The invention discloses a climbing
robot mechanism with combined action of
tangential force and
normal force, and relates to the technical field of
climbing robots; the climbing
robot mechanism comprises a raceway
keel, walking mechanisms, an adsorption crawler belt
assembly, a barb crawler belt
assembly and a connecting mechanism; the walking mechanisms are arranged at the two ends of the racewaykeel and located on the inner side of the raceway
keel, the adsorption crawler belt
assembly is arranged on the outer wall of the raceway
keel, and the barb crawler belt assembly is connected with the outer side of the raceway keel through the connecting mechanism. The adaptability to the climbing environment surface is higher, and the climbing force stability is improved; the barb crawler belt assembly and the adsorption crawler belt are connected through a connecting rod and a universal
coupling, synchronous operation of the barb crawler belt assembly and the adsorption crawler belt and push-pull action of the barb crawler belt assembly are achieved, conversion from tangential
friction force to climbing force is completed, and sources of the climbing force are increased. The rotating angle of the barb crawler belt assembly can be adjusted and controlled in real time, and various task requirements can be met; and the
modular design is adopted, so that manufacturing, maintenance, repair and replacement are facilitated.