Crawler for magnetically adsorbed wall-climbing robot

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

Inactive Publication Date: 2002-10-23
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

Although this crawler overcomes the contradiction between the adsorption and movement of the wall-climb

Method used

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  • Crawler for magnetically adsorbed wall-climbing robot
  • Crawler for magnetically adsorbed wall-climbing robot
  • Crawler for magnetically adsorbed wall-climbing robot

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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

The caterpillar track for magnetic adsorption type wall-climbing robot comprises changeable magentic adsorption units, chain, driving and driven chain wheels, shifting wheel, chain wheel axles, strainer and connecting plate, in which several changeable magnetic adsorption units are arranged according to the polarization direction of magnetic poles and the shifting bar positions are uniformly alternatively arranged on the chain, four shifting wheels and driving and driven chain wheels are coaxially mounted on the chain wheel axles, and the axial position of shifting wheel is defined by regulating sleeve. The maximum adsorption force of the invented adsorption unit can be up to 25 kgf, and the minimum adsorption force of adsorption unit of caterpillar track when it is separated from wall surface is 0.9 kfg.

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