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Magnetically absorbing wall-climbing robot crawler

A wall-climbing robot and magnetic adsorption technology, applied in the field of wall-climbing robots, can solve problems such as insecurity and system inconvenience, and achieve the effects of reducing impact force, improving motion performance, and reducing rotational torque

Inactive Publication Date: 2003-11-05
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this crawler overcomes the contradiction between the adsorption and movement of the wall-climbing robot, the way of external power supply brings inconvenience and unsafe hidden dangers to the system

Method used

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  • Magnetically absorbing wall-climbing robot crawler
  • Magnetically absorbing wall-climbing robot crawler
  • Magnetically absorbing wall-climbing robot crawler

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specific Embodiment approach

[0031] The magnetic adsorption wall-climbing robot crawler designed by the present invention includes two parts: an adsorption mechanism and a driving mechanism. A plurality of variable magnetic force adsorption units are evenly distributed on the chain through connecting bolts, and form a magnetic adsorption crawler with the chain. Among them, the adsorption units 5 are arranged alternately according to the direction of magnetic polarization to prevent the internal resistance of the movement caused by mutual attraction between the adsorption units; and the adsorption units should also be arranged alternately according to the end position of the unit where the lever is located to avoid Interference with each other when in a magnetic short circuit state. The tension mechanism 17 is used to adjust the distance between the front and rear sprocket shafts, so that the crawler belt can be adapted to the requirements of walls with different curvatures. The chain and the driving and ...

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Abstract

A magnetic adsorption type crawler for a wall-climbing robot relates to a crawler for a magnetic adsorption wall-climbing machine. The invention includes variable magnetic force adsorption units, chains, driving and driven sprockets, thumb wheels, sprocket shafts, tensioning mechanisms, connecting plates, etc.; several variable magnetic force adsorption units are arranged in accordance with the polarization direction of the magnetic poles and evenly and alternately arranged in the positions of the levers. On the chain; 4 dial wheels and the driving and driven sprockets are coaxially installed on the sprocket shaft, and the axial position of the dial wheels is determined by the adjusting sleeve, so that the dial wheels can be in contact with the pulley on the driving rod. The maximum adsorption force of the adsorption unit of the present invention can reach 25kgf, and the minimum adsorption force of the adsorption unit of the crawler is only 0.9kgf when it is separated from the wall surface, and it can operate normally on the horizontal wall surface only with a 3W DC motor; it has compact structure and light weight; Small resistance, low driving power consumption and so on. It can adapt to the operations of different shapes such as spherical tanks, storage tanks and other curved surfaces, and can also form different forms of wall-climbing robots or similar wall-climbing mechanisms.

Description

technical field [0001] The invention belongs to the field of wall-climbing robots, in particular to a crawler belt for a magnetic adsorption wall-climbing robot. technical background [0002] As a mobile carrier for operations in an unstructured environment, magnetic adsorption wall-climbing robots have been widely used in the production and construction of ball (storage) tanks, pipelines, shipbuilding, aviation, automobiles, boilers, power stations, water turbines, buildings, locomotives, etc. [0003] A wall-climbing robot must have two basic functions: wall adsorption and mobile operations. As an important part of the wall-climbing robot, the adsorption unit provides adsorption force for the robot so that it can be reliably adsorbed on the wall. However, when the wall-climbing robot is moving, the adsorption force becomes its main motion resistance; and the greater the adsorption force, the greater the motion resistance, and the worse the mobile operation ability of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B65G17/30B65G37/00B65G54/02
Inventor 王军波陈强孙振国
Owner TSINGHUA UNIV
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