Driving integrated magnetic adsorption wheel type device

Abstract

The invention relates to a driving integrated magnetic adsorption wheel type device. The driving integrated magnetic adsorption wheel type device is characterized by comprising a transmission shaft, a harmonic reducer, a wheel body rubber coating shell, a motor, a transmission support, a belt wheel shaft, a magnet and a wheel body end cover, wherein the wheel body rubber coating shell and the wheel body end cover are matched to form a closed space, the transmission shaft is installed on the center axis of the wheel body rubber coating shell, one end of the transmission shaft extends out of the wheel body rubber coating shell and the wheel body end cover and is connected with a car body, and the other end of the transmission shaft is connected with a rigid wheel through a flange plate; the motor and the magnet are arranged at the position, located at the two sides of the harmonic reducer, in the space of the wheel body rubber coating shell, one side of the magnet is fixed to a first copper sleeve through a second magnetic support, and the other side of the magnet is fixed to the transmission shaft through a first magnetic support; one end of the motor is fixed to the transmission shaft through the transmission support, the belt wheel shaft is fixed to the portion, between the transmission shaft and the motor, of the transmission support, an output shaft of the motor, the belt wheel shaft and the transmission shaft are parallel and transmit power in the mode of a synchronous belt.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an adsorption and driving device for a magnetic adsorption wall-climbing robot, in particular to an integrated magnetic adsorption wheel device for generating adsorption force and driving force. Background technique [0002] As a special robot that can be used for extreme operations, the wall-climbing robot can carry certain tools instead of humans to work on high-altitude vertical walls. At present, wall-climbing robots mainly have structural forms such as magnetic adsorption, high-voltage electrostatic adsorption, and vacuum negative pressure adsorption. Among them, magnetic adsorption wall-climbing robots have shown very prominent advantages in some specific environments, not only have stable work, strong adsorption capacity, It also shows a strong ability to adapt to the shape of the wall. The design of the magnetic adsorption device is closely related to the overall weight, ...

AI Technical Summary

Problems solved by technology

However, the existing wheeled magnetic adsorption robots generally have the problem of separation of the adsorption device and the drive device, resulting in a complex structure, large volume, and heavy weight of the wall-climbing robot, which reduces the flexibility of movement

At the same time, for the design optimization of the magnetic adsorption device, the main focus is how to greatly improve the adsorption force, and less consideration is given to the modular design of the structure

Therefore, the low integration and non-modularity of the magnetic adsorption wheel device leads to poor versatility of the magnetic adsorption device, reduces the working efficiency of the wall-climbing robot, and limits the working occasions of the wall-climbing robot, especially when it involves different working surfaces and different working conditions continuous operation

For example, the adsorption-type wall-climbing robot involved in the patent document "Absorptive Wall-climbing Robot (CN104443096A)" adopts the separation method of the adsorption device and the driving device, and is driven by a motor directly connected to the wheel, and the adsorption is realized by a strong magnetic block arranged on the belly of the car body. , the overall structure is not compact enough, it is not conducive to quick disassembly and assembly, and it does not have waterproof function

Another example is the patent document "Magnetic Adsorption and Drive Integrated Module of Magnetic Adsorption Wall Climbing Robot (CN106364583A)". The structure is too complex and the layout lacks rationality, which leads to inconvenient assembly and an elliptical shape, which takes up a lot of installation space, which leads to a large overall structural size of the robot. At the same time, the end of the drive chain of the device is driven by a synchronous belt, which has a certain flexibility The synchronous belt works under high load for a long time, which reduces the transmission accuracy and needs to be tensioned. In addition, it does not have waterproof function

[0004] To sum up, although the existing magnetic adsorption wheeled device can provide the adsorption force of the wall-climbing robot, it generally has the following two deficiencies: first, the adsorption device is separated from the driving device, with low integration, poor versatility, and non-modularization , cannot be quickly disassembled and assembled, which leads to complex structure, large volume, single function and low work efficiency of the climbing robot

Second, for the existing integrated magnetic adsorption wheel device, its internal structure is complicated, its external dimensions are large, it takes up installation space, and its reliability is low

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