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A magnetically controllable permanent magnet crawler wheel and a robot having the same

A crawler wheel and magnetic force technology, applied in the field of permanent magnet crawler wheel and robots with the same, can solve the problems of not being able to act as the foot of a legged climbing robot, unable to realize motion and adsorption magnetic force, low-power in-situ desorption, etc. , to achieve the effect of convenient control, energy saving and convenient desorption

Active Publication Date: 2022-07-12
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, when the permanent magnet crawler or its climbing robot is desorbed from the working surface, the robot can only be controlled to gradually climb away along the non-magnetic medium; since the in-situ desorption of fast and low power cannot be achieved, the above permanent magnet crawler cannot be used as a leg foot of a legged climbing robot; in addition, the aforementioned permanent magnet track or its climbing robot cannot achieve the contradictory coordination between motion and magnetic attraction

Method used

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  • A magnetically controllable permanent magnet crawler wheel and a robot having the same
  • A magnetically controllable permanent magnet crawler wheel and a robot having the same
  • A magnetically controllable permanent magnet crawler wheel and a robot having the same

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Embodiment 1

[0054] like figure 1 Shown is an embodiment of the magnetically controllable permanent magnet crawler wheel of the present invention, including a base 100, a first pulley 200, a second pulley 300 and a first crawler belt 400, the first crawler belt 400 is sleeved on the A pulley 200 and a second pulley 300, the first pulley 200 or the second pulley 300 is connected to a drive assembly 500, and the drive assembly 500, the first pulley 200 and the second pulley 300 are all installed on the The base 100; also includes a second magnet unit 600 and a magnetic force adjustment assembly 700 capable of adjusting the magnetic pole direction of the second magnet unit 600, the first crawler belt 400 is embedded with a first magnet unit 450, and the second magnet unit 600 is adjacent to the The first magnet unit 450 is provided; when the magnetic poles of the first magnet unit 450 and the second magnet unit 600 are opposite, a magnetic circuit is formed between the first magnet unit 450 a...

Embodiment 2

[0066] The second embodiment of the magnetically controllable permanent magnet crawler wheel of the present invention includes a base 100 , a first pulley 200 , a second pulley 300 and a first crawler belt 400 , and the first crawler belt 400 is sleeved on the first crawler belt 400 . The pulley 200 and the second pulley 300, the first pulley 200 or the second pulley 300 is connected with the drive assembly 500, and the drive assembly 500, the first pulley 200 and the second pulley 300 are all installed on the base. The seat 100; also includes a second magnet unit 600, the first crawler 400 is embedded with a first magnet unit 450, the second magnet unit 600 is disposed adjacent to the first magnet unit 450 and the second magnet unit 600 and the first magnet When the unit 450 rotates relatively, the magnetic circuit between the first magnet unit 450, the second magnet unit 600 and the adsorbed wall can be changed; when the first magnet unit 450 and the second magnet unit 600 ha...

Embodiment 3

[0072] like Figure 17Shown is an embodiment of the crawler crawler robot of the present invention, including the magnetically controllable permanent magnet crawler wheels as in the first or second embodiment, and the two groups of permanent magnet crawler wheels are symmetrically distributed in the center. In this embodiment, the center plates 101 of the two groups of permanent magnet track wheels can be obtained by fastening the two plates, or the two groups of center plates 101 can be formed into an integral structure. In the implementation of this embodiment, the two groups of permanent magnet crawler wheels are driven by a drive assembly 500 respectively. When the speeds between the two groups of permanent magnet crawler wheels are different, the crawler-type crawler robot can realize differential steering; The magnetic force of the wheel is controllable and adjustable, and the crawler crawler robot of the present invention can coordinate the adsorption magnetic force acc...

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Abstract

The present invention relates to the technical field of magnetic components, and more particularly, to a magnetically controllable permanent magnet crawler wheel and a robot having the same, comprising a second magnet unit, the first crawler belt is embedded with a first magnet unit, and the second magnet The unit is arranged adjacent to the first magnet unit; when the magnetic poles of the first magnet unit and the second magnet unit are opposite, a magnetic circuit is formed between the first magnet unit and the second magnet unit; when the magnetic poles of the first magnet unit and the second magnet unit are not opposite At the time, a magnetic circuit is formed between the first magnet unit, the second magnet unit and the wall to be attracted. The present invention utilizes the mutual limitation of the first magnet unit and the second magnet unit and the guidance of the magnetic circuit, so that the magnetic force of the permanent magnet crawler wheel is controllable and adjustable, and the control is convenient, safe and efficient; in addition, the crawler crawler robot of the present invention can be The size of the adsorption magnetic force can be coordinated according to the movement situation, so that the movement is more flexible; the leg-walking compound biped climbing robot of the present invention has both excellent crawling efficiency and obstacle-surmounting ability.

Description

technical field [0001] The present invention relates to the technical field of magnetic components, and more particularly, to a magnetically controllable permanent magnet crawler wheel and a robot having the same. Background technique [0002] Special operations such as high-altitude or closed environments, such as tower / tank maintenance, cabin inspection, and hull welding, are currently mainly performed manually, and thus have always been a major challenge for the industry. These scenarios have harsh working conditions, high risks, low efficiency, and high labor intensity for workers. Climbing robots are ideal carriers for replacing or assisting manual implementation of the above operations. Therefore, the permanent magnet crawler climbing robot has a good application prospect in the related work scenarios of large steel structures. [0003] Chinese patent CN110254541A discloses a permanent magnet crawler and a climbing robot. The permanent magnet crawler includes a wheel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/265B62D55/075
CPCB62D55/265B62D55/075
Inventor 朱海飞林梓栋
Owner GUANGDONG UNIV OF TECH
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