Variable magnetic attraction wheel system

Abstract

The application discloses a variable magnetic suction force wheel system, which comprises a wheel frame, a hub and a rim, the hub and the rim are connected together through a plurality of spokes, the wheel system further comprises a magnetic suction mechanism and a magnetic suction force adjusting driving mechanism; the magnetic suction mechanism comprises a plurality of groups of magnetic suction components arranged on the plurality of spokes respectively, each group of the magnetic suction components comprises a turnover plate and a permanent magnet piece, one end of the turnover plate is hinged to the corresponding spoke through a hinge shaft, the axial direction of the hinge shaft is parallel to the axial direction of the hub, and the permanent magnet piece is fixed to the outer side wall of the turnover plate; each turnover plate is turned over through the magnetic suction force adjusting driving mechanism, so that the angle between the turnover plate, the permanent magnet piece on the turnover plate and the rim is adjusted, and the adjustment of the magnetic suction force of the whole wheel system is realized. Compared with the prior art, the application has the following advantages: the wheel can adjust the suction force at any time during the running process, so as to adapt to various different requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly relates to a variable magnetic attraction force wheel system. BACKGROUND

[0002] The adsorption technology is one of the key technologies for wall-climbing robots to work on various walls, and different walls adopt different adsorption methods. Since many application scenarios are ferromagnetic walls, such wall-climbing robots adopt magnetic adsorption technology. The magnetic adsorption technology is divided into electromagnetic adsorption and permanent magnetic adsorption, wherein the permanent magnetic adsorption has the advantages of small structure, large adsorption force and no need to provide an additional power supply. However, the magnetic force of the permanent magnetic adsorption of the existing wall-climbing robots cannot be adjusted, and the adsorption force sometimes becomes the resistance of the movement of the wall-climbing robots. For example, when an obstacle is encountered, the larger adsorption force will cause the robot to be difficult to escape, or when the robot travels on a road segment where a large adsorption force is not needed, the larger adsorption force will cause the robot to have a large power consumption, thereby reducing the endurance of the robot. SUMMARY

[0003] The present application aims at overcoming the deficiencies of the prior art, and provides a variable magnetic attraction force wheel system, so as to adjust the adsorption force size at any time during the movement of the wheel, so as to adapt to various different needs.

[0004] The present application is achieved by the following technical solutions:

[0005] A variable magnetic attraction force wheel system, comprising a wheel frame, the wheel frame comprising an inner hub and an outer rim arranged in a nested manner, the hub and the rim being connected together through a plurality of spokes, the wheel system further comprising a magnetic attraction mechanism and a magnetic attraction force adjusting driving mechanism;

[0006] The magnetic attraction mechanism comprises a plurality of groups of magnetic attraction assemblies arranged on the plurality of spokes respectively, each group of magnetic attraction assemblies comprising a turnover plate and a permanent magnet piece, one end of the turnover plate being hinged to the corresponding spoke through a hinge shaft, the other end of the turnover plate being a free end, the axial direction of the hinge shaft being parallel to the axial direction of the hub, and the permanent magnet piece being fixed to the outer side wall of the turnover plate;

[0007] The magnetic attraction force adjusting driving mechanism drives each turnover plate to turn around the hinge shaft, so as to adjust the angle between the turnover plate and the permanent magnet piece on the turnover plate and the rim, and further to adjust the magnetic attraction force of the entire wheel system.

[0008] As the preferred solution of the above-mentioned wheel system, the magnetic attraction force adjusting driving mechanism comprises a flange plate, a plurality of connecting rods and a driving source, the driving source is installed inside the hub, the flange plate is rotationally installed on the hub and coaxially arranged with the hub, a plurality of pin columns are distributed on the flange plate in the circumferential direction, the inner side of each turnover plate is connected with the pin column through a corresponding connecting rod, and the inner and outer ends of each connecting rod are respectively hinged with the pin column and the inner side of the turnover plate.

[0009] As the preferred solution of the above-mentioned wheel system, the inner side of the turnover plate is provided with a mounting block, and the outer end of the connecting rod is hinged with the mounting block through a pin shaft.

[0010] As the preferred solution of the above-mentioned wheel system, the driving source is a rudder.

[0011] As the preferred solution of the above-mentioned wheel system, the turnover plate is an arc-shaped plate, and the inner side wall of the permanent magnet piece is fixed on the outer side wall of the turnover plate.

[0012] Compared with the prior art, the present application has the following advantages:

[0013] The variable magnetic attraction force wheel system provided by the present application can adjust the angle between the permanent magnet pieces of the plurality of magnetic attraction assemblies and the wheel rim, thereby flexibly adjusting the magnetic attraction force of the entire wheel system, can adjust the adsorption force at any time during the movement of the wheel system, solves the problems of low movement efficiency and obstacle crossing difficulty of the existing wall climbing robot, and improves the movement efficiency and endurance of the wall climbing robot. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 is a perspective view of the present application.

[0015] Fig. 2 is a perspective view of the wheel frame of the present application.

[0016] Fig. 3 is a perspective view of the magnetic attraction mechanism and the magnetic attraction force adjusting driving mechanism connected in the present application.

[0017] Fig. 4 is a front view of the plurality of magnetic attraction assemblies in the present application in the inward retraction state.

[0018] In the figure, 1 is a hub, 2 is a wheel rim, 3 is a spoke, 4 is a magnetic attraction assembly, 5 is a turnover plate, 6 is a permanent magnet piece, 7 is a hinge shaft, 8 is a flange plate, 9 is a connecting rod, 10 is a pin column, 11 is a mounting block, and 12 is a pin shaft. DETAILED DESCRIPTION

[0019] The following will be described in detail the embodiments of the present application, the embodiments are implemented on the premise of the technical solutions of the present application, and detailed implementation manners and specific operation processes are given, but the protection scope of the present application is not limited to the following embodiments.

[0020] Referring to Figs. 1 to 4 The embodiment discloses a variable magnetic attraction force wheel system, which comprises a wheel frame, the wheel frame comprises a hub 1 and a rim 2 arranged inside and outside, the hub 1 and the rim 2 are connected together through a plurality of spokes 3, the wheel system further comprises a magnetic attraction mechanism and a magnetic attraction force adjusting driving mechanism.

[0021] The magnetic attraction mechanism comprises a plurality of groups of magnetic attraction assemblies 4 arranged on the plurality of spokes 3 respectively, each group of magnetic attraction assemblies 4 comprises a turnover plate 5 and a permanent magnet piece 6, the turnover plate 5 is an arc-shaped plate, one end of the turnover plate 5 is hinged to the corresponding spoke 3 through a hinge shaft 7, the other end of the turnover plate 5 is a free end, the axial direction of the hinge shaft 7 is parallel to the axial direction of the hub 1, the permanent magnet piece 6 is fixed to the outer side wall of the turnover plate 5, the permanent magnet piece 6 is an arc-shaped piece, and the inner side wall of the permanent magnet piece 6 is fixed to the outer side wall of the turnover plate 5.

[0022] The magnetic attraction force adjusting driving mechanism drives each turnover plate 5 to turn around the axial line of the respective hinge shaft 7, so as to adjust the angle between the turnover plate 5 and the permanent magnet piece 6 on the turnover plate 5 and the rim 2, and further realize the adjustment of the magnetic attraction force of the whole wheel system.

[0023] The magnetic attraction force adjusting driving mechanism comprises a flange plate 8, a plurality of connecting rods 9 and a driving source, the driving source is installed inside the hub 1, the flange plate 8 is rotationally installed on the hub 1 and coaxially arranged with the hub 1, a plurality of pin columns 10 are distributed on the flange plate 8 in the circumferential direction, the inner sides of the plurality of turnover plates 5 and the plurality of pin columns 10 are connected through the plurality of connecting rods 9 one by one in a corresponding manner, the inner and outer ends of each connecting rod 9 are hingedly connected with the pin column 10 and the inner side of the turnover plate 5 respectively, and the pin hole of the inner end of the connecting rod 9 is rotationally sleeved on the pin column 10; the inner side of the turnover plate 5 is provided with a mounting block 11, the outer end of the connecting rod 9 is hingedly connected with the mounting block 11 through a pin shaft 12, the pin shaft 12 sequentially passes through the pin hole of the outer end of the connecting rod 9 and the mounting hole of the mounting block 11, and the hinge connection between the connecting rod 9 and the mounting block 11 is realized. The driving source can adopt a rudder machine, the flange plate 8 is driven to rotate through the driving source, so as to drive the plurality of turnover plates 5 to turn through the plurality of connecting rods 9, and the inward retraction or outward expansion of the plurality of groups of magnetic attraction assemblies 4 is realized.

[0024] When the magnetic attraction needs to be adjusted, the flange plate 8 is rotated by the steering engine, the flange plate 8 drives the plurality of pin columns 10 on it to rotate, the plurality of pin columns 10 drive the plurality of connecting rods 9 to act, thereby driving the plurality of turnover plates 5 respectively hinged with the plurality of connecting rods 9 to overturn around the axis of the respective hinged shaft 7, and further adjusting the angle between the permanent magnet piece 6 of the plurality of magnetic attraction assemblies 4 and the rim 2, and further changing the magnetic attraction force between the wheel and the wall, so that the wheel system can adjust the adsorption force at any time during the running process, and the problems of low moving efficiency and difficult obstacle crossing of the existing wall climbing robot are solved, and the moving efficiency and endurance of the wall climbing robot are improved.

[0025] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A variable magnetic attraction wheel system comprising a wheel frame, the wheel frame comprising an inner hub (1) and an outer rim (2) arranged in a concentric manner, the hub (1) and the rim (2) being connected together by a plurality of spokes (3), characterized in that: The wheel system further comprises a magnetic attraction mechanism and a magnetic attraction force adjusting driving mechanism; The magnetic attraction mechanism comprises a plurality of groups of magnetic attraction components (4) arranged on the plurality of spokes (3) respectively, each group of magnetic attraction components (4) comprising a turnover plate (5) and a permanent magnet piece (6), one end of the turnover plate (5) being hinged to the corresponding spoke (3) through a hinge shaft (7), the other end of the turnover plate (5) being a free end, the axial direction of the hinge shaft (7) being parallel to the axial direction of the hub (1), and the permanent magnet piece (6) being fixed to the outer side wall of the turnover plate (5); The magnetic attraction force adjusting driving mechanism drives each turnover plate (5) to turn around the axial center line of the corresponding hinge shaft (7), so as to adjust the angle between the turnover plate (5) and the permanent magnet piece (6) thereon and the rim (2), and further realize the adjustment of the magnetic attraction force of the entire wheel system; The magnetic attraction force adjusting driving mechanism comprises a flange plate (8), a plurality of connecting rods (9), and a driving source, the driving source being installed inside the hub (1), the flange plate (8) being rotationally installed on the hub (1) and being coaxially arranged with the hub (1), a plurality of pin columns (10) being distributed on the flange plate (8) in the circumferential direction, the inner sides of the plurality of turnover plates (5) and the plurality of pin columns (10) being connected one by one through the plurality of connecting rods (9), the inner and outer ends of each connecting rod (9) being hinged to the pin column (10) and the inner side of the turnover plate (5) respectively, the flange plate (8) being driven to rotate by the driving source, so as to drive the plurality of turnover plates (5) to turn through the plurality of connecting rods (9); The inner side of the turnover plate (5) is provided with a mounting block (11), and the outer end of the connecting rod (9) is hinged to the mounting block (11) through a pin shaft (12); The turnover plate (5) is an arc-shaped plate, and the permanent magnet piece (6) is an arc-shaped piece, the inner side wall of the permanent magnet piece (6) being fixed to the outer side wall of the turnover plate (5).

2. A variable magnetic traction wheel system as claimed in claim 1, characterized in that: The driving source is a steering engine.

Images