Permanent magnet driving wheel device with adjustable dual adsorption mechanism

Abstract

The invention relates to the technical field of wall-climbing robot related equipment, in particular to a permanent magnet driving wheel device with an adjustable dual adsorption mechanism, which comprises a central shaft, the central shaft is provided with a wheel disc and a permanent magnet wheel, and the permanent magnet wheel comprises a permanent magnet wheel hub sleeved on the central shaft and permanent magnet wheel end covers arranged on two sides of the permanent magnet wheel hub; a plurality of permanent magnet magnetic blocks are arranged in the circumferential direction of the permanent magnet wheel hub, a permanent magnet circumferential separation blade is arranged at the joint of every two adjacent permanent magnet magnetic blocks, and two E-shaped buckles are arranged on the center shaft and used for limiting the permanent magnet wheel hub on the center shaft; a circumferential rotating body is arranged on the side, away from a wheel disc, of a permanent magnet wheel hub on one side of the center shaft, a through hole for a connecting bolt to penetrate through is formed in the end face of the circumferential rotating body, and a screw hole and a circumferential set screw arranged in the screw hole are arranged on the side face of the circumferential rotating body. And after the work is finished, the workpiece cannot be smoothly picked from the wall surface.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robot related equipment, and particularly relates to a permanent magnet drive wheel device with an adjustable dual adsorption mechanism. Background Art

[0002] With the rapid development of industrial automation and intelligence, the demand for robots that can operate efficiently in complex environments is increasing day by day. Especially in fields such as oil storage tank inspection and ship rust removal, robots are required to work stably on vertical or inclined walls. Traditional wall-climbing robots mostly adopt vacuum adsorption or mechanical grasping methods. These methods have high requirements for the flatness of the wall surface and poor stability in complex environments. As an adsorption method, the permanent magnet adsorption technology has great application potential in the field of wall-climbing robots due to its advantages such as no external energy supply, simple structure, low cost, and convenient maintenance. It can provide stable magnetic force, enabling the robot to firmly adsorb on the surface of ferromagnetic materials, such as steel structure buildings, ships, and storage tanks. The adsorption method is one of the key factors in the design of wall-climbing robots, which determines whether the robot can stably adhere to various surfaces and effectively move in different working environments.

[0003] The permanent magnet adsorption methods of wall-climbing robots are divided into three adsorption methods: bottom plate type, crawler type, and wheel type according to the characteristics of the adsorption device, and are also divided into two methods: contact and non-contact according to the contact situation between the robot and the wall surface during work. The bottom plate type adsorption can achieve non-contact adsorption, but there is a risk of touching the bottom when crossing the weld. The advantages of the crawler type permanent magnet adsorption wall-climbing robot lie in its good wall surface adaptability and strong load capacity, while its disadvantages are reflected in the risk of secondary damage to the workpiece surface during turning due to the direct contact between the loaded permanent magnets and the metal wall surface. In contrast, the wheel type permanent magnet adsorption wall-climbing robot has obvious advantages in terms of movement speed, flexibility, energy consumption, etc., and can quickly respond to changes in different wall surface conditions. However, the wheel type wall-climbing robot has some limitations in the precise control of adsorption force, load capacity, and requirements for wall surface adaptability.

[0004] The literature "Design of a Wall-Climbing Robot Body Based on Magnetic Adsorption" and the literature "Design and Analysis of a Wheel-Leg Compound Variable Curvature Ship Hull Cleaning Robot" both adopt wheel type permanent magnet adsorption structures. However, these studies use a whole ring-shaped magnet and only perform single-axis magnetization on it. During work, the magnetic leakage is large, the magnetic flux utilization rate is low, the volume of the permanent magnet wheel is large, and the adjustment of the adsorption force size cannot be achieved.

[0005] Both the literature "A Novel Magnetic Circuit Design Method for a Permanent Magnetic Chuck of a Wall-Climbing Robot" and the literature "Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot" adopt the adsorption method of permanent magnetic wheels and have completed the pendulum-type magnetic adsorption mechanism. Aiming at reducing the mass of the magnetic adsorption mechanism while improving its adsorption reliability, the magnetic induction lines of the designed pendulum-type magnetic adsorption mechanism form a closed loop with the magnetic conductive facade, and the change in the density of the magnetic induction lines is relatively uniform, and the magnetic product energy of the permanent magnet is fully utilized. However, such a structure still cannot achieve the adjustment of the adsorption force.

[0006] In the literature "Magnetic Field Analysis and Structure Design of a New Magnetic Wheel for Wall-Climbing Robot", a magnetic conductive yoke is added to the magnetic wheel to enhance the magnetic circuit and improve the attraction effect of the magnetic wheel. In the arrangement of the permanent magnets, the Halbach array form is used to process the magnetic blocks, and a circular magnetic wheel is pieced together by eight sector-shaped magnetic blocks with different magnetization directions. Considering that the thickness of the magnetic conductive yoke will affect the magnitude of the adsorption force, the "3 + 2" arrangement structure is adopted, and under the same size, the weight is reduced by about 0.37 times. Under the limitations of limited space and weight, the Maxwell field is maximized and the magnetization effect is better. Similarly, in the literature "Design and Simulation Analysis of a Magnetic Adsorption Mechanism for a Wall-Climbing Robot", on the basis of the Halbach array magnet, the shapes, sizes, magnetization directions and arrangement methods of the magnets are readjusted. In the designed magnetic adsorption mechanism, the magnets on the magnetic head and the magnetic tail are of different sizes, and the size specification of the magnetic head is larger than that of the tail, improving the utilization rate of magnetic energy and reducing the overall mass of the adsorption mechanism.

[0007] The Chinese patent with the application number 201510173039.8 designs a magnetic adsorption wheel for a wall - climbing robot. The permanent - magnet wheels are arranged in a Halbach array, which greatly improves the adsorption force of the permanent - magnet wheels. However, this design only unilaterally improves the adsorption force of the permanent - magnet wheels and does not consider how to weaken the adsorption force of the magnetic adsorption wheels. The Chinese patent with the application number 2019101827156 designs a variable - magnetic - force adsorption system that can be charged and demagnetized. This system realizes the generation and elimination of the magnetic field of the adsorption device through a charge - and - demagnetization control circuit, facilitating the robot to smoothly pick up from the adsorbed wall surface. However, since the single - chip microcomputer control system needs to ensure airtightness, it cannot work properly in an environment with high humidity (such as rainy days), which brings limitations to the application of the robot in specific working environments. In addition, the charge - and - demagnetization process of the system may be affected by the circuit stability and control accuracy, resulting in unstable adsorption force, thus affecting the accuracy and efficiency of the robot operation.

[0008] In summary, the existing research on the adsorption of permanent - magnet wheels mainly focuses on improving the adsorption capacity to increase the stability of the robot during operation. However, it is impossible to adjust the magnitude of the adsorption force; while the structure that uses electromagnetic control to achieve changes in the adsorption force of the adsorption device has problems such as limited use environment (such as rainy days), which causes great trouble for the robot to pick up from the metal wall surface after completing the work. Summary of the Invention

[0009] The purpose of the present invention is to provide a permanent - magnet - driven wheel device with an adjustable dual - adsorption mechanism, which solves the problems that the adsorption force generated by the adsorption device of the existing magnetic - adsorption - wheel - type wall - climbing robot is not adjustable and it cannot be smoothly picked up from the wall surface after the work is completed, and expands the application scenarios.

[0010] To solve the above - mentioned technical problems, the present invention adopts the following technical solutions:

[0011] A permanent - magnet - driven wheel device with an adjustable dual - adsorption mechanism includes a central shaft. A wheel disc is fixedly sleeved on the central shaft, and two permanent - magnet wheels are rotatably sleeved on the central shaft. The two permanent - magnet wheels are arranged on both sides of the wheel disc and are connected to the wheel disc through connecting bolts;

[0012] The permanent - magnet wheel includes a permanent - magnet - wheel hub sleeved on the central shaft and permanent - magnet - wheel end caps arranged on both sides of the permanent - magnet - wheel hub. A plurality of permanent - magnet blocks are arranged along the circumferential direction of the permanent - magnet - wheel hub, and the plurality of permanent - magnet blocks are spliced into a ring shape along the circumferential direction of the permanent - magnet - wheel hub. A permanent - magnet circumferential baffle is provided at the connection of adjacent two permanent - magnet blocks, and both sides of the permanent - magnet circumferential baffle are respectively connected to the two permanent - magnet - wheel end caps;

[0013] There are two E-shaped buckles provided on the central axis, and they are spaced apart on the sides of the two permanent magnet wheel hubs away from each other, and are used to limit the permanent magnet wheel hubs on the central axis.

[0014] On the side of the permanent magnet wheel hub on one side of the central axis away from the wheel disc, there is a circumferential rotating body. The end face of the circumferential rotating body is provided with through holes through which connecting bolts pass, and its side face is provided with threaded holes and circumferential set screws arranged in the threaded holes.

[0015] A further technical solution is that the permanent magnet wheel hub is circumferentially provided with eight permanent magnet mounting grooves distributed in an annular array, and the included angle between adjacent two mounting grooves is 45°. Multiple permanent magnet blocks are respectively arranged in the permanent magnet mounting grooves on the permanent magnet wheel hub in the form of a Halbach ring array.

[0016] An even further technical solution is that axially limiting ring grooves for installing E-shaped buckles are symmetrically arranged on both sides of the wheel disc on the central axis, and are used for the E-shaped buckles to axially limit the permanent magnet wheel. One end of the central axis is provided with a D-shaped hole for connecting with a motor.

[0017] An even further technical solution is that the diameter of the permanent magnet wheel end cover is smaller than the diameter of the middle wheel disc of the central axis.

[0018] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0019] 1. The permanent magnet drive wheel adsorption device designed by the present invention has a dual magnetic adsorption mechanism. The permanent magnet blocks of the first and second permanent magnet wheels are arranged in a Halbach ring layout. The two permanent magnet wheels can respectively generate a closed magnetic induction line loop with the wall surface, thereby generating a large adsorption force; also, the magnetization directions of the permanent magnet blocks of the two permanent magnet wheels corresponding to each other can be changed to make the magnetic induction lines between the permanent magnet blocks arranged oppositely on the two permanent magnet wheels show one vertically magnetized, one horizontally magnetized; two vertically magnetized in opposite directions; two horizontally magnetized; these three different magnetization types correspond to three different adsorption force results and are applicable to three different working states.

[0020] 2. The permanent magnet drive wheel adsorption device designed by the present invention has three different adsorption states, namely, the adsorption force stable state, the adsorption force enhanced state, and the adsorption force weakened state, which are respectively applied to different working environments; in the adsorption force stable state, it can provide a stable and reliable continuous adsorption force, ensuring the stability of the robot moving on the wall surface; in the adsorption force enhanced state, it provides a greater adsorption force for the robot, ensuring that the robot can be stably adsorbed on the wall surface in extremely harsh environments and avoiding the danger of overturning and flipping; in the adsorption force weakened state, the adsorption force of the wall-climbing robot is greatly weakened, and the robot can be more conveniently removed from the wall surface.

[0021] 3. The present invention provides a permanent magnet drive wheel device with an adjustable dual adsorption mechanism, which has a simple structure, reasonable design and strong load capacity, enhances the adjustable performance of the adsorption force of the permanent magnet adsorption wheel, can be used for a wheeled wall-climbing robot with permanent magnet adsorption, and greatly improves the maneuverability and application scenarios of the wall-climbing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 FIG. is a schematic perspective view of a permanent magnet wheel device with an adjustable dual adsorption mechanism according to the present invention.

[0023] Figure 2 FIG. is a front view of a permanent magnet wheel device with an adjustable dual adsorption mechanism according to the present invention.

[0024] Figure 3 FIG. is a front sectional view of a permanent magnet wheel device with an adjustable dual adsorption mechanism according to the present invention.

[0025] Figure 4 FIG. is a left view of a permanent magnet wheel device with an adjustable dual adsorption mechanism according to the present invention.

[0026] Figure 5 FIG. is a left sectional view of a permanent magnet wheel device with an adjustable dual adsorption mechanism according to the present invention.

[0027] Figure 6 FIG. is a diagram of the magnetization direction of the permanent magnet blocks of the permanent magnet wheel structure according to the present invention.

[0028] Figure 7 FIG. is a schematic perspective view of the permanent magnet wheel hub according to the present invention.

[0029] Figure 8 FIG. is an exploded schematic perspective view of a permanent magnet wheel device with an adjustable dual adsorption mechanism according to the present invention.

[0030] Figure 9 FIG. is a schematic diagram of the magnetization direction of the permanent magnet wheel in the present invention.

[0031] Reference numerals: 1 - central axis, 2 - circumferential retaining piece for permanent magnet, 3 - permanent magnet block, 4 - connecting bolt, 5 - circumferential set screw, 6 - circumferential rotating body, 7 - connecting nut, 8 - permanent magnet wheel end cover, 9 - permanent magnet wheel hub, 10 - E-type buckle, 11 - wheel disc, 12 - permanent magnet installation groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] Embodiment:

[0034] Figures 1-9 Fig. 3 shows a preferred embodiment of a permanent magnet drive wheel device with an adjustable dual adsorption mechanism according to the present invention. The permanent magnet drive wheel device in this embodiment specifically includes a central shaft 1. A wheel disc 11 is fixedly sleeved on the central shaft 1, and two permanent magnet wheels are rotatably sleeved. The two permanent magnet wheels are arranged on both sides of the wheel disc 11 and are connected to the wheel disc 11 through connecting bolts 4.

[0035] The permanent magnet wheel includes a permanent magnet wheel hub 9 sleeved on the central shaft 1 and permanent magnet wheel end caps 8 arranged on both sides of the permanent magnet wheel hub 9. A plurality of permanent magnet blocks 3 are arranged along the circumferential direction of the permanent magnet wheel hub 9, and the plurality of permanent magnet blocks 3 are spliced into a ring shape in the circumferential direction of the permanent magnet wheel hub 9. A permanent magnet circumferential retaining piece 2 is arranged at the connection of adjacent two permanent magnet blocks 3, and both sides of the permanent magnet circumferential retaining piece 2 are respectively connected to the two permanent magnet wheel end caps 8.

[0036] Two E-shaped buckles 10 are arranged on the central shaft and are spaced on the sides of the two permanent magnet wheel hubs away from each other for limiting the permanent magnet wheel hub on the central shaft.

[0037] A circumferential rotating body is arranged on the side of the permanent magnet wheel hub on one side of the central shaft away from the wheel disc 11. A through hole through which a connecting bolt passes is arranged on the end face of the circumferential rotating body, and a screw hole and a circumferential set screw arranged in the screw hole are arranged on the side face.

[0038] Specifically, as shown in Figure 8 a plurality of card slots distributed in an annular array are arranged on the permanent magnet wheel end cap 8. The number of card slots is the same as the number of permanent magnet circumferential retaining pieces 2, and both sides of the permanent magnet circumferential retaining piece 2 are respectively clamped with the card slots on the two permanent magnet wheel end caps 8 on both sides of the permanent magnet wheel hub 9.

[0039] Eight permanent magnet mounting slots 12 are arranged in a circumferential direction on the permanent magnet wheel hub 9, and the included angle between adjacent two permanent magnet mounting slots 12 is 45°. The permanent magnet blocks 3 adopt a radial and axial magnetization method. Specifically, radial magnetization means that the magnetic N-S pole direction of the permanent magnet block points to the center of the circle; circumferential magnetization means that the magnetic N-S pole direction of the permanent magnet block is tangent to the disc, and is arranged on the permanent magnet wheel hub 9 in the form of a Halbach ring array. The included angle between adjacent permanent magnet blocks 3 is 45°. The permanent magnet wheel end caps 8 are arranged on both sides of the permanent magnet wheel hub 9. The connecting bolt 4 passes through the permanent magnet wheel end cap 8, the permanent magnet wheel hub 9, and the permanent magnet wheel end cap 8 in sequence to jointly form a single-sided permanent magnet wheel.

[0040] Axial limiting ring grooves for installing the E-type snap 10 are symmetrically arranged on both sides of the roulette 11 on the central axis 1 for axially limiting the permanent magnet wheel by the E-type snap 10. A D-type hole for connecting with the motor is arranged at one end of the central axis.

[0041] The permanent magnet circumferential baffle 2 is connected to the permanent magnet wheel end cover 8. The diameter of the permanent magnet wheel end cover 8 is smaller than the diameter of the middle roulette 11 of the central axis 1. The middle roulette 11 of the central axis 1 is in direct contact with the wall surface, and the two permanent magnet wheels are not in direct contact with the wall surface, preventing the permanent magnet blocks 3 from contacting the wall surface and causing wear and breakage.

[0042] Four threaded through holes arranged in a circumferential pattern are provided on the cross-section of the permanent magnet wheel end cover 8 and the permanent magnet wheel hub 9, and their included angles are all 90°; eight threaded through holes arranged in a circumferential pattern are provided on the cross-section of the central axis 1, and their included angle is 45°; the connecting bolts 4 can fixedly connect the two permanent magnet wheels axially to the roulette 11.

[0043] The permanent magnet blocks 3 of the permanent magnet wheel are arranged in the form of a Halbach ring array. In this array form, when the permanent magnet wheel is in contact with the wall surface, the permanent magnet wheel has a strong external adsorption force and a weak internal adsorption force.

[0044] Specifically, due to the Halbach arrangement, the permanent magnet wheel can respectively generate a closed magnetic induction line loop with the wall surface, generating a large adsorption force; through the circumferential rotating body 6, the magnetization directions of the permanent magnet blocks 3 corresponding to each other of the two permanent magnet wheels can be changed, so that the magnetic induction lines between the permanent magnet blocks 3 arranged opposite to each other of the two permanent magnet wheels show one vertically magnetized and one horizontally magnetized; two vertically magnetized in opposite directions; two horizontally magnetized. These three different magnetization types correspond to three different adsorption force results.

[0045] When in the adsorption force stable state, as Figure 9 shown, the magnetization direction of the permanent magnet wheel is in the A + B state, and the magnetization modes of the permanent magnet blocks 3 corresponding to each other of the two permanent magnet wheels are arranged as one vertical and one horizontal; the circumferential rotating body 6 fixes the permanent magnet wheel adjacent to the circumferential rotating body 6 to the roulette 11 on the central axis 1 through the connecting bolt 4, and the connecting bolt 4 fixes the other permanent magnet wheel to the roulette 11 on the central axis 1. At this time, the two permanent magnet wheels are fixed together with the roulette 11 on the central axis 1, and the two permanent magnet wheels can rotate synchronously with the central axis 1; during the rotation process, due to the ring arrangement of the permanent magnet blocks 3 of the two permanent magnet wheels, there is always a working state where the magnetic induction lines between the permanent magnet blocks 3 show one vertically magnetized and one horizontally magnetized. At this time, the adsorption force generated by the permanent magnet drive wheel is between the adsorption force enhancement state and the adsorption force weakening state.

[0046] In the enhanced adsorption force state, when in the stable adsorption force state, rotate the connecting bolt 4 of the permanent magnet wheel connected to the circumferential rotating body 6 until the connecting bolt 4 separates from the wheel disc 11 on the central shaft 1. Rotate the circumferential set screw 5 so that the circumferential rotating body 6 changes from a fixed state to a separated state from the central shaft 1. At this time, rotate the circumferential rotating body 6 counterclockwise to rotate the adjacent permanent magnet wheel by 45°. As shown in Figure 9 The magnetization direction of the permanent magnet wheel shown is the A + C state; at this time, the magnetic induction lines between the permanent magnet blocks 3 of the two relatively arranged permanent magnet wheels show two vertically reverse magnetizations, that is, the magnetic induction lines between the two permanent magnet wheels achieve magnetic circuit closure, and thus a relatively large adsorption force is generated with the wall surface. Reverse-rotate the connecting bolt 4 on the permanent magnet wheel adjacent to the circumferential rotating body 6 to restore it to the position before rotation, that is, the connecting bolt 4 is fixedly connected to the threaded through hole of the wheel disc 11 on the central shaft 1, and rotate the circumferential set screw 5 so that the circumferential rotating body 6 changes from a separated state to a fixed state with the central shaft 1. At this time, the two permanent magnet wheels and the central shaft 1 can achieve synchronous rotation. At this time, the adsorption force generated by the permanent magnet drive wheel is greater than that in the stable adsorption force state and the weakened adsorption force state.

[0047] In the weakened adsorption force state, when in the stable adsorption force state, rotate the connecting bolt 4 of the permanent magnet wheel connected to the circumferential rotating body 6 until the connecting bolt 4 separates from the wheel disc 11 on the central shaft 1. Rotate the circumferential set screw 5 so that the circumferential rotating body 6 changes from a fixed state to a separated state from the central shaft 1. At this time, rotate the circumferential rotating body 6 clockwise to rotate the adjacent permanent magnet wheel by 45°. As shown in Figure 9 The magnetization direction of the permanent magnet wheel shown is the A + D state; at this time, the magnetization directions of the permanent magnet blocks of the permanent magnet wheels on both sides are the same. Reverse-rotate the connecting bolt 4 on the permanent magnet wheel adjacent to the circumferential rotating body 6 to restore it to the position before rotation, that is, the connecting bolt 4 is fixedly connected to the threaded through hole of the wheel disc 11 on the central shaft 1, and rotate the circumferential set screw 5 so that the circumferential rotating body 6 changes from a separated state to a fixed state with the central shaft 1. The two permanent magnet wheels and the central shaft 1 can achieve synchronous rotation. Due to the Halbach ring arrangement of the permanent magnet blocks 3 of the two permanent magnet wheels, when the permanent magnet wheels rotate by 45°, the magnetic induction lines between the permanent magnet blocks 3 of the two relatively arranged permanent magnet wheels show two horizontal magnetizations. At this time, the adsorption force generated by the permanent magnet drive wheel is less than that in the stable adsorption force state and the enhanced adsorption force state.

[0048] In Figure 9 A is the permanent magnet wheel arranged on one side of the wheel disc 11, and B, C, and D correspond to the permanent magnet wheels arranged on the other side of the wheel disc 11 and close to the circumferential rotating body 6. The arrows in the figure represent the magnetic induction direction, specifically representing the N - S pole direction.

[0049] Although the present invention has been described herein with reference to a number of illustrative embodiments, it should be understood that those skilled in the art can devise many other modifications and embodiments that will fall within the scope and spirit of the principles disclosed in this application. More specifically, within the scope of the disclosure, the drawings, and the claims of this application, various variations and improvements can be made to the components and / or layout of the subject combination layout. In addition to the variations and improvements made to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. A permanent magnetic drive wheel device with an adjustable double adsorption mechanism, characterized in that: It comprises a central axis, a fixed sleeve on the central axis is provided with a wheel disc and a rotating sleeve is provided with two permanent magnetic wheels, and the two permanent magnetic wheels are arranged on both sides of the wheel disc. and connected to the wheel disc via connecting bolts; The permanent magnet wheel comprises a permanent magnet wheel hub which is sleeved on the central axis and permanent magnet wheel end covers which are arranged on both sides of the permanent magnet wheel hub. A plurality of permanent magnet blocks are arranged along the circumference of the permanent magnet wheel hub, and the plurality of permanent magnet blocks are spliced ​​in a ring shape in the circumference of the permanent magnet wheel hub. A permanent magnet circumferential baffle is arranged at the connection between two adjacent permanent magnet blocks, and both sides of the permanent magnet circumferential baffle are respectively connected to the two permanent magnet wheel end covers. Two E-shaped buckles are arranged on the central shaft and are spaced apart on the sides of the two permanent magnet wheel hubs away from each other. Used to limit the permanent magnet wheel hub on the central axis; A circumferential rotating body is arranged on the central axis and on the side of the permanent magnet wheel hub away from the wheel disc. The end surface of the circumferential rotating body is provided with a through hole for connecting bolts to pass through, and the side surface thereof is provided with a screw hole and a circumferential fixing screw arranged in the screw hole.

2. A permanent magnetic drive wheel device with an adjustable double adsorption mechanism according to claim 1, characterized in that: The permanent magnet wheel hub is circumferentially provided with eight permanent magnet mounting grooves distributed in a ring array, the angle between two adjacent mounting grooves is 45°, and a plurality of permanent magnet blocks are respectively arranged in the permanent magnet mounting grooves on the permanent magnet wheel hub in a Halbach ring array manner.

3. The permanent magnetic drive wheel device with adjustable double adsorption mechanism according to claim 1, characterized in that: Axial limiting ring grooves for installing E-type buckles are symmetrically arranged on the central axis and on both sides of the wheel disc, which are used for axial limiting of the permanent magnet wheel by the E-type buckle. A D-type hole for connecting to the motor is arranged at one end of the central axis.

4. The permanent magnetic drive wheel device with adjustable double adsorption mechanism according to claim 1, characterized in that: The diameter of the permanent magnet wheel end cover is smaller than the diameter of the middle wheel disc of the central shaft.

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