Pose active compliance adjusting mechanism for negative pressure adsorption cavity of wall-climbing robot

Abstract

The invention provides a pose active compliance adjusting mechanism for a negative pressure adsorption cavity of a wall-climbing robot. The mechanism comprises a chassis and a plurality of adsorption assemblies; each adsorption assembly comprises a plurality of driving mechanisms, a plurality of connecting pieces, an adsorption cavity bottom plate, a fan and a flexible organ cover, each connecting piece comprises a connecting end and a moving rod, the connecting end is hinged to the chassis, the moving rod can be installed on the connecting end in an up-down moving mode, the lower end of the moving rod is hinged to the adsorption cavity bottom plate, the driving mechanisms and the connecting pieces are arranged in a one-to-one correspondence mode, and the driving mechanisms are fixed on the connecting end and drive the moving rod to move up and down; and the flexible organ cover is fixed to the bottom of the adsorption cavity bottom plate, the bottom face of the flexible organ cover is used for abutting against the surface of a workpiece to form a closed adsorption space, and the fan is fixed to the adsorption cavity bottom plate and communicates with the closed adsorption space. The technical scheme provided by the invention has the beneficial effects that: the adsorption cavity bottom plate rotates by different angles in all directions to meet the required pose requirement, the curved surface actively conforms to the curved surface with complex curvature, and the leakproofness of the closed adsorption space is ensured.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an active compliance adjustment mechanism for a negative pressure adsorption chamber of a wall-climbing robot. Background technique [0002] A wall-climbing robot is an automated mechanical device that can perform functions such as inspection, testing, welding, and grinding on a wall. This robot can crawl freely on various walls while carrying a variety of sensors to complete tasks. [0003] The negative pressure wall-climbing robot uses a constant speed fan to pump out the air in the adsorption chamber to generate negative pressure for adsorption. The motion system only needs to overcome the friction force under the adsorption force and the gravity of the robot itself to realize free movement on the wall. [0004] The vacuum adsorption chamber equipped with general wall-climbing robots is not designed for curved surfaces, and lacks the ability to adapt to curved surfaces. When ...

AI Technical Summary

Problems solved by technology

[0004] The vacuum adsorption chamber equipped with general wall-climbing robots is not designed for curved surfaces, and lacks the ability to adapt to curved surfaces. When encountering a surface with excessive curvature changes, it is easy to generate a large air gap, making the adsorption force too small to maintain climbing walls. The adsorption of the robot, the wall-climbing robot slides and falls from the wall

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