Wall-climbing robot based on electrostatic adsorption

Abstract

The present invention aims to provide a wall-climbing robot based on electrostatic adsorption. The wall-climbing robot comprises a middle electrostatic chuck and electrostatic chucks located on two sides thereof, namely a left electrostatic chuck and a right electrostatic chuck. A bipedal gait movement form is realized by means of an electric motor and worm gear transmission, and a servo motor is used as a switch to control the adsorption and desorption of the electrostatic chucks. The coordinated control of the electric motor, the servo motor and a boost module is achieved by means of an integrated circuit board, thereby enabling seamless switching of bipedal adsorption force.

Description

Wall climbing robot based on electrostatic adsorption TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and relates to a wall climbing robot, in particular to a wall climbing robot using controllable electrostatic adsorption function. BACKGROUND

[0002] There are many types of current wall climbing robots, which can be divided into magnetic adsorption type, negative pressure adsorption type, positive pressure adsorption type, electrostatic adsorption type and bionic adsorption type according to the adsorption mode, and can be divided into foot type, wheel type, wheel-foot type and track type according to the movement form. The present application focuses on the foot type wall climbing robot based on electrostatic adsorption, which has obvious improvement in wall climbing speed, structural simplicity and control fluency compared with the prior art. From the adsorption mode: the magnetic adsorption robot can only be used for ferromagnetic wall surface; the negative pressure adsorption is to form a negative pressure zone between the electrostatic adsorption disc and the wall surface, which requires the wall surface to be absolutely flat and uniform; the positive pressure adsorption usually rotates the propeller at the back of the robot to generate a large pressure to press the robot on the wall surface, which inevitably needs a large power consumption and inevitably produces noise; the bionic adsorption mainly has dry adsorption similar to geckos and wet adsorption similar to snails, and the research on the action mechanism is not mature, so it is difficult to be applied to the marketized wall climbing robot; the electrostatic adsorption has less requirements for the adsorbed wall surface, small power consumption, no noise and good controllability, and is suitable for small wall climbing robots, but it still needs to be improved because it usually needs kilovolt or even higher power supply voltage and the adsorption response speed on the insulating wall surface is slow.

[0003] From the movement form: the wheel type robot usually has high speed, but lacks stability; the track type robot has stable adsorption, but the speed is limited, and if the electrostatic adsorption mode is used, the robot usually needs to stop intermittently to re-excite the adsorption force; the foot type is a relatively ideal wall climbing mode, which can overcome some obstacles on the wall surface by lifting the foot, and the adsorption and desorption of each step are independent, so the controllability is better, but the previous foot type wall climbing robot using electrostatic adsorption is usually subject to the residual charge existing after the electrostatic adsorption disc desorbs, because with the increase of the number of steps, the residual charge will gradually accumulate, eventually leading to the decrease of the adsorption force. Therefore, solving the problem of residual charge after the electrostatic adsorption disc desorbs can further show the advantages of the foot type wall climbing robot. SUMMARY

[0004] The first application purpose of the present application is to realize the rapid movement of the wall climbing robot on the insulating wall surface at any angle by the simple robot configuration driven by a single motor, in combination with the fast response electrostatic adsorption technology with good controllability.

[0005] The second application purpose of the application is to use a micro steering engine in combination with a flexible rocker arm as a controller of the electrostatic chuck, effectively improving the adsorption stability and control reliability of the wall climbing robot.

[0006] The third application purpose of the application is to use a single-chip microcomputer to realize the cooperative control of the driving motor and the steering engine, so that the advantage of rapid desorption is fully embodied on the wall climbing robot.

[0007] The fourth application purpose of the application is to provide three groups of transmission shafts for conducting electricity, which respectively conduct two high-voltage signals and one low-voltage signal, effectively simplifying the electricity conduction path of the whole machine.

[0008] The fifth application purpose of the application is to integrate the driving motor, the electrostatic chuck, the single-chip microcomputer control board, the steering engine controller, the battery and the voltage boosting module and other components on the wall climbing robot, realizing the wall climbing motion of the off-line configuration.

[0009] Therefore, the application aims to provide a wall climbing robot based on electrostatic adsorption technology, which realizes the motion form of biped gait through the transmission of the reduction motor and the worm gear, uses the steering engine as a switch to control the adsorption and desorption of the electrostatic chuck, and realizes the cooperative control of the driving motor, the control of the steering engine and the voltage boosting module through an integrated circuit board. In addition, high-voltage conduction is realized by means of the transmission shaft, and the off-line motion of the wall climbing robot system can be realized.

[0010] To solve the above technical problems, the application provides the following technical solutions:

[0011] A wall climbing robot based on electrostatic adsorption, comprising a middle electrostatic chuck and two side electrostatic chucks, i.e., a left electrostatic chuck and a right electrostatic chuck;

[0012] A driving assembly for driving the middle electrostatic chuck or the two side electrostatic chucks to walk;

[0013] A middle electrostatic chuck desorption unit connected to a circuit for consuming the electric charge on the middle electrostatic chuck, and two side electrostatic chuck desorption units connected to a circuit for consuming the electric charge on the two side electrostatic chucks;

[0014] A control unit capable of controlling the driving assembly and switching the electrostatic adsorption operation and the electric charge consumption operation of the middle electrostatic chuck and the two side electrostatic chucks, and when the middle electrostatic chuck is adsorbed to the wall, the two side electrostatic chuck desorption units are connected to the circuit, and the two side electrostatic chucks are lifted to walk under the action of the driving assembly; when the two side electrostatic chucks are adsorbed to the wall, the middle electrostatic chuck desorption unit is connected to the circuit, and the middle electrostatic chuck is lifted to walk under the action of the driving assembly.

[0015] Preferably, the driving assembly further comprises: the middle electrostatic chuck comprises a middle first shaft, a middle second shaft and a middle third shaft; the left electrostatic chuck comprises a left first shaft, a left second shaft and a left third shaft; the right electrostatic chuck comprises a right first shaft, a right second shaft and a right third shaft;

[0016] The middle first shaft is fixedly connected with the left first shaft and the right first shaft through a connecting arm to form a driving shaft system, and the middle first shaft is driven by the motor; the middle second shaft is fixedly connected with the left second shaft and the right second shaft through a connecting arm to form a first driven shaft system; the middle third shaft is fixedly connected with the left third shaft and the right third shaft through a connecting arm to form a second driven shaft system, wherein the driving shaft system selectively drives the middle electrostatic chuck or the two side electrostatic chucks to move.

[0017] Preferably, the driving assembly further comprises: the driving shaft system, the first driven shaft system and the second driven shaft system comprise a conductive material and are used to form part of a circuit.

[0018] Preferably, the driving assembly further comprises: the motor is installed on the middle electrostatic chuck and drives the middle first shaft through a worm gear assembly.

[0019] Preferably, the driving assembly further comprises a steering engine, which comprises a middle electrostatic chuck selection switch and a two-side electrostatic chuck selection switch and can selectively connect the middle electrostatic chuck desorption unit and the two-side electrostatic chuck desorption unit to the circuit, specifically:

[0020] When the steering engine is in the first position, the middle electrostatic chuck selection switch selects to connect the middle electrostatic chuck circuit and the middle electrostatic chuck is adsorbed to the wall, and at the same time, the two-side electrostatic chuck selection switch connects the two-side electrostatic chuck desorption unit to the circuit, so that the electric charge of the two-side electrostatic chuck is separated from the wall;

[0021] When the steering engine is in the second position, the middle electrostatic chuck selection switch selects to connect the middle electrostatic chuck desorption unit to the circuit, so that the middle electrostatic chuck is separated from the wall, and the two-side electrostatic chuck selection switch selects to connect the two-side electrostatic chuck circuit to the wall.

[0022] Preferably, the driving assembly further comprises: a desorption unit, which comprises parallel plates, the parallel plates comprising first and second parallel plates, and a conductive cantilever beam, one end of the conductive cantilever beam being a fixed end and the other end being a free end, the free end being at least partially disposed between the first and second parallel plates and being able to be excited by the first and second parallel plates to vibrate; the fixed end of the conductive cantilever beam is outside the parallel plates, and the free end is able to vibrate between the first and second parallel plates and contact the two plates at the maximum amplitude; the desorption unit is connected to the circuit through the conductive cantilever beam.

[0023] The middle electrostatic chuck desorption unit and the two-side electrostatic chuck desorption unit both adopt the desorption unit structure.

[0024] Through the above technical solutions, the technical effects of the present application are as follows:

[0025] 1. Innovation of wall-climbing robot configuration: a reduction motor is used as a driver, and the movement of the robot is realized through the transmission of a worm and gear. The previous driving methods commonly used in micro wall-climbing robots include air pressure driving, piezoelectric driving, dielectric elastomer driving, etc., and the comprehensive comparison in terms of reliability, controllability, and off-line stability is not as good as the motor used in the present application.

[0026] 2. Innovation of electrostatic adsorption control: a servo is used to connect a flexible rocker arm as a controller, which cooperates with the rapid desorption technology in the previous application of the applicant to realize seamless switching of the adsorption force of the feet. The key problem of the foot-type wall-climbing robot is the timely generation and elimination of the adsorption force. When the electrostatic chuck is desorbed from the insulating wall, the traditional method usually adopts the way of directly cutting off the power, and there will be residual charge in the dielectric layer of the electrostatic chuck, which will cause the desorption speed to be relatively slow (a few seconds to tens of seconds), and the accumulation of residual charge will cause the adsorption force to decrease significantly after multiple adsorptions, even leading to adsorption failure. The present application applies the rapid desorption technology to the wall-climbing robot, so that the adsorption feet can realize rapid response, thereby making it possible for the wall-climbing robot to move quickly.

[0027] 3. Innovation of conductive path: the conductive shaft, a structural component of the robot body, is used as a medium for conducting high-voltage electrical signals, effectively simplifying the wiring of the robot body and creating the possibility of off-line configuration. The electrostatic adsorption wall-climbing robot of the present application uses three electrostatic chucks, one reduction motor and one servo, a total of 11 independent conductive wires. Without such innovation in the conductive path, the interference between high-voltage and low-voltage lines, the interference between each wire and the movement structure of the robot, etc. will bring many difficulties to the movement of the robot.

[0028] 4. Innovation of control signal integration: a single-chip microcomputer is used to realize the coordinated control of the reduction motor, servo, boost circuit and other modules on the robot, improving the reliability of the whole machine control and providing key support for off-line configuration. The reduction motor needs a PWM signal that is periodically turned on and off, the servo needs a PWM signal with a fixed frequency but a periodically switched duty cycle, and the boost circuit that provides high-voltage signals to the electrostatic chuck needs a PWM signal with a high frequency and a low duty cycle. Here, through circuit design and code writing, three signals can be integrated into a single-chip microcomputer, and the signals of the single-chip microcomputer can be controlled in real time through Bluetooth, which is a key support for reliable control of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1 is a perspective view of a wall-climbing robot based on electrostatic adsorption according to the present application;

[0030] Fig. 2 is a diagram illustrating the motion state of the middle electrostatic chuck of the wall climbing robot based on electrostatic adsorption;

[0031] Fig. 3 is a diagram illustrating the motion state of the two-side electrostatic chucks of the wall climbing robot based on electrostatic adsorption;

[0032] Fig. 4 is a circuit connection principle diagram of the wall climbing robot based on electrostatic adsorption;

[0033] Fig. 5 is a wall climbing robot based on electrostatic adsorption with a line embodiment;

[0034] Fig. 6 is a circuit principle diagram of a wall climbing robot based on electrostatic adsorption without a line embodiment;

[0035] Fig. 7 is a circuit diagram of a wall climbing robot based on electrostatic adsorption without a line embodiment.

[0036] Reference signs:

[0037] 10: middle electrostatic chuck; 11: left electrostatic chuck; 12: right electrostatic chuck; 13: electrode; 14: positive electrode access point of middle electrostatic chuck; 15: negative electrode access point of left electrostatic chuck; 16: positive electrode access point of left electrostatic chuck; 17: negative electrode access point of right electrostatic chuck; 18: positive electrode access point of right electrostatic chuck; 19: negative electrode access point of middle electrostatic chuck; 20: motor; 21: worm gear assembly; 30: middle first shaft; 31: middle second shaft; 32: middle third shaft; 33: right third shaft; 34: right first shaft; 35: right second shaft; 36: left third shaft; 37: left first shaft; 38: left second shaft; 39: connecting arm; 41: first electrode plate; 42: second electrode plate; 43: middle electrostatic chuck desorption unit access point; 44: rudder; 45: middle electrostatic chuck selection switch; 46: middle electrostatic chuck access point; 47: two-side electrostatic chuck access point; 48: two-side electrostatic chuck desorption unit access point; 49: two-side electrostatic chuck selection switch. DETAILED DESCRIPTION

[0038] The purpose of the patent is to propose a wall climbing robot based on electrostatic adsorption technology, which realizes the motion form of biped gait through the transmission of deceleration motor and worm gear, uses a rudder as a switch to control the adsorption and desorption of electrostatic chuck, and realizes the coordinated control of driving motor, control rudder and boost module through an integrated circuit board. In addition, with the help of transmission shaft for high voltage conduction, the off-line motion of the wall climbing robot system can be realized.

[0039] A wall climbing robot based on electrostatic adsorption and motion posture

[0040] Referring to Fig. 1, a wall-climbing robot based on electrostatic adsorption comprises a middle electrostatic chuck 10 and electrostatic chucks on both sides thereof, i.e. a left electrostatic chuck 11 and a right electrostatic chuck 12; a driving assembly for driving the middle electrostatic chuck 10 or the electrostatic chucks on both sides to walk alternatively; a middle electrostatic chuck desorption unit for consuming the electric charge on the middle electrostatic chuck 10 after being connected to a circuit; and electrostatic chuck desorption units on both sides for consuming the electric charge on the electrostatic chucks on both sides after being connected to a circuit; a control unit (shown in Figs. 4 and 6) capable of controlling the driving assembly and switching the electrostatic adsorption operation and the electric charge consumption operation of the middle electrostatic chuck and the electrostatic chucks on both sides, and when the middle electrostatic chuck is adsorbed to the wall, the electrostatic chuck desorption units on both sides are connected to the circuit, and the electrostatic chucks on both sides walk up under the action of the driving assembly; when the electrostatic chucks on both sides are adsorbed to the wall, the middle electrostatic chuck desorption unit is connected to the circuit, and the middle electrostatic chuck walks up under the action of the driving assembly.

[0041] In the working of a wall-climbing robot based on electrostatic adsorption:

[0042] The middle electrostatic chuck and the support frame connected thereto serve as a middle foot, and the electrostatic chucks on both sides and the support frames connected thereto serve as feet on both sides. The motion characteristics of the whole machine are as follows: in the initial state, the middle electrostatic chuck and the electrostatic chucks on both sides are in contact with the wall, and the middle electrostatic chuck is in front; the middle electrostatic chuck is powered first to generate adsorption force, thereby adsorbing the robot to the wall, at this time, the electrostatic chucks on both sides are not powered; the reduction motor obtains a driving signal for a certain time length, so that the feet on both sides rotate 180 degrees around the middle foot, at this time, the middle foot and the feet on both sides are in contact with the wall, and the feet on both sides are in front; at this time, the switch controls the electrostatic chucks on both sides to be powered to generate adsorption force, and the middle electrostatic chuck starts to desorb; after the middle electrostatic chuck desorbs, the reduction motor obtains a driving signal again, so that the middle foot rotates 180 degrees around the feet on both sides; when the middle electrostatic chuck contacts the wall again, the switch controls the middle electrostatic chuck to be powered to generate adsorption force, and the electrostatic chucks on both sides start to desorb. The above steps are repeated continuously, and the wall-climbing robot realizes wall-climbing motion according to the designed gait, which can be specifically seen from the continuous action schematic diagrams given in Figs. 2 and 3.

[0043] The patent realizes the fast wall-climbing motion of the electrostatic adsorption wall-climbing robot, the existing wire configuration weighs 7.1g, the size is <10cm, and the wall-climbing robot can stably move on a vertical wall surface at a speed of 44.44mm / s (0.45 times the body length per second), and a motion cycle is 0.45 seconds, wherein about 0.25 seconds are used for motor rotation, and about 0.2 seconds are used for electrostatic adsorption or desorption of the electrostatic adsorption disc. Further, the wire-free configuration weighs 18g, and the size is basically the same as that of the wire configuration, the lithium battery for power supply, the single-chip microcomputer and the Bluetooth module for generating control signals, the boost circuit for generating a high-voltage electric signal and the adsorption control device for controlling the high-voltage on-off are integrated on the wall-climbing robot, and the wall-climbing robot can stably climb on the outdoor ceramic tile wall surface.

[0044] Driving assembly

[0045] The driving assembly further comprises: the middle electrostatic adsorption disc 10 comprises a middle first shaft 30, a middle second shaft 31 and a middle third shaft 32; the left electrostatic adsorption disc 11 comprises a left first shaft 37, a left second shaft 38 and a left third shaft 36; the right electrostatic adsorption disc 12 comprises a right first shaft 34, a right second shaft 35 and a right third shaft 33; wherein the middle first shaft 30 is fixedly connected with the left first shaft 37 and the right first shaft 34 through the connecting arm 39 to form a driving shaft system, and the middle first shaft 30 is driven by the motor 20; the middle second shaft 31 is fixedly connected with the left second shaft 38 and the right second shaft 35 through the connecting arm 39 to form a first driven shaft system; the middle third shaft 32 is fixedly connected with the left third shaft 36 and the right third shaft 33 through the connecting arm 39 to form a second driven shaft system, wherein the driving shaft system selectively drives the middle electrostatic adsorption disc 10 or the two side electrostatic adsorption discs to walk.

[0046] The main structure of the wall-climbing robot of the present application is shown in Fig. 1, the driving force of the wall-climbing robot is provided by a reduction motor, and the driving force is further enlarged through a worm gear transmission mechanism to drive the foot-type motion of the robot, the motor 20 is installed on the middle electrostatic adsorption disc 10, and the middle first shaft 30 is driven through the worm gear assembly 21.

[0047] Installation of circuit and wire

[0048] The drive assembly further comprises a main drive shaft system, a first driven shaft system and a second driven shaft system, which are made of conductive material and are used to form part of an electric circuit. The wall-climbing robot body has three groups of conductive shafts connecting the middle foot and the two side feet, which are not only connecting components for the movement of the robot, but also conductive circuits between the three electrostatic adsorption discs of the robot. The electrostatic adsorption wall-climbing robot of the present application simultaneously uses low-voltage (3 to 5 volts) reduction motors, steering wheels and high-voltage (above 1,000 volts) electrostatic adsorption discs, so that simple wiring without interference becomes an important design goal. Considering the high-voltage and low-current characteristics of the electrostatic adsorption disc (voltage above 1,000 volts, current in the order of microamperes), three groups of conductive shafts can be used as part of the circuit, and the three shafts conduct one ground signal and two high-voltage signals. Specifically, for the robot with a wire version, as shown in FIG. 3, the conductive shaft 1 is used to connect the high-voltage end of the middle electrostatic adsorption disc, and a conductive wire is led out from one side of the robot body to the control device; the conductive shaft 2 is used to simultaneously connect the low-voltage ends of the three electrostatic adsorption discs, and a conductive wire is led out from the middle of the robot body to the ground, and the signal line is of low voltage, so it will not cause interference; the conductive shaft 3 is used to simultaneously connect the high-voltage ends of the two side electrostatic adsorption discs, and a conductive wire is led out from the other side of the robot body to the control device. For the robot without a wire version, as shown in FIG. 4, a control platform is placed on the middle foot, and the control device, power supply battery, single-chip microcomputer and voltage boosting circuit modules shown in FIG. 2 can be placed thereon, and the three electric signals on the three conductive shafts are connected to the corresponding positions therein, so that all the required components can be integrated on the same wall-climbing robot.

[0049] Action control of a wall-climbing robot based on electrostatic adsorption

[0050] In the present embodiment, the action switching of the wall-climbing robot based on electrostatic adsorption uses a steering wheel, which is a commonly used position (angle) servo driver that adjusts the angular position of the output shaft by receiving control signals, and has the characteristics of high precision, fast response and reliability.

[0051] The steering wheel is mainly composed of the following core components: a DC motor: as a power source, providing the necessary rotational torque. A reduction gear set: reduces the motor speed and amplifies the torque to achieve the required driving force. A position sensor: such as a potentiometer or a magnetic encoder, used to detect the actual angular position of the output shaft. A control drive circuit: the core part, receiving external control signals and sensor feedback signals, driving the motor to rotate, and ensuring accurate and stable operation through closed-loop control. Interface cable: connecting the steering wheel with the external control system, including power lines, ground lines and control signal lines. Steering wheel / rocker arm: connected to the output shaft, converting rotary motion into linear motion or angular change.

[0052] The working principle of the servo is based on a feedback control system. When the input signal changes, the control circuit inside the servo adjusts the output shaft according to the feedback signal, making it rotate to the specified angular position. The control signal received by the servo is usually a pulse width modulation (PWM) signal, and the pulse width of the control signal represents the desired angular position. For example, a 1.5 millisecond pulse usually makes the servo turn to the middle position (90° position for a 180° servo), and a pulse less than 1.5 ms makes the output shaft rotate counterclockwise, and a pulse greater than 1.5 ms makes the output shaft rotate clockwise.

[0053] In this embodiment, the servo 44 is used to drive the middle electrostatic chuck selection switch 45 and the two-side electrostatic chuck selection switch 49, and can selectively connect the middle electrostatic chuck desorption unit and the two-side electrostatic chuck desorption unit to the circuit. During the movement of the wall-climbing robot, the coordination between the driving reduction motor and the control servo is very important. A single-chip microcomputer can be used to modulate the control signals of the motor and the servo. The control signal of the reduction motor is a square wave with a certain duty cycle, and its period is the movement period of the wall-climbing robot. The high level time in a period corresponds to the time required for the middle foot or the two-side foot to move 180 degrees. The control signal of the servo is a square wave with a certain duty cycle and a high frequency, and its frequency and duty cycle are related to the model of the servo. Whenever the control signal of the reduction motor changes from high level to low level, the control signal of the servo changes from one waveform to another.

[0054] When the servo is in the first position, the middle electrostatic chuck selection switch 45 selects to connect the middle electrostatic chuck 10 loop and the middle electrostatic chuck is adsorbed to the wall, and at the same time the two-side electrostatic chuck selection switch 49 connects the two-side electrostatic chuck desorption unit to the circuit, and the two-side electrostatic chuck charge is separated from the wall;

[0055] When the servo is in the second position, the middle electrostatic chuck selection switch 45 selects to connect the middle electrostatic chuck desorption unit to the circuit, and the middle electrostatic chuck is separated from the wall, and the two-side electrostatic chuck selection switch 49 selects to connect the two-side electrostatic chuck loop and adsorb to the wall.

[0056] Desorption unit

[0057] The key to the stable movement of the wall-climbing robot is the rapid and accurate control of the adsorption force of the electrostatic chuck. The control device is shown in FIG. 2. A servo controlled by a single-chip microcomputer serves as an adsorption control switch, and its two sides are connected with flexible swing arms, respectively. The swing arms are connected with the control lines of the middle electrostatic chuck and the two-side electrostatic chucks at their ends (each electrostatic chuck is controlled by two signal lines, one of which is always grounded, and the other is the control line here). During the operation of the servo, when the end of the swing arm on one side contacts the lower terminal post, the electrostatic chuck controlled by the swing arm on this side is connected to high voltage, and the electrostatic chuck starts to generate adsorption force. At this time, the end of the swing arm on the other side contacts the upper terminal post, and the electrostatic chuck controlled by the swing arm on this side is connected to the cantilever resonator device, and the charge in the electrostatic chuck dissipates rapidly, and the adsorption force decreases rapidly (the principle of rapid desorption used here can refer to the prior patent "A rapid-response electrostatic adsorption device and electrostatic adsorption method, Patent No.: ZL 202111135729.6").

[0058] The desorption unit includes parallel plates, the parallel plates include a first plate and a second plate arranged in parallel, and further include a conductive cantilever beam, one end of the conductive cantilever beam is arranged as a fixed end, the other end is arranged as a free end, the free end is at least partially disposed between the first plate and the second plate, and the free end can be excited by the first plate 41 and the second plate 42 to generate vibration; the fixed end of the conductive cantilever beam is outside the parallel plates, and the free end can vibrate between the first plate and the second plate and can contact the two plates at the maximum amplitude; the desorption unit is connected to a circuit through the conductive cantilever beam;

[0059] The desorption unit structure is used in the middle electrostatic chuck desorption unit and the two-side electrostatic chuck desorption unit.

[0060] A wall-climbing robot desorption mode based on electrostatic adsorption

[0061] A power supply path in a wall-climbing robot desorption mode based on electrostatic adsorption:

[0062] ① Low-voltage path: 3.7V lithium battery supplies power to the single-chip microcomputer, the negative pole of the battery (also GND in the figure) is also the zero potential reference point of the motor, the servo, the boost module and the electrostatic chuck, and the 3.7V signal of the positive pole of the battery is transmitted to the motor, the servo and the boost module after being processed by the single-chip microcomputer.

[0063] ② High-voltage path: the 3.7V signal is converted into a high-voltage signal of about 4kV (also +HV in the figure) by the boost module, and the signal is connected with the two terminal posts below the flexible swing arm of the servo, serving as the high-voltage power supply end of the middle electrostatic chuck and the two-side electrostatic chucks (also +HV1 and +HV2).

[0064] ③ Signal and drive: the single-chip microcomputer gets the input instruction of the Bluetooth module, and generates 3 different PWM signals: the first one is the control signal of the steering engine, which is connected with the GND line and the 3.7V low-voltage line into a JST socket, and then connected with the JST plug of the steering engine; the second one is the control signal of the motor, which is connected with the motor after passing through the power amplifier (the motor is a double-wire motor, and the other wire is grounded); the third one is the control signal of the boost module, which is connected with a grounding wire into the boost module after passing through the special power amplifier, and finally outputs the high-voltage signal of the kilovolt level.

[0065] Structural design of the off-line robot:

[0066] Compared with the on-line robot, the off-line robot arranges the power supply battery, the Bluetooth module, the single-chip microcomputer, the boost module, the control steering engine and the off-adsorption module of the electrostatic chuck on an insulating plate (for example, a wooden plate), and connects and fixes the plate with the support frame on the middle foot of the robot, so as to form a structural whole.

[0067] In the embodiment, the first and the second are for convenience of description, and do not indicate the importance; the front and the back in the embodiment are based on the position relationship shown in the drawings, and are only for convenience of description of the application and simplification of the description, and do not indicate or imply that the devices or units indicated must have a specific direction, be constructed and operated in a specific direction, therefore, it cannot be understood as a limitation on the application.

Claims

1. A wall-climbing robot based on electrostatic adhesion, characterized in that: The electrostatic chucking device comprises a middle electrostatic chuck (10) and two side electrostatic chucks, i.e. a left electrostatic chuck (11) and a right electrostatic chuck (12); The driving assembly is used to drive the middle electrostatic chuck (10) or the two side electrostatic chucks to move. The middle electrostatic chuck desorption unit is connected to the circuit to consume the charge on the middle electrostatic chuck (10), and the two side electrostatic chuck desorption units are connected to the circuit to consume the charge on the two side electrostatic chucks. The control unit can control the driving assembly and switch the electrostatic chucking operation and the charge consumption operation of the middle electrostatic chuck and the two side electrostatic chucks, and when the middle electrostatic chuck is adsorbed to the wall, the two side electrostatic chuck desorption units are connected to the circuit, and the two side electrostatic chucks are lifted to move under the action of the driving assembly; when the two side electrostatic chucks are adsorbed to the wall, the middle electrostatic chuck desorption unit is connected to the circuit, and the middle electrostatic chuck is lifted to move under the action of the driving assembly.

2. The electrostatic adhesion based wall climbing robot as claimed in claim 1, wherein, The driving assembly further comprises: The middle electrostatic chuck (10) comprises a middle first shaft (30), a middle second shaft (31) and a middle third shaft (32); The left electrostatic chuck (11) comprises a left first shaft (37), a left second shaft (38) and a left third shaft (36); The right electrostatic chuck (12) comprises a right first shaft (34), a right second shaft (35) and a right third shaft (33); The middle first shaft (30) is fixedly connected to the left first shaft (37) and the right first shaft (34) through a connecting arm (39) to form a driving shaft system, and the middle first shaft (30) is driven by a motor (20); The middle second shaft (31) is fixedly connected to the left second shaft (38) and the right second shaft (35) through a connecting arm (39) to form a first driven shaft system; The middle third shaft (32) is fixedly connected to the left third shaft (36) and the right third shaft (33) through a connecting arm (39) to form a second driven shaft system. The driving shaft system drives the middle electrostatic chuck (10) or the two side electrostatic chucks to move.

3. The electrostatic adhesion based wall climbing robot as claimed in claim 2, wherein, The driving assembly further comprises:

4. The electrostatic adhesion based wall climbing robot as claimed in claim 3, wherein, The driving shaft system, the first driven shaft system and the second driven shaft system comprise conductive materials and are used to form part of the circuit. The driving assembly further comprises:

5. The electrostatic adhesion based wall climbing robot as claimed in claim 1, wherein, The motor (20) is installed on the middle electrostatic chuck (10) and drives the middle first shaft (30) through a worm gear assembly (21). Further comprising: A steering wheel (44) is used to drive a middle electrostatic chuck selection switch (45) and two side electrostatic chuck selection switches (49) and can connect the middle electrostatic chuck desorption unit and the two side electrostatic chuck desorption units to the circuit selectively. When the steering wheel is in the first position, the middle electrostatic chuck selection switch (45) selects to connect the middle electrostatic chuck (10) loop and adsorb the middle electrostatic chuck to the wall, and at the same time, the two side electrostatic chuck selection switches (49) connect the two side electrostatic chuck desorption units to the circuit, and the charge of the two side electrostatic chucks is separated from the wall; 6. The electrostatic adhesion based wall climbing robot as claimed in claim 1, wherein, When the steering wheel is in the second position, the middle electrostatic chuck selection switch (45) selects to connect the middle electrostatic chuck desorption unit to the circuit, and the middle electrostatic chuck is separated from the wall, and the two side electrostatic chuck selection switches (49) select to connect the two side electrostatic chuck loop to the wall. Further comprising: The desorption unit comprises parallel polar plates, the parallel polar plates comprising a first polar plate and a second polar plate arranged in parallel, and a conductive cantilever beam, one end of the conductive cantilever beam being arranged as a fixed end, the other end being arranged as a free end, the free end being at least partially arranged between the first polar plate and the second polar plate, and the free end being capable of being excited by the first polar plate (41) and the second polar plate (42) to generate vibration; the fixed end of the conductive cantilever beam being outside the parallel polar plates, the free end being capable of vibrating between the first polar plate and the second polar plate and being capable of contacting the two polar plates at a maximum amplitude; the desorption unit being connected to a circuit through the conductive cantilever beam. The desorption unit is adopted by the intermediate electrostatic chuck desorption unit and the two-side electrostatic chuck desorption unit.

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