Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot

Abstract

The invention belongs to the technical field of robot welding and in particular relates to a driving and steering integrated magnetic wheel device for a magnetic adsorption wall-climbing robot. The driving and steering integrated magnetic wheel device comprises a vehicle body fixed framework, a rotating table framework, a steering and driving mechanism, a wheel driving mechanism and rolling wheels, wherein a passive side-tipping rotating structure is arranged between the vehicle body fixed framework and the steering table framework, and an independent steering structure is arranged between the rotating table framework and a magnetic wheel; and the side-tipping rotating structure comprises a side-tipping rotating shaft mounted before and after the rotating table framework and a self-lubricating sliding bearing mounted at the vehicle body fixed framework. Compared with the prior art, the driving and steering integrated magnetic wheel device disclosed by the invention has the following advantages that the transmission between a driving speed reduction motor and a wheel shaft is realized through a synchronous belt, a larger mounting space can be obtained by regulating the transmission center-to-center distance, and the driving speed reduction motor with higher power is mounted so as to improve driving moment. The independent steering freedom degree is arranged, and the steering axial line is perpendicular to the wheel axial line, so that independent steering of the wheels can be realized, and the flexibility in motion of the wall-climbing robot can be improved.

Description

technical field [0001] The invention belongs to the technical field of robot welding, in particular to a drive-steering integrated magnetic wheel device for a magnetic adsorption wall-climbing robot. Background technique [0002] The magnetic adsorption wall climbing robot is a kind of special robot, which is an automatic mechanical device designed to perform specific operations on the magnetic wall surface under harsh, dangerous and extreme conditions, such as inspection, testing, welding, grinding, etc. ,More and more attention has been paid. At present, magnetic adsorption wall-climbing robots have been widely used in the production and construction of ferromagnetic structures such as nuclear industry, petrochemical industry, construction industry, fire department, and shipbuilding industry. [0003] After literature search, it is found that the Chinese patent publication number is CN101612731A, the application date is July 23, 2009, and the title of the invention is: In...

AI Technical Summary

Problems solved by technology

The above-mentioned patent is characterized by strong adsorption force, but since all the driving wheels are cylindrical wheels that cannot be turned relative to the car body, the steering resistance is large and the steering flexibility is poor.

[0005] In summary, the deficiencies of the existing drive wheels of magnetic adsorption wall-climbing robots mainly include: 1. The drive motor, reducer and wheels are coaxially arranged, and the drive torque is small due to the limitation of the installation space; 2. The drive wheels It is impossible to turn relative to the car body, resulting in poor movement flexibility of the wall-climbing robot; 3. The driving wheel does not have the ability to adapt to curved surfaces

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