debris collecting device based on electrostatic adsorption to solve the problem of cleaning debris in the narrow space inside the aircraft oil tank.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme: a debris collecting device based on electrostatic adsorption, which comprises an electrostatic chuck, a mechanical arm and a plurality of automatic opening and closing storage mechanisms, the plurality of automatic opening and closing storage mechanisms are evenly arranged on the outer side of the electrostatic chuck in the circumferential direction, a supporting column is arranged on the top of the electrostatic chuck, the top end surface of the supporting column is connected with the mechanical arm, the automatic opening and closing storage mechanism comprises a linear slide rail, a leaf spring and a storage finger, one end of the linear slide rail is arranged obliquely on the outer side of the top of the electrostatic chuck, a sliding block is arranged on the linear slide rail, a plurality of storage fingers are evenly arranged on the outer side of the electrostatic chuck in the circumferential direction, the sliding block is fixedly connected with the inner wall on one side of the storage finger, and the outer side of the bottom of the mechanical arm is connected with one side of the top of the storage finger through the leaf spring.

[0005] Furthermore, the bottoms of the plurality of storage fingers are matched and connected, and the side wall edges of adjacent two storage fingers are connected through a folding membrane.

[0006] Furthermore, a connecting plate is arranged between the electrostatic chuck and the supporting column, and one end of the linear slide rail is obliquely connected to the outer edge of the connecting plate.

[0007] Furthermore, the top of the mechanical arm is connected with an external moving device.

[0008] Furthermore, the bottom of the mechanical arm is provided with a mechanical sensor.

[0009] Furthermore, the bottom of the storage finger is provided with a pulley.

[0010] Furthermore, the number of the automatic opening and closing storage mechanisms is two or four.

[0011] Compared with the prior art, the application has the following beneficial effects:

[0012] 1、The chip collection method using the electrostatic chuck of the application can be used for non-destructive adsorption in narrow space;

[0013] 2、The automatic opening and closing storage finger mechanism of the application considers the functions of protecting the electrostatic chuck and collecting the chips;

[0014] 3、The storage finger driving mode using the interaction of the leaf spring and the linear slide rail of the application does not need to use motor elements, and has low cost, simple structure and high reliability;

[0015] 4、The application avoids the irreparable damage of the adsorbed object caused by pressure, collision and other mechanical reasons in the use process of the traditional mechanical chuck. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings, and their description, are presented to explain the application and are not intended to limit the application. In the drawings:

[0017] Figure 1 The overall structure schematic diagram of the chip collection device based on electrostatic adsorption according to the application when the number of automatic opening and closing storage mechanisms is two;

[0018] Figure 2 The overall structure schematic diagram of the chip collection device based on electrostatic adsorption according to the application in the unfolded state of the storage finger;

[0019] Figure 3 The structure schematic diagram of the mechanical arm of the chip collection device based on electrostatic adsorption according to the application;

[0020] Figure 4 The structure schematic diagram of the electrostatic chuck and the supporting column of the chip collection device based on electrostatic adsorption according to the application;

[0021] Figure 5 The structure schematic diagram of the linear slide rail and the sliding block of the chip collection device based on electrostatic adsorption according to the application;

[0022] Figure 6 The structure schematic diagram of the leaf spring of the chip collection device based on electrostatic adsorption according to the application;

[0023] Figure 7 The structure schematic diagram of the storage finger of the mechanical arm of the chip collection device based on electrostatic adsorption according to the application when the number of automatic opening and closing storage mechanisms is two;

[0024] Figure 8 The overall structure schematic diagram of the chip collection device based on electrostatic adsorption according to the application when the number of automatic opening and closing storage mechanisms is four.

[0025] 1-robotic arm, 2-support column, 3-electrostatic chuck, 4-linear slide, 5-receiving finger, 6-leaf spring, 7-connection plate, 8-foldable film, 9-sliding block. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present application, not all the embodiments.

[0027] Reference Figures 1-8 In order to illustrate the present embodiment, a debris collection device based on electrostatic adsorption is provided, which comprises an electrostatic chuck 3, a robotic arm 1 and a plurality of automatic opening and closing receiving mechanisms, the plurality of automatic opening and closing receiving mechanisms are uniformly arranged on the outer side of the electrostatic chuck 3 in the circumferential direction, the top of the electrostatic chuck 3 is provided with a support column 2, the top end surface of the support column 2 is connected with the robotic arm 1, the automatic opening and closing receiving mechanism comprises a linear slide 4, a leaf spring 6 and a receiving finger 5, one end of the linear slide 4 is obliquely arranged on the outer side of the top of the electrostatic chuck 3, a sliding block 9 is arranged on the linear slide 4, a plurality of receiving fingers 5 are uniformly arranged on the outer side of the electrostatic chuck 3 in the circumferential direction, the sliding block 9 is fixedly connected with the inner wall of one side of the receiving finger 5, the outer side of the bottom of the robotic arm 1 is connected with one side of the top of the receiving finger 5 through the leaf spring 6, the electrostatic chuck 3 adsorbs objects, the linear slide 4 and the sliding block 9 play a limiting and guiding role in the opening and closing process of the receiving finger 5, the leaf spring 6 is compressed in the unfolding process of the receiving finger 5, the elastic potential energy increases, and in the closing process of the receiving finger 5, the leaf spring 6 starts to stretch to provide driving force for the receiving finger 5 to complete the closing, and the closed receiving finger 5 plays a role of collecting and preventing the adsorbed objects from falling.

[0028] In the present embodiment, the bottoms of the plurality of receiving fingers 5 are matched and connected, the side walls of the adjacent two receiving fingers 5 are connected through a foldable film 8, the foldable film 8 is a flexible and foldable structure, and plays a certain shielding role when the receiving finger 5 is opened and folded.

[0029] In the present embodiment, the connection plate 7 is arranged between the electrostatic chuck 3 and the support column 2, and one end of the linear slide 4 is obliquely connected to the outer edge of the connection plate 7, and the connection plate 7 is used to connect the linear slide 4.

[0030] In the present embodiment, the top of the robotic arm 1 is connected with an external moving device, and the external moving device moves by connecting the driving device of the robotic arm 1.

[0031] In the present embodiment, the bottom of the robotic arm 1 is provided with a mechanical sensor, and the mechanical sensor is used to measure the stress of the device during the operation of the device.

[0032] The bottom of the storage finger 5 is provided with a pulley, which makes the storage finger 5 better realize the opening and closing action.

[0033] The number of the automatic opening and closing storage mechanism in the embodiment is two or four, and the number of the automatic opening and closing storage mechanism determines the volume capacity of the collected objects.

[0034] The shape of the storage finger 5 in the embodiment can be adjusted adaptively according to the number of the automatic opening and closing storage mechanism, so as to ensure the function of collecting and adsorbing objects and preventing the objects from falling.

[0035] The working principle of the embodiment is as follows:

[0036] The mechanical arm 1 is driven by the external moving device to move downward to contact the ground through the pulley at the bottom of the storage finger 5. At this time, the storage finger 5 receives an upward supporting force, and is opened outward under the action of the linear slide rail 4 and the sliding block 9. At this time, the sliding block 9 moves obliquely upward along the linear slide rail 4, and the flat spring 6 is compressed. After the storage finger 5 is opened, the electrostatic chuck 3 contacts the debris to adsorb objects, and the electrostatic chuck 3 starts to work to adsorb the objects. After the adsorption is completed, the mechanical arm 1 is driven by the external moving device to move upward, and the storage finger 5 gradually separates from the contact surface. The flat spring 6 starts to stretch and returns to the original shape. The storage finger 5 is closed inward under the action of the flat spring 6. At this time, the sliding block 9 moves obliquely downward along the linear slide rail 4 until the storage finger 5 is completely closed.

[0037] The debris collection method using the electrostatic chuck 3 in the embodiment can be used for lossless adsorption in narrow space.

[0038] The automatic opening and closing storage finger 5 mechanism used in the embodiment considers the functions of protecting the electrostatic chuck 3 and collecting debris.

[0039] The storage finger 5 driving method using the interaction of the flat spring 6 and the linear slide rail 4 in the embodiment does not need to use a motor and other elements, has low cost, simple structure and high reliability.

[0040] The embodiment avoids the irreparable damage to the adsorbed objects caused by pressure, collision and other mechanical reasons in the use process of the traditional mechanical chuck.

[0041] The embodiments disclosed above are only used to help explain the application. The embodiments do not describe all the details and limit the application to the specific embodiments. According to the content of the specification, many modifications and changes can be made. The embodiments are selected and described in detail in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application.

Claims

1. A debris collection device based on electrostatic adsorption, characterized in that: It includes an electrostatic chuck (3), a robotic arm (1), and multiple sets of automatic opening and closing storage mechanisms. The multiple sets of automatic opening and closing storage mechanisms are evenly arranged on the outside of the electrostatic chuck (3) along the circumferential direction. A support column (2) is provided on the top of the electrostatic chuck (3). The top surface of the support column (2) is connected to the robotic arm (1). The automatic opening and closing storage mechanism includes a linear slide rail (4), a leaf spring (6), and storage fingers (5). One end of the linear slide rail (4) is inclined and arranged on the outside of the top of the electrostatic chuck (3). A slider (9) is slidably arranged on the linear slide rail (4). Multiple storage fingers (5) are evenly arranged on the outside of the electrostatic chuck (3) along the circumferential direction. The slider (9) is fixed to the inner wall of one side of the storage finger (5). The outer side of the bottom of the robotic arm (1) is connected to the top side of the storage finger (5) through the leaf spring (6).

2. The debris collection device based on electrostatic adsorption according to claim 1, characterized in that: The bottoms of the plurality of storage fingers (5) are connected, and the sidewall edges of two adjacent storage fingers (5) are connected by a folding film (8).

3. The debris collection device based on electrostatic adsorption according to claim 1, characterized in that: A connecting plate (7) is provided between the electrostatic chuck (3) and the support column (2), and one end of the linear slide rail (4) is inclinedly connected to the outer edge of the connecting plate (7).

4. The debris collection device based on electrostatic adsorption according to claim 1, characterized in that: The top of the robotic arm (1) is connected to an external moving device.

5. The debris collection device based on electrostatic adsorption according to claim 1, characterized in that: The bottom of the robotic arm (1) is equipped with a mechanical sensor.

6. The debris collection device based on electrostatic adsorption according to claim 1, characterized in that: The bottom of the storage finger (5) is provided with a pulley.

7. The debris collection device based on electrostatic adsorption according to claim 1, characterized in that: The number of automatic opening and closing storage mechanisms is two or four.

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