Magnetic adsorption type obstacle crossing crawler device applied to climbing robot

Abstract

The invention discloses a magnetic adsorption type obstacle crossing crawler device applied to a climbing robot. The magnetic adsorption type obstacle crossing crawler device applied to the climbing robot comprises a crawler machine frame, a crawler driving wheel assembly, a crawler driven wheel assembly, a driving motor, a strong magnetic crawler chain and a plurality of strong magnetic supporting seats. The crawler driving wheel assembly is connected with the crawler driven wheel assembly through the strong magnetic crawler chain, and the driving motor is connected with the crawler driving wheel assembly. The crawler driving wheel assembly and the crawler driven wheel assembly are rotatably installed at the two ends of the crawler machine frame separately, and the strong magnetic supporting seats are installed at the bottom of the crawler machine frame and connected with the crawler machine frame through spring devices. Crawler strong magnetic blocks are arranged in the strong magnetic crawler chain, fixed strong magnetic blocks are arranged in the strong magnetic supporting seats, and the magnetism of the magnetic pole on the same side of the crawler strong magnetic blocks and the fixed magnetic blocks is the same. Grooves are formed in the bottoms of the strong magnetic supporting seats, and the strong magnetic crawler chain penetrates through the grooves in the bottoms ofthe strong magnetic supporting seats. According to the magnetic adsorption type obstacle crossing crawler device applied to the climbing robot, magnetic adsorption force is improved by superposition of magnetic fields of the strong magnetic supporting seats and the strong magnetic crawler chain, the obstacle crossing performance is good, and the service life is long.

Description

technical field [0001] The invention relates to the field of climbing robots, in particular to a magnetic adsorption type obstacle-surmounting crawler device applied to climbing robots. Background technique [0002] In the current field of climbing robots, permanent magnet adsorption robots are mainly used. Permanent magnet adsorption climbing robots are mainly driven by crawlers and the combination of crawlers and strong magnetic blocks to generate magnetic adsorption. The main factors that determine the performance of the permanent magnetic adsorption climbing robot on the vertical surface are the size of the magnetic adsorption force and whether it can overcome obstacles such as welds and round pipes. disability. [0003] At present, the magnetic adsorption is mainly achieved by adding strong magnetic blocks on the surface of the track, and the obstacle is overcome by the flexibility of the track itself. The strong magnetic block itself is brittle and easy to break, and ...

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Problems solved by technology

[0003] At present, magnetic adsorption is mainly achieved by adding strong magnetic blocks on the surface of the track, and the obstacle is overcome by the flexibility of the track itself. The strong magnetic block itself is brittle and easy to break, and if it is squeezed by foreign objects during the obstacle-crossing process It is easier to break, which makes the magnetic adsorption of the climbing robot invalid, causing equipment failure or even falling

If it is necessary to increase the adsorption force, it is necessary to increase the size of the strong magnetic blocks on all crawlers, and the self-weight of the equipment will also be doubled correspondingly, so that the overall effect of improving the load performance of the equipment is not obvious, and the strong magnetic blocks are easy to break after long-term work Cracks and poor obstacle-crossing performance make the manufacturing and maintenance costs of equipment higher, and it is easy to cause failures and affect normal operation and maintenance operations

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