Composite adsorption crawler-type passive climbing mechanism

Abstract

The invention discloses a composite adsorption crawler-type passive climbing mechanism which comprises an adsorption cup, a synchronous belt, a conveying belt, a magnet unit, a guide rail framework and a guide rail surface, the guide rail framework serving as a climbing mechanism framework support is connected with a climbing robot body in an assembled mode, and the guide rail surface is arrangedon the periphery of the guide rail framework. One end of the adsorption cup is restrained on the guide rail surface through a rolling bearing, and the other end is connected to the outer side of the conveying belt in a gluing manner; and the inner side of the conveying belt adheres to the outer side of the synchronous belt, the synchronous belt is an arc-tooth synchronous belt, the synchronous belt and a belt wheel of the climbing robot body are driven in a meshed mode, and the magnet unit packaged by the rubber shell is installed on the inner side of the conveying belt in a riveting and adhering mode. The electromagnetic adsorption principle and the negative pressure adsorption principle are combined to achieve the normal adsorption force composite effect, the stability of the climbing force of the climbing mechanism is enhanced, the loading capacity of the climbing mechanism is improved, the movement flexibility of the climbing mechanism is guaranteed, and energy consumption of the wall-climbing robot is reduced.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to a composite adsorption crawler-type passive climbing mechanism. Background technique [0002] Wall-climbing robots have important application prospects in surface monitoring, surface coating, fault diagnosis and early warning of large-scale equipment, and can replace manpower to complete tasks in complex, dangerous, narrow, polluted and other environments. The climbing mechanism is the core component of the wall-climbing robot, and its structural form directly determines the climbing environment adaptability and climbing reliability of the wall-climbing robot. In natural / artificial environments, construction facilities and major equipment have different surface materials, surface shapes, environmental humidity, and surface attachments (tight / loose, sticky, slippery, etc.) , It poses a great technical challenge to the stable and reliable climbing and mobile operation...

AI Technical Summary

Problems solved by technology

In natural / artificial environments, construction facilities and major equipment have different surface materials, surface shapes, environmental humidity, and surface attachments (tight / loose, sticky, slippery, etc.) , which poses a great technical challenge to the stable and reliable climbing and moving operations of the climbing robot climbing mechanism

[0003] In order to improve the climbing movement and operation ability of the wall-climbing robot, a large number of different climbing mechanisms have been proposed for different application purposes at home and abroad. Insufficient changing ability of the special type, poor stability of the climbing force of the climbing mechanism, limited climbing and moving ability, etc.

[0004] In the Chinese patent "A Rust Removal and Spraying Wall-Climbing Robot" (Application No.: CN 111283527 A), a rust-removing and spraying wall-climbing robot is proposed. The adsorption force is adsorbed on the magnetic wall surface, but the robot can only be adsorbed on the strong magnetic wall surface, and there are not many magnet units, and the fault tolerance rate is not enough. If the wall surface is uneven or the magnetic conductivity is not good, the magnetic attraction force will be insufficient. The problem of falling; in the Chinese patent "a permanent magnet adsorption wall climbing robot" (application number: CN 111232079 A), a permanent magnet adsorption wall climbing robot is proposed. The permanent magnets are arranged on the circumference of the four driving wheels and sealed In the installation space of the box, the two together generate magnetic force to adsorb on the magnetic wall surface, but the contact surface of the circumference of the driving wheel is reduced, which will lead to insufficient magnetic attraction force, and the magnetic block arranged in the sealed box to increase the magnetic attraction force will be on the sealed box. There is interference with other equipment in the interior, and it consumes the installation space of the sealed box; in the Chinese patent "A New Type of Full-Drive Composite Adsorption Wall-climbing Robot" (Authorization Number: CN 102673670 B), it is proposed that contact magnetic wheel adsorption and non-contact The non-contact magnetic block can adjust the air gap, but this structure is still a single magnetic adsorption, which can only be adsorbed on the magnetic wall; Chinese patent "a wall-climbing robot with cam-type negative pressure adsorption" (Authorization number: CN 103129639 B) discloses a cam-type negative pressure adsorption wall-climbing robot. Although the negative pressure adsorption function of the suction cup is realized by using an anti-cam mechanism and a passive vacuum adsorption mechanism, it gets rid of the restrictions brought by the vacuum source equipment, but Movement and turning are relatively slow, lack of flexibility, and can only be adsorbed on smooth and flat walls

[0005] To sum up, the existing clinging mechanisms include passive and active negative pressure suckers, as well as crawler-type clinging mechanisms with permanent magnetic adsorption, but there are environmental restrictions on clinging to the wall, a single form of adsorption, and large energy consumption; and In some magnetic adsorption structures, the utilization rate of the magnet is not high, and the air gap change caused by the roughness of the wall surface will lead to a decrease in the adsorption force. At the same time, the suction cup has a simple structure and can only be adsorbed on the smooth wall surface, which is not compatible with the track.

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