All-terrain magnetic adsorption wheel of Halbach permanent magnet array

Abstract

An all-terrain magnetic adsorption wheel of a Halbach permanent magnet array is characterized in that the all-terrain magnetic adsorption wheel comprises a driving module, a permanent magnet adsorption module and an all-terrain wheel body, the driving module comprises a motor sealing shell (10), a permanent magnet brushless motor (3), a rotary sealing output end cover (9), an end cover (11), a watertight connector (1), a combined clamping sleeve (2) and an O-shaped sealing ring, the rotary sealing output end cover (9) is connected with an output torque through a bolt, and the end cover (11) is connected with the output torque through a bolt. The whole magnetic adsorption wheel adopts a 50m pressure-resistant design; the permanent magnet adsorption module is formed by uniformly distributing three arc-shaped permanent magnets with fan angles of 50 degrees according to a Halbach array and connecting the three arc-shaped permanent magnets with special yokes through bolts, the permanent magnet adsorption module is hermetically mounted in the wheel body (4) through a sealing end cover (6), and the tread is connected with the driving module through bolts. The device is suitable for all magnetic adsorption wall-climbing robots, is high in integration level, can be modularly replaced, and has a wide commercial prospect.

Description

Technical Field

[0001] The present invention belongs to the field of magnetic adsorption wall-climbing robots, and in particular relates to an all-terrain magnetic adsorption wheel with a Halbach permanent magnet array. Background Art

[0002] With the rapid development of the economy, wall-climbing robots are mainly used in high-risk mobile operations such as cleaning, inspection, rust removal, welding, maintenance, observation, search and rescue on ships, offshore platforms, aircraft, bridges, and petrochemical tanks. Their high efficiency, superiority and safety have enabled them to be successfully used in many extreme situations.

[0003] As the world progresses, the payloads and tools used by wall-climbing robots become increasingly complex, and their potential tasks become more diverse. This has led users and developers to place greater demands on them, demanding requirements such as adaptability to varying concave and convex surfaces, smooth transitions from floor to wall and wall to floor, the ability to turn on the same surface, the ability to navigate complex obstacles, excellent drive performance, and exceptional reliability. Wall-climbing robots are categorized in numerous ways, including vacuum, biomimetic, electromagnetic, and permanent magnetic. Permanent magnetic systems are widely used due to their reliability and the lack of external energy.

[0004] The magnetic attraction component is a critical subsystem of a permanent magnetic wall-climbing robot. Its attraction must generate sufficient friction to withstand the robot's weight and load, ensuring reliable operation on walls. Existing wall-climbing robots commonly suffer from issues such as poor load capacity and poor wall transition due to insufficient magnetic attraction. To improve the robot's magnetic attraction, the typical approach is to increase the mass of the permanent magnets, thereby increasing the magnetic attraction they generate. This inevitably increases the size and weight of the magnetic attraction structure, compromising the robot's flexibility and wall adaptability, and increasing the load on the drive system.

[0005] In general, the existing permanent magnetic adsorption wheels have the following main problems:

[0006] 1. It is heavy, which increases the load on the drive system;

[0007] 2. The magnetic field utilization rate is low, resulting in more energy loss;

[0008] 3. The magnetic field is relatively dispersed, causing strong magnetic interference to the drive motor encoder;

[0009] 4. The permanent magnet is exposed and prone to corrosion;

[0010] 5. Poor wall adaptability, unable to adapt to complex walls with multiple curvatures;

[0011] 6. Poor flexibility, unable to balance reliable adsorption and flexible movement of the robot.

[0012] To this end, the present invention provides an all-terrain wheel based on a Halbach permanent magnet array. Summary of the Invention

[0013] The present invention provides an all-terrain magnetic adsorption wheel with a Halbach permanent magnet array, the purpose of which is to solve the technical problems pointed out in the background technology.

[0014] The present invention is achieved through the following technical solutions:

[0015] An all-terrain magnetic adsorption wheel with a Halbach permanent magnet array comprises a drive module, a permanent magnet adsorption module, and an all-terrain wheel body. The drive module comprises a motor sealing housing (10), a permanent magnet brushless motor (3), a rotary seal output end cover (9), an end cover (11), a watertight connector (1), and a combined ferrule (2). The O-ring, the rotary seal output end cover (9), and the output torque are connected by bolts. The magnetic adsorption wheel as a whole adopts a 50m pressure-resistant design. The permanent magnet adsorption module is composed of three arc-shaped permanent magnets (7) with a sector angle of 50°, which are evenly distributed according to the Halbach array and connected to a special yoke iron (5) by bolts. The permanent magnet adsorption module and a gasket (8) are sealed and installed in the wheel body (4) through a sealing end cover (6). The tread is connected to the drive module by bolts.

[0016] As a preferred embodiment, in order to make the robot have better wall adsorption, the permanent magnet array is installed on the wheel body through a sliding bearing, and the O-ring can rotate with a single degree of freedom.

[0017] As a preferred embodiment, the all-terrain wheel body (4) adopts an inner and outer 15° inclination design, which can better fit complex wall surfaces such as large curvature surfaces, multi-curvature surfaces, inner and outer arc surfaces, concave and convex surfaces, and irregular magnetic conductive wall surfaces.

[0018] As a preferred embodiment, the interior of the sliding bearing adopts a hexagonal structure to match the output shaft, which can improve the shear resistance of the wheel body.

[0019] As a preferred embodiment, the tread adopts an asymmetric knurling process, which can better discharge sand and provide better grip.

[0020] The all-terrain magnetic adsorption wheel of the Halbach permanent magnet array in the present invention has a drive module on the left side of the adsorption wheel, and a built-in permanent magnet brushless motor that can provide the driving torque required for crawling; the right side is an adsorption module, which has a built-in single-degree-of-freedom Halbahc permanent magnet array, consisting of three permanent magnets evenly spliced ​​on the inner surface of the pure iron base in a Halbach array pattern, which can provide stable magnetic adsorption force, can reliably adsorb on the surface of the magnetic conductive material structure, and meet the needs of load-bearing operation; the design of the inner and outer camber angles of the adsorption wheel can provide the robot with sufficient grip on the inner and outer arc surfaces, and meet the robot's stable and free movement on the inner and outer arc surfaces; the design of the single-degree-of-freedom magnetic adsorption array can reliably adsorb the transition surface when the robot makes a wall transition, reduce the driving torque of the robot during the transition, and improve the robot's wall transition performance. The magnetic adsorption system has a single-degree-of-freedom motion structure and a single-layer Halbach array structure. The single-degree-of-freedom motion has a unique yoke iron structure that is tightly attached to the permanent magnet to form an array that is installed on the middle shaft of the wheel body. It can rotate freely according to the adsorption surface, thereby ensuring the reliable adsorption of the robot when performing wall transitions and improving the stability of the robot in performing special operations.

[0021] The beneficial effects of the all-terrain magnetic adsorption wheel of the Halbach permanent magnet array of the present invention are:

[0022] (1) A magnetic adsorption modular component specifically for a magnetic adsorption wall-climbing robot, having a magnetic adsorption function;

[0023] (2) Small deadweight and low load on the drive system;

[0024] (3) High magnetic field utilization rate and greater magnetic adsorption;

[0025] (4) The overall modular design allows for quick installation on magnetic wall-climbing robots;

[0026] (5) The overall structure is compact, which can improve the robot's motion performance and curvature adaptability on complex ground;

[0027] (6) The magnetic field is unilaterally concentrated, which has little interference with the drive motor encoder;

[0028] (7) The array can rotate with a single degree of freedom inside the all-terrain wheel, which can reliably adsorb the transition surface when the robot is transitioning on the wall, thereby improving the robot's wall transition performance;

[0029] (8) The array is encapsulated inside the all-terrain wheel, which is oil-filled and has a 50m pressure-resistant design, making it suitable for amphibious working conditions and has better anti-corrosion performance;

[0030] (9) The all-terrain wheels are designed with a 15° bevel inside and outside, which can better adapt to complex walls, such as multi-curvature, internal and external arcs, and irregular walls.

[0031] (10) The present invention is applicable to all magnetic adsorption wall-climbing robots, has high integration and can be replaced modularly, and has broad commercial prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0033] Figure 2 is a cross-sectional view of the present invention;

[0034] Figure 3 This is a cross-sectional view of the permanent magnetic adsorption module and the wheel body in the present invention;

[0035] Figure 4 This is a front view of the permanent magnetic adsorption module of the present invention;

[0036] Figure 5 This is a left view of the permanent magnetic adsorption module of the present invention;

[0037] Figure 6 It is a schematic diagram of the present invention adsorption on inner and outer arc surfaces.

[0038] The symbols in the accompanying drawings represent:

[0039] 1. Watertight connector, 2. Combined ferrule, 3. Permanent magnet brushless motor, 4. Wheel body, 5. Special yoke, 6. Sealing end cover, 7. Arc-shaped permanent magnet, 8. Gasket, 9. Rotary seal output end cover, 10. Motor sealing housing, 11. End cover. DETAILED DESCRIPTION

[0040] The following is a detailed description of an embodiment of the present invention in conjunction with the accompanying drawings: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0041] like Figure 1-6 As shown, an all-terrain magnetic adsorption wheel with a Halbach permanent magnet array comprises a drive module, a permanent magnet adsorption module, and an all-terrain wheel body. The drive module comprises a motor sealing housing (10), a permanent magnet brushless motor (3), a rotary seal output end cover (9), an end cover (11), a watertight connector (1), and a combined ferrule (2). The O-ring, the rotary seal output end cover (9), and the output torque are connected by bolts. The magnetic adsorption wheel as a whole adopts a 50m pressure-resistant design. The permanent magnet adsorption module is composed of three arc-shaped permanent magnets (7) with a sector angle of 50°, which are evenly distributed according to the Halbach array and connected to a special yoke iron (5) by bolts. The permanent magnet adsorption module and the gasket (8) are sealed and installed in the wheel body (4) through the sealing end cover (6). The tread is connected to the drive module by bolts.

[0042] The O-ring in this invention is designed to enhance the robot's wall adhesion. The permanent magnet array is mounted on the wheel body via a sliding bearing, allowing the O-ring to rotate with a single degree of freedom. The all-terrain wheel body 4 features a 15° internal and external inclination angle, allowing for better conformance to complex surfaces such as those with large and multiple curvatures, internal and external arcs, concave and convex surfaces, and irregular magnetic surfaces. The internal hexagonal structure of the sliding bearing, combined with the output shaft, enhances the wheel's shear resistance. The tread features an asymmetric knurling treatment for enhanced sand removal and grip.

[0043] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An all-terrain magnetic adsorption wheel with a Halbach permanent magnet array, comprising a drive module, a permanent magnet adsorption module, and an all-terrain wheel body, wherein the drive module comprises a motor sealing housing (10), a permanent magnet brushless motor (3), a rotary seal output end cover (9), an end cover (11), a watertight connector (1), and a combined ferrule (2); an O-ring, a rotary seal output end cover (9), and an output torque are connected by bolts; the magnetic adsorption wheel as a whole adopts a 50m pressure-resistant design; the permanent magnet adsorption module is composed of three arc-shaped permanent magnets (7) with a sector angle of 50°, which are evenly distributed according to the Halbach array and connected to a special yoke (5) by bolts; the permanent magnet adsorption module and a gasket (8) are sealed and installed in the wheel body (4) through a sealing end cover (6); and the tread is connected to the drive module by bolts.

2. The all-terrain magnetic adsorption wheel of the Halbach permanent magnet array according to claim 1, characterized in that: In order to make the robot have better wall adsorption, the O-ring is installed on the wheel body through the sliding bearing, and the O-ring can rotate with a single degree of freedom.

3. The all-terrain magnetic adsorption wheel of the Halbach permanent magnet array according to claim 1, characterized in that: The all-terrain wheel body (4) adopts an inner and outer 15° inclination design, which can better fit complex wall surfaces such as large curvature surfaces, multi-curvature surfaces, inner and outer arc surfaces, concave and convex surfaces, and irregular magnetic conductive wall surfaces.

4. The all-terrain magnetic adsorption wheel of the Halbach permanent magnet array according to claim 1, characterized in that: The sliding bearing adopts a hexagonal structure inside to match the output shaft, which can improve the shear resistance of the wheel body.

5. The all-terrain magnetic adsorption wheel of the Halbach permanent magnet array according to claim 1, characterized in that: The tread adopts asymmetrical knurling to better discharge sand and provide better grip.

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