The invention discloses a track mechanism with distributed pressure sensing, which relates to the technical field of robots and comprises a track support frame, a plurality of magnetic adsorption components, a plurality of pressure sensing components, a conductive slip ring and a control component. A driving assembly used for driving a chain on the crawler belt to conduct transmission is installed in the crawler belt supporting frame. The plurality of magnetic adsorption assemblies are uniformly and fixedly arranged at chain link positions of the chain; the plurality of pressure sensing assemblies are arranged in the magnetic adsorption assemblies and are in one-to-one correspondence with the magnetic adsorption assemblies; the conductive slip ring is fixed on the outer side of the track support frame; the control assembly is used for controlling the whole crawler mechanism; the wall-climbing robot has the technical key points that the adsorption force of the magnetic adsorption track and the wall surface can be monitored in real time, the pressure of each section on the acting surface of the magnetic adsorption track can be monitored, the robot is prevented from falling off, the safety of the wall-climbing robot is greatly improved, the robot does not need to be shut down for detection or restarted for operation, the time is saved, and meanwhile, the use efficiency is improved.
本发明公开了一种具有分布式压力感知的履带机构,涉及机器人技术领域,包括履带支撑架、若干磁吸附组件、若干压力传感组件、导电滑环以及控制组件;履带支撑架内部安装用于驱动履带上链条传动的驱动组件;若干磁吸附组件均匀式固定设置于链条的链节位置处;若干压力传感组件配设于磁吸附组件内,并与磁吸附组件一一对应;导电滑环固定于履带支撑架外侧;控制组件用于操控整个履带机构;其技术要点为:可实现对磁吸附履带与壁面吸附力的实时监测,且可实现磁吸附履带作用面上,每一节的压力监测,避免机器人跌落,大大提高了爬壁机器人的安全性,机器人无需停机检测或重新开机运行,节省时间的同时提高了使用效率。
Track mechanism with distributed pressure sensing function
一种具有分布式压力感知的履带机构
2023-08-29
Patent
Electronic Resource
Chinese
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