Spherical full-angle self-adaptive permanent magnet adsorption wheel capable of being actively separated

Abstract

The utility model discloses a spherical full-angle self-adaptive permanent magnet adsorption wheel capable of being actively separated, which comprises a support and a spherical wheel connected to the support through a flange, and a driving motor capable of driving the flange to rotate is further arranged on one side of the support. An adsorption balance wheel is arranged in the spherical wheel through a rotating shaft, the adsorption balance wheel can rotate in the axial direction of the rotating shaft, and the adsorption balance wheel is provided with a permanent magnet. The permanent magnet adsorption wheel is of a moving structure and is also of an adsorption fixing structure. The spherical wheels and the magnets capable of freely moving within a certain range are utilized to ensure that the system can be adaptively fixed or moved on the surfaces of ferromagnetic materials in various shapes, and the obstacle crossing ability is improved.

Description

Technical Field

[0001] The utility model relates to the technical application field of underwater intelligent devices, and particularly relates to a spherical full-angle adaptive permanent magnet adsorption wheel that can be actively detached. Background Art

[0002] When existing underwater intelligent devices are operating, they still need to maintain relative stability of their own positions and postures, otherwise they cannot operate normally and continuously. The existing fixing or adsorption methods mainly include three types: propulsion adsorption, negative pressure adsorption, and magnetic adsorption.

[0003] Propulsion adsorption mainly relies on the reverse force of the thruster of the underwater intelligent device itself to achieve.

[0004] Negative pressure adsorption is to equip a disc at the bottom of the robot, use the thruster to pump out the water between the disc and the attachment surface, and then form a low-pressure area in the gap between the disc and the attachment surface, and use the water pressure to press the device on the attachment surface.

[0005] Magnetic adsorption is an adsorption method specifically for ferromagnetic adsorption surfaces. Usually, a large magnet is equipped at the bottom of the device or a magnet is installed on the wheel. This method mainly uses the magnetic force of the permanent magnet or electromagnet received by the ferromagnetic adsorption surface for adsorption.

[0006] The current structures that combine adsorption and movement are mainly magnetic wheels and magnetic tracks. The magnet is mainly installed on the driving wheel, driven wheel or track by inlaying or assembling and moves with them.

[0007] The disadvantages of propulsion adsorption and negative pressure adsorption are poor adsorption effect, large influence by water flow, need for continuous power supply, difficulty in re-adsorption after accidental detachment, etc.; while traditional magnetic adsorption, whether relying on electromagnets or permanent magnets, more or less faces problems such as poor adaptability, can only act on flat and regular surfaces, difficulty in detachment, and easy demagnetization or damage due to mechanical vibration.

[0008] In view of the respective disadvantages of the existing technologies, this article proposes a new type of permanent magnet adsorption structure that can effectively adsorb on ferromagnetic attachment surfaces, has good anti-flow performance, can actively detach from the attachment surface, can adapt to various curved and uneven surfaces, and is not easily demagnetized due to vibration or collision, etc. At the same time, it can also be used as a driving wheel or a driven wheel. Utility Model Content

[0009] To solve the above technical problems, the utility model provides a spherical full-angle adaptive permanent magnet adsorption wheel that can be actively detached, which is both a movement structure and an adsorption and fixation structure; using a spherical wheel and a magnet that can move freely within a certain range ensures that the system can be adaptively fixed or moved on the surfaces of various shapes of ferromagnetic materials and improves the obstacle-crossing ability.

[0010] The technical solution of the present utility model is: a spherical full-angle adaptive permanent magnet adsorption wheel that can be actively detached, including a bracket and a spherical wheel connected to the bracket through a flange, and a driving motor capable of driving the flange to rotate is further provided on one side of the bracket;

[0011] An adsorption pendulum wheel is provided inside the spherical wheel through a rotating shaft, and the adsorption pendulum wheel can rotate along the axial direction of the rotating shaft, and a permanent magnet is provided on the adsorption pendulum wheel.

[0012] Further, the permanent magnets are fixedly combined in the adsorption pendulum wheel according to the Halbach array.

[0013] Further, both ends of the rotating shaft respectively pass through the outside of the spherical wheel and are rotatably connected to the flange, and a steering gear for driving the rotating shaft to rotate is provided on the other side of the bracket.

[0014] Further, the steering gear and the driving motor are independently controlled respectively.

[0015] Further, a fixing frame located on the bracket is provided at the upper end of the spherical wheel, and a detachment magnet for cooperating with the permanent magnet is provided on the fixing frame.

[0016] Further, the detachment magnets are fixedly combined in the fixing frame according to the Halbach array.

[0017] Further, the adsorption pendulum wheel is a sector block, and an installation opening for assembling the permanent magnet is provided on the surface of the sector block.

[0018] Further, a groove is provided at one end of the sector block close to the rotating shaft, and a connecting block for cooperating with the groove is provided on the rotating shaft, and the groove abuts against the connecting block and is fixed by a positioning pin.

[0019] Further, there is a gap between the bottom of the adsorption pendulum wheel and the inner wall of the spherical wheel.

[0020] The beneficial technical effects of the present utility model are:

[0021] 1. In the traditional magnetic adsorption structure, since the magnet always remains in direct contact with the attachment surface outside, it is easy to cause demagnetization or fragmentation of the permanent magnet due to mechanical collision or vibration. However, the permanent magnet in this structure does not directly contact the outside world, which can greatly avoid the situation of demagnetization or fragmentation of the permanent magnet.

[0022] 2. Since the traditional magnetic adsorption structure cannot control the magnet to deflect adaptively during operation, when facing a curved or uneven adsorption surface, it cannot always keep the magnet facing the attachment surface, resulting in an increase in the magnetic gap and a weakening of the magnetic force. In contrast, the present application uses a spherical wheel and a magnet that can move freely within a certain range, which can always keep the magnet facing the attachment surface without human intervention. Even when operating on a curved or uneven adsorption surface, the stability of the magnetic adsorption force can be maintained.

[0023] 3. The motion structure and the adsorption structure are cleverly separated and controlled separately without mutual interference.

[0024] 4. The mutual cooperation of the servo motor, the rotating shaft, the adsorption pendulum wheel and the disengaging magnet is used for the active disengagement and maintenance of the adsorption mechanism; similarly, even in the case of power failure, the adsorption pendulum wheel will not swing erroneously due to the power failure of the servo motor.

[0025] The above description is only an overview of the technical solution of the present utility model. In order to understand the technical means of the present utility model more clearly and implement it in accordance with the content of the specification, the following is a detailed description of the preferred embodiments of the present utility model in conjunction with the drawings as follows. Description of the Drawings

[0026] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0027] Figure 2 is a schematic diagram of the adsorption pendulum wheel of the present utility model assembled on the rotating shaft.

[0028] The reference numerals are:

[0029] 1. Bracket; 2. Servo motor; 3. Flange; 4. Spherical wheel; 5. Adsorption pendulum wheel; 51. Sector block; 52. Groove; 53. Positioning pin; 6. Permanent magnet; 7. Rotating shaft; 71. Connecting block; 8. Driving motor; 9. Fixed frame; 10. Disengaging magnet. Detailed Embodiment

[0030] In order to understand the technical means of the present utility model more clearly and implement it in accordance with the content of the specification, the following further describes the detailed embodiment of the present utility model in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present utility model but not to limit the scope of the present utility model.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of the present application described herein.

[0032] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship recorded in the embodiments and shown in the drawings, or the orientation or positional relationship in which the utility model product is habitually placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0033] As Figure 1 - Figure 2 shown, the present utility model specifically relates to a spherical full-angle adaptive permanent magnet adsorption wheel that can actively disengage, including a bracket 1 and a spherical wheel 4 connected to the bracket 1 through a flange 3. A drive motor 8 capable of driving the flange 3 to rotate is further provided on one side of the bracket 1;

[0034] An adsorption pendulum wheel 5 is provided inside the spherical wheel 4 through a rotating shaft 7, and the adsorption pendulum wheel 5 can rotate along the axial direction of the rotating shaft 7. A permanent magnet 6 is provided on the adsorption pendulum wheel 5.

[0035] The permanent magnet 6 is fixedly combined in the adsorption pendulum wheel 5 according to the Halbach array.

[0036] In order to enable the working device to be fixed or adsorbed on the surface of ferromagnetic materials during operation, a group of permanent magnets 6 are fixedly combined in the adsorption pendulum wheel 5 according to the Halbach array. This array can enhance the magnetic field strength of the magnet combination on the adsorption surface, that is, the side close to the spherical wheel 4, and increase the adsorption force and friction force on the surface of ferromagnetic materials.

[0037] The spherical wheel 4 is a motion mechanism, which is controlled by the drive motor 8 through the flange 3. When the drive motor 8 is started, the spherical wheel 4 can be driven to move.

[0038] The magnetic adsorption force between the adsorption pendulum wheel 5 and the surface of ferromagnetic materials and the spherical shape of the spherical wheel 4 ensure that the spherical wheel 4 will not slip when moving or fixed on the surface of ferromagnetic materials, and at the same time provide the ability to overcome obstacles.

[0039] The adsorption pendulum wheel 5 is fixed on the rotating shaft 7, and the adsorption pendulum wheel 5 can rotate with the rotating shaft 7; in addition, the rotation of the adsorption pendulum wheel 5 will not affect the movement of the spherical wheel 4, and their movements are independently controlled.

[0040] When the spherical wheel 4 approaches or moves on the surface of a flat ferromagnetic material, the adsorption pendulum wheel 5 will automatically droop under the action of magnetic force to obtain the maximum adsorption force.

[0041] When the spherical wheel 4 approaches or moves on the surface of ferromagnetic materials with uneven left and right sides, the adsorption pendulum wheel 5 will also automatically deflect to both sides under the action of magnetic force to adapt to the slope of the ferromagnetic material surface, maintaining a stable adsorption force without human intervention.

[0042] When the mechanism moves or approaches the surface of ferromagnetic materials with uneven front and back sides, the adsorption pendulum wheel 5 can still maintain a stable adsorption force by virtue of its large-angle fan shape without human intervention.

[0043] Both ends of the rotating shaft 7 pass through the outside of the spherical wheel 4 and are rotatably connected to the flange 3. On the other side of the bracket 1, there is a servo motor 2 for driving the rotation of the rotating shaft 7.

[0044] Among them, the servo motor 2 can drive the rotation of the rotating shaft 7, and then synchronously drive the rotation of the adsorption pendulum wheel 5. When the spherical wheel 4 faces the ferromagnetic material wall perpendicular to the forward direction, the adsorption pendulum wheel 5 can still be deflected by controlling the angle of the servo motor 2 to adsorb on the vertical wall, thereby changing the overall forward direction.

[0045] The servo motor 2 and the drive motor 8 are controlled independently. Among them, the drive motor 8 drives the rotation of the spherical wheel 4 and is a motion mechanism; the servo motor 2 drives the rotation of the adsorption pendulum wheel 5 and is an adsorption mechanism; the two action systems are independent of each other and do not interfere with each other, and can be uniformly managed by a set of control systems and can be controlled simultaneously or separately.

[0046] In addition, both the servo motor 2 and the drive motor 8 are waterproof devices. In the prior art, the technologies for waterproof servo motors 2 and drive motors 8 are very mature, so they will not be described in detail here.

[0047] Furthermore, the overall structure of the permanent magnet adsorption wheel has been subjected to corresponding waterproof and sealing treatments and can fully adapt to underwater operations.

[0048] At the upper end of the spherical wheel 4, there is a fixing frame 9 located on the bracket 1. The fixing frame 9 is provided with a demagnetizing magnet 10 for cooperating with the permanent magnet 6.

[0049] The demagnetizing magnet 10 is fixed to the fixing frame 9 according to the Halbach array combination.

[0050] When it is necessary for the mechanism to disengage from the adsorption surface, control the servo motor 2 to rotate the adsorption pendulum wheel 5 to a position close to the demagnetizing magnet 10, and the attraction of the adsorption pendulum wheel 5 to the adsorption surface can be eliminated. Since the demagnetizing magnet 10 uses the same Halbach array combination as the adsorption pendulum wheel 5, there is a large magnetic field intensity on the side close to the spherical wheel 4, and there is a large adsorption force on the adsorption pendulum wheel 5, which can maintain the adsorption control of the adsorption pendulum wheel 5. Even in the case of power failure, the adsorption pendulum wheel 5 will not swing incorrectly due to the power failure of the servo motor 2.

[0051] This permanent magnet adsorption wheel can perform actions such as movement, adsorption, and detachment.

[0052] During movement, the spherical wheel 4 is driven by the drive motor 8 to rotate, and it moves using the frictional force between the spherical wheel 4 and the adsorption surface. The downward pressure can be provided by the magnetic adsorption force between the adsorption pendulum wheel 5 and the surface of the ferromagnetic material.

[0053] During adsorption, the adsorption pendulum wheel 5 can automatically select the deflection angles on both sides with the maximum adsorption force under the action of magnetic force to achieve self - adaptation to adsorption surfaces of various shapes. At the same time, the servo motor 2 can control the swing angle of the adsorption pendulum wheel 5, thereby achieving precise control of the adsorption force. At the same time, the two action systems are independent of each other and do not interfere with each other. They can be uniformly managed by a set of control systems and can be carried out simultaneously or separately.

[0054] When detaching, the position of the adsorption pendulum wheel 5 is adjusted by the servo motor 2 to make it close to the detachment magnet 10, thereby eliminating the adsorption force.

[0055] The adsorption pendulum wheel 5 is a sector - shaped block 51, and an installation opening for assembling the permanent magnet 6 is provided on the surface of the sector - shaped block 51.

[0056] One end of the sector - shaped block 51 close to the rotating shaft 7 is provided with a groove 52, and the rotating shaft 7 is provided with a connecting block 71 for cooperating with the groove 52. The groove 52 abuts against the connecting block 71 and is fixed by a positioning pin 53. The adsorption pendulum wheel 5 can automatically select the deflection angles on both sides with the maximum adsorption force under the action of magnetic force, thereby achieving precise control of the adsorption force.

[0057] There is a gap between the bottom of the adsorption pendulum wheel 5 and the inner wall of the spherical wheel 4, which is convenient for the movement of the adsorption pendulum wheel 5.

[0058] This permanent magnet adsorption wheel can be installed at the bottom or side of an underwater intelligent device, and the specific position depends on the operation requirements and design of the device. For example, if movement and adsorption are required underwater, it can be installed at the center of the bottom of the device to provide the best adsorption effect and movement balance.

[0059] The above - mentioned embodiments are only specific implementation manners of the present utility model, which are used to illustrate the technical solutions of the present utility model, rather than to limit it. The protection scope of the present utility model is not limited thereto. Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the technical field can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model, and should all be covered within the protection scope of the present utility model.

Claims

1. A spherical full-angle adaptive permanent magnetic adsorption wheel that can be actively disengaged, characterized in that: It comprises a bracket (1) and a spherical wheel (4) connected to the bracket (1) via a flange (3); one side of the bracket (1) is also provided with a driving motor (8) capable of driving the flange (3) to rotate; An adsorption balance wheel (5) is arranged inside the spherical wheel (4) via a rotating shaft (7), and the adsorption balance wheel (5) is capable of rotating along the axial direction of the rotating shaft (7), and the adsorption balance wheel (5) is provided with a permanent magnet (6).

2. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 1, characterized in that: The permanent magnet (6) is fixed in the adsorption balance wheel (5) according to the Halbach array combination.

3. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 2, characterized in that: The two ends of the rotating shaft (7) respectively pass through the outside of the spherical wheel (4) and are rotatably connected to the flange (3); the other side of the bracket (1) is provided with a steering gear (2) for driving the rotating shaft (7) to rotate.

4. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 3, characterized in that: The steering gear (2) and the driving motor (8) are independently controlled.

5. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 1, characterized in that: The upper end of the spherical wheel (4) is provided with a fixing frame (9) located on the bracket (1), and the fixing frame (9) is provided with a breakaway magnet (10) used in conjunction with the permanent magnet (6).

6. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 5, characterized in that: The separation magnet (10) is fixed to the fixing frame (9) according to a Halbach array combination.

7. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 1, characterized in that: The adsorption balance wheel (5) is a sector-shaped block (51), and a mounting opening for assembling a permanent magnet (6) is provided on the surface of the sector-shaped block (51).

8. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 7, characterized in that: A groove (52) is provided at one end of the sector block (51) close to the rotating shaft (7), and the rotating shaft (7) is provided with a connecting block (71) used in conjunction with the groove (52). The groove (52) abuts against the connecting block (71) and is fixed by a positioning pin (53).

9. The actively detachable spherical full-angle adaptive permanent magnetic adsorption wheel according to claim 1, characterized in that: There is a gap between the bottom of the adsorption balance wheel (5) and the inner wall of the spherical wheel (4).

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