Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force

Abstract

The invention discloses a wheel-type obstacle detouring mechanism for a wall climbing robot with adjustable magnetic adsorption force in the technical field of robots. The wheel-type obstacle detouring mechanism comprises a moving mechanism, an adsorption mechanism, a lifting mechanism, a linear guide rail, a spring, sliding guide rods and a guide rod connecting frame, wherein the adsorption mechanism is arranged below a driving mechanism and movably connected with four sliding guide rods; the spring is sleeved on the sliding guide rods; the guide rod connecting frame is contacted with the spring and connected with the four sliding guide rods; the lifting mechanism is movably connected with the moving mechanism and the adsorption mechanism; the linear guide rail is connected with the moving mechanism; and the lifting mechanism drives the moving mechanism and the adsorption mechanism to move up and down along the linear guide rail. The non-contact magnetic adsorption wheel-type moving mechanism has the characteristics of flexible movement, high and adjustable adsorption force and lifting capability, and has good application prospect.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a wheeled obstacle-climbing mechanism for a wall-climbing robot with adjustable magnetic adsorption force. Background technique [0002] A wall-climbing robot is an automated device that can move and absorb on a vertical wall. It can replace workers in dangerous and extreme environments such as nuclear engineering, fire protection, and the manufacture and maintenance of large non-structural equipment. It has broad application prospects. [0003] The commonly used adsorption methods of wall-climbing robots mainly include negative pressure adsorption and magnetic adsorption. Because permanent magnet adsorption has strong adsorption force and does not require power drive, most wall-climbing robots in ferromagnetic environments use permanent magnets as the adsorption mechanism. The mobile mechanism of wall-climbing robot mainly includes leg type, wheel type and crawler ty...

AI Technical Summary

Problems solved by technology

The disadvantage is that the contact area between the wheel and the wall is small, the utilization rate of magnetic energy is low and the magnetic adsorption force is small. The magnetic wheel often needs to be relatively large to meet the load of the robot and the requirements of safe climbing walls, but this increases the weight and movement of the robot. flexibility

[0005] Chinese patent application No. 200510086383.X records "a wall-climbing robot wheeled obstacle-climbing mechanism with adjustable magnetic adsorption force" which involves non-contact magnetic adsorption and wheeled mobile technology, but there are mobile mechanisms that do not have the ability to overcome obstacles and Disadvantages of non-adjustable adsorption force

Chinese patent application number 02117079.7 records "a magnetically adsorbed wall-climbing robot crawler", which has the disadvantages of large steering resistance and inflexible movement

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