A Magneto-rheological Fluid Obstacle-Crossing Mechanism for Wire Rope Tracks

Abstract

The invention discloses a magnetorheological fluid obstacle crossing mechanism used for a steel wire rope rail. The magnetorheological fluid obstacle crossing mechanism comprises a driving wheel, an auxiliary wheel, a sliding rod, a support and a suspension rod. The driving wheel and the auxiliary wheel are mounted in a U-shaped shell, and the driving wheel is located above the auxiliary wheel. One end of the sliding rod is connected with the auxiliary wheel, and the other end of the sliding rod stretches into a sliding groove of the support. The suspension rod is of a columnar structure withthe section being semicircular, and the suspension rod is transversely embedded into a steel wire rope. The magnetorheological fluid obstacle crossing mechanism has the beneficial effects that when machine equipment runs on the steel wire rope rail, the damping coefficient of springs is changed by adjusting viscosity of magnetorheological fluid, and the supporting function of the auxiliary wheel to the steel wire rope is controlled. When no obstacle exists, the auxiliary wheel can support the steel wire rope, and it is guaranteed that the machine equipment runs stably; and when the obstacle ofthe suspension rod happens, the sliding rod slides down, the auxiliary wheel can continue to move along the surface of the suspension rod, the running speed can be guaranteed, and collision and friction of the equipment and the suspension rod are reduced.

Description

technical field [0001] The invention relates to an obstacle surmounting mechanism, in particular to a magneto-rheological fluid obstacle surmounting mechanism for a wire rope track, and belongs to the technical field of moving devices. Background technique [0002] For the suspended inspection robot or other equipment with steel wire rope as the track, the obstacle surmounting ability is an important index to evaluate its motion performance. At present, the obstacle-climbing mechanism for industrial application can be divided into pure mechanical type and electromechanical control type. The purely mechanical structure is easy to overcome obstacles, and the equipment often collides with obstacles, which increases friction loss, reduces the service life of the equipment, and greatly limits the operating speed; the electromechanical control structure is more complicated, which increases the content of the control system and is not conducive to the machine. Simplification of eq...

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Problems solved by technology

[0004] At present, magnetorheological fluids are mostly used in equipment seals, brakes and automobile dampers, etc., and are basically not used in robot or other equipment's obstacle-breaking mechanism. Therefore, the new magnetorheological fluid obstacle-breaking mechanism has great research value and application prospect

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