Micro double-foot wall-climbing robot based on electrostatic adsorption

Abstract

The invention belongs to the technical field of miniature wall-climbing robots, and particularly relates to a miniature double-foot wall-climbing robot based on electrostatic adsorption, which comprises a bracket, two groups of symmetrically arranged driving devices, two actuating legs and two groups of electrostatic chucks, the driving devices are respectively arranged on two sides of the bracket, the output ends of the driving devices are connected with the actuating legs, and the electrostatic chucks are arranged at the lower ends of the actuating legs. The two sets of driving devices drive the actuating legs to drive the electrostatic chucks to alternately swing through alternate actuation, and the two feet alternately execute adsorption, swing and desorption actions in cooperation with alternate adsorption and desorption of the electrostatic chucks, so that the robot continuously and stably crawl on the wall face. A bionic gait mode is formed through alternate adsorption, desorption and swinging of the left and right feet, continuous adsorption of the suction cups on at least one side at any moment is ensured, instability caused by simultaneous desorption of the two feet is avoided, stable adsorption and continuous and efficient crawling on multiple types of wall surfaces are achieved, the structure is compact, and operation is convenient. The adaptability and the stability of the robot in a narrow space and a complex wall surface environment are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of micro wall-climbing robots, and in particular relates to a micro bipedal wall-climbing robot based on electrostatic adsorption. Background Art

[0002] With the widespread use of high-end equipment such as aircraft engines and ground-based gas turbines in modern industry, the demand for in-situ inspection of their complex internal structures is growing. Such equipment is prone to damage such as structural fatigue, wear, and cracks during long-term operation. If not detected in a timely manner, these damages can pose serious safety hazards. Due to the limited internal space, complex curved surfaces, and diverse materials of these equipment, traditional inspection equipment and manual inspection methods are difficult to effectively access and operate. Therefore, micro-wall-climbing robots with excellent wall adaptability, adsorption stability, and motion flexibility have become an important development direction for in-situ structural inspection.

[0003] Micro-wall-climbing robots typically rely on the coordinated design of an adsorption mechanism and actuation method, achieving inspection operations on complex surfaces through wall adsorption and motion control. Prior art adsorption methods for micro-wall-climbing robots primarily include electrostatic adsorption, vacuum adsorption, biomimetic adsorption, and electromagnetic adsorption. Electrostatic adsorption applies a high-voltage electrostatic field to the suction cup, making it suitable for a variety of surfaces and providing a certain degree of adsorption force under varying material conditions. Its control is relatively simple, but existing electrostatic adsorption wall-climbing robots still lack the necessary coordination and coordinated control of motion and actuation. Vacuum adsorption utilizes negative pressure to generate a strong adsorption force, making it suitable for environments with flat surfaces. However, vacuum systems are difficult to effectively integrate for complex curved surfaces, small spaces, and miniaturized applications, and miniaturization of the adsorption mechanism is challenging. Bionic adsorption draws on the attachment structures of animals such as geckos and tree frogs, achieving van der Waals adsorption through micro-nanostructures. This allows for good adhesion on rough surfaces, but requires extremely high micro-nano manufacturing processes, resulting in high processing costs. Furthermore, its adsorption capacity is limited on smooth metal surfaces, making it difficult to ensure stable operation under high-smoothness conditions. Electromagnetic adsorption is based on the adsorption principle of electromagnets or permanent magnets. It is suitable for surfaces of magnetic materials and has the advantages of fast response speed and strong adsorption force. However, there are a large number of non-magnetic materials such as aluminum alloys and titanium-nickel alloys in the internal structures of aircraft engines and ground gas turbines. Electromagnetic adsorption cannot work effectively on such surfaces, and its application scope is significantly limited.

[0004] In terms of drive methods, existing microrobots mostly use linear electromagnetic drive, piezoelectric drive, shape memory alloy drive, and dielectric elastomer drive. Linear electromagnetic drive and piezoelectric drive have the advantages of high power density, fast response speed, and easy miniaturization, which can meet the needs of rapid actuation and high-precision control, but usually require a complex transmission structure to achieve regular foot movement. The transmission chain design is complex and the energy loss is large, which affects the overall miniaturization and operational stability of the system. The shape memory alloy drive structure is simple and has a large output force, but it has problems such as slow response speed, low control accuracy, and high operating current, making it difficult to apply to energy-saving and high-frequency continuous operation scenarios. Dielectric elastomer drive has good adaptability and flexible deformation ability, which can meet the movement needs in complex environments, but the driving process requires high-voltage power supply and complex control circuits, which poses a great challenge to the design of miniaturized systems.

[0005] To address the above-mentioned issues, some existing patents attempt to improve the wall-climbing performance of micro-wall-climbing robots by optimizing the combination of adsorption and drive modes. The applicant's previously published patent document CN118770410A discloses a multi-legged wall-climbing micro-robot based on low-voltage electromagnetic drive. It proposes combining low-voltage electromagnetic drive with a multi-legged structure to improve the micro-robot's drive efficiency and adaptability to complex surfaces. This solution adopts a multi-legged structure and uses multiple sets of low-voltage electromagnetic drive modules to coordinate the movement to achieve the micro-robot's crawling movement on the wall. Compared with the traditional high-voltage drive method, this solution improves the safety of the system by reducing the driving voltage and attempts to simplify the circuit design to a certain extent. However, the use of a multi-legged structure in this solution increases the complexity of the micro-robot's layout. The increase in the number of legs also increases the difficulty of coordinated motion control. The time synchronization and motion coordination requirements between the actuation of multiple legs are high. In actual applications, the drive signal is prone to interference, resulting in inconsistent motion execution and poor crawling stability. In addition, although low-voltage electromagnetic drive has the potential for miniaturization, the adsorption mechanism adopted by this scheme is still limited to electromagnetic adsorption and is highly dependent on magnetic conductive surfaces. It cannot form effective adsorption on non-magnetic structural surfaces such as aluminum alloys and titanium-nickel alloys that are widely present inside aircraft engines and ground gas turbines, which significantly limits its application scope and adaptability to the detection environment.

[0006] Therefore, it is urgent to propose a more suitable new adsorption and drive coordination solution for complex curved surfaces and non-magnetic structure environments, so as to break through the technical limitations of existing micro wall-climbing robots in structural design, drive control and wall adaptability, and meet the actual application needs of in-situ detection in complex internal structures of high-end equipment such as aircraft engines and ground gas turbines. Summary of the Invention

[0007] In view of this, the present invention aims to solve the technical problems of existing micro wall-climbing robots such as poor adsorption stability, complex driving structure, weak control coordination and limited wall adaptability in complex curved surfaces and non-magnetic structure environments. A micro bipedal wall-climbing robot based on electrostatic adsorption is provided, which adopts an innovative combination of bipedal structure, time-sharing power supply control and electromagnetic drive to achieve stable adsorption and continuous and efficient crawling on multiple types of walls, thereby improving the robot's adaptability and stability in narrow spaces and complex wall environments.

[0008] To achieve the above object, the technical solution of the present invention is achieved as follows: The present application discloses a micro bipedal wall-climbing robot based on electrostatic adsorption, comprising: A bracket, used to support the functional components of the robot; Two sets of driving devices are respectively arranged on opposite sides of the bracket, and the driving devices are used to output motion driving force; Two actuating legs are respectively connected to the output ends of the driving device, and the actuating legs are used to follow the actuation of the driving device to achieve swinging motion; Two electrostatic suction cups are respectively provided at the lower ends of the actuating legs and are used for contacting with the wall to achieve adsorption; Among them, the two sets of driving devices drive the corresponding actuating legs to drive the electrostatic suction cup to swing alternately through alternating actuation, and cooperate with the alternating adsorption and desorption of the electrostatic suction cup to make the robot's two feet alternately perform adsorption, swinging, and desorption actions, thereby realizing adsorption and crawling movement on the wall.

[0009] In a preferred example of the present application, the driving device includes: A fixing plate, used for fixed connection with the bracket; a hollow coil, mounted on the fixed plate, for generating an electromagnetic field when energized; The moving permanent magnet is set inside the hollow coil and produces rotational motion under the action of the electromagnetic field; The restoring permanent magnet is arranged outside the hollow coil and is used to provide a restoring magnetic torque for the moving permanent magnet; The flexible hinge is used to connect the movable plate and the fixed plate. The movable plate moves integrally with the moving permanent magnet. The flexible hinge is used to convert the linear vibration of the movable plate into a swinging motion and automatically reset when the power is off.

[0010] In a preferred example of the present application, the driving device is embedded in the bracket through a fixed plate, and the movable plate is rigidly connected to the actuating leg.

[0011] In a preferred example of the present application, the moving permanent magnet is connected to the movable plate via a connecting rod, and two flexible hinges are provided, and the two flexible hinges are provided on opposite sides of the connecting rod.

[0012] In a preferred example of the present application, the adsorption force of the electrostatic chuck is controlled by adjusting the input voltage, thereby achieving the switching of the electrostatic chuck between the adsorption and desorption states.

[0013] In a preferred example of the present application, the driving device and the electrostatic suction cup work together based on a time-sharing power supply mode, wherein: the power on and off state of the electrostatic suction cup is interlocked with the actuation timing of the driving device on the same side. During the swinging action of the actuating leg on either side, the electrostatic suction cup on that side is powered off to release the adsorption, while the electrostatic suction cup on the other side is continuously powered on to maintain the adsorption state. After the actuating leg on that side completes the swing, it is powered on again for adsorption, and then switched to the other side to perform the same operation, ensuring that at least one side of the electrostatic suction cup is in the powered adsorption state at any time.

[0014] In a preferred example of the present application, when performing the alternating swinging step, the left and right driving devices receive pulse current signals with a phase difference of 90° in a time-sharing manner. At any moment, only one pulse current is in a high level state, and the other pulse current is in a low level or no current state.

[0015] In a preferred example of the present application, the two driving devices adjust the swing amplitudes of the two actuating legs respectively by independently regulating the PWM driving signal, and the two actuating legs perform steering adjustments on the wall surface according to the swing amplitude difference.

[0016] In a preferred example of the present application, the micro bipedal wall-climbing robot based on electrostatic adsorption completes the forward movement in the following steps: S1: Both sets of electrostatic chucks are powered on at the same time, and both sets of driving devices are not working; S2: The right electrostatic chuck is powered off and released, and the right drive unit is activated to drive the right actuator leg to swing forward to the set angle. After completion, the right electrostatic chuck is powered on again for adsorption. S3: The left electrostatic chuck is powered off and released, and the left drive unit is activated to drive the left actuator leg to swing forward to a set angle. After completion, the left electrostatic chuck is powered on again and the robot moves forward a fixed distance d. S4: The left electrostatic chuck is powered off again to release adsorption. The left drive unit drives the left actuator leg to swing forward to a set angle. After completion, the left electrostatic chuck is re-adsorbed. S5: The right electrostatic suction cup is powered off and released, and the right drive device drives the right actuator leg to swing forward to a set angle. After completion, the right electrostatic suction cup is re-adsorbed, and the robot as a whole moves forward a fixed distance d.

[0017] In a preferred example of the present application, in steps S2 to S5, the setting angle of the forward swing of the actuating leg is 10° to 70°.

[0018] Compared with the existing technology, the micro bipedal wall-climbing robot based on electrostatic adsorption described in the present invention has the following advantages: 1. This application effectively breaks through the dependence of traditional micro wall-climbing robots on magnetic conductive material surfaces through the coordinated design of a two-legged structure and electrostatic adsorption. The electrostatic suction cup flexibly controls the adsorption force by adjusting the input voltage, and is suitable for complex wall surfaces of various materials such as aluminum alloy, titanium alloy and non-magnetic composite materials. The robot forms a bionic gait pattern through alternating adsorption, desorption and swinging of the left and right feet, ensuring that at least one side of the suction cup provides stable support at any time, avoiding instability caused by simultaneous desorption of both feet. Combined with a modular layout design, the overall structure is compact and suitable for the internal environment of high-end equipment with limited space and complex surfaces, solving the problems of weak adsorption ability and unstable movement of traditional solutions in complex environments.

[0019] 2. This application adopts a rotary electromagnetic drive device, which realizes efficient and stable mechanical output through the magnetic field coupling of hollow coils, moving permanent magnets and returning permanent magnets. The flexible hinge structure cleverly converts the rotational motion into the swing of the actuator legs, and cooperates with the connecting rod and rigid connection to reduce the transmission chain, reduce energy consumption and system errors, and improve the overall driving efficiency and structural reliability. The left and right side drive devices independently receive pulse current signals in a time-sharing manner, strictly alternating in anti-phase to avoid signal interference and action conflicts, ensure the movement coordination and system stability of the robot during crawling, and improve the overall response speed and operating efficiency of the robot.

[0020] 3. This application uses an innovative time-sharing power supply mode and independent PWM control strategy to accurately adjust the swing amplitude of both feet and switch the adsorption state. The robot can complete the turning operation by adjusting the swing amplitude difference of the left and right feet according to the path requirements. It has good wall adaptability and movement flexibility, and realizes the adsorption and crawling function of insect-scale micro-robots. It is suitable for in-situ detection, maintenance and inspection tasks inside high-end equipment such as aircraft engines and ground gas turbines, and significantly improves the robot's motion stability, operation accuracy and actual application effect in various types of wall environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the front view of the micro bipedal wall-climbing robot based on electrostatic adsorption according to an embodiment of the present invention; Figure 2 Schematic diagram of the side view of the micro bipedal wall-climbing robot based on electrostatic adsorption according to an embodiment of the present invention; Figure 3 This is a structural diagram of a rotary electromagnetic drive device according to an embodiment of the present invention; Figure 4 A schematic diagram of the structure of the movable plate rotating relative to the fixed plate in the rotary electromagnetic drive device structure according to an embodiment of the present invention; Figure 5 Schematic diagram of coordinated electrical signals of electromagnetic drive and electrostatic adsorption in a micro bipedal wall-climbing robot based on electrostatic adsorption according to an embodiment of the present invention; Figure 6 Schematic diagram of the electromagnetic drive magnetic torque in the rotary electromagnetic drive device according to an embodiment of the present invention; Figure 7 Schematic diagram of the rotational force analysis of the moving permanent magnet in the rotary electromagnetic drive device according to an embodiment of the present invention; The marks in the figure are: 1-bracket; 2-driving device; 3-actuating leg; 4-electrostatic chuck; 5-hollow coil; 6-moving permanent magnet; 7-returning permanent magnet; 8-flexible hinge; 9-fixed plate; 10-movable plate; 11-connecting rod. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0023] In the description of this application, it should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0024] It should be noted that the terms "first," "second," etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and that the objects distinguished by "first," "second," etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0025] It should be noted that, in the description of this application, the directions or positional relationships indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional terms do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional terms "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0026] It should be noted that, in the present application, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0027] like Figures 1 to 7 As shown, the present application discloses a micro bipedal wall-climbing robot based on electrostatic adsorption, comprising: Bracket 1, used to support the functional components of the robot; Two sets of driving devices 2 are respectively arranged on opposite sides of the bracket 1, and the driving devices 2 are used to output motion driving force; Two actuating legs 3 are respectively connected to the output ends of the driving device 2, and the actuating legs 3 are used to follow the actuation of the driving device 2 to achieve swinging motion; Two electrostatic chucks 4 are respectively provided at the lower ends of the actuating legs 3 for contacting with the wall to achieve adsorption; Among them, the two groups of driving devices 2 drive the corresponding actuating legs 3 to drive the electrostatic suction cup 4 to swing alternately through alternating actuation, and cooperate with the alternating adsorption and desorption of the electrostatic suction cup 4 to make the robot's two feet alternately perform adsorption, swinging, and desorption actions, thereby realizing adsorption and crawling movement on the wall.

[0028] The present application discloses a miniature bipedal wall-climbing robot with a compact structure, ingenious design, and applicable to a variety of wall environments. The overall structure adopts a symmetrical layout. The bracket 1 is the core bearing unit, which is convenient for installing and fixing various functional modules. A group of independent driving devices 2 are respectively arranged on the left and right sides, which can output controllable mechanical driving force. The output end of each driving device 2 is connected to an actuating leg 3, and the lower end of the actuating leg 3 is equipped with an electrostatic suction cup 4. Through reasonable arrangement and coordinated control, the driving device 2 and the electrostatic suction cup 4 are synchronously linked. The alternating actuation of the driving device 2 drives the actuating leg 3 to form a regular swing. The electrostatic suction cup 4 completes the adsorption and desorption process by controlling the on and off state of the power, forming a continuous and stable gait crawling mode. When a group of driving devices 2 are connected, the actuating leg 3 is connected to the electrostatic suction cup 4. When setting 2 is started, the driving actuator leg 3 drives the electrostatic suction cup 4 on that side to desorb and swing to a new position, and the actuator leg 3 and electrostatic suction cup 4 on the other side remain in an adsorbed state to provide stable support. After the swing is completed, the desorbed electrostatic suction cup 4 is re-adsorbed, and the actuator leg 3 on the other side starts to swing and desorb, and this is repeated alternately to achieve continuous and stable crawling of the robot on the wall. The entire structure is modular and miniaturized to a high degree, which is convenient for overall integration. It is especially suitable for scenes with small space, complex surface materials or restricted environment. Through alternating adsorption and gait movement of both feet, the robot can achieve stable and efficient movement in various types of wall environments. The structural design is simple and the function is reliable. It is suitable for promotion to in-situ detection, maintenance and inspection tasks inside various high-end equipment.

[0029] This application realizes the stable and efficient crawling of a micro wall-climbing robot in a complex wall environment through the innovative combination of bipedal structure design and electrostatic adsorption technology. It has a simple structure, high module integration, and intuitive and reliable control method. The electrostatic suction cup 4 can adjust the adsorption strength according to actual needs and is suitable for surfaces of various materials. Combined with the alternating movement of the two feet and the adsorption action, the robot's gait is more bionic, the movement process is continuous and smooth, and it has good directional control ability and environmental adaptability. It is especially suitable for use in high-end equipment with small internal space and complex surface, such as aircraft engines and ground gas turbines, to meet the actual needs of in-situ detection and maintenance.

[0030] As a preferred example of the present application, the driving device 2 includes: A fixing plate 9, used for fixed connection with the bracket 1; The hollow coil 5 is mounted on the fixing plate 9 and is used to generate an electromagnetic field when powered; The moving permanent magnet 6 is arranged inside the hollow coil 5 and generates rotational motion under the action of the electromagnetic field; The restoring permanent magnet 7 is arranged outside the hollow coil 5 and is used to provide a restoring magnetic torque for the moving permanent magnet 6; The flexible hinge 8 is used to connect the movable plate 10 and the fixed plate 9. The movable plate 10 moves integrally with the moving permanent magnet 6. The flexible hinge 8 is used to convert the linear vibration of the movable plate 10 into a swinging motion and automatically reset when the power is off.

[0031] The present application discloses a driving device 2 including a fixed plate 9, a hollow coil 5, a moving permanent magnet 6, a return permanent magnet 7, a flexible hinge 8 and a movable plate 10. The driving device 2 is connected to the bracket 1 of the robot main structure through the fixed plate 9 to ensure the position stability and structural reliability of the driving device 2 during operation. The hollow coil 5 is the core component of the electromagnetic drive and is installed on the fixed plate 9. It has good spatial adaptability and electromagnetic efficiency. After power is turned on, it can quickly generate a stable electromagnetic field. The moving permanent magnet 6 is placed inside the hollow coil 5 and achieves stable rotation output by means of electromagnetic coupling, providing direct driving force for the actuator leg 3. A return permanent magnet 7 is provided on the outside of the hollow coil 5, which assists the moving permanent magnet 6 to quickly reset after power is turned off through the action of magnetic torque. The flexible hinge 8 structure connects the fixed plate 9 and the movable plate 10, cleverly combining the rotation output with the structural deformation, which not only limits the swing direction, but also converts the slight deformation of the mechanical structure into a reliable swing function, so that the movable plate 10 can achieve a reliable swing function with the moving permanent magnet 6 and complete automatic reset in a contactless state, avoiding the wear and energy consumption problems in traditional mechanical transmission.

[0032] The driving device 2 disclosed in the present application is a rotary electromagnetic driving device, which uses the synergistic effect of electromagnetic induction and magnetic torque to achieve efficient actuation. The entire process does not rely on a complex transmission chain, has a short driving path, a fast response speed, and a lightweight and compact structure. It is convenient for miniaturization and integration into the bipedal structure of a wall-climbing robot. In conjunction with the alternating adsorption and desorption of the electrostatic suction cup 4, it can continuously and stably complete the adsorption, swinging, and desorption gait movements, thereby achieving reliable crawling movements in different wall environments.

[0033] As a preferred example of the present application, the drive device 2 is embedded in the bracket 1 through a fixed plate 9, and the movable plate 10 is rigidly connected to the actuating leg 3. The present application optimizes the design of the installation connection method between the drive device 2 and the overall structure. The drive device 2 is embedded in the bracket 1 through the fixed plate 9, thereby avoiding the space waste and insufficient strength problems caused by the traditional independent external suspension structure, and improving the overall rigidity and reliability. The movable plate 10 and the actuating leg 3 are fixed as a whole through a rigid connection method. The swinging motion generated by the drive device 2 does not need to pass through a complex transmission mechanism, but is directly and efficiently transmitted to the actuating leg 3, driving the actuating leg 3 to complete the preset forward swing motion. Compared with the traditional multi-stage transmission chain design, this solution has a simpler structure, reduces energy loss and system error, and greatly improves the overall control accuracy and driving efficiency. With the coordinated control of electromagnetic drive output and electrostatic adsorption, the robot can stably and reliably crawl on the wall, which is suitable for in-situ detection and maintenance tasks in high-end equipment with small internal space and complex structure.

[0034] As a preferred example of the present application, the moving permanent magnet 6 is connected to the movable plate 10 through a connecting rod 11, and two flexible hinges 8 are provided, and the two flexible hinges 8 are provided on opposite sides of the connecting rod 11. In the example of the present application, the moving permanent magnet 6 inside the driving device 2 is reliably connected to the movable plate 10 through the connecting rod 11, ensuring that the rotational power generated by the moving permanent magnet 6 under electromagnetic drive is efficiently and stably transmitted to the movable plate 10, driving the subsequent forward swinging movement of the actuating leg 3. Two flexible hinges 8 are symmetrically arranged between the movable plate 10 and the fixed plate 9 on both sides of the connecting rod 11 to form a bilateral flexible support structure, which further improves the structural stability and force balance of the system. On the basis of ensuring mechanical strength, the flexible hinge has a certain elastic deformation capacity, reduces the risk of structural fatigue, and cooperates with the magnetic torque output during the operation of the electromagnetic drive system. The overall driving process is smooth and the structure is compact and efficient.

[0035] As a preferred example of the present application, the adsorption force of the electrostatic chuck 4 is controlled by adjusting the input voltage, thereby switching the electrostatic chuck 4 between the adsorption and desorption states. The micro bipedal wall-climbing robot based on electrostatic adsorption described in the present application combines electrostatic adsorption technology and flexibly controls the adsorption state of the electrostatic chuck 4 by adjusting the input voltage, achieving stable adsorption and efficient desorption of the robot on the wall. In the specific design, the electrostatic chuck 4 is arranged at the end of the bipedal actuator leg 3. The internal structure of the electrostatic chuck 4 generates an adsorption force suitable for various wall materials by exciting an electrostatic field at a specific voltage. The control system dynamically adjusts the input voltage according to the robot's movement rhythm and crawling requirements. When adsorption to a fixed position is required, the input voltage is increased to enhance the adsorption force, ensuring that the robot remains stable on the wall. When swinging or moving forward is required, the input voltage is reduced to weaken the adsorption force until desorption occurs, achieving reliable adsorption and desorption switching between the robot and the wall. The overall control strategy is flexible, the structural design is simple, and it is suitable for high-frequency adsorption and continuous crawling tasks in complex wall environments, improving the robot's wall adaptability and movement efficiency.

[0036] As a preferred example of the present application, the micro bipedal wall-climbing robot based on electrostatic adsorption, based on a time-sharing power supply mode, the driving device 2 and the electrostatic suction cup 4 work together, wherein: the power on and off state of the electrostatic suction cup 4 is interlocked with the actuation timing of the driving device 2 on the same side. During the swinging action of the actuating leg 3 on either side, the electrostatic suction cup 4 on that side is powered off to release the adsorption, and the electrostatic suction cup 4 on the other side is continuously powered on to maintain the adsorption state. After the actuating leg 3 on that side completes the swing, it is powered on again for adsorption, and then switched to the other side to perform the same operation, ensuring that at least one side of the electrostatic suction cup 4 is in the powered adsorption state at any time.

[0037] The micro bipedal wall-climbing robot described in the present application has been targetedly optimized in terms of power supply control strategy. The overall structure includes a drive device 2 and an electrostatic suction cup 4 independently configured on the left and right sides. During the movement of the robot, the control system adopts a time-sharing power supply mode to coordinate and manage the working status of the drive device 2 and the electrostatic suction cup 4. When the actuator leg 3 on either side needs to perform a swinging action, the electrostatic suction cup 4 on that side is powered off and released from adsorption, ensuring that the actuator leg 3 swings forward smoothly without resistance. At the same time, the electrostatic suction cup 4 on the other side is continuously powered on for adsorption, providing stable attachment support. After the swinging action is completed, the powered-off electrostatic suction cup 4 is powered on again to resume adsorption, and then switched to the other side to repeat the above steps. The left and right sides work alternately, and the robot continues to move along the wall as a whole. During the process, at least one side of the electrostatic suction cup 4 is always in an adsorption state, ensuring that the spatial posture is stable and there is no deviation in the left and right directions, thereby achieving continuous and efficient wall crawling.

[0038] As a preferred example of the present application, when the robot is performing wall crawling motion, the left and right drive devices 2 receive pulse current signals with a phase difference of 90° in a time-sharing manner. When performing the alternating swinging steps, only one pulse current is in a high-level state at any moment, and the other pulse current is in a low-level or no-current state. The present application achieves fine control of the movement of the bipedal robot by independently powering the left and right drive devices 2. The power supply pulse currents used by the drive devices 2 on both sides are strictly distributed in an anti-phase alternating manner to ensure that only one side of the drive device 2 is in an excitation state at any moment, thereby avoiding the interference of the drive signals and causing disordered movements. In conjunction with the active torque generated by the electromagnetic field in the rotary electromagnetic drive (drive device 2) and the passive reset force provided by the return permanent magnet 7, the moving permanent magnet 6 can efficiently drive the actuator leg 3 to swing when power is on, and quickly and accurately reset when power is off, forming a good mechanical power output cycle. The magnetic torque generation mechanism of the drive device 2 in the present application is as follows: Figure 6 As shown, the initial attraction F of the permanent magnet is restored pm The support force F acting on the moving permanent magnet by the hinge h When the current is passed through the hollow coil 5, an electromagnetic field is generated around it, which forms a magnetic field coupling with the moving permanent magnet 6 and the return permanent magnet 7, M r It represents the active electromagnetic torque of the electromagnetic field on the moving permanent magnet 6. When the magnetic field directions of the moving permanent magnet 6 and the energized hollow coil 5 are in an orthogonal state, the electromagnetic coupling intensity is the largest, driving the moving permanent magnet to rotate. pm The passive restoring torque provided by the restoring permanent magnet 7 resets the moving permanent magnet 6 when power is off. When the left pulse current VL1 triggers a high level, the left hollow coil 5 is energized to generate an orthogonal magnetic field, which couples with the moving permanent magnet 6 to generate the maximum active electromagnetic torque, pushing the moving permanent magnet 6 to rotate and converting it into the left leg swing forward through the flexible hinge 8. At the same time, the left electrostatic chuck 4 is powered off and desorbed to reduce resistance, while the right electrostatic chuck 4 remains adsorbed to provide support. After VL1 ends, the passive magnetic torque Mpm of the restoring permanent magnet 7 immediately resets the moving part, and the left electrostatic chuck 4 is re-adsorbed. Subsequently, the right VL2 pulse drives the right leg to swing using the same mechanism, through strict VL1 / VL2 alternation (90° phase difference and no overlap) and symmetrical swinging of both feet in opposite directions.

[0039] This application uses the coordinated control of current pulses and electromagnetic mechanics optimization, and strictly alternating pulse timing to ensure that the single foot always adheres to the wall. Combined with the instantaneous characteristics of pulse power supply, it achieves efficient and precise control of the swing of the two feet of the micro wall-climbing robot. By independently powering the left and right drive devices and alternating the power supply pulse signals in opposite phases, signal interference and action conflicts are avoided, and the coordination and reliability of the action are improved. The active torque and return torque of the electromagnetic drive work together to ensure the fast and precise swing and automatic reset of the actuator leg 3. Combined with the time-sharing adsorption and desorption control of the electrostatic suction cup 4, the robot always maintains stable attachment support and spatial posture during wall crawling, significantly enhancing the robot's adaptability and motion stability on complex structures and multi-material walls. The compact structure and simple control logic are suitable for miniaturized integration, greatly improving the efficiency and safety of in-situ inspection and maintenance operations inside high-end equipment such as aircraft engines and ground gas turbines.

[0040] As a preferred example of the present application, the micro bipedal wall-climbing robot based on electrostatic adsorption completes the forward movement in the following steps: S1: The two sets of electrostatic chucks 4 are energized for adsorption at the same time, and the two sets of driving devices 2 are not working; S2: The right electrostatic chuck 4 is powered off and released, and the right drive device 2 is activated to drive the right actuator leg 3 to swing forward to a set angle. After completion, the right electrostatic chuck 4 is powered on again for adsorption. S3: The left electrostatic chuck 4 is powered off and released, and the left drive device 2 is activated to drive the left actuator leg 3 to swing forward to a set angle. After completion, the left electrostatic chuck 4 is powered on again and the robot moves forward a fixed distance d. S4: The left electrostatic chuck 4 is powered off again to release adsorption, and the left driving device 2 drives the left actuator leg 3 to swing forward to a set angle. After completion, the left electrostatic chuck 4 is re-adsorbed; S5: The right electrostatic chuck 4 is powered off and released, and the right driving device 2 drives the right actuator leg to swing forward to a set angle. After completion, the right electrostatic chuck 4 is re-adsorbed, and the robot as a whole moves forward a fixed distance d. Repeat the above cycle to achieve continuous crawling movement.

[0041] The micro bipedal wall-climbing robot based on electrostatic adsorption described in the present application realizes stable and continuous crawling motion on vertical walls or complex curved surfaces through a scientific and reasonable gait control process. During the specific action process, in the initial state, the micro bipedal wall-climbing robot is adsorbed by the electrostatic suction cups 4 on both sides at the same time, and the whole is firmly attached to the wall, ensuring the spatial posture and stability in the initial stage of operation. Then the right electrostatic suction cup 4 is powered off to release the adsorption, and the right drive device 2 is started to drive the right actuator leg 3 to swing forward to a set angle. After completion, the right electrostatic suction cup 4 is powered on to re-adsorb, and the left electrostatic suction cup 4 is always adsorbed during this period to provide effective support. Then the left electrostatic suction cup 4 is powered off The adsorption is released, and the left driving device 2 drives the left actuator leg 3 to swing forward to a set angle. After completion, the left electrostatic suction cup 4 is re-adsorbed, and the right electrostatic suction cup 4 continues to adsorb to provide support. The whole process ensures that at least one side of the electrostatic suction cup 4 is reliably adsorbed at any stage, the overall posture of the robot is stable, and there is no deviation in the left and right directions. With the completion of the left forward swing action, the robot as a whole moves forward a fixed distance d in the set direction. The fixed distance d is a distance parameter related to the swing angle of the actuator leg 3. The whole step ensures that the center of gravity of the robot is stable, the spatial posture remains unchanged, and there is no deviation in the left and right directions during the crawling process. It adapts to a variety of complex wall and curved surface environments and realizes continuous and reliable wall crawling motion.

[0042] The present invention significantly improves the continuous crawling ability and overall stability of the micro bipedal wall-climbing robot in a wall environment through a standardized five-step working condition cycle and time-sharing power supply control design. Compared with the traditional multi-legged structure or single adsorption scheme, the structure is simpler and the control is more efficient. The five-step working condition design ensures that the robot's forward distance is stable each time, there is no offset in the left and right directions, and the overall posture does not change through reasonable offset compensation and gait control. The time-sharing power supply mode coordinates the management of the power supply timing of the electrostatic suction cup and the drive device to avoid interference or instability during the swinging process, ensuring the smooth execution of each swinging action. The adsorption process is efficient and reliable. Combined with real-time adsorption force adjustment and posture monitoring, the robot can crawl continuously and stably on vertical walls, curved surfaces or complex spatial environments.

[0043] As a preferred example of the present application, in steps S2 to S5, the forward swing angle of the actuator leg 3 is set to 10° to 70°. The micro bipedal wall-climbing robot described in the present application has independent drive devices 2 and electrostatic suction cups 4 on the left and right sides, respectively. The overall structure is compact and the movement is flexible. During the crawling process, the control system adjusts the swing angle by precisely controlling the width of the pulse current (i.e., the duration of power on). The preferred range is 20° to 60°. Within this angle range, the swing amplitude of the actuator leg is moderate, which can not only effectively push the robot as a whole along the wall, but also avoid system instability or the inability of the suction cup to re-adsorb in time due to excessive angles. The angle setting range takes into account the compactness of the structure, movement coordination, and wall adaptability. With the coordinated control of electromagnetic drive and electrostatic adsorption, the overall crawling process of the robot is smooth and the movement rhythm is clear. It is particularly suitable for application scenarios with narrow spaces, large wall curvature changes, or complex structures.

[0044] The micro bipedal wall-climbing robot disclosed in this application realizes adsorption motion on the wall by alternately swinging its legs and alternately adsorbing the adsorption disks. The specific motion principle is as follows: Figure 5 As shown in the figure, the robot achieves movement by alternately controlling the adsorption and swinging of its two legs: In the first stage, the two drive devices 2 are inactive, the two electrostatic suction cups 4 are active, and the robot adheres to the vertical wall. In the second stage, the drive device 2 on the R-side is activated, releasing the adsorption of the R-side, while the L-side continues adsorption. The drive device 2 drives the robot's R-side to swing forward 30 degrees, and the R-side drive device 2 stops working, and the R-side is powered on to re-adsorb. In the third stage, the drive device 2 on the L-side is activated, releasing the adsorption of the L-side, while the R-side continues adsorption. The other half of the robot swings forward another 30 degrees to a horizontal position. In the fourth stage, the operating order of the L and R components is reversed, causing the centerline to deflect in the R direction by the same magnitude. After the complete working process is completed, the robot's spatial posture remains unchanged, and the robot moves forward by d, with no deflection in the LR direction. Repeating these steps continuously allows the robot to continuously crawl on the wall.

[0045] As a preferred example of the present application, the two drive devices 2 independently adjust the swing amplitudes of the two actuator legs 3 by independently controlling the PWM drive signals. The two actuator legs 3 perform steering adjustments on the wall based on the swing amplitude difference. The present invention achieves efficient and flexible steering capabilities for a miniature bipedal wall-climbing robot in a wall environment through independent PWM drive signal control. Specifically, during normal straight-line crawling, the control system simultaneously outputs identical PWM signals on both sides, driving the two actuator legs 3 to swing with the same amplitude, allowing the robot to maintain a stable forward direction. When the robot needs to adjust its path or turn on the wall, the control system independently adjusts the parameters of the left and right PWM signals to create a swing amplitude difference. This creates a different swing amplitude for the left and right actuator legs 3, resulting in an imbalance in the left and right thrusts and an overall deflection torque, allowing the robot to smoothly turn in the preset direction. The entire process does not require an additional mechanical steering structure and is completely implemented through electronic control and differentiated drive strategies. The system has a fast response, flexible steering operation, and a smooth and coherent path adjustment process, ensuring the robot's motion stability and operational accuracy on complex walls.

[0046] The present invention proposes a miniature bipedal wall-climbing robot based on the collaborative design of electrostatic adsorption and rotary electromagnetic drive. The overall structure is compact and the layout is reasonable. It fully combines the strong adaptability and controllability of the electrostatic adsorption disk and the high efficiency, speed and miniaturization output characteristics of the rotary electromagnetic drive device. The whole machine adopts a bipedal symmetrical layout. Through independent drive and time-sharing collaborative control strategy, the left and right side drive devices work together with the electrostatic adsorption disk to ensure that at least one side of the electrostatic adsorption disk is in an adsorption state at any time, thereby realizing the reliable attachment and stable movement of the robot on vertical walls or complex curved surfaces. The active electromagnetic torque in the electromagnetic drive is innovatively combined with the passive restoring torque of the restoring permanent magnet. Through the optimized pulse power supply mode, it is ensured The driving devices on both sides work alternately and the power supply pulses are in reverse phase to avoid signal interference and action overlap, thereby improving action coordination and system stability. The adsorption force of the electrostatic adsorption disk is flexibly adjusted through the input voltage to adapt to the requirements of multi-material walls. The robot's gait control is clear, and the standardized five-step action cycle effectively avoids spatial posture deviation, thereby improving the overall smoothness and continuity of crawling. In particular, the PWM independent control realizes the adjustment of the swing amplitude difference of both feet. The robot has efficient and flexible wall turning capabilities, which is particularly suitable for in-situ inspection and maintenance operations in small internal spaces and complex wall environments of high-end equipment such as aircraft engines and ground gas turbines. It significantly improves the robot's wall adaptability, motion stability and path flexibility in complex environments.

[0047] The electrostatically adsorbed micro-bipedal wall-climbing robot described in this invention implements a bipedal alternating gait scheme driven by an electromagnetic actuator and adsorbed by an electrostatic chuck. The robot's ability to adhere to and move on both horizontal and vertical walls has been successfully verified. Through structural optimization and collaborative control design, the robot's overall size is less than 50 mm, achieving insect-scale adsorption and crawling capabilities. The robot is suitable for in-situ structural inspection of confined spaces within equipment such as aircraft engines and ground-based gas turbines. Its main innovations are as follows: 1. Flexible hinge rotary electromagnetic drive device: The drive device consists of a micro electromagnetic coil, a permanent magnet, and a flexible hinge. The electromagnetic field drives the permanent magnet to rotate, and the flexible hinge converts linear vibration into swinging motion, achieving contactless automatic reset. 2. Humanoid bipedal gait control: The two legs alternately perform "adsorption-swing-detachment" movements to simulate human walking gait. The electrostatic adsorption disk is powered in time-sharing mode, and the electromagnetic drive device swings to achieve stable crawling and surface adaptation. 3. Innovation in the synergistic configuration of electromagnetic drive and electrostatic adsorption: When the electromagnetic drive drives one foot to swing, the electrostatic adsorption disk of that foot is powered off and released, while the other foot is powered on and adsorbed. The two feet work alternately and coordinate with the electromagnetic drive output swing to achieve crawling; 4. Motion control method based on differential motion of the two feet: Precise motion control is achieved by independently regulating the PWM drive signals of the two feet, so that the two feet produce differential swing amplitudes. Turning is achieved through the difference in the swing amplitude of the two feet, supporting complex trajectory motion on vertical walls.

[0048] The core of the present invention is to utilize the characteristics of the electromagnetic drive device to generate a magnetic field to drive the movable wings to swing when the power is on, and to restore them to the initial position through the built-in magnet (return permanent magnet 7) when the power is off, and to combine the electromagnetic drive device with the electrostatic suction cup: when the power is on, the electromagnetic drive device drives the support legs to swing, and when the power is off, the support legs return to the initial position, and at the same time, the robot's gait movement is achieved through the alternating adsorption and desorption of the electrostatic suction cup. The adsorption force of the electrostatic adsorption cup can be controlled by adjusting the input voltage, thereby realizing the movement conversion process of the robot after adsorption and desorption on the wall. In some examples of the present application, the electromagnetic drive device can also be replaced by other driving methods (such as shape memory alloy, piezoelectric ceramics or pneumatic drive), or, the electrostatic adsorption can be replaced by adsorption methods such as bionic adsorption, vacuum adsorption or magnetic adsorption, which can also achieve wall climbing movement.

[0049] The micro bipedal wall-climbing robot based on electrostatic adsorption described in the present invention adopts a two-legged structure design and combines the alternating working mode of the electromagnetic drive and the electrostatic adsorption disk to form an efficient and stable wall-climbing movement. The electromagnetic drive device is directly embedded in the bracket, and the movable plate is rigidly connected to the support leg to reduce the transmission mechanism and improve the driving efficiency. The electromagnetic drive device adopts an integrated design of electromagnetic coils, permanent magnets and flexible hinges, and realizes contactless automatic reset through magnetic field coupling, which can realize turning and complex trajectory movement on vertical walls.

[0050] The embodiments of the present application are described above in conjunction with the accompanying drawings. Unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A micro bipedal wall-climbing robot based on electrostatic adsorption, characterized in that: include: A bracket (1) for supporting functional components of the robot; Two sets of driving devices (2) are respectively arranged on opposite sides of the bracket (1), and the driving devices (2) are used to output motion driving force; Two actuating legs (3) are respectively connected to the output ends of the driving device (2), and the actuating legs (3) are used to follow the actuation of the driving device (2) to achieve swinging motion; Two electrostatic suction cups (4) are respectively arranged at the lower ends of the actuating legs (3) and are used to contact the wall surface to achieve adsorption; The two sets of driving devices (2) drive the corresponding actuating legs (3) to drive the electrostatic suction cup (4) to swing alternately through alternating actuation, and cooperate with the alternating adsorption and desorption of the electrostatic suction cup (4) to enable the robot's two feet to alternately perform adsorption, swinging, and desorption actions, thereby realizing adsorption crawling motion on the wall.

2. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 1, characterized in that: The driving device (2) comprises: A fixing plate (9) for fixedly connecting to the bracket (1); A hollow coil (5) is mounted on the fixing plate (9) and is used to generate an electromagnetic field when powered; A moving permanent magnet (6) is arranged inside the hollow coil (5) and generates rotational motion under the action of the electromagnetic field; A restoring permanent magnet (7) is arranged outside the hollow coil (5) and is used to provide a restoring magnetic torque for the moving permanent magnet (6); A flexible hinge (8) is used to connect a movable plate (10) and a fixed plate (9), wherein the movable plate (10) moves integrally with the moving permanent magnet (6), and the flexible hinge (8) is used to convert the linear vibration of the movable plate (10) into a swinging motion and automatically reset in a power-off state.

3. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 2, characterized in that: The driving device (2) is embedded in the bracket (1) via a fixed plate (9), and the movable plate (10) is rigidly connected to the actuating leg (3).

4. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 2, characterized in that: The moving permanent magnet (6) is connected to the movable plate (10) via a connecting rod (11), and two flexible hinges (8) are provided, and the two flexible hinges (8) are provided on opposite sides of the connecting rod (11).

5. A micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 2, 3 or 4, characterized in that: The adsorption force of the electrostatic chuck (4) is controlled by adjusting the input voltage, thereby enabling the electrostatic chuck (4) to switch between adsorption and desorption states.

6. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 5, characterized in that: The driving device (2) and the electrostatic suction cup (4) work in coordination based on a time-sharing power supply mode, wherein: the power-on and power-off states of the electrostatic suction cup (4) are interlocked with the actuation timing of the driving device (2) on the same side. During the swinging action of the actuating leg (3) on either side, the electrostatic suction cup (4) on that side is powered off to release the adsorption, while the electrostatic suction cup (4) on the other side is continuously powered on to maintain the adsorption state. After the actuating leg (3) on that side completes the swinging, it is powered on again for adsorption, and then the same operation is performed on the other side, ensuring that at least one side of the electrostatic suction cup (4) is in the powered adsorption state at any time.

7. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 6, characterized in that: When performing the alternating swinging steps, the left and right driving devices (2) receive pulse current signals with a phase difference of 90 degrees in a time-sharing manner. At any moment, only one pulse current is in a high-level state, and the other pulse current is in a low-level or no-current state.

8. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 7, characterized in that: The two driving devices (2) respectively adjust the swing amplitudes of the two actuating legs (3) by independently regulating PWM driving signals, and the two actuating legs (3) perform steering adjustments on the wall surface according to the swing amplitude difference.

9. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 1, characterized in that: The micro bipedal wall-climbing robot based on electrostatic adsorption completes the forward movement in the following steps: S1: The two sets of electrostatic chucks (4) are energized for adsorption at the same time, and the two sets of driving devices (2) are not working; S2: The right electrostatic suction cup (4) is powered off to release adsorption, and the right driving device (2) is started to drive the right actuator leg (3) to swing forward to a set angle. After completion, the right electrostatic suction cup (4) is powered on again to adsorb; S3: The left electrostatic suction cup (4) is powered off to release adsorption, and the left driving device (2) is started to drive the left actuator leg (3) to swing forward to a set angle. After completion, the left electrostatic suction cup (4) is powered on again to adsorb, and the robot as a whole moves forward a fixed distance d; S4: The left electrostatic suction cup (4) is powered off again to release adsorption, and the left driving device (2) drives the left actuator leg (3) to swing forward to a set angle. After completion, the left electrostatic suction cup (4) is re-adsorbed; S5: The right electrostatic suction cup (4) is powered off and released from adsorption, and the right driving device (2) drives the right actuator leg to swing forward to a set angle. After completion, the right electrostatic suction cup (4) is re-adsorbed, and the robot as a whole moves forward a fixed distance d.

10. The micro bipedal wall-climbing robot based on electrostatic adsorption according to claim 9, characterized in that: In steps S2 to S5, the forward swing setting angle of the actuator leg (3) is set to be 10° to 70°.

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