The invention discloses a composite adsorption crawler-type passive climbing mechanism which comprises an adsorption cup, a synchronous belt, a conveying belt, a magnet unit, a guide rail framework and a guide rail surface, the guide rail framework serving as a climbing mechanism framework support is connected with a climbing robot body in an assembled mode, and the guide rail surface is arrangedon the periphery of the guide rail framework. One end of the adsorption cup is restrained on the guide rail surface through a rolling bearing, and the other end is connected to the outer side of the conveying belt in a gluing manner; and the inner side of the conveying belt adheres to the outer side of the synchronous belt, the synchronous belt is an arc-tooth synchronous belt, the synchronous belt and a belt wheel of the climbing robot body are driven in a meshed mode, and the magnet unit packaged by the rubber shell is installed on the inner side of the conveying belt in a riveting and adhering mode. The electromagnetic adsorption principle and the negative pressure adsorption principle are combined to achieve the normal adsorption force composite effect, the stability of the climbing force of the climbing mechanism is enhanced, the loading capacity of the climbing mechanism is improved, the movement flexibility of the climbing mechanism is guaranteed, and energy consumption of the wall-climbing robot is reduced.
本发明公开一种复合吸附的履带式无源攀附机构,包括吸附杯、同步带、输送带、磁铁单元、导轨骨架和导轨面,作为攀附机构骨架支撑的导轨骨架与攀爬机器人本体装配连接,且导轨骨架的外周设置有导轨面,吸附杯一端通过滚动轴承约束在导轨面上,另一端以胶粘的方式连接在输送带的外侧;输送带的内侧胶粘于同步带外侧,同步带为圆弧齿同步带,同步带与攀爬机器人本体的带轮啮合驱动,由橡胶外壳封装的磁铁单元以铆接和胶粘的方式安装在输送带的内侧。综合电磁吸附和负压吸附原理实现法向吸附力复合作用,增强攀附机构攀附力的稳定性、提高攀附机构的带载能力、保障攀附机构的运动灵活性和减少对爬壁机器人的能源消耗。
Composite adsorption crawler-type passive climbing mechanism
一种复合吸附的履带式无源攀附机构
2021-03-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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