Permanent magnet wheel set and magnetic climbing robot

Abstract

The utility model discloses a permanent magnet wheel set and magnetic creeping robot relates to magnetic creeping robot technical field, the permanent magnet wheel set includes mounting rack, magnetic wheel, doctor blade unit and two rubber wheel, the two rubber wheel is spaced apart, and the two rubber wheel is rotatingly equipped on the mounting rack through the rotating shaft, the magnetic wheel is equipped between the two rubber wheel, and the doctor blade unit is equipped on the mounting rack through the rotating shaft. The rubber wheels and the magnetic wheel are arranged at intervals, the scraper unit is arranged on the rotating shaft, and the scraper unit comprises a scraper body arranged on the outer side of the magnetic wheel; the scraper body can rotate in the circumferential direction of the magnetic wheel so as to clean rust slag and scrap iron attached to the outer surface of the magnetic wheel. According to the technical scheme, the scraper body capable of rotating in the circumferential direction of the magnetic wheel is arranged, so that rust slag and scrap iron attached to the outer surface of the magnetic wheel can be cleaned when the magnetic climbing robot advances, and the falling risk of the magnetic climbing robot is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of magnetic climbing robots, in particular to a permanent magnet wheel set and a magnetic climbing robot. Background Art

[0002] A magnetic climbing robot is an intelligent device that moves on vertical or inclined surfaces using the magnetic force principle. Existing magnetic climbing robots mainly adsorb to the surface of wind power tower barrels through permanent magnet wheel sets. However, as the working time increases, the permanent magnet wheel sets will adsorb rust slag or iron filings, resulting in a decrease in magnetic suction force, and further causing the magnetic climbing robot to fall due to insufficient adsorption force.

[0003] Therefore, it is necessary to provide a new permanent magnet wheel set and a magnetic climbing robot to solve the above technical problems. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a permanent magnet wheel set and a magnetic climbing robot, aiming to solve the technical problem that the existing magnetic climbing robot falls due to insufficient adsorption force.

[0005] To achieve the above purpose, a permanent magnet wheel set proposed by the utility model includes:

[0006] A mounting frame;

[0007] Two rubber wheels, the two rubber wheels are arranged at intervals, and both of the two rubber wheels are rotatably arranged on the mounting frame through a rotating shaft;

[0008] A magnetic wheel, the magnetic wheel is arranged between the two rubber wheels, and each rubber wheel is arranged at an interval from the magnetic wheel;

[0009] A scraping unit, the scraping unit is arranged on the rotating shaft, and the scraping unit includes a scraping body arranged on the outer side of the magnetic wheel; the scraping body can rotate around the circumferential direction of the magnetic wheel to clean the rust slag and iron filings attached to the outer surface of the magnetic wheel.

[0010] In an embodiment, the scraping unit further includes a sleeve arranged on the rotating shaft, the scraping body includes a cleaning part and a connecting part that are perpendicular to each other, the cleaning part is arranged on the outer side of the magnetic wheel, and one end of the connecting part far from the cleaning part is connected to the sleeve.

[0011] In an embodiment, there is an isolation gap between the cleaning part and the magnetic wheel, and the size of the isolation gap along the radial direction of the rotating shaft is denoted as α, where 1 mm < α < 1.5 mm.

[0012] In an embodiment, the magnetic wheel includes a permanent magnet and a filling block, a notch is formed at the top of the permanent magnet, the filling block is accommodated in the notch, and the filling block is a non-magnetic part.

[0013] In one embodiment, the notch is fan-shaped. Denote the central angle of the notch as β, where 110° < β < 130°.

[0014] In one embodiment, the permanent magnet wheel set further includes an armature, and the armature is attached to the magnetic wheel.

[0015] In one embodiment, the number of the magnetic wheels is two. The two magnetic wheels are arranged in sequence along the axial direction of the rotating shaft, and each magnetic wheel is correspondingly attached with the armature.

[0016] In one embodiment, the diameter of the rubber wheel is larger than the diameter of the magnetic wheel.

[0017] In one embodiment, the blade unit is a non-magnetic part.

[0018] In addition, the present utility model further provides a magnetic climbing robot, including:

[0019] A body;

[0020] A driving member, and the driving member is arranged on the body;

[0021] The permanent magnet wheel set as described above, the permanent magnet wheel set is arranged on the body, and the driving member can drive the rotating shaft to rotate.

[0022] The technical solution of the present utility model can clean rust slag and iron filings adhering to the outer surface of the magnetic wheel when the magnetic climbing robot is moving by arranging a blade body that can rotate circumferentially around the magnetic wheel, so as to avoid the reduction of the adsorption force provided by the permanent magnet wheel group, and further reduce the risk of the magnetic climbing robot falling. In this embodiment, the magnetic wheel is used to provide a magnetic suction force to adsorb the permanent magnet wheel group on the iron surface of the wind power tower barrel, so that the magnetic climbing robot is adsorbed on the surface of the wind power tower barrel. The rubber wheel abuts against the surface of the wind power tower barrel, and when the magnetic climbing robot moves, the rubber wheel will roll on the surface of the wind power tower barrel. The magnetic wheel is arranged on the mounting frame and is located between the two rubber wheels, that is, the magnetic wheel will not rotate with the rotating shaft, and the blade body is arranged outside the magnetic wheel, and the blade body will rotate circumferentially around the magnetic wheel under the drive of the rotating shaft to clean the rust slag and iron filings adhering to the outer surface of the magnetic wheel, preventing the accumulation of rust slag and iron filings from affecting the magnetic suction force of the magnetic wheel, that is, ensuring that the magnetic wheel can provide sufficient adsorption force to enable the magnetic climbing robot to be adsorbed on the surface of the wind power tower barrel. Specifically, when the magnetic climbing robot is moving, the rubber wheel will roll on the surface of the wind power tower barrel under the drive of the rotating shaft, the magnetic wheel remains stationary, and the blade body will rotate circumferentially around the magnetic wheel under the drive of the rotating shaft to clean the rust slag and iron filings adhering to the outer surface of the magnetic wheel when the magnetic climbing robot is moving. By arranging a blade body that can rotate circumferentially around the magnetic wheel to clean the rust slag and iron filings adhering to the outer surface of the magnetic wheel, the permanent magnet wheel group can not only prevent the accumulation of rust slag and iron filings, but also keep the magnetic wheel clean, extend its service life, and it also has the characteristics of simple structure and convenient manufacturing, which is convenient for later maintenance and repair. The permanent magnet wheel group is applied to technical fields such as magnetic climbing robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0024] Figure 1 It is a schematic structural diagram of the permanent magnet wheel group in the embodiment provided by the present utility model;

[0025] Figure 2 It is a schematic structural diagram of the blade unit in the embodiment provided by the present utility model;

[0026] Figure 3 It is a schematic structural diagram of the magnetic wheel in the embodiment provided by the present utility model.

[0027] Explanation of the reference numerals in the drawings:

[0028] 100. Mounting bracket; 110. Rotating shaft; 200. Magnetic wheel; 210. Permanent magnet; 211. Notch; 220. Filling block; 300. Scraper unit; 310. Scraper body; 311. Cleaning part; 312. Connecting part; 320. Sleeve; 400. Rubber wheel; 500. Armature.

[0029] The realization, functional features and advantages of the purpose of the present utility model will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0031] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B at the same time.

[0033] In addition, the technical solutions between the various embodiments of the present utility model can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0034] The magnetic climbing robot is an intelligent device that uses the principle of magnetism to move on vertical or inclined surfaces. Its working principle is mainly to generate an adsorption force through the interaction between the magnetic components on the robot and the magnetic materials on the working surface, enabling the robot to move freely on the vertical surface. The existing magnetic climbing robots mainly adsorb on the surface of the wind power tower barrel through permanent magnet wheel sets. During actual use, researchers found that when the magnetic climbing robot travels on the iron surface of the wind power tower barrel, rust slag, iron filings, etc. will adsorb on the permanent magnet wheel sets. As the working time increases, the rust slag and iron filings adsorbed on the permanent magnet wheel sets will gradually increase, which will lead to a decrease in the adsorption force provided by the permanent magnet wheel sets, and further cause the magnetic climbing robot to fall due to insufficient adsorption force.

[0035] The present utility model provides a permanent magnet wheel set and a magnetic climbing robot, aiming to solve the technical problem that the existing magnetic climbing robot falls due to insufficient adsorption force.

[0036] Please refer to Figure 1 , in an embodiment of the present utility model, the permanent magnet wheel set includes a mounting frame 100, a magnetic wheel 200, a scraping unit 300, and two rubber wheels 400. The two rubber wheels 400 are arranged at intervals, and both rubber wheels 400 are rotatably arranged on the mounting frame 100 through a rotating shaft 110. The magnetic wheel 200 is arranged between the two rubber wheels 400, and each rubber wheel 400 is arranged at an interval from the magnetic wheel 200. The scraping unit 300 is arranged on the rotating shaft 110. The scraping unit 300 includes a scraping body 310 arranged on the outer side of the magnetic wheel 200; the scraping body 310 can rotate circumferentially around the magnetic wheel 200 to clean the iron filings attached to the outer surface of the magnetic wheel 200.

[0037] The technical solution of the present utility model can clean the rust slag and iron filings attached to the outer surface of the magnetic wheel 200 when the magnetic climbing robot is moving by arranging a blade body 310 that can rotate circumferentially around the magnetic wheel 200, so as to avoid the reduction of the adsorption force provided by the permanent magnetic wheel group, and further reduce the risk of the magnetic climbing robot falling. In this embodiment, the magnetic wheel 200 is used to provide a magnetic suction force to adsorb the permanent magnetic wheel group on the iron surface of the wind power tower barrel, so that the magnetic climbing robot is adsorbed on the surface of the wind power tower barrel. The rubber wheel 400 abuts against the surface of the wind power tower barrel, and when the magnetic climbing robot moves, the rubber wheel 400 will roll on the surface of the wind power tower barrel. The magnetic wheel 200 is arranged on the mounting frame 100 and is located between the two rubber wheels 400, that is, the magnetic wheel 200 will not rotate following the rotating shaft 110, while the blade body 310 is arranged outside the magnetic wheel 200, and the blade body 310 will rotate circumferentially around the magnetic wheel 200 under the drive of the rotating shaft 110 to clean the rust slag and iron filings attached to the outer surface of the magnetic wheel 200, preventing the accumulation of rust slag and iron filings from affecting the magnetic suction force of the magnetic wheel 200, that is, ensuring that the magnetic wheel 200 can provide sufficient adsorption force to enable the magnetic climbing robot to be adsorbed on the surface of the wind power tower barrel. Specifically, when the magnetic climbing robot is moving, the rubber wheel 400 will roll on the surface of the wind power tower barrel under the drive of the rotating shaft 110, the magnetic wheel 200 remains stationary, and the blade body 310 will rotate circumferentially around the magnetic wheel 200 under the drive of the rotating shaft 110 to clean the rust slag and iron filings attached to the outer surface of the magnetic wheel 200 when the magnetic climbing robot is moving. By arranging a blade body 310 that can rotate circumferentially around the magnetic wheel 200, the permanent magnetic wheel group can clean the rust slag and iron filings attached to the outer surface of the magnetic wheel 200. It can not only prevent the accumulation of rust slag and iron filings, but also keep the magnetic wheel 200 clean, extend its service life, and it also has the characteristics of simple structure and convenient manufacturing, which is convenient for later maintenance and repair. The permanent magnetic wheel group is applied to technical fields such as magnetic climbing robots.

[0038] In addition, in this embodiment, the rubber wheel 400 and the magnetic wheel 200 are separately installed. On the one hand, it can reduce the cost of later maintenance; specifically, the rubber wheel 400 will be worn during use. Most of the existing permanent magnetic wheel groups are integrally installed, and the entire permanent magnetic wheel group needs to be replaced during replacement. However, the rubber wheel 400 and the magnetic wheel 200 of the present utility model are separately installed, and only the rubber wheel 400 needs to be replaced during replacement, which can reduce the cost of later maintenance. On the other hand, it can avoid the damage of the rubber wheel 400; specifically, each rubber wheel 400 is arranged at an interval from the magnetic wheel 200, that is, the rubber wheel 400 and the magnetic wheel 200 are separately installed. When the blade body 310 rotates circumferentially around the magnetic wheel 200, it can avoid the blade body 310 contacting the rubber wheel 400, thereby avoiding the damage of the rubber wheel 400.

[0039] Please refer to Figure 2, in an embodiment of the present utility model, the blade unit 300 further includes a sleeve 320 disposed on the rotating shaft 110. The blade body 310 includes a cleaning portion 311 and a connecting portion 312 that are perpendicular to each other. The cleaning portion 311 is disposed outside the magnetic wheel 200, and one end of the connecting portion 312 away from the cleaning portion 311 is connected to the sleeve 320. In this embodiment, the sleeve 320 is fixed to the rotating shaft 110, that is, when the rotating shaft 110 drives the rubber wheel 400 to rotate, the sleeve 320 will rotate together with the rotating shaft 110, and then drive the blade body 310 to rotate circumferentially around the magnetic wheel 200 to clean the rust slag and iron filings attached to the outer surface of the magnetic wheel 200.

[0040] In an embodiment of the present utility model, there is an isolation gap between the cleaning portion 311 and the magnetic wheel 200. Denote the dimension of the isolation gap in the radial direction of the rotating shaft 110 as α, where 1 mm < α < 1.5 mm. Specifically, the dimension of the isolation gap in the radial direction of the rotating shaft 110 is limited between 1 mm and 1.5 mm. On the one hand, it can ensure the cleaning effect when the blade body 310 cleans the rust slag and iron filings attached to the outer surface of the magnetic wheel 200. On the other hand, it can also prevent the blade body 310 from contacting the magnetic wheel 200, thereby avoiding damage to the magnetic wheel 200. In a specific embodiment, the connecting portion 312 of the blade body 310 can be set as a telescopic structure, that is, by adjusting the connecting portion 312, the position of the cleaning portion 311 can be adjusted to adjust the dimension of the isolation gap in the radial direction of the rotating shaft 110. During actual use, the staff can adjust the isolation gap to a suitable dimension according to actual needs. In a specific embodiment, the dimension of the isolation gap in the radial direction of the rotating shaft 110 is 1 mm.

[0041] Please refer to Figure 3In one embodiment of the utility model, the magnetic wheel 200 includes a permanent magnet 210 and a filling block 220. A notch 211 is provided at the top of the permanent magnet 210. The filling block 220 is accommodated in the notch 211, and the filling block 220 is a non-magnetic member. In this embodiment, a notch 211 is provided at the top of the permanent magnet 210, that is, when the magnetic climbing robot is adsorbed on the surface of the wind turbine tower, a notch 211 is provided on the surface of the permanent magnet 210 away from the wind turbine tower, and a filling block 220 made of a non-magnetic material is accommodated in the notch 211. Specifically, when the scraper body 310 rotates around the circumference of the magnetic wheel 200 to clean the rust and iron filings attached to the outer surface of the magnetic wheel 200, it will push the rust and iron filings to move on the outer circumferential surface of the magnetic wheel 200. Since the permanent magnet 210 is provided with a notch 211, and a filling block 220 made of non-magnetic material is accommodated in the notch 211, when the rust and iron filings pass through the filling block 220, the magnetic attraction of the permanent magnet 210 on the rust and iron filings will be reduced, and the rust and iron filings are more likely to be separated from the magnetic wheel 200. In other words, by providing a notch 211 on the permanent magnet 210 and accommodating a filling block 220 made of non-magnetic material in the notch 211, it is possible to make the rust and iron filings more easily separated from the magnetic wheel 200, thereby improving the cleaning effect, and by providing the notch 211 at the top of the permanent magnet 210, it enables the magnetic wheel 200 to provide sufficient adsorption force, ensuring that the magnetic climbing robot can be adsorbed on the surface of the wind turbine tower. In a specific embodiment, the filling block 220 can be made of non-magnetic materials such as stainless steel and plastic.

[0042] In one embodiment of the utility model, the notch 211 is fan-shaped, and the center angle of the notch 211 is β, wherein 110°<β<130°. Specifically, the center angle of the notch 211 is limited to between 110°-130°, so that the magnetic wheel 200 can provide sufficient adsorption force to ensure that the magnetic climbing robot can be adsorbed on the surface of the wind turbine tower, and the cleaning effect can be ensured on the other hand. In a specific embodiment, the center angle of the notch 211 is 120°.

[0043] See also Figure 1 In one embodiment of the utility model, the permanent magnetic wheel set further includes an armature 500, which is attached to the magnetic wheel 200. Specifically, the armature 500 can increase the magnetic attraction provided by the magnetic wheel 200 to ensure that the magnetic climbing robot can be adsorbed on the surface of the wind turbine tower. In a specific embodiment, there are two magnetic wheels 200, which are arranged in sequence along the axial direction of the rotating shaft 110, and each magnetic wheel 200 is correspondingly attached with an armature 500.

[0044] In an embodiment of the present utility model, the diameter of the rubber wheel 400 is greater than that of the magnetic wheel 200. Specifically, when the magnetic climbing robot is adsorbed on the surface of the wind power tower barrel, the rubber wheel 400 abuts against the surface of the wind power tower barrel. Making the diameter of the rubber wheel 400 greater than that of the magnetic wheel 200 can prevent the magnetic wheel 200 from contacting the wind power tower barrel, thereby avoiding damage to the magnetic wheel 200 due to collision.

[0045] In an embodiment of the present utility model, the scraping unit 300 is a non-magnetic part. Specifically, designing the scraping unit 300 as a non-magnetic part can prevent the scraping unit 300 from adsorbing rust slag and iron filings, ensuring the cleaning effect. In a specific embodiment, the scraping unit 300 can be made of non-magnetic materials such as stainless steel and plastic.

[0046] The present utility model also provides a magnetic climbing robot, which includes a body, a driving member, and the above-mentioned permanent magnet wheel set. Among them, the driving member is arranged on the body, the permanent magnet wheel set is arranged on the body, and the driving member can drive the rotation shaft 110 to rotate. The specific structure of the permanent magnet wheel set refers to the above-mentioned embodiments. Since the magnetic climbing robot adopts all the technical solutions of the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here one by one.

[0047] In an embodiment of the present utility model, the number of the permanent magnet wheel sets can be three, four, etc. When the number of the permanent magnet wheel sets is three, the three permanent magnet wheel sets are arranged in a triangle; when the number of the permanent magnet wheel sets is four, the four permanent magnet wheel sets are arranged in a rectangle.

[0048] The above is only an exemplary embodiment of the present utility model, and does not limit the patent scope of the present utility model. Any equivalent structural transformation made under the technical concept of the present utility model by using the content of the specification and drawings of the present utility model, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. A permanent magnet wheel set, characterized in that: include: Mounting frame; Two rubber wheels, the two rubber wheels are arranged at an interval, and the two rubber wheels are rotatably arranged on the mounting frame through a rotating shaft; A magnetic wheel, wherein the magnetic wheel is arranged between the two rubber wheels, and each of the rubber wheels is arranged at an interval from the magnetic wheel; The scraper unit is arranged on the rotating shaft, and the scraper unit includes a scraper body arranged on the outer side of the magnetic wheel; the scraper body can rotate around the circumference of the magnetic wheel to clean rust residue and iron filings attached to the outer surface of the magnetic wheel.

2. The permanent magnet wheel assembly according to claim 1, characterized in that: The scraper unit also includes a sleeve arranged on the rotating shaft, and the scraper body includes a cleaning part and a connecting part which are perpendicular to each other. The cleaning part is arranged on the outer side of the magnetic wheel, and one end of the connecting part away from the cleaning part is connected to the sleeve.

3. The permanent magnet wheel assembly according to claim 2, characterized in that: An isolation gap is provided between the cleaning portion and the magnetic wheel, and a dimension of the isolation gap along a radial direction of the rotating shaft is α, wherein 1 mm < α < 1.5 mm.

4. The permanent magnet wheel assembly according to claim 1, characterized in that: The magnetic wheel comprises a permanent magnet and a filling block. A notch is provided on the top of the permanent magnet. The filling block is accommodated in the notch, and the filling block is a non-magnetic part.

5. The permanent magnet wheel assembly according to claim 4, characterized in that: The notch is fan-shaped, and the center angle of the notch is β, wherein 110°<β<130°.

6. The permanent magnet wheel assembly according to claim 1, characterized in that: The permanent magnet wheel set also includes an armature, and the armature is attached to the magnetic wheel.

7. The permanent magnet wheel assembly according to claim 6, characterized in that: There are two magnetic wheels, which are arranged in sequence along the axial direction of the rotating shaft, and each magnetic wheel is correspondingly provided with the armature.

8. The permanent magnet wheel assembly according to any one of claims 1 to 7, characterized in that: The diameter of the rubber wheel is greater than the diameter of the magnetic wheel.

9. The permanent magnet wheel assembly according to any one of claims 1 to 7, characterized in that: The scraper unit is a non-magnetic part.

10. A magnetic climbing robot, characterized in that: include: ontology; A driving member, wherein the driving member is disposed on the body; According to any one of claims 1 to 9, the permanent magnetic wheel group is arranged on the main body, and the driving member can drive the rotating shaft to rotate.

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