Multi-stage compliant wall-climbing robot mechanism with curvature self-adaptability

A wall-climbing robot and self-adaptive technology, used in motor vehicles, crawler vehicles, transportation and packaging, etc., can solve the problems of operator bodily injury, high risk factor, difficult operation, etc. The effect of strong exchangeability and reduced wear and tear

Pending Publication Date: 2022-07-15
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the particularity of this type of building's own structure and application scenarios, its work has the characteristics of difficult operation, heavy workload, and high risk factor, and may even cause irreversible damage to the operator's psychology and body.

Method used

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  • Multi-stage compliant wall-climbing robot mechanism with curvature self-adaptability
  • Multi-stage compliant wall-climbing robot mechanism with curvature self-adaptability
  • Multi-stage compliant wall-climbing robot mechanism with curvature self-adaptability

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Embodiment Construction

[0033] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0034] like Figures 1 to 7 As shown, the present invention includes an adsorption motor bracket 1, a compliant adsorption cavity mechanism 2, a compliant moving mechanism 3 and a primary compliant sealing mechanism 4, wherein the compliant adsorption cavity mechanism 2 includes an adsorption cavity and a secondary compliance mechanism 203, and the adsorption cavity is divided into adsorption The lower cavity 201 and the upper cavity 202 of the adsorption cavity, the upper cavity 202 of the adsorption cavity is elastically connected with the lower cavity 201 of the adsorption cavity through the secondary compliance mechanism 203, so that the upper cavity 202 of the adsorption cavity and the lower cavity 202 of the adsorption cavity are elastically connected Elastic expansion and contraction deformation can occur between 201, which is used to eliminate the gap...

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PUM

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Abstract

The invention relates to a negative pressure adsorption type wall-climbing robot mechanism in a complex curved surface environment, in particular to a multi-stage compliant type wall-climbing robot mechanism with curvature self-adaptability, an adsorption cavity is divided into an adsorption cavity lower half cavity and an adsorption cavity upper half cavity, and the adsorption cavity upper half cavity is connected with the adsorption cavity lower half cavity through a second-stage compliant mechanism; the upper half cavity of the adsorption cavity communicates with an adsorption motor support, an adsorption motor is installed on the adsorption motor support, and a first-stage flexible sealing mechanism is installed on the bottom face, making contact with the curved face, of the lower half cavity of the adsorption cavity. The flexible moving mechanism is located in the adsorption cavity and comprises a crawler belt mechanism support, a motor transmission device, a crawler belt and a three-stage flexible mechanism, the crawler belt mechanism support is elastically connected with the upper half cavity of the adsorption cavity through the three-stage flexible mechanism, and the motor transmission device is installed on the crawler belt mechanism support; the crawler belt is driven by the motor transmission device to move on the curved surface. The device is simple and compact in structure, high in interchangeability, high in curved surface self-adaptive capacity, large in self-weight ratio and stable in performance.

Description

technical field [0001] The invention relates to a negative pressure adsorption type wall-climbing robot mechanism in a complex curved surface environment, in particular to a multi-level flexible wall-climbing robot mechanism with curvature adaptability. Background technique [0002] In the mining, petrochemical, transportation and other industries, a large number of spherical and spherical-like facilities have appeared. These facilities have been exposed to the wind and the sun for a long time. With the passage of time, there is a serious aging phenomenon, which requires regular daily testing. and maintenance work to eliminate safety hazards. Due to the particularity of this type of building's own structure and application scenarios, its work has the characteristics of difficult operation, heavy workload, high risk factor, and even causes irreversible damage to the operator's psychology and body. The inevitability and advantages of robots replacing manual inspection and mai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/075B62D55/265
CPCB62D55/075B62D55/265
Inventor 宋屹峰王洪光杨振宇常勇凌烈吕鹏林松
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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