Permanent magnet triangular crawler wheel and robot with same

Abstract

The utility model provides a permanent magnet triangular crawler wheel and a robot with the permanent magnet triangular crawler wheel, and relates to the field of adsorption robotics.The permanent magnet triangular crawler wheel comprises a permanent magnet adsorption part, a triangular support, a walking chain and transmission wheels, and the transmission wheels are rotationally arranged at the three corners of the triangular support respectively; the transmission wheels are in transmission connection through the walking chain, and the permanent magnet attraction part is fixedly installed on the walking chain and used for being attracted to a metal wall face. The transmission wheel can drive the walking chain to move in the rotating process, walking movement of the permanent magnet triangular crawler wheel is achieved, the permanent magnet adsorption part is fixedly installed on the walking chain and moves along with the walking chain, the permanent magnet adsorption part can be adsorbed to the metal wall face, and therefore walking movement of the permanent magnet triangular crawler wheel on the metal wall face is achieved.

Description

Technical Field

[0001] This utility model relates to the field of adsorption robots, specifically to a permanent magnet triangular track wheel and a robot having the same. Background Technology

[0002] Ordinary triangular tracked wheels, as a common type of mobile device, are widely used in agriculture, construction, mining, and other fields. Because they achieve movement through friction generated by contact with the ground, their design is primarily geared towards horizontal surfaces. When facing side walls, they cannot effectively maintain stability and traction; the weight of the tracked wheels will cause them to lose support, making it difficult to move on side walls. This limitation makes traditional tracked wheels unsuitable for applications requiring high-altitude operations, building facade maintenance, or wall inspection, and they cannot meet the operational needs of different situations. Utility Model Content

[0003] The present invention aims to solve the technical problem that ordinary triangular track wheels cannot move on the side wall.

[0004] This utility model provides a permanent magnet triangular track wheel, including a permanent magnet adsorption component, a triangular bracket, a walking chain, and transmission wheels. The transmission wheels are rotatably mounted on the three corners of the triangular bracket, and each of the transmission wheels is connected to the walking chain. The permanent magnet adsorption component is fixedly installed on the walking chain and is used to adsorb onto a metal wall surface.

[0005] Optionally, the permanent magnet adsorption component includes multiple magnet units, each magnet unit being configured in a one-to-one correspondence with a link of the walking chain. Each magnet unit includes a yoke and a neodymium magnet. The yoke is fixedly installed on the corresponding link, and the side of the yoke facing away from the link has a mounting groove, in which the neodymium magnet is embedded.

[0006] Optionally, the magnet unit further includes a first fastener that passes through the neodymium magnet and is inserted into the bottom wall of the mounting slot;

[0007] Optionally, the magnet unit further includes a rubber pad, a portion of the neodymium magnet protruding from the mounting groove, and the rubber pad covering the portion of the yoke facing away from the link, excluding the mounting groove, and the portion of the neodymium magnet protruding from the mounting groove.

[0008] Optionally, the permanent magnet triangular track wheel further includes a drive wheel, an intermediate wheel, and a connecting chain. The drive wheel is rotatably disposed in the middle of the triangular bracket. The intermediate wheel is coaxially fixed with the transmission wheel at one corner of the triangular bracket. The drive wheel is connected to the intermediate wheel via the connecting chain.

[0009] Optionally, the permanent magnet triangular track wheel further includes a connecting rod and a connecting shaft. The two triangular supports are arranged opposite to each other and fixed by the connecting rod. Each triangular support has three transmission wheels on the side closest to the other triangular support. The corresponding transmission wheels on the two triangular supports are coaxially connected by the connecting shaft. The three transmission wheels on each triangular support are connected by a corresponding walking chain. The permanent magnet adsorption component is fixedly connected between the two connecting chains. The intermediate wheel is sleeved and fixed on one of the connecting shafts. The drive wheel is located between the two triangular supports and is rotatably connected to the middle of the two triangular supports respectively.

[0010] Optionally, one of the connecting shafts on which the intermediate wheel is installed is designated as the first connecting shaft, and the remaining connecting shafts are designated as the second connecting shafts. The first connecting shaft is fixedly connected to the intermediate wheel and the transmission wheel thereon, and the first connecting shaft is rotatably connected to the triangular bracket via corresponding bearings. The second connecting shaft is rotatably connected to the transmission wheel thereon via corresponding bearings, and the second connecting shaft is fixedly connected to the triangular bracket.

[0011] Optionally, the permanent magnet triangular track wheel also includes a tensioning device. The two corners of the triangular bracket for connecting with the second connecting shaft are respectively provided with the tensioning device. The tensioning device includes a fixed seat and a U-shaped hoop. The fixed seat is fixed on the triangular bracket, and the U-shaped hoop surrounds the second connecting shaft and inserts its two ends into the fixed seat.

[0012] Optionally, the triangular bracket is an equilateral triangular bracket, and the drive wheel is located at the center of the equilateral triangular bracket.

[0013] On the other hand, this utility model also proposes a robot, including the aforementioned permanent magnet triangular track wheel.

[0014] The permanent magnet triangular track wheel and the robot incorporating it of this utility model have at least the following advantages compared to related technologies:

[0015] By placing drive wheels at the three corners of the triangular support and connecting them with a walking chain, the rotation of the drive wheels drives the walking chain, enabling the permanent magnet triangular track wheels to move. Permanent magnet adsorption components are fixedly mounted on the walking chain and move with it, adhering to metal surfaces. This allows the permanent magnet triangular track wheels to move on metal surfaces. Furthermore, the triangular arrangement of the permanent magnet triangular track wheels provides good stability. When mounted on the robot body, the rotation of the permanent magnet triangular track wheels relative to the robot body enables obstacle crossing, offering superior obstacle-crossing capability compared to long, narrow permanent magnet track wheels. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the permanent magnet triangular track wheel according to an embodiment of the present invention;

[0017] Figure 2 This is a cross-sectional view of the magnet unit according to an embodiment of the present utility model;

[0018] Figure 3 This is a schematic diagram of the permanent magnet triangular track wheel after removing the triangular bracket in an embodiment of this utility model;

[0019] Figure 4 This is a schematic diagram of the permanent magnet triangular track wheel after the permanent magnet adsorption component has been removed, according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the installation structure of the first connecting shaft and its wheels according to an embodiment of the present utility model;

[0021] Figure 6 This is a schematic diagram of the installation structure of the second connecting shaft and its wheels according to an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Permanent magnet adsorption component; 101. Yoke; 102. Neodymium magnet; 103. First fastener; 104. Rubber pad; 105. Second fastener; 2. Triangular bracket; 3. Walking chain; 4. Transmission wheel; 5. Drive wheel; 6. Intermediate wheel; 7. Connecting chain; 8. Connecting rod; 9. Connecting shaft; 901. First connecting shaft; 902. Second connecting shaft; 10. Tensioning device; 1001. Fixing seat; 1002. U-shaped hoop. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0025] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fitting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In addition, it should be noted that in the description of this utility model, the terms and nouns in each embodiment, such as "upper," "lower," "front," and "rear," which indicate the location, are only used to simplify the description of the positional relationship based on the accompanying drawings. They do not mean that the components and devices referred to must be operated in accordance with the specific location and limited operation, method, and structure in the specification. Such directional terms do not constitute a limitation on this utility model.

[0027] like Figure 1 and Figure 3 As shown, a permanent magnet triangular track wheel according to an embodiment of the present invention includes a permanent magnet adsorption component 1, a triangular bracket 2, a walking chain 3, and a transmission wheel 4. The transmission wheel 4 is rotatably mounted on the three corners of the triangular bracket 2, and each of the transmission wheels 4 is connected to the walking chain 3. The permanent magnet adsorption component 1 is fixedly installed on the walking chain 3, and the permanent magnet adsorption component 1 is used to adsorb onto the metal wall surface.

[0028] Specifically, the metal wall surface can be steel, aluminum alloy, or other materials. A permanent magnet 1 is provided on the side of the walking chain 3 that contacts the metal wall surface. The permanent magnet 1 can be fixed to the walking chain 3 using bolts, clips, or other methods. The permanent magnet 1 generates a magnetic field to adhere to the metal wall surface. The transmission wheels 4 at the three corners of the triangular bracket 2 can have the same diameter. One of the corner transmission wheels 4 can be driven to rotate by a drive mechanism, enabling the walking chain 3 to be driven.

[0029] In this embodiment, transmission wheels 4 are respectively set at the three corners of the triangular support 2, and the transmission wheels 4 are connected together by the walking chain 3. During rotation, the transmission wheels 4 drive the walking chain 3, realizing the movement of the permanent magnet triangular track wheel. The permanent magnet adsorption component 1 is fixedly installed on the walking chain 3 and moves with it. The permanent magnet adsorption component 1 can adhere to the metal wall surface, thus enabling the permanent magnet triangular track wheel to move on the metal wall surface. Furthermore, the triangular arrangement of the permanent magnet triangular track wheel provides better stability. When the permanent magnet triangular track wheel is installed on the robot body, the rotation of the permanent magnet triangular track wheel relative to the robot body allows for obstacle crossing, offering stronger obstacle-crossing capability compared to long, narrow permanent magnet track wheels.

[0030] like Figures 1-3 As shown, optionally, the permanent magnet adsorption component 1 includes multiple magnet units, each magnet unit being arranged in a corresponding manner to a link of the walking chain 3. Each magnet unit includes a yoke 101 and a neodymium magnet 102. The yoke 101 is fixedly installed on the corresponding link. The side of the yoke 101 facing away from the link is provided with a mounting groove, and the neodymium magnet 102 is embedded in the mounting groove.

[0031] Specifically, the walking chain 3 can be composed of multiple chain links connected end to end in sequence. The magnet units of the permanent magnet adsorption component 1 are set one-to-one with the chain links. Each chain link is fixedly installed with a magnet unit, and the magnet unit can move with the movement of the chain link.

[0032] The yoke 101 is made of iron or an iron-containing alloy and can concentrate and guide magnetic lines of force to enhance the magnetic field strength. The neodymium magnet 102 is a rare earth permanent magnet material with high energy density and excellent durability, and can generate a strong magnetic field. By fixing the yoke 101 on the chain link and setting an installation groove on the side of the yoke 101 away from the chain link, the neodymium magnet 102 is embedded and fixed in the installation groove. The yoke 101 forms a protective barrier for the neodymium magnet 102, reducing the magnetic leakage of the neodymium magnet 102 and ensuring that more magnetic force can be used to adsorb metal walls.

[0033] In other cases, the permanent magnet adsorption component 1 can also be an integral structure made of other soft materials with magnetic properties, covering the surface of the walking chain 3, and can move with the movement of the walking chain 3.

[0034] like Figure 2 As shown, optionally, the magnet unit further includes a first fastener 103, which passes through the neodymium magnet 102 and is inserted into the bottom wall of the mounting groove. The first fastener 103 can be a bolt. While the neodymium magnet 102 is embedded in the mounting groove of the yoke 101, it is also fixed to the bottom wall of the groove by the first fastener 103, ensuring the installation stability between the neodymium magnet 102 and the yoke 101. The portion of the yoke 101 around its mounting groove can be fixedly connected to the traveling chain 3 by a second fastener 105, such as a bolt.

[0035] like Figure 2 As shown, optionally, the magnet unit further includes a rubber pad 104, a portion of the neodymium magnet 102 extends out of the mounting groove, and the rubber pad 104 covers the portion of the yoke 101 facing away from the link, excluding the mounting groove, and the portion of the neodymium magnet 102 extending out of the mounting groove.

[0036] Specifically, the side of the yoke 101 facing away from the chain link, excluding the mounting groove, and the portion of the neodymium magnet 102 extending out of the mounting groove are both covered with rubber pads 104. That is, the side of the permanent magnet adsorption component 1 that contacts the metal wall is covered with rubber pads 104, protecting the yoke 101 and neodymium magnet 102 of the permanent magnet adsorption component 1, especially preventing the neodymium magnet 102 from breaking due to impact from the metal wall. It should be noted that the rubber pads 104 here are relatively thin to avoid affecting the adsorption effect of the permanent magnet triangular track wheel on the metal wall.

[0037] like Figures 3-4As shown, optionally, the permanent magnet triangular track wheel also includes a drive wheel 5, an intermediate wheel 6 and a connecting chain 7. The drive wheel 5 is rotatably disposed in the middle of the triangular bracket 2. The intermediate wheel 6 is coaxially fixed with the transmission wheel 4 at one corner of the triangular bracket 2. The drive wheel 5 is connected to the intermediate wheel 6 through the connecting chain 7.

[0038] Specifically, the diameter of the drive wheel 5 is equal to the diameter of the intermediate wheel 6, which makes the load distribution on the connecting chain 7 more uniform and the movement of the connecting chain 7 more stable and uniform; the diameters of each transmission wheel 4 are equal and the diameter of the transmission wheel 4 is greater than the diameter of the intermediate wheel 6, ensuring that when the drive wheel 5 drives the intermediate wheel 6 to rotate through the connecting chain 7, the transmission wheel 4 can drive the walking chain 3 to move quickly.

[0039] In this embodiment, the drive wheel 5 can be connected to a rotary drive motor and can be driven to rotate by the rotary drive motor. The drive wheel 5 and the intermediate wheel 6 can be located on the same plane. During the rotation of the drive wheel 5, the intermediate wheel 6 will be driven to rotate through the connecting chain 7. The intermediate wheel 6 is coaxially fixed with the transmission wheel 4 at one corner of the triangular bracket 2. During the rotation of the intermediate wheel 6, the transmission wheel 4 will be driven to rotate, which in turn will drive the walking chain 3 and the other transmission wheels 4 to rotate, thereby realizing the movement of the permanent magnet triangular track wheel on the metal wall.

[0040] like Figures 3-4 As shown, optionally, the permanent magnet triangular track wheel also includes a connecting rod 8 and a connecting shaft 9. The two triangular supports 2 are arranged opposite each other and fixed by the connecting rod 8. Each triangular support 2 is provided with three transmission wheels 4 on the side closer to the other triangular support 2. The corresponding transmission wheels 4 on the two triangular supports 2 are coaxially connected by the connecting shaft 9. The three transmission wheels 4 on each triangular support 2 are connected by a corresponding walking chain 3. The permanent magnet adsorption component 1 is fixedly connected between the two connecting chains 7. The intermediate wheel 6 is sleeved and fixed on one of the connecting shafts 9. The drive wheel 5 is located between the two triangular supports 2 and is rotatably connected to the middle of the two triangular supports 2 respectively.

[0041] Specifically, two triangular supports 2 are spaced apart and opposite to each other, and are fixedly connected by multiple connecting rods 8. There are six transmission wheels 4, one intermediate wheel 6 and one drive wheel 5. The transmission wheels 4, drive wheels 5 and intermediate wheels 6 are all located between the two triangular supports 2. Each of the three corners of each triangular support 2 is provided with a transmission wheel 4. The corresponding transmission wheels 4 on the two triangular supports 2 are coaxially fixed by a connecting shaft 9 and rotate together.

[0042] As the drive wheel 5 rotates, it drives the intermediate wheel 6 to rotate via the connecting chain 7. The intermediate wheel 6 then drives the two coaxial transmission wheels 4 to rotate, which in turn drives the two travel chains 3 to rotate. The permanent magnet adsorption component 1 is fixedly installed between the two travel chains 3, thereby enabling the permanent magnet triangular track wheel to travel on the metal wall surface. By setting up two triangular supports 2 and two travel chains 3, the stability of travel is ensured.

[0043] like Figure 3 , Figure 5 and Figure 6 As shown, optionally, one of the connecting shafts 9 on which the intermediate wheel 6 is installed is designated as the first connecting shaft 901, and the remaining connecting shafts 9 are designated as the second connecting shafts 902. The first connecting shaft 901 is fixedly connected to the intermediate wheel 6 and the transmission wheel 4 thereon, and the first connecting shaft 901 is rotatably connected to the triangular bracket 2 through corresponding bearings. The second connecting shaft 902 is rotatably connected to the transmission wheel 4 thereon through corresponding bearings, and the second connecting shaft 902 is fixedly connected to the triangular bracket 2.

[0044] Specifically, an intermediate wheel 6 and a transmission wheel 4 are fitted onto the first connecting shaft 901. To ensure that when the drive wheel 5 drives the intermediate wheel 6 to rotate via the connecting chain 7, the transmission wheel 4 can drive the walking chain 3 to move quickly, the diameter of the intermediate wheel 6 is usually set to be small, while the diameter of the transmission wheel 4 is usually set to be large. This allows the transmission wheel 4 to drive the walking chain 3 to travel a relatively long distance when the intermediate wheel 6 rotates once. Since the intermediate wheel 6 is small, it is inconvenient to rotatably connect it to the first connecting shaft 901 via a bearing. Therefore, the intermediate wheel 6 and the transmission wheel 4 on the first connecting shaft 901 can be directly fixedly connected to it. The rotation of the intermediate wheel 6 and the transmission wheel 4 on the first connecting shaft 901 relative to the triangular bracket 2 is achieved by utilizing the rotational connection between the first connecting shaft 901 and the triangular bracket 2.

[0045] The second connecting shaft 902 is fitted with only a transmission wheel 4. Because the diameter of the transmission wheel 4 is relatively large, it can be directly rotatably connected to the second connecting shaft 902 through a bearing, and then the second connecting shaft 902 is fixedly connected to the triangular bracket 2, thereby realizing the rotation of the transmission wheel 4 on the second connecting shaft 902 relative to the triangular bracket 2.

[0046] like Figure 1 As shown, optionally, the permanent magnet triangular track wheel also includes a tensioning device 10. The two corners of the triangular bracket 2 that are connected to the second connecting shaft 902 are respectively provided with the tensioning device 10. The tensioning device 10 includes a fixed seat 1001 and a U-shaped hoop 1002. The fixed seat 1001 is fixed on the triangular bracket 2, and the U-shaped hoop 1002 surrounds the second connecting shaft 902 and inserts its two ends into the fixed seat 1001.

[0047] Specifically, each triangular bracket 2 has a tensioning device 10 at a position corresponding to the end of the second connecting shaft 902. Each triangular bracket 2 has two tensioning devices 10. The fixing seat 1001 of each tensioning device 10 can be fixedly installed on the triangular bracket 2 with bolts. The fixing seat 1001 has two fixing holes. During installation, the U-shaped clamp 1002 is wrapped around the second connecting shaft 902, and its two ends are inserted into the two fixing holes respectively to lock the second connecting shaft 902 relative to the triangular bracket 2. This allows the three transmission wheels 4 to tension the walking chain 3, preventing the walking chain 3 from loosening during rotation. In use, the depth of the U-shaped clamp 1002 inserted into the fixing hole can be adjusted to adjust the tension of the second connecting shaft 902, thereby adjusting the tension of the walking chain 3.

[0048] like Figure 1 and Figure 3 As shown, optionally, the triangular bracket 2 is an equilateral triangular bracket, and the drive wheel 5 is located at the center of the equilateral triangular bracket.

[0049] Specifically, the triangular bracket 2 is an equilateral triangular bracket, with transmission wheels 4 located at its three corners, forming an equilateral triangle. The drive wheel 5 is located at the center of the equilateral triangular bracket, resulting in a more even distribution of wheels, better installation stability, and more stable transmission between the connecting chain 7 and the traveling chain 3. Some elongated holes can also be provided on the triangular bracket 2 to reduce weight.

[0050] Another embodiment of this utility model proposes a robot, including the aforementioned permanent magnet triangular track wheel. It also includes a robot body, the bottom of which may be equipped with one or more permanent magnet triangular track wheels. The advantages of this robot compared to the prior art are the same as those of the aforementioned permanent magnet triangular track wheel, and will not be repeated here.

[0051] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A permanent magnet triangular track wheel, characterized in that, It includes a permanent magnet adsorption component (1), a triangular bracket (2), a walking chain (3) and a transmission wheel (4). The three corners of the triangular bracket (2) are respectively rotatably equipped with the transmission wheel (4). Each of the transmission wheels (4) is connected to the walking chain (3) for transmission. The permanent magnet adsorption component (1) is fixedly installed on the walking chain (3) and is used to adsorb onto the metal wall surface.

2. The permanent magnet triangular track wheel according to claim 1, characterized in that, The permanent magnet adsorption component (1) includes multiple magnet units, each of which is corresponding to a link of the walking chain (3). Each magnet unit includes a yoke (101) and a neodymium magnet (102). The yoke (101) is fixedly installed on the corresponding link. The side of the yoke (101) facing away from the link has a mounting groove, and the neodymium magnet (102) is embedded in the mounting groove.

3. The permanent magnet triangular track wheel according to claim 2, characterized in that, The magnet unit further includes a first fastener (103) that passes through the neodymium magnet (102) and is inserted into the bottom wall of the mounting slot.

4. The permanent magnet triangular track wheel according to claim 2, characterized in that, The magnet unit also includes a rubber pad (104), a portion of the neodymium magnet (102) extends out of the mounting groove, and the rubber pad (104) covers the portion of the yoke (101) facing away from the link, excluding the mounting groove, and the portion of the neodymium magnet (102) extending out of the mounting groove.

5. The permanent magnet triangular track wheel according to claim 1, characterized in that, It also includes a drive wheel (5), an intermediate wheel (6) and a connecting chain (7). The drive wheel (5) is rotatably disposed in the middle of the triangular bracket (2). The intermediate wheel (6) is coaxially fixed with the transmission wheel (4) at one corner of the triangular bracket (2). The drive wheel (5) is connected to the intermediate wheel (6) through the connecting chain (7).

6. The permanent magnet triangular track wheel according to claim 5, characterized in that, It also includes a connecting rod (8) and a connecting shaft (9). The two triangular supports (2) are arranged opposite each other and fixed by the connecting rod (8). Each triangular support (2) has three transmission wheels (4) on the side closer to the other triangular support (2). The corresponding transmission wheels (4) on the two triangular supports (2) are coaxially connected by the connecting shaft (9). The three transmission wheels (4) on each triangular support (2) are connected by a corresponding walking chain (3). The permanent magnet adsorption component (1) is fixedly connected between the two connecting chains (7). The intermediate wheel (6) is sleeved and fixed on one of the connecting shafts (9). The drive wheel (5) is located between the two triangular supports (2) and is rotatably connected to the middle of the two triangular supports (2).

7. The permanent magnet triangular track wheel according to claim 6, characterized in that, Let one of the connecting shafts (9) on which the intermediate wheel (6) is installed be the first connecting shaft (901), and the remaining connecting shafts (9) be the second connecting shafts (902). The first connecting shaft (901) is fixedly connected to the intermediate wheel (6) and the transmission wheel (4) thereon, and the first connecting shaft (901) is rotatably connected to the triangular bracket (2) through the corresponding bearing. The second connecting shaft (902) is rotatably connected to the transmission wheel (4) thereon through the corresponding bearing, and the second connecting shaft (902) is fixedly connected to the triangular bracket (2).

8. The permanent magnet triangular track wheel according to claim 7, characterized in that, It also includes a tensioning device (10). The two corners of the triangular bracket (2) for connecting with the second connecting shaft (902) are respectively provided with the tensioning device (10). The tensioning device (10) includes a fixed seat (1001) and a U-shaped hoop (1002). The fixed seat (1001) is fixed on the triangular bracket (2). The U-shaped hoop (1002) surrounds the second connecting shaft (902) and restricts the second connecting shaft (902) between the U-shaped hoop (1002) and the fixed seat (1001).

9. The permanent magnet triangular track wheel according to claim 5, characterized in that, The triangular bracket (2) is an equilateral triangular bracket, and the drive wheel (5) is located at the center of the equilateral triangular bracket.

10. A robot, characterized in that, Including the permanent magnet triangular track wheel as described in any one of claims 1-9.

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