A magnetic drive wheel set and a magnetic climbing robot

Abstract

The present application provides a magnetic drive wheel set and a magnetic climbing robot. The magnetic drive wheel set provided in the present application includes a drive wheel set and a magnet assembly; the drive wheel set includes a cabin, a drive motor assembly installed in the cabin, and a group of wheels installed on both sides of the cabin and driven by the drive motor assembly; the magnet assembly is installed on the side of the cabin facing the ground in a manner surrounding the cabin; the magnet assembly is an arc-shaped magnet; the length of the magnet assembly along the forward direction is greater than the length of the cabin along the forward direction; after the magnet assembly is installed on the cabin, the curvature of the first part of the magnet assembly located in front of the axle is inconsistent with the curvature of the wheel; the curvature of the second part of the magnet assembly located behind the axle is consistent with the curvature of the wheel; the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the curvature of the first part is greater than the curvature of the second part. The magnetic drive wheel set provided in the present application has a strong ability to climb over the inner angle plane.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic robots, and in particular to a magnetic drive wheel set and a magnetic climbing robot. Background Art

[0002] Magnetic adsorption technology can use magnets to fix and move objects, and has been widely used in many fields, such as magnetic levitation trains and magnetic adsorption climbing robots.

[0003] As a common mobile robot, wheeled robots can move quickly on flat or relatively flat surfaces and have good maneuverability. Combined with magnetic adsorption technology, wheeled robots can move on non-horizontal surfaces. However, wheeled robots have difficulty moving on non-flat surfaces, especially when climbing over inward-angled planes. Their climbing ability is weak and they are prone to overturning. Summary of the Invention

[0004] In view of this, the present application provides a magnetic drive wheel set and a magnetic climbing robot to improve the mobility of the magnetic climbing robot on non-flat surfaces, especially to improve its ability to climb over inward-angled planes.

[0005] Specifically, this application is implemented through the following technical solutions:

[0006] The first aspect of the present application provides a magnetic drive wheel assembly, which includes a drive wheel assembly and a magnet assembly; wherein,

[0007] The driving wheel assembly includes a cabin, a driving motor assembly installed in the cabin, and a set of wheels installed on both sides of the cabin and driven by the driving motor assembly;

[0008] The magnet assembly is installed on the side of the cabin facing the ground in a manner of surrounding the cabin; the magnet assembly is used to provide a magnetic attraction function to enhance the adhesion of the magnetic drive wheel assembly to the surface of the ferromagnetic material;

[0009] The magnet assembly is an arc-shaped magnet; the length of the magnet assembly along the forward direction is greater than the length of the cabin along the forward direction; after the magnet assembly is installed on the cabin, the curvature of the first part of the magnet assembly located in front of the axle is inconsistent with the curvature of the wheel; the curvature of the second part of the magnet assembly located behind the axle is consistent with the curvature of the wheel; the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the curvature of the first part is greater than the curvature of the second part; wherein, through the curvature change and height change of the first part and the second part, the magnetic drive wheel group can achieve a smooth transition when crossing the inner corner.

[0010] A second aspect of the present application provides a magnetic adsorption climbing robot, which includes any magnetic drive wheel group provided in the first aspect of the present application.

[0011] The present application provides a magnetic drive wheel group and a magnetic climbing robot, which are provided with a drive wheel group and a magnet assembly, and a cabin is provided on the drive wheel group, a drive motor assembly installed in the cabin, and a group of wheels installed on both sides of the cabin and driven by the drive motor assembly, and the magnet assembly is installed on the side of the cabin facing the ground in a manner of surrounding the cabin, and the magnet assembly is provided as an arc-shaped magnet, and the length of the magnet assembly along the forward direction is greater than the length of the cabin along the forward direction, and after the magnet assembly is installed on the cabin, the curvature of the first part of the magnet assembly located in front of the axle is inconsistent with the curvature of the wheel, and the curvature of the second part of the magnet assembly located behind the axle is consistent with the curvature of the wheel, the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and The curvature of the first part is greater than that of the second part. In this way, by designing the curvature and height of the first part to be larger and the curvature and height of the second part to be smaller, the center of gravity of the magnetically driven wheel set can be shifted forward when crossing the inner corner. Furthermore, since the curvature and height of the first part are both larger, the front end of the wheel set can be made to fit the front inclined surface of the inner corner plane when the wheel set just contacts the inner corner, so as to increase the magnetic attraction and positive pressure on the front inclined surface, help the vehicle body to maintain stability and smoothly cross the inner corner plane. In addition, since the curvature and height of the second part are both smaller, it can be ensured that a continuous and stable magnetic attraction force can be provided during the process of crossing the inner corner, ensuring the fit and friction between the wheel and the surface, and when the wheel set gradually crosses the inner corner and returns to the smooth surface, it can quickly restore the normal magnetic attraction force to ensure a smooth transition of crossing and reduce jamming or shaking.

[0012] In addition, the magnetic drive wheel assembly provided by the present application is provided with a front hinge support at the front end of the arc-shaped magnet facing the forward direction, and a rear hinge support at the rear end of the arc-shaped magnet facing the forward direction, and then a first connecting member is provided at the front end of the cabin facing the forward direction, and a second connecting member is provided at the rear end of the cabin facing the forward direction, and the front hinge support is rotatably connected to the first connecting member, and the rear hinge support is connected to the second connecting member through a height adjustment component. In this way, when the magnetic drive wheel assembly encounters an obstacle, the height adjustment component allows the magnet assembly to automatically adjust its height as the height of the obstacle changes. In this way, First, it allows the magnet to remain close to the ferromagnetic surface, avoiding loss of adsorption due to height differences, and can enhance the passability of the magnetic drive wheel set on complex terrain. Second, through the rotational connection of the front and rear hinge supports and the adjustment of the height adjustment component, the magnet assembly can quickly adapt to its shape and height changes when facing obstacles, helping the wheel set to smoothly cross the obstacles. Third, through highly adaptive adjustment, it can effectively buffer the direct collision between the magnet assembly and obstacles or irregular surfaces, reduce the wear and impact caused by hard collisions, and effectively extend the service life of the magnet assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of a magnetic drive wheel assembly according to an exemplary embodiment of the present application;

[0014] Figure 2 This is a schematic diagram of a magnetic drive wheel assembly shown in another exemplary embodiment of the present application;

[0015] Figure 3 This is a cross-sectional view of a magnetic drive wheel assembly according to an exemplary embodiment of the present application;

[0016] Figure 4 A cross-sectional view of a magnetic drive wheel assembly according to another exemplary embodiment of the present application;

[0017] Figure 5 A schematic diagram of a magnet assembly according to an exemplary embodiment of the present application;

[0018] Figure 6 This is a schematic diagram of a magnetic drive wheel assembly passing through an inner angle plane according to an exemplary embodiment of the present application.

[0019] Description of reference numerals:

[0020] 1: driving wheel set;

[0021] 11: cabin;

[0022] 111: first connecting member;

[0023] 112: second connecting member;

[0024] 12: drive motor assembly;

[0025] 13: wheels;

[0026] 2: Magnet assembly;

[0027] 22: shell;

[0028] 3: front hinge support;

[0029] 4: rear hinge support;

[0030] 5: Adjust the height of the component;

[0031] 51: cylindrical pin;

[0032] 52: Swing bolt;

[0033] 53: Nut. DETAILED DESCRIPTION

[0034] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different drawings represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this application.

[0035] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "the," and "the" used in this application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0037] Specific embodiments are given below to introduce the technical solutions of the present application in detail.

[0038] Figure 1 This is a schematic diagram of a magnetic drive wheel assembly shown in an exemplary embodiment of the present application. Figure 2 This is a schematic diagram of a magnetic drive wheel assembly shown in another exemplary embodiment of the present application. Figure 3This is a cross-sectional view of a magnetic drive wheel assembly according to an exemplary embodiment of the present application. Figure 4 This is a cross-sectional view of a magnetic drive wheel assembly according to another exemplary embodiment of the present application. Figures 1 to 4 The magnetic drive wheel assembly provided in this embodiment includes a drive wheel assembly 1 and a magnet assembly 2; wherein,

[0039] The driving wheel assembly 1 includes a cabin 11, a driving motor assembly 12 installed in the cabin 11, and a set of wheels 13 installed on both sides of the cabin 11 and driven by the driving motor assembly 12;

[0040] The magnet assembly 2 is installed on the side of the cabin 11 facing the ground in a manner of surrounding the cabin 11; the magnet assembly 2 is used to provide a magnetic attraction function to enhance the adhesion of the magnetic drive wheel assembly to the surface of the ferromagnetic material;

[0041] The magnet assembly 2 is an arc-shaped magnet 21; the length of the magnet assembly 2 along the forward direction is greater than the length of the cabin 11 along the forward direction; after the magnet assembly 2 is installed on the cabin 11, the curvature of the first part of the magnet assembly 2 located in front of the axle is inconsistent with the curvature of the wheel 13; the curvature of the second part of the magnet assembly 2 located behind the axle is consistent with the curvature of the wheel 13; the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the curvature of the first part is greater than the curvature of the second part; wherein, through the curvature change and height change of the first part and the second part, the magnetic drive wheel group can achieve a smooth transition when crossing the inner corner.

[0042] Specifically, the drive wheel assembly 1 includes a cabin 11, a drive motor assembly 12, and wheels 13. The drive motor assembly 12 is installed in the cabin 11 and is used to drive a set of wheels 13 installed on both sides of the cabin 11 to achieve the movement of the wheel assembly. In addition, the drive wheel assembly 1 has forward and reverse capabilities and differential steering capabilities.

[0043] It should be noted that the material of the cabin 11 should have a certain degree of rigidity and corrosion resistance. In this embodiment, the specific material of the cabin 11 is not limited. For example, in one possible implementation, a titanium alloy can be selected as the material for the cabin 11; in another possible implementation, an aluminum alloy can also be selected as the material for the cabin 11.

[0044] Furthermore, the drive motor assembly 12 is used to convert electrical energy into mechanical energy, providing kinetic energy for the movement of the entire magnetic drive wheel assembly. In specific implementations, the input voltage or input current of the drive motor assembly 12 can be controlled to control the motor speed, thereby controlling the overall movement speed of the magnetic drive wheel assembly.

[0045] Optionally, in one possible implementation, the drive motor assembly 12 may include one motor. That is, a set of wheels 13 is driven by a single motor. Preferably, in another possible implementation, the drive motor assembly 12 includes a first motor and a second motor; wherein,

[0046] The first motor and the second motor are fixed in the cabin 11 via motor mounting flanges;

[0047] The set of wheels 13 are respectively mounted on the motor output ends of the first motor and the second motor.

[0048] Please refer to Figure 4 The cabin 11 includes a middle cavity and two output end covers on both sides of the middle cavity; wherein the first motor and the second motor are installed inside the middle cavity; the other sides of the two output end covers are respectively connected to the two wheels 13.

[0049] For details, please refer to Figure 4 The cabin body 11 includes a middle cavity and two output end covers provided on both sides of the middle cavity. The middle cavity is a rectangular cavity and the output end covers are cover-shaped objects.

[0050] Specifically, a motor is placed on each of the left and right sides of the middle cabin. These two motors are the first motor and the second motor, which are respectively fixed on both sides of the cabin 11 through motor mounting flanges. Furthermore, a motor output shaft is mounted on the outside of the motor and supported by a bearing. A retaining ring is also provided on the outside of the bearing, which can help the bearing share pressure, improve structural stability and increase the service life of the bearing components. In addition, a wheel 13 is installed on the left motor output shaft of the first motor, and a wheel 13 is installed on the right motor output shaft of the second motor. One end of the motor output end cover is fixed to the cabin 11, and a shaft end flange is installed on the other side. The motor output shaft is connected to the wheel 13 through the shaft end flange.

[0051] It should be noted that a sealing ring is provided in the cabin 11 , and the cabin 11 is reliably sealed and waterproof, thereby preventing the internal drive motor assembly 12 from being affected.

[0052] By setting a first motor and a second motor, each motor independently drives a wheel 13, which can improve the stability and controllability of the system. It should be noted that when the number of motors is different, the way the motor drives a group of wheels 13 is also different. For example, when one motor is set inside the cabin 11, a single motor drives a group of wheels 13, which can reduce the manufacturing cost of the magnetic drive component, simplify the structure of the magnetic drive component, and improve the integration effect. When two motors are set inside the cabin 11, the dual motors drive a group of wheels 13, and the left and right wheels 13 are each driven by a motor. The torque of each wheel 13 can be adjusted according to actual needs to enhance controllability and stability, especially in extreme environments, such as when one wheel 13 is suspended in the air, the vehicle can still travel smoothly.

[0053] It is understandable that different motor driving modes can be suitable for different needs, and a suitable driving mode can be selected under actual circumstances, which is not limited here.

[0054] Furthermore, the motor input ends of the first motor and the second motor are both facing the inside of the cabin 11, for receiving the input voltage of the drive motor, and the motor output ends of the first motor and the second motor serve as components for driving the wheels 13 to rotate, and are facing the outside of the cabin 11.

[0055] It should be noted that the motor types of the first motor and the second motor are selected based on actual needs and are not limited herein. For example, in one embodiment, the first motor and the second motor are both DC motors; for another example, in another embodiment, the first motor and the second motor are both stepper motors. Furthermore, it is understood that in one possible implementation, the motor types of the first motor and the second motor can also be different. For example, in one embodiment, the first motor is a DC motor and the second motor is a stepper motor.

[0056] It should be noted that the connection method between the motor output end and the wheel 13 is selected based on actual needs and is not limited herein. For example, in one embodiment, the motor output end and the wheel 13 can be mechanically connected via bolts and nuts 53; for another example, in another embodiment, the motor output end and the wheel 13 can be connected via a coupling such as a rigid coupling, an elastic coupling, or a plum blossom coupling.

[0057] For further information, please refer to Figures 1 to 3 The magnet assembly 2 is arranged on the side of the cabin 11 facing the ground in a manner of surrounding the cabin 11.

[0058] It should be noted that the magnet assembly 2 can generate magnetic attraction force, thereby improving the adhesion of the entire magnetic attraction drive assembly to the surface of the ferromagnetic material, so that the magnetic attraction drive assembly can move stably on the surface of the ferromagnetic material.

[0059] Please continue to refer to Figures 1 to 3 The magnet assembly 2 is arranged on the lower side of the cabin 11, close to the side of the moving plane where the drive wheel group is located. In this way, the magnet assembly 2 is closer to the surface of the ferromagnetic material where the magnetic drive wheel group is located, so that the magnet assembly 2 can directly generate magnetic attraction on the surface of the ferromagnetic material, and firmly adsorb the entire magnetic drive wheel group on the surface of the ferromagnetic material.

[0060] Figure 5 This is a schematic diagram of a magnet assembly according to an exemplary embodiment of the present application. Figure 3 and Figure 5 The magnet assembly 2 is an arc-shaped magnet, and the arc-shaped magnet 21 is asymmetrical.

[0061] For further information, please refer to Figure 3 The length of the magnet assembly 2 along the forward direction is greater than the length of the cabin 11 along the forward direction. In this way, the range of the magnet assembly 2 in the front-to-back direction exceeds the range of the cabin 11 in the front-to-back direction, so as to better play the role of the magnet assembly 2, effectively enhance the adsorption capacity of the magnet assembly 2, and improve the stability of the magnetic drive wheel group in the forward direction.

[0062] For further information, please refer to Figure 3 After the magnet assembly 2 is installed on the cabin 11, the curvature of the first part of the magnet assembly 2 located in front of the axle is inconsistent with the curvature of the wheel 13; the curvature of the second part of the magnet assembly 2 located behind the axle is consistent with the curvature of the wheel 13, the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the curvature of the first part is greater than the curvature of the second part.

[0063] For details, please refer to Figure 3 and Figure 5 The arc-shaped magnet 21 is a large-angle magnet, the first portion is higher than the second portion, and the curvature of the first portion is larger than that of the second portion.

[0064] It can be understood that different curvatures can make the magnetic field distribution of the first part in the front different from the magnetic field distribution of the second part in the rear; the curvature of the first part is set to be inconsistent with the curvature of the wheel 13, and its curvature is set to be greater than the curvature of the wheel 13. In this way, the curvature and height of the first part in the front are designed to be larger, and the first part can more keenly capture the magnetic field environment and obstacle information of the ferromagnetic material in front, expand the sensing range of the magnet assembly 2 for the front, and help improve the safety of the magnetic drive wheel group during the forward movement; further, setting the curvature of the second part to be consistent with the curvature of the wheel 13 can ensure that the magnet assembly 2 provides stable magnetic drive for the movement of the wheel 13.

[0065] Furthermore, the first part is higher than the second part, and the curvature of the first part is greater than the curvature of the second part, so that the curvature and height of the first part are designed to be larger, so that when crossing the inner fold angle, the center of gravity of the magnetic drive wheel set can be shifted forward. In addition, due to the larger curvature, the magnetic force can be concentrated, and a stronger magnetic force can be provided when the contact surface between the wheel 13 and the wheel 13 is reduced. In addition, by setting the curvature of the rear second part to be smaller, it can be ensured that a continuous and stable magnetic force can be provided after crossing the inner fold angle, ensuring the fit and friction between the wheel 13 and the surface, and when the wheel set gradually crosses the inner fold angle and returns to the smooth surface, the normal magnetic force can be quickly restored. In summary, through the morphological setting and arrangement of the magnet assembly 2, the ability of the magnetic drive wheel set to cross the inner fold angle can be improved, which can help the magnetic drive wheel set to travel more smoothly during the forward movement to a certain extent.

[0066] Figure 6 This is a schematic diagram of a magnetic drive wheel set passing through an inner angle plane according to an exemplary embodiment of the present application. Figure 6 Referring to the previous description, when the magnetic drive wheel set passes through the inner angle plane, through the above arrangement, when it just contacts the inner angle, the first part with higher curvature and height allows the wheel set to make the front end of the magnetic drive wheel set fit into the front inclined surface of the inner angle plane, thereby increasing the magnetic attraction force and positive pressure on the front inclined surface, helping the vehicle body to remain stable and smoothly cross the inner angle plane. The second part with lower curvature and height ensures a smooth transition and reduces jamming or shaking.

[0067] It should be noted that by making the curvature of the first part of the magnet assembly 2 greater than the curvature of the second part, and the height of the first part higher than the height of the second part, the magnetic drive wheel group can also maintain strong adhesion on complex or diverse angled surfaces (such as rails or steel structures), ensuring smooth passage, so that the magnetic drive wheel group can work sequentially at various angles, slopes or irregular surfaces.

[0068] The magnetic drive wheel group provided in this embodiment is provided with a drive wheel group and a magnet assembly, and a cabin is provided on the drive wheel group, a drive motor assembly installed in the cabin, and a group of wheels installed on both sides of the cabin and driven by the drive motor assembly, and the magnet assembly is installed on the side of the cabin facing the ground in a manner of surrounding the cabin, and the magnet assembly is provided as an arc-shaped magnet, and the length of the magnet assembly along the forward direction is greater than the length of the cabin along the forward direction, and after the magnet assembly is installed on the cabin, the curvature of the first part of the magnet assembly located in front of the axle is inconsistent with the curvature of the wheel, the curvature of the second part of the magnet assembly located behind the axle is consistent with the curvature of the wheel, the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the first part The curvature of the first part is greater than that of the second part. In this way, by designing the curvature and height of the first part to be larger and the curvature and height of the second part to be smaller, the center of gravity of the magnetic drive wheel set can be shifted forward when crossing the inner corner. Furthermore, since the curvature and height of the first part are larger, the front end of the wheel set can be in contact with the front inclined surface of the inner corner plane when the wheel set just contacts the inner corner, so as to increase the magnetic attraction and positive pressure on the front inclined surface, help the vehicle body to maintain stability and smoothly cross the inner corner plane. In addition, since the curvature and height of the second part are smaller, it can ensure that a continuous and stable magnetic attraction force can be provided in the process of crossing the inner corner, ensuring the fit and friction between the wheel and the surface, and when the wheel set gradually crosses the inner corner and returns to the smooth surface, it can quickly restore normal magnetic attraction force to ensure a smooth transition of crossing and reduce jamming or shaking.

[0069] Optionally, in a possible implementation, the magnet assembly 2 includes a magnet and a shell 22 covering the outside of the magnet. The magnet is an arc-shaped magnet, and further, the shape of the shell 22 is adapted to the shape of the magnet.

[0070] Furthermore, in one possible implementation, the wrap angle of the arc-shaped magnet 21 covering the cabin 11 is greater than 90° and does not exceed 180°. It is understandable that the wrap angle of the arc-shaped magnet 21 refers to the central angle of the circle corresponding to the arc-shaped magnet 21. It is understandable that different wrap angles can provide different contact areas and different magnetic force distributions. In order to adapt to different mobile environments and performance requirements, the specific size of the wrap angle is set according to actual needs and is not limited in this embodiment. In this embodiment, the arc-shaped magnet adopts a large wrap angle design.

[0071] It should be noted that when the magnetic drive wheel assembly moves on the surface of the magnetic material, the outer shell 22 comes into the most contact with the surface. For example, the outer shell 22 may come into contact with obstacles and water on the surface of the magnetic material. Therefore, the outer shell 22 needs to have certain waterproof, corrosion-resistant, and wear-resistant properties. Furthermore, to ensure that the outer shell 22 has certain waterproof, corrosion-resistant, and wear-resistant properties, the outer shell 22 can be made of a suitable material according to actual needs. For example, in one embodiment, the outer shell 22 can be made of stainless steel.

[0072] For further information, please refer to Figure 1 、 Figure 2 and Figure 5 The front end of the arc-shaped magnet 21 facing the forward direction is provided with a front hinge support 3, and the rear end of the arc-shaped magnet 21 facing the forward direction is provided with a rear hinge support 4; wherein,

[0073] A first connecting member 111 is provided at the front end of the cabin body 11 facing the forward direction, and a second connecting member 112 is provided at the rear end of the cabin body 11 facing the forward direction;

[0074] The front hinge support 3 is rotatably connected to the first connecting member 111; the rear hinge support 4 is connected to the second connecting member 112 through the height adjustment component 5, so that when the magnet assembly 2 is lifted by an obstacle, the magnet assembly 2 can move slightly in the vertical and horizontal directions.

[0075] Specifically, refer to Figure 1 and Figure 5 The internal groove portion of the magnet assembly 2 faces the bottom of the cabin 11, and a front hinge support 3 is provided on the front end edge of the arc-shaped magnet 21 facing the forward direction, and a rear hinge support 4 is provided on the rear end edge of the arc-shaped magnet 21 facing the forward direction. Through the front hinge support 3 and the rear hinge support 4, the magnet assembly 2 is connected to the front and rear ends of the cabin 11 to realize the connection between the magnet assembly 2 and the cabin 11.

[0076] For further information, please refer to Figure 1 and Figure 2 The front end of the cabin body 11 facing the forward direction is provided with a first connecting member 111, and the rear end of the cabin body 11 facing the forward direction is provided with a second connecting member 112. Furthermore, the first connecting member 111 is connected to the front hinge support 3, and the second connecting member 112 is connected to the rear hinge support 4. Specifically, the first connecting member 111 is hinged to the front hinge support 3 via a cylindrical pin.

[0077] It should be noted that since the length of the arc-shaped magnet assembly 2 along the forward direction is greater than the length of the cabin 11 along the forward direction, in order to realize the connection between the arc-shaped magnet assembly 2 and the cabin 11, an inclination angle is set on the front hinge support 3 and the rear hinge support 4. The inclination angle points inward so that the connection point of the first connecting member 111 and the front hinge support 3 is in the same vertical plane, and the connection point of the second connecting member 112 and the rear hinge support 4 is in the same vertical plane.

[0078] For further information, please refer to Figure 1 The rear hinge support 4 is connected to the second connecting member 112 through the height adjustment component 5, so that when the magnet is lifted by an obstacle, the magnet assembly 2 can move slightly in the vertical and horizontal directions.

[0079] Please continue to refer to Figure 1 Optionally, in one possible implementation, the height adjustment component 5 includes a cylindrical pin 51, a pivot bolt 52, and a nut 53; the cylindrical pin 51 passes through the opening of the pivot bolt 52 and is fixedly connected to the rear hinge support 4; the threaded end of the pivot bolt 52 passes through the opening on the second connecting member 112, and the nut 53 is sleeved on the threaded end of the pivot bolt 52 located above the second connecting member 112 to adjust and lock the position of the pivot bolt 52 relative to the second connecting member 112.

[0080] It can be understood that the magnet assembly 2 is an arc-shaped magnet and the bottom of the cabin 11 is a plane. The two are not completely matched. The bottom of the cabin 11 is not completely fitted with the magnet assembly 2, leaving a certain distance. Therefore, when the magnetic drive wheel group moves on the surface of the magnetic material and encounters an obstacle, the distance between the magnet and the surface of the magnetic material can be flexibly adjusted by adjusting the assembly 5.

[0081] Specifically, when the magnetic drive wheel group passes over an obstacle and the magnet assembly 2 is lifted up by the obstacle, the movable bolt 52 moves upward, thereby improving the ability to cross the obstacle and effectively protecting the magnet assembly 2 from being bumped or worn by the obstacle, thereby increasing the service life of the magnet assembly 2.

[0082] It should be noted that the size of the arc-shaped magnet is related to the external size of the cabin 11. Variations in the size of the arc-shaped magnet and its curvature may result in variations in its relative position to the cabin 11, and thus in the size of obstacles that can be traversed by raising the assembly 5. In specific implementations, the arc-shaped magnet can be designed to an appropriate size based on actual needs, and this is not limited here.

[0083] The magnetic drive wheel assembly provided by this embodiment is provided with a front hinge support at the front end of the arc-shaped magnet facing the forward direction, and a rear hinge support at the rear end of the arc-shaped magnet facing the forward direction, and then a first connecting piece is provided at the front end of the cabin facing the forward direction, and a second connecting piece is provided at the rear end of the cabin facing the forward direction, and the front hinge support is rotatably connected to the first connecting piece, and the rear hinge support is connected to the second connecting piece through a height adjustment component. In this way, when the magnetic drive wheel assembly encounters an obstacle, the height adjustment component allows the magnet assembly to automatically adjust its height as the height of the obstacle changes. In this way, the first On the one hand, it allows the magnet to remain close to the ferromagnetic surface, avoiding the loss of adsorption due to height differences, which can enhance the passability of the magnetic drive wheel group on complex terrain. On the other hand, through the rotational connection of the front and rear hinge supports and the adjustment of the height adjustment component, the magnet assembly can quickly adapt to its shape and height changes when facing obstacles, helping the wheel group to smoothly cross the obstacles. Third, through highly adaptive adjustment, it can effectively buffer the direct collision between the magnet assembly and obstacles or irregular surfaces, reduce the wear and impact caused by hard collisions, and effectively extend the service life of the magnet assembly.

[0084] In summary, the rotating connection of the front and rear hinge supports and the adjustment function of the height adjustment component can not only improve the obstacle crossing ability and stability of the wheel set, but also protect the durability of the magnet assembly and other structural parts, so that the magnetic drive wheel set can maintain reliable adhesion and flexibility in complex working environments.

[0085] Corresponding to the aforementioned embodiment of a magnetic drive wheel assembly, the present application also provides a magnetic climbing robot. The magnetic climbing robot provided by the present application is introduced below:

[0086] This embodiment provides a magnetic climbing robot, which includes any one of the magnetic drive wheel sets provided in the first aspect of this application.

[0087] It can be understood that the magnetic climbing robot can be used in multiple fields. For example, in one possible implementation, the magnetic climbing robot can be used in the field of hull cleaning.

[0088] The magnetic climbing robot provided in this embodiment can smoothly pass through the inner angle plane.

[0089] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A magnetic drive wheel assembly, characterized in that: The magnetic drive wheel assembly includes a drive wheel assembly and a magnet assembly; wherein, The driving wheel assembly includes a cabin, a driving motor assembly installed in the cabin, and a set of wheels installed on both sides of the cabin and driven by the driving motor assembly; The magnet assembly is installed on the side of the cabin facing the ground in a manner of surrounding the cabin; the magnet assembly is used to provide a magnetic attraction function to enhance the adhesion of the magnetic drive wheel assembly to the surface of the ferromagnetic material; The magnet assembly is an arc-shaped magnet; the length of the magnet assembly along the forward direction is greater than the length of the cabin along the forward direction; after the magnet assembly is installed on the cabin, the curvature of the first part of the magnet assembly located in front of the axle is inconsistent with the curvature of the wheel; the curvature of the second part of the magnet assembly located behind the axle is consistent with the curvature of the wheel; the height of the first part in the vertical direction is higher than the height of the second part in the vertical direction, and the curvature of the first part is greater than the curvature of the second part; wherein, through the curvature change and height change of the first part and the second part, when crossing the inner corner, the center of gravity of the magnetic drive wheel group shifts forward, The magnetic attraction force of the first part is concentrated, and the magnetic attraction force provided by the first part is greater than the magnetic attraction force in a normal state, so that the magnetic drive wheel group can achieve a smooth transition when turning over the inner corner; the front end of the arc-shaped magnet facing the forward direction is provided with a front hinge support, and the rear end of the arc-shaped magnet facing the forward direction is provided with a rear hinge support; wherein, the front end of the cabin facing the forward direction is provided with a first connecting member, and the rear end of the cabin facing the forward direction is provided with a second connecting member; the front hinge support is rotatably connected to the first connecting member; the rear hinge support is connected to the second connecting member through a height adjustment component, so that when the magnet assembly is lifted by an obstacle, the magnet assembly can move slightly in the vertical and horizontal directions; The height adjustment assembly includes a cylindrical pin, a pivot bolt, and a nut; the cylindrical pin passes through the opening of the pivot bolt and is rotatably connected to the rear hinge support; the threaded end of the pivot bolt passes through the opening on the second connecting member, and the nut is sleeved on the threaded end of the pivot bolt located above the second connecting member to adjust and lock the position of the pivot bolt relative to the second connecting member.

2. The magnetic drive wheel assembly according to claim 1, characterized in that: The drive motor assembly includes a first motor and a second motor; wherein, The first motor and the second motor are fixed in the cabin via motor mounting flanges; The set of wheels are respectively mounted on the motor output ends of the first motor and the second motor.

3. The magnetic drive wheel assembly according to claim 1, characterized in that: The drive motor assembly includes a motor.

4. The magnetic drive wheel assembly according to claim 1, characterized in that: The magnet assembly is an arc-shaped magnet, and the wrap angle of the arc-shaped magnet is greater than 90° and does not exceed 180°.

5. The magnetic drive wheel assembly according to claim 4, characterized in that: The magnet assembly includes a magnet and a shell covering the magnet.

6. The magnetic drive wheel assembly according to claim 2, characterized in that: The cabin body includes a middle cavity and two output end covers provided on both sides of the middle cavity; wherein, The first motor and the second motor are installed inside the middle cavity; The other sides of the two output end covers are connected to the two wheels respectively.

7. A magnetic adsorption climbing robot, characterized in that: The magnetic adsorption climbing robot includes the magnetic adsorption drive wheel assembly according to any one of claims 1 to 6.

8. The magnetic adsorption climbing robot according to claim 7, characterized in that: The magnetic adsorption climbing robot can be used in the field of ship hull cleaning.

Images