Special-shaped magnetic shoe design method

Abstract

The invention discloses a special-shaped magnetic tile which comprises a magnetic tile body, the magnetic tile body is provided with five magnets and is composed of three groups of different magnetic tiles, the back of the magnetic tile body is of an arc structure, and the bottom of the magnetic tile body is of a horizontal structure. The outer sides of a group of same magnetic blocks on the left side and the right side of the magnetic tile body structure are ground into fillets with the same radius. The special-shaped magnetic shoe has the advantages of being large in magnetic force, small in weight and small in size, compared with an existing magnetic shoe combination, the special-shaped magnetic shoe has the higher magnetic mass ratio, the heavy-load operation capacity of a vertical face walking robot is greatly improved, and high economic benefits and safety are achieved.

Description

Technical Field

[0001] The invention belongs to the field of magnets, and in particular relates to a special-shaped magnetic tile. Background Art

[0002] The daily maintenance work of rust removal, cleaning, painting and other maintenance of large steel structures such as ships and storage tanks is heavy and difficult; currently manual work is used, which is inefficient and poses great safety risks. With the rapid development of robot technology, vertical vertical walking robots are used to perform maintenance work such as rust removal, cleaning, and painting of steel structures such as ships and storage tanks. The vertical vertical walking robots on the market generally have magnets installed at the bottom to enable the robot to be adsorbed on the surface of the steel structure. The use of electromagnets has the risk of the robot falling due to sudden power failure and demagnetization. Therefore, vertical vertical walking robots mostly use permanent magnetic adsorption.

[0003] The permanent magnetic adsorption unit magnetic tiles disclosed in a patent for a marine ultra-high pressure water cleaning wheeled wall-climbing robot (202210394799.1), a fan-shaped magnetic tile, a forming magnetization device, a forming magnetization method and a disc motor patent (201521002797.5) are fan-shaped magnetic tiles. The rectangular magnetic tiles and tile-shaped magnetic tiles involved in the above-mentioned patents have the problems of heavy weight, small magnetic force generated, and low support weight, which are not conducive to the safe and stable operation of the robot under heavy load. Summary of the invention

[0004] Purpose of the invention: In view of the technical problems existing in the above-mentioned existing magnetic tile technology, a new design scheme of special-shaped magnetic tiles is provided. The special-shaped magnetic tiles of the present invention have the characteristics of large magnetic force, small weight and small volume. Compared with the first two magnetic tile combinations, the special-shaped magnetic tiles of the present invention have a higher magnetic mass ratio, which greatly improves the heavy-load operation capacity of vertical vertical walking robots, and has the characteristics of high efficiency and economy.

[0005] Technical solution: The special-shaped magnetic tile described in the present invention includes a magnetic tile body, which has a total of five magnets and is composed of three groups of different magnetic tiles. The back of the magnetic tile body is an arc structure, and the bottom of the magnetic tile body is a horizontal structure.

[0006] Preferably, each magnetic tile of the magnetic tile body is provided with a countersunk bolt hole with a diameter of 4 mm, so as to facilitate the connection between the magnetic tile body and the base.

[0007] Preferably, the maximum height of the magnetic block in the magnetic tile body is 35 mm, the minimum height is 23 mm, the back of the magnetic tile body is ground into an inner arch structure with an arc radius of 120 mm, and the central angle of the back arc is 50°.

[0008] Preferably, the ratio of the central angles between the three groups of magnetic tiles of the magnetic tile body is 5:4:7, and the thickness of the magnetic blocks in the middle group is the largest.

[0009] Preferably, the bottom of the magnetic tile body is ground into a horizontal structure based on the midline of the bottom horizontal line of the magnetic tile body and the boundary line of the outermost magnetic block, and the outer sides of the bottoms of a group of identical magnetic blocks on the left and right sides of the magnetic tile body structure are ground into fillets with a radius of 20 mm.

[0010] Preferably, there is a gap of 0.1 mm between the three groups of magnetic tiles in the magnetic tile body, and an integral structure is formed after bonding.

[0011] Preferably, the magnetizing direction adopted by the magnetic tile body is a Halbach arc array, the magnetizing direction of the outermost magnetic tile combination on the left and right is along the radial direction of the back plate arc, the magnetizing direction of the other magnetic tile combination bonded to the outermost side is along the tangent direction of the back plate arc and symmetrical about the center line of the magnetic tile body, and the magnetizing direction of the middle magnetic tile is vertically downward.

[0012] By adopting the above technical solution, the beneficial effects of the present invention are:

[0013] 1) Compared with the existing rectangular magnetic tiles and fan-shaped magnetic tiles, the present invention can generate a relatively large magnetic force under the premise of the same magnetic block mass, and the magnetic force is increased by about 50%.

[0014] 2) Under the premise of providing the same magnetic force, the magnetic block required by the present invention has a smaller mass and a lighter weight, which can greatly reduce the loss of the magnetic block and has a higher economic benefit.

[0015] 3) Compared with the two types of rectangular magnetic tiles and fan-shaped magnetic tiles, the internal magnetic flux lines of the present invention are fuller and have a larger magneto-mass ratio (magnetic-mass ratio = magnetic force / mass), which is increased by about 40%. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Attached Figure 2 is a front view of the present invention;

[0018] Attached Figure 3 is a top view of the present invention;

[0019] Attached Figure 4 It is a partial schematic diagram of the present invention;

[0020] Attached Figure 5 It is a schematic diagram of the ratio of each magnetic block combination of the present invention;

[0021] Attached Figure 6 It is a schematic diagram of the magnetization direction of each magnetic block of the present invention;

[0022] Attached Figure 7 This is a comparison diagram of the appearance of the present invention and two other existing magnetic tiles;

[0023] Attached Figure 8 This is a schematic diagram of the present invention based on the improvement of the fan-shaped magnetic tile

[0024] Attached Fig. 9 This is a comparison diagram of the magnetic force of the present invention and two other existing magnetic tiles;

[0025] Attached Fig.10 This is a comparison chart of the magnetic mass ratio of the present invention and two other existing magnetic tiles;

[0026] Attached Fig.11 This is a comparison diagram of the internal cross-sectional magnetic flux lines of the present invention and two other existing magnetic tiles;

[0027] Attached Fig.12 This is a comparison of the magnetic induction intensity of the present invention and the other two existing magnetic tiles. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0029] As attached Figure 1-2 As shown, a special-shaped magnetic tile, whose magnetic tile body 10 mainly includes a magnetic block assembly 1, a magnetic block assembly 2, a magnetic block assembly 3 and a countersunk bolt drilling hole 4. The magnetic block assembly 1 is composed of two identical magnetic blocks 11 and 12, and the magnetic blocks 11 and 12 are symmetrical about the magnetic block assembly 3. The magnetic block assembly 2 is composed of two identical magnetic blocks 21 and 22, and the magnetic blocks 21 and 22 are symmetrical about the magnetic block assembly 3. The magnetic block assembly 3 is composed of a single magnetic block 31, which is located in the middle of the magnetic tile body 10.

[0030] As attached Figure 3 As shown, there is a magnetic block gap 51 with a spacing of 0.1mm between the magnetic block 11 and the magnetic block 21 in the magnetic tile body 10, and there is a magnetic block gap 54 with a spacing of 0.1mm between the magnetic block 12 and the magnetic block 22. There are magnetic block gaps 52 and 53 with a spacing of 0.1mm between the magnetic block 21, the magnetic block 22 and the magnetic block 31. The magnetic block gaps 51, 52, 53 and 54 are all bonded to form an integral magnetic block combination of the magnetic block 11, the magnetic block 21, the magnetic block 31, the magnetic block 22 and the magnetic block 12. There are two countersunk bolt holes 41, bolt holes 42, bolt holes 43, bolt holes 44 and bolt holes 45 with a diameter of 4mm symmetrically arranged along the center line, which are convenient for connecting the magnetic tile body 10 with the base.

[0031] As attached Figure 2-3The back of the magnetic tile body 10 is ground into an arc structure, the arc radius of which is 120 mm, the center angle of which is 50° and is distributed to each magnetic block in a certain proportion.

[0032] As attached Figure 4 , Attachment Figure 7 and attached Figure 8 As shown, the magnetic tile body 10 of the present invention is based on the sector-shaped magnetic tile, and the middle value of the vertical distance between the leftmost point of the magnetic block 11 and the bottommost point of the magnetic block 31 is taken as the horizontal grinding line at the bottom of the magnetic tile body 10. On this basis, the bottom outer sides of the magnetic blocks 11 and 12 are ground into a rounded structure with an arc radius of 20 mm. This method can greatly increase the magnetic force generated by the magnetic tile on the iron plate without increasing the weight of the magnetic block, thereby increasing the magnetic mass ratio of the magnetic tile.

[0033] As attached Figure 5-6 As shown, from left to right, the ratio of the central angles of the arcs on the backs of the magnetic blocks 11, 21, 31, 22, and 12 is 5:4:7:4:5. The magnetizing directions of the magnetic blocks 11 and 12 are along the radius of the arc of the back plate, the magnetizing directions of the magnetic blocks 21 and 22 are along the tangent direction of the arc of the back plate, and the two magnetizing directions are symmetrical about the center line of the magnetic tile body 10, and the magnetizing direction of the magnetic block 31 is vertically downward. The magnetizing directions of these five magnets form a Halbach array.

[0034] In order to further illustrate the usefulness of the present invention, finite element models of three different types of magnetic tiles were established, and the magnetic attraction of the magnetic tiles was numerically calculated and analyzed using Maxwell simulation software. The influence of different iron plate thicknesses and the distance between the magnetic tiles and the iron plate on the magnetic attraction was considered, and the calculation results were plotted into a graph, as shown in the attached figure. Fig. 9 -Attached Fig.12 As shown, combined with the numerical simulation results, the excellent performance of the special-shaped magnetic tile designed by the present invention is further illustrated:

[0035] (1) Taking a 10 mm thick iron plate as an example, we can obtain the following Fig. 9 The calculation results shown in the figure compare and analyze the magnitude of the magnetic force generated by the three magnetic tiles at different distances from the iron plate. It can be seen from the figure that the magnetic force provided by the present invention is always greater than that of the other two magnetic tiles at different distances, the decay rate of the magnetic force is slower than that of the other two magnetic tiles, and the sensitivity to distance is smaller.

[0036] (2) In order to further illustrate the superiority of the present invention, the distance between the most common magnetic tile and the iron plate of a vertical walking robot is 6 mm. The magnetic mass ratio of three types of magnetic tiles (magnetic mass ratio = magnetic force / magnetic block mass) is calculated, and the following is obtained. Fig.10Calculation results. Compare and analyze the magnetic mass ratios of the three magnetic tiles under different iron plate thicknesses. As can be seen from the figure, as the thickness of the iron plate increases, the magnetic mass ratio of the present invention increases. Compared with the other two magnetic tiles, the present invention always has a higher magnetic mass ratio for iron plates of different thicknesses, which is about 50% higher than the tile-shaped magnetic tiles. This means that under the premise of providing the same magnetic force as the other two magnetic tiles, the present invention requires a lower magnetic block weight and a smaller volume, which can greatly reduce the loss of the magnetic block and has higher economy.

[0037] (3) The magnetic induction intensity distribution cloud diagrams of different magnetic tiles under the same working conditions (iron plate thickness of 10 mm, distance from the iron plate of 6 mm) were compared and analyzed, and the following results were obtained. Fig.11 -Attached Fig.12 As can be seen from the figure, the magnetic flux lines inside the special-shaped magnetic tile of the present invention are fuller, and the magnetic flux lines on the surface of the iron plate are more densely distributed, which effectively reduces the magnetic field loss between the special-shaped magnetic poles, thereby being able to generate greater magnetic force and Fig. 9 and attached Fig.10 The magnetic attraction results provide strong evidence.

[0038] The analysis and explanation of the above data fully proves that the special-shaped magnetic tile of the present invention has the advantages of high magnetic force, low weight, small volume and high adaptability, which reflects the good usefulness and superiority of the present invention.

[0039] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A special-shaped magnetic tile, characterized in that: It comprises a magnetic tile body, which has five magnets in total and is composed of three groups of different magnetic tiles.

2. The special-shaped magnetic tile according to claim 1, characterized in that: The three groups of magnetic tiles are symmetrical about the center line of the magnetic tile structure. The central angles of the three groups of magnetic tiles are distributed according to a certain range of proportions. The middle magnetic block accounts for the largest proportion, and the two outermost magnetic blocks account for a smaller proportion than the middle magnetic block but larger than the two left and right magnetic blocks adjacent to the middle magnetic block.

3. The special-shaped magnetic tile according to claim 1, characterized in that: The magnetic blocks with the largest height in the magnetic tile body are the two outermost magnetic blocks, which have a height of 30 mm to 45 mm, and the magnetic block with the smallest height is the middle magnetic block, which has a height of 20 to 40 mm.

4. The special-shaped magnetic tile according to claim 1, characterized in that: There are gaps of a certain size between the three groups of magnetic tiles in the magnetic tile body, and a magnetic tile body is formed by bonding. Each magnetic tile has a countersunk bolt hole of a certain size to facilitate the connection between the magnetic tile body and the base.

5. The special-shaped magnetic tile according to claim 1, characterized in that: The back of the magnetic tile body is ground into an inner arch structure with an arc radius of 110° to 130°, and the center angle of the back arc is 40° to 60°.

6. The special-shaped magnetic tile according to claim 1, characterized in that: The bottom of the magnetic tile body is ground into a horizontal structure based on a certain range of heights at the bottom horizontal line of the magnetic tile body.

7. The special-shaped magnetic tile according to claim 1, characterized in that: The outer sides of the bottoms of a group of identical magnetic blocks at the outermost sides of the magnetic tile body structure are ground into fillets with a radius of 15 to 25 mm.

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