Spherical wheel steering device of air-land amphibious detection robot for tunnel detection

The utility model belongs to the technical field of tunnel engineering detection, and particularly relates to a spherical wheel steering device of an air-land amphibious detection robot for tunnel detection, which comprises a spherical wheel, a guide wheel, an annular wheel framework and a driving motor. A plurality of guide wheels and a driving motor are arranged on the inner wall of the annular wheel framework, the driving motor is used for driving the guide wheels to rotate, and the guide wheels are evenly distributed on the periphery of the spherical wheel and make contact with the spherical wheel. According to the utility model, the driving route of the climbing robot can be flexibly adjusted through the steering framework with higher degree of freedom, so that the climbing robot can stably run along the wall surface of the tunnel, and the safety inspection of the climbing robot is ensured. 本实用新型属于隧道工程检测技术领域，具体涉及一种隧道检测空陆两栖检测机器人球形车轮转向装置，包括：球形轮，引导轮，环形车轮架构和驱动电机，所述环形车轮架构内设置有用于容纳球形轮的空腔，环形车轮架构内壁设置有多个引导轮和驱动电机，所