An integrated magnetic adsorption wheel

Abstract

The present invention relates to the field of robotic equipment technology, and more specifically, to an integrated magnetic wheel comprising: a first housing, a first drive mechanism disposed within the first housing, and an arc-shaped magnet disposed on the first housing; a second housing, sleeved externally and coaxially disposed with the first housing, with the output shaft of the first drive mechanism extending through the second housing; and a mounting bracket sleeved over the output shaft, with a retaining structure disposed on the mounting bracket, both on the output shaft and the mounting bracket. This integrated magnetic wheel arrangement enables a robotic system comprising the wheel to stably navigate complex surfaces with vertical angles, large curvatures, and uneven surfaces.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic equipment, and in particular to an integrated magnetic adsorption wheel. Background Art

[0002] A magnetic wall-climbing robot is an automated mechanical device designed to perform specific tasks on magnetic surfaces, such as inspection, monitoring, welding, and grinding, under harsh, dangerous, and extreme conditions. Currently, magnetic wall-climbing robots are widely used in the production and construction of ferromagnetic structures in industries such as power generation, nuclear power, petrochemicals, construction, firefighting, and shipbuilding.

[0003] In some specialized applications, the robot's working surface is a magnetic cylindrical or spherical surface with a continuously varying radius over a wide range. Therefore, the robot's wheels must possess strong walking capabilities. However, existing robots primarily operate on flat surfaces or surfaces with minimal curvature. They have difficulty navigating vertical, highly curved, or uneven surfaces, and detaching from these surfaces is complex. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the situation in the prior art that robots have difficulty walking on uneven walls with vertical angles, large curvatures, and the operation of robots leaving the walls is complicated, thereby providing an integrated magnetic adsorption wheel.

[0005] In order to solve the above technical problems, the present invention provides an integrated magnetic adsorption wheel, comprising: a first shell, a first driving mechanism is provided in the first shell, and an arc-shaped magnet is provided on the first shell; a rotating shaft is provided at one end of the first shell; a second shell is sleeved on the outside of the first shell and is coaxially arranged with the first shell, and the output shaft of the first driving mechanism passes through the second shell; a mounting frame is sleeved on the output shaft and the rotating shaft; a stopping structure is provided on the rotating shaft and the mounting frame, driving the stopping structure to rotate, thereby driving the rotating shaft, the first shell, and the arc-shaped magnet to rotate.

[0006] Furthermore, it also includes: a second driving mechanism, which is arranged on the first shell; a transmission mechanism, which connects the first driving mechanism and the second driving mechanism, and the transmission mechanism is connected to the arc magnet, the second driving mechanism rotates, and drives the arc magnet to rotate through the transmission mechanism.

[0007] Furthermore, the transmission mechanism includes a first transmission member and a second transmission member, the first transmission member is provided on the second drive mechanism, and the second transmission member is provided on the first housing.

[0008] Furthermore, the first transmission member is a driving gear, the second transmission member is a half-gear bearing cover, and the driving gear and the half-gear bearing cover are meshed with each other.

[0009] Furthermore, it also includes a secondary bearing cover, which is arranged at one end of the first housing away from the second transmission member, and the arc-shaped magnet is located between the secondary bearing cover and the second transmission member.

[0010] Furthermore, a tire is provided on the second shell.

[0011] Furthermore, the stopping structure includes: a stop plate, which is provided on the mounting bracket and sleeved on the output shaft, the stop plate is provided with a first stop hole, and the mounting bracket is provided with a plurality of second stop holes; a spring locating pin, which is provided on the stop plate and passes through the first stop hole and the second stop hole, and the spring locating pin is used to limit the rotation of the output shaft relative to the mounting bracket.

[0012] Furthermore, the second shell includes: a first protective side plate and a second protective side plate, which are arranged on both sides of the first shell; a protective cover, which is sleeved on the first shell, and the protective cover and the first protective side plate and the second protective side plate together form a sealing structure.

[0013] Furthermore, a support shaft is provided in the first protective side plate, and the first protective side plate and the support shaft together constitute an output shaft.

[0014] Furthermore, it also includes a rotating shaft, which is arranged on the mounting frame, and the rotating shaft is perpendicular to the axis of the first shell and parallel to the working surface of the wheel.

[0015] The technical solution of the present invention has the following advantages:

[0016] 1. The integrated magnetic adsorption wheel provided by the present invention includes: a first shell, a first drive mechanism is provided in the first shell, and an arc-shaped magnet is provided on the first shell; a rotating shaft is provided at one end of the first shell; a second shell is sleeved on the outside of the first shell and is coaxially arranged with the first shell, and the output shaft of the first drive mechanism passes through the second shell; a mounting frame is sleeved on the output shaft and the rotating shaft; a stopping structure is provided on the rotating shaft and the mounting frame, driving the stopping structure to rotate, thereby driving the rotating shaft, the first shell, and the arc-shaped magnet to rotate.

[0017] By arranging a first driving mechanism in the first shell, the first shell can be driven to rotate by the first driving mechanism. The arrangement of the second shell facilitates waterproof treatment and can effectively prevent water from entering the interior of the integrated adsorption wheel, so that the integrated magnetic adsorption wheel can work in places with water splashing and severe dust.

[0018] The arc-shaped magnet is mounted on the first housing. When the integrated adsorption wheel climbs an inclined or vertical magnetically adsorbable surface, it overcomes gravity by relying on the friction provided by the magnetic attraction of the arc-shaped magnet on the metal surface. When the integrated adsorption wheel is ready to be manually detached from the wall, a tool can be used to manually rotate the stop structure to drive the arc-shaped magnet to a certain angle, reducing the adsorption force between the wheel and the wall to a small value or 0N, allowing the robot to detach from the wall. When the robot needs to navigate an uneven wall, the tires on both sides of the wheel can be removed, or the tire thickness and diameter can be reduced to increase the contact area between the wheel and the uneven wall, ensuring a stable magnetic adsorption torque. This integrated magnetic adsorption wheel and robot configuration enables the robot to navigate flat, vertical, various curvatures, and uneven walls.

[0019] 2. The integrated magnetic adsorption wheel provided by the present invention also includes: a second driving mechanism, which is arranged on the first shell; a transmission mechanism, which connects the first driving mechanism and the second driving mechanism, and the transmission mechanism is connected to the arc-shaped magnet, the second driving mechanism rotates, and drives the arc-shaped magnet to rotate through the transmission mechanism. The transmission mechanism includes a first transmission member and a second transmission member, the first transmission member is arranged on the second driving mechanism, and the second transmission member is arranged on the first transmission member. By arranging the second driving mechanism on the first shell, the first transmission mechanism and the second transmission mechanism are connected through the transmission mechanism, that is, the transmission mechanism is used to transmit the power generated by the first transmission mechanism to the arc-shaped magnet, thereby driving the arc-shaped magnet to rotate.

[0020] When the integrated adsorption wheel climbs an inclined or vertical magnetically adsorbable surface, it relies on the friction provided by the magnetic attraction of the arc-shaped magnet on the metal surface to overcome gravity and climb the wall; when climbing the top surface, it relies on the friction generated by the pressure after deducting gravity from the magnetic attraction force; when moving from a horizontal surface to a vertical surface, the integrated adsorption wheel first moves to the vertical surface and approaches it, and relies on the internal first driving mechanism to drive the magnet to rotate toward the vertical surface, thereby converting the magnetic attraction force to act on the vertical surface. At this time, the integrated adsorption wheel rotates, and the integrated adsorption wheel can rely on the friction generated by the adsorption force to climb up the vertical surface. Turn off the power of the first driving mechanism. When the angle between the vehicle body and the wall changes, the integrated adsorption wheel will synchronously retreat to the initial position. The same operation is performed when climbing from the vertical surface to the top surface. The robot can adapt to curved surfaces with large curvatures by swinging the mounting frame and wheels. When the integrated adsorption wheel is ready to automatically detach from the wall, the internal second drive mechanism drives the arc-shaped magnet to rotate a certain angle, so that the adsorption force between the wheel and the wall is small or 0N, and the robot can detach from the wall.

[0021] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic structural diagram of the integrated magnetic adsorption wheel provided by the present invention;

[0024] Figure 2 Schematic diagram of the structure of the arc magnet;

[0025] Figure 3 is a structural schematic diagram of the second shell;

[0026] Figure 4 Schematic diagram of the structure of the bearing cover;

[0027] Figure 5 is a structural schematic diagram of the first driving mechanism;

[0028] Figure 6 for Figure 1 sectional view of

[0029] Figure 7 is a structural schematic diagram of the second transmission member;

[0030] Figure 8 Schematic diagram of the structure of the mounting frame;

[0031] Figure 9 This is a schematic structural diagram of the integrated magnetic adsorption wheel provided by the present invention during horizontal travel;

[0032] Figure 10 This is a schematic structural diagram of the integrated magnetic adsorption wheel provided by the present invention when preparing to climb a wall;

[0033] Figure 11 This is a schematic diagram of the structure of the integrated magnetic adsorption wheel provided by the present invention when climbing a wall;

[0034] Figure 12 This is a schematic diagram of the structure of the integrated magnetic adsorption wheel provided by the present invention when climbing a wall;

[0035] Figure 13A schematic structural diagram of the integrated magnetic adsorption wheel provided by the present invention at the end of vertical wall climbing;

[0036] Figure 14 This is a schematic structural diagram of the integrated magnetic adsorption wheel provided by the present invention when climbing a top surface.

[0037] Description of reference numerals:

[0038] 1. First shell; 2. First drive mechanism; 3. Output shaft; 4. Arc magnet; 5. Second shell; 6. First protective side plate; 7. Second protective side plate; 8. Protective cover; 9. Mounting frame; 10. Rotating shaft; 11. Stop structure; 12. Stop plate; 13. First stop hole; 14. Second stop hole; 15. Spring locating pin; 16. Second drive mechanism; 17. Transmission mechanism; 18. First transmission member; 19. Second transmission member; 20. Auxiliary bearing cover; 21. Tire; 22. First bearing; 23. Second bearing; 24. Rotating shaft; 25. Support shaft. DETAILED DESCRIPTION

[0039] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0040] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present disclosure and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0041] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0042] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0043] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0044] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0045] See also Figures 1 to 14As shown, the present invention provides an integrated magnetic adsorption wheel, comprising: a first shell 1, a first driving mechanism 2 is provided in the first shell 1, and an arc-shaped magnet 4 is provided on the first shell 1; a rotating shaft 24 is provided at one end of the first shell; a second shell 5 is sleeved on the outside of the first shell 1) and is coaxially arranged with the first shell 1, and the output shaft 3 of the first driving mechanism 2 passes through the second shell 5; a mounting frame 9 is sleeved on the output shaft 3 and the rotating shaft 24; a stopping structure 11 is provided on the rotating shaft 24 and the mounting frame 9, driving the stopping structure 11 to rotate, thereby driving the rotating shaft 24, the first shell 1, and the arc-shaped magnet 4 to rotate.

[0046] By arranging the first driving mechanism 2 in the first shell 1, the first shell 1 can be driven to rotate by the first driving mechanism 2. The arrangement of the second shell 5 facilitates waterproof treatment and can effectively prevent water from entering the interior of the integrated adsorption wheel, so that the integrated magnetic adsorption wheel can work in places with water splashing and serious dust.

[0047] Among them, the arc magnet 4 is arranged on the first shell 1. When the integrated adsorption wheel climbs an inclined or vertical magnetically adsorbable surface, it relies on the friction provided by the magnetic attraction force of the arc magnet 4 on the metal surface to overcome gravity and climb the wall; when the integrated adsorption wheel is ready to manually detach from the wall, the power supply of the first drive mechanism 2 is turned off, and a tool can be used to manually rotate the stop structure 11 and drive the arc magnet 4 to rotate a certain angle, so that the adsorption force between the wheel and the wall is small or 0N, and the robot can detach from the wall; through the setting of the integrated magnetic adsorption wheel and the robot, the robot can be realized to walk on flat, vertical, various curvatures, and uneven walls.

[0048] The arc-shaped magnet 4 is arranged on the outer wall of the first shell 1, and the arc-shaped magnet 4 is a semicircular arc-shaped magnet 4. The arc of the arc-shaped magnet 4 can be set according to actual conditions.

[0049] The integrated magnetic adsorption wheel also includes a second drive mechanism 16 and a transmission mechanism 17, wherein the second drive mechanism 16 is arranged on the first shell 1; the transmission mechanism 17 connects the first drive mechanism 2 and the second drive mechanism 16, and the transmission mechanism 17 is connected to the arc magnet 4, the second drive mechanism 16 rotates, and drives the arc magnet 4 to rotate through the transmission mechanism 17.

[0050] By setting the second drive mechanism 16 on the first shell 1, the first drive mechanism 2 and the second drive mechanism 16 are connected through the transmission mechanism 17, that is, the transmission mechanism 17 is used to transmit the power generated by the first drive mechanism 2 to the second drive mechanism 16, thereby driving the second drive mechanism 16 to rotate.

[0051] When the integrated adsorption wheel climbs an inclined or vertical magnetically adsorbable surface, it relies on the friction provided by the magnetic attraction of the arc-shaped magnet 4 on the metal surface to overcome gravity and climb the wall; when climbing the top surface, it relies on the friction generated by the pressure after subtracting gravity from the magnetic attraction force to move; when moving from a horizontal surface to a vertical surface, the integrated adsorption wheel first moves to the vertical surface and approaches it, and relies on the internal first drive mechanism 2 to drive the magnet to rotate toward the vertical surface, thereby converting the magnetic attraction force to act on the vertical surface. At this time, the integrated adsorption wheel rotates, and the integrated adsorption wheel can rely on the friction generated by the adsorption force to climb up the vertical surface. Turn off the power of the first drive mechanism 2. When the angle between the vehicle body and the wall changes, the integrated adsorption wheel will synchronously retreat to the initial position. The same operation is performed when climbing from the vertical surface to the top surface. The robot realizes the swing of the wheel through the rotating shaft 10 set on the mounting frame 9 to adapt to the curved surface with a large curvature; when the integrated adsorption wheel is ready to automatically detach from the wall, the internal second driving mechanism 16 drives the arc magnet 4 to rotate a certain angle, so that the adsorption force between the wheel and the wall is small or 0N, and the robot can detach from the wall.

[0052] Among them, the first driving mechanism 2 drives the integrated magnetic adsorption wheel to rotate, and the second driving mechanism 16 is used to drive the arc magnet 4 to rotate; when there is no need to actively drive the arc magnet 4 to rotate, the second driving mechanism 16 can be removed; when there is no need to drive the wheel to rotate, the first driving mechanism 2 in the first shell 1 can be removed.

[0053] The first driving mechanism 2 is a motor with deceleration and braking functions, and the second driving mechanism 16 is a motor.

[0054] In some optional embodiments, the transmission mechanism 17 includes a first transmission member 18 and a second transmission member 19 , the first transmission member 18 is provided on the second drive mechanism 16 , and the second transmission member 19 is provided on the first shell 1 .

[0055] In this embodiment, the first transmission member 18 is a driving gear, and the second transmission member 19 is a half-gear bearing cover 20 , and the driving gear and the half-gear bearing cover are meshed with each other.

[0056] The driving gear is driven to rotate by the second driving mechanism 16. Since the driving gear and the half-gear bearing cover are engaged with each other, the first shell 1 can be driven to rotate by the half-gear bearing cover, thereby driving the arc magnet 4 to rotate. The rotation of the arc magnet 4 realizes the change of the direction or magnitude of the magnetic attraction force of the wheel on the metal wall surface.

[0057] The inner side of the half gear bearing cover is provided with an arc groove which cooperates with the ball, and teeth are processed on the general arc surface of the half gear bearing cover, and the teeth on the half gear bearing cover are used to mesh with the driving gear.

[0058] In some optional embodiments, the integrated magnetic adsorption also includes a secondary bearing cover 20, which is arranged at one end of the first shell 1 away from the second transmission member 19, and the arc magnet 4 is located between the bearing cover 20 and the second transmission member 19, and the arc magnet 4 is fixedly connected to the secondary bearing cover 20 and the second transmission member 19.

[0059] In some optional embodiments, the second housing 5 is provided with tires 21. The second housing 5 has two tires 21, which are symmetrically arranged at both ends of the second housing 5.

[0060] When the robot needs to walk on an uneven wall, the tires 21 on both sides of the wheel can be removed, or the thickness and diameter of the tires 21 can be reduced to increase the contact area of ​​the wheel on the uneven wall and ensure a stable magnetic adsorption torque.

[0061] In some optional embodiments, the stopping structure 11 includes a stopping plate 12 and a spring locating pin 15; wherein, the stopping plate 12 is arranged on the mounting frame 9, and the stopping plate 12 is sleeved on the output shaft 3, the brake plate is provided with a first stopping hole 13, and the mounting frame 9 is provided with a plurality of second stopping holes 14; the spring locating pin 15 is provided on the stopping plate 12, passing through the first stopping hole 13 and the second stopping hole 14, and the spring locating pin 15 is used to limit the rotation of the output shaft 3 relative to the mounting frame 9; the mounting frame 9 is provided with a plurality of second stopping holes 14, which are used to adjust the angle of the arc magnet 4, and the magnetic attraction force of the wheel can be changed according to needs.

[0062] One end of the stop plate 12 has a first stop hole 13. This square hole mates with the square end of the output shaft 3, preventing rotation. A spring-loaded locating pin 15 is secured to the other end of the stop plate 12. The pin's retraction rotates the brake plate, driving the arc-shaped magnet 4 to rotate and release the contact force between the wheel and the bottom surface.

[0063] The spring locating pin 15 has a retractable pin head and is installed on the stop plate 12. When the pin head extends out and is inserted into the second stop hole 14 on the mounting frame 9, the stop plate 12 and the mounting frame 9 can be locked so that the two cannot rotate relative to each other, thereby limiting the rotation of the integrated magnetic adsorption wheel.

[0064] In some optional embodiments, the output shaft 3 is provided with a first bearing 22, and the rotating shaft 24 is provided with a second bearing 23. The provision of the first bearing 22 and the second bearing 23 can effectively reduce the friction between the rotating shaft 24 and the second housing 5.

[0065] In some optional embodiments, the second shell 5 includes a first protective side panel 6, a second protective side panel 7, and a protective cover 8; wherein, the first protective side panel 6 and the second protective side panel 7 are arranged on both sides of the first shell 1; the protective cover 8 is sleeved on the first shell 1, and the protective cover 8 and the first protective side panel 6 and the second protective side panel 7 together form a sealing structure.

[0066] The first protective side plate 6 and the second protective side plate 7 are provided with wheel mounting flange surfaces, and central holes are provided in the centers of the first protective side plate 6 and the second protective side plate 7 for passing the output shaft 3 .

[0067] The tire 21 is disposed on the first protective side plate 6 and the second protective side plate 7 , and the tire 21 is in direct contact with the working surface to bear the force, and a rubber layer is vulcanized on the outer circumference of the tire 21 .

[0068] In some optional embodiments, a support shaft 25 is provided in the first protective side plate 6 , and the first protective side plate 6 and the support shaft 25 together constitute the output shaft 3 .

[0069] The support shaft 25 is provided in the first protective side plate 6 , and the support shaft 25 is idle in the first protective side plate 6 . Moreover, one end of the mounting frame 9 is sleeved on the support shaft 25 , and the support shaft 25 plays a supporting role.

[0070] Among them, the first protective plate 6 is fixedly connected to one end of the first shell 1, so that the rotation of the first driving mechanism 2 drives the rotation of the first shell 1 and the arc magnet 4, and then drives the rotation of the first protective plate 6, thereby realizing the electric drive of the integrated magnetic adsorption wheel.

[0071] At the same time, when the first driving mechanism 2 is suspended, it can be driven manually. Since the rotating shaft 24 is connected to the first shell 1, the rotating shaft can be manually driven to rotate, thereby driving the first shell 1 and the arc magnet 4 to rotate.

[0072] In some optional embodiments, the integrated magnetic adsorption wheel further includes a rotating shaft 10, which is disposed on the mounting frame 9, and the rotating shaft 10 is perpendicular to the axis of the first shell 1 and parallel to the working surface of the wheel.

[0073] Among them, the mounting frame 9 is used to install the integrated magnetic adsorption wheel on the vehicle body. A rotating shaft 10 is set on the mounting frame 9, and the rotating shaft 10 is parallel to the working surface, so as to retain the overall swing freedom of the wheel after installation.

[0074] The installation angle between the mounting frame and the wheel can be between 0-90 degrees relative to each other, and can be adjusted according to actual conditions.

[0075] In some other optional embodiments, the transmission mechanism 17 may also be a conveyor belt, that is, the power of the second driving mechanism 16 is transmitted to the first driving mechanism 2 via the conveyor belt.

[0076] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An integrated magnetic adsorption wheel, characterized in that: include: A first shell (1), wherein a first driving mechanism (2) is provided in the first shell (1), and an arc-shaped magnet (4) is provided on the first shell (1); the arc-shaped magnet (4) is arranged on the outer wall of the first shell (1); A rotating shaft (24) is provided at one end of the first housing; A second housing (5) is sleeved on the outside of the first housing (1) and is coaxially arranged with the first housing (1), and the output shaft (3) of the first driving mechanism (2) passes through the second housing (5); A mounting frame (9) is sleeved on the output shaft (3) and the rotating shaft (24); A stop structure (11) is provided on the rotating shaft (24) and the mounting frame (9), and drives the stop structure (11) to rotate, thereby driving the rotating shaft (24), the first housing (1), and the arc-shaped magnet (4) to rotate; a second driving mechanism (16) provided on the first housing (1); A transmission mechanism (17) connects the first drive mechanism (2) and the second drive mechanism (16), and the transmission mechanism (17) is connected to the arc-shaped magnet (4). The second drive mechanism (16) rotates and drives the arc-shaped magnet (4) to rotate through the transmission mechanism (17).

2. The integrated magnetic adsorption wheel according to claim 1, characterized in that: The transmission mechanism (17) comprises a first transmission member (18) and a second transmission member (19), wherein the first transmission member (18) is arranged on the second drive mechanism (16), and the second transmission member (19) is arranged on the first housing (1).

3. The integrated magnetic adsorption wheel according to claim 2, characterized in that: The first transmission member (18) is a driving gear, and the second transmission member (19) is a half-gear bearing cover, and the driving gear and the half-gear bearing cover are meshed with each other.

4. The integrated magnetic adsorption wheel according to claim 2 or 3, characterized in that: It also includes a secondary bearing cover (20), which is arranged at one end of the first housing (1) away from the second transmission member (19), and the arc-shaped magnet (4) is located between the secondary bearing cover (20) and the second transmission member (19).

5. The integrated magnetic adsorption wheel according to claim 3, characterized in that: The second shell (5) is provided with a tire (21).

6. The integrated magnetic adsorption wheel according to claim 4, characterized in that: The stopping structure (11) comprises: A stop plate (12) is provided on the mounting frame (9) and sleeved on the output shaft (3); the stop plate (12) is provided with a first stop hole (13); and the mounting frame (9) is provided with a plurality of second stop holes (14); A spring positioning pin (15) is provided on the stop plate (12) and passes through the first stop hole (13) and the second stop hole (14). The spring positioning pin (15) is used to limit the rotation of the output shaft (3) relative to the mounting frame (9).

7. The integrated magnetic adsorption wheel according to claim 6, characterized in that: The second housing (5) comprises: A first protective side plate (6) and a second protective side plate (7) are provided on both sides of the first shell (1); A protective cover (8) is sleeved on the first shell (1), and the protective cover (8) together with the first protective side plate (6) and the second protective side plate (7) form a sealing structure.

8. The integrated magnetic adsorption wheel according to claim 7, characterized in that: A support shaft (25) is provided inside the first protective side plate (6), and the first protective side plate (6) and the support shaft (25) together constitute an output shaft (3).

9. The integrated magnetic adsorption wheel according to claim 2, characterized in that: It also includes a rotating shaft (10), which is arranged on the mounting frame (9), and the rotating shaft (10) is perpendicular to the axis of the first shell (1) and parallel to the wheel working surface.

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