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CN-122009843-A - Indoor logistics transportation robot based on electrostatic repulsion and control method

CN122009843ACN 122009843 ACN122009843 ACN 122009843ACN-122009843-A

Abstract

The invention provides an indoor logistics transportation robot based on electrostatic repulsion and a control method, the indoor logistics transportation robot structurally comprises a stator unit array, a rotor aircraft and a control system, wherein the stator unit array is paved on the indoor ground and is formed by arranging a plurality of annular electrode units with the same structure in a matrix mode, the rotor aircraft is used for bearing objects, the rotor aircraft is an electret film which is subjected to polarization treatment and has charge holding capacity, and the control system is electrically connected with the stator unit array and is used for providing a modulated high-voltage electric signal for the annular electrode units. The invention adopts pure electric field driving, realizes the transportation process of zero noise and zero abrasion without any mechanical contact between the stator and the rotor, abandons the traditional voltage regulator voltage regulating mode, adopts square wave duty ratio modulation technology, has high response speed and high control precision, and realizes flexible planar omnidirectional movement and path planning by combining four-quadrant zone control.

Inventors

  • CAI XIANFA
  • WANG PENGBO
  • LI WEI

Assignees

  • 南京邮电大学
  • 南京邮电大学南通研究院有限公司

Dates

Publication Date
20260512
Application Date
20260413

Claims (10)

  1. 1. Indoor logistics transportation robot based on electrostatic repulsion, its characterized in that, its structure includes: the stator unit array is paved on the indoor ground and is formed by arranging a plurality of annular electrode units (101) with the same structure in a matrix; the mover aircraft (100) is used for carrying articles, and the main body of the mover aircraft is an electret film which is subjected to polarization treatment and has charge retention capacity; The control system is electrically connected with the stator unit array and is used for providing a modulated high-voltage electric signal for the annular electrode unit (101); The ring electrode unit (101) comprises in planar structure: an outer ring electrode (102) in a closed geometric annular structure; an inner ring electrode (103), a closed geometric ring structure positioned inside the outer ring electrode (102) and concentric with the outer ring electrode; A cross skeleton electrode (104) extending from the center of the electrode unit to the periphery and connecting the inner ring electrode (103) and the outer ring electrode (102); The annular electrode unit (101) is physically divided into four independent control quadrants, and a physical insulation gap (105) with the width of 1-2 mm is arranged between each two control quadrants and can independently receive power supply control.
  2. 2. The indoor logistics transportation robot based on electrostatic repulsion according to claim 1, wherein the outer side length of the outer ring electrode (102) of the ring electrode unit (101) is 48cm, the inner side length is 40cm, the outer side length of the inner ring electrode (103) is 28cm, the inner side length is 20cm, and the line widths of the outer ring electrode (102), the inner ring electrode (103) and the cross skeleton electrode (104) are all 4cm.
  3. 3. The indoor logistics transportation robot based on electrostatic repulsion according to claim 1, wherein in the stator unit array, the distance between adjacent annular electrode units (101) ranges from 8cm to 12cm.
  4. 4. The indoor logistics transportation robot based on electrostatic repulsion of claim 1, wherein the mover aircraft (100) is rectangular in shape, and has a length of 35cm to 45cm and a width of 25cm to 35cm.
  5. 5. The preparation method of the indoor logistics transportation robot based on electrostatic repulsion is characterized by comprising the following steps of: placing a polymer dielectric film material with proper size into a flat plate hot press, eliminating internal stress of the material under the condition of heating and pressurizing, and forming a compact polymer film with uniform thickness after hot pressing; cutting the hot-pressed polymer film by using cutting equipment to form a two-dimensional plane geometric figure of the rotor aircraft (100); carrying out polarization treatment on the cut polymer film to convert the polymer film into an electret film, and taking out the electret film to obtain a rotor aircraft (100); In the laying process, an insulating gap (105) is reserved or physical cutting is carried out along the transverse and longitudinal central lines of the cross framework, and the whole annular electrode unit (101) is physically divided into four independent control quadrants which are not communicated with each other, namely, an upper left quadrant, an upper right quadrant, a lower left quadrant and a lower right quadrant; Repeating the electrode laying steps according to the preset unit spacing to form a stator unit array on the indoor ground; The connection ends of four independent quadrants in each annular electrode unit (101) are respectively led out by using leads, and the connection parts are fixed and insulated; all the lead wires led out are connected to a high-voltage output port of the control system according to the quadrant corresponding relation, so that each quadrant can independently receive the modulated high-voltage signals.
  6. 6. The method for preparing the indoor logistics transportation robot based on electrostatic repulsion according to claim 5, wherein the temperature required by the hot pressing treatment of the mover aircraft (100) is 85-95 ℃ and the duration is 10-12 hours.
  7. 7. The method for preparing the indoor logistics transportation robot based on electrostatic repulsion according to claim 5, wherein the polymer dielectric film material selected by the mover aircraft (100) is an electron irradiation crosslinked polypropylene film material, and the thickness of the polymer film after hot pressing is 70-90 μm.
  8. 8. The method for manufacturing the indoor logistics transportation robot based on electrostatic repulsion of claim 5, wherein the annular electrode unit (101) is formed by paving a copper foil tape with high conductivity.
  9. 9. The control method of the indoor logistics transportation robot based on electrostatic repulsion is characterized by comprising the following steps of: When the power supply voltage is fixed, the duty ratio is increased to increase the suspension height, and the duty ratio is reduced to reduce the suspension height; And (3) direction movement control, wherein when the mover (100) is required to move towards the target direction, the equivalent voltage or duty ratio of the control quadrant corresponding to the target direction is reduced, and meanwhile, the equivalent voltage of the control quadrant deviating from the target direction is maintained or increased, and the mover (100) is driven to move smoothly by utilizing the difference value of electrostatic repulsive force.
  10. 10. The control method of the indoor logistics transportation robot based on electrostatic repulsion is characterized in that the voltage amplitude range of the high-voltage square wave signal output by the control system is 15 kV-30 kV.

Description

Indoor logistics transportation robot based on electrostatic repulsion and control method Technical Field The invention relates to the field of intelligent transportation, in particular to an indoor logistics transportation robot based on electrostatic repulsion and a control method. Background With the continuous progress of intelligent manufacturing and modern logistics technology, indoor transportation robots have gained considerable attention, and have made great progress in various fields such as automatic storage, material sorting and precise laboratory transportation. However, currently mainstream transportation robots (such as wheeled automated guided vehicles or rail cars) face a number of challenges. The mechanical parts such as the motor, the gear and the bearing are seriously depended, mechanical abrasion and ageing are inevitably caused by long-term operation, so that maintenance cost and failure rate are greatly promoted, in addition, high noise generated by mechanical friction and motor operation is difficult to apply to places with strict requirements on mute environment, and more importantly, the traditional robot carries heavy batteries and driving modules, so that the system structure is complex, and the manufacturing cost is high. Electrostatically-driven contactless flying robots are of interest due to their unique characteristics. The unique operation capability of the device is independent of any mechanical moving part, and the device has the characteristics of greatly reducing space occupation and eliminating mechanical abrasion. In addition, it allows for silent operation, thereby circumventing noise problems associated with conventional mechanical transport assemblies. The principle of the electrostatic repulsion actuating mechanism adopted by the device is derived from weak corona discharge effect. When the applied voltage exceeds the switching threshold, weak corona discharge is generated on the surface of the electrode, and the electrode ionizes ambient air molecules under high voltage, so that electrons are lost and positive ions are formed. These positive ion moieties attach to the aircraft surface, causing it to transition from an originally electrically neutral state to a positively charged state. Because the same charges repel each other, under the action of coulomb force, the positively charged aircraft receives repulsive force from the electrode, so that the electrostatic force of the system is changed from attractive force mainly induced by static electricity under low voltage to repulsive force mainly induced by space charges under high voltage. However, current electrostatic drive technology faces many challenges, mainly manifested by extremely low payloads, insufficient driving force, and difficulty in achieving stable suspensions on a macroscopic scale. Most existing electrostatic actuators are limited to micro-electromechanical systems on the order of microns, limited by the small electrode size and complex manufacturing processes, and are not adequate for practical article transport tasks. Disclosure of Invention Aiming at the problems, the invention provides an indoor logistics transportation robot based on electrostatic repulsion and a control method, wherein the robot utilizes repulsive force generated by high-voltage corona discharge to realize suspension and driving, adopts a high-molecular dielectric film material as an aircraft main body, provides high-voltage driving through a ground annular electrode, realizes stable suspension with zero noise and zero abrasion, and has a certain effective load capacity. The technical scheme provided by the invention is as follows: In a first aspect, an indoor logistics transportation robot based on electrostatic repulsion, the structure of which comprises: the stator unit array is paved on the indoor ground and is formed by arranging a plurality of annular electrode units (101) with the same structure in a matrix; the mover aircraft (100) is used for carrying articles, and the main body of the mover aircraft is an electret film which is subjected to polarization treatment and has charge retention capacity; The control system is electrically connected with the stator unit array and is used for providing a modulated high-voltage electric signal for the annular electrode unit (101); The ring electrode unit (101) comprises in planar structure: an outer ring electrode (102) in a closed geometric annular structure; an inner ring electrode (103), a closed geometric ring structure positioned inside the outer ring electrode (102) and concentric with the outer ring electrode; A cross skeleton electrode (104) extending from the center of the electrode unit to the periphery and connecting the inner ring electrode (103) and the outer ring electrode (102); The annular electrode unit (101) is physically divided into four independent control quadrants, and a physical insulation gap (105) with the width of 1-2 mm is arranged between each