Electrostatically driven roller based on magnification effect of dielectric liquid

Abstract

The application discloses a kind of electrostatic rolling driver based on dielectric liquid amplification effect, it is related to electrostatic driving technical field, it solves the problem that the structure of climbing robot, control strategy is complex, cost is high and climbing ability is weak.The present application includes conductive surface, conductive ring and dielectric liquid, conductive ring is set on conductive surface, and it is insulated between conductive ring and conductive surface by dielectric structure;The side of conductive ring radially is provided with dielectric liquid;Voltage is applied on conductive ring and conductive surface;The asymmetric distribution of electrostatic force on both sides of conductive ring is realized by dielectric liquid, and the tangential and normal direction of electrostatic force component along the conductive surface respectively provides electrostatic driving force and adhesion for conductive ring.The present application integrates parallel electric adhesion effect and electrostatic driving effect into an adhesion-driving integrated structure, so that conductive ring can realize flexible movement on horizontal surface and curved surface.

Description

Technical Field

[0001] This invention relates to the field of electrostatic drive technology, specifically to an electrostatic rolling drive based on the dielectric liquid amplification effect. Background Technology

[0002] Crawling and climbing are two primary modes of locomotion for terrestrial animals. Various mobile organisms, such as geckos and snails, possess diverse crawling and climbing abilities, enabling them to survive in unknown and unstructured environments. Mobile robots that combine crawling and climbing can significantly expand their range and size, and enhance their ability to perform tasks under complex working conditions. To this end, various solutions have been developed, including wheeled, legged, or tracked locomotion mechanisms, such as: 1) combining traditional electromechanical actuation with magnetic attachment, suction attachment, spider-like attachment, and electro-attachment; 2) combining pneumatic actuation with suction attachment and electro-attachment; 3) combining shape memory alloy actuation with electro-attachment; 4) dielectric elastomer actuation with elastomeric materials; 5) piezoelectric actuation with elastomeric materials; 6) magnetic actuation based on spider-like attachment technology; 7) liquid crystal elastomer actuation based on electro-attachment; and 8) electrostatic actuation based on electro-attachment. These climbing methods typically separate actuation and adhesion, resulting in complex structures or cumbersome control strategies, and their relatively slow movement speeds. Compared to legged and tracked locomotion, rolling is a simple and efficient mode of movement on relatively flat surfaces. Humans typically use rolling wheels for rapid transport. Several electrically driven rolling devices have emerged for various crawling applications, such as electro-attached rolling, rolling driven by multi-segment dielectric elastomers with elastomeric materials, liquid metal rolling, and electro-hydraulic rolling. These robots either require complex structures and control strategies or expensive manufacturing processes, and none have demonstrated successful climbing capabilities. Summary of the Invention

[0003] To address the aforementioned problems of complex structures, high costs, and weak climbing abilities in existing climbing robots, this invention proposes an electrostatic rolling actuator based on the dielectric liquid amplification effect. This invention integrates the parallel electro-attachment effect and electrostatic driving into a single attachment-driving structure, enabling the conductive ring to move flexibly on both horizontal and curved surfaces.

[0004] This invention proposes an electrostatic rolling actuator based on the amplification effect of dielectric liquid, which specifically includes a conductive surface, a conductive ring, and a dielectric liquid. The conductive ring is disposed on the conductive surface, and the conductive ring and the conductive surface are insulated by a dielectric structure. The dielectric liquid is disposed on one radial side of the conductive ring. A voltage is applied to the conductive ring and the conductive surface.

[0005] Furthermore, the dielectric structure is a dielectric layer, which covers the surface of the conductive ring.

[0006] Furthermore, the dielectric structure is a dielectric layer, which is laid on a conductive surface.

[0007] Furthermore, the voltage range is 5kV-10kV.

[0008] Furthermore, the minimum amount of the dielectric liquid increases with the increase of the diameter of the conductive ring.

[0009] The beneficial effects of the electrostatic rolling actuator based on dielectric liquid amplification effect described in this invention are as follows: (1) The electrostatic rolling actuator based on the dielectric liquid amplification effect of the present invention forms an electrostatic pressure between the conductive ring and the conductive surface when a potential difference is applied. By placing the dielectric liquid on one side of the radial direction of the conductive ring, an asymmetrical distribution of electrostatic force on both sides of the conductive ring is caused. The electrostatic force components along the tangential and normal directions of the conductive surface provide electrostatic driving force and adhesion force for the conductive ring, respectively. The conductive ring on the dielectric liquid side is continuously attached to the conductive surface, while the conductive ring on the air side is continuously moved away from the conductive surface, thereby realizing the continuous rolling of the conductive ring. Attached Figure Description

[0010] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0011] In the attached diagram: Figure 1 This is a schematic diagram of the structure of an electrostatic rolling actuator based on the dielectric liquid amplification effect described in this invention, in which a dielectric layer is coated on the surface of a conductive ring. Figure 2 This is a schematic diagram of the structure of an electrostatic rolling actuator based on the dielectric liquid amplification effect according to the present invention, in which a dielectric layer is laid on a conductive surface. Wherein: 1-conductive surface, 2-dielectric layer, 3-conductive ring, 4-dielectric liquid. Detailed Implementation

[0012] The technical solution of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of, and not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0013] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0014] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0015] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0016] Specific implementation method one: See Figure 1 This embodiment is described in detail. The electrostatic rolling actuator based on the dielectric liquid amplification effect described in this embodiment specifically includes a conductive surface 1, a conductive ring 3, and a dielectric liquid 4. The conductive ring 3 is disposed on the conductive surface 1, and the conductive ring 3 and the conductive surface 1 are insulated by a dielectric structure. The dielectric liquid 4 is disposed on one radial side of the conductive ring 3. A voltage is applied to the conductive ring 3 and the conductive surface 1. The dielectric structure is a dielectric layer 2, which covers the surface of the conductive ring 3.

[0017] The voltage range is 5kV-10kV. When the voltage exceeds 5kV, the conductive ring 3 can roll forward steadily and continuously, and the moving speed increases with the increase of the applied voltage. When the voltage is below 5kV, the roller remains stationary or stops moving after rolling a certain distance; however, when the voltage is too high, the dielectric liquid 4 will be broken down, at which point the effect of the voltage on the moving speed of the conductive ring 3 decreases. The minimum amount of the dielectric liquid 4 increases with the increase of the diameter of the conductive ring 3; when the diameter of the conductive ring 3 is 0.5mm, the volume of the dielectric liquid 4 used is 10 microliters; when the diameter of the conductive ring 3 is 45mm, the volume of the dielectric liquid 4 is 1 milliliter.

[0018] The specific working principle of the electrostatic rolling actuator based on the dielectric liquid amplification effect described in this invention is as follows: When a potential difference is applied, electrostatic pressure is generated between the conductive ring 3 and the conductive surface 1. Placing the dielectric liquid 4 on one radial side of the conductive ring 3 leads to an asymmetrical distribution of electrostatic force because the dielectric constant and breakdown strength of the dielectric liquid 4 are both higher than those of air. The electrostatic force components along the tangential and normal directions of the conductive surface 1 provide the electrostatic driving force and adhesion force for the conductive ring 3, respectively. The adhesion force causes the conductive ring 3 to adhere to the conductive surface 1, while the electrostatic driving force propels the conductive ring 3 to roll. On the dielectric liquid 4 side, the conductive ring 3 remains in contact with the conductive surface 1, while on the air side, the conductive ring 3 continuously moves away from the conductive surface 1, thus achieving continuous rolling of the conductive ring 3. Under the action of adhesion, the conductive ring 3 achieves a climbing function and even... Figure 1 The image shows a rolling motion where the device is suspended and adsorbed below the conductive surface 1.

[0019] Maintaining the stability of the dielectric liquid 4 on one side is crucial for the continuous rolling of the conductive ring 3. The electric field strength on the dielectric liquid 4 side is much higher than that on the air side, and due to the dielectric adhesion effect, the dielectric liquid 4 moves towards the region of higher electric field strength. A continuous voltage application keeps the dielectric liquid 4 on one side of the conductive ring 3, thus achieving continuous and stable rolling of the conductive ring 3.

[0020] Specific Implementation Method Two: See Figure 2 This embodiment is described in detail. The electrostatic rolling actuator based on the dielectric liquid amplification effect described in this embodiment involves laying a dielectric layer 2 on a conductive surface 1. A voltage is applied to the conductive ring 3 and the conductive surface 1, causing the conductive ring 3 to adhere to the conductive surface 1 on which the dielectric layer 2 is laid. A dielectric liquid 4 is disposed on one side of the conductive ring 3. Other components and connections in this embodiment are the same as in Specific Embodiment One.

[0021] In summary, the electrostatic rolling actuator based on the dielectric liquid amplification effect described in this invention generates electrostatic pressure between the conductive ring 3 and the conductive surface 1 when a potential difference is applied. Placing the dielectric liquid 4 on one radial side of the conductive ring 3 results in an asymmetrical distribution of electrostatic force. The electrostatic force components along the tangential and normal directions of the conductive surface 1 provide electrostatic driving force and adhesion force to the conductive ring 3, respectively. On the dielectric liquid 4 side, the conductive ring 3 remains in contact with the conductive surface 1, while on the air side, the conductive ring 3 continuously moves away from the conductive surface 1, thereby achieving continuous rolling of the conductive ring 3.

[0022] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the invention. They can also be reasonable combinations of the features described in the above embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An electrostatic rolling actuator based on dielectric liquid amplification effect, characterized in that: It includes a conductive surface (1), a conductive ring (3) and a dielectric liquid (4). The conductive ring (3) is disposed on the conductive surface (1), and the conductive ring (3) and the conductive surface (1) are insulated from each other by a dielectric structure. The dielectric liquid (4) is disposed on one radial side of the conductive ring (3). A voltage is applied to the conductive ring (3) and the conductive surface (1).

2. The electrostatic rolling actuator based on dielectric liquid amplification effect according to claim 1, characterized in that: The dielectric structure is a dielectric layer (2), which covers the surface of the conductive ring (3).

3. The electrostatic rolling actuator based on dielectric liquid amplification effect according to claim 1, characterized in that: The dielectric structure is a dielectric layer (2), which is laid on the conductive surface (1).

4. An electrostatic rolling actuator based on dielectric liquid amplification effect according to claim 2 or 3, characterized in that: The voltage range is 5kV-10kV.

5. An electrostatic rolling actuator based on dielectric liquid amplification effect according to claim 2 or 3, characterized in that: The minimum amount of the dielectric liquid (4) increases with the increase of the diameter of the conductive ring (3).

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