Non-contact magnetic adsorption wheel and leg composite mechanism for wall climbing robot

Abstract

A non-contact magnetic adsorption wheel and leg composite mechanism for a wall climbing robot includes two wheel type driving mechanisms, a leg rotation mechanism, a non-contact magnetic adsorption mechanism, two connecting flanges and two connecting brackets. The two wheel type driving mechanisms are fixedly mounted on the two sides of the leg rotation mechanism respectively through the connecting flanges, the non-contact magnetic adsorption mechanism is placed below the leg rotation mechanism and fixedly mounted between the two wheel type driving mechanisms, the wheel type driving mechanismsand the non-contact magnetic adsorption mechanism can swing by driving the leg rotation mechanism, and the two connecting brackets are fixedly mounted on the two sides of the leg rotation mechanism respectively. According to the non-contact magnetic adsorption wheel and leg composite mechanism, not only are original flexible and stable motion characteristics of a wheel type mechanism ensured, butalso the mechanism has obstacle crossing capability of a leg type walking mechanism; the adjustment of a magnetic adsorption force is achieved, and the movement flexibility of the mechanism is improved; the stable adsorption of the mechanism on the wall of the small curvature radius is achieved, and the adaptability of the mechanism to different wall surfaces is improved.

Description

technical field [0001] The invention belongs to the technical field of robots. Background technique [0002] The wall-climbing robot is a special robot that can carry working tools to achieve specific working functions on various walls. It can replace people in dangerous and extreme environments, such as building cleaning, ship welding, nuclear storage tank inspection, etc. The field has broad application prospects. [0003] The adsorption mechanism and the walking mechanism are the key components for the wall-climbing robot to achieve safe and efficient operation on the wall. The commonly used adsorption methods mainly include negative pressure adsorption and magnetic adsorption. Among them, permanent magnetic adsorption is widely used by wall-climbing robots working in ferromagnetic environments because of its small structure, large adsorption force, and no need to provide energy. Commonly used walking mechanisms mainly include leg-foot type, crawler type, and wheel type...

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Problems solved by technology

[0008] Although this patent can realize the adjustment of the magnetic adsorption force and the obstacle-crossing of the mechanism, the magnetic adsorption mechanism can only be raised and lowered relative to the robot frame, and the height between the magnetic adsorption mechanism and the wall can be changed, but the angle between it and the wall cannot be changed. , on a curved wall with a small radius of curvature, its magnetic adsorption force will be attenuated to a large extent, and a wall-climbing robot using this mechanism will not be able to work safely on a curved wall with a small radius of curvature

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