An adsorption crawler crawler mechanism and a wall-climbing robot having the same

Abstract

The invention relates the technical field of wall-climbing robots, in particular to an adsorption type track crawling mechanism and a wall-climbing robot with same. The adsorption type track crawlingmechanism comprises a first connecting chassis and track wheel assemblies arranged at the bottom of the first connecting chassis; the track wheel assemblies at least comprise wheel assemblies and adsorption tracks which are arranged on the wheel assemblies in a matched manner; a first main shaft extending in the width direction of the first connecting chassis is arranged on the front side of the first connecting chassis; a second main shaft parallel to the first main shaft is arranged on the rear side of the first connecting chassis; the track wheel assemblies are correspondingly arranged at the two end parts of the first main shaft and the second main shaft; the track wheel assemblies are positioned on the external side of the first connecting chassis; and a driving assembly used for driving the wheel assemblies to rotate to drive the adsorption track to rotate is also arranged on the adsorption type track crawling mechanism. According to the adsorption type track crawling mechanism,the obstacle clearing heights of the track wheel assemblies can be obviously increased to realize continuous crawling of metal planes, inclined planes and vertical planes.

Description

technical field [0001] The invention relates to the technical field of wall-climbing robots, in particular to an adsorption crawler crawling mechanism and a wall-climbing robot with the same. Background technique [0002] In order to solve the problem of serving in unknown and variable working conditions, mobile robots mostly use crawler-type walking mechanisms. The main directions of research on mechanism design are: the ability to cross trenches or climb over step obstacles, the ability to overcome tipping, and the ability to absorb walls. [0003] The crawler robots currently researched at home and abroad are roughly divided into single-section double-track, double-section four-track, multi-section multi-track, and multi-section composite type. Among them, the wall-climbing robot with adsorption function only has a single-section double-track structure. At present, the technical level of multi-track mobile robots in foreign countries is relatively mature, and they are ma...

AI Technical Summary

Problems solved by technology

However, when there is a larger pitch angle or a vertical wall in the actual project, the crawling mechanism cannot continuously crawl through due to the inability to maintain the bonding area and friction with the wall.

When the magnetic adsorption is added to the track, due to the gap between the magnetic bonding surface, the adsorption force is greatly reduced (the magnetic force almost disappears when it is greater than 8mm), which limits the industrial crawling robot to exist in both plane and elevation conditions (such as various pipe networks) Applications

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