The invention discloses a ball-track composite permanent magnet adsorption type derusting wall-climbing robot which is characterized in that a cleaning disc is arranged in a cleaning disc fixing seat, the cleaning disc fixing seat is connected with a cleaning disc connecting frame, the two sides of the cleaning disc connecting frame are each connected with a ball-track composite permanent magnet adsorption track, and a self-rotating high-pressure spray head is installed in the cleaning disc; the ball-track composite permanent magnet adsorption track comprises a front driving chain wheel, a rear driven chain wheel, chain links, chain link connecting rods, a servo motor and a harmonic reducer, the chain links are formed by alternately connecting magnet chain links and universal ball chain links through the chain link connecting rods, and the chain links are installed on the front driving chain wheel and the rear driven chain wheel through the chain link connecting rods. The servo motor drives the chain wheel to rotate through the harmonic reducer and the chain wheel shaft; the output torque of the motor during steering of the wall-climbing robot is effectively reduced, the movement flexibility of the robot is improved on the premise that reliable adsorption is guaranteed, the size and cost of the rust-removing wall-climbing robot are reduced, the application prospect is wide, and application and popularization are facilitated.
本发明公开了一种球履复合永磁吸附式除锈爬壁机器人,清洗盘设置于清洗盘固定座内,清洗盘固定座与清洗盘连接架连接,清洗盘连接架的两侧分别连接有一条球履复合永磁吸附履带,清洗盘中安装有自旋高压喷头;球履复合永磁吸附履带包括前主动链轮,后从动链轮,链节,链节连接杆,伺服电机和谐波减速器,链节由磁铁链节和万向球链节通过链节连接杆交替连接而成,所述链节通过链节连接杆安装在前主动链轮与后从动链轮上,伺服电机通过谐波减速器和链轮轴驱动链轮转动;本发明有效减小了爬壁机器人转向时电机的输出扭矩,不仅在保证吸附可靠的前提下提高了机器人运动的灵活性,还降低除锈爬壁机器人的尺寸与成本,应用前景广阔,有利于推广应用。
Ball-track composite permanent magnet adsorption type derusting wall-climbing robot
一种球履复合永磁吸附式除锈爬壁机器人
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wall-climbing mechanism of wall-climbing derusting robot
European Patent Office | 2021
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