Magnetic universal wheel and magnetic operation device suitable for curved surface

Abstract

The application relates to the technical field of magnetic attraction wheels and particularly relates to a magnetic attraction universal wheel applicable to curved surfaces, which comprises a rotating shaft, a swing frame arranged on the rotating shaft, the rotating shaft having a first rotating direction, a swing shaft connected with the swing frame, the swing shaft having a second rotating direction, and a magnet located below the swing shaft and connected with the swing shaft. Since the magnet has magnetism, the common arrangement of the rotating shaft and the swing shaft increases the flexibility and adaptability of the magnetic attraction universal wheel, so that the magnetic attraction universal wheel can be passively moved on the curved surface with variable curvature, the magnetic attraction universal wheel is convenient to use together with a robot base or a working device, the magnetic attraction universal wheel provides constant working loads and working spacings for the robot base or the working device, and the robot base or the working device can be quickly and passively moved on the curved surface with extremely small resistance.

Description

Technical Field

[0001] This invention relates to the field of magnetic chuck technology, specifically to a magnetic universal wheel applicable to curved surfaces and a magnetic chuck working device. Background Technology

[0002] Magnetic wall-climbing robots are a type of special-purpose robot, primarily used in harsh, dangerous, and extreme working conditions. They can adhere to magnetically conductive curved surfaces and perform specific tasks such as cleaning, inspection, maintenance, welding, or grinding. Currently, magnetic wall-climbing robots are widely used in production and maintenance processes primarily based on steel structures, such as wind power, nuclear industry, petrochemical industry, construction industry, fire departments, and shipbuilding.

[0003] Magnetic casters are a core component of magnetic wall-climbing robots, serving as a key part for their movement on curved surfaces. In specific scenarios, such as maintenance work on the highly curved walls of wind turbine towers, magnetic casters need to be compact and flexible while possessing strong magnetic attraction and good adaptability to curved surfaces to ensure the robot can move stably, safely, and flexibly on these surfaces. However, current magnetic casters with strong attraction capabilities suffer from issues such as large diameters, weak adaptability to curved surfaces, and reduced magnetic attraction under certain conditions, all of which affect the performance of the magnetic wall-climbing robot.

[0004] In addition, there are many complex surfaces with large curvature and variable curvature in scenarios such as wind turbine towers, ship hulls, and petrochemical pipelines. It is difficult to achieve constant working load and working distance for operations such as inspection, cleaning, welding, and grinding on such curved surfaces. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the poor flexibility and adaptability of the existing magnetic casters, thereby providing a magnetic caster applicable to curved surfaces, and a magnetic working device for curved surfaces composed of the magnetic caster, which provides a stable load and constant working distance for the working device. It eliminates the need for an additional motor to control the force and distance between the working tool and the wall, and eliminates the need for complex mechanisms such as springs to ensure constant multi-point contact between the working tool and the wall. It cleverly solves the problems of high cost, complex control, and low operating accuracy in the process of climbing robots performing related tasks, and has better economy and reliability.

[0006] To solve the above-mentioned technical problems, the present invention provides a magnetic universal wheel applicable to curved surfaces, comprising: a rotary shaft with a swing frame on the rotary shaft and the rotary shaft having a first rotation direction; a swing shaft connected to the swing frame and the swing shaft having a second rotation direction; and a magnet located below the swing shaft and connected to the swing shaft.

[0007] Furthermore, the magnet comprises a plurality of individual magnets.

[0008] Furthermore, the magnet includes a central single magnet and two end single magnets. The central single magnet is located between the two end single magnets. The magnetization direction of the central single magnet is downward, and the magnetization direction of the end single magnets is towards the central single magnet. The magnetization direction of the end single magnets is parallel to the axis of the swing shaft.

[0009] Furthermore, it also includes a guide disk, which is disposed on the connecting shaft passing through the magnet and located on both sides of the magnet. The diameter of the guide disk is larger than the diameter of the magnet, and the magnet is axially magnetized.

[0010] Furthermore, it also includes rollers, which are sleeved on the bearings of the connecting shaft and located at both ends of the magnet, with a predetermined gap between the guide disk and the rollers.

[0011] Furthermore, the swing frame includes: a swing plate, through which the rotation shaft is disposed; and two fixed plates, which are symmetrically disposed at the bottom of the swing plate, with the swing shaft disposed on the fixed plates.

[0012] Furthermore, the two end magnets are fixedly connected to the swing shaft.

[0013] Furthermore, the swing frame also includes a positioning plate, which is sleeved on the connecting shaft and connected to the swing shaft.

[0014] Furthermore, it also includes a mounting bracket, on which the rotating shaft is mounted.

[0015] The present invention also provides a magnetic suction working device applicable to curved surfaces, including the magnetic suction universal wheel applicable to curved surfaces; and further including: a working connecting plate, the working connecting plate having multiple connecting ends, the mounting bracket being mounted on the connecting ends; and a working tool, disposed on the working connecting plate and located in the middle of the working connecting plate.

[0016] Furthermore, the connection end has multiple terminals, which are spaced apart along the outer edge of the working connection plate.

[0017] The technical solution of this invention has the following advantages: The present invention provides a magnetic universal wheel applicable to curved surfaces, comprising: a rotary shaft, on which a swing frame is provided, the rotary shaft having a first rotation direction; a swing shaft connected to the swing frame, the swing shaft having a second rotation direction; and a magnet located below the swing shaft and connected to the swing shaft. By setting a swing bracket on the rotary shaft, the swing shaft is easily mounted on the swing bracket, thus providing a mounting position for the swing shaft. Since the rotary shaft has a first rotation direction, i.e., rotation along the vertical direction, the magnetic caster wheel can be passively rotated 180° to passively adapt to changes in the robot's movement direction. The swing shaft has a second rotation direction, i.e., rotation along the horizontal direction, to adapt to changes in the curvature and tangential direction of the magnetic caster wheel as it moves within a curved surface. Simultaneously, the magnet is positioned below the swing shaft, facilitating the swing shaft to drive the magnet to swing horizontally. Because the magnet is magnetic, and the combination of the rotary axis and the swing axis increases the flexibility and adaptability of the magnetic caster, it allows the magnetic caster to move passively on curved surfaces with varying curvature, making it easy to use in conjunction with a robot base or working device. It provides a constant working load and working distance for the robot base or working device, allowing the robot base or working device to move quickly and passively on curved surfaces with minimal resistance.

[0018] The summary section is provided to present the chosen concepts in a simplified form, which will be further described in the detailed description below. The summary section is not intended to identify essential or necessary features of this disclosure, nor is it intended to limit the scope of this disclosure. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of the magnetic universal wheel applicable to curved surfaces provided by the present invention; Figure 2 A schematic diagram of the positioning plate for a magnetic caster wheel applicable to curved surfaces, provided by the present invention; Figure 3 A schematic diagram of the positioning plate for a magnetic caster wheel applicable to curved surfaces, provided by the present invention; Figure 4 A schematic diagram of a second embodiment of the magnetic universal wheel applicable to curved surfaces provided by the present invention; Figure 5 A perspective view of a second embodiment of the magnetic universal wheel applicable to curved surfaces provided by the present invention; Figure 6 for Figure 5 Side view; Figure 7This is a schematic diagram of the structure of the magnetic suction device applicable to curved surfaces provided by the present invention.

[0021] Explanation of reference numerals in the attached figures: 1. Rotary shaft; 2. Swing frame; 3. Swing shaft; 4. Magnet; 5. Central single magnet; 6. End single magnet; 7. Guide disk; 8. Connecting shaft; 9. Roller; 10. Swing plate; 11. Fixing plate; 12. Mounting bracket; 13. Working connection plate; 14. Connecting end; 15. Working tool; 16. Connecting block; 17. Bolt; 18. Arc-shaped groove; 19. Square groove; 20. Connecting structure; 21. Positioning plate; 22. Bearing. Detailed Implementation

[0022] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0023] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0025] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0027] The preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0028] Please see Figures 1 to 7 As shown, the present invention provides a magnetic universal wheel applicable to curved surfaces, comprising: a rotary shaft 1, on which a swing frame 2 is provided, the rotary shaft 1 having a first rotation direction; a swing shaft 3 connected to the swing frame 2, the swing shaft 3 having a second rotation direction; and a magnet 4 located below the swing shaft 3 and connected to the swing shaft 3.

[0029] By setting a swing frame 2 on the rotary shaft 1, it is convenient to install the swing shaft 3 on the swing frame 2, thus providing an installation position for the swing shaft 3. Since the rotary shaft 1 has a first rotation direction, that is, it rotates vertically, the magnetic caster wheel can be passively rotated 180° to passively adapt to the direction adjustment when the robot's movement direction changes. The swing shaft 3 has a second rotation direction, that is, it rotates horizontally, to adapt to the change in the curvature of the magnetic caster wheel when it moves within a curved surface. At the same time, the magnet 4 is set below the swing shaft 3, so that the swing shaft 3 can drive the magnet 4 to swing horizontally.

[0030] Because the magnet 4 is magnetic, and the combined arrangement of the rotary shaft 1 and the swing shaft 3 increases the flexibility and adaptability of the magnetic universal wheel, it allows the magnetic universal wheel to move passively on curved surfaces with varying curvature. This facilitates its use in conjunction with robot bases or working devices, providing a constant working load and working distance for the robot base or working device. This allows the robot base or working device to move quickly and passively on curved surfaces with minimal resistance.

[0031] Among them, magnet 4 is a whole, which can be cylindrical, semi-cylindrical, square, etc.

[0032] In some optional embodiments, the magnet 4 comprises multiple individual magnets. These multiple individual magnets together form one magnet 4. The number of individual magnets can be set according to the actual usage.

[0033] In some optional embodiments, the magnet 4 includes a central single magnet 5 and two end single magnets 6, the central single magnet 5 being located between the two end single magnets 6, the magnetization direction of the central single magnet 5 being downward, and the magnetization direction of the end single magnets 6 being towards the central single magnet 5; wherein, the magnetization direction of the end single magnets 6 is parallel to the axis of the swing shaft 3, and the magnetization direction of the central single magnet 5 is perpendicular to the axis of the swing shaft 3.

[0034] The two end single magnets 6 are S poles closer to the middle magnet 4 and N poles farther away. The middle single magnet 5 is S pole closer to the curved surface and N pole farther away.

[0035] With this magnetic attraction direction setting, under the same magnet volume and a distance of 3mm from the wall, it has more than twice the magnetic attraction force of other magnetization directions.

[0036] This configuration results in a smaller structural size for the central single magnet 5 and the two end single magnets 6, leading to a smaller overall volume of magnet 4 and a larger magnetic attraction force.

[0037] Alternatively, a connecting block 16 can be installed inside the central single magnet 5, and bolts 17 can pass through the two end single magnets 6 and the connecting block 16, thereby integrating the central single magnet 5 and the two end single magnets 6 into an integrated structure.

[0038] In some optional embodiments, the bottom surface of the central single magnet 5 is arc-shaped. This arrangement facilitates the tangency of the magnet 4 with the curved surface, thereby increasing the attraction force of the magnetic caster.

[0039] The central single magnet 5 and the two end single magnets 6 form a semi-cylindrical structure.

[0040] In some alternative embodiments, the magnetic universal wheel applicable to curved surfaces further includes a guide disk 7, which is disposed on a connecting shaft 8 passing through the magnet 4 and located on both sides of the magnet 4. The diameter of the guide disk 7 is larger than the diameter of the magnet 4, and the magnet 4 is axially magnetized.

[0041] By mounting the guide disks 7 on the connecting shaft 8 and placing them on either side of the magnet 4, the magnetic attraction force of the magnetic caster is increased. Simultaneously, the diameter of the guide disks 7 is larger than the diameter of the magnet 4. This arrangement allows the magnet 4 to remain suspended. During operation, supported by the two guide disks 7, the magnet 4 maintains an appropriate gap with the curved surface, avoiding contact with it, and the two guide disks 7 drive the magnet 4 to rotate freely. Furthermore, this magnetic caster is easy to manufacture and inexpensive.

[0042] Among them, magnet 4 can also be composed of multiple single magnets, but at least one single magnet must be axially magnetized.

[0043] In some alternative embodiments, the magnetic caster applicable to curved surfaces further includes rollers 9, which are sleeved on the bearings 22 of the connecting shaft 8 and located at both ends of the magnet 4, with a predetermined gap between the guide disk 7 and the rollers 9.

[0044] The roller 9 is designed to allow direct contact between the roller and the curved surface, increasing the flexibility of the magnetic caster. Furthermore, the roller 9 is mounted on the bearing 22 of the connecting shaft 8, allowing it to rotate independently relative to the connecting shaft 8.

[0045] The roller 9 is a non-metallic wheel, specifically made of a low-friction material. In this embodiment, the roller 9 is a nylon wheel, which has the advantages of moderate magnetic attraction, good flexibility, and low cost.

[0046] Meanwhile, the predetermined gap setting avoids direct contact between the guide disk 7 and the roller 9, or between the roller 9 and the magnet 4, thereby increasing the flexibility of the magnetic universal wheel.

[0047] In this embodiment, there are two cases: the first is that only the guide disk 7 is provided at both ends of the magnet 4; the second is that while the guide disk 7 is provided at both ends of the magnet 4, rollers 9 are also provided on both sides of the guide disk 7.

[0048] When the wall surface can be in metal contact, the roller 9 can be removed and the axially magnetized magnet 4 can be selected, wherein the guide disk 7 becomes the rolling wheel of the universal wheel.

[0049] When metal-to-metal contact with the wall is not possible, magnet 4 and roller 9 can be used together.

[0050] In some optional embodiments, the swing frame 2 includes a swing plate 10, the rotary shaft 1 is disposed through the swing plate 10; two fixed plates 11 are symmetrically disposed at the bottom of the swing plate 10, and the swing shaft 3 is disposed on the fixed plate 11.

[0051] The rotary shaft 1 passes through the swing plate 10, thereby connecting the rotary shaft 1 and the swing plate 10. At the same time, the fixed plate 11 is set at the bottom of the swing plate 10, and the swing shaft 3 passes through the two fixed plates 11, thereby connecting the swing shaft 3 and the swing frame 2.

[0052] The fixing plate 11 is L-shaped; this configuration ensures the connection stability of the fixing plate 11.

[0053] Specifically, the structure of the swing shaft 3 can be adapted to the structure of the magnet 4.

[0054] When the magnet 4 consists of a central single magnet 5 and two end single magnets 6, the bottom of the swing shaft 3 has a square groove 19, which facilitates its adaptation to the central single magnet 5. Furthermore, the two end single magnets 6 are fixedly connected to the swing shaft 3, specifically, by screws. In this case, the movement of the magnetic caster, which is suitable for curved surfaces, can be achieved by rotating the rollers 9 on the connecting shaft 8.

[0055] In some optional embodiments, when the magnet 4 is axially magnetized, the swing frame 2 further includes a positioning plate 21, which is sleeved on the connecting shaft 8 and connected to the swing shaft 3.

[0056] By setting the positioning plate 21, that is, one end of the positioning plate 21 is sleeved on the connecting shaft 8, the positioning plate 21 can be rotated relative to the guide disk 7. The other end of the positioning plate 21 is fixedly connected to the swing shaft 3. The positioning plate 21 provides a mounting surface for the guide disk 7 and the swing shaft 3, thereby realizing the connection between the guide disk 7 and the swing shaft 3.

[0057] The bottom of the swing shaft 3 is provided with an arc-shaped groove 18, which facilitates its adaptation to the outer surface of the magnet 4.

[0058] In some alternative embodiments, the magnetic caster wheel, which is applicable to curved surfaces, also includes a mounting bracket 12 on which the swivel shaft 1 is mounted. The mounting bracket 12 facilitates connection of the magnetic caster wheel to other mechanisms on the robot.

[0059] The present invention also provides a magnetic suction working device applicable to curved surfaces, including the magnetic suction universal wheel applicable to curved surfaces; and further including: a working connecting plate 13, on which a plurality of connecting ends 14 are provided, and the mounting bracket 12 is disposed on the connecting ends 14; and a working tool 15, disposed on the working connecting plate 13 and located in the middle of the working connecting plate 13.

[0060] By providing multiple connecting ends 14 on the working connecting plate 13, it is convenient to install the mounting bracket 12 on the working connecting plate 13, thus providing an installation position for the magnetic caster wheel. Meanwhile, the working tool 15 is installed in the middle of the connecting plate, and the working tool 15 can be a brush, a wire brush, an electric brush, an electric wire brush, a painting structure, or a welding structure, etc., meaning that the working tool 15 can be used to perform tasks such as cleaning, rust removal, painting, and welding on the surface.

[0061] The working tool 15 needs to maintain a constant force and distance with the curved wall surface. The external power mechanism, i.e. the robot, that operates on the wall surface can achieve this through the magnetic working device. This eliminates the need for additional motors to control the force and distance between the working tool 15 and the wall surface, and eliminates the need for complex mechanisms such as springs to ensure constant multi-point contact between the working tool 15 and the wall surface. This cleverly solves the problems of high cost, complex control, and low operational accuracy in the process of wall-climbing robots performing related tasks.

[0062] The specific structure of the work tool 15 can be customized according to the actual situation.

[0063] The working connection plate 13 is provided with a connection structure 20 that connects to the robot's moving guide rail, thereby realizing the connection between the magnetic suction working device and the robot.

[0064] This connection structure can be used for connecting shafts, etc.

[0065] In some alternative embodiments, there are multiple connection ends 14, which are spaced apart along the outer edge of the working connection plate 13.

[0066] By placing the connecting end 14 on the outer edge of the working connecting plate 13, it is easy to install the magnetic universal wheel on the working connecting plate 13, ensuring the installation stability of the working connecting plate 13. At the same time, the connecting ends 14 at multiple vertices do not interfere with each other, making it easy for the magnetic universal wheel to drive the working tool 15 to move on the curved wall surface.

[0067] The connection end 14 has four parts, and the specific number of connection ends 14 can be set according to the actual situation.

[0068] When it is necessary to adjust the height of the working tool 15, a shim can be set between the working connection plate and the working tool, that is, the height of the working tool 15 can be adjusted by the shim.

[0069] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A magnetic caster wheel applicable to curved surfaces, characterized in that, include: A rotating shaft (1) is provided with a swing frame (2), and the rotating shaft (1) has a first rotation direction; A swing shaft (3) is connected to the swing frame (2), and the swing shaft (3) has a second rotation direction; A magnet (4) is located below the swing shaft (3) and is connected to the swing shaft (3); The magnet (4) includes a central single magnet (5) and two end single magnets (6). The central single magnet (5) is located between the two end single magnets (6). The magnetization direction of the central single magnet (5) is downward, and the magnetization direction of the end single magnets (6) is towards the central single magnet (5). The magnetization direction of the end single magnets (6) is parallel to the axis of the swing shaft (3). The swing frame (2) includes: A swing plate (10) is provided, through which the rotating shaft (1) passes; There are two fixed plates (11), which are symmetrically arranged at the bottom of the swing plate (10), and the swing shaft (3) is arranged on the fixed plate (11).

2. The magnetic universal wheel applicable to curved surfaces according to claim 1, characterized in that, It also includes a guide disk (7), which is disposed on the connecting shaft (8) that passes through the magnet (4) and is located on both sides of the magnet (4).

3. The magnetic universal wheel applicable to curved surfaces according to claim 1, characterized in that, It also includes rollers (9), which are sleeved on the bearings (22) of the connecting shaft (8) and located at both ends of the magnet (4). A predetermined gap is provided between the guide disk (7) and the rollers (9).

4. The magnetic caster wheel applicable to curved surfaces according to claim 1, characterized in that, The two end single magnets (6) are fixedly connected to the swing shaft (3).

5. The magnetic universal wheel applicable to curved surfaces according to claim 1, characterized in that, It also includes a mounting bracket (12), on which the rotating shaft (1) is mounted.

6. A magnetic suction device applicable to curved surfaces, characterized in that, Including the magnetic caster wheel applicable to curved surfaces as described in claim 5; further comprising: The working connection plate (13) is provided with multiple connection ends (14), and the mounting bracket (12) is provided on the connection ends (14); The working tool (15) is disposed on the working connection plate (13) and located in the middle of the working connection plate (13).

7. The magnetic suction device applicable to curved surfaces according to claim 6, characterized in that, The connection end (14) has multiple terminals, and the multiple connection ends (14) are spaced apart along the outer edge of the working connection plate (13).

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