The invention relates to the field of wall-climbing welding robots, in particular to a wall-climbing mechanism of a wall-climbing welding robot, which comprises a chassis integration, a driving structure arranged on the chassis integration is connected with eight uniformly distributed permanent magnet wheels, two of which are driving wheels, and the rest six of which are driven wheels; and power transmission mechanisms with the same structure are arranged below the left rear frame and the right rear frame. According to the wall-climbing mechanism of the wall-climbing welding robot, the permanent magnet wheels on the two sides are connected with the shafts through the universal joint couplings and can be lifted up when encountering an obstacle, the middle permanent magnet wheel plays a role in keeping the distance between the chassis and the wall face, and therefore the obstacle crossing function of the wall-climbing robot is achieved. According to the wall-climbing robot, the rotating speeds of the permanent magnet wheels are different by controlling the servo motors, and differential steering is achieved.
本发明涉及爬壁焊接机器人领域,尤其涉及一种爬壁焊接机器人的爬壁机构,包括底盘集成,所属底盘集成上设置的驱动结构连接有八个均匀分布的永磁轮,其中两个为驱动轮,剩余六个为从动轮,左后和右后车架下方都安装有结构相同的动力传动机构。本爬壁焊接机器人的爬壁机构,两侧永磁轮与轴通过万向节联轴器连接,遇到障碍时可随之抬起,中间永磁轮起保持底盘与壁面距离作用,从而实现爬壁机器人的越障功能。该爬壁机器人通过控制伺服电机,使得永磁轮转速不同,实现差速转向。
Wall-climbing mechanism of wall-climbing welding robot
一种爬壁焊接机器人的爬壁机构
2023-01-17
Patent
Electronic Resource
Chinese
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