Double-pulse modulation type static elimination device and method for mobile equipment

Abstract

The invention belongs to the field of oil and gas field station equipment management, and discloses a double-pulse modulation type static electricity elimination device and method for movable equipment.The device comprises a static electricity sensing probe, a static electricity controller, a positive ion spray point, a negative ion spray point, a fan and a charge receiving plate; when the static sensing probe senses that static charges exist on the inspection robot, the static charges can be fed back to the static controller, the static controller controls operation of the positive ion discharge needle, the negative ion discharge needle and the fan, the positive ion discharge needle and the negative ion discharge needle generate one of positive charges or negative charges, and the positive charges or the negative charges are blown to the charge receiving plate through the fan. According to the invention, the speed and inspection efficiency of the inspection robot can be improved, the hidden danger and difficulty of production can be reduced, the effective production time can be prolonged, the inspection capability of the inspection robot can be improved, the equipment loss can be reduced, and the energy consumption can be reduced.

Description

Technical Field

[0001] The invention belongs to the field of equipment management in oil and gas stations, and particularly relates to a double-pulse modulation type static electricity elimination device and method for movable equipment. Background Art

[0002] With the innovation and development of modern science and technology, the application of automation technology in production has become increasingly common, which can not only improve production efficiency but also ensure production quality. The application value of inspection robots in production supervision has gradually emerged and become an effective tool for assisting industrial production. It is imperative for relevant enterprises to actively seek measures to ensure the safe operation of inspection robots.

[0003] Static electricity of inspection robots is a common factor causing problems in operation. The types of faults caused by static electricity can be divided into two types. The first is the fault that causes damage to semiconductor devices such as storage elements and logic elements; the second is the fault that causes problems in the operation of inspection robot equipment. Currently, the design and research work on static electricity elimination devices for inspection robots focuses on the first type of fault. Generally, the reason for the first type of static electricity fault is closely related to the processing conditions of semiconductor devices during the assembly stage of inspection robots. In recent years, the scale and quantity of using high-integration semiconductors have been increasing day by day. Therefore, when an inspection robot is in operation, even a very small static electricity problem will damage the components.

[0004] When designing a static electricity elimination method for inspection robots, the focus is on the second type of static electricity fault. This type of fault can be simply understood as a kind of "noise problem". The cause of the static electricity fault is static electricity discharge, which is generally called a noise fault; the second type of fault is a familiar type. For example, when taking off chemical fiber clothes, there will be a "crackling" static electricity discharge sound on the body. In fact, this type of static electricity discharge fault will also be accompanied by electromagnetic wave noise. If not dealt with, it will have an adverse impact on the signal reception during the production stage. Because the consequences caused by electromagnetic wave noise are invisible and inaudible, it is fatal to the equipment. Summary of the Invention

[0005] The purpose of the invention is to provide a double-pulse modulation type static electricity elimination device and method for movable equipment, so as to solve the problem that when an inspection robot or movable equipment is charged with static electricity, it will affect the safe operation and stable operation of various components.

[0006] In order to achieve the above purpose, the invention adopts the following technical solutions:

[0007] The present invention provides a dual-pulse modulated electrostatic elimination device for a movable device, which includes an electrostatic sensing probe. The electrostatic sensing probe is arranged on a housing and is connected to an electrostatic controller. The electrostatic controller is connected to a positive ion discharge needle, a negative ion discharge needle, and a fan. A positive charge receiving plate is symmetrically arranged at intervals above the positive ion discharge needle, and a negative charge receiving plate is symmetrically arranged at intervals above the negative ion discharge needle.

[0008] A further improvement of the present invention is that the fan is located between the positive ion discharge needle and the negative ion discharge needle.

[0009] A further improvement of the present invention is that the fan can shake its head left and right under the action of the electrostatic controller.

[0010] A further improvement of the present invention is that the positive charge receiving plate is connected to a negative ion electrostatic release electrode, and the negative charge receiving plate is connected to a positive ion electrostatic release electrode.

[0011] A further improvement of the present invention is that the negative ion electrostatic release electrode and the positive ion electrostatic release electrode are arranged on the housing.

[0012] A further improvement of the present invention is that an air inlet is arranged at one end of the housing, and an air outlet is arranged at the other end.

[0013] A further improvement of the present invention is that fixing chucks are arranged at both ends of the housing.

[0014] A further improvement of the present invention is that adsorption magnets are respectively arranged inside the fixing chucks.

[0015] The present invention provides a dual-pulse modulated electrostatic elimination method for a movable device. After the electrostatic sensing probe senses charge information, it feeds back the charge information to the electrostatic controller. The electrostatic controller receives the electrostatic charge information and controls the positive ion discharge needle or the negative ion discharge needle, and at the same time controls the operation of the fan, blows the ions generated by the positive ion discharge needle onto the positive charge receiving plate, and blows the ions generated by the negative ion discharge needle onto the negative charge receiving plate. When the charge receiving plate receives the charge, it transmits the charge to the inspection robot to eliminate the charge.

[0016] A further improvement of the present invention is that when the electrostatic sensing probe senses negative charge, the electrostatic controller turns on the positive ion discharge needle and the fan, and blows the generated positive ions onto the positive charge receiving plate; when the electrostatic sensing probe senses positive charge, the electrostatic controller turns on the negative ion discharge needle and the fan, and blows the generated negative ions onto the negative charge receiving plate; when the electrostatic sensing probe does not sense electrostatic charge, the electrostatic controller turns off the positive ion discharge needle, the negative ion discharge needle, and the fan.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The device of the present invention is provided with an electrostatic sensing probe, which is connected to an electrostatic controller inside the housing. The electrostatic controller is connected to a positive ion discharge needle, a negative ion discharge needle, and a fan. A positive charge receiving plate is symmetrically arranged at intervals above the positive ion discharge needle, and a negative charge receiving plate is symmetrically arranged at intervals above the negative ion discharge needle. The electrostatic sensing probe is used to sense the electrostatic charge on the inspection robot. When the electrostatic charge is sensed, the electrostatic controller can control the positive ion discharge needle, the negative ion discharge needle, and the fan to operate, generate opposite electrostatic charges, and blow the charges to the corresponding charge receiving plates through the fan to neutralize the static electricity and eliminate the electrostatic charge.

[0019] Further, under the action of the electrostatic controller, the fan can shake its head left and right to ensure that when the positive ion discharge needle or the negative ion discharge needle operates alone, the fan can blow the ions generated thereon to the corresponding charge receiving plate.

[0020] Further, an air inlet is provided at one end of the housing, and an air outlet is provided at the other end, enabling the fan to inhale air from the air inlet and exhaust air from the air outlet during operation to ensure the air flow inside the housing.

[0021] Further, fixing chucks are provided at both ends of the housing, which can be clamped and fixed to the inspection robot.

[0022] Further, adsorption magnets are respectively arranged on the inner sides of the fixing chucks, which can make the fixation of the inspection robot and the electrostatic elimination device more firm.

[0023] The method of the present invention senses the charge information through an electrostatic sensing probe, and then feeds back the charge information to the electrostatic controller. The electrostatic controller controls the positive ion discharge needle, the negative ion discharge needle, and the fan. When the electrostatic sensing probe senses positive charges, the electrostatic controller controls the negative ion discharge needle and the fan to operate. When the electrostatic sensing probe senses negative charges, the electrostatic controller controls the positive ion discharge needle and the fan to operate. When the electrostatic sensing probe does not sense static charges, the electrostatic controller turns off the positive ion discharge needle, the negative ion discharge needle, and the fan, which can reduce unnecessary energy waste and extend the service life of the electrostatic elimination device at the same time. Description of the Drawings

[0024] Figure 1 It is a schematic structural diagram of the device of the present invention.

[0025] Among them, 1. Housing; 2. Electrostatic controller; 3. Fan; 4. Positive ion discharge needle; 5. Negative ion discharge needle; 6-1. Positive charge receiving plate; 6-2. Negative charge receiving plate; 7. Adsorption magnet; 8. Negative ion electrostatic release electrode; 9. Positive ion electrostatic release electrode; 10. Electrostatic sensing probe; 11. Fixing chuck; 12. Air inlet; 13. Air outlet. Detailed Embodiments

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but it should not be understood that the scope of the above-mentioned subject matter of the present invention is limited to the following embodiments. Without departing from the above technical idea of the present invention, various substitutions and changes made according to common general technical knowledge and conventional means in the art shall be included within the protection scope of the present invention.

[0027] See Figure 1 , the double-pulse modulation type electrostatic elimination device for a movable device includes a housing 1, an electrostatic controller 2, a fan 3, a positive ion discharge needle 4, a negative ion discharge needle 5, a positive charge receiving plate 6-1, a negative charge receiving plate 6-2, an adsorption magnet 7, a negative ion electrostatic release electrode 8, a positive ion electrostatic release electrode 9, an electrostatic sensing probe 10, a fixed chuck 11, an air inlet 12 and an air outlet 13;

[0028] The electrostatic sensing probe 10 is arranged on the housing 1, and the housing 1 is closely attached to the outer wall of the inspection robot, so that the electrostatic sensing probe 10 is in contact with the outer wall of the inspection robot, and can more clearly, accurately and timely sense the static electric charges existing on the inspection robot. The inside of the electrostatic sensing probe 10 includes an electrostatic sensor capable of sensing static electric charges and an electrostatic sensing chip. The electrostatic sensing chip can sense the static electric charges existing on the inspection robot, and then transmits the static electric charge signal through the electrostatic sensor;

[0029] The electrostatic sensing probe 10 is electrically connected to the electrostatic controller 2, the electrostatic controller 2 is electrically connected to the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3. The positive charge receiving plate 6-1 is symmetrically arranged at intervals above the positive ion discharge needle 4, and the negative charge receiving plate 6-2 is symmetrically arranged at intervals above the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 can shake its head left and right under the action of the electrostatic controller 2, so as to blow the static electric charges generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and the static electric charges generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2;

[0030] The positive charge receiving plate 6-1 corresponding to the positive ion discharge needle 4 is connected to the negative ion static electricity release electrode 8, and the negative charge receiving plate 6-2 corresponding to the negative ion discharge needle 5 is connected to the positive ion static electricity release electrode 9. The positive ion static electricity release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static charge. The negative ion static electricity release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static charge. Both the negative ion static electricity release electrode 8 and the positive ion static electricity release electrode 9 are located on the housing 1. One end of the housing 1 is provided with an air inlet hole 12, and the other end is provided with an air outlet hole 13. The fan 3 operates under the control of the static electricity controller 2, sucks air from the air inlet hole 12, and exhausts air from the air outlet hole 13 to make the air flow inside the housing 1;

[0031] Fixing chucks 11 are respectively arranged at both ends of the housing 1, and adsorption magnets 7 are respectively arranged inside the fixing chucks 11. The fixing chucks 11 and the adsorption magnets 7 act together to fixedly connect the device to the inspection robot.

[0032] Embodiment 1:

[0033] This embodiment includes an electrostatic sensing probe 10 arranged on the housing 1. The electrostatic sensing probe 10 is closely attached to the outer wall of the inspection robot and can more clearly, accurately and timely sense the static charge existing on the inspection robot. The electrostatic sensing probe 10 internally includes an electrostatic sensor and an electrostatic sensing chip that can sense static charge. The electrostatic sensing probe 10 is electrically connected to the electrostatic controller 2, and the electrostatic controller 2 is electrically connected to the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3. The positive charge receiving plate 6-1 is symmetrically arranged at intervals above the positive ion discharge needle 4, and the negative charge receiving plate 6-2 is symmetrically arranged at intervals above the negative ion discharge needle 5. The electrostatic sensing chip can sense the static charge existing on the inspection robot, and then transmit the static charge signal through the electrostatic sensor;

[0034] When there is static charge on the inspection robot, the electrostatic sensing probe 10 will be induced and generate static charge with the opposite polarity. The electrostatic sensing chip electrically connected to the electrostatic sensing probe 10 will obtain the charge quantity information on the electrostatic sensing probe 10 and know the static charge on the inspection robot, and then feedback the information of the sensed charge to the electrostatic controller 2. The electrostatic controller 2 receives the information of the static charge and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3;

[0035] When there is positive static charge on the inspection robot, the static sensing probe 10 will sense and generate negative charge. The static controller 2 can know through the static sensing probe 10 that the static charge of the inspection robot is positive charge. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3 for static neutralization to eliminate the static charge. When there is negative static charge on the inspection robot, the static sensing probe 10 will sense and generate positive charge. The static controller 2 can know through the static sensing probe 10 that the static charge of the inspection robot is negative charge. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3 for static neutralization to eliminate the static charge. When the static sensing probe 10 does not sense static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0036] Embodiment 2:

[0037] This embodiment includes a static sensing probe 10 arranged on the housing 1. The static sensing probe 10 is closely attached to the outer wall of the inspection robot and can sense the static charge existing on the inspection robot more clearly, accurately and timely. The static sensing probe 10 internally includes a static sensor and a static sensing chip capable of sensing static charge. The static sensing probe 10 is electrically connected to the static controller 2. The static controller 2 is electrically connected to the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3. Charge receiving plates 6 are symmetrically arranged at intervals above the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5, facilitating blowing the static charge generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and the static charge generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2.

[0038] When there is static charge on the inspection robot, the static sensing probe 10 will be induced and generate static charge with the opposite polarity. The static sensing chip electrically connected to the static sensing probe 10 will obtain the charge quantity information on the static sensing probe 10 and know the static charge on the inspection robot, and then feed back the information of the sensed charge to the static controller 2. The static controller 2 receives the information of the static charge and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3.

[0039] When there is a positive static charge on the inspection robot, the static sensing probe 10 will sense and generate a negative charge. The static controller 2 can know through the static sensing probe 10 that the static charge of the inspection robot is a positive charge. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3 for static neutralization to eliminate the static charge. When there is a negative static charge on the inspection robot, the static sensing probe 10 will sense and generate a positive charge. The static controller 2 can know through the static sensing probe 10 that the static charge of the inspection robot is a negative charge. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3 for static neutralization to eliminate the static charge. When the static sensing probe 10 does not sense a static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0040] Embodiment 3:

[0041] This embodiment includes a static sensing probe 10 provided on the housing 1. The static sensing probe 10 is closely attached to the outer wall of the inspection robot and can more clearly, accurately and timely sense the static charge existing on the inspection robot. The static sensing probe 10 internally includes a static sensor and a static sensing chip capable of sensing static charges. The static sensing probe 10 is electrically connected to the static controller 2. The static controller 2 is electrically connected to the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3. Charge receiving plates 6 are symmetrically arranged at intervals above the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 can shake its head left and right under the action of the static controller 2 to facilitate blowing the static charge generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and the static charge generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2. The positive charge receiving plate 6-1 corresponding to the positive ion discharge needle 4 is connected to the negative ion static release electrode 8, and the negative charge receiving plate 6-2 corresponding to the negative ion discharge needle 5 is connected to the positive ion static release electrode 9;

[0042] When there is a static charge on the inspection robot, the static sensing probe 10 will be induced and generate static charges of the opposite polarity. The static sensing chip electrically connected to the static sensing probe 10 will obtain the charge quantity information on the static sensing probe 10 and know the static charge on the inspection robot, and then feed back the information of the sensed charge to the static controller 2. The static controller 2 receives the information of the static charge and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3;

[0043] When there is positive static electricity charge on the inspection robot, the static electricity sensing probe 10 will sense and generate negative charges. The static electricity controller 2 can know through the static electricity sensing probe 10 that the static electricity charge of the inspection robot is positive. The static electricity controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3. The positive ion static electricity release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static electricity charge; when there is negative static electricity charge on the inspection robot, the static electricity sensing probe 10 will sense and generate positive charges. The static electricity controller 2 can know through the static electricity sensing probe 10 that the static electricity charge of the inspection robot is negative. The static electricity controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3. The negative ion static electricity release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static electricity charge; when the static electricity sensing probe 10 does not sense static electricity charge, the static electricity controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static electricity elimination device.

[0044] Embodiment 4:

[0045] This embodiment includes a static electricity sensing probe 10 arranged on the housing 1. The static electricity sensing probe 10 is closely attached to the outer wall of the inspection robot and can sense the static electricity charge existing on the inspection robot more clearly, accurately and timely. The static electricity sensing probe 10 internally includes a static electricity sensor and a static electricity sensing chip that can sense static electricity charge. The static electricity sensing probe 10 is electrically connected to the static electricity controller 2. The static electricity controller 2 is electrically connected to the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3. Charge receiving plates 6 are symmetrically arranged at intervals above the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 can shake its head left and right under the action of the static electricity controller 2, which is convenient for blowing the static electricity charge generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and blowing the static electricity charge generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2. The positive charge receiving plate 6-1 corresponding to the positive ion discharge needle 4 is connected to the negative ion static electricity release electrode 8. The negative charge receiving plate 6-2 corresponding to the negative ion discharge needle 5 is connected to the positive ion static electricity release electrode 9. The negative ion static electricity release electrode 8 and the positive ion static electricity release electrode 9 are arranged on the housing 1. The housing 1 is connected to the inspection robot;

[0046] When there is static charge on the inspection robot, the static sensing probe 10 will be induced and generate static charges with opposite polarities. The static sensing chip electrically connected to the static sensing probe 10 will obtain the charge quantity information on the static sensing probe 10, and learn about the static charge on the inspection robot. Then, it will feedback the information of the sensed charge to the static controller 2. The static controller 2 receives the information of the static charge and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5, and the fan 3;

[0047] When there is positive static charge on the inspection robot, the static sensing probe 10 will be induced and generate negative charges. The static controller 2 can learn through the static sensing probe 10 that the static charge on the inspection robot is positive. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3. The positive ion static release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static charge. When there is negative static charge on the inspection robot, the static sensing probe 10 will be induced and generate positive charges. The static controller 2 can learn through the static sensing probe 10 that the static charge on the inspection robot is negative. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3. The negative ion static release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static charge. When the static sensing probe 10 does not sense static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5, and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0048] Embodiment 5:

[0049] This embodiment includes an electrostatic sensing probe 10 disposed on the housing 1. The electrostatic sensing probe 10 is closely attached to the outer wall of the inspection robot, capable of sensing the static electric charges existing on the inspection robot more clearly, accurately and timely. The interior of the electrostatic sensing probe 10 includes an electrostatic sensor and an electrostatic sensing chip that can sense static electric charges. The electrostatic sensing probe 10 is electrically connected to an electrostatic controller 2, and the electrostatic controller 2 is electrically connected to a positive ion discharge needle 4, a negative ion discharge needle 5 and a fan 3. Charge receiving plates 6 are symmetrically arranged at intervals above the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 can shake its head left and right under the action of the electrostatic controller 2, facilitating the blowing of the static electric charges generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and the static electric charges generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2. The positive charge receiving plate 6-1 corresponding to the positive ion discharge needle 4 is connected to a negative ion static release electrode 8, and the negative charge receiving plate 6-2 corresponding to the negative ion discharge needle 5 is connected to a positive ion static release electrode 9. The negative ion static release electrode 8 and the positive ion static release electrode 9 are disposed on the housing 1. The housing 1 is connected to the inspection robot. An air inlet hole 12 is provided at one end of the housing 1, and an air outlet hole 13 is provided at the other end. The fan 3 operates under the control of the electrostatic controller 2, capable of inhaling air from the air inlet hole 12 and exhausting air from the air outlet hole 13, ensuring the air flow inside the housing 1;

[0050] When there are static electric charges on the inspection robot, the electrostatic sensing probe 10 will be induced and generate static electric charges of opposite polarities. The electrostatic sensing chip electrically connected to the electrostatic sensing probe 10 will obtain the charge quantity information on the electrostatic sensing probe 10 and learn about the static electric charges on the inspection robot, and then feedback the information of the sensed charges to the electrostatic controller 2. The electrostatic controller 2 receives the information of the static electric charges and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3;

[0051] When there is positive static charge on the inspection robot, the static sensing probe 10 will sense and generate negative charge. The static controller 2 can know through the static sensing probe 10 that the static charge of the inspection robot is positive charge. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3. The positive ion static release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static charge; when there is negative static charge on the inspection robot, the static sensing probe 10 will sense and generate positive charge. The static controller 2 can know through the static sensing probe 10 that the static charge of the inspection robot is negative charge. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3. The negative ion static release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static charge; when the static sensing probe 10 does not sense static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0052] Embodiment 6:

[0053] This embodiment includes a static sensing probe 10 arranged on the housing 1. The static sensing probe 10 is closely attached to the outer wall of the inspection robot, and can sense the static charge existing on the inspection robot more clearly, accurately and timely. The static sensing probe 10 internally includes a static sensor and a static sensing chip capable of sensing static charge. The static sensing probe 10 is electrically connected to the static controller 2. The static controller 2 is electrically connected to the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3. Charge receiving plates 6 are symmetrically arranged at intervals above the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 can shake its head left and right under the action of the static controller 2, so as to blow the static charge generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and the static charge generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2. The positive charge receiving plate 6-1 corresponding to the positive ion discharge needle 4 is connected to the negative ion static release electrode 8, and the negative charge receiving plate 6-2 corresponding to the negative ion discharge needle 5 is connected to the positive ion static release electrode 9. The negative ion static release electrode 8 and the positive ion static release electrode 9 are arranged on the housing 1. The housing 1 is connected to the inspection robot. One end of the housing 1 is provided with an air inlet hole 12, and the other end is provided with an air outlet hole 13. The fan 3 operates under the control of the static controller 2, can inhale air from the air inlet hole 12 and exhaust air from the air outlet hole 13 to ensure the air flow in the housing 1. Fixed chucks 11 are arranged at both ends of the housing 1. The fixed chucks 11 are used to clamp and fix the inspection robot and the static elimination device up and down;

[0054] When there is static charge on the inspection robot, the static sensing probe 10 will be induced and generate static charges with opposite polarities. The static sensing chip electrically connected to the static sensing probe 10 will obtain the charge quantity information on the static sensing probe 10, and learn about the static charge on the inspection robot. Then, it will feed back the information of the sensed charge to the static controller 2. The static controller 2 receives the information of the static charge and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3;

[0055] When there is positive static charge on the inspection robot, the static sensing probe 10 will be induced and generate negative charges. The static controller 2 can learn through the static sensing probe 10 that the static charge on the inspection robot is positive. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3. The positive ion static release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static charge. When there is negative static charge on the inspection robot, the static sensing probe 10 will be induced and generate positive charges. The static controller 2 can learn through the static sensing probe 10 that the static charge on the inspection robot is negative. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3. The negative ion static release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static charge. When the static sensing probe 10 does not sense static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0056] Example 7:

[0057] This embodiment is the best embodiment, including an electrostatic sensing probe 10 disposed on the housing 1. The electrostatic sensing probe 10 is closely attached to the outer wall of the inspection robot, capable of sensing the static electric charges existing on the inspection robot more clearly, accurately, and timely. The interior of the electrostatic sensing probe 10 includes an electrostatic sensor and an electrostatic sensing chip capable of sensing static electric charges. The electrostatic sensing probe 10 is electrically connected to an electrostatic controller 2, and the electrostatic controller 2 is electrically connected to a positive ion discharge needle 4, a negative ion discharge needle 5, and a fan 3. Charge receiving plates 6 are symmetrically arranged at intervals above the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 is located between the positive ion discharge needle 4 and the negative ion discharge needle 5. The fan 3 can shake its head left and right under the action of the electrostatic controller 2, facilitating the blowing of the static electric charges generated by the positive ion discharge needle 4 to the positive charge receiving plate 6-1 and the static electric charges generated by the negative ion discharge needle 5 to the negative charge receiving plate 6-2. The positive charge receiving plate 6-1 corresponding to the positive ion discharge needle 4 is connected to a negative ion static release electrode 8, and the negative charge receiving plate 6-2 corresponding to the negative ion discharge needle 5 is connected to a positive ion static release electrode 9. The negative ion static release electrode 8 and the positive ion static release electrode 9 are disposed on the housing 1. The housing 1 is connected to the inspection robot. An air inlet hole 12 is provided at one end of the housing 1, and an air outlet hole 13 is provided at the other end. The fan 3 operates under the control of the electrostatic controller 2, capable of inhaling air from the air inlet hole 12 and exhausting air from the air outlet hole 13, ensuring the air flow inside the housing 1. Fixed chucks 11 are provided at both ends of the housing 1. The fixed chucks 11 are used for clamping and fixing the inspection robot and the electrostatic elimination device up and down. Adsorption magnets 7 are respectively provided inside the fixed chucks 11. The adsorption magnets 7 are used for adsorbing the body of the inspection robot. The inspection robot is tightly connected to the electrostatic elimination device under the combined action of the fixed chucks 11 and the adsorption magnets 7;

[0058] When there are static electric charges on the inspection robot, the electrostatic sensing probe 10 will be induced and generate static electric charges of the opposite polarity. The electrostatic sensing chip electrically connected to the electrostatic sensing probe 10 will obtain the charge quantity information on the electrostatic sensing probe 10 and learn about the static electric charges on the inspection robot, and then feed back the information of the sensed charges to the electrostatic controller 2. The electrostatic controller 2 receives the information of the static electric charges and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5, and the fan 3;

[0059] When there is a positive static charge on the inspection robot, the static sensing probe 10 will sense and generate a negative charge. The static controller 2 can know that the static charge of the inspection robot is a positive charge through the static sensing probe 10. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3. The positive ion static release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static charge. When there is a negative static charge on the inspection robot, the static sensing probe 10 will sense and generate a positive charge. The static controller 2 can know that the static charge of the inspection robot is a negative charge through the static sensing probe 10. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3. The negative ion static release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static charge. When the static sensing probe 10 does not sense any static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0060] When there is a positive static charge on the inspection robot, the static sensing probe 10 will sense and generate a negative charge. The static controller 2 can know that the static charge of the inspection robot is a positive charge through the static sensing probe 10. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3. The positive ion static release electrode 9 can release the positive charge existing on the inspection robot, and then neutralize it with the negative charge on the negative charge receiving plate 6-2 to eliminate the static charge. When there is a negative static charge on the inspection robot, the static sensing probe 10 will sense and generate a positive charge. The static controller 2 can know that the static charge of the inspection robot is a negative charge through the static sensing probe 10. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-1 through the fan 3. The negative ion static release electrode 8 can release the negative charge existing on the inspection robot, and then neutralize it with the positive charge on the positive charge receiving plate 6-1 to eliminate the static charge. When the static sensing probe 10 does not sense any static charge, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static elimination device.

[0061] Working method:

[0062] First, the inspection robot is fixedly connected to the housing 1 of the static eliminator through the fixed chuck 11 and the adsorption magnet 7. When there are static charges on the inspection robot, the static sensing probe 10 will be induced and generate static charges with opposite polarities. The static sensing chip electrically connected to the static sensing probe 10 will obtain the charge quantity information on the static sensing probe 10 and know the static charges on the inspection robot, and then feedback the information of the sensed charges to the static controller 2. The static controller 2 receives the information of the static charges and controls the operation of the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3;

[0063] When there are positive static charges on the inspection robot, the static sensing probe 10 will be induced and generate negative charges. The static controller 2 can know through the static sensing probe 10 that the static charges on the inspection robot are positive charges. The static controller 2 controls the negative ion discharge needle 5 to generate negative ions and blows the negative ions to the negative charge receiving plate 6-2 through the fan 3 for static neutralization to eliminate the static charges. When there are negative static charges on the inspection robot, the static sensing probe 10 will be induced and generate positive charges. The static controller 2 can know through the static sensing probe 10 that the static charges on the inspection robot are negative charges. The static controller 2 controls the positive ion discharge needle 4 to generate positive ions and blows the positive ions to the positive charge receiving plate 6-2 through the fan 3 for static neutralization to eliminate the static charges. When the static sensing probe 10 does not sense static charges, the static controller 2 turns off the positive ion discharge needle 4, the negative ion discharge needle 5 and the fan 3 to avoid unnecessary energy waste and extend the service life of the static eliminator.

[0064] Working principle:

[0065] The present invention uses the principle of dual-pulse modulation to eliminate static electricity. The technical method consists of an electrostatic sensing unit and an electrostatic elimination unit. The electrostatic sensing unit is closely attached to the outer wall of the robot. When the electrostatic sensing probe 10 senses the static electricity carried by the robot, it transmits the static electricity signal to the electrostatic elimination unit. The electrostatic elimination unit mainly includes an electrostatic controller 2 and an ion generator. The ion generator includes a positive ion discharge needle 4 and a negative ion discharge needle 5. The signal of the electrostatic sensing unit is transmitted to the electrostatic controller 2, and this signal includes the positive or negative and magnitude of the static electricity charge. The electrostatic controller 2 controls the operation of the ion generator according to the signal, transmits the ions generated by the ion generator to the charge receiving plate, and then conducts them to the inspection robot and movable equipment through internal wires to complete static electricity elimination. When the electrostatic sensing probe 10 senses negative charges, the electrostatic controller 2 turns on the positive ion discharge needle 4 and the fan 3 to blow the generated positive ions to the positive charge receiving plate 6-1. When the electrostatic sensing probe 10 senses positive charges, the electrostatic controller 2 turns on the negative ion discharge needle 5 and the fan 3 to blow the generated negative ions to the negative charge receiving plate 6-2. When the electrostatic sensing probe 10 does not sense static electricity charges, the electrostatic controller 2 turns off the ion generator and the fan 3 to avoid unnecessary energy waste and extend the service life. The present invention can eliminate both positive and negative static electricity phenomena. Especially when the inspection robot and movable equipment carry positive static electricity, it will have a deteriorating impact on the operation safety and stability of various components, making it difficult to ensure continuous operation. Designing and developing an electrostatic elimination device for inspection robots can improve the inspection speed and efficiency of inspection robots, reduce production hazards and difficulties, ensure that the start-up rate reaches the established standard, enhance the effective production time, improve the inspection ability of inspection robots, reduce equipment loss, and reduce energy consumption.

[0066] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still modify or equivalently replace the specific implementation manners of the present invention. Any such modification or equivalent replacement that does not depart from the spirit and scope of the present invention is within the scope of the claims of the present invention pending approval.

Claims

1. A dual-pulse modulation type static eliminator for a movable device, characterized in that It includes an electrostatic sensing probe (10). The electrostatic sensing probe (10) is arranged on a housing (1). The electrostatic sensing probe (10) is connected to an electrostatic controller (2). The electrostatic controller (2) is connected to a positive ion discharge needle (4), a negative ion discharge needle (5) and a fan (3). A positive charge receiving plate (6-1) is symmetrically arranged at intervals above the positive ion discharge needle (4). A negative charge receiving plate (6-2) is symmetrically arranged at intervals above the negative ion discharge needle (5).

2. The dual-pulse modulation type static eliminator for a movable device according to claim 1, wherein The fan (3) is located between the positive ion discharge needle (4) and the negative ion discharge needle (5).

3. The double-pulse modulation type static elimination method for a movable device according to claim 1, characterized in that, Under the action of the electrostatic controller (2), the fan (3) can shake its head left and right.

4. The double-pulse modulation type static elimination device for a movable device according to claim 1, wherein The positive charge receiving plate (6-1) is connected to a negative ion electrostatic release electrode (8). The negative charge receiving plate (6-2) is connected to a positive ion electrostatic release electrode (9).

5. The double-pulse modulation type static elimination device for a movable device according to claim 4, characterized in that, The negative ion electrostatic release electrode (8) and the positive ion electrostatic release electrode (9) are arranged on the housing (1).

6. The dual-pulse modulation type static elimination device for a movable device according to claim 1, characterized in that, One end of the housing (1) is provided with an air inlet hole (12), and the other end is provided with an air outlet hole (13).

7. The dual-pulse modulation type static elimination device for a movable device according to claim 1, characterized in that, Fixing chucks (11) are arranged at both ends of the housing (1).

8. The double-pulse modulation type static elimination device for a movable device according to claim 7, wherein, Adsorption magnets (7) are respectively arranged inside the fixing chucks (11).

9. A dual-pulse modulation type static electricity elimination method for a movable device according to claim 1, characterized in that, After the electrostatic sensing probe (10) senses charge information, it feeds back the charge information to the electrostatic controller (2). The electrostatic controller (2) receives the electrostatic charge information and controls the positive ion discharge needle (4) or the negative ion discharge needle (5), and at the same time controls the operation of the fan (3), blowing the ions generated by the positive ion discharge needle (4) onto the positive charge receiving plate (6-1), and blowing the ions generated by the negative ion discharge needle (5) onto the negative charge receiving plate (6-2). When the charge receiving plate receives the charge, it transmits the charge to the inspection robot to eliminate the charge.

10. The double-pulse modulation type static elimination method for a movable device according to claim 9, wherein When the electrostatic sensing probe (10) senses negative charges, the electrostatic controller (2) turns on the positive ion discharge needle (4) and the fan (3), and blows the generated positive ions onto the positive charge receiving plate (6-1); when the electrostatic sensing probe (10) senses positive charges, the electrostatic controller (2) turns on the negative ion discharge needle (5) and the fan (3), and blows the generated negative ions onto the negative charge receiving plate (6-2); when the electrostatic sensing probe (10) does not sense electrostatic charges, the electrostatic controller (2) turns off the positive ion discharge needle (4), the negative ion discharge needle (5) and the fan (3).

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