A climbing robot mechanism with compound action of tangential force and normal force

Abstract

The invention discloses a climbing robot mechanism with combined effects of tangential force and normal force, which relates to the technical field of climbing robots, and includes a raceway keel, a running mechanism, an adsorption track assembly, a hook and barbed track assembly and a connecting mechanism; the walking mechanism is designed At both ends of the raceway keel and inside the raceway keel, the adsorption crawler assembly is arranged on the outer wall of the raceway keel, and the barbed crawler assembly is connected to the outer side of the raceway keel through a connecting mechanism. The adaptability to the climbing environment surface is stronger, and the stability of the climbing force is better; the connection between the barb track assembly and the adsorption track is connected by a connecting rod and a universal coupling, which realizes the synchronous operation of the barb track assembly and the adsorption track. The push-pull action of the barbed track assembly completes the conversion of tangential friction force to the climbing force, increasing the source of the climbing force; the corner of the barbed track assembly can be adjusted in real time, which is conducive to adapting to various task requirements; the modular design, Easy to manufacture, maintain, repair and replace.

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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