Magnetic adsorption wheel structure of underwater robot

Abstract

The magnetic adsorption wheel structure of the underwater robot comprises a magnetic adsorption wheel unit, and a hub connecting flange on the left side of the magnetic adsorption wheel unit is connected with a rubber wheel. A frameless motor stator, a frameless motor rotor, a motor output shaft, a harmonic reducer assembly and a plurality of groups of permanent magnet assemblies are mounted in the magnetic adsorption wheel unit along the axial direction; the output shaft of the motor is connected with the flange through the harmonic reducer assembly and the hub, and transmits rotating power to the rubber wheel to drive the rubber wheel to rotate; when the rubber wheels are attached to the ship wall, the permanent magnet assemblies can generate corresponding magnetic force when a certain distance exists between the permanent magnet assemblies and the ship wall, it is ensured that the design height between the connecting pieces of the wall-climbing cleaning robot and the magnetic adsorption wheel structures is large, and a chassis of the wall-climbing cleaning robot is high; therefore, the wall-climbing cleaning robot not only can keep stable adsorption force in the cleaning process, but also has high obstacle crossing ability.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a magnetic adsorption wheel structure of an underwater robot. Background Art

[0002] With the rapid development of ocean shipping, ships, as the main means of maritime transportation, will have marine organisms attached to their surfaces that are difficult to remove, causing the ship's speed to decrease and increasing transportation costs. Therefore, regular cleaning is required to ensure economic and safe operation. At present, most ship surface cleaning is done manually, which is inefficient. Therefore, the development of an automated wall-climbing cleaning robot is the key to improving cleaning efficiency and safety. The wall cleaning robot achieves adsorption of ships or metal surfaces by installing permanent magnets or electromagnets on its chassis. This design enables the robot to use the synergistic effect of magnetic force and friction to overcome its own gravity, thereby crawling on inclined or even vertical metal surfaces. Among them, the robot adsorbed by the electromagnet is more complex to control, and when the same adsorption force is achieved, its weight is usually heavier than that of the permanent magnet. Therefore, the use scenarios of the electromagnetic adsorption robot are relatively limited and are only applicable to special cases. In contrast, robots adsorbed by permanent magnets have become the dominant trend in the current market due to their stability and efficiency.

[0003] There are still many defects in the current wall-climbing robots used in hull cleaning. One of the main disadvantages comes from the limited obstacle-crossing ability of the wall-climbing robot with permanent magnets installed on the chassis. In order to maximize the use of the adsorption force of the permanent magnet and enhance the stability of the robot when walking and cleaning, the distance between the magnet and the hull should not be too far. This will make the chassis of the wall-climbing robot lower, and it may get stuck when passing obstacles, and additional design is required to improve its obstacle avoidance and obstacle-crossing capabilities. The magnetic adsorption robot used for hull cleaning is mainly driven by parallel wheels, and its walking direction is mainly to reciprocate around the outer surface of the hull. The disadvantage is that for the hull with a curved surface, it may support the bottom during the cleaning process, so as to scratch the paint surface, and even cause the robot wheels to be suspended and unable to walk. In addition, in some designs, the magnetic lines of force of the permanent magnet may not be evenly distributed, resulting in different adsorption forces in different areas, affecting the stability and adsorption effect of the robot. Therefore, it is not suitable for occasions that require stable operations such as hull cleaning and inspection. In addition, the draft of a ship may be as high as tens of meters, so the robot body including the magnetic adsorption wheels on it needs to be able to be used in water depths of tens of meters underwater.

[0004] Therefore, it is necessary to propose a new magnetic adsorption wheel structure for an underwater robot, which has high integration, miniaturization, adaptability to complex underwater environments, and the ability to work on land and at a depth of tens of meters underwater. Summary of the invention

[0005] The present invention provides a magnetic adsorption wheel structure of an underwater robot, which can solve the following problems of existing wall cleaning robots: 1. It cannot adapt to the changes in the curved surface of the hull; 2. The permanent magnet needs to be close to the hull, resulting in a low chassis and limited obstacle crossing ability; 3. The magnet utilization rate is not high, the structure is bloated, and the weight is too large, resulting in an increase in the required driving force and high energy consumption.

[0006] To solve the above problems, the technical solution provided by the present invention is as follows:

[0007] An embodiment of the present invention provides a magnetic adsorption wheel structure of an underwater robot, comprising a magnetic adsorption wheel unit (2), wherein a hub connection flange (5) on the left side of the magnetic adsorption wheel unit (2) is connected to a rubber wheel (1), and a sealing end cover (24) on the right side of the magnetic adsorption wheel unit (2) is connected to a watertight connector (3) and a pressure compensation interface (4); the watertight connector (3) is used for sealing; the pressure compensation interface (4) is used for connecting an external pressure compensator, so that the magnetic adsorption wheel structure can adapt to the underwater environment.

[0008] The magnetic adsorption wheel unit (2) comprises a magnetic adsorption unit shell (13), wherein the magnetic adsorption unit shell (13) is provided with an annular slot (13-1) and an annular groove (13-2) from the outside to the inside, wherein a plurality of groups of permanent magnet components are arranged in an array in the annular slot (13-1), wherein each group of permanent magnet components comprises two magnetic adsorption modules, wherein each magnetic adsorption module comprises two yokes (27) and three magnets (31), and wherein the three magnets (31) are attached between the two yokes (27); wherein a first frameless motor stator (14) and a second frameless motor stator (28) are installed in an aligned manner in the annular groove (13-2), wherein the first frameless motor stator (14) and the second frameless motor stator (28) are arranged in an annular groove (13-2). A frameless motor rotor (29) is arranged between the housings (28), and a motor output shaft (30) is connected inside the frameless motor rotor (29); one end of the motor output shaft (30) is mounted on the end cover sliding bearing (23) of the sealing end cover (24), and a motor sensor (26) is mounted on the end of the motor output shaft (30) close to the sealing end cover (24); a first magnetic protective cover (18) and an encoder (19) are mounted on the groove of the motor sensor (26); a shaft sleeve (33) is mounted on the other end of the motor output shaft (30), and a motor flange (12) is mounted on the end surface of the shaft sleeve (33), and is fixed to the left side of the magnetic adsorption unit housing (13) with screws.

[0009] In an optional embodiment of the present invention, the two magnetic adsorption modules in each group of permanent magnet assemblies are arranged in a halbach array to set the magnetic pole direction. The N poles of the magnets in the left magnetic adsorption module are right, bottom, and left from left to right; the N poles of the magnets in the right magnetic adsorption module are left, top, and right from left to right. The left magnetic adsorption module and the right magnetic adsorption module form a magnetic circuit.

[0010] In an optional embodiment of the present invention, the dimensions of the magnet (31) and the yoke (27) in the magnetic adsorption module are both 76.2×124.8×28 mm.

[0011] In an optional embodiment of the present invention, a harmonic reducer assembly (9) is installed on one side of the sleeve (33) of the motor output shaft (30) by means of screws and washers, and the harmonic reducer assembly (9) is arranged to fit the shoulder of the motor output shaft (30).

[0012] In an optional embodiment of the present invention, a sliding bearing (6) is further installed between the boss end surface of the hub connecting flange (5) and the magnetic adsorption unit housing (13), and the harmonic reducer assembly (9) is connected to the hub connecting flange (5) so that the rotation of the motor output shaft (30) is transmitted to the rubber wheel (1), thereby driving the rubber wheel (1) to rotate.

[0013] In an optional embodiment of the present invention, the hub connecting flange (5) is processed with a sealing groove along the circumferential direction, and a combined gasket (36) is installed in the sealing groove; a first O-ring groove is processed on the other side end face of the hub connecting flange (5), and a first O-ring (7) is installed on the first O-ring groove; the hub connecting flange (5) is connected to the end face of the connecting part of the cleaning robot by a plurality of first auxiliary screws (32) and a plurality of second auxiliary screws (35).

[0014] In an optional embodiment of the present invention, the magnetic adsorption unit housing (13) and the sealing end cover (24) are made of magnetic conductive materials; and the hub connecting flange (5) is made of non-magnetic conductive materials.

[0015] Compared with the prior art, the embodiment of the present invention provides a magnetic adsorption wheel structure of an underwater robot, which has the following beneficial effects: (1) The robot equipped with the magnetic adsorption wheel can adapt to the changes in the curved surface of the ship body to be adsorbed, and the chassis height can be arbitrarily designed, and the obstacle crossing ability is strong. (2) The magnetic lines of force of the robot equipped with the magnetic adsorption wheel are evenly distributed, and the adsorption force is stable. (3) By installing a pressure compensation interface on the magnetic adsorption wheel and connecting an external pressure compensator, the adsorption wheel can adapt to the underwater environment of tens of meters or even hundreds of meters deep. (4) The motor output shaft transmits the rotational power to the rubber wheel through the harmonic reducer assembly and the hub connecting flange to drive the rubber wheel to rotate; when the rubber wheel is in contact with the ship wall, the permanent magnet assembly will also generate corresponding magnetic force at a certain distance from the ship wall, ensuring that the design height between the connecting piece of the wall-climbing cleaning robot and the magnetic adsorption wheel structure is relatively high, so that the chassis of the wall-climbing cleaning robot is relatively high, so that the wall-climbing cleaning robot can maintain a stable adsorption force and have a strong obstacle crossing ability during the cleaning process. That is, the magnetic adsorption wheel has a compact structure and high reliability; the magnetic adsorption wheel integrates a brushless motor and a reducer inside, has a high degree of integration, and can be flexibly configured on the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A schematic diagram of the external structure of a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0018] Figure 2 A schematic cross-sectional structure diagram of a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0019] Figure 3 This is a right view of the magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0020] Figure 4 This is a left view of a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0021] Figure 5 A schematic diagram of a group of permanent magnet components of a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0022] Figure 6 A top-down magnetic flux trace diagram of a group of permanent magnet components simulated for a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0023] Figure 7 A top-down cloud map of magnetic flux simulated by a group of permanent magnet components of a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application.

[0024] Figure 8 A side view cloud diagram of magnetic flux simulation of a group of permanent magnet components of a magnetic adsorption wheel structure of an underwater robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0026] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a schematic diagram of a magnetic adsorption wheel structure of an underwater robot. The magnetic adsorption wheel structure includes a magnetic adsorption wheel unit 2, a hub connecting flange 5 on the left side of the magnetic adsorption wheel unit 2 is connected to a rubber wheel 1, and a sealing end cover 24 on the right side of the magnetic adsorption wheel unit 2 is connected to a watertight connector 3 and a pressure compensation interface 4. The watertight connector 3 is used for sealing. The pressure compensation interface 4 is used to connect an external pressure compensator so that the magnetic adsorption wheel structure can adapt to the operation in an underwater environment of 30 meters or more, and can be used for the magnetic adsorption wheel structure on land and hull climbing wall cleaning robots at a depth of tens of meters underwater.

[0027] like Figure 2 As shown, the magnetic adsorption wheel unit 2 includes a hub connecting flange 5, a sliding bearing 6, a first O-ring 7, a first screw 8, a harmonic reducer assembly 9, a second screw 10, a third screw 11, a motor flange 12, a magnetic adsorption unit housing 13, a first frameless motor stator 14, a fourth screw 16, a second O-ring 17, a first magnetic protection cover 18, an encoder 19, an external sensor 20, a second magnetic protection cover 21, a fifth screw 22, an end cover sliding bearing 23, a sealing end cover 24, a screw 25, an output shaft sensor 26, a yoke 27, a second frameless motor stator 28, a frameless motor rotor 29, a motor output shaft 30, a permanent magnet 31, a first auxiliary screw 32, a sleeve 33, a locking nut 34, a first auxiliary screw 35, a combination washer 36, and a screw fastener.

[0028] The magnetic adsorption wheel unit 2 includes a magnetic adsorption unit shell 13, and the magnetic adsorption unit shell 13 is provided with an annular slot 13-1 and an annular groove 13-2 from the outside to the inside. The annular slot 13-1 is provided with multiple groups of permanent magnet assemblies in an array, and the multiple groups of permanent magnet assemblies are fixed in the annular slot 13-2 of the shell of the magnetic adsorption unit 2 by screws. Each group of permanent magnet assemblies includes two magnetic adsorption modules, and each magnetic adsorption module includes two yokes 27 and three magnets 31, and three magnets 31 are attached between the two yokes 27, and the two yokes 27 and the three magnets 31 are fixed by two screws 25 and four nuts.

[0029] The first frameless motor stator 14 and the second frameless motor stator 28 are installed in the annular groove 13-2 in an interference fit, and a frameless motor rotor 29 is arranged between the first frameless motor stator 14 and the second frameless motor stator 28, and the frameless motor rotor 29 is connected to the motor output shaft 30. The sealing end cover 24 is fixed to the right side of the magnetic adsorption wheel unit 2 by a locking nut 34. One end of the motor output shaft 30 is installed on the end cover sliding bearing 23 of the sealing end cover 24, and a motor sensor 26 is installed on the end of the motor output shaft 30 close to the sealing end cover 24. The first magnetic protective cover 18 and the encoder 19 are installed on the groove of the motor sensor 26. A shaft sleeve 33 is installed on the other end of the motor output shaft 30, and a motor flange 12 is installed on the end face of the shaft sleeve 33, and is fixed to the left side of the magnetic adsorption unit housing 13 by a third screw 11. A harmonic reducer assembly 9 is installed on one side of the sleeve 33 of the motor output shaft 30 through a second screw 10 and a gasket, and the harmonic reducer assembly 9 is arranged in close contact with the shoulder of the motor output shaft 30. The inner hole of the harmonic reducer assembly 9 is installed on the motor output shaft 30 on the sleeve side and is in close contact with the shoulder of the motor output shaft 30.

[0030] Figure 5 , Figure 6 , Figure 7 and Figure 8 Combination Figure 2 , the two magnetic adsorption modules in each permanent magnet assembly are arranged in the direction of the magnetic poles by the Halbach array. The structures in the two magnetic adsorption wheels used in pairs are the same, but the magnetization directions of the middle permanent magnets are different. Taking the opposite side of the cleaning robot as the reference plane, the N poles of the magnets in the left magnetic adsorption module are right, bottom, and left from left to right; the N poles of the magnets in the right magnetic adsorption module are left, top, and right from left to right. The left magnetic adsorption module and the right magnetic adsorption module form a magnetic circuit, and such an arrangement forms a good magnetic circuit. After simulation, the single-wheel adsorption force can reach 2846.2N. The dimensions of the magnet 31 and the yoke 27 in the magnetic adsorption module are both 76.2×124.8×28mm, and the fan angles of the permanent magnet and the yoke are preferably 120°.

[0031] The sealing end cover 24 fastened with screws is tightly mounted on the magnetic adsorption unit housing 13 on the opening side of this embodiment. A countersunk hole coaxial with the small circular hole is processed on the left end face of the magnetic adsorption unit housing 13, and a small annular groove is formed outside the small circular hole. The small annular groove cooperates with the input end boss of the harmonic reducer assembly 9, and the harmonic reducer assembly 9 is completely placed in the countersunk hole. The harmonic reducer assembly 9 and the countersunk hole are clearance-fitted, and the input side end face of the harmonic reducer assembly 9 is tightly attached to the bottom of the countersunk hole and fixed with bolts.

[0032] The motor output shaft 30 is installed on the frameless motor rotor 29 with an interference fit, and one end face of the frameless motor rotor 29 is in close contact with the shoulder of the motor output shaft 30; a motor sensor 26 is installed on one end of the motor output shaft 30, and passes through and cooperates with the end cover sliding bearing 23. The second magnetic protective cover 21 and the external sensor 20 are installed on the groove of the motor sensor 26. A shaft sleeve 33 is installed on the other end of the motor output shaft 30, and the shaft sleeve 33 is locked on the shoulder with a nut. The shaft sleeve 33 is installed in the small circular hole of the outer shell of the magnetic adsorption unit 2, and a motor flange 12 is installed on the end face of the shaft sleeve 33, and is fixed to the outer shell of the magnetic adsorption unit 2 with a third screw 11, so that the shaft sleeve and the rear end cover sliding bearing 23 are fixed on the shoulder.

[0033] The inner hole of the harmonic reducer assembly 9 is installed on the motor output shaft 30 on the sleeve side and is in close contact with the shoulder of the motor output shaft 30; the second screw 10 and the gasket are used to fix the harmonic reducer assembly 9 to the motor output shaft 30 on the other side. The housing of the harmonic reducer assembly 9 is fixed to the housing 13 of the magnetic adsorption unit by the first screw 8.

[0034] A sliding bearing 6 is also installed between the boss end face of the hub connection flange 5 and the magnetic adsorption unit housing 13, and the harmonic reducer assembly 9 is connected to the hub connection flange 5 so that the rotation of the motor output shaft 30 is transmitted to the rubber wheel 1, driving the rubber wheel 1 to rotate. Specifically, the hub connection flange 5 in this embodiment is a three-layer stepped boss as a whole, with two-level countersunk holes at the bottom, the secondary countersunk holes of the hub connection flange 5 are fitted with the output boss end face of the harmonic reducer assembly 9, and the hub connection flange 5 is fixedly connected to the output boss of the harmonic reducer 9 by screws on the other side. At this time, the hub connection flange 5 and the harmonic reducer assembly 9 are both installed in the countersunk holes on the same side of the magnetic adsorption unit housing 13. The outer circle of the sliding bearing 6 is interference-fitted on the countersunk hole of the magnetic adsorption unit housing, and one end face is fitted with the primary boss end face of the hub connection flange 5. The inner circle of the sliding bearing 6 is clearance-fitted with the middle flange of the hub connection flange 5. There is a countersunk hole on each side of the rubber wheel 1, and a through hole in the middle. The through hole in the middle of the rubber wheel 1 is transitionally matched with the three-level boss of the hub connecting flange 5, and the rubber wheel 1 and the hub connecting flange 5 are fixed with screws on one side of the boss end face, so that the rotation of the motor output shaft is transmitted to the rubber wheel.

[0035] like Figure 2 and Figure 5 As shown, the hub connection flange 5 is processed with a sealing groove along the circumferential direction, and the sealing groove is installed with a combined gasket 36. A first O-ring groove is processed on the end face of the other side of the hub connection flange 5, and a first O-ring seal 7 is installed on the first O-ring groove. The hub connection flange 5 is provided with a plurality of first auxiliary screws 32 and a plurality of second auxiliary screws 35. The hub connection flange 5 is matched with the end face of the connector of the cleaning robot through the plurality of first auxiliary screws 32 and the plurality of second auxiliary screws 35.

[0036] like Figure 2 and Figure 3 As shown, in the middle of the sealing end cover 24 is a boss that transitions with the annular groove of the adsorption unit housing 13. The sealing end cover 24 is processed with a motor bearing hole along the axial direction for installing the end cover sliding bearing 23. The sealing end cover 24 is processed with a second O-type sealing groove along the circumferential direction, on which a second O-type sealing ring 17 is installed. A countersunk hole is processed on the inner side of the O-type sealing groove, which is also used to install the first magnetic protection cover 18 and the external sensor 20, and is fixed with a fifth screw 22. The second O-type sealing groove side is also processed with a threaded hole for installing the watertight connector 3 and a threaded hole for installing the pressure compensator interface 4. The sealing end cover 24 is also provided with a fourth screw 16.

[0037] Preferably, the magnetic adsorption unit housing 13 and the sealing end cover 24 are made of magnetic conductive materials; and the hub connecting flange 5 is made of non-magnetic conductive materials.

[0038] A magnetic adsorption wheel structure of an underwater robot of the present invention is provided with a frameless motor stator, a frameless motor rotor, a motor shaft, a harmonic reducer assembly and a plurality of permanent magnet assemblies installed axially therein. The motor output shaft transmits the rotational power to the rubber wheel through the harmonic reducer assembly and the hub connecting flange, driving the rubber wheel to rotate. When the rubber wheel fits against the ship wall, the permanent magnet assembly will generate a corresponding magnetic force at a certain distance from the ship wall, ensuring that the design height between the connecting part of the wall-climbing cleaning robot and the magnetic adsorption wheel structure is relatively high, so that the chassis of the wall-climbing cleaning robot is relatively high, so that the wall-climbing cleaning robot can maintain a stable adsorption force and a strong obstacle-crossing ability during the cleaning process.

[0039] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A magnetic adsorption wheel structure of an underwater robot, characterized in that: It comprises a magnetic adsorption wheel unit (2), wherein a hub connecting flange (5) on the left side of the magnetic adsorption wheel unit (2) is connected to a rubber wheel (1), and a sealing end cover (24) on the right side of the magnetic adsorption wheel unit (2) is connected to a watertight connector (3) and a pressure compensation interface (4); the watertight connector (3) is used for sealing; and the pressure compensation interface (4) is used for connecting an external pressure compensator, so that the magnetic adsorption wheel structure can adapt to the underwater environment. The magnetic adsorption wheel unit (2) comprises a magnetic adsorption unit shell (13), wherein the magnetic adsorption unit shell (13) is provided with an annular slot (13-1) and an annular groove (13-2) from the outside to the inside, wherein a plurality of groups of permanent magnet components are arranged in an array in the annular slot (13-1), wherein each group of permanent magnet components comprises two magnetic adsorption modules, wherein each magnetic adsorption module comprises two yokes (27) and three magnets (31), and wherein the three magnets (31) are attached between the two yokes (27); wherein a first frameless motor stator (14) and a second frameless motor stator (28) are installed in an aligned manner in the annular groove (13-2), wherein the first frameless motor stator (14) and the second frameless motor stator (28) are arranged in an annular groove (13-2). A frameless motor rotor (29) is arranged between the housings (28), and a motor output shaft (30) is connected inside the frameless motor rotor (29); one end of the motor output shaft (30) is mounted on the end cover sliding bearing (23) of the sealing end cover (24), and a motor sensor (26) is mounted on the end of the motor output shaft (30) close to the sealing end cover (24); a first magnetic protective cover (18) and an encoder (19) are mounted on the groove of the motor sensor (26); a shaft sleeve (33) is mounted on the other end of the motor output shaft (30), and a motor flange (12) is mounted on the end surface of the shaft sleeve (33), and is fixed to the left side of the magnetic adsorption unit housing (13) with screws.

2. The magnetic adsorption wheel structure of an underwater robot according to claim 1, characterized in that: The two magnetic adsorption modules in each set of permanent magnet assemblies are arranged in the direction of magnetic poles by means of a Halbach array. The N poles of the magnets in the left magnetic adsorption module are right, bottom, and left from left to right; the N poles of the magnets in the right magnetic adsorption module are left, top, and right from left to right. The left magnetic adsorption module and the right magnetic adsorption module form a magnetic circuit.

3. The magnetic adsorption wheel structure of an underwater robot according to claim 2, characterized in that: The dimensions of the magnet (31) and the yoke (27) in the magnetic adsorption module are both 76.2×124.8×28 mm.

4. The magnetic adsorption wheel structure of an underwater robot according to claim 1, characterized in that: A harmonic reducer assembly (9) is installed on one side of the shaft sleeve (33) of the motor output shaft (30) by means of screws and washers, and the harmonic reducer assembly (9) is arranged in close contact with the shoulder of the motor output shaft (30).

5. The magnetic adsorption wheel structure of an underwater robot according to claim 4, characterized in that: A sliding bearing (6) is also installed between the boss end surface of the hub connecting flange (5) and the magnetic adsorption unit housing (13), and the harmonic reducer assembly (9) is connected to the hub connecting flange (5) so that the rotation of the motor output shaft (30) is transmitted to the rubber wheel (1), thereby driving the rubber wheel (1) to rotate.

6. The magnetic adsorption wheel structure of an underwater robot according to claim 5, characterized in that: The hub connecting flange (5) is processed with a sealing groove along the circumferential direction, and a combined gasket (36) is installed in the sealing groove; a first O-ring groove is processed on the end face of the other side of the hub connecting flange (5), and a first O-ring (7) is installed on the first O-ring groove; the hub connecting flange (5) is connected to the end face of the connecting part of the cleaning robot through a plurality of first auxiliary screws (32) and a plurality of second auxiliary screws (35).

7. The magnetic adsorption wheel structure of an underwater robot according to claim 6, characterized in that: The magnetic adsorption unit housing (13) and the sealing end cover (24) are made of magnetic conductive materials; and the hub connecting flange (5) is made of non-magnetic conductive materials.

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