Wheel type magnetic adsorption device for detecting wall-climbing robot in pipeline

Abstract

The invention relates to the field of wall-climbing robots, in particular to a wheel type magnetic adsorption device for detecting a wall-climbing robot in a pipeline, which comprises a wheel body shell, a magnetic wheel is arranged in the wheel body shell, the wheel body shell is coated with a wheel body rubber coating, the magnetic wheel comprises yoke iron, magnetic steel and a tire, the yoke iron is arranged on two sides of the magnetic steel, and the tire is arranged on the magnetic steel. Grooves are formed in the outer side end faces of the yokes on the two sides, four circular claws are arranged on the inner ring of the tire, and the circular claws are correspondingly buckled into the grooves in the two sides to limit the tire in the generatrix direction. The magnetic steel comprises a plurality of permanent magnet blocks which are the same in size and shape, and the permanent magnet blocks are arranged in a Halbach array mode. By adopting the Halbach array structure, the magnetic field intensity and the adsorption force are remarkably enhanced, and meanwhile, the number of magnets and electromagnetic interference to surrounding electronic elements and a motor are reduced, so that the weight and the cost of the device are reduced, the stability and the safety of the system are improved, and the portability and the maintainability are improved.

Description

Technical Field

[0001] The invention relates to the field of wall-climbing robots, and in particular to a wheeled magnetic adsorption device for detecting wall-climbing robots in pipelines. Background Art

[0002] Many industrial pipelines and oil and gas pipelines have aged due to long-term use, and have defects such as corrosion and cracks, which require regular inspection to ensure safe operation. Traditional inspection methods such as manual inspection or partial disassembly inspection are inefficient, costly, and have safety risks. The environment inside the pipeline is complex, and there may be dirt, water accumulation, oil pollution, etc., which will affect the operation and adsorption effect of the detection equipment. The narrow space inside the pipeline also limits the size and structural design of the detection equipment; at the same time, the pipeline has a variety of shapes, and there are complex pipeline structures such as straight pipes, elbows, tees, and reducers, which put higher requirements on the robot's motion control and adsorption stability. Therefore, for the safe operation of the pipeline, it is very important to use a pipeline in-pipeline inspection climbing robot to perform internal inspection operations on the pipeline, grasp the pipeline status information, and provide guidance for pipeline maintenance work.

[0003] Pipeline inspection wall-climbing robots require reliable adsorption and movement mechanisms to complete their tasks. Magnetic adsorption, including permanent magnet and electromagnetic adsorption, is an ideal adsorption method because of its simple structure, strong adsorption force, high efficiency and strong adaptability, but the premise is that the wall must be made of ferromagnetic material. Reliable adsorption is crucial to ensure the safe operation of the robot. Compared with negative pressure adsorption, magnetic adsorption, especially permanent magnetic adsorption, has higher reliability and greater adsorption force. Therefore, in large ferromagnetic wall environments, most wall-climbing robots use magnetic adsorption.

[0004] Permanent magnetic adsorption and electromagnetic adsorption each have their own advantages and disadvantages: the adsorption force of electromagnetic adsorption is adjustable and easy to control, but it is large in size and there is a risk of falling after power failure; permanent magnetic adsorption has a compact structure, strong adsorption force and does not require power supply, but the magnetic force is not adjustable. Due to the reliability and safety of permanent magnetic adsorption, it is widely used in pipeline inspection wall-climbing robots. The adsorption and movement mechanism of permanent magnetic adsorption wall-climbing robots are combined in various ways, including wheeled, magnetic crawler, and magnetic suction cup types. There are also some composite adsorption methods that combine other technologies such as magnetic adsorption and vacuum adsorption. However, most of the existing wheeled magnetic adsorption devices use vertically magnetized square or arc-shaped magnets, which are essentially the same solution. The adsorption force can only be increased by increasing the number of magnets, which makes the device bulky. Summary of the invention

[0005] In order to solve the above technical problems existing in the prior art, the present invention proposes a wheeled magnetic adsorption device for a wall-climbing robot for pipeline detection, which utilizes the magnet structure of the Halbach array to generate a strong magnetic field with a smaller number of magnets, thereby enhancing the adsorption force of the device. The specific technical solution is as follows: A wheeled magnetic adsorption device for a wall-climbing robot for detecting in pipelines comprises: a wheel body shell, a magnetic wheel is arranged in the wheel body shell, and the wheel body shell is covered with a wheel body rubber bag. The magnetic wheel comprises a yoke, a magnetic steel and a tire. The yoke is arranged and installed on both sides of the magnetic steel. The outer end faces of the yokes on both sides are provided with grooves. The inner ring of the tire is provided with four round claws. The round claws are correspondingly buckled into the grooves on both sides to limit the tire in the generatrix direction. The magnetic steel comprises a plurality of permanent magnet blocks of the same size and shape, and the plurality of permanent magnet blocks are arranged in the form of a Halbach array.

[0006] Furthermore, a parts cover is provided on one side of the wheel body shell, and the other side is designed as a round table, on which a bearing buckle is provided.

[0007] Furthermore, the centers of the through holes of the yokes at both sides and the centers of the through holes of the magnetic steels are on the same generatrix parallel line.

[0008] Furthermore, the lower edge of the cross section of the permanent magnet block is in an arc shape.

[0009] Furthermore, the magnetizing directions of the plurality of permanent magnet blocks change clockwise by 45° starting from the first block, forming a magnetic field distribution cycle.

[0010] Furthermore, the magnetization direction of the first permanent magnet block is perpendicular to its side surface.

[0011] Furthermore, the tire is made of polyurethane rubber.

[0012] Compared with the prior art, the advantages of the present invention are: (1) Higher adsorption force and lighter weight: The Halbach array structure significantly enhances the magnetic field strength and adsorption force while reducing the number of magnets, thereby reducing the weight and cost of the device and improving portability and maintainability.

[0013] (2) Lower electromagnetic interference: The nearly one-sided magnetic field generated by the Halbach array minimizes electromagnetic interference to surrounding electronic components and motors, improving system stability and safety.

[0014] (3) Higher magnetic energy utilization: Through finite element analysis, the key parameters of the magnet unit are optimized, the performance of the permanent magnet is maximized, and the ratio of adsorption force to device weight is optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural cross-sectional view of the wheeled magnetic adsorption device of this embodiment; Figure 2 is a schematic diagram of the Halbach array arrangement of the magnetic steel of this embodiment; Figure 3Schematic diagram of the magnetization method of the Halbach array magnetic steel of this embodiment; In the figure, 1-yoke, 2-magnetic steel, 3-tire. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical scheme and technical effect of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0017] like Figure 1 As shown, a wheeled magnetic adsorption device for a wall-climbing robot for detecting in a pipeline according to an embodiment of the present invention comprises a yoke 1, a magnetic steel 2, a tire 3, a wheel body shell, and a wheel body rubber bag. The wheel body shell is a semi-open and semi-closed structure with two asymmetric sides, one side of which is designed with a parts cover, which cooperates with and covers the robot wheel axle, and the other side is designed as a round table, on which a bearing buckle is provided. At the same time, a groove is designed on one side of the yoke 1 to cooperate with the tire 3. The cross-section of the tire 3 is an irregular arc shape, comprising four round claws, which limit the tire 3 in the direction of the generatrix after being buckled into the groove. The through-hole centers of the yoke 1 on both sides and the through-hole centers of the magnetic steel 2 are on the same generatrix parallel line. The magnetic steel 2 is connected to the wheel axle through the yoke 1, and the wheeled magnetic adsorption device of the present invention is connected to the wheel axle through a bearing. The magnetic steel 2 provides suction between the vertical wall to ensure that the wheeled magnetic adsorption device of the present invention will not separate from the wall surface during the movement on the vertical wall and move normally.

[0018] The magnetic steel 2 is composed of a plurality of permanent magnet blocks with the same size and shape and arc-shaped lower edges of the cross sections, such as Figure 2 As shown, the traditional magnetizing method of the magnetic wheel is changed, and the magnetic array adopts the Halbach array. The arc-shaped part of the magnet used is a circular arc, which is used to adapt to the tire to reduce wear and provide a certain protective effect. Four magnets constitute a magnetic field distribution cycle, and the role of the last magnet is to supplement the magnetic field to make it complete, generating a total of three cycles of sinusoidal magnetic fields. This embodiment adopts the efficient magnet structure of the Halbach array, and utilizes its special magnet arrangement method to generate the strongest magnetic field with the least number of magnets.

[0019] like Figure 3 As shown, the direction of the arrow is the magnetization direction of each single magnet. The first block is a vertical side surface. Starting from the second block, the magnetization direction is obtained by rotating the previous block 45° clockwise, that is, the magnetization direction of the magnet block changes 45° clockwise from the first block, forming a magnetic field distribution cycle.

[0020] The tire 3 is made of polyurethane rubber, which has high strength and wear resistance while maintaining a good friction coefficient.

[0021] In summary, the present invention proposes a wheeled magnetic adsorption device based on the Halbach array, which uses the Halbach array structure to generate the maximum magnetic field strength and adsorption force with the least number of magnets. At the same time, the Halbach array approximately generates a single-sided magnetic field, which significantly reduces the electromagnetic interference to other electronic devices, while also reducing weight, reducing costs, and improving adsorption force and system reliability, showing good application prospects.

[0022] The above is only a preferred implementation case of the present invention and does not limit the present invention in any form. Although the implementation process of the present invention is described in detail above, for those familiar with the art, they can still modify the technical solutions recorded in the above examples, or replace some of the technical features therein with equivalents. All modifications, equivalent replacements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheeled magnetic adsorption device for a wall-climbing robot for detecting in pipelines, comprising: A wheel body shell, a magnetic wheel is arranged inside the wheel body shell, and the wheel body shell is covered with a wheel body rubber bag, characterized in that the magnetic wheel comprises a yoke (1), a magnetic steel (2) and a tire (3), the yoke (1) is arranged and installed on both sides of the magnetic steel (2), the outer end faces of the yoke (1) on both sides are provided with grooves, and the inner ring of the tire (3) is provided with four round claws, which are correspondingly buckled into the grooves on both sides to limit the tire (3) in the generatrix direction; the magnetic steel (2) comprises a plurality of permanent magnet blocks of the same size and shape, and the plurality of permanent magnet blocks are arranged in the form of a Halbach array.

2. The wheeled magnetic adsorption device according to claim 1, characterized in that: One side of the wheel body shell is provided with a parts cover, and the other side is designed as a round table, and a bearing buckle is provided on the round table.

3. The wheeled magnetic adsorption device according to claim 1, characterized in that: The centers of the through holes of the yoke irons (1) on both sides and the centers of the through holes of the magnetic steel (2) are on the same generatrix parallel line.

4. The wheeled magnetic adsorption device according to claim 1, characterized in that: The lower edge of the cross section of the permanent magnet block is in an arc shape.

5. The wheeled magnetic adsorption device according to claim 1, characterized in that: The magnetizing directions of the plurality of permanent magnet blocks change clockwise by 45° starting from the first block, forming a magnetic field distribution cycle.

6. The wheeled magnetic adsorption device according to claim 5, characterized in that: The magnetization direction of the first permanent magnet block is perpendicular to its side surface.

7. The wheeled magnetic adsorption device according to claim 1, characterized in that: The tire (3) is made of polyurethane rubber.

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