Magnetic attraction part, magnetic wheel and attraction device

Abstract

The embodiment of the utility model provides a magnetic attraction part, a magnetic wheel and an adsorption device, and the magnetic attraction part comprises a first arc-shaped magnet which has a first radial magnetizing direction, and a first magnetic pole of the first arc-shaped magnet is located in the first radial magnetizing direction and is used for generating adsorption force on a magnetic conduction wall surface; and the second arc-shaped magnet has a tangential magnetizing direction, and the tangential magnetizing direction intersects with the first radial magnetizing direction, so that the magnetic field of the second arc-shaped magnet is concentrated on the first arc-shaped magnet along the tangential magnetizing direction, and the magnetic field intensity of the first magnetic pole is enhanced. By adopting the first arc-shaped magnet and the second arc-shaped magnet, the magnetic field intensity of the first magnetic pole in the radial direction can be enhanced, so that the problem of low magnetic energy utilization efficiency of a magnetic attraction piece used by a wall-climbing robot in the related technology is improved or solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of heat dissipation of energy storage systems, and more particularly relates to a magnetic suction element, a magnetic wheel and a suction device. BACKGROUND

[0002] Robot technology has been widely applied in many industries. Robots have replaced humans to perform high-intensity, high-risk and monotonous repetitive tasks, and have become an important force to promote social progress. In this context, the emergence of wall-climbing robots is particularly eye-catching. Such mobile robots can attach to different vertical surfaces and are equipped with tools to complete specific tasks, playing an important role in nuclear power, chemical industry, shipping, construction engineering and emergency rescue, and performing complex work such as cleaning, inspection, maintenance, monitoring and search.

[0003] Magnetic suction technology is one of the keys to enabling robots to walk on magnetically conductive walls, and it is mainly divided into electromagnetic suction and permanent magnetic suction. Permanent magnetic suction has been more widely used due to its characteristics of not requiring additional energy supply and higher safety.

[0004] However, the magnetic suction equipment used by the wall-climbing robots in the related art has the problem of low magnetic energy utilization efficiency. In order to provide sufficient suction force on the magnetically conductive wall, the wall-climbing robot needs to use a large number of magnets, which increases the cost and weight burden of the wall-climbing robot, thereby limiting the performance improvement and application of the wall-climbing robot. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a magnetic suction element, a magnetic wheel and a suction device to solve or improve the problem of low magnetic energy utilization efficiency of the magnetic suction element used by the wall-climbing robot in the related art to some extent.

[0006] In a first aspect, the embodiments of the present application provide a magnetic suction element, comprising:

[0007] a first arc-shaped magnet having a first radial magnetization direction, a first magnetic pole of the first arc-shaped magnet being located on the first radial magnetization direction and being used to generate a suction force on a magnetically conductive wall surface;

[0008] and a second arc-shaped magnet having a tangential magnetization direction, the tangential magnetization direction intersecting the first radial magnetization direction so that a magnetic field of the second arc-shaped magnet is concentrated on the first arc-shaped magnet along the tangential magnetization direction and enhances the magnetic field strength of the first magnetic pole.

[0009] Further, in the case that the first magnetic pole of the first arc-shaped magnet generates a suction force on the magnetically conductive wall surface, there is a gap between the first magnetic pole and the magnetically conductive wall surface.

[0010] Furthermore, the first radial magnetization direction is perpendicular to the magnetically conductive wall surface.

[0011] Furthermore, the second arc-shaped magnet includes:

[0012] The second arc-shaped magnet a has a first tangential magnetization direction;

[0013] The second arc-shaped magnet b has a second tangential magnetization direction;

[0014] The first tangential magnetization direction and the second tangential magnetization direction are parallel, and both the first tangential magnetization direction and the second tangential magnetization direction intersect the first radial magnetization direction, so that the magnetic field of the second arc-shaped magnet a is concentrated on the first arc-shaped magnet along the first tangential magnetization direction and enhances the magnetic field strength of the first magnetic pole, and the magnetic field of the second arc-shaped magnet b is concentrated on the first arc-shaped magnet along the second tangential magnetization direction and enhances the magnetic field strength of the first magnetic pole.

[0015] Furthermore, the magnetic attraction element also includes:

[0016] The third arc-shaped magnet has a second radial magnetization direction;

[0017] The second radial magnetization direction intersects both the first tangential magnetization direction and the second tangential magnetization direction, so that the magnetic field of the third arc-shaped magnet is concentrated on the second arc-shaped magnet a along the second radial magnetization direction and the magnetic field strength of the second arc-shaped magnet a in the first tangential magnetization direction is enhanced.

[0018] The sides of the first arc-shaped magnet near the magnetically conductive wall, the sides of the second arc-shaped magnet near the magnetically conductive wall, and the sides of the third arc-shaped magnet near the magnetically conductive wall are all first arc surfaces on the same circle.

[0019] Furthermore, the second arc-shaped magnet a includes a second arc-shaped magnet a1 and a second arc-shaped magnet a2; the second arc-shaped magnet b includes a second arc-shaped magnet b1 and a second arc-shaped magnet b2;

[0020] The third arc-shaped magnet includes third arc-shaped magnet a and third arc-shaped magnet b;

[0021] One non-magnetic pole side of the first arc-shaped magnet is in contact with the second arc-shaped magnet a1 and the second arc-shaped magnet b1 respectively; the second arc-shaped magnet a1 and the second arc-shaped magnet b1 are in contact with the third arc-shaped magnet a respectively;

[0022] The other non-magnetic pole side of the first arc-shaped magnet is in contact with the second arc-shaped magnet a2 and the second arc-shaped magnet b2, respectively. The second arc-shaped magnet a2 and the second arc-shaped magnet b2 are in contact with the third arc-shaped magnet b, respectively.

[0023] Further, the first arc-shaped magnet, the second arc-shaped magnet and the third arc-shaped magnet are permanent magnets.

[0024] In a second aspect, the embodiments of the present application provide a magnetic wheel, comprising:

[0025] The aforementioned magnetic attraction member;

[0026] A rotating shaft is fixedly or movably arranged with a frame body, and two ends of the rotating shaft extend from the frame body;

[0027] The frame body is fixed with the magnetic attraction member;

[0028] Two circular support members are respectively fixed at the two ends of the rotating shaft;

[0029] A tire is arranged outside the magnetic attraction member between the two circular support members, and two sides of the tire are respectively fixedly connected with the two circular support members; the rotating centers of the tire, the rotating shaft and the circular support members are on the same straight line.

[0030] Further, the diameter of the circular support member is greater than or equal to the diameter of the tire, and / or, there is a gap between the first magnetic pole of the magnetic attraction member and the tire, and / or, the side of the third arc-shaped magnet a of the magnetic attraction member close to the tire, the side of the second arc-shaped magnet b1 close to the tire, the side of the first arc-shaped magnet close to the tire, the side of the third arc-shaped magnet b2 close to the tire and the side of the third arc-shaped magnet b close to the tire are all second circular arc surfaces on the same circle; the radius of the circle on which the second circular arc surface is located is less than the radius of the tire, and the arc of the second circular arc surface is the same as the corresponding position of the tire.

[0031] In a third aspect, the embodiments of the present application provide an adsorption device, comprising the magnetic wheel.

[0032] The magnetic attraction member, the magnetic wheel and the adsorption device provided by the embodiments of the present application can strengthen the magnetic field intensity of the first magnetic pole by using the first arc-shaped magnet with a tangential magnetization direction and superimposing the magnetic field of the first arc-shaped magnet on the first magnetic pole of the second arc-shaped magnet with a radial magnetization direction, so that the magnetic energy of the magnetic attraction member is more used for generating an adsorption force on the magnetic wall surface, and the problem of low magnetic energy utilization efficiency of the magnetic attraction member used by the wall-climbing robot in the related art is improved or solved; the first magnetic pole can generate a larger adsorption force when adsorbing the magnetic wall surface, so that the magnetic wheel or the adsorption device using the magnetic attraction member can have better wall-climbing adsorption capability. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0034] Figure 1 The schematic diagram of the principle structure of the magnetic attraction member of one embodiment of the present application.

[0035] Figure 2 The schematic diagram of the principle structure of the magnetic attraction member of another embodiment of the present application.

[0036] Figure 3 The schematic diagram of the principle structure of the magnetic attraction member of still another embodiment of the present application.

[0037] Figure 4 The schematic diagram of the principle structure of the magnetic attraction member of still another embodiment of the present application.

[0038] Figure 5 The schematic diagram of the structure of the magnetic wheel of the embodiment of the present application.

[0039] Figure 6 The schematic diagram of the internal components of the magnetic wheel of the embodiment of the present application.

[0040] Figure 7 The schematic diagram of the structure of the magnetic wheel of the embodiment of the present application. Figure 6 The schematic diagram of the structure after installing a support member.

[0041] Figure 8 The schematic diagram of the overall structure of the frame body and the magnetic attraction member.

[0042] Figure 9 The schematic diagram of the overall structure of the frame body and the magnetic attraction member in one situation.

[0043] Figure 10 The schematic diagram of the overall structure of the frame body and the magnetic attraction member in another situation.

[0044] Figure 11 The schematic diagram of the structure of the frame body.

[0045] In the drawings, various reference signs represent:

[0046] 010 - radially magnetized arc-shaped magnet a, 011 - tangentially magnetized arc-shaped magnet a, 020 - radially magnetized arc-shaped magnet b, 021 - tangentially magnetized arc-shaped magnet a1, 022 - tangentially magnetized arc-shaped magnet b1, 030 - radially magnetized arc-shaped magnet c, 031 - tangentially magnetized arc-shaped magnet a2, 032 - tangentially magnetized arc-shaped magnet b2, 033 - tangentially magnetized arc-shaped magnet a3, 034 - tangentially magnetized arc-shaped magnet b2, 040 - radially magnetized arc-shaped magnet d, 041 - magnetized arc-shaped magnet c1, 042 - tangentially magnetized arc-shaped magnet c3, 043 - radially magnetized arc-shaped magnet d1, 044 - radially magnetized arc-shaped magnet d2, 045 - tangentially magnetized arc-shaped magnet c2, 046 - tangentially magnetized arc-shaped magnet c4, 07 - first magnetic pole, 06 - magnetic conductive wall surface, 1 - rotating shaft, 2 - support member, 3 - tire, 4 - connecting member, 5 - frame body, 6 - magnetic attraction member, 51 - connecting sheet, 52 - first side sheet, 53 - second side sheet, 54 - arc-shaped sheet, 61 - second magnet, 62 - fourth magnet, 63 - sixth magnet, 64 - seventh magnet, 65 - third magnet, 66 - fifth magnet, 67 - first magnet. DETAILED DESCRIPTION

[0047] In order to make the technical problems solved by the present application, the technical solutions and the beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0049] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0050] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0051] Magnetic adsorption technology is one of the keys to realize the robot walking on the magnetic wall surface, which is mainly divided into electromagnetic adsorption and permanent magnetic adsorption. Permanent magnetic adsorption has more widely application due to its characteristics of no need for additional energy supply, higher safety and the like.

[0052] However, the magnetic adsorption device used by the wall-climbing robot in the related art has the problem of low magnetic energy utilization efficiency. In order to provide sufficient adsorption force on the magnetic wall surface, the wall-climbing robot needs to use a large number of magnets, which increases the cost and weight burden of the wall-climbing robot, thereby limiting the performance improvement and application of the wall-climbing robot.

[0053] For ease of understanding, it can be considered in the embodiments of the present application that the magnetization direction inside the magnet is consistent with the direction of the magnetic force line, that is, from the S pole to the N pole, which is not limited here. Based on this, the arrow direction in each figure represents the magnetization direction. If there are solid lines with arrows and dashed lines with arrows in the figure, the solid lines with arrows in each figure represent one situation as a whole, and the dashed lines with arrows represent another situation as a whole.

[0054] To solve or improve the problem of low magnetic energy utilization efficiency of the magnetic adsorption device used by the wall-climbing robot in the related art. In a first aspect, the embodiments of the present application provide a magnetic adsorption device, comprising:

[0055] a first arc-shaped magnet having a first radial magnetization direction, a first magnetic pole of the first arc-shaped magnet being located on the first radial magnetization direction and used to generate an adsorption force on the magnetic wall surface;

[0056] and a second arc-shaped magnet having a tangential magnetization direction, the tangential magnetization direction intersecting the first radial magnetization direction so that the magnetic field of the second arc-shaped magnet is concentrated on the first arc-shaped magnet along the tangential magnetization direction and the magnetic field strength of the first magnetic pole is enhanced.

[0057] The embodiments of the present application use the first arc-shaped magnet with the tangential magnetization direction to superimpose the magnetic field of the first arc-shaped magnet on the first magnetic pole of the second arc-shaped magnet with the radial magnetization direction, so that the magnetic field strength of the first magnetic pole is enhanced, and the magnetic energy of the magnetic adsorption device is more used to generate an adsorption force on the magnetic wall surface, thereby improving or solving the problem of low magnetic energy utilization efficiency of the magnetic adsorption device used by the wall-climbing robot in the related art.

[0058] The following is a specific description.

[0059] Reference is made to Figure 1As shown in the drawings, in one embodiment of the present application, the first arc-shaped magnet is a radial magnetization arc-shaped magnet a010, and the second arc-shaped magnet is a tangential magnetization arc-shaped magnet a011. The above-mentioned magnets are close to or attached to each other, so that the magnetization directions of the first arc-shaped magnet and the second arc-shaped magnet intersect.

[0060] The magnetic attraction element includes the tangential magnetization arc-shaped magnet a011 and the radial magnetization arc-shaped magnet a010. The tangential magnetization arc-shaped magnet a011 and the radial magnetization arc-shaped magnet a010 are in contact or close to each other, so that the tangential magnetization direction of the tangential magnetization arc-shaped magnet a010 and the radial magnetization direction of the radial magnetization arc-shaped magnet intersect. When the magnetization direction of the radial magnetization arc-shaped magnet a010 is Figure 1 the dashed arrow direction, the magnetization direction of the tangential magnetization arc-shaped magnet a011 is also the dashed arrow direction. When the magnetization direction of the radial magnetization arc-shaped magnet a010 is Figure 1 the solid arrow direction, the magnetization direction of the tangential magnetization arc-shaped magnet a011 is also the solid arrow direction. The first magnetic pole is located at the position closest to the magnetic guide wall surface 06 of the radial magnetization arc-shaped magnet a010. In the above two cases, the magnetic field strength of the first magnetic pole 07 on the first arc-shaped magnet, i.e., the radial magnetization arc-shaped magnet a010, is strengthened.

[0061] The size of the radial magnetization arc-shaped magnet a010 can be larger than that of the tangential magnetization arc-shaped magnet a011, or other fixed ways can be used to make the radial direction of the radial magnetization arc-shaped magnet a010 always perpendicular to the horizontal plane.

[0062] Further, the second arc-shaped magnet includes: a second arc-shaped magnet a having a first tangential magnetization direction; and a second arc-shaped magnet b having a second tangential magnetization direction.

[0063] The first tangential magnetization direction and the second tangential magnetization direction are parallel, and both the first tangential magnetization direction and the second tangential magnetization direction intersect the first radial magnetization direction, so that the magnetic field of the second arc-shaped magnet a is concentrated on the first arc-shaped magnet along the first tangential magnetization direction and strengthens the magnetic field strength of the first magnetic pole, and the magnetic field of the second arc-shaped magnet b is concentrated on the first arc-shaped magnet along the second tangential magnetization direction and strengthens the magnetic field strength of the first magnetic pole.

[0064] Referring to Figure 2 As shown in the drawings, in another embodiment of the present application, the first arc-shaped magnet is a radial magnetization arc-shaped magnet b020, the second arc-shaped magnet a is a tangential magnetization arc-shaped magnet a1021, and the second arc-shaped magnet b is a tangential magnetization arc-shaped magnet b1022. The above-mentioned magnets are close to or attached to each other, so that the magnetization directions of the first arc-shaped magnet and the second arc-shaped magnet intersect.

[0065] The magnetic attraction element comprises a radial magnetization arc-shaped magnet b 020 and two tangential magnetization arc-shaped magnets, i.e. a tangential magnetization arc-shaped magnet a1 021 and a tangential magnetization arc-shaped magnet b1 022. The tangential magnetization arc-shaped magnet a1 021 and the tangential magnetization arc-shaped magnet b1 022 are respectively located on the two sides of the radial magnetization arc-shaped magnet b 020. Figure 2 The solid line direction in the middle represents the magnetization direction of the tangential magnetization arc-shaped magnet a1 021, the tangential magnetization arc-shaped magnet b1 022 and the radial magnetization arc-shaped magnet b 020 in one case; Figure 2 The dotted line direction in the middle represents the magnetization direction of the tangential magnetization arc-shaped magnet a1 021, the tangential magnetization arc-shaped magnet b1 022 and the radial magnetization arc-shaped magnet b 020 in another case. The first magnetic pole 07 is located at the position closest to the magnetic conductive wall surface 06 of the radial magnetization arc-shaped magnet b 020. In the above two cases, the magnetic field strength of the first magnetic pole on the first arc-shaped magnet, i.e. the radial magnetization arc-shaped magnet b 020, is strengthened.

[0066] The tangential magnetization arc-shaped magnet a1 021 and the tangential magnetization arc-shaped magnet b1 022 can be of the same size, so that the radial direction of the radial magnetization arc-shaped magnet b 020 is always perpendicular to the horizontal direction.

[0067] Referring to Figure 3 In another embodiment of the present application, the first arc-shaped magnet is a radial magnetization arc-shaped magnet c 030, the second arc-shaped magnet a is a tangential magnetization arc-shaped magnet a2 031 and a tangential magnetization arc-shaped magnet a3 033 located on one side of the first arc-shaped magnet; and the second arc-shaped magnet b is a tangential magnetization arc-shaped magnet b2 032 and a tangential magnetization arc-shaped magnet b2 034 located on the other side of the first arc-shaped magnet;

[0068] The magnetic attraction element comprises a radial magnetization arc-shaped magnet c 030, a tangential magnetization arc-shaped magnet a2 031, a tangential magnetization arc-shaped magnet a3 033, a tangential magnetization arc-shaped magnet b2 032 and a tangential magnetization arc-shaped magnet b2 034. The tangential magnetization directions of the tangential magnetization arc-shaped magnet a2 031 and the tangential magnetization arc-shaped magnet a3 033 are parallel to each other, and the tangential magnetization directions of the tangential magnetization arc-shaped magnet b2 032 and the tangential magnetization arc-shaped magnet b2 034 are parallel to each other. In Figure 3 The solid line direction in the middle represents the magnetization direction of the radial magnetization arc-shaped magnet c 030, the tangential magnetization arc-shaped magnet a2 031, the tangential magnetization arc-shaped magnet a3 033, the tangential magnetization arc-shaped magnet b2 032 and the tangential magnetization arc-shaped magnet b2 034 in one case; and the dotted line direction in the middle represents the magnetization direction of the radial magnetization arc-shaped magnet c 030, the tangential magnetization arc-shaped magnet a2 031, the tangential magnetization arc-shaped magnet a3 033, the tangential magnetization arc-shaped magnet b2 032 and the tangential magnetization arc-shaped magnet b2 034 in another case. Figure 3In the above two cases, the magnetic field intensity of the first magnetic pole on the first arc-shaped magnet, i.e., the radially magnetized arc-shaped magnet c 030, is strengthened. Optionally, the radial direction of the radially magnetized arc-shaped magnet c 030 is always perpendicular to the horizontal direction.

[0069] In the above two cases, the magnetic field intensity of the first magnetic pole on the first arc-shaped magnet, i.e., the radially magnetized arc-shaped magnet c 030, is strengthened. Optionally, the radial direction of the radially magnetized arc-shaped magnet c 030 is always perpendicular to the horizontal direction.

[0070] On the basis of the above embodiment, the magnetic attraction member further comprises a third arc-shaped magnet. The third arc-shaped magnet has a second radial magnetization direction for strengthening the magnetic field intensity of the second arc-shaped magnet a in the tangential direction. Specifically, the third arc-shaped magnet comprises a third arc-shaped magnet a and a third arc-shaped magnet b; the second arc-shaped magnet a comprises a second arc-shaped magnet a1 and a second arc-shaped magnet a2; and the second arc-shaped magnet b comprises a second arc-shaped magnet b1 and a second arc-shaped magnet b2.

[0071] The second radial magnetization direction intersects the first tangential magnetization direction and the second tangential magnetization direction, so that the magnetic field of the third arc-shaped magnet is concentrated on the second arc-shaped magnet a along the second radial magnetization direction and strengthens the magnetic field intensity of the second arc-shaped magnet a in the first tangential magnetization direction.

[0072] Referring to Figure 4 In another embodiment of the present application, the first arc-shaped magnet is a radially magnetized arc-shaped magnet d 040, the second arc-shaped magnet a1 is a tangentially magnetized arc-shaped magnet c1 041 located on one side of the radially magnetized arc-shaped magnet d 040, the second arc-shaped magnet b1 is a tangentially magnetized arc-shaped magnet c2 045 located on one side of the radially magnetized arc-shaped magnet d 040, the second arc-shaped magnet a2 is a tangentially magnetized arc-shaped magnet c3 042 located on the other side of the radially magnetized arc-shaped magnet d 040, the second arc-shaped magnet b2 is a tangentially magnetized arc-shaped magnet c4 046 located on the other side of the radially magnetized arc-shaped magnet d 040, the third arc-shaped magnet a is a radially magnetized arc-shaped magnet d1 043, and the third arc-shaped magnet b is a radially magnetized arc-shaped magnet d2 044.

[0073] The magnetic attraction member comprises a radially magnetized arc-shaped magnet d 040, a tangentially magnetized arc-shaped magnet c1 041 located on one side of the radially magnetized arc-shaped magnet d 040, a radially magnetized arc-shaped magnet d1 043, a tangentially magnetized arc-shaped magnet c2 045, a tangentially magnetized arc-shaped magnet c3 042 located on the other side of the radially magnetized arc-shaped magnet d 040, a radially magnetized arc-shaped magnet d2 044, and a tangentially magnetized arc-shaped magnet c4 046.

[0074] The first arc-shaped magnet and the second arc-shaped magnet are close to or abut each other, and the magnetization directions of the first arc-shaped magnet and the second arc-shaped magnet intersect. Alternatively, one non-magnetic pole side of the first arc-shaped magnet abuts the second arc-shaped magnet a1 and the second arc-shaped magnet b1 respectively; the second arc-shaped magnet a1 and the second arc-shaped magnet b1 abut the third arc-shaped magnet a respectively; the other non-magnetic pole side of the first arc-shaped magnet abuts the second arc-shaped magnet a2 and the second arc-shaped magnet b2 respectively, and the second arc-shaped magnet a2 and the second arc-shaped magnet b2 abut the third arc-shaped magnet b respectively.

[0075] Figure 4 The solid line direction represents the magnetization directions of the tangential magnetization arc-shaped magnet c1 041, the radial magnetization arc-shaped magnet d1 043, the tangential magnetization arc-shaped magnet c2 045, the radial magnetization arc-shaped magnet d 040, the tangential magnetization arc-shaped magnet c3 042, the radial magnetization arc-shaped magnet d2 044 and the tangential magnetization arc-shaped magnet c4 046 in one case; Figure 4 The dashed line direction represents the magnetization directions of the tangential magnetization arc-shaped magnet c1 041, the radial magnetization arc-shaped magnet d1 043, the tangential magnetization arc-shaped magnet c2 045, the radial magnetization arc-shaped magnet d 040, the tangential magnetization arc-shaped magnet c3 042, the radial magnetization arc-shaped magnet d2 044 and the tangential magnetization arc-shaped magnet c4 046 in another case.

[0076] In the above two cases, the magnetic field strength of the first magnetic pole 07 on the first arc-shaped magnet, i.e. the radial magnetization arc-shaped magnet d 040, is strengthened. Both the above two cases can enhance the magnetic field strength of the radial magnetization arc-shaped magnet d 040 in the radial direction, i.e. the magnetic field strength of the first magnetic pole 07 on the radial magnetization arc-shaped magnet d 040 is strengthened. Alternatively, the radial direction of the radial magnetization arc-shaped magnet d 040 is always perpendicular to the horizontal direction.

[0077] The side of the first arc-shaped magnet close to the magnetic conductive wall, the side of the second arc-shaped magnet close to the magnetic conductive wall and the side of the third arc-shaped magnet close to the magnetic conductive wall are all first circular arc surfaces on the same circle.

[0078] In the above embodiments, the magnetic field strength of the first arc-shaped magnet in the radial direction is strengthened to different degrees, so that the first magnetic pole 07 on the first arc-shaped magnet generates a larger adsorption force on the magnetic conductive wall.

[0079] In order to avoid hard contact or collision between the magnets of the magnetic attraction member and the magnetic conductive wall, which may cause damage to the magnets, in some embodiments, when the first magnetic pole of the first arc-shaped magnet generates an adsorption force on the magnetic conductive wall, there is a gap between the first magnetic pole and the magnetic conductive wall.

[0080] Reference Figures 1-4As shown, the first magnetic pole of the first arc-shaped magnet and the magnetic conducting wall surface are both left with a gap.

[0081] In order to make full use of the adsorption force of the first arc-shaped magnet to the magnetic conducting wall surface and further improve the magnetic energy utilization efficiency of the first arc-shaped magnet, in some embodiments, the first radial magnetization direction is perpendicular to the magnetic conducting wall surface.

[0082] In some embodiments, the first arc-shaped magnet, the second arc-shaped magnet and the third arc-shaped magnet are all permanent magnets.

[0083] In a second aspect, the embodiments of the present application provide a magnetic wheel, which refers to Figures 6-11 As shown, comprising:

[0084] a magnetic attraction element 6;

[0085] a rotating shaft 1, which is fixedly or movably provided with a frame, and the two ends of the rotating shaft extend from the frame;

[0086] a frame 5, which is fixedly provided with the magnetic attraction element;

[0087] two circular support elements 2, the centers of which are respectively fixedly provided on the two ends of the rotating shaft;

[0088] and a tire 3, which is sleeved outside the magnetic attraction element between the two circular support elements, and the two sides of the tire are respectively fixedly connected with the two circular support elements; the rotating centers of the tire, the rotating shaft and the circular support elements are on the same straight line.

[0089] Referring to Figure 6 As shown, the frame 5 is fixed on the rotating shaft 1 through a connecting element 4.

[0090] Optionally, the frame 5 comprises a connecting sheet 51, a first side sheet 52, a second side sheet 53 and an arc-shaped sheet 54; wherein the first side sheet and the second side sheet are used to fix the left and right two side edges of the magnetic attraction element, and the arc-shaped sheet is used to fix the upper arc surface of the magnetic attraction element.

[0091] Optionally, the frame can be connected with the rotating shaft through a bearing, so that the first magnetic pole of the magnetic attraction element is always perpendicular to the horizontal plane, thereby making the magnetic wheel have a sustained adsorption force to the horizontal magnetic conducting wall surface. Alternatively, the frame can be fixedly connected with the rotating shaft, and the rotating shaft drives the frame to rotate rapidly, thereby making the magnetic attraction element rotate rapidly and generate a sustained adsorption force to the magnetic conducting wall surface. In addition, the frame can be fixed at an angle, such as keeping the radial magnetization direction of the first arc-shaped magnet of the magnetic attraction element perpendicular to the magnetic conducting wall surface, thereby making the magnetic conducting wall surface have a maximum adsorption force.

[0092] Therefore, when the magnetic attraction member is applied in the magnetic wheel, the magnetic attraction member can be static relative to the magnetic wall surface 06 or can rotate relative to the magnetic wall surface 06 at a certain frequency, so that the first magnetic pole 07 continuously exerts a force on the magnetic wall surface 06. Only the force of the first magnetic pole 07 needs to be able to continuously or at a certain frequency act on the magnetic wall surface to enable the magnetic wheel to be adsorbed on the magnetic wall surface.

[0093] In some embodiments, the magnetic attraction member 6 can adopt Figure 4 the technical solutions of the related magnetic attraction members.

[0094] Specifically, the first arc-shaped magnet is the first magnet 67, the second arc-shaped magnet a1 is the second magnet 61, the second arc-shaped magnet b1 is the third magnet 65, the second arc-shaped magnet a2 is the fourth magnet 62, the second arc-shaped magnet b2 is the fifth magnet 66, the third arc-shaped magnet a is the sixth magnet 63, and the third arc-shaped magnet b is the seventh magnet 64.

[0095] Referring to Figure 9 In the case where the first magnetic pole is an N pole, one non-magnetic pole side of the first arc-shaped magnet is respectively attached to the N pole of the second arc-shaped magnet a1 and the N pole of the second arc-shaped magnet b1; the N pole of the third arc-shaped magnet a is attached to the non-magnetic pole side of the second arc-shaped magnet a1; and the non-magnetic pole side of the third arc-shaped magnet a is attached to the S pole of the second arc-shaped magnet b1.

[0096] In the case where the first magnetic pole is an N pole, one non-magnetic pole side of the first arc-shaped magnet is respectively attached to the N pole of the second arc-shaped magnet a1 and the N pole of the second arc-shaped magnet b1; the N pole of the third arc-shaped magnet a is attached to the non-magnetic pole side of the second arc-shaped magnet a1; and the non-magnetic pole side of the third arc-shaped magnet a is attached to the S pole of the second arc-shaped magnet b1.

[0097] Referring to Figure 10 In the case where the first magnetic pole is an S pole, one non-magnetic pole side of the first arc-shaped magnet is respectively attached to the S pole of the second arc-shaped magnet a1 and the S pole of the second arc-shaped magnet b1; the S pole of the third arc-shaped magnet a is attached to the non-magnetic pole side of the second arc-shaped magnet a1; and the non-magnetic pole side of the third arc-shaped magnet a is attached to the N pole of the second arc-shaped magnet b1.

[0098] In the case where the first magnetic pole is an S pole, one non-magnetic pole side of the first arc-shaped magnet is respectively attached to the S pole of the second arc-shaped magnet a1 and the S pole of the second arc-shaped magnet b1; the S pole of the third arc-shaped magnet a is attached to the non-magnetic pole side of the second arc-shaped magnet a1; and the non-magnetic pole side of the third arc-shaped magnet a is attached to the N pole of the second arc-shaped magnet b1.

[0099] In some embodiments, the first magnetic pole of the magnetic attraction member has a gap with the tire.

[0100] In this way, the magnetic conducting wall surface and the first magnetic pole are prevented from directly contacting each other, and when the magnetic wheel moves on the magnetic conducting wall surface, the gap between the tire and the first magnetic pole can prevent the tire from directly contacting the first magnetic pole, and the elastic material of the tire can prevent the magnetic conducting wall surface from directly contacting the first magnetic pole, thereby improving the safety of the magnetic attraction device and preventing the magnetic attraction device from being damaged due to the vibration of the magnetic wheel.

[0101] Further, the diameter of the circular support is greater than or equal to the diameter of the tire.

[0102] The diameter of the circular support is greater than or equal to the diameter of the tire, so that when the magnetic wheel contacts the magnetic conducting wall surface, the circular support directly contacts the magnetic conducting wall surface, and the tire can or can not contact the magnetic conducting wall surface, thereby allowing the tire to contact the magnetic conducting wall surface without deformation or with slight deformation in a normal state, thereby preventing the tire from being excessively stressed. The circular support supports the shape of the flexible tire, so that the magnetic attraction device is always in a suspended state and does not directly contact the wall surface, thereby solving the problem of easy breakage of the permanent magnet in the related art.

[0103] The first arc-shaped magnet, the second arc-shaped magnet b1, the third arc-shaped magnet a, the third arc-shaped magnet b2, and the third arc-shaped magnet b all have a second circular arc surface on the same circle, and the radius of the circle on which the second circular arc surface is located is less than the radius of the tire, and the second circular arc surface has the same curvature as the corresponding position of the tire.

[0104] In this way, the part of the magnetic attraction device close to the tire has the same curvature as the tire, so that the magnetic attraction device can adapt to the shape of the tire, and in the case of not contacting the tire, the magnetic attraction device can achieve a small distance from the magnetic conducting wall surface and a large adsorption force.

[0105] In a third aspect, an embodiment of the present application provides an adsorption device, comprising the magnetic wheel.

[0106] The first magnetic pole can generate a large adsorption force when adsorbing the magnetic conducting wall surface, so that the magnetic wheel or the adsorption device using the magnetic attraction device can have better wall climbing adsorption capacity.

[0107] The magnetic attraction device of the embodiment of the present application uses multiple ways and one or more tangential magnetization magnets to strengthen the magnetic field strength of the radial magnetization magnet in the radial direction, so that the magnetic field of the magnetic attraction device is more concentrated at the first magnetic pole, thereby improving the concentration and utilization of the magnetic field, thereby enhancing the adsorption efficiency, and in the case of the same volume and weight, a stronger magnetic adsorption force can be provided.

[0108] The first magnetic pole in the magnetic wheel can always be close to the magnetic conductive wall surface by using the magnetic attraction piece. On the one hand, since the magnetic attraction piece improves the magnetic energy utilization rate, the magnetic wheel of the embodiment of the present application can reduce the amount of permanent magnetic material and thus reduce the weight of the magnetic wheel compared with the magnetic wheel which is entirely made of magnetic material under the condition of generating the same adsorption force. On the other hand, the arc-shaped design of the magnetic attraction piece enables the magnetic wheel to adapt to different curved surfaces and improves the adaptability of the magnetic wheel.

[0109] In a fourth aspect, the embodiment of the present application provides a wall-climbing robot, comprising the magnetic wheel.

[0110] The magnetic attraction equipment used by the conventional wall-climbing robot has obvious defects, such as heavy structure, inconvenient maintenance, insufficient friction, low magnetic energy utilization efficiency, etc., which limit the performance improvement and wide application of the wall-climbing robot. The wall-climbing robot using the magnetic wheel realizes compact size and light weight, and significantly improves the use efficiency of magnetic energy. This not only enhances the reliable adsorption and movement flexibility of the wall-climbing robot on various magnetic conductive surfaces, but also provides the possibility for its application in more fields.

[0111] The magnetic wheel can be applied to the wall-climbing robot which needs to perform tasks on vertical or inclined ferromagnetic surfaces, such as the wall-climbing robots in the following fields: building maintenance: used for external wall cleaning, detection and maintenance of high-rise buildings. Petroleum and chemical industry: used for detection and maintenance of equipment such as oil tanks and pipelines. Nuclear power station: used for detection and maintenance of nuclear reactor shells. Ship repair: used for detection and maintenance of ship surface. Aerospace: used for detection and maintenance of aircraft shells. And so on.

[0112] The above is only a preferred embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A magnetic attractor, characterized in that, include: A first arc-shaped magnet has a first radial magnetization direction, and the first magnetic pole of the first arc-shaped magnet is located in the first radial magnetization direction and is used to generate an adsorption force on the magnetically conductive wall surface. And a second arc-shaped magnet having a tangential magnetization direction that intersects with the first radial magnetization direction so that the magnetic field of the second arc-shaped magnet is concentrated on the first arc-shaped magnet along the tangential magnetization direction and the magnetic field strength of the first magnetic pole is enhanced.

2. The magnetic suction element according to claim 1, characterized in that, When the first magnetic pole of the first arc-shaped magnet generates an attraction force with the magnetically conductive wall surface, there is a gap between the first magnetic pole and the magnetically conductive wall surface.

3. The magnetic suction element according to claim 2, characterized in that, The first radial magnetization direction is perpendicular to the magnetically conductive wall surface.

4. A magnetic suction element according to any one of claims 1-3, characterized in that, The second arc-shaped magnet includes: The second arc-shaped magnet a has a first tangential magnetization direction; The second arc-shaped magnet b has a second tangential magnetization direction; The first tangential magnetization direction and the second tangential magnetization direction are parallel, and both the first tangential magnetization direction and the second tangential magnetization direction intersect the first radial magnetization direction, so that the magnetic field of the second arc-shaped magnet a is concentrated on the first arc-shaped magnet along the first tangential magnetization direction and enhances the magnetic field strength of the first magnetic pole, and the magnetic field of the second arc-shaped magnet b is concentrated on the first arc-shaped magnet along the second tangential magnetization direction and enhances the magnetic field strength of the first magnetic pole.

5. A magnetic suction element according to claim 4, characterized in that, Also includes: The third arc-shaped magnet has a second radial magnetization direction; The second radial magnetization direction intersects both the first tangential magnetization direction and the second tangential magnetization direction, so that the magnetic field of the third arc-shaped magnet is concentrated on the second arc-shaped magnet a along the second radial magnetization direction and the magnetic field strength of the second arc-shaped magnet a in the first tangential magnetization direction is enhanced. The sides of the first arc-shaped magnet near the magnetically conductive wall, the sides of the second arc-shaped magnet near the magnetically conductive wall, and the sides of the third arc-shaped magnet near the magnetically conductive wall are all first arc surfaces on the same circle.

6. A magnetic suction element according to claim 5, characterized in that, The second arc-shaped magnet a includes a second arc-shaped magnet a1 and a second arc-shaped magnet a2; The second arc-shaped magnet b includes a second arc-shaped magnet b1 and a second arc-shaped magnet b2; The third arc-shaped magnet includes third arc-shaped magnet a and third arc-shaped magnet b; One non-magnetic pole side of the first arc-shaped magnet is in contact with the second arc-shaped magnet a1 and the second arc-shaped magnet b1, respectively; The second arc-shaped magnet a1 and the second arc-shaped magnet b1 are respectively attached to the third arc-shaped magnet a; The other non-magnetic pole side of the first arc-shaped magnet is in contact with the second arc-shaped magnet a2 and the second arc-shaped magnet b2, respectively. The second arc-shaped magnet a2 and the second arc-shaped magnet b2 are in contact with the third arc-shaped magnet b, respectively.

7. A magnetic suction element according to claim 6, characterized in that, The first, second, and third arc-shaped magnets are all permanent magnets.

8. A magnetic wheel, characterized in that, include: The magnetic suction element according to any one of claims 1-7; A pivot is fixedly or movably mounted on a frame, with both ends of the pivot extending out from the frame; The frame is fixed with the magnetic suction component; Two circular support members, with their centers fixed at both ends of the rotating shaft; The tire is fitted onto the outside of the magnetic member between the two circular support members, and both sides of the tire are fixedly connected to the two circular support members respectively; the rotation centers of the tire, the rotating shaft and the circular support members are on the same straight line.

9. The magnetic wheel according to claim 8, characterized in that, The diameter of the circular support member is greater than or equal to the diameter of the tire, and / or, there is a gap between the first magnetic pole of the magnetic attractor and the tire, and / or, the sides of the third arc-shaped magnet a, the second arc-shaped magnet b1, the first arc-shaped magnet, the third arc-shaped magnet b2, and the third arc-shaped magnet b near the tire in the magnetic attractor are all second arc surfaces on the same circle; the radius of the circle containing the second arc surface is smaller than the radius of the tire, and the curvature of the second arc surface is the same as that of the tire at the corresponding position.

10. An adsorption device, characterized in that: It includes the magnetic suction element as described in any one of claims 1-7 or the magnetic wheel as described in any one of claims 8-9.

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