Roller type wall-climbing robot based on electrostatic driving and electrostatic adsorption

Abstract

The invention relates to the field of wall-climbing robots, in particular to a roller type wall-climbing robot based on electrostatic driving and electrostatic adsorption, which comprises a stator module, a rotor module, a sucker body, a wheel surface and a wall surface, the rotor module is rotatably arranged in the middle of the stator module, and the rotor module is driven by an electric field formed by stator blades; the electrostatic chuck is used for driving the roller to roll and advance along the wall surface, adsorption force generated by the electrostatic chuck presses the roller and the wall surface, meanwhile, the electrostatic chuck provides the adsorption force, so that the robot is stably adsorbed on the wall surface, and the adsorption force generated by the chuck body presses the roller and moves along the wall surface. Stator blades of the stator module have the dual functions of an electrostatic motor stator and a suction cup body power supply structure at the same time, the adjacent stator blades form an electric field for driving a rotor through opposite polarities, and the electrostatic motor drives the rotor module and the wheel face function. Meanwhile, the blades of the same polarity at the interval positions are conducted through the stator wires, opposite charges needed by adsorption are supplied to the suction cup body, and therefore the electrostatic adsorption power supply function is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wall-climbing robots, in particular to a roller type wall-climbing robot based on electrostatic driving and electrostatic adsorption. BACKGROUND

[0002] In the fields of industrial detection, building maintenance, fire rescue and aerospace, it is often necessary to work on special scenes such as vertical wall surfaces and high-altitude wall surfaces. As the core equipment for completing such work, the technical performance of wall-climbing robots has always been the focus of industry research.

[0003] From the adsorption principle, the adsorption methods of existing wall-climbing robots can be divided into five categories: magnetic adsorption, negative pressure adsorption, positive pressure adsorption, electrostatic adsorption and bionic adsorption. Among them, the magnetic adsorption type wall-climbing robot relies on the magnetic force between the permanent magnet or electromagnet and the ferromagnetic wall surface to achieve adsorption, but this type of robot can only adapt to ferromagnetic material wall surface, and is completely unsuitable for non-magnetic wall surface such as concrete, glass and composite material. The negative pressure adsorption type wall-climbing robot forms a negative pressure cavity between the robot and the wall surface through a vacuum pump or a fan, and uses the atmospheric pressure difference to achieve adsorption. However, the negative pressure adsorption structure needs to rely on sealing elements to maintain the air tightness of the negative pressure cavity. When the wall surface has irregular structures such as protrusions, depressions or cracks, the sealing elements are easy to fail, resulting in negative pressure leakage. The positive pressure adsorption type wall-climbing robot generates gas away from the wall surface through its own propulsion device, and relies on the gas reaction force to achieve adsorption. However, this type of robot has high requirements for gas flow pressure control accuracy, poor adsorption stability, and the carrying demand of high-pressure gas source and other propulsion devices increases the volume and weight of the robot, making it difficult to apply in narrow spaces or lightweight work scenes. The bionic adsorption type wall-climbing robot simulates the adsorption organs of animals such as geckos and octopuses, and achieves adsorption through suction cup structure. Its advantages are small damage to the wall surface during adsorption and strong adaptability to irregular wall surfaces. However, the manufacturing precision of bionic structure is high, the suction cup is easy to lose adsorption ability due to wear and tear, and the adsorption force is greatly affected by the cleanliness of the wall surface. Once there are impurities such as dust and oil stains on the wall surface, the adsorption performance will be greatly affected.

[0004] In the field of electrostatic driving and adsorption technology, existing technologies have realized the application of rotary DC electrostatic motors. The principle is to carry positive and negative charges alternately through the rotor blades during rotation, and output rotary motion under the driving of electrostatic force. Such motors have the characteristics of simple structure, small size, low noise and low energy consumption, and show good potential in micro driving scenarios.

[0005] At the same time, electrostatic adsorption technology has also formed a mature multi-electrode adsorption configuration. When adsorbing a conductor wall, positive and negative electrodes can induce opposite charges on the conductor surface to generate adsorption force (see Figure 6 ); When adsorbing an insulator, the electric dipole inside the insulator can be polarized along the electric field lines, thereby forming stable adsorption (see Figure 7) and electrostatic adsorption does not need to rely on specific wall material, no mechanical contact wear, adsorption force adjustment flexible.

[0006] However, in the prior art, electrostatic drive electrostatic motor and electrostatic adsorption are independent technical systems, and there is no scheme to apply both to a wheeled wall climbing robot. In summary, the current wall climbing robot technology field, especially the wheeled wall climbing robot, urgently needs a technical solution that can integrate the advantages of electrostatic drive and electrostatic adsorption, solve the stability of adsorption and movement speed, adapt to various wall materials and have a simple structure. SUMMARY

[0007] The purpose of the present application is to provide a roller type wall climbing robot based on electrostatic drive and electrostatic adsorption to solve the above problems. The stator blades of the stator module simultaneously undertake the dual functions of the stator of the electrostatic motor and the power supply structure of the suction cup body. Specifically, adjacent stator blades form an electric field of opposite polarity to drive the rotor, realizing the functions of the electrostatic motor drive rotor module and the wheel surface. At the same time, the same polarity blades at the interval position are connected by the stator wire to supply the suction cup body with the required opposite charges for adsorption, thereby realizing the electrostatic adsorption power supply function. The complex structure of the traditional wall climbing robot independent drive mechanism and independent adsorption mechanism is eliminated, the overall weight of the robot is reduced, and the lightweight structure reduces the corresponding movement energy consumption. Details are described below.

[0008] To achieve the above purpose, the present application provides the following technical solutions: The roller type wall climbing robot based on electrostatic drive and electrostatic adsorption provided by the present application comprises a stator module, a rotor module, a suction cup body, a wheel surface and a wall surface, the rotor module is rotationally arranged in the middle part of the stator module; The stator module comprises a stator frame and a plurality of stator blades, the plurality of stator blades are arranged at intervals on the stator frame, and adjacent stator blades are of opposite polarity; The rotor module comprises a rotor frame and a plurality of rotor blades, the rotor blades are circumferentially distributed on the outside of the rotor frame, the rotor frame is rotatably mounted on the stator frame, and the wheel surface is wrapped on the outside of the rotor blades to form a roller that abuts against the wall surface; The number of the suction cup body is two groups, and each group is arranged on the side of the joint between the wheel surface and the wall surface. The suction cup body comprises at least one group of inner adsorption plates and outer adsorption plates connected to adjacent stator blades, the stator blades supply opposite charges to the inner adsorption plates and the outer adsorption plates of the suction cup body for generating electrostatic adsorption force on the wall surface; The rotor module is driven by the electric field formed by the stator blades to drive the roller to roll and move along the wall surface. The adsorption force generated by the electrostatic suction cup compresses the roller and the wall surface, and the electrostatic suction cup provides adsorption force to make the robot stably adsorb on the wall surface. The adsorption force generated by the suction cup body compresses the roller and moves along the wall surface.

[0009] The above-mentioned one kind based on electrostatic drive and electrostatic adsorption's roller type wall climbing robot, control stator module energization, make adjacent stator blade produce opposite polarity electric charge, form the electric field of drive rotor module;The whole structure is moved to the initial position of the working wall surface, ensure that the wheel surface is attached to the wall surface, the stator blade passes through the stator wire and is connected to the same polarity electric charge, and the opposite polarity electric charge is supplied to the inner and outer adsorption plates of the suction cup body, so that the suction cup body generates adsorption force to the wall surface;At the same time, the rotor module is driven by the stator electric field and keeps rotating, and the wheel surface is driven by the rotor module to rotate, so that the wheel surface and the wall surface produce rolling friction, and the robot is ensured to be attached to the wall surface stably;And through the support action of the rotor module and the wheel surface, the surface of the suction cup body and the wall surface keep a small gap, the suction cup body is in a non-contact suspended state on the wall surface, and the dry friction resistance is avoided to affect the motion efficiency.

[0010] If the advancing speed needs to be improved, the power supply voltage of the stator module is increased, the electric field strength is enhanced, the rotating speed of the rotor module is improved, and at this time the electrostatic adsorption force of the suction cup body is also enhanced synchronously, so that no slip or separation occurs in high-speed motion.

[0011] As preferred, the surface of the suction cup body is not in contact with the wall surface and keeps parallel to each other.

[0012] As preferred, the stator module further comprises a wing plate, which extends outward along both ends of the stator blade, and is used for connecting the stator blade and the suction cup body.

[0013] As preferred, the inner adsorption plate and the outer adsorption plate are both made of conductive layer material, which is wrapped with insulating material externally.

[0014] As preferred, when the wall surface is an insulator, the adsorption force is generated by the directional polarization of the electric dipole in the insulator;When the wall surface is a conductor, the adsorption force is generated by the induced opposite charge.

[0015] As preferred, a plurality of rotor blades extend circumferentially on the rotor frame, the plane direction of the rotor blade is tangent to the circumferential direction of the wheel surface, and the wheel surface and the rotor blade are attached to form an annular structure, which is used for improving the structural stability of the wheel surface.

[0016] As preferred, a plurality of rotor blades extend radially on the rotor frame, the plane direction of the rotor blade is perpendicular to the circumferential direction of the wheel surface, which is used for increasing the acting area of the rotor module and the electric field, and enhancing the rotating power of the rotor module.

[0017] As preferred, in the state that the polarities of adjacent stator blades are opposite, the polarities of adjacent two inner adsorption plates of two groups of suction cup bodies are opposite, and the wheel surface is made of insulating material, which is used for avoiding the direct contact between the wheel surface and the wall surface to cause electrostatic leakage and affect the driving effect of the electric field.

[0018] Preferably, the stator guide wires are arranged in front of and behind the stator frame, and the two groups of stator guide wires are used to conduct a plurality of stator blades at interval positions and of the same polarity.

[0019] Preferably, a bearing is arranged outside the stator module, and the bearing is fixed to the outside of the stator frame and is used to support the rotation of the rotor frame, the rotor blades and the wheel surface against the wall surface.

[0020] The beneficial effects are: 1. The stator module supplies opposite charges to the suction disc body to generate electrostatic adsorption force, and the adjacent blades of opposite polarity form an electric field to drive the rotor. When large-area wall surface inspection is required to increase the running speed, the power supply voltage of the stator module only needs to be increased to enhance the electric field strength and realize the speed increase of the rotor module, and the electrostatic adsorption force of the suction disc body is also increased to ensure that the adsorption force is always adapted to the running speed during high-speed movement, thereby avoiding the disadvantage of easy slippage during high-speed movement, and providing higher running speed and better adsorption stability compared with traditional negative pressure wheel robots.

[0021] 2. The rotor module is rotatably installed outside the stator module through a bearing, and the wheel surface covered outside the rotor module is used as a motion execution element. During use, the wheel surface is driven by the rotor module to abut against the outside of the wall surface, so that the surface of the suction disc body and the wall surface are kept in a non-abutting position with a small gap, and are in a non-contact suspension state. In this way, the dry friction resistance generated by the direct contact between the suction disc body and the wall surface is avoided, and the stable adhesion of the robot is ensured by the rolling friction between the wheel surface and the wall surface, thereby realizing the structural cooperation of non-resistance suspension adsorption on both sides and efficient rolling driving in the middle.

[0022] 3. The application can be adapted to different types of wall surface materials. When the wall surface is a conductor such as a metal storage tank or an aluminum alloy component, the charges supplied by the stator blades to the suction disc body induce opposite charges on the surface of the conductor to generate electrostatic adsorption force. When the wall surface is an insulator such as a glass curtain wall or a composite material component, the electric dipoles in the wall surface insulator are oriented and polarized along the electric field lines to form electrostatic adsorption, and the application range is wider.

[0023] 4. The electrostatic adsorption of the application is different from negative pressure adsorption, which does not depend on the sealing performance of the wall surface, different from magnetic adsorption, which does not require the wall surface to be a magnetic material, and different from bionic adsorption, which does not require the wall surface to be kept clean. During use, even if there are small protrusions, depressions or slight stains on the wall surface, the suction disc body and the wall surface are not in contact, and stable adsorption can be ensured.

[0024] 5. The stator blade of the stator module simultaneously assumes the dual functions of the stator of the electrostatic motor and the power supply structure of the suction disc body. Specifically, adjacent stator blades form an electric field of opposite polarity to drive the rotor, realizing the functions of the electrostatic motor driving the rotor module and the wheel surface. At the same time, the same polarity blades at the interval position are conducted through the stator wire to supply the required opposite charges to the suction disc body, thereby realizing the electrostatic adsorption power supply function. The complex structure of the independent driving mechanism and the independent adsorption mechanism of the traditional wall-climbing robot is omitted, the overall weight of the robot is reduced, and the lightweight structure reduces the corresponding motion energy consumption.

[0025] 6. The working mode of electrostatic driving and electrostatic adsorption only has rolling friction between the wheel surface and the wall surface during use, and is suitable for use in quiet places. At the same time, the mechanical contact structure is simplified, the wear rate of the parts is reduced, and the maintenance frequency and cost are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0027] Figure 1 is the front view structure diagram of the present application; Figure 2 is the perspective structure diagram of the present application; Figure 3 is the structure split schematic diagram of the present application; Figure 4 is the structure split schematic diagram of the rotor module and the wheel surface of the present application; Figure 5 is the perspective structure diagram of the stator module of the present application; Figure 6 is the electrostatic adsorption principle diagram of the adsorption conductor of the present application; Figure 7 is the electrostatic adsorption principle diagram of the adsorption insulator of the present application.

[0028] The following explains the reference signs: 1. Stator module; 101. Stator blade; 102. Wing plate; 103. Stator frame; 104. Stator wire; 2. Rotor module; 201. Rotor blade; 202. Rotor frame; 3. Suction disc body; 301. Inner adsorption plate; 302. Outer adsorption plate; 303. Connecting plate; 4. Wheel surface; 5. Wall surface; 6. Bearing. DETAILED DESCRIPTION

[0029] With reference to the drawings and the embodiments described herein, it will be understood that the application is not limited in its application to the details of construction and the arrangements of the components set forth in the following description or illustrated in the drawings. Departures can be made from these details without departing from the spirit or scope of the application.

[0030] It should be noted that all the terms indicating direction and position in the present application, such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer", "top", "low", "lateral", "longitudinal", "center", etc., are only used to explain the relative position relationship, connection condition, etc. between components in a certain state (as shown in the drawings), and are only for the convenience of describing the present application, and thus cannot be understood as a limitation on the present application. In addition, the description of "first", "second", etc. in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features.

[0031] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected; can be directly connected, or indirectly connected through an intermediate medium; can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0033] Reference is made to Figures 1-7As shown, the application provides a roller type wall climbing robot based on electrostatic driving and electrostatic adsorption, comprising a stator module 1, a rotor module 2, a suction cup body 3, a wheel surface 4 and a wall surface 5, the rotor module 2 is rotationally arranged in the middle of the stator module 1, wherein the stator module 1 not only provides a driving electric field for the rotor module 2, but also supplies the required charge for the electrostatic adsorption of the suction cup body 3; the rotor module 2 serves as a power output and support unit, driving the wheel surface 4 to realize rolling motion, while maintaining the relative position of the suction cup body 3 and the wall surface 5; the suction cup body 3 serves as an adsorption execution unit, stably adhering the robot to the wall surface 5 through electrostatic action; the wheel surface 4 serves as a motion transmission unit, converting the rotary power of the rotor module 2 into a traveling power along the wall surface 5, while also having insulation and wear resistance functions.

[0034] The stator module 1 comprises a stator frame 103 and a plurality of stator blades 101, the plurality of stator blades 101 are arranged at intervals on the stator frame 103, and adjacent stator blades 101 have opposite polarities, thereby forming alternating positive and negative electric field regions inside the stator module 1, which not only generates a continuous electrostatic force to drive the rotor module 2, but also provides stable polar charge for the suction cup body 3 through charge conduction; at the same time, the stator frame 103 provides rigid support for the stator blades 101, ensuring uniform blade spacing and accurate positioning of the polarity arrangement, avoiding electric field disorder caused by uneven blade distribution, and thus ensuring the synchronous stability of the driving and adsorption functions, to solve the problem of independent setting of the driving module and the adsorption module of the traditional wall climbing robot and complex structure; The rotor module 2 comprises a rotor frame 202 and a plurality of rotor blades 201, the rotor blades 201 are circumferentially distributed on the outside of the rotor frame 202, and the rotor frame 202 is rotatably mounted on the stator frame 103, thereby enabling the rotor module 2 to perform coaxial rotary motion around the central axis of the stator module 1, ensuring stable rotary trajectory without eccentric wobble; the circumferential distribution design of the rotor blades 201 can increase the contact area with the electric field of the stator module 1, so that each blade can receive uniform electrostatic force, avoiding speed fluctuations caused by uneven force; the wheel surface 4 is wrapped on the outside of the rotor blades 201 to form a roller that touches the wall surface 5, serving as a power transmission carrier mechanism, which not only converts the rotary motion of the rotor module 2 into rolling friction along the wall surface 5, but also insulates the rotor blades 201 from direct contact with the wall surface 5, thereby avoiding blade failure due to friction and wear or electrostatic leakage, prolonging the service life of the rotor module 2 while ensuring efficient power transmission, and improving motion smoothness through the elastic deformation of the wheel surface 4 to adapt to the small protrusions of the wall surface 5; The number of suction disc bodies 3 is two groups, and is arranged at the joint of the wheel surface 4 and the wall surface 5 on both sides. The suction disc body 3 includes at least one group of inner suction plates 301 and outer suction plates 302 connected to the adjacent stator blades 101, preferably 1-5 groups. The stator blades 101 supply opposite charges to the inner suction plates 301 and the outer suction plates 302 of the suction disc body 3, to generate electrostatic adsorption force on the wall surface 5, so that the robot is balanced in the direction of the wall surface 5 by the symmetric distribution of the two groups of suction disc bodies 3, to avoid the robot tilting or deviating due to the too large adsorption force on one side. At the same time, the opposite charges of the inner and outer suction plates 302 form a complementary electric field, and the adsorption force covers a wider range, so that the robot can still maintain stable adsorption even if there is local unevenness on the wall surface 5. In the examples of the present application, a plurality of positive and negative polarity adsorption plates can be arranged in each group of suction disc bodies 3. The simplest adsorption mode is a single-pole suction disc, and the comb tooth suction disc is a positive and negative adsorption electrode alternately distributed. Each side of the suction disc body 3 can be composed of a single stator blade, or can be composed of a plurality of stator blades extending. The rotor module 2 is driven by the electric field formed by the stator blades 101 to drive the roller to roll and move along the wall surface 5. The adsorption force generated by the electrostatic suction disc compresses the roller and the wall surface 5, and at the same time the electrostatic suction disc provides adsorption force to make the robot stably adsorbed on the wall surface 5. The adsorption force generated by the suction disc body 3 compresses the roller and moves along the wall surface 5. In this way, the driving and adsorption are cooperated. When the speed of the robot needs to be increased, the electric field strength of the stator blades 101 is increased synchronously, and the adsorption force of the suction disc body 3 is also increased, to ensure that the roller and the wall surface 5 always maintain effective contact without slipping. When the robot needs to work accurately at low speed, the electric field strength is reduced, and the adsorption force is also reduced synchronously to reduce energy consumption and prevent the robot from sliding down.

[0035] As an optional embodiment, the surface of the suction disc body 3 is not in contact with the wall surface 5 and remains parallel to each other, to form a small gap of 0.1-0.5mm between the suction disc body 3 and the wall surface 5, so that the suction disc body 3 and the wall surface 5 are in a non-contact suspension state. By avoiding the direct friction between the suction disc body 3 and the wall surface 5, the dry friction resistance during the movement of the robot is reduced, and the adsorption force is also reduced. The adsorption stability can be improved, which is especially suitable for glass curtain walls, smooth metal wall surfaces 5 and other work positions that are prone to leave friction marks. The stator module 1 further comprises a wing plate 102 extending outwardly along both ends of the stator blade 101 for connecting the stator blade 101 and the suction cup body 3, thereby sequentially connecting the stator blade 101, the wing plate 102 and the suction cup body 3, avoiding the shaking or deviation of the suction cup body 3 during the adsorption and movement due to the force, so that the overall structural strength of the stator module 1 and the suction cup body 3 can be enhanced, even if the wall 5 is vibrating or the robot is turning, the suction cup body 3 can still maintain a parallel posture with the wall 5, and the wing plate 102 can disperse the adsorption force transmitted by the suction cup body 3, without the need for additional independent support components, further simplifying the overall structure of the robot and reducing the weight of the equipment; Referring to Figure 7 When the wall 5 is an insulator, the adsorption force is generated by the directional polarization of the electric dipole, and then the electric dipole inside the glass, composite material component and other insulating walls 5 is arranged along the electric field line direction under the action of the electric field of the suction cup body 3. The electric dipole in the insulator will be directionally polarized along the electric field line direction, thereby generating stable adsorption force between each pair of electrodes. Even if the wall 5 cannot conduct electricity, sufficient adsorption force can still be generated to balance the weight of the robot. In this way, the limitation of traditional magnetic and conductive adsorption robots that are only suitable for conductor walls 5 is broken, and the robot can work on common insulating walls 5 without the need for designing special adsorption modules for different wall 5 materials. Referring to Figure 6 When the wall 5 is a conductor, the inner adsorption plate 301 and the outer adsorption plate 302 are made of conductive induction material to generate adsorption force by inducing opposite charges. Specifically, the positive and negative electrodes induce opposite charges on the surface of the conductor to generate adsorption force. The staggered distribution of multiple electrodes further enhances the stability of adsorption to ensure that the surface of the conductor wall 5 such as metal storage tanks, aluminum alloy plates and steel structure plant walls can quickly induce opposite charges to the charges of the suction cup body 3. In this way, the operator can quickly switch between work scenes without replacing the overall structure of the suction cup body 3, improving the scene adaptation flexibility and work efficiency of the equipment. The plurality of rotor blades 201 extend circumferentially on the rotor frame 202, the plane direction of the rotor blades 201 is tangent to the circumferential direction of the wheel surface 4, and the wheel surface 4 and the rotor blades 201 form a ring structure. Specifically, the structure stability of the wheel surface 4 can be improved. When the circumferentially extending blades are tangent to the circumference of the wheel surface 4, the support force of the blades on the wheel surface 4 is distributed along the tangent direction of the wheel surface 4, which can effectively disperse the radial stress of the wheel surface 4 when rolling, avoiding local deformation of the wheel surface 4 due to high-speed rotation or impact of the wall 5. At the same time, the overall rigidity of the ring structure of the wheel surface 4 is stronger, so that even when the wall 5 is uneven, the wheel surface 4 can still maintain a complete rolling track, reducing the contact gap between the wheel surface 4 and the wall 5, ensuring stable transmission of rolling friction, and being especially suitable for large-area wall 5 inspection scenes that require long-time and high-speed travel; A plurality of rotor blades 201 extend radially on the rotor frame 202, the rotor blades 201 are perpendicular to the circumferential direction of the wheel surface 4 in the plane direction, specifically, can be used to increase the acting area of the rotor module 2 and the electric field, and enhance the rotating power of the rotor module 2. The radially extending blades can be arranged radially outside the rotor frame 202. Compared with the circumferentially extending blades, the same volume can increase the number of blades, so that the contact area between the rotor module 2 and the stator electric field is significantly increased. More blades are driven by electrostatic force at the same time, which can directly increase the output torque of the rotor module 2, provide stronger power for the robot, facilitate the normal movement of the carrying detection equipment under the load working condition, and be suitable for complex operation scenes requiring high load and strong power. The adjacent two inner adsorption plates 301 of the two groups of suction disc bodies 3 have opposite polarities, and the wheel surface 4 is made of insulating material, which is used to avoid direct contact between the wheel surface 4 and the wall surface 5, so as to prevent electrostatic leakage from affecting the driving effect of the electric field, and then make the adsorption force more evenly distributed along the direction of the robot movement, so as to prevent the robot from deviating along the wall surface 5 due to insufficient adsorption force on one side. The insulating material of the wheel surface 4 can block the electrostatic conduction path between the rotor module 2 and the wall surface 5, and reduce the risk of electrostatic leakage. The stator frame 103 is provided with stator wires 104 in front and back, and the two groups of stator wires 104 are used to conduct a plurality of stator blades 101 at interval positions and having the same polarity. In addition, the design of the front and back double groups of stator wires 104 conducts the interval blades, which can ensure that the electric field formed by the stator module 1 is periodically and uniformly distributed. Whether it is used to drive the rotation of the rotor module 2 or to supply electric charge to the suction disc body 3, the electric charge intensity can be stable, and the power fluctuation or adsorption force attenuation caused by the local weak electric field can be avoided, so as to improve the reliability and safety of the robot operation, and is especially suitable for remote operation scenes without manned operation. The stator module 1 is provided with a bearing 6 outside the stator frame 103, which is fixed to the outside of the stator frame 103 and is used to support the rotor frame 202 to drive the rotor blades 201 and the wheel surface 4 to roll and move against the wall surface 5, so as to replace the sliding friction between the rotor frame 202 and the stator frame 103 with the rolling friction of the bearing 6, so as to reduce the rotating resistance of the rotor module 2, reduce energy loss, and avoid wear caused by direct contact between the two frames. At the same time, the rigid support of the bearing 6 can ensure that the rotor frame 202 always rotates around the center axis of the stator module 1, prevent uneven contact between the wheel surface 4 and the wall surface 5 caused by rotor deviation, and even when the robot turns or the wall surface 5 is uneven, the wheel surface 4 can still stably abut against the wall surface 5, maintain sufficient rolling friction and adsorption force, and then ensure the motion smoothness and adsorption stability of the robot under complex working conditions, and prolong the service life of the core components.

[0036] With the above structure, the stator module 1 is powered on to make the adjacent stator blades 101 generate opposite polarity charges to form an electric field to drive the rotor module 2; the whole structure is moved to the initial position of the working wall surface 5 to ensure that the wheel surface 4 is attached to the wall surface 5, the stator blades 101 conduct the same polarity charges through the stator lead 104, and the opposite polarity charges are supplied to the inner and outer adsorption plates 302 of the suction disc body 3 through the connecting plate 303 to generate adsorption force on the wall surface 5; at the same time, the rotor module 2 rotates under the driving of the stator electric field, and the wheel surface 4 is driven to rotate by the rotor module 2 to generate rolling friction between the wheel surface 4 and the wall surface 5, so as to ensure that the robot is stably attached to the wall surface 5; and through the support of the rotor module 2 and the wheel surface 4, the surface of the suction disc body 3 and the wall surface 5 maintain a small gap, so that the suction disc body 3 is in a non-contact suspended state on the wall surface 5, avoiding the influence of dry friction resistance on the movement efficiency.

[0037] If the advancing speed needs to be improved, the power supply voltage of the stator module 1 is increased to enhance the electric field strength, so that the rotating speed of the rotor module 2 is increased, and at this time the electrostatic adsorption force of the suction disc body 3 is also increased synchronously to ensure that there is no slipping or separation in high-speed movement; The opposite polarity of the adjacent blades forms an electric field to drive the rotor, and when a large area of the wall surface 5 needs to be inspected at a high speed, the power supply voltage of the stator module 1 only needs to be increased to enhance the electric field strength to increase the rotating speed of the rotor module 2, and the electrostatic adsorption force of the suction disc body 3 is also increased synchronously to ensure that the adsorption force is always adapted to the running speed in high-speed movement, thereby avoiding the disadvantage of easy slipping in high-speed movement, and compared with the traditional negative pressure wheel type robot, a higher advancing speed and better adsorption stability can be provided. In the present application, the rotor module 2 is rotatably installed outside the stator module 1 through the bearing 6, and the wheel surface 4 covered outside the rotor module 2 is used as a movement executing part, and in use, the wheel surface 4 is driven by the rotor module 2 to abut against the outside of the wall surface 5, so that the surface of the suction disc body 3 and the wall surface 5 maintain a non-abutting position with a small gap, and are in a non-contact suspended state. In this way, the dry friction resistance caused by the direct contact between the suction disc body 3 and the wall surface 5 is avoided, and the rolling friction between the wheel surface 4 and the wall surface 5 ensures that the robot is stably attached to avoid the realization of the structure cooperation of non-resistance suspension adsorption on both sides and efficient rolling driving in the middle part.

[0038] In the present application, different wall surface 5 material types can be adapted, when the wall surface 5 is a conductor such as a metal storage tank or an aluminum alloy component, the charges supplied by the stator blades 101 to the suction disc body 3 induce opposite charges on the conductor surface to generate electrostatic adsorption force; when the wall surface 5 is an insulator such as a glass curtain wall or a composite material component, the electric dipoles in the insulator of the wall surface 5 are oriented and polarized along the electric field lines to form electrostatic adsorption, and the application range is wider. The electrostatic adsorption of the present application is different from the negative pressure adsorption without relying on the sealing property of the wall 5, is different from the magnetic adsorption without the wall 5 being a magnetic material, and is different from the biomimetic adsorption without keeping the wall 5 clean. In use, even if the wall 5 has a small protrusion, a small indentation or a slight stain, since the suction cup body 3 does not contact the wall 5, stable adsorption can be ensured.

[0039] The stator blade 101 of the stator module 1 simultaneously assumes the dual functions of the stator of the electrostatic motor and the power supply structure of the suction cup body 3. Specifically, adjacent stator blades 101 form an electric field of opposite polarity to drive the rotor, realizing the functions of the electrostatic motor rotor module 2 and the wheel surface 4. At the same time, the same polarity blades at the interval positions are conducted through the stator wire 104, and the suction cup body 3 is supplied with the required opposite charge for adsorption, thereby realizing the electrostatic adsorption power supply function. The complex structure of the traditional wall-climbing robot independent driving mechanism and independent adsorption mechanism is omitted, the overall weight of the robot is reduced, and the lightweight structure reduces the corresponding motion energy consumption. The working mode of electrostatic driving and electrostatic adsorption is that only the wheel surface 4 and the wall 5 have rolling friction in use, which is suitable for use in quiet places. At the same time, the mechanical contact structure is simplified, the wear rate of parts is reduced, and the maintenance frequency and cost are reduced.

[0040] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A wall-climbing robot based on electrostatic driving and electrostatic adsorption, characterized in that, It comprises a stator module (1), a rotor module (2), a suction disc body (3), a wheel surface (4) and a wall surface (5), the rotor module (2) is rotationally arranged in the middle of the stator module (1); The stator module (1) comprises a stator frame (103) and a plurality of stator blades (101), the plurality of stator blades (101) are arranged at intervals on the stator frame (103), and adjacent stator blades (101) are opposite in polarity; The rotor module (2) comprises a rotor frame (202) and a plurality of rotor blades (201), the rotor blades (201) are circumferentially distributed on the outside of the rotor frame (202), the rotor frame (202) is rotatably mounted on the stator frame (103), and the wheel surface (4) is wrapped on the outside of the rotor blades (201) to form a roller that abuts against the wall surface (5); The number of the suction disc body (3) is two groups, and they are arranged on both sides of the joint between the wheel surface (4) and the wall surface (5), the suction disc body (3) comprises at least one group of inner suction plates (301) and outer suction plates (302) connected to adjacent stator blades (101), the stator blades (101) supply opposite charges to the inner suction plates (301) and the outer suction plates (302) of the suction disc body (3) to generate electrostatic adsorption force on the wall surface (5); The rotor module (2) is driven by the electric field formed by the stator blades (101) to drive the roller to roll along the wall surface (5), the adsorption force generated by the electrostatic suction disc compresses the roller against the wall surface (5), and the adsorption force provided by the electrostatic suction disc enables the robot to be stably adsorbed on the wall surface (5), and the adsorption force generated by the suction disc body (3) compresses the roller and moves it along the wall surface (5).

2. The electrostatically driven and electrostatically attracted rolling wall-climbing robot according to claim 1, wherein The surface of the suction disc body (3) does not abut against the wall surface (5) and remains parallel to each other.

3. The electrostatically driven and electrostatically attracted rolling wall-climbing robot according to claim 1, wherein The stator module (1) further comprises a wing plate (102) that extends outward from both ends of the stator blade (101) to connect the stator blade (101) and the suction disc body (3).

4. The electrostatically driven and electrostatically attracted rolling wall-climbing robot according to claim 3, wherein Both the inner suction plate (301) and the outer suction plate (302) are made of conductive layer material wrapped with insulating material.

5. The electrostatically driven and electrostatically clamped rolling wall-climbing robot according to claim 4, wherein, When the wall surface (5) is an insulator, the adsorption force is generated by the directional polarization of the electric dipole inside the insulator; when the wall surface (5) is a conductor, the adsorption force is generated by the induced opposite charges.

6. The electrostatically driven and electrostatically attracted rolling wall-climbing robot according to any one of claims 1 to 5, wherein A plurality of rotor blades (201) extend circumferentially on the rotor frame (202), the plane direction of the rotor blade (201) is tangent to the circumferential direction of the wheel surface (4), and the wheel surface (4) is attached to the rotor blade (201) to form a ring structure.

7. The electrostatically driven and electrostatically attracted rolling wall-climbing robot according to any one of claims 1 to 5, wherein A plurality of rotor blades (201) extend radially on the rotor frame (202), the plane direction of the rotor blade (201) is perpendicular to the circumferential direction of the wheel surface (4), for increasing the acting area of the rotor module (2) and the electric field and enhancing the rotating power of the rotor module (2).

8. The electrostatically driven and electrostatically clamped rolling wall-climbing robot according to claim 1, wherein, The adjacent two inner suction plates (301) of the two groups of suction disc bodies (3) are opposite in polarity, and the wheel surface (4) is made of insulating material.

9. The electrostatically driven and electrostatically clamped rolling wall-climbing robot according to claim 1, wherein, The stator frame (103) is provided with stator conductive wires (104) in front and back, and two groups of the stator conductive wires (104) are used for conducting a plurality of stator blades (101) at interval positions and of the same polarity.

10. The electrostatically driven and electrostatically clamped rolling wall-climbing robot according to claim 1, wherein, The stator module (1) is provided with a bearing (6) outside, the bearing (6) is fixed to the outside of the stator frame (103), and is used for supporting the rotor frame (202) to drive the rotor blade (201) and the wheel surface (4) to abut against the wall surface (5) and roll.

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