The invention discloses a crawler-type miniature wall-climbing robot based on electrostatic adsorption. The crawler-type miniature wall-climbing robot mainly comprises a supporting frame, a wheel belt set, a gear motor and a conductive shaft. The supporting frame provides overall support for the robot; the adsorption track is wound outside the insulating roller and the conductive roller to form a wheel belt group, the insulating roller is a driving wheel, and the conductive roller is a driven wheel; the two speed reducing motors are horizontally fixed in parallel and opposite in direction, and output shafts of the speed reducing motors are coaxially and fixedly connected with the insulating rollers; the conductive shaft is horizontally fixed, and the extending end is in clearance fit with the axis hole of the conductive roller; when the robot moves, the speed reducing motor drives the insulating roller to drive the adsorption crawler belt to move on the wall surface; the motion mode of the robot can be controlled by controlling the rotating speed difference of the gear motors on the two sides; the adsorption crawler belt is electrified with high voltage to generate electrostatic adsorption force, and the adsorption force can be controlled by adjusting the voltage. The power system and the adsorption structure are simple, control is convenient, the miniaturization potential is large, and the application prospect is wide.
本发明公开了一种基于静电吸附的履带式微型爬壁机器人,主要包括支撑框架、轮带组、减速电机和导电轴;支撑框架为机器人提供整体支撑;吸附履带缠绕在绝缘滚轮与导电滚轮外构成轮带组,绝缘滚轮为主动轮,导电滚轮为从动轮;两台减速电机水平并列固定且方向相反,其输出轴与绝缘滚轮同轴固定连接;导电轴水平固定,其伸出端与导电滚轮的轴心孔间隙配合;机器人运动时,减速电机驱动绝缘滚轮进而带动吸附履带在壁面上运动;通过控制两侧减速电机的转速差即可控制机器人的运动模式;为吸附履带通高压电使其产生静电吸附力,吸附力的大小可通过调节电压大小进行控制。本发明动力系统与吸附结构简单、控制方便、微型化潜力大,应用前景广。
Crawler-type miniature wall-climbing robot based on electrostatic adsorption
一种基于静电吸附的履带式微型爬壁机器人
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Crawler-type excitation adsorption wall-climbing operation robot
European Patent Office | 2020
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