Permanent magnet wheel set and magnetic climbing robot

Abstract

The utility model discloses a permanent magnet wheel set and a magnetic climbing robot, and relates to the magnetic climbing robot technical field, the permanent magnet wheel set comprises a mounting seat, a roller assembly and a cleaning assembly, the mounting seat is provided with a rotating shaft, and the roller assembly comprises a first support wheel, a magnetic wheel and a second support wheel which are all arranged on the rotating shaft; the first supporting wheel, the magnetic wheel and the second supporting wheel are sequentially arranged in the axial direction of the rotating shaft, the cleaning assembly is arranged on the outer side of the magnetic wheel and comprises a connecting rod, a brush base and a cleaning part, the connecting rod is arranged on the mounting base, and the brush base is connected with the connecting rod. The cleaning part comprises a plurality of bristles; the multiple bristles are evenly arranged on the side, facing the outer circumferential face of the magnetic wheel, of the brush base and face the magnetic wheel, all the bristles are used for cleaning rust slag and scrap iron attached to the outer circumferential face of the magnetic wheel, and all the bristles are deformable pieces. According to the technical scheme, the technical problem that the magnetic attraction force is reduced due to the fact that rust slag and scrap iron are attached to the permanent magnet wheel set can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to magnetic robot technology field especially relates to a permanent magnet wheel set and magnetic robot. BACKGROUND

[0002] The magnetic robot is a kind of intelligent equipment using magnetic force principle to move on vertical or inclined surface.The existing magnetic robot is mainly adsorbed on the surface of wind power tower drum by permanent magnet wheel set, but with the increase of working time, rust and iron filings are attached to the permanent magnet wheel set, which leads to the decline of magnetic attraction of permanent magnet wheel set, and further leads to the falling of magnetic robot due to insufficient magnetic attraction.

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

[0004] The utility model discloses a kind of permanent magnet wheel sets and magnetic robots, to solve the technical problem that the magnetic attraction is caused by the rust and iron filings attached to permanent magnet wheel set is reduced.

[0005] To achieve the above object, a kind of permanent magnet wheel set is provided by the utility model, it is applied to magnetic robot, the permanent magnet wheel set includes:

[0006] Mounting seat, the mounting seat is provided with rotating shaft;

[0007] Roller assembly, the roller assembly includes first support wheel, magnetic wheel and second support wheel, and the first support wheel, the magnetic wheel and the second support wheel are sequentially arranged along the axial direction of the rotating shaft;

[0008] Cleaning assembly, the cleaning assembly is arranged on the outer side of the magnetic wheel, and the cleaning assembly includes connecting rod, brush holder and cleaning part, the connecting rod is arranged on the mounting seat, and the brush holder is connected with the connecting rod;

[0009] The cleaning part includes a plurality of bristles;A plurality of bristles are uniformly arranged on the side of the outer circumferential surface of the brush holder facing the magnetic wheel, and are arranged towards the magnetic wheel, each bristle is used to clean the rust and iron filings attached to the outer circumferential surface of the magnetic wheel, and each bristle is a deformable member.

[0010] In an embodiment, the end of the bristle facing the magnetic wheel and the outer circumferential surface of the magnetic wheel are provided with a gap, and the size of the gap along the radial direction of the rotating shaft is a, then 0mm

[0011] In an embodiment, the mounting seat is provided with a mounting hole;The connecting rod is slidably arranged in the mounting hole and can slide towards the rotating shaft or away from the rotating shaft.

[0012] In an embodiment, the mounting base is provided with a first locking screw capable of abutting against the connecting rod to lock the position of the connecting rod.

[0013] In an embodiment, the mounting base comprises a bracket and a mounting rod, the rotating shaft is rotatably arranged on the mounting base, the mounting rod is slidingly arranged on the mounting base along the axial direction of the rotating shaft, the connecting rod is arranged on the mounting rod, and the bracket is provided with a second locking screw capable of abutting against the mounting rod.

[0014] In an embodiment, the roller assembly further comprises a first armature and a second armature both arranged on the rotating shaft, the first supporting wheel, the first armature, the magnetic wheel, the second armature and the second supporting wheel are sequentially arranged along the axial direction of the rotating shaft.

[0015] In an embodiment, the length of the cleaning part along the axial direction of the rotating shaft is b, the length of the first armature, the magnetic wheel and the second armature along the axial direction of the rotating shaft is c, and the length of the magnetic wheel along the axial direction of the rotating shaft is d, and d < b < c.

[0016] In an embodiment, the diameters of the first supporting wheel and the second supporting wheel are equal, the diameters of the magnetic wheel, the first armature and the second armature are equal, and the diameter of the first supporting wheel is larger than that of the magnetic wheel.

[0017] In an embodiment, the number of the connecting rods is two, and the two connecting rods are arranged on the mounting base along the axial direction of the rotating shaft.

[0018] In addition, the utility model further provides a magnetic crawling robot, the magnetic crawling robot includes the permanent magnet wheel group as described above.

[0019] The technical solution of the present utility model can clean the rust and iron filings attached to the outer circumference of the magnetic wheel when the magnetic climbing robot is moving by providing a deformable bristle, so that the permanent magnetic wheel group can provide sufficient magnetic attraction, thereby reducing the risk of the magnetic climbing robot falling due to insufficient magnetic attraction; at the same time, it can also reduce the possibility of the drive motor driving the rotating shaft getting stuck, thereby reducing the possibility of damage to the magnetic climbing robot. In this embodiment, the first support wheel, the magnetic wheel, and the second support wheel are all arranged on the rotating shaft. The drive motor of the magnetic climbing robot can drive the rotating shaft to rotate, thereby driving the first support wheel, the magnetic wheel, and the second support wheel, and allowing the magnetic climbing robot to move on the wind turbine tower. The magnetic wheel has magnetism and can provide a magnetic attraction to adsorb the permanent magnetic wheel group to the surface of the wind turbine tower, thereby adsorbing the magnetic climbing robot to the surface of the wind turbine tower. The first support wheel and the second support wheel can be against the surface of the wind turbine tower to provide stable support for the magnetic climbing robot when it is moving. A plurality of bristles are evenly arranged on the side of the outer circumferential surface of the brush holder facing the magnetic wheel and are arranged toward the magnetic wheel, and are used to clean the rust residue and iron filings attached to the outer circumferential surface of the magnetic wheel, so that the permanent magnetic wheel group can provide sufficient magnetic attraction, thereby reducing the risk of the magnetic climbing robot falling due to insufficient magnetic attraction. At the same time, the bristles are made of deformable material. When cleaning impurities stuck in the roller assembly, the bristles can be deformed. At this time, the roller assembly will still rotate normally under the drive of the drive motor, which can reduce the possibility of the drive motor that drives the rotating shaft to rotate getting stuck. Specifically, when the magnetic climbing robot is moving, the first support wheel, the magnetic wheel and the second support wheel rotate under the drive of the drive motor. At this time, the bristles will move relative to the magnetic wheel, thereby cleaning the rust residue and iron filings attached to the outer circumferential surface of the magnetic wheel. The permanent magnetic wheel group is applied to the field of magnetic climbing robot technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0021] Figure 1 This is a schematic structural diagram of the permanent magnet wheel assembly in the embodiment provided by the present utility model;

[0022] Figure 2 This is a schematic structural diagram of a cleaning component in an embodiment of the present invention;

[0023] Figure 3 This is a schematic structural diagram of the roller assembly in the embodiment provided by the utility model.

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] 100, mounting seat; 110, first locking screw; 120, support; 121, second locking screw; 130, mounting rod; 200, roller assembly; 210, first supporting wheel; 220, magnetic wheel; 230, second supporting wheel; 240, first armature; 250, second armature; 300, cleaning assembly; 310, connecting rod; 320, brush holder; 330, cleaning part; 331, brush.

[0026] The object, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0029] In addition, if the present application embodiments involve descriptions such as "first", "second", etc., the "first", "second", etc. descriptions are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B simultaneously meet the scheme.

[0030] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the present application.

[0031] The magnetic climbing robot is an intelligent device that uses magnetic force to move on vertical or inclined surfaces. Its working principle is mainly that the magnetic elements on the robot interact with the magnetic materials of the metal equipment (such as a wind turbine tower) to generate magnetic attraction force, so that the robot can move freely on the vertical surface. At present, the magnetic climbing robot is mainly adsorbed on the surface of the wind turbine tower through a permanent magnet wheel set. In actual use, researchers have found that when the magnetic climbing robot travels on the iron surface of the wind turbine tower, rust and iron filings will be adsorbed on the permanent magnet wheel set, and as the working time increases, the rust and iron filings adsorbed on the permanent magnet wheel set will gradually increase, which will cause the magnetic attraction force provided by the permanent magnet wheel set to decrease, and thus the magnetic climbing robot will fall due to insufficient magnetic attraction force.

[0032] The utility model provides a permanent magnet wheel set and magnetic climbing robot, aim at solving the technical problem of magnetic attraction force decrease caused by rust and iron filings attached to the permanent magnet wheel set.

[0033] Please refer to Figure 1 In an embodiment of the utility model, the permanent magnet wheel set is applied to the magnetic climbing robot and is used for supporting the body of the magnetic climbing robot to enable the magnetic climbing robot to travel on the outer surface of the wind turbine tower. The permanent magnet wheel set comprises a mounting seat 100, a roller assembly 200 and a cleaning assembly 300. The mounting seat 100 is provided with a rotating shaft. The roller assembly 200 comprises a first supporting wheel 210, a magnetic wheel 220 and a second supporting wheel 230, which are all arranged on the rotating shaft. The first supporting wheel 210, the magnetic wheel 220 and the second supporting wheel 230 are sequentially arranged along the axial direction of the rotating shaft. The cleaning assembly 300 is arranged on the outer side of the magnetic wheel 220. The cleaning assembly 300 comprises a connecting rod 310, a brush seat 320 and a cleaning part 330. The connecting rod 310 is arranged on the mounting seat 100, and the brush seat 320 is connected with the connecting rod 310. The cleaning part 330 comprises a plurality of bristles 331. The plurality of bristles 331 are uniformly arranged on one side of the outer circumferential surface of the brush seat 320 facing the magnetic wheel 220 and are arranged towards the magnetic wheel 220. Each bristle 331 is used for cleaning the rust and iron filings attached to the outer circumferential surface of the magnetic wheel 220. Each bristle 331 is a deformable piece.

[0034] The technical scheme of the utility model discloses deformable brush 331 can clean the rust and iron filings adhered to the outer circumferential surface of the magnetic wheel 220 when the magnetic crawling robot is advancing, so that the permanent magnet wheel set can provide sufficient magnetic attraction force, reduce the risk of falling of the magnetic crawling robot due to insufficient magnetic attraction force, and simultaneously, the possibility of jamming of the driving motor driving the rotation of the rotating shaft can be reduced, thereby reducing the possibility of damage of the magnetic crawling robot. In the embodiment, the first supporting wheel 210, the magnetic wheel 220 and the second supporting wheel 230 are all arranged on the rotating shaft; the driving motor of the magnetic crawling robot can drive the rotation of the rotating shaft, thereby driving the first supporting wheel 210, the magnetic wheel 220 and the second supporting wheel 230, so that the magnetic crawling robot advances on the wind power tower drum. The magnetic wheel 220 has magnetism and can provide a magnetic attraction force, so as to adsorb the permanent magnet wheel set to the surface of the wind power tower drum, thereby adsorbing the magnetic crawling robot to the surface of the wind power tower drum. When the magnetic crawling robot is advancing, the first supporting wheel 210 and the second supporting wheel 230 abut against the surface of the wind power tower drum, thereby providing stable support for the magnetic crawling robot. The plurality of brush 331 arranged on the side of the brush holder 320 facing the outer circumferential surface of the magnetic wheel 220 and towards the magnetic wheel 220 can clean the rust and iron filings adhered to the outer circumferential surface of the magnetic wheel 220, so that the permanent magnet wheel set can always provide sufficient magnetic attraction force, thereby reducing the risk of falling of the magnetic crawling robot due to insufficient magnetic attraction force. At the same time, the brush 331 is made of deformable material, and when cleaning the impurities between the adjacent two wheels of the roller assembly 200, the brush 331 can be deformed, at this time, the roller assembly 200 is less affected by the brush 331, and still can rotate normally under the driving of the driving motor; the brush 331 made of deformable material can reduce the possibility of jamming of the driving motor driving the rotation of the rotating shaft. Specifically, when the magnetic crawling robot is advancing, the first supporting wheel 210, the magnetic wheel 220 and the second supporting wheel 230 rotate under the driving of the driving motor, at this time, the brush 331 will move relative to the magnetic wheel 220, thereby cleaning the rust and iron filings adhered to the outer circumferential surface of the magnetic wheel 220. The permanent magnet wheel set is applied to the technical field of magnetic crawling robots.

[0035] In the embodiment, the first supporting wheel 210 and the second supporting wheel 230 can be hard rubber wheels or hard rubber covered on the outer periphery of the iron disc, which can reduce the pressure marks left by the magnetic climbing robot when it travels on the wind power tower. It should be noted that when the magnetic climbing robot travels on the surface of the wind power tower, not only the rust and iron filings can be attached to the magnetic wheels 220 of the permanent magnet wheel set, but also the stones, screws and other impurities can be stuck in the gaps between the wheels of the permanent magnet wheel set. When cleaning the rust and iron filings attached to the outer circumferential surface of the magnetic wheel 220, if the hard components abut against the stones, screws and other impurities, the roller assembly 200 can be easily stuck, and the driving motor driving the rotating shaft can be also stuck, which can cause damage to the magnetic climbing robot. The permanent magnet wheel set can clean the rust and iron filings attached to the outer circumferential surface of the magnetic wheel 220 by using the deformable bristles 331, which can deform when touching the stones, screws and other impurities, so that the roller assembly 200 can still rotate normally. The possibility of the roller assembly 200 being stuck can be reduced, and the possibility of the driving motor being stuck can also be reduced. In a specific embodiment, the bristles 331 can be metal bristles 331, for example, the bristles 331 made of stainless steel.

[0036] In an embodiment of the utility model, the gap between the end of the bristle 331 facing the magnetic wheel 220 and the outer circumferential surface of the magnetic wheel 220 is provided, and the dimension of the gap along the radial direction of the rotating shaft is a, and 0mm < a < 2mm. Specifically, the dimension of the gap between the bristle 331 and the magnetic wheel 220 along the radial direction of the rotating shaft is limited to 0-2mm, which can improve the cleaning effect of the bristle 331 when cleaning the rust and iron filings attached to the outer circumferential surface of the magnetic wheel 220, and can also separate the bristle 331 from the magnetic wheel 220 to reduce the possibility of the magnetic wheel 220 being damaged.

[0037] Please refer to Figure 1 and Figure 2 In an embodiment of the utility model, the mounting seat 100 is provided with a mounting hole, and the connecting rod 310 is slidably arranged in the mounting hole and can slide towards the direction close to or away from the rotating shaft. In the embodiment, the connecting rod 310 can drive the bristle 331 to move towards the direction close to or away from the magnetic wheel 220 to adjust the dimension of the gap along the radial direction of the rotating shaft. Through the above arrangement, the permanent magnet wheel set can adapt to the magnetic wheels 220 with different diameters, and the application range of the permanent magnet wheel set can be improved. Specifically, during actual use, the worker can adjust the position of the bristle 331 according to the diameter of the magnetic wheel 220 mounted on the mounting seat 100. In a specific embodiment, the mounting hole is a hexagonal hole.

[0038] In the embodiment of the utility model, the mounting base 100 is provided with the first locking screw 110, the first locking screw 110 can abut against the connecting rod 310 to lock the position of the connecting rod 310. In the embodiment, the first locking screw 110 can abut against the connecting rod 310 to lock the position of the connecting rod 310, and further lock the position of the bristles 331, so as to reduce the possibility of position deviation of the bristles 331 along the radial direction of the rotating shaft when the bristles 331 clean the rust and iron filings on the outer circumferential surface of the magnetic wheel 220. The first locking screw 110 is used to lock the position of the connecting rod 310, which has the characteristics of simple structure and can reduce the manufacturing difficulty of the permanent magnet wheel set.

[0039] Please refer to Figure 1 In the embodiment of the utility model, the mounting base 100 includes the support 120 and the mounting rod 130, the rotating shaft is rotatably arranged on the mounting base 100, the mounting rod 130 is slidably arranged on the mounting base 100 along the axial direction of the rotating shaft, the connecting rod 310 is arranged on the mounting rod 130, and the second locking screw 121 capable of abutting against the mounting rod 130 is arranged on the support 120. In the embodiment, the mounting rod 130 can slide along the axial direction of the rotating shaft and drive the bristles 331 to move along the axial direction of the rotating shaft; by sliding the mounting rod 130, the position of the bristles 331 can be adjusted, and the bristles 331 can be aligned with the magnetic wheel 220, and at the same time, the permanent magnet wheel set can adapt to different types of roller assemblies 200, thereby improving the application range of the permanent magnet wheel set. The second locking screw 121 can lock the position of the mounting rod 130, thereby reducing the possibility of position deviation of the bristles 331 along the axial direction of the rotating shaft when the bristles 331 clean the rust and iron filings on the outer circumferential surface of the magnetic wheel 220.

[0040] Please refer to Figure 3 In the embodiment of the utility model, the roller assembly 200 further includes the first armature 240 and the second armature 250 arranged on the rotating shaft, and the first supporting wheel 210, the first armature 240, the magnetic wheel 220, the second armature 250 and the second supporting wheel 230 are sequentially arranged along the axial direction of the rotating shaft. In the embodiment, the first armature 240 and the second armature 250 can increase the magnetic attraction force of the permanent magnet wheel set, thereby reducing the risk of falling of the magnetic climbing robot. In a specific embodiment, the number of the magnetic wheels 220 can also be multiple, and correspondingly, the number of the armatures is also multiple, and at least one armature is arranged on each side of each magnetic wheel 220 along the axial direction of the rotating shaft. In a specific embodiment, the first supporting wheel 210, the first armature 240, the magnetic wheel 220, the second armature 250 and the second supporting wheel 230 are sequentially and laminatedly arranged along the axial direction of the rotating shaft.

[0041] In an embodiment of the utility model, length of along the axial direction of rotation axis of the cleaning part 330 is b, length of along the axial direction of rotation axis of the first armature 240, the magnetic wheel 220, the second armature 250 is c, length of along the axial direction of rotation axis of the magnetic wheel 220 is d, then have: d < b < c.In this embodiment, the length of the cleaning part 330 along the axial direction of the rotation axis is less than the length of the first armature 240, the magnetic wheel 220, the second armature 250 along the axial direction of the rotation axis, which can reduce the risk of the bristles 331 of the cleaning part 330 touching the first support wheel 210 and the second support wheel 230, and further reduce the possibility of damage to the first support wheel 210 and the second support wheel 230;And the length of the cleaning part 330 along the axial direction of the rotation axis is greater than the length of the magnetic wheel 220 along the axial direction of the rotation axis, which can make the bristles 331 of the cleaning part 330 completely cover the magnetic wheel 220, and improve the cleaning effect.In a specific embodiment, the length of the cleaning part 330 along the axial direction of the rotation axis is slightly less than the length of the first armature 240, the magnetic wheel 220, the second armature 250 along the axial direction of the rotation axis, and the difference between the two is between 2-4mm.

[0042] Please refer to Figure 3 In an embodiment of the utility model, the diameter size of the first support wheel 210 and the second support wheel 230 is equal, the diameter size of the magnetic wheel 220, the first armature 240 and the second armature 250 is equal, and the diameter size of the first support wheel 210 is greater than the diameter size of the magnetic wheel 220.In this embodiment, the diameter size of the first support wheel 210 is greater than the diameter size of the magnetic wheel 220, which makes the magnetic climbing robot contact the surface of the wind power tower drum and roll on the surface of the wind power tower drum when traveling on the surface of the wind power tower drum, and there is still a certain space between the magnetic wheel 220 and the surface of the wind power tower drum, which can not only attract the magnetic climbing robot to the surface of the wind power tower drum by the magnetic attraction force of the magnetic wheel 220, but also separate the magnetic wheel 220 from the wind power tower drum, reducing the possibility of damage to the magnetic wheel 220 due to bumping.

[0043] Please refer to Figure 1 And Figure 2 In an embodiment of the utility model, the number of connecting rods 310 is two, and the two connecting rods 310 are arranged on the mounting seat 100 along the axial direction of the rotation axis.In particular, the brush holder 320 is installed on the mounting seat 100 by the two connecting rods 310, which can make the position of the brush holder 320 more stable, and further make the position of the bristles 331 more stable.

[0044] The utility model also proposes a magnetic climbing robot, which comprises the above-mentioned permanent magnet wheel set, and the specific structure of the permanent magnet wheel set refers to the above-mentioned embodiments.Because the magnetic climbing robot adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0045] The above merely illustrates the embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation or direct / indirect application in other related technical fields under the technical concept of the present application and by using the content of the present application specification and drawings are included in the patent protection scope of the present application.

Claims

1. A permanent magnet wheel set applied to a magnetic crawling robot, characterized in that, The permanent magnet wheel set comprises: a mounting seat provided with a rotating shaft; a roller assembly comprising a first supporting wheel, a magnetic wheel and a second supporting wheel, which are all arranged along the axial direction of the rotating shaft; a cleaning assembly arranged outside the magnetic wheel, the cleaning assembly comprising a connecting rod, a brush seat and a cleaning part, the connecting rod being arranged on the mounting seat, and the brush seat being connected with the connecting rod; the cleaning part comprising a plurality of brush hairs, the brush hairs being arranged on one side of the brush seat facing the outer circumferential surface of the magnetic wheel and being arranged towards the magnetic wheel, each of the brush hairs being used for cleaning rust and iron filings attached to the outer circumferential surface of the magnetic wheel, and each of the brush hairs being a deformable member.

2. The permanent magnet wheelset of claim 1, wherein, a gap is arranged between one end of the brush hair facing the magnetic wheel and the outer circumferential surface of the magnetic wheel, and the size of the gap along the radial direction of the rotating shaft is a, and 0mm 3. The permanent magnet wheelset of claim 1, wherein, the mounting seat is provided with a mounting hole, the connecting rod is slidingly arranged in the mounting hole and can slide towards or away from the rotating shaft.

4. The permanent magnet wheel assembly according to claim 3, characterized in that: the mounting seat is provided with a first locking screw, the first locking screw can abut against the connecting rod to lock the position of the connecting rod.

5. The permanent magnet wheelset of claim 1, wherein, the mounting seat comprises a bracket and a mounting rod, the rotating shaft is rotatably arranged on the mounting seat, the mounting rod is slidingly arranged on the mounting seat along the axial direction of the rotating shaft, the connecting rod is arranged on the mounting rod, and the bracket is provided with a second locking screw which can abut against the mounting rod.

6. The permanent magnet wheelset of claim 1, wherein, the roller assembly further comprises a first armature and a second armature, which are both arranged on the rotating shaft, and the first supporting wheel, the first armature, the magnetic wheel, the second armature and the second supporting wheel are arranged along the axial direction of the rotating shaft.

7. The permanent magnet wheel assembly according to claim 6, characterized in that: the length of the cleaning part along the axial direction of the rotating shaft is b, the length of the first armature, the magnetic wheel and the second armature along the axial direction of the rotating shaft is c, and the length of the magnetic wheel along the axial direction of the rotating shaft is d, and d 8. The permanent magnet wheel assembly according to claim 7, characterized in that: the diameters of the first supporting wheel and the second supporting wheel are equal, the diameters of the magnetic wheel, the first armature and the second armature are equal, and the diameter of the first supporting wheel is greater than that of the magnetic wheel.

9. A permanent magnet wheelset as claimed in any one of claims 1 to 7, wherein, the number of the connecting rods is two, and the two connecting rods are arranged on the mounting seat along the axial direction of the rotating shaft.

10. A magnetic crawling robot, characterized by, a permanent magnet wheel set as claimed in any one of claims 1 to 9.

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