The invention discloses a crawler-type permanent magnet adsorption wall-climbing mechanism capable of crossing obstacles, and relates to the field of wall-climbing robots. The device is composed of a frame, compression springs, permanent magnets, chain wheels, tracks, rubber, guide rods and a driving system, the springs and the guide rods are connected into two side plates of the frame, the rubber and the small magnets are installed on outer ring chain links of the tracks, and the two large magnets are installed on the outer side of a bottom plate of the frame. According to the wall climbing mechanism, the center distance between the two chain wheels on the crawler belt is adjusted through the compression spring, and therefore the functions of obstacle crossing and crawler belt pre-tightening can be achieved. The two large permanent magnets on the bottom plate of the frame can provide adsorption force which is large enough, so that the wall climbing mechanism can load a large working device. The small magnets on the outer chain links of the crawler belt generate magnetic force with the contact surface and press the rubber on the two sides of the small magnets, the effect of increasing friction force is achieved, the load capacity is improved, and meanwhile, when the crawler belt moves, due to the fact that the compressed springs have counter-acting force, the requirement for selecting motor power can be lowered.
本发明公开了一种可越障的履带式永磁吸附爬壁机构,涉及爬壁机械人领域。由框架、压缩弹簧、永磁铁、链轮、履带、橡胶、导杆、驱动系统组成,框架的两侧板内部连接有弹簧和导杆,履带外圈链节上安装有橡胶和小磁铁,框架底板外侧安装有两个大磁铁。本爬壁机构通过压缩弹簧来调节履带上两链轮的中心距,从而可达到越障和履带预紧的功能。框架底板上的两个大永磁铁可以提供足够大的吸附力,使爬壁机构可负载较大的工作装置。履带外链节上的小磁铁与接触面产生磁力并将小磁铁两侧的橡胶压紧,起到增大摩擦力的效果,负载能力增加,同时,当履带运动时由于被压缩的弹簧具有反作用力,选取电机功率的要求可降低。
Crawler-type permanent magnet adsorption wall climbing mechanism capable of crossing obstacles
一种可越障的履带式永磁吸附爬壁机构
2023-01-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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