Passive self-adaptive mechanism of magnetic attraction wall-climbing robot

Abstract

The invention relates to a passive self-adaptive mechanism of a magnetic attraction wall-climbing robot. The passive self-adaptive mechanism comprises a suspension device and magnetic auxiliary wheels, and output shafts of the auxiliary wheels are connected with the suspension device. The suspension device is connected with a vehicle body and driving wheels of the magnetic attraction wall climbingrobot at the same time. The suspension device comprises a connecting rod structure and a sliding block structure. The sliding block structure is separately connected with the robot vehicle body and the connecting rod structure. On the one hand, the connecting rod structure is connected with the auxiliary wheels, on the other hand, the connecting rod structure is connected with the robot driving wheels. The sliding block structure comprises a sliding block, a fixing plate, a first connecting shaft and a first bearing. The connecting rod structure comprises a first connecting rod, a spring, a second connecting rod and a third connecting rod, and the first connecting rod, the second connecting rod and the sliding block structure are connected through the first connecting shaft. The passive self-adaptive mechanism can passively adapt to a wall and deform, so that the magnet is subjected to tangential force, theposition of the magnet changing with the robot crawling angle change is easy, and the robot can climb smoothly on a splice surface with a certain angle of obtuse angle.

Description

technical field [0001] The invention relates to the technical field of special robots, in particular to a passive self-adaptive mechanism of a magnetic adsorption wall-climbing robot, which is used for working on a metal facade with a spliced ​​surface at a certain obtuse angle. Background technique [0002] As a special robot that can be used in special environments, the wall-climbing robot can replace manual operations on high-altitude vertical walls. Most of the existing magnetic adsorption robots adopt wheeled adsorption, which can improve the speed and flexibility of the robot. When working on the metal facade with a certain obtuse angle splicing surface, it cannot adapt to the wall surface. It is necessary to add an adaptive wall surface mechanism to adjust the position of the arc magnet to prevent the corner of the splicing surface at a certain obtuse angle angle. The magnet adsorption is in a hollow state, and the robot falls to the ground. If the magnetic force is...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is: on the premise that the volume and weight of the magnet are as small as possible, a passive self-adaptive mechanism of the magnetic adsorption wall-climbing robot is proposed, which can passively self-adapt to the wall surface and Deformation makes the magnet under the action of tangential force, and it is easy to make the position of the magnet change with the change of the crawling angle of the robot, so that the robot can smoothly climb up the splicing surface with a certain obtuse angle

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