Climbing robot mechanism with combined action of tangential force and normal force

Abstract

The invention discloses a climbing robot mechanism with combined action of tangential force and normal force, and relates to the technical field of climbing robots; the climbing robot mechanism comprises a raceway keel, walking mechanisms, an adsorption crawler belt assembly, a barb crawler belt assembly and a connecting mechanism; the walking mechanisms are arranged at the two ends of the racewaykeel and located on the inner side of the raceway keel, the adsorption crawler belt assembly is arranged on the outer wall of the raceway keel, and the barb crawler belt assembly is connected with the outer side of the raceway keel through the connecting mechanism. The adaptability to the climbing environment surface is higher, and the climbing force stability is improved; the barb crawler belt assembly and the adsorption crawler belt are connected through a connecting rod and a universal coupling, synchronous operation of the barb crawler belt assembly and the adsorption crawler belt and push-pull action of the barb crawler belt assembly are achieved, conversion from tangential friction force to climbing force is completed, and sources of the climbing force are increased. The rotating angle of the barb crawler belt assembly can be adjusted and controlled in real time, and various task requirements can be met; and the modular design is adopted, so that manufacturing, maintenance, repair and replacement are facilitated.

Description

technical field [0001] The invention relates to the technical field of climbing robots, in particular to a climbing robot mechanism with combined effects of tangential force and normal force. Background technique [0002] Climbing robots on the surfaces of different facilities are playing an increasingly important role in the production activities of contemporary human society. This type of robot system can be used for surface inspection, surface cleaning, surface coating and other operations of large facilities, and can also be used to help complete fault diagnosis, fault warning, condition maintenance, etc. of major facilities. An important tool for completing certain homework tasks. [0003] In natural or artificial environments, the surface of different facilities has different material properties, surface morphology, environmental humidity, and surface attachments (tight / loose, sticky, slippery, etc.) The stable and reliable climbing and mobile operation of robots pos...

AI Technical Summary

Problems solved by technology

However, because these climbing robots are usually developed for different application purposes, the existing climbing robots often show limitations in the ability to adapt to environmental changes, poor climbing reliability, and limited climbing mobility.

[0004] The patent "Surface Adaptive Underwater Wall Climbing Robot" (application number: CN201910124138.5) proposes an underwater permanent magnet wall climbing robot that can adapt to curved surfaces. The robot uses two magnetic adsorption units and two auxiliary magnetic wheels Adsorption is achieved, and the two hinged driving wheels make the robot's curved surface adaptable, but the robot cannot climb non-ferromagnetic surfaces and cannot adapt to various climbing environments

The patent "A Negative Pressure Wall-climbing Robot" (application number: CN201620080603.1) proposes an active negative-pressure wall-climbing robot, which uses battery power to pump out the air in the suction cup to achieve adsorption. The structure is simple and compact, and the cost is low, but It has poor load capacity, high dependence on power supply, high requirements on the flatness of the climbing surface, and poor adaptability to the climbing environmental surface

The patent "a crawler-type multi-sucker wall-climbing robot and its crawling method" (application number: CN201210298064.5) proposes a crawler-type active negative pressure adsorption wall-climbing robot, which uses an independent normally closed electromagnetic vacuum Suction cups, the vacuum source of each suction cup does not affect each other, but its control system is more complicated, energy consumption is larger, and it cannot adapt to various climbing environments

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