A permanent magnet adsorption type magnetic wheel

Abstract

The present invention discloses a permanent magnet adsorption magnetic wheel, which comprises a deflection mechanism, an auxiliary support column, a magnetic wheel mechanism, and an elastic mechanism. The magnetic wheel mechanism includes a magnetic wheel restraint, a first annular yoke, a permanent magnet, a second annular yoke, a flange, a servo motor, and connecting bolts. Usually, four sets of this device are used together and are fixed to the robot body through the auxiliary support column and the deflection mechanism. When walking on the arc-shaped container wall surface, the permanent magnet generates magnetic force with the container wall surface, and the magnetic wheel mechanism deflects along the rotation screw under the force, so that the permanent magnet fits with the container wall surface. After the servo motor is powered on, it can drive the magnetic wheel mechanism to rotate, realizing stable and reliable movement. The device has a simple structure. The magnetic circuit unit with magnetization in the thickness direction can improve the utilization rate of magnetic energy and the adsorption force, and the adsorption force can be adjusted. At the same time, through the deflection mechanism and the elastic mechanism, the magnetic wheel mechanism can walk stably and reliably on the curved container wall surface, thus meeting the needs of different working conditions.

Description

Technical Field

[0001] The present invention relates to a mechanical device, and more particularly to a permanent magnet adsorption type magnetic wheel. Background Art

[0002] Up to now, there have been many studies on wall-climbing robots for the surface of metal tank containers at home and abroad. Common ones are negative pressure adsorption type wall-climbing robots, which generate a vacuum negative pressure inside the vacuum suction cup and rely on the atmospheric pressure difference inside and outside the suction cup to generate an adsorption force. Its advantages are large and stable adsorption force, and the adsorption force is not limited by the wall material. However, it requires a high degree of fit between the contact surface of the suction cup and the wall. When there are cracks, unevenness or abnormal shapes on the wall surface, it is easy to cause air leakage in the vacuum suction cup, resulting in a decrease in its adsorption force and even causing the robot to peel off from the wall surface. In view of the above defects, it is necessary to design a permanent magnet adsorption type magnetic wheel. Summary of the Invention

[0003] The purpose of the present invention is to provide a permanent magnet adsorption type magnetic wheel, which has a strong and adjustable adsorption force and is suitable for use under various container wall surface conditions such as flat surfaces, curved surfaces, and uneven surfaces.

[0004] To solve the above technical problems, the technical solution of the present invention is: a permanent magnet adsorption type magnetic wheel, comprising a deflection mechanism, an auxiliary support column, a magnetic wheel mechanism, and an elastic mechanism. The auxiliary support column is movably arranged on one side of the deflection mechanism, the magnetic wheel mechanism is installed at the lower end of the deflection mechanism, and the elastic mechanism is respectively connected to the magnetic wheel mechanism and the auxiliary support column by bolts;

[0005] The described magnetic wheel mechanism further includes a magnetic wheel restraint, a first annular yoke, a permanent magnet, a second annular yoke, a flange, a servo motor, and connecting bolts. The magnetic wheel restraint, the first annular yoke, the permanent magnet, the second annular yoke, and the flange are arranged in sequence from left to right along the axis of the deflection mechanism. The connecting bolts sequentially penetrate through the main bodies of the magnetic wheel restraint, the first annular yoke, the permanent magnet, and the second annular yoke. The connecting bolts are threadedly connected to the flange. The servo motor is located on the right side of the deflection mechanism and on the right side of the flange. The servo motor is respectively connected to the deflection mechanism and the flange by bolts. The permanent magnet is magnetized along the thickness direction. The materials of the first annular yoke and the second annular yoke are electrolytic iron. The first annular yoke, the permanent magnet, and the second annular yoke form a single magnetic circuit unit. The adsorption force of the magnetic wheel mechanism is adjusted by increasing the number of the magnetic circuit units. The first annular yoke, the permanent magnet, and the second annular yoke form a complete magnetic circuit unit. After the permanent magnet is magnetized along the thickness direction, most of the magnetic force lines constrained by the first annular yoke and the second annular yoke pass through the wall of the container and return to the permanent magnet, and only a few magnetic force lines escape. The magnetic induction intensity of the container wall surface directly below the permanent magnet is significantly higher than the magnetic induction intensity inside the first annular yoke, the permanent magnet, and the second annular yoke, so as to ensure the maximum utilization rate of magnetic energy. When the adsorption force generated by a single magnetic circuit unit cannot meet the load requirement, an array structure can be formed by expanding the magnetic circuit unit to increase the adsorption force, so as to meet different working conditions requirements.

[0006] The further improvements of the present invention are as follows:

[0007] Further, the diameters of the first annular yoke, the permanent magnet, and the second annular yoke are equal.

[0008] Further, the material of the magnetic wheel restraint is aluminum alloy, the shape of the magnetic wheel restraint is a frustum of a cone, and the bottom diameter of the magnetic wheel restraint is not greater than the diameter of the first annular yoke.

[0009] Further, the material of the flange is aluminum alloy, the shape of the flange is a frustum of a cone, the bottom diameter of the flange is not greater than the diameter of the second annular yoke. Both the magnetic wheel restraint and the flange are made of aluminum alloy material, which has a magnetic isolation effect. On the one hand, it can prevent ferromagnetic objects from directly adsorbing to the side of the magnetic wheel and being difficult to remove. On the other hand, it can further reduce the escape of magnetic force lines and improve the adsorption force. The shapes of the magnetic wheel restraint and the flange are frustum of a cone, and the maximum bottom diameter is not greater than the diameter of the first annular yoke, which can ensure to the greatest extent that the magnetic circuit formed by the first annular yoke, the permanent magnet, and the second annular yoke avoids contact with the container and improve the adsorption force.

[0010] Further, the number of the connecting bolts is 3, and they are arranged at equal intervals along the circumferential direction of the magnetic wheel restraint. The connecting bolts arranged at equal intervals play the role of averaging the load and improve the service life.

[0011] Further, the permanent magnet is a neodymium iron boron permanent magnet.

[0012] Further, the deflection mechanism further includes a U-shaped bracket, rotating screws, and a motor front cover. The number of the rotating screws is two, which are symmetrically arranged at the lower end of the U-shaped bracket. The rotating screws are connected to the U-shaped bracket with a clearance fit. The motor front cover is located inside the U-shaped bracket and on the left side of the servo motor. The motor front cover is connected to the rotating screws by threads and is connected to the servo motor by bolts.

[0013] Further, the elastic mechanism further includes a left fixing block, a right fixing block, a guide rod, a guide sleeve, and a spring. The left fixing block is located at the lower end of the auxiliary support column. The left fixing block is connected to the auxiliary support column by bolts. The right fixing block is located at the lower end of the servo motor. The right fixing block is connected to the servo motor by bolts. The guide rod is located on the right side of the left fixing block. The guide rod is connected to the left fixing block by threads. The guide sleeve is located on the left side of the right fixing block and outside the guide rod. The guide sleeve is integrally connected to the right fixing block and is connected to the guide rod with a clearance fit. The spring is sleeved outside the guide sleeve and the guide rod. When multiple groups of magnetic wheel mechanisms walk on a curved surface, the deflection mechanism deflects, the spring resets, and the guide rod slides along the guide sleeve to compensate for the small displacement when the magnetic wheel mechanism deflects along the rotating screws, so that the permanent magnet fits closely with the container wall surface, realizing reliable walking. At the same time, when the magnetic wheel mechanism encounters unevenness such as protrusions and welding slag, the spring can play a damping role to achieve shock absorption and buffering, improving the stability of walking.

[0014] Compared with the prior art, when the permanent magnet adsorption type magnetic wheel works, usually four groups of this device are used together. It is fixed to the robot body through the auxiliary support column and the deflection mechanism. When multiple groups of magnetic wheel mechanisms walk on the arc-shaped container wall surface, the permanent magnet generates magnetic force with the container wall surface. The magnetic wheel mechanism is forced to deflect along the rotating screws, so that the permanent magnet fits with the container wall surface. A magnetic circuit unit is composed of a first annular yoke, a permanent magnet, and a second annular yoke. After the permanent magnet is magnetized along the thickness direction, most of the magnetic force lines constrained by the first annular yoke and the second annular yoke pass through the container wall surface and return to the permanent magnet, and the magnetic induction intensity of the container wall surface directly below the permanent magnet is the largest, thereby realizing the reliable fit of the magnetic wheel mechanism with the container wall surface. After the servo motor is powered on and works, it can drive the magnetic wheel mechanism to rotate, thereby realizing the stable and reliable movement of the robot. The device has a simple structure. The magnetic circuit unit magnetized along the thickness direction can improve the utilization rate of magnetic energy and the adsorption force, and the adsorption force can be adjusted. At the same time, through the deflection mechanism and the elastic mechanism, the magnetic wheel mechanism can walk stably and reliably on the curved container wall surface, so as to meet the needs of different working conditions. Description of the Drawings

[0015] Figure 1 Shows the three-dimensional view of the present invention

[0016] Figure 2 Exploded view of the present invention is shown

[0017] Figure 3 3D view of the deflection mechanism of the present invention is shown

[0018] Figure 4 3D view of the elastic mechanism of the present invention is shown

[0019] Figure 5 Distribution diagram of magnetic induction intensity of a single magnetic circuit unit of the present invention is shown

[0020] Figure 6 Distribution diagram of magnetic induction intensity of two magnetic circuit units of the present invention is shown

[0021] In the figure: deflection mechanism 1, auxiliary support column 2, magnetic wheel mechanism 3, elastic mechanism 4, U-shaped bracket 101, rotating screw 102, front motor cover 103, magnetic wheel restraint 301, first annular yoke 302, permanent magnet 303, second annular yoke 304, flange 305, servo motor 306, connecting bolt 307, left fixing block 401, right fixing block 402, guide rod 403, guide sleeve 404, spring 405. Detailed implementation manners

[0022] Such as Figure 1 、 Figure 2As shown in the figure, a permanent magnet adsorption magnetic wheel includes a deflection mechanism 1, an auxiliary support column 2, a magnetic wheel mechanism 3, and an elastic mechanism 4. The auxiliary support column 2 is movably arranged on one side of the deflection mechanism 1. The magnetic wheel mechanism 3 is installed at the lower end of the deflection mechanism 1. The elastic mechanism 4 is respectively connected to the magnetic wheel mechanism 3 and the auxiliary support column 2 by bolts. The magnetic wheel mechanism 3 further includes a magnetic wheel restraint 301, a first annular yoke 302, a permanent magnet 303, a second annular yoke 304, a flange 305, a servo motor 306, and a connecting bolt 307. The magnetic wheel restraint 301, the first annular yoke 302, the permanent magnet 303, the second annular yoke 304, and the flange 305 are arranged in sequence from left to right along the axis of the deflection mechanism 1. The connecting bolt 307 sequentially passes through the main bodies of the magnetic wheel restraint 301, the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304. The connecting bolt 307 is threadedly connected to the flange 305. The servo motor 306 is located on the right side of the deflection mechanism 1 and on the right side of the flange 305. The servo motor 306 is respectively connected to the deflection mechanism 1 and the flange 305 by bolts. The permanent magnet 303 is magnetized along the thickness direction. The materials of the first annular yoke 302 and the second annular yoke 304 are pure electrical iron. The first annular yoke 302, the permanent magnet 303, and the second annular yoke 304 form a single magnetic circuit unit. The adsorption force of the magnetic wheel mechanism 3 is adjusted by increasing the number of the magnetic circuit units. The first annular yoke 302, the permanent magnet 303, and the second annular yoke 304 form a complete magnetic circuit unit. After the permanent magnet 303 is magnetized along the thickness direction, most of the magnetic lines of force constrained by the first annular yoke 302 and the second annular yoke 304 pass through the wall of the container and return to the permanent magnet 303, and only a few magnetic lines of force escape. The magnetic induction intensity of the container wall surface directly below the permanent magnet 303 is significantly higher than the magnetic induction intensity inside the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304, so as to ensure the maximum utilization rate of magnetic energy. When the adsorption force generated by a single magnetic circuit unit cannot meet the load requirements, the adsorption force can be increased by forming an array structure by expanding the magnetic circuit units to meet different working conditions. The diameters of the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304 are equal. The material of the magnetic wheel restraint 301 is aluminum alloy. The shape of the magnetic wheel restraint 301 is a frustum of a cone. The bottom diameter of the magnetic wheel restraint 301 is not greater than the diameter of the first annular yoke 302. The material of the flange 305 is aluminum alloy. The shape of the flange 305 is a frustum of a cone. The bottom diameter of the flange 305 is not greater than the diameter of the second annular yoke 304. Both the magnetic wheel restraint 301 and the flange 305 are made of aluminum alloy material.It has a magnetic isolation effect. On the one hand, it can prevent ferromagnetic objects from directly adsorbing to the side of the magnetic wheel and being difficult to remove. On the other hand, it can further reduce the escape of magnetic lines of force and improve the adsorption force. The shapes of the magnetic wheel restraint 301 and the flange 305 are frustum-shaped, and the maximum bottom diameter is not greater than the diameter of the first annular yoke 302, which can ensure to the greatest extent that the magnetic circuit composed of the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304 avoids contact with the container, thereby improving the adsorption force. The number of the connecting bolts 307 is 3, and they are arranged at equal intervals along the circumferential direction of the magnetic wheel restraint 301. The connecting bolts 307 arranged at equal intervals play the role of averaging the load and improving the service life. The permanent magnet 303 is a neodymium iron boron permanent magnet, and the neodymium iron boron permanent magnet has extremely strong magnetic stability, which improves the use safety.,

[0023] As Figure 3 shown, the deflection mechanism 1 further includes a U-shaped bracket 101, a rotating screw 102, and a motor front cover 103. The number of the rotating screws 102 is 2, and they are symmetrically arranged at the lower end of the U-shaped bracket 101. The rotating screws 102 are connected to the U-shaped bracket 101 with a clearance fit. The motor front cover 103 is located inside the U-shaped bracket 101 and on the left side of the servo motor 306. The motor front cover 103 is connected to the rotating screw 102 by threads and is connected to the servo motor 306 by bolts. Since the rotating screw 102 is connected to the U-shaped bracket 101 with a clearance fit and is fixedly connected to the motor front cover 103, when a force acts and the U-shaped bracket 101 is fixed, the servo motor 306 fixedly connected to the motor front cover 103 can deflect along the rotating screw.,

[0024] As Figure 4As shown, the elastic mechanism 4 also includes a left fixed block 401, a right fixed block 402, a guide rod 403, a guide sleeve 404, and a spring 405. The left fixed block 401 is located at the lower end of the auxiliary support column 2, and the left fixed block 401 is connected to the auxiliary support column 2 by bolts. The right fixed block 402 is located at the lower end of the servo motor 306, and the right fixed block 402 is connected to the servo motor 306 by bolts. The guide rod 403 is located on the right side of the left fixed block 401, and the guide rod 403 is threadedly connected to the left fixed block 401. The guide sleeve 404 is located on the left side of the right fixed block 402 and is located on the guide rod 403. On the outside, the guide sleeve 404 is integrally connected with the right fixed block 402 and is connected with the guide rod 403 with a clearance fit. The spring 405 is sleeved on the outside of the guide sleeve 404 and the guide rod 403. When the multiple sets of magnetic wheel mechanisms 3 walk on the curved surface, the deflection mechanism 1 deflects, the spring 405 resets, and the guide rod 403 slides along the guide sleeve 404 to compensate for the slight displacement of the magnetic wheel mechanism 3 when it deflects along the rotating screw 102, so that the permanent magnet 303 is fully fitted with the container wall to achieve reliable walking. At the same time, when the magnetic wheel mechanism 3 encounters unevenness such as protrusions and welding slag, the spring 405 can play a damping role to achieve shock absorption and buffering, thereby improving the walking stability.

[0025] like Figure 5 As shown, when a single magnetic circuit unit composed of the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304 is adsorbed on the wall of the container, it can be seen that the magnetic induction intensity of the wall directly below the permanent magnet 303 is higher than that of the permanent magnet 303 and the first annular yoke 302 and the second annular yoke 304, and reaches 2.4T.

[0026] like Figure 6 As shown, when two magnetic circuit units consisting of the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304 form an array, it can be seen that the magnetic induction intensity of the container wall reaches 2.7T.

[0027] When the permanent magnet adsorption type magnetic wheel works, usually four sets of this device are used together. It is fixed to the robot body through the auxiliary support column 2 and the deflection mechanism 1. When multiple sets of magnetic wheel mechanisms 3 walk on the arc-shaped container wall surface, the permanent magnet 303 generates magnetic force with the container wall surface. The magnetic wheel mechanism 3 is deflected along the rotating screw 102 under the force, so that the permanent magnet 303 fits the container wall surface. The magnetic circuit unit is composed of the first annular yoke 302, the permanent magnet 303, and the second annular yoke 304. After the permanent magnet 303 is magnetized along the thickness direction, most of the magnetic force lines constrained by the first annular yoke 302 and the second annular yoke 304 pass through the wall surface of the container and return to the permanent magnet 303. And the magnetic induction intensity of the container wall surface directly below the permanent magnet 303 is the largest, so as to realize the reliable fitting of the magnetic wheel mechanism 3 and the container wall surface. After the servo motor 306 is powered on and works, it can drive the magnetic wheel mechanism 3 to rotate, so as to realize the stable and reliable movement of the robot. The device has a simple structure. The magnetic circuit unit magnetized along the thickness direction can improve the utilization rate of magnetic energy and the adsorption force, and the adsorption force can be adjusted. At the same time, through the deflection mechanism and the elastic mechanism, the magnetic wheel mechanism can walk stably and reliably on the curved container wall surface, so as to meet the needs of different working conditions.

[0028] The present invention is not limited to the above specific embodiments. Those of ordinary skill in the art starting from the above concepts and making various transformations without creative labor fall within the protection scope of the present invention.

Claims

1. A permanent magnet adsorption type magnetic wheel, characterized in that It includes a deflection mechanism, an auxiliary support column, a magnetic wheel mechanism, and an elastic mechanism. The auxiliary support column is movably arranged on one side of the deflection mechanism. The magnetic wheel mechanism is installed at the lower end of the deflection mechanism. The elastic mechanism is connected to the magnetic wheel mechanism and the auxiliary support column by bolts respectively. The magnetic wheel mechanism further includes a magnetic wheel restraint, a first annular yoke, a permanent magnet, a second annular yoke, a flange, a servo motor, and a connecting bolt. The magnetic wheel restraint, the first annular yoke, the permanent magnet, the second annular yoke, and the flange are arranged in sequence from left to right along the axis of the deflection mechanism. The connecting bolt sequentially penetrates through the main bodies of the magnetic wheel restraint, the first annular yoke, the permanent magnet, and the second annular yoke. The connecting bolt is threadedly connected to the flange. The servo motor is located on the right side of the deflection mechanism and on the right side of the flange. The servo motor is connected to the deflection mechanism and the flange by bolts respectively. The permanent magnet is magnetized along the thickness direction. The materials of the first annular yoke and the second annular yoke are pure electrical iron. The first annular yoke, the permanent magnet, and the second annular yoke form a single magnetic circuit unit. The adsorption force of the magnetic wheel mechanism is adjusted by increasing the number of the magnetic circuit units.

2. The permanent magnet adsorption type magnetic wheel according to claim 1, characterized in that The diameters of the first annular yoke, the permanent magnet, and the second annular yoke are equal.

3. The permanent magnet adsorption type magnetic wheel according to claim 2, wherein The material of the magnetic wheel restraint is aluminum alloy. The shape of the magnetic wheel restraint is a frustum of a cone. The bottom diameter of the magnetic wheel restraint is not greater than the diameter of the first annular yoke.

4. The permanent magnet adsorption type magnetic wheel according to claim 2, wherein The material of the flange is aluminum alloy. The shape of the flange is a frustum of a cone. The bottom diameter of the flange is not greater than the diameter of the second annular yoke.

5. The permanent magnet adsorption type magnetic wheel according to claim 1, characterized in that The number of the connecting bolts is 3, and they are arranged at equal intervals along the circumferential direction of the magnetic wheel restraint.

6. The permanent magnet adsorption type magnetic wheel according to claim 1, characterized in that The permanent magnet is a neodymium iron boron permanent magnet.

7. The permanent magnet adsorption type magnetic wheel according to claim 1, wherein The deflection mechanism further includes a U-shaped bracket, rotating screws, and a motor front cover. The number of the rotating screws is 2, and they are symmetrically arranged at the lower end of the U-shaped bracket. The rotating screws are connected to the U-shaped bracket with a clearance fit. The motor front cover is located inside the U-shaped bracket and on the left side of the servo motor. The motor front cover is threadedly connected to the rotating screws and connected to the servo motor by bolts.

8. The permanent magnet adsorption type magnetic wheel according to claim 7, wherein The elastic mechanism further includes a left fixing block, a right fixing block, a guide rod, a guide sleeve, and a spring. The left fixing block is located at the lower end of the auxiliary support column. The left fixing block is connected to the auxiliary support column by bolts. The right fixing block is located at the lower end of the servo motor. The right fixing block is connected to the servo motor by bolts. The guide rod is located on the right side of the left fixing block. The guide rod is threadedly connected to the left fixing block. The guide sleeve is located on the left side of the right fixing block and outside the guide rod. The guide sleeve is integrally connected to the right fixing block and connected to the guide rod with a clearance fit. The spring is sleeved outside the guide sleeve and the guide rod.

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