Permanent magnet adsorption wheel for wall surface mobile robot

Abstract

The invention discloses a permanent magnet adsorption wheel for a wall surface mobile robot, which comprises a first armature, two permanent magnets, a magnetizer, a second armature, a positioning ring, a T-shaped screw, a support shaft, a rubber coating ring, a permanent magnet protection ring and a positioning ring, the support shaft is sleeved with the inner circular surface of the first armature and the inner circular surface of the second armature, and one end surface of the positioning ring is tightly attached to the first armature. The other end face of the positioning ring is tightly attached to the second armature, and the first armature and the second armature are fixedly connected through a T-shaped screw. The outer circular surfaces of the first armature and the second armature are wrapped with rubber coating rings, and the permanent magnets are respectively arranged on two sides of the positioning ring and cling to a left shaft shoulder and a right shaft shoulder of the positioning ring; the magnetizer is positioned and installed in the middle of the positioning ring through the inner circle and located between the two permanent magnets, and the permanent magnet protection ring is arranged on the outer circle faces of the permanent magnets and the magnetizer in a sleeving mode and fixed through the rubber coating ring. By means of the permanent magnet adsorption wheel, stable and efficient movement of a wall-climbing robot system on a complex curved surface can be achieved.

Description

technical field [0001] The invention relates to the technical field of the wall mobile robot industry, in particular to a permanent magnetic adsorption wheel for a wall mobile robot. Background technique [0002] At present, the inner and outer surfaces of ships, the inner and outer walls of storage tanks, the inner and outer walls of pressure vessels, and the inner and outer walls of large-scale pipelines are all made of steel-like magnetic materials. The tasks in these scenarios, such as welding, cleaning, painting, and testing, require a lot of Manual work, on the one hand, increases the cost of the enterprise, and the production efficiency is low; on the other hand, due to the harsh working environment and high work intensity, it poses certain hazards to the personal safety of operators. In response to this kind of work scene, the market began to use wall-climbing robots to gradually replace manual operations. [0003] The adsorption methods of wall-climbing robots main...

AI Technical Summary

Problems solved by technology

Whether the magnetic adsorption device is reasonable and efficient determines the stability of the magnetic adsorption wall-climbing robot. The magnetic adsorption wall-climbing robot mostly adopts the magnetic adsorption wheel type (the permanent magnet is placed inside the wheel) to improve the robot's moving speed and movement flexibility. , but for now, the magnetic adsorption wheel is still facing many problems, such as complex structure, heavy weight, small adsorption force, poor stability, low cost performance, high assembly requirements, not conducive to disassembly and maintenance, etc. These problems will seriously affect Mobile performance, work efficiency and economy of wall-climbing robot

[0004] The application with the publication number CN104443096A discloses an adsorption wall-climbing robot, which integrates the adsorption device and the driving device into the wheel module, but the internal structure of the wheel module is complicated, and there are many internal bearings, which require high assembly accuracy and are not easy to disassemble. After assembly, the overall structure size is large and heavy; the application with the publication number CN107264664A discloses a drive integrated magnetic adsorption wheel device. Although the magnetic wheel module is highly integrated, there are many integrated parts inside the wheel, resulting in a larger wheel size. Large, the internal structure is relatively complicated, and the requirements for the assembly of the wheel are relatively high, and it is very inconvenient to disassemble and assemble, and it is not easy to maintain; because the magnet of the magnetic wheel is a quarter ring shape, the more the number of magnet divisions, the greater the magnetic flux leakage. Obviously, and with the two arc surfaces of the magnet as the magnetic poles, the adsorption force produced by this magnetic circuit layout is not high; the application with the publication number CN113135068A discloses an array type permanent magnet adsorption for magnetically conductive walls For the wheel, a number of cylindrical magnets are embedded in the circular area of ​​the synchronous pulley. Since the magnets are arranged at a certain distance, the conduction rate between the magnets decreases, the magnetic induction lines that can pass through the metal steel plate are greatly reduced, and the magnetic adsorption force is relatively small. ; When the bottom end of the wheel rotates to the middle of the two magnets, there is a large gap between the magnetic force and the magnetic force when the bottom end of the wheel rotates to the magnet, so that the adsorption force to the metal steel plate is unstable, which leads to unstable operation of the wheel; the application with the publication number CN112758207A , discloses an all-position mobile wall-climbing robot, which integrates the adsorption device and the drive device into the wheel module, but its magnets are divided into several small ring-shaped arrangements, and the structure is relatively complicated. The magnets are installed and fixed by processing holes, which not only increases Considering the processing difficulty, cost, and disassembly difficulty, the more blocks, the more obvious the magnetic flux leakage, and the magnetic adsorption force is not high compared to the integrated magnet; the application with the publication number of CN104875809A discloses a magnetic field for wall-climbing robots. The adsorption wheel has a relatively simple structure, but its magnets are divided into several small ring-shaped arrangements, which increases the processing difficulty and cost, and is difficult to disassemble. According to its magnetic circuit layout, under the same volume and mass, the magnetic adsorption force is relatively The ring magnet is about twice as small

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