Magnetic attraction type robot wheel

Abstract

The invention relates to the technical field of magnetic attraction type robots, and particularly discloses a magnetic attraction type robot wheel which comprises a wheel body, a rubber sleeve and a magnetic sheet, the whole wheel body is of a cylindrical structure, and a connecting shaft is arranged on the end face of the wheel body; the magnetic sheets are made of permanent magnet materials, the whole magnetic sheets are of an arc-shaped structure, the multiple magnetic sheets are arranged in an annular array mode along the circumferential face of the wheel body, and the outer side of the circumferential face of the wheel body is wrapped with the rubber sleeve; a mounting groove is formed in the circumferential surface of the wheel main body, and a connecting sleeve is arranged in the mounting groove; a sinking groove is formed in the side, attached to the wheel body, of the magnetic sheet, a fixing plate is embedded in the sinking groove, a stud is arranged on the fixing plate, and the stud is connected with the connecting sleeve through threads. According to the wheel provided by the invention, the plurality of magnetic sheets are attached to the surface of the wheel, so that when the magnetic sheet permanent magnets are damaged, only the single magnetic sheet needs to be replaced, and the maintenance cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic suction type robots, in particular to a magnetic suction type robot wheel. Background Art

[0002] Magnetic mobile robots are widely used in robot equipment maintenance, inspection and other fields. A magnetic wheel is essential for the robot. By embedding permanent magnets on the wheel, the robot can be adsorbed on the metal surface and can move freely.

[0003] The permanent magnets on existing wheels are usually arranged in a ring shape and are directly put on the wheel as a whole and fixed thereto. During use, once the permanent magnet is damaged or otherwise worn out, the whole is scrapped and needs to be replaced as a whole, which has a high maintenance cost and is inconvenient to replace and install as a whole, making maintenance and repair difficult. Summary of the invention

[0004] The purpose of the present invention is to provide a magnetic robot wheel to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a magnetic robot wheel, comprising a wheel body, a rubber sleeve and a magnetic sheet, wherein the wheel body is an overall cylindrical structure, a connecting shaft is arranged on the end face of the wheel body, and the connecting shaft is connected to the robot base; the magnetic sheet is made of permanent magnet material, and its overall arc-shaped structure, and there are multiple magnetic sheets, the magnetic sheets are arranged in a ring array along the circumferential surface of the wheel body, and the rubber sleeve is wrapped around the outer side of the circumferential surface of the wheel body; an installation groove is arranged on the circumferential surface of the wheel body, and a connecting sleeve is arranged in the installation groove; a countersunk groove is provided on one side of the magnetic sheet that is attached to the wheel body, a fixing plate is arranged inlaid in the countersunk groove, a stud is connected to the fixing plate through a connecting column, and the stud is connected to the threaded hole on the connecting sleeve through a thread.

[0006] Preferably, two annular limiting belts are arranged opposite to each other on the cylindrical surface of the wheel body, the magnetic sheet is arranged between the two limiting belts, and the outer side surfaces of the limiting belt and the magnetic sheet are kept flush.

[0007] Preferably, a clamping belt is arranged on the outer side of the limiting belt, and a clamping groove is arranged on the inner side of the rubber sleeve to be clamped with the clamping belt.

[0008] Preferably, strip-shaped positioning belts are symmetrically arranged on both sides of the installation groove, the cross-section of the positioning belt is arranged as a trapezoidal structure, and the edges of the positioning belts are arranged with chamfered structures; positioning grooves are correspondingly arranged on the magnetic sheet, and the positioning belts are engaged with the positioning grooves.

[0009] Preferably, a rotating seat is provided at the bottom of the connecting sleeve, the rotating seat is fixed to the bottom of the mounting groove, and is connected to the output end of the driving motor embedded in the bottom of the mounting groove; the connecting column is fitted with the groove wall of the mounting groove, and the ends of the connecting column and the stud are provided with chamfered structures.

[0010] Compared with the prior art, the present invention has the following beneficial effects: the wheel provided by the present invention has multiple magnetic sheets attached to the wheel surface, and when the permanent magnet of the magnetic sheet is damaged, only a single magnetic sheet needs to be replaced, thereby reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the present invention;

[0012] Figure 2 It is a schematic diagram of the installation of the magnetic sheet of the present invention;

[0013] Figure 3 It is a schematic diagram of the main structure of the wheel of the present invention;

[0014] Figure 4 It is a schematic diagram of assembling the magnetic sheet and the connecting sleeve of the present invention;

[0015] Numbers in the figure: 1. Wheel body; 11. Connecting shaft; 12. Limiting belt; 13. Cardan; 14. Mounting groove; 15. Positioning belt; 2. Rubber sleeve; 3. Magnetic sheet; 31. Countersunk groove; 32. Positioning groove; 4. Connecting sleeve; 41. Rotating seat; 5. Fixing plate; 51. Connecting column; 52. Stud. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] See also Figure 1-4 The present invention provides a technical solution: a magnetic robot wheel, comprising a wheel body 1, a rubber sleeve 2 and a magnetic sheet 3, wherein the wheel body 1 is in a cylindrical structure as a whole, and a connecting shaft 11 is arranged on the end face of the wheel body 1, and the connecting shaft 11 is connected to the robot base; the magnetic sheet 3 is made of permanent magnet material, and is in an arc-shaped structure as a whole, and a plurality of magnetic sheets 3 are provided, and the magnetic sheets 3 are arranged in a ring array along the circumferential surface of the wheel body 1, and the rubber sleeve 2 is wrapped around the outer side of the circumferential surface of the wheel body 1; a mounting groove 14 is arranged on the circumferential surface of the wheel body 1, and a connecting sleeve 4 is arranged in the mounting groove 14; a sink groove 31 is arranged on one side of the magnetic sheet 3 that is in contact with the wheel body 1, and a fixing plate 5 is arranged and embedded in the sink groove 31, and a stud 52 is connected to the fixing plate 5 through a connecting column 51, and the stud 52 is connected to the threaded hole on the connecting sleeve 4 through a thread.

[0020] Furthermore, two annular limiting belts 12 are arranged on the cylindrical surface of the wheel body 1, and the magnetic sheet 3 is arranged between the two limiting belts 12. The outer side surfaces of the limiting belt 12 and the magnetic sheet 3 are kept flush.

[0021] Furthermore, a clamping belt 13 is arranged on the outer side of the limiting belt 12 , and a clamping groove is arranged on the inner side of the rubber sleeve 2 to be clamped with the clamping belt 13 .

[0022] Furthermore, strip-shaped positioning belts 15 are symmetrically arranged on both sides of the installation groove 14, the cross-section of the positioning belt 15 is arranged to be a trapezoidal structure, and the edges of the positioning belt 15 are provided with chamfered structures; corresponding positioning grooves 32 are arranged on the magnetic sheet 3, and the positioning belts 15 are engaged with the positioning grooves 32.

[0023] Furthermore, a rotating seat 41 is provided at the bottom of the connecting sleeve 4, and the rotating seat 41 is fixed to the bottom of the mounting groove 14 and connected to the output end of the driving motor embedded in the bottom of the mounting groove 14; the connecting column 51 is fitted with the groove wall of the mounting groove 14, and the ends of the connecting column 51 and the stud 52 are both provided with chamfered structures.

[0024] Working principle: In actual use, the rubber sleeve 2 is sleeved on the outer side of the circumferential surface of the wheel body 1 to protect the magnetic sheet 3 on the inner side, and the rubber sleeve 2 will not affect the magnetic strength of the magnetic sheet 3; the limiting belt 12 on the wheel body 1 can clamp the magnetic sheet 3, and a protruding clamping belt 13 is provided to engage with the clamping groove on the rubber sleeve 2 for installing the rubber sleeve 2.

[0025] The arc-shaped magnetic piece 3 is arranged to have the same axis as the wheel body 1, so that it can fit perfectly on the circumferential surface of the wheel body 1; the positioning belt 15 is inserted into the positioning groove 32 to ensure the installation angle of the magnetic piece 3 and avoid deflection. The connecting sleeve 4 is driven to rotate by the rotating seat 41, so that it is connected to the stud 52 through threads, thereby fixing the magnetic piece 3 and ensuring its installation stability. The magnetic piece 3 can be disassembled separately and replaced separately, and the replacement method only needs to turn on the corresponding servo motor to work, which is convenient for disassembly and assembly.

[0026] It is worth noting that the entire device is controlled by a main control button. Since the device matched with the control button is a common device and belongs to the existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A magnetic robot wheel, characterized in that: The invention comprises a wheel body (1), a rubber sleeve (2) and a magnetic sheet (3), wherein the wheel body (1) is in an overall cylindrical structure, a connecting shaft (11) is arranged on the end surface of the wheel body (1), and the connecting shaft (11) is connected to a robot base; the magnetic sheet (3) is made of a permanent magnet material and is in an overall arc-shaped structure, and a plurality of magnetic sheets (3) are provided, the magnetic sheets (3) are arranged in a ring array along the circumferential surface of the wheel body (1), and the rubber sleeve (2) is wrapped around the outer side of the circumferential surface of the wheel body (1); a mounting groove (14) is provided on the circumferential surface of the wheel body (1), and a connecting sleeve (4) is provided in the mounting groove (14); a recessed groove (31) is provided on one side of the magnetic sheet (3) that is in contact with the wheel body (1), a fixing plate (5) is provided inlaid in the recessed groove (31), a stud (52) is connected to the fixing plate (5) via a connecting column (51), and the stud (52) is connected to a threaded hole on the connecting sleeve (4) via a thread.

2. The magnetic robot wheel according to claim 1, characterized in that: Two annular limiting belts (12) are arranged opposite to each other on the cylindrical surface of the wheel body (1); the magnetic sheet (3) is arranged between the two limiting belts (12); and the outer side surfaces of the limiting belt (12) and the magnetic sheet (3) are kept flush.

3. The magnetic robot wheel according to claim 2, characterized in that: A clamping belt (13) is arranged on the outer side of the limiting belt (12), and a clamping groove is arranged on the inner side of the rubber sleeve (2) and is clamped with the clamping belt (13).

4. The magnetic robot wheel according to claim 1, characterized in that: The installation groove (14) is symmetrically provided with strip-shaped positioning belts (15), the cross section of the positioning belt (15) is arranged to be a trapezoidal structure, and the edges of the positioning belt (15) are provided with chamfered structures; the magnetic sheet (3) is correspondingly provided with positioning grooves (32), and the positioning belts (15) are engaged with the positioning grooves (32) in a coordinated manner.

5. The magnetic robot wheel according to claim 1, characterized in that: A rotating seat (41) is provided at the bottom of the connecting sleeve (4); the rotating seat (41) is fixed to the bottom of the mounting groove (14) and is connected to the output end of the driving motor embedded in the bottom of the mounting groove (14); the connecting column (51) is in contact with the groove wall of the mounting groove (14); and the ends of the connecting column (51) and the stud (52) are both provided with chamfered structures.

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