Single-source double-effect piezoelectric type miniature wall-climbing robot

Abstract

The invention discloses a single-source double-effect piezoelectric type miniature wall-climbing robot, which relates to the technical field of robots and comprises an adsorption module, a climbing module, a fixing module and a robot shell. The adsorption module is composed of a piezoelectric ceramic piece, a flexible copper substrate and a vibration film, and the piezoelectric ceramic piece vibrates the flexible copper substrate to drive the vibration film to form adsorption force with the contact surface. A crawling module of the robot comprises a left driving foot and a right driving foot, the left driving foot and the right driving foot are each composed of a V-shaped structure and an arc-shaped barb, the driving feet and the ground move mutually through vibration of piezoelectric ceramic pieces, then friction force is generated, and the robot is pushed to move. The single-source double-effect piezoelectric type miniature wall-climbing robot has the characteristics of simple structure, convenience in driving, miniaturization, light weight, high adsorption capacity and the like, is suitable for scenes such as vertical surfaces, inclined surfaces, horizontal inverted surfaces and the like, and carries various load modules (such as monitors, sensors and the like) to execute different tasks.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a piezoelectric micro-climbing robot that achieves both vibration adsorption and crawling effects through piezoelectric materials. Background Technology

[0002] Wall-climbing robots are specialized robots capable of stably adhering to and autonomously moving on vertical or inclined walls, with significant applications in building maintenance, industrial inspection, equipment cleaning, and military reconnaissance. Their core technology lies in the efficient coordination of the adsorption and drive modules, which must overcome gravity to achieve reliable adhesion while providing sufficient driving force for flexible movement. Traditional wall-climbing robots typically rely on motor drives combined with vacuum suction cups, electromagnets, or centrifugal fans for adsorption. However, these solutions often require complex mechanical structures and independent power sources, resulting in large system sizes, high energy consumption, and difficulty in adapting to confined spaces or highly mobile tasks.

[0003] Currently, most designs for miniature wall-climbing robots employ a separation of the adsorption and drive modules. For example, a separate air pump maintains vacuum adsorption, while a motor or shape memory alloy drives the motion. While this design achieves basic functionality, multiple drive sources significantly increase the robot's size and weight, reduce integration, and increase the complexity of coordinated control between different modules, leading to energy waste and motion interference. Furthermore, traditional drive methods (such as electromagnetic motors) experience a sharp decline in output force and efficiency after miniaturization, further limiting the robot's load capacity and motion performance.

[0004] The core flaw in existing technologies lies in the physical separation of the driving and adsorption functions, requiring reliance on multiple independent power sources. This not only hinders the miniaturization and weight reduction of robots but also reduces system reliability. For example, the continuous energy consumption of the adsorption module limits the robot's endurance, while the mechanical transmission structure of the driving module increases motion resistance. Furthermore, the control and coordination issues of multiple power sources make it difficult for robots to achieve flexible multi-directional movements, especially exhibiting insufficient adaptability in complex surface environments. Summary of the Invention

[0005] In view of this, the purpose of this invention is to propose a single-source, dual-effect piezoelectric micro-climbing robot. This robot achieves both adsorption and climbing effects simultaneously using a single piezoelectric element, simplifying the drive structure. Furthermore, by independently controlling the semi-circular piezoelectric elements on the left and right sides, the left and right driving legs can be driven independently, enabling multi-directional movement of the robot. The single-source, dual-effect concept proposed in this invention significantly reduces the size and weight of the robot, simplifies the control method of the wall-climbing robot, and improves the load-to-weight ratio of the wall-climbing robot.

[0006] Therefore, the present invention adopts the following technical solution: On one hand, the present invention provides a single-source dual-effect piezoelectric micro wall-climbing robot, comprising: The adsorption module includes a piezoelectric ceramic sheet, a flexible copper substrate, and a vibrating film. The vibrating film is bonded to the central part of the flexible copper substrate via a wet composite process. The piezoelectric ceramic sheet and the flexible copper substrate are coaxially bonded using epoxy resin. The piezoelectric ceramic sheet vibrates the flexible copper substrate, causing the vibrating film to deform continuously, resulting in fluid oscillation between the vibrating film and the contact plane, generating an adsorption force. The piezoelectric ceramic sheet consists of two completely mirrored semi-circular piezoelectric ceramic sheets, a left piezoelectric ceramic sheet and a right piezoelectric ceramic sheet, which are independently controlled by two drive signals. The crawling module includes a left driving leg and a right driving leg, which are respectively bonded to a left piezoelectric ceramic sheet and a right piezoelectric ceramic sheet. The left driving leg moves by deforming the left piezoelectric ceramic sheet, and the right driving leg moves by deforming the right piezoelectric ceramic sheet, thereby realizing robot movement.

[0007] Furthermore, it also includes: a fixing module responsible for mounting the camera and load on the robot, the fixing module including: a body connector, a camera, a camera fixing component, a load connector, and a load fixing component; The body connector is the main body of the robot. The body connector is glued to the flexible copper substrate through the column on the body connector to fix the adsorption module and the crawling module to the main body. The load fixing component is connected to the load connecting component by connecting bolts and connecting nuts; The camera is fixed to the body connector by the camera fixing component; The camera mounting bracket is connected to the body connector via a mortise and tenon structure, and the load connector is connected to the body connector via a mortise and tenon structure.

[0008] Furthermore, it also includes: a robot shell, the robot shell having an insect-like structural appearance; the robot shell is fixed to the load connector by connecting bolts and connecting nuts.

[0009] Furthermore, the main body of the body connector is a circular ring structure with multiple fixing holes for connecting with the camera fixing component and the load connector via a mortise and tenon structure.

[0010] Furthermore, the left driving foot includes a left-end "V"-shaped driving foot and a left-side arc-shaped barb, and the right driving foot includes a right-end "V"-shaped driving foot and a right-side arc-shaped barb. The left-end "V"-shaped driving foot and the left-side arc-shaped barb are integrally connected and arranged in a completely mirror image of the right-end "V"-shaped driving foot and the right-side arc-shaped barb. The left-end "V"-shaped driving foot is bonded to the left piezoelectric ceramic sheet, and the right-end "V"-shaped driving foot is bonded to the right piezoelectric ceramic sheet. The deformation of the left piezoelectric ceramic sheet causes the left-end "V"-shaped driving foot to deform, which in turn causes the left-end arc-shaped barb to contact the contact surface. Similarly, the deformation of the right piezoelectric ceramic sheet causes the right-end "V"-shaped driving foot to deform, which in turn causes the right-end arc-shaped barb to contact the contact surface, thus achieving robot movement.

[0011] Furthermore, the piezoelectric ceramic sheet is made of PZT-5H material.

[0012] Furthermore, the flexible copper substrate is made of brass.

[0013] Furthermore, the vibrating diaphragm is made of plastic.

[0014] In another aspect, the present invention also provides a motion control method for controlling the above-mentioned single-source dual-effect piezoelectric micro wall-climbing robot. By applying square wave excitation signals with different voltages to the left and right piezoelectric ceramic plates, the motion of the left and right driving feet is changed, thereby realizing the multi-directional motion of the robot.

[0015] Furthermore, by applying square wave excitation signals with different voltages to the left and right piezoelectric ceramic plates, the movement of the left and right driving feet is changed, thereby achieving multi-directional movement of the robot, including: By simultaneously exciting the left and right piezoelectric ceramic sheets with square wave excitation signals of the same frequency and voltage, the robot can achieve linear motion. By simultaneously exciting the left and right piezoelectric ceramic sheets using square wave excitation signals of the same frequency but different voltages, the robot's steering motion can be achieved. The robot can achieve in-situ rotation by using a square wave excitation signal to excite either the left or right piezoelectric ceramic sheet.

[0016] Compared with existing technologies, this invention proposes a single-source, dual-effect micro piezoelectric wall-climbing robot. Its adsorption module consists of a piezoelectric ceramic sheet, a flexible copper substrate, and a vibrating thin film. The vibration of the piezoelectric ceramic sheet on the flexible copper substrate causes the vibrating thin film to form an adsorption force between itself and the contact surface. The crawling module includes a left and a right driving foot, both constructed with a "V"-shaped structure and arc-shaped barbs. The vibration of the piezoelectric ceramic sheet causes the driving foot to move relative to the ground, generating friction and propelling the robot. This invention's single-source, dual-effect drive method utilizes the same piezoelectric ceramic to simultaneously generate vibration and adsorption while simultaneously moving the driving foot, simplifying the robot's actuation mechanism. By independently controlling the left and right piezoelectric ceramic sheets, multi-directional movement of the robot can be achieved. This solves the problems of miniaturization, lightweighting, and complexity in traditional wall-climbing robots, enabling simultaneous movement and adsorption functions using piezoelectric materials, further simplifying the robot's design. This design allows the robot to maintain a small size and light weight while possessing higher adsorption force, thus adapting to more complex environments and work requirements. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of a single-source dual-effect piezoelectric micro wall-climbing robot according to an embodiment of the present invention; Figure 2 This is an exploded three-dimensional structural diagram of a single-source dual-effect piezoelectric micro wall-climbing robot according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the overall structure of a single-source dual-effect piezoelectric micro wall-climbing robot after the outer shell is hidden, according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the adsorption module of a single-source dual-effect piezoelectric micro wall-climbing robot in an embodiment of the present invention; Figure 5 This is a schematic diagram of the crawling module of a single-source dual-effect piezoelectric micro wall-climbing robot in an embodiment of the present invention; Figure 6 This is a schematic diagram of the fixing module of a single-source dual-effect piezoelectric micro wall-climbing robot in an embodiment of the present invention; Figure 7 This is a schematic diagram of the outer shell of a single-source dual-effect piezoelectric micro wall-climbing robot according to an embodiment of the present invention; In the diagram: 1. Piezoelectric ceramic sheet; 2. Flexible copper substrate; 3. Vibrating diaphragm; 4. Left drive foot; 5. Right drive foot; 6. Body connector; 7. Camera; 8. Camera mounting bracket; 9. Load connector; 10. Load mounting bracket; 11. Connecting bolt; 12. Connecting nut; 13. Robot shell; 101. Left piezoelectric ceramic sheet; 102. Right piezoelectric ceramic sheet; 401. Left "V" shaped drive foot; 402. Left arc-shaped barb; 501. Right "V" shaped drive foot; 502. Right arc-shaped barb. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] like Figures 1-7 As shown in the figure, an embodiment of the present invention discloses a single-source dual-effect piezoelectric micro wall-climbing robot, comprising an adsorption module, a climbing module, a fixing module, and a robot shell 13. Wherein: like Figure 4As shown, the adsorption module includes a piezoelectric ceramic sheet 1, a flexible copper substrate 2, and a vibrating film 3. The piezoelectric ceramic sheet 1 consists of two perfectly mirrored semi-circular piezoelectric ceramic sheets: a left piezoelectric ceramic sheet 101 and a right piezoelectric ceramic sheet 102. The piezoelectric ceramic sheet 1 is made of PZT-5H material and is coaxially bonded to the flexible copper substrate using epoxy resin adhesive. The flexible copper substrate is made of brass and is connected to the vibrating film 3 only at its center using a small amount of adhesive. The vibrating film 3 is made of plastic. When the piezoelectric ceramic sheet 1 is subjected to an external excitation signal, it vibrates the flexible copper substrate. The flexible copper substrate, through the adhesive, causes the vibrating film 3 to vibrate. The air between the vibrating film 3 and the plate is disturbed by the vibration of the vibrating film 3, causing the local air pressure P1 to be lower than the external air pressure P0, thereby forming a negative pressure adsorption force.

[0022] like Figure 5 As shown, the crawling module includes a left driving foot 4 and a right driving foot 5. The left driving foot 4 includes a left-end "V"-shaped driving foot 401 and a left-side arc-shaped barb 402. The right driving foot 5 includes a right-end "V"-shaped driving foot 501 and a right-side arc-shaped barb 502. The left-end "V"-shaped driving foot 401 and the left-side arc-shaped barb 402 are integrally connected and arranged in a completely mirror image of the right-end "V"-shaped driving foot 501 and the right-side arc-shaped barb 502. The left-end "V"-shaped driving foot 401 is bonded to the left piezoelectric ceramic sheet 101 using epoxy resin adhesive, and the right-end "V"-shaped driving foot 501 is bonded to the right piezoelectric ceramic sheet 102 using epoxy resin adhesive. The left and right piezoelectric ceramic sheets 101 and 102 are independently controlled by two driving signals. The deformation of the left piezoelectric ceramic sheet 101 causes the left-end "V"-shaped drive foot 401 to deform, and the deformation of the left-end "V"-shaped drive foot 401 causes the left-end arc-shaped barb to contact the contact surface. The deformation of the right piezoelectric ceramic sheet 102 causes the right-end "V"-shaped drive foot 501 to deform, and the deformation of the right-end "V"-shaped drive foot 501 causes the right-end arc-shaped barb to contact the contact surface, thus realizing the robot's movement.

[0023] like Figure 6As shown, the fixing module includes a body connector 6, a camera 7, a camera mounting bracket 8, a load connector 9, and a load mounting bracket 10. The body connector 6 has a circular ring structure with multiple mounting holes for connection to the camera mounting bracket 8 and the load connector 9 via mortise and tenon joints. Four uprights protrude from the lower end of the body connector 6 and are bonded to the flexible copper substrate 2 using epoxy resin adhesive. The camera mounting bracket 8 is installed on the body connector 6, thus fixing the camera 7 to the body connector 6. The load connector 9 has mounting holes for fastening the robot shell 13 and the load mounting bracket 10 using connecting bolts 11 and connecting nuts 12. The load mounting bracket 10 has mounting grooves and holes for mounting loads such as listeners and attitude sensors, and can also suspend different weights. like Figure 7 As shown, the robot's outer shell 13 has an insect-like structural appearance and is fixed to the load connector 9 by connecting bolts 11 and connecting nuts 12. It has through holes inside, allowing the camera 7 to extend outwards.

[0024] The single-source dual-effect piezoelectric micro wall-climbing robot in the above embodiments has the characteristics of simple structure, convenient driving, miniaturization, lightweight and high adsorption force. It is suitable for vertical surfaces, inclined surfaces and horizontal inverted surfaces and can be equipped with a variety of load modules (such as listeners, sensors, etc.) to perform different tasks.

[0025] In another embodiment, the present invention also provides a motion control method for the wall-climbing robot in the above embodiments. Specifically, by applying square wave excitation signals with different voltages to the left piezoelectric ceramic plate 101 and the right piezoelectric ceramic plate 102, the motion of the left driving foot 4 and the right driving foot 5 can be changed, thereby realizing the multi-directional motion of a single-source dual-effect piezoelectric micro wall-climbing robot.

[0026] When the robot needs to complete linear motion, the left piezoelectric ceramic plate 101 and the right piezoelectric ceramic plate 102 are simultaneously excited by square wave excitation signals of the same frequency and voltage. At this time, the left driving leg 4 and the right driving leg 5 have the same motion displacement and motion frequency, driving the robot to complete linear motion. When the robot needs to complete a turning motion, it uses square wave excitation signals of the same frequency but different voltages to simultaneously excite the left piezoelectric ceramic sheet 101 and the right piezoelectric ceramic sheet 102. At this time, the left driving foot 4 and the right driving foot 5 have different motion displacements and the same motion frequency. Therefore, the robot generates a displacement difference between the left and right sides, driving the robot to turn towards the side with smaller displacement. When the robot needs to complete the stationary rotation, the left piezoelectric ceramic plate 101 or the right piezoelectric ceramic plate 102 is excited by the square wave excitation signal. At this time, the left driving foot 4 or the right driving foot 5 moves under the drive of the left piezoelectric ceramic plate 101 or the right piezoelectric ceramic plate 102, driving the robot to complete the stationary rotation.

[0027] The beneficial effects of this invention are as follows: (1) The present invention relates to a single-source dual-effect micro piezoelectric wall-climbing robot, which proposes a single-source dual-effect control strategy for the piezoelectric material to crawling and adsorption functions. It has the characteristics of simple structure, convenient drive and miniaturization, so that the robot has a smaller mass and volume while having lightweight, stable adsorption and controllable movement, and achieves a larger load-to-weight ratio.

[0028] (2) This invention can be applied to vertical surfaces, inclined surfaces and other scenarios, or it can be placed upside down on horizontal surfaces and equipped with various load modules (such as listeners, sensors, etc.) to perform different tasks. It has the characteristics of good passability, strong environmental adaptability and good concealment.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single-source, dual-effect piezoelectric micro-wall-climbing robot, characterized in that, include: The adsorption module includes a piezoelectric ceramic sheet (1), a flexible copper substrate (2), and a vibrating film (3). The vibrating film (3) is bonded to the center of the flexible copper substrate (2) through a wet composite process. The piezoelectric ceramic sheet (1) vibrates with the flexible copper substrate to generate an adsorption force. The piezoelectric ceramic sheet (1) is composed of two completely mirrored semi-circular piezoelectric ceramic sheets, a left piezoelectric ceramic sheet (101) and a right piezoelectric ceramic sheet (102). The left piezoelectric ceramic sheet (101) and the right piezoelectric ceramic sheet (102) are independently controlled by two driving signals. The crawling module includes a left driving foot (4) and a right driving foot (5). The left driving foot (4) and the right driving foot (5) are respectively bonded to the left piezoelectric ceramic sheet (101) and the right piezoelectric ceramic sheet (102). The left driving foot (4) moves by deforming the left piezoelectric ceramic sheet (101), and the right driving foot (5) moves by deforming the right piezoelectric ceramic sheet (102), thereby realizing robot movement.

2. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 1, characterized in that, Also includes: A fixing module responsible for installing the camera (7) and load on the robot, the fixing module includes: a body connector (6), a camera (7), a camera fixing component (8), a load connector (9) and a load fixing component (10). The body connector (6) is the main body of the robot. The body connector (6) is glued to the flexible copper substrate (2) through the column on the body connector (6) to fix the adsorption module and the crawling module to the main body. The load fixing member (10) is connected to the load connecting member (9) by connecting bolts (11) and connecting nuts (12); The camera (7) is fixed to the body connector (6) by the camera fixing piece (8); The camera fixing component (8) is connected to the body connector (6) through a tenon and mortise structure, and the load connector (9) is connected to the body connector (6) through a tenon and mortise structure.

3. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 2, characterized in that, Also includes: The robot shell (13) has an insect-like structure and appearance; the robot shell (13) is fixed to the load connector (9) by connecting bolts (11) and connecting nuts (12).

4. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 2, characterized in that, The main body of the body connector (6) is a circular ring structure with multiple fixing holes for connecting with the camera fixing component (8) and the load connector (9) through a mortise and tenon structure.

5. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 1, characterized in that, The left driving foot (4) includes a left "V"-shaped driving foot (401) and a left arc-shaped barb (402). The right driving foot (5) includes a right "V"-shaped driving foot (501) and a right arc-shaped barb (502). The left "V"-shaped driving foot (401) and the left arc-shaped barb (402) are connected as a whole structure and are arranged in a completely mirror image with the right "V"-shaped driving foot (501) and the right arc-shaped barb (502). The left "V"-shaped driving foot (401) is glued to the left piezoelectric ceramic sheet (101), and the right "V"-shaped driving foot (401) is glued to the left piezoelectric ceramic sheet (101). The "V" shaped drive foot (501) is bonded to the right piezoelectric ceramic sheet (102); the deformation of the left piezoelectric ceramic sheet (101) causes the left end "V" shaped drive foot (401) to deform, and the deformation of the left end "V" shaped drive foot (401) causes the left end arc-shaped barb to contact the contact surface. The deformation of the right piezoelectric ceramic sheet (102) causes the right end "V" shaped drive foot (501) to deform, and the deformation of the right end "V" shaped drive foot (501) causes the right end arc-shaped barb to contact the contact surface, thereby realizing robot movement.

6. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 1, characterized in that, The piezoelectric ceramic sheet (1) is made of PZT-5H material.

7. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 1, characterized in that, The flexible copper substrate is made of brass.

8. The single-source dual-effect piezoelectric micro wall-climbing robot according to claim 1, characterized in that, The vibrating diaphragm (3) is made of plastic.

9. A motion control method for controlling the single-source dual-effect piezoelectric micro wall-climbing robot according to any one of claims 1 to 8, characterized in that, By applying square wave excitation signals with different voltages to the left piezoelectric ceramic sheet (101) and the right piezoelectric ceramic sheet (102), the movement of the left driving foot (4) and the right driving foot (5) is changed, thereby realizing the multi-directional movement of the robot.

10. The motion control method according to claim 9, characterized in that, By applying square wave excitation signals with different voltages to the left piezoelectric ceramic plate (101) and the right piezoelectric ceramic plate (102), the movement of the left driving foot (4) and the right driving foot (5) is changed, thereby realizing the robot's multi-directional movement, including: The left piezoelectric ceramic sheet (101) and the right piezoelectric ceramic sheet (102) are simultaneously excited by square wave excitation signals of the same frequency and voltage to realize the linear motion of the robot; The robot's steering motion is achieved by simultaneously exciting the left piezoelectric ceramic sheet (101) and the right piezoelectric ceramic sheet (102) with square wave excitation signals of the same frequency but different voltages. The robot can achieve in-situ rotation by using a square wave excitation signal to excite either the left piezoelectric ceramic sheet (101) or the right piezoelectric ceramic sheet (102).

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