Wall climbing robot based on electrostatic adsorption

Abstract

The invention aims to provide a wall-climbing robot based on electrostatic adsorption, which comprises a middle electrostatic chuck and electrostatic chucks, namely a left electrostatic chuck and a right electrostatic chuck, positioned on two sides of the middle electrostatic chuck, the motion mode of the gait of the two feet is achieved through transmission of the motor and the worm and gear, meanwhile, the steering engine is used as a switch to control adsorption and desorption of the electrostatic chuck, cooperative control over the driving motor, the control steering engine and the boosting module is achieved through an integrated circuit board, and seamless switching of adsorption force of the two feet can be achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a crawling robot, in particular to a crawling robot utilizing a controllable electrostatic adsorption function. Background Art

[0002] There are many types of wall-climbing robots at present. According to the adsorption method, they can be divided into magnetic adsorption, negative pressure adsorption, positive pressure adsorption, electrostatic adsorption and bionic adsorption, etc. According to the movement form, they can be divided into foot-type, wheel-type, wheel-foot type and crawler type, etc. This patent focuses on the foot-type wall-climbing robot based on electrostatic adsorption, which has obvious improvements in climbing speed, structural simplicity and control fluency compared with the existing technology. From the perspective of adsorption method: magnetic robots can only be used on ferromagnetic walls; negative pressure adsorption is the formation of a negative pressure area between the electrostatic suction cup and the wall, which requires the wall to be absolutely flat and uniform; positive pressure adsorption usually involves the rotation of the propeller on the back of the robot to generate a large pressure to press the robot against the wall, which inevitably requires a large power consumption and inevitably produces noise; bionic adsorption mainly includes dry adsorption similar to that of a gecko and wet adsorption similar to that of a snail. The research on its mechanism of action is not yet mature and it is difficult to apply it to commercial wall-climbing robots for the time being; electrostatic adsorption has few requirements for the adsorption wall, low power consumption, no noise and good controllability, so it is suitable for micro-wall-climbing robots, but because it usually requires a power supply voltage of kilovolts or even higher, and the adsorption response speed on insulating walls is slow, it still needs to be improved.

[0003] From the perspective of movement: wheeled robots are usually faster, but lack stability; tracked robots are more stable in adsorption, but the speed is limited, and if electrostatic adsorption is used, it is usually necessary to stop intermittently to re-stimulate the adsorption force; foot-type is a more ideal way to climb walls, which can cross some obstacles on the wall by lifting the feet, and the adsorption and desorption of each step are independent, so the controllability is better, but in the past, foot-type wall-climbing robots that used electrostatic adsorption were usually subject to the residual charge left after the electrostatic suction cup was desorbed, because as the number of steps increases, the residual charge will gradually accumulate, and eventually lead to a decrease in adsorption force. Therefore, solving the problem of residual charge after the electrostatic suction cup is desorbed can further demonstrate the advantages of foot-type wall-climbing robots. Summary of the invention

[0004] The first inventive object of the present invention is to achieve rapid movement of the wall-climbing robot at any angle on the insulating wall surface through a simple robot configuration driven by a single motor and fast-response electrostatic adsorption technology with good controllability.

[0005] The second invention objective of the present invention is to use a micro servo in combination with a flexible rocker arm as a controller for the electrostatic suction cup, thereby effectively improving the adsorption stability and control reliability of the wall-climbing robot.

[0006] The third invention objective of the present invention is to use a single-chip microcomputer to achieve coordinated control of the drive motor and the control servo, so that the advantage of rapid desorption is fully reflected in the wall-climbing robot.

[0007] The fourth invention objective of the present invention is to provide three sets of transmission shafts for conducting electricity, respectively conducting two high-voltage signals and one low-voltage signal, thereby effectively simplifying the conducting path of the entire machine.

[0008] The fifth invention objective of the present invention is to integrate components such as a drive motor, an electrostatic suction cup, a single-chip control board, a servo controller, a battery and a boost module into a wall-climbing robot to achieve off-line wall-climbing motion.

[0009] Therefore, the purpose of the present invention is to propose a wall-climbing robot based on electrostatic adsorption technology, which realizes the bipedal gait movement form through the transmission of the reduction motor and the worm gear, uses the steering gear as a switch to control the adsorption and desorption of the electrostatic suction cup, and realizes the coordinated control of the drive motor, the control steering gear and the boost module through an integrated circuit board. In addition, the off-line movement of the wall-climbing robot system can be realized by high-voltage conduction of the transmission shaft.

[0010] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0011] A wall-climbing robot based on electrostatic adsorption, comprising a middle electrostatic suction cup and electrostatic suction cups located on both sides thereof, namely a left electrostatic suction cup and a right electrostatic suction cup;

[0012] A driving assembly, which is used to selectively drive the middle electrostatic chuck or the electrostatic chucks on both sides to move;

[0013] A middle electrostatic chuck desorption unit, which is connected to the circuit to consume the charge on the middle electrostatic chuck; and a side electrostatic chuck desorption unit, which is connected to the circuit to consume the charge on the side electrostatic chucks;

[0014] A control unit is capable of controlling a driving component and switching the electrostatic adsorption operation and charge consumption operation of the middle electrostatic suction cup and the electrostatic suction cups on both sides, and when the middle electrostatic suction cup is adsorbed to the wall, the desorption units of the electrostatic suction cups on both sides are connected to the circuit, and the electrostatic suction cups on both sides are lifted up and move under the action of the driving component; when the electrostatic suction cups on both sides are adsorbed to the wall, the desorption unit of the middle electrostatic suction cup is connected to the circuit, and the middle electrostatic suction cup is lifted up and moves under the action of the driving component.

[0015] Preferably, the driving assembly further comprises: the middle electrostatic chuck comprises a first middle axis, a second middle axis and a third middle axis; the left electrostatic chuck comprises a first left axis, a second left axis and a third left axis; the right electrostatic chuck comprises a first right axis, a second right axis and a third right axis;

[0016] Among them, the middle axis is fixedly connected with the left axis and the right axis through a connecting arm to form an active axis system, and the middle axis is driven by a motor; the middle axis is fixedly connected with the left axis and the right axis through a connecting arm to form a first driven axis system; the middle axis is fixedly connected with the left axis and the right axis through a connecting arm to form a second driven axis system, wherein the active axis system selectively drives the middle electrostatic suction cup or the electrostatic suction cups on both sides to move.

[0017] Preferably, the driving assembly further comprises: the driving shaft system, the first driven shaft system and the second driven shaft system comprise conductive materials and are used to form a part of the circuit.

[0018] Preferably, the driving assembly also includes a motor mounted on the middle electrostatic chuck, which drives a central axis through a worm gear assembly.

[0019] Preferably, it also includes a steering gear, which includes a middle electrostatic chuck selection switch and a side electrostatic chuck selection switch, and can selectively connect the middle electrostatic chuck desorption unit and the side electrostatic chuck desorption unit to the circuit, specifically:

[0020] When the servo is in the first position, the middle electrostatic chuck selection switch connects the middle electrostatic chuck circuit and the middle electrostatic chuck is adsorbed to the wall, while the electrostatic chuck selection switches on both sides connect the electrostatic chuck desorption units on both sides to the circuit, and the charges of the electrostatic chucks on both sides are separated from the wall;

[0021] When the servo is in the second position, the middle electrostatic suction cup selection switch selects to connect the middle electrostatic suction cup desorption unit to the circuit, and the middle electrostatic suction cup is separated from the wall. The electrostatic suction cup selection switches on both sides select to connect the electrostatic suction cup circuits on both sides and adsorb them to the wall.

[0022] Preferably, it also includes: a desorption unit, which includes parallel plates, the parallel plates include a first plate and a second plate arranged in parallel, and also includes a conductive cantilever beam, one end of the conductive cantilever beam is set as a fixed end, and the other end is set as a free end, the free end is at least partially placed between the first plate and the second plate, and the free end can be excited by the first plate and the second plate to vibrate; the fixed end of the conductive cantilever beam is outside the parallel plates, and the free end can vibrate between the first plate and the second plate and can contact the two side plates at the maximum amplitude; the desorption unit is connected to the circuit through the conductive cantilever beam;

[0023] The middle electrostatic chuck desorption unit and the electrostatic chuck desorption units on both sides adopt the desorption unit structure.

[0024] Through the above technical scheme, the technical effects of the present invention are as follows:

[0025] 1. Innovation of the wall-climbing robot configuration: using a reduction motor as a driver, and realizing the movement of the robot through the transmission of a worm gear. Previously, the driving methods commonly used for micro-climbing robots include pneumatic drive, piezoelectric drive, dielectric elastomer drive, etc., which are not as good as the motor used in the present invention in terms of reliability, controllability, and off-line stability.

[0026] 2. Innovation in electrostatic adsorption control: Using a servo connected to a flexible rocker arm as a controller, combined with the rapid desorption technology in the patent previously applied for by the applicant, can achieve seamless switching of the adsorption force of both feet. The key issue of a foot-type wall-climbing robot is the timely generation and elimination of the adsorption force. When the electrostatic suction cup is desorbed from the insulating wall, the traditional method usually adopts a direct power-off method. There will be residual charge in the dielectric layer of the electrostatic suction cup, resulting in a relatively slow desorption speed (several seconds to tens of seconds), and the accumulation of residual charge after multiple adsorptions will cause the adsorption force to drop significantly or even fail. The present invention applies rapid desorption technology to the wall-climbing robot, so that the adsorption foot can achieve a rapid response, thereby making the rapid movement of the wall-climbing robot possible.

[0027] 3. Innovation of conductive path: The conductive shaft, a fuselage structural component, is used as a medium for high-voltage electrical signal transmission, which effectively simplifies the fuselage wiring of the wall-climbing robot and creates the possibility of offline configuration. The electrostatic adsorption wall-climbing robot of the present invention uses three electrostatic suction cups, a reduction motor and a steering gear, a total of 11 independent conductive wires. If there is no such innovation in the conductive path, the interference between the high-voltage wire and the low-voltage wire, the interference between each wire and the robot's motion structure, etc. will bring many difficulties to the robot's movement.

[0028] 4. Innovation in control signal integration: Using a single-chip microcomputer to achieve coordinated control of the reduction motor, servo, boost circuit and other modules on the robot improves the reliability of the whole machine control and provides key support for the offline configuration. The reduction motor requires a PWM signal that periodically switches the power on and off, the servo requires a PWM signal with a fixed frequency but periodically switches the duty cycle, and the boost circuit that provides a high-voltage signal to the electrostatic suction cup requires a high-frequency, low-duty-cycle PWM signal. Here, through circuit design and code writing, the three signals can be integrated into a single-chip microcomputer, and then the single-chip microcomputer signal can be controlled in real time through Bluetooth, which is the key support for the robot to achieve reliable control. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional view of a wall-climbing robot based on electrostatic adsorption according to the present invention;

[0030] Figure 2It is a diagram illustrating the motion state of a wall-climbing robot based on electrostatic adsorption in which the middle electrostatic chuck is adsorbed and the electrostatic chucks on both sides are walking;

[0031] Figure 3 It is a diagram illustrating the motion state of a wall-climbing robot based on electrostatic adsorption in which the electrostatic chucks on both sides are adsorbed and the electrostatic chuck in the middle is walking;

[0032] Figure 4 This is a circuit connection principle diagram of a wall-climbing robot based on electrostatic adsorption according to the present invention;

[0033] Figure 5 This is a physical picture of an embodiment of a wall-climbing robot with a wire based on electrostatic adsorption according to the present invention;

[0034] Figure 6 This is a circuit diagram of an off-line embodiment of a wall-climbing robot based on electrostatic adsorption according to the present invention;

[0035] Figure 7 This is a physical diagram of the circuit of an off-line embodiment of a wall-climbing robot based on electrostatic adsorption according to the present invention.

[0036] Reference numerals:

[0037] 10: middle electrostatic chuck; 11: left electrostatic chuck; 12: right electrostatic chuck; 13: electrode; 14: positive access point of middle electrostatic chuck; 15: negative access point of left electrostatic chuck; 16: positive access point of left electrostatic chuck; 17: negative access point of right electrostatic chuck; 18: positive access point of right electrostatic chuck; 19: negative access point of middle electrostatic chuck; 20: motor; 21: worm gear assembly; 30: middle axis 1; 31: middle axis 2; 32: middle axis 3; 33 : Right three axes; 34: Right first axis; 35: Right second axis; 36: Left three axes; 37: Left first axis; 38: Left second axis; 39: Connecting arm; 41: First electrode plate; 42: Second electrode plate; 43: Middle electrostatic suction cup desorption unit access point; 44: Servo; 45: Middle electrostatic suction cup selection switch; 46: Middle electrostatic suction cup access point; 47: Both side electrostatic suction cup access points; 48: Both side electrostatic suction cup desorption unit access points; 49: Both side electrostatic suction cup selection switches. DETAILED DESCRIPTION

[0038] The purpose of this patent is to propose a wall-climbing robot based on electrostatic adsorption technology, which realizes the bipedal gait movement form through the transmission of the reduction motor and the worm gear, uses the servo as a switch to control the adsorption and desorption of the electrostatic suction cup, and realizes the coordinated control of the drive motor, control servo and boost module through an integrated circuit board. In addition, the off-line movement of the wall-climbing robot system can be realized by high-voltage conduction of the transmission shaft.

[0039] A wall-climbing robot based on electrostatic adsorption and its motion posture

[0040] See also Figure 1 , a wall-climbing robot based on electrostatic adsorption, comprising a middle electrostatic chuck 10 and electrostatic chucks on both sides thereof, namely a left electrostatic chuck 11 and a right electrostatic chuck 12; a driving component, which is used to selectively drive the middle electrostatic chuck 10 or the electrostatic chucks on both sides to walk; a middle electrostatic chuck desorption unit, which is used to consume the charge on the middle electrostatic chuck 10 after being connected to the circuit; and a side electrostatic chuck desorption unit, which is used to consume the charge on the side electrostatic chucks after being connected to the circuit; a control unit (in Figure 4 and Figure 6 ), which can control the driving component and switch the electrostatic adsorption operation and charge consumption operation of the middle electrostatic suction cup and the electrostatic suction cups on both sides, and when the middle electrostatic suction cup is adsorbed to the wall, the desorption units of the electrostatic suction cups on both sides are connected to the circuit, and the electrostatic suction cups on both sides are lifted up and moved under the action of the driving component; when the electrostatic suction cups on both sides are adsorbed to the wall, the desorption unit of the middle electrostatic suction cup is connected to the circuit, and the middle electrostatic suction cup is lifted up and moved under the action of the driving component.

[0041] In a wall-climbing robot based on electrostatic adsorption:

[0042] The middle electrostatic suction cup and the supporting frame connected to it serve as the middle foot, and the two side electrostatic suction cups and the supporting frames connected to them serve as the two side feet. The motion characteristics of the whole machine are as follows: in the initial state, the middle electrostatic suction cup and the two side electrostatic suction cups are in contact with the wall, with the middle electrostatic suction cup in front; the middle electrostatic suction cup is first energized to generate adsorption force, and the robot is adsorbed on the wall, at this time, the electrostatic suction cups on both sides are not energized; the reduction motor receives a driving signal of a certain length, so that the two side feet rotate 180 degrees around the middle foot, at this time, the middle foot and the two side feet are in contact with the wall, and the two side feet are in front; at this time, the switch controls the electrostatic suction cups on both sides to energize to generate adsorption force, and at the same time, the middle electrostatic suction cup begins to desorb; after the middle electrostatic suction cup is desorbed, the reduction motor receives a driving signal again, so that the middle foot rotates 180 degrees around the two side feet; when the middle electrostatic suction cup contacts the wall again, the switch controls the middle electrostatic suction cup to energize to generate adsorption force, and the electrostatic suction cups on both sides begin to desorb. The above steps are repeated continuously, and the wall-climbing robot realizes wall-climbing movement according to the designed gait. For details, please refer to Figure 2 , Figure 3 A schematic diagram of continuous actions is given.

[0043] This patent realizes the rapid wall-climbing movement of the electrostatic adsorption wall-climbing robot. The existing wired configuration weighs 7.1g and has a size of <10cm. It can stably move on the vertical wall at a speed of 44.44mm / s (0.45 times the body length per second). Its one movement cycle is 0.45 seconds, of which about 0.25 seconds is used for motor rotation and about 0.2 seconds is used for adsorption or desorption of the electrostatic suction cup. Furthermore, there is an off-line configuration weighing 18g, and the size is basically the same as the wired configuration. The lithium battery for power supply, the single-chip microcomputer and Bluetooth module for generating control signals, the boost circuit for generating high-voltage electrical signals, and the adsorption control device for controlling the high-voltage on and off are integrated into the wall-climbing robot, which can achieve stable climbing on outdoor ceramic tile and other wall surfaces.

[0044] Drive components

[0045] The driving assembly also includes: the middle electrostatic suction cup 10 includes a middle axis 30, a middle axis 31, and a middle axis 32; the left electrostatic suction cup 11 includes a left axis 37, a left axis 38, and a left axis 36; the right electrostatic suction cup 12 includes a right axis 34, a right axis 35, and a right axis 33; wherein the middle axis 30 is fixedly connected with the left axis 37 and the right axis 34 through a connecting arm 39 to form an active axis system, and the middle axis 30 is driven by the motor 20; the middle axis 31 is fixedly connected with the left axis 38 and the right axis 35 through a connecting arm 39 to form a first driven axis system; the middle axis 32 is fixedly connected with the left axis 36 and the right axis 33 through a connecting arm 39 to form a second driven axis system, wherein the active axis system selectively drives the middle electrostatic suction cup 10 or the electrostatic suction cups on both sides to move.

[0046] The main structure of the wall-climbing robot of the present invention is as follows Figure 1 As shown, the driving force of the wall-climbing robot is provided by a reduction motor, which is further amplified by a worm gear transmission mechanism to drive the robot's foot-type movement. The motor 20 is installed on the middle electrostatic suction cup 10 and drives a centering shaft 30 through a worm gear assembly 21.

[0047] Installation of circuits and wires

[0048] The drive assembly also includes: a driving shaft system, a first driven shaft system and a second driven shaft system including conductive materials, and used to form a part of the circuit. The wall-climbing robot body has three sets of conductive shafts connecting the middle foot and the two side feet, which are both connecting components for the movement of the robot and conductive lines between the three electrostatic suction cups of the robot. The electrostatic adsorption wall-climbing robot of the present invention uses a low-voltage (3 to 5 volts) reduction motor, a servo and a high-voltage (above kilovolts) electrostatic suction cup at the same time. Therefore, simple wiring without interference becomes an important design goal. Taking into account the high voltage and low current characteristics of the electrostatic suction cup (the voltage is above kilovolts and the current is in the microampere level), three sets of conductive shafts can be used as part of the circuit. The three shafts respectively conduct one ground signal and two high-voltage electrical signals. Specifically, for the wired version of the robot, such as Figure 3 As shown, the conductive shaft 1 can be used to connect the high-voltage end of the middle electrostatic chuck, and then lead the wire from one side of the fuselage to the control device; the conductive shaft 2 can be used to simultaneously connect the low-voltage ends of the three electrostatic chucks, and a wire can be led from the middle of the fuselage to the ground. The signal line and the reduction motor signal line at a nearby position are both low voltage, so they will not cause interference; the conductive shaft 3 can be used to simultaneously connect the high-voltage ends of the electrostatic chucks on both sides, and then lead the wire from the other side of the fuselage to the control device. For the offline version of the robot, such as Figure 4 As shown, a control platform is placed on the middle foot, which can Figure 2 The control device, power supply battery, single-chip microcomputer, boost circuit and other modules shown are placed on it, and the three electrical signals on the three conductive axes are connected to the corresponding positions therein, so that all the required components can be integrated on the same wall-climbing robot.

[0049] Motion control of a wall-climbing robot based on electrostatic adsorption

[0050] In this embodiment, a motion switching of a wall-climbing robot based on electrostatic adsorption uses a servo, which is a commonly used position (angle) servo driver. It adjusts the angular position of the output shaft by receiving control signals and has the characteristics of high precision, fast response and reliability.

[0051] The servo is mainly composed of the following core components: DC motor: as a power source, it provides the necessary rotational torque. Reduction gear set: reduces the motor speed and amplifies the torque to achieve the required driving force. Position sensor: such as a potentiometer or magnetic encoder, used to detect the actual angular position of the output shaft. Control drive circuit: the core part, receives external control signals and sensor feedback signals, drives the motor to rotate, and ensures accurate and stable operation through closed-loop control. Interface cable: connects the servo with the external control system, including power line, ground line and control signal line. Steering wheel / rocker arm: connected to the output shaft, converts rotational motion into linear motion or angle change.

[0052] The working principle of the servo is based on a feedback control system. When the input signal changes, the control circuit inside the servo will adjust the output shaft according to the feedback signal to rotate it to the specified angle position. The control signal received by the servo is usually a pulse width modulation (PWM) signal. The pulse width of the control signal represents the desired angle position. For example, a 1.5 millisecond pulse will usually turn the servo to the middle position (for a 180° servo, it is the 90° position). When the pulse is less than 1.5ms, the output shaft will rotate counterclockwise, and when it is greater than 1.5ms, it will rotate clockwise.

[0053] In this embodiment, the servo 44 is used to drive the middle electrostatic suction cup selection switch 45 and the two side electrostatic suction cup selection switch 49, and can select one of the middle electrostatic suction cup desorption unit and the two side electrostatic suction cup desorption unit to be connected to the circuit. During the movement of the wall-climbing robot, the coordination between the reduction motor used for driving and the servo used for control is very important, and a single-chip microcomputer can be used to modulate the control signal of the motor and the servo. Among them, the control signal of the reduction motor is a square wave with a certain duty cycle, and its period is the movement period of the wall-climbing robot. The high level time within a period corresponds to the time required for the middle foot or the two side feet to move 180 degrees; the control signal of the servo is a square wave with a higher frequency and a certain duty cycle, and its frequency and duty cycle are related to the servo model. Whenever the control signal of the reduction motor changes from a high level to a low level, the control signal of the servo changes from one waveform to another.

[0054] When the steering gear is in the first position, the middle electrostatic chuck selection switch 45 selects to connect the middle electrostatic chuck 10 circuit and the middle electrostatic chuck is adsorbed to the wall, and at the same time, the two side electrostatic chuck selection switches 49 connect the two side electrostatic chuck desorption units to the circuit, and the charges of the two side electrostatic chucks are separated from the wall;

[0055] When the servo is in the second position, the middle electrostatic chuck selection switch 45 selects to connect the middle electrostatic chuck desorption unit to the circuit, and the middle electrostatic chuck is detached from the wall. The side electrostatic chuck selection switches 49 select to connect the side electrostatic chuck circuits and adsorb to the wall.

[0056] Desorption unit

[0057] The key to the stable movement of the wall-climbing robot lies in the rapid and precise control of the adsorption force of the electrostatic chuck. Figure 2As shown, a servo controlled by a single-chip microcomputer serves as an adsorption control switch, with flexible rocker arms connected to both sides, and the ends of the rocker arms are connected to the control lines of the middle electrostatic suction cup and the electrostatic suction cups on both sides (each electrostatic suction cup is controlled by two signal lines, one of which is always grounded, and the other is the control line here). During the operation of the servo, when the end of the rocker arm on one side touches the lower terminal, the electrostatic suction cup controlled by the rocker arm on that side is connected to a high voltage, and the electrostatic suction cup begins to generate adsorption force. At this time, the end of the rocker arm on the other side touches the upper terminal, and the electrostatic suction cup controlled by the rocker arm on that side is connected to the cantilever resonance device. The charge in the electrostatic suction cup is rapidly dissipated, and the adsorption force decreases rapidly (the principle of rapid desorption used here can refer to the prior patent "A fast-response electrostatic adsorption device and electrostatic adsorption method, patent number: ZL 202111135729.6").

[0058] The desorption unit includes parallel plates, the parallel plates include a first plate and a second plate arranged in parallel, and also includes a conductive cantilever beam, one end of the conductive cantilever beam is set as a fixed end, and the other end is set as a free end, the free end is at least partially placed between the first plate and the second plate, and the free end can be excited by the first plate 41 and the second plate 42 to generate vibration; the fixed end of the conductive cantilever beam is outside the parallel plates, and the free end can vibrate between the first plate and the second plate and can contact the two side plates at the maximum amplitude; the desorption unit is connected to the circuit through the conductive cantilever beam;

[0059] The middle electrostatic chuck desorption unit and the electrostatic chuck desorption units on both sides adopt the desorption unit structure.

[0060] An off-line mode of a wall-climbing robot based on electrostatic adsorption

[0061] A power supply path for a wall-climbing robot in offline mode based on electrostatic adsorption:

[0062] ① Low-voltage path: The 3.7V lithium battery powers the microcontroller. The negative pole of the battery (GND in the figure) is also the zero potential reference point of the motor, servo, boost module and electrostatic chuck. The 3.7V signal of the positive pole of the battery is processed by the microcontroller and transmitted to the motor, servo and boost module.

[0063] ② High-voltage path: The 3.7V signal is converted into a high-voltage signal of about 4kV (also known as +HV in the figure) after passing through the boost module. The signal is connected to the two terminals under the flexible rocker arm of the servo, which serve as the high-voltage power supply terminals of the middle electrostatic chuck and the electrostatic chucks on both sides (also known as +HV1 and +HV2).

[0064] ③Signal and drive: The single-chip microcomputer receives the input instruction from the Bluetooth module and generates three different PWM signals: the first is the servo control signal. The signal line is connected to a JST socket together with the GND line and the 3.7V low-voltage line, and then connected to the JST plug of the servo; the second is the motor control signal. The signal line is connected to the motor after passing through the power amplifier (the motor is a two-wire motor and the other line is grounded); the third is the boost module control signal. After passing through a dedicated power amplifier, the signal is connected to the boost module together with a ground line, and finally outputs a high-voltage signal of kilovolt level.

[0065] Structural design of off-line robot:

[0066] Compared with the on-line robot, the off-line robot arranges the power supply battery, Bluetooth module, single-chip microcomputer, boost module, control servo and desorption module of the electrostatic suction cup on an insulating board (for example a wooden board), and connects and fixes the board to the support frame on the middle foot of the robot to form a structural whole.

[0067] In this embodiment, "first" and "second" are for convenience of description and do not imply importance; in this embodiment, the front and back are based on the positional relationship as shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

Claims

1. A wall-climbing robot based on electrostatic adsorption, characterized in that: It comprises a middle electrostatic chuck (10) and electrostatic chucks located on both sides thereof, namely a left electrostatic chuck (11) and a right electrostatic chuck (12); A driving assembly, which is used to selectively drive the middle electrostatic chuck (10) or the electrostatic chucks on both sides to move; a middle electrostatic chuck desorption unit, which is connected to the circuit and is used to consume the charge on the middle electrostatic chuck (10); and a side electrostatic chuck desorption unit, which is connected to the circuit and is used to consume the charge on the side electrostatic chucks; A control unit is capable of controlling a driving component and switching the electrostatic adsorption operation and charge consumption operation of the middle electrostatic suction cup and the electrostatic suction cups on both sides, and when the middle electrostatic suction cup is adsorbed to the wall, the desorption units of the electrostatic suction cups on both sides are connected to the circuit, and the electrostatic suction cups on both sides are lifted up and move under the action of the driving component; when the electrostatic suction cups on both sides are adsorbed to the wall, the desorption unit of the middle electrostatic suction cup is connected to the circuit, and the middle electrostatic suction cup is lifted up and moves under the action of the driving component.

2. The wall-climbing robot based on electrostatic adsorption according to claim 1, characterized in that: The drive components also include: The middle electrostatic chuck (10) comprises a first middle axis (30), a second middle axis (31), and a third middle axis (32); The left electrostatic chuck (11) comprises a left first axis (37), a left second axis (38), and a left third axis (36); The right electrostatic chuck (12) includes a right first axis (34), a right second axis (35), and a right third axis (33); The middle shaft (30) is fixedly connected to the left shaft (37) and the right shaft (34) through a connecting arm (39) to form a driving shaft system, and the middle shaft (30) is driven by a motor (20); The middle two shafts (31) are fixedly connected to the left two shafts (38) and the right two shafts (35) through a connecting arm (39) to form a first driven shaft system; The middle three-axis (32) is fixedly connected to the left three-axis (36) and the right three-axis (33) through a connecting arm (39) to form a second driven axis system. The active axis system selectively drives the middle electrostatic chuck (10) or the electrostatic chucks on both sides to move.

3. The wall-climbing robot based on electrostatic adsorption according to claim 2, characterized in that: The driving assembly further includes: the driving shaft system, the first driven shaft system and the second driven shaft system include conductive materials and are used to form a part of the circuit.

4. The wall-climbing robot based on electrostatic adsorption according to claim 3, characterized in that: The drive components also include: The motor (20) is mounted on the middle electrostatic chuck (10) and drives a central shaft (30) through a worm gear assembly (21).

5. The wall-climbing robot based on electrostatic adsorption according to claim 1, characterized in that: Also includes: The steering gear (44) is used to drive the middle electrostatic chuck selection switch (45) and the two side electrostatic chuck selection switches (49), and can selectively connect the middle electrostatic chuck desorption unit and the two side electrostatic chuck desorption units to the circuit, specifically: When the steering gear is in the first position, the middle electrostatic chuck selection switch (45) selects to connect the middle electrostatic chuck (10) circuit and the middle electrostatic chuck is adsorbed to the wall, and at the same time, the electrostatic chuck selection switches (49) on both sides connect the electrostatic chuck desorption units on both sides to the circuit, and the charges of the electrostatic chucks on both sides are decoupled from the wall; When the steering gear is in the second position, the middle electrostatic suction cup selection switch (45) selects to connect the middle electrostatic suction cup desorption unit to the circuit, and the middle electrostatic suction cup is detached from the wall. The side electrostatic suction cup selection switches (49) select to connect the side electrostatic suction cup circuits and adsorb to the wall.

6. The wall-climbing robot based on electrostatic adsorption according to claim 1, characterized in that: Also includes: A desorption unit comprises parallel plates, the parallel plates comprising a first plate and a second plate arranged in parallel, and a conductive cantilever beam, one end of the conductive cantilever beam being arranged as a fixed end and the other end being arranged as a free end, the free end being at least partially disposed between the first plate and the second plate, and the free end being capable of being excited by the first plate (41) and the second plate (42) to generate vibration; the fixed end of the conductive cantilever beam being outside the parallel plates, the free end being capable of vibrating between the first plate and the second plate and being capable of contacting the two side plates at the maximum amplitude; the desorption unit being connected to the circuit via the conductive cantilever beam; The middle electrostatic chuck desorption unit and the electrostatic chuck desorption units on both sides adopt the desorption unit structure.

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