Magnetic adsorption type underwater robot driving wheel

Abstract

The magnetic adsorption type underwater robot driving wheel is good in adsorption performance, dynamic stability and terrain adaptability and comprises a water-tight shell, a driving motor is arranged in the shell and connected with at least one harmonic reducer, the harmonic reducer drives a pair of idler wheels rotationally arranged on the two sides of the shell, and the pair of idler wheels is connected with the driving motor. The shell is provided with a driving support used for being connected with an underwater robot body. A mounting seat capable of sliding up and down is arranged below the shell, and an adjusting mechanism for driving the mounting seat to move up and down is arranged on the shell; a permanent magnet adsorption module is arranged in the mounting seat, the permanent magnet adsorption module comprises three groups of magnets which are arranged in parallel, and N poles of the three groups of magnets are respectively distributed rightwards, downwards and leftwards along the direction parallel to the output shaft of the motor.

Description

Technical Field

[0001] The present invention relates to underwater intelligent operating equipment, and in particular to a magnetic adsorption type driving wheel for an underwater robot. Background Art

[0002] With the rapid growth in demand for ocean exploration, ship inspection, and underwater operations, underwater robots have placed higher demands on adaptability to complex environments and dynamic stability. However, traditional drive wheel systems generally have the following technical bottlenecks: First, the magnetic adsorption performance is limited. Existing magnetic adsorption drive wheels mostly use uniform magnet arrangements or fixed structures, which are difficult to dynamically adapt to metal surfaces of different thicknesses or curvatures. Secondly, the drive stability is insufficient. The single-axis drive wheel is prone to slippage due to uneven torque distribution, especially on low adhesion coefficient surfaces or load fluctuation scenarios. The drive force output efficiency is significantly reduced. In addition, due to structural rigidity limitations, the traditional rigid bracket design cannot adapt to the curved or uneven surface of the hull, resulting in the drive wheel being suspended or the magnetic circuit being interrupted, further reducing the adsorption force and movement stability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a magnetic adsorption type underwater robot driving wheel which can better adapt to metal surfaces of different thicknesses or curvatures.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is as follows: a magnetic adsorption underwater robot drive wheel, comprising a watertight housing, a drive motor disposed in the housing, the drive motor being connected to at least one harmonic reducer, the harmonic reducer driving a pair of rollers rotatably arranged on both sides of the housing, and a drive bracket for connecting to the underwater robot body being provided on the housing;

[0005] A mounting base that slides up and down is provided under the shell, and an adjustment mechanism that drives the mounting base to move up and down is provided on the shell; a permanent magnetic adsorption module is provided in the mounting base, and the permanent magnetic adsorption module includes three groups of magnets arranged in parallel, and the N poles of the three groups of magnets are distributed to the right, downward and left respectively along the direction parallel to the motor output axis.

[0006] As a preferred solution, the mounting seat and the three groups of magnets are in an arc shape curved around a central axis parallel to the output shaft of the drive motor.

[0007] As a preferred solution, yoke assemblies are respectively provided on the outsides of the three groups of magnets in the mounting seat.

[0008] As a preferred solution, the driving bracket is hinged to the housing, and the driving bracket rotates around a horizontal axis that is perpendicular to the central axis of the driving motor.

[0009] As a preferred solution, the housing is provided with a limiting mechanism for limiting the rotation of the driving wheel bracket by plus or minus 5-10 degrees.

[0010] As a preferred solution, the limiting mechanism includes arc-shaped long holes respectively arranged on both sides of the hinge on the driving wheel bracket, and the shell is provided with a pair of limiting short screws matching the arc-shaped long holes, so that the rotation range of the driving wheel bracket is within the range of plus or minus 5-10°.

[0011] As a preferred solution, the adjustment mechanism includes a plurality of adjustment screws movably arranged vertically upward in the mounting seat, and the housing is provided with threaded holes that match the adjustment screws.

[0012] As another preferred solution, the adjustment mechanism includes an adjustment screw vertically arranged on the shell, and the mounting seat is connected to the sliding block of the adjustment screw; the shell is provided with a plurality of vertically arranged guide columns, and the mounting seat is provided with guide holes matching the guide columns.

[0013] As a preferred solution, a distance meter for detecting the distance between the mounting seat and the adsorption surface is provided at the lower portion of the mounting seat, the end of the adjusting screw is connected to the output shaft of the servo motor, and the distance meter is electrically connected to the servo motor.

[0014] The beneficial effects of the present invention are:

[0015] The permanent magnetic adsorption module uses three groups of magnets with the N pole direction distributed in a right-down-left gradient along the radial direction. The bottom magnetic field strength is enhanced by superposition of magnetic flux density vectors. The magnetic circuit system is equipped with a yoke assembly and a magnet to form a closed magnetic circuit. The distance between the magnet and the adsorption surface is adjusted through an adjustment mechanism, so that the drive wheel can adapt to more usage scenarios and can be reliably adsorbed.

[0016] After the drive motor is decelerated and torqued through a harmonic reducer, the coaxially integrated dual drive ends achieve synchronous rotation control of the drive wheels on both sides. This structure distributes the motor's output torque equally to both drive wheels through the harmonic reducer, ensuring symmetry and stability in power transmission under forward and reverse rotation commands.

[0017] Since the rigid bracket is suspended on the curved surface of the hull, the driving wheel bracket is connected to the shell through a double-hinged shaft, allowing ±5-10° adaptive deflection. When the two pairs of driving wheels are combined to work together in the underwater robot, the driving wheel spacing can be adjusted steplessly. By changing the geometric parameters to match different curvature surfaces, the robot's center of mass distribution is optimized to improve obstacle crossing stability.

[0018] When the adjustment mechanism adopts the adjustment screw, it is not only more precise, but also can achieve adaptive adjustment when combined with the rangefinder and servo motor drive. It is suitable for situations where the adsorption surface has many bumps and depressions. It can not only ensure the adsorption force but also avoid collisions, thereby enhancing the safety of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the overall structure diagram;

[0020] Figure 2 It is the overall structural section;

[0021] Figure 3 It is the structural diagram of the driving wheel bracket;

[0022] Figure 4 To adapt the roller to the arc structure diagram;

[0023] Figure 5 Schematic diagram of the arc angle of the driving wheel installed on the underwater robot;

[0024] Figure 6 It is a structural diagram of the permanent magnetic adsorption module;

[0025] Figure 7 Schematic diagram of the magnetization direction of the adsorption device;

[0026] Figure 8 This is a schematic diagram of the direction of adjusting the ground clearance of the magnet;

[0027] Figure 9 This is a schematic diagram of the magnetic induction intensity when the adjustment gap is 5mm;

[0028] Figure 10 This is a screenshot of the adsorption force when the gap is adjusted to 5mm in the simulation experiment.

[0029] Figure 11 A schematic diagram of the ground clearance adjustment direction of a magnet according to another embodiment;

[0030] In the figure: 1, housing; 2, drive motor; 3, output shaft; 4, permanent magnet adsorption module; 5, drive wheel bracket; 6, adjusting bolt; 7, roller; 8, yoke assembly; 9, mounting base; 10, adjusting screw; 11, servo motor; 12, guide rod. DETAILED DESCRIPTION

[0031] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] like Figure 1-10As shown, a magnetic adsorption underwater robot drive wheel includes a watertight housing 1, in which a drive motor 2 is disposed. The drive motor 2 is connected to at least one harmonic reducer, which drives a pair of rollers 7 rotatably arranged on either side of the housing 1. (The drive motor 2 can be a double-ended output motor, with harmonic reducers connected to the two output shafts of the double-ended output motor, and the output ends of the harmonic reducers are connected to the rollers 7. The drive motor 2 can also be a frameless torque motor, with the output end of the frameless torque motor connected to the harmonic reducer, and the output element of the harmonic reducer is connected to a transmission shaft passing through the interior of the frameless torque motor, and the ends of the transmission shaft are respectively connected to the rollers 7.)

[0033] A driving bracket for connecting to the underwater robot body is hingedly provided on the shell 1, and the driving bracket rotates around a horizontal axis arranged perpendicular to the central axis direction of the driving motor 2; the driving wheel bracket 5 is provided with arc-shaped long holes on both sides of the hinge, and the shell 1 is provided with a pair of limiting short screws that match the arc-shaped long holes, so that the rotation range of the driving wheel bracket 5 is within the range of plus or minus 6°.

[0034] A mounting seat 9 that slides up and down is provided under the shell 1, and an adjustment mechanism that drives the mounting seat 9 to move up and down is provided on the shell 1; the adjustment mechanism includes a plurality of adjustment bolts 6 that are movably upwardly passed through the mounting seat 9, and the shell 1 is provided with adjustment threaded holes that match the adjustment bolts.

[0035] A permanent magnet module 4 is mounted within the mounting base 9. This module comprises three parallel sets of N52 neodymium iron boron magnets. The mounting base 9 and the three sets of magnets are arranged in an arc shape, curved about a central axis parallel to the output shaft of the drive motor 2. The north poles of the three sets of magnets are oriented rightward, downward, and leftward, respectively, parallel to the motor's output shaft. DT4 yoke assemblies 8 are located outside each of the three sets of magnets within the mounting base 9.

[0036] The housing 1 comprises a cylindrical portion with an oil pressure compensation interface and sealed end caps on either side. One end of the roller 7's axle passes through the sealed end cap, an O-ring positioned on the outside of the end cap at the axle. Inside the end cap is a rolling bearing supporting the axle, a bearing gland mounted on top of the end cap, and a skeleton oil seal assembly mounted inside the gland. Sealing rings and watertight adhesive are installed on the contact surfaces between the bearing end cap, the axle, and the sealing end cap. IP68-level deep-sea protection is achieved through static seals (seals and watertight adhesive), dynamic seals (O-rings and skeleton oil seals are used on the dual output shafts 3), and the oil pressure compensation interface.

[0037] When the two pairs of drive wheels work together, the distance between the drive wheels can be adjusted steplessly by rotating around the hinge axis, adaptively fitting the curve of the hull; combined with the pressing effect of the magnet on the roller 7, the effective friction torque is increased and the slip rate is reduced, ensuring continuous output of stable traction in complex underwater terrain.

[0038] The magnetic circuit system features a DT4 yoke assembly (8 x 190 x 135 x 10 mm) that forms a closed magnetic circuit with an N52 NdFeB magnet (190 x 135 x 25 mm). This superposition of magnetic flux density vectors increases the bottom magnetic field strength by 30%. Experimental data shows that under standard working conditions of 5 mm, the suction force can reach 1901.9 N.

[0039] like Figure 11 As shown, in another embodiment, the adjustment mechanism can also be an adjustment screw 10 vertically mounted on the housing 1, with the mounting seat 9 connected to the sliding block of the adjustment screw 10; the housing 1 is provided with a plurality of vertically arranged guide posts 12, and the mounting seat 9 is provided with guide holes that cooperate with the guide posts 12. A distance meter is provided at the bottom of the mounting seat 9 to detect the distance between the mounting seat 9 and the adsorption surface. The end of the adjustment screw 10 is connected to the output shaft of the servo motor 11, and the distance meter is electrically connected to the servo motor 11.

[0040] The above embodiments are merely illustrative of the principles and effects of the present invention, as well as some embodiments of its application, and are not intended to limit the present invention. It should be noted that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A magnetic adsorption underwater robot drive wheel, comprising a watertight housing, characterized in that: The housing is provided with a drive motor, the drive motor is connected to at least one harmonic reducer, the harmonic reducer drives a pair of rollers rotatably arranged on both sides of the housing, and the housing is provided with a drive bracket for connecting to the underwater robot body; A mounting base that slides up and down is provided under the shell, and an adjustment mechanism that drives the mounting base to move up and down is provided on the shell; a permanent magnetic adsorption module is provided in the mounting base, and the permanent magnetic adsorption module includes three groups of magnets arranged in parallel, and the N poles of the three groups of magnets are distributed to the right, downward and left respectively along the direction parallel to the motor output axis.

2. The magnetic adsorption type underwater robot driving wheel according to claim 1, characterized in that: The mounting seat and the three groups of magnets are in an arc shape curved around a central axis parallel to the output shaft of the drive motor.

3. The magnetic adsorption type underwater robot driving wheel according to claim 2, characterized in that: In the mounting seat, magnetic yoke components are respectively provided on the outsides of the three groups of magnets.

4. The magnetic adsorption type underwater robot driving wheel according to claim 1, characterized in that: The driving bracket is hinged on the housing, and the driving bracket rotates around a horizontal axis that is perpendicular to the central axis of the driving motor.

5. The magnetic adsorption type underwater robot driving wheel according to claim 1, characterized in that: The housing is provided with a limiting mechanism for limiting the rotation of the driving wheel bracket by plus or minus 5-10 degrees.

6. The magnetic adsorption type underwater robot driving wheel according to claim 5, characterized in that: The limiting mechanism includes arc-shaped long holes respectively arranged on both sides of the hinge of the driving wheel bracket, and the shell is provided with a pair of limiting short screws matching the arc-shaped long holes, so that the rotation range of the driving wheel bracket is within the range of plus or minus 5-10°.

7. A magnetic adsorption type underwater robot driving wheel according to any one of claims 1 to 6, characterized in that: The adjusting mechanism comprises a plurality of adjusting screws which are movably arranged vertically upward in the mounting seat, and the housing is provided with threaded holes which match the adjusting screws.

8. A magnetic adsorption type underwater robot driving wheel according to any one of claims 1 to 6, characterized in that: The adjustment mechanism includes an adjustment screw vertically arranged on the shell, and the mounting seat is connected to the sliding block of the adjustment screw; the shell is provided with a plurality of vertically arranged guide columns, and the mounting seat is provided with guide holes matching the guide columns.

9. The magnetic adsorption type underwater robot driving wheel according to claim 8, characterized in that: A distance meter for detecting the distance between the mounting seat and the adsorption surface is provided at the lower part of the mounting seat. The end of the adjusting screw is connected to the output shaft of the servo motor, and the distance meter is electrically connected to the servo motor.

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