Magnetic attraction driving assembly

Abstract

The utility model belongs to the technical field of wall-climbing robots, and discloses a magnetic attraction driving assembly which comprises a support, a driving motor, two advancing wheels, a servo motor and magnetic attraction wheels, the support is in a V shape, the two advancing wheels are arranged at the two ends of the support, the driving motor is installed on one side of the outer wall of the support, a right-angle speed reducer is connected to an output shaft of the driving motor, and the servo motor is connected with the magnetic attraction wheels. The right-angle speed reducers are fixed to the support, the advancing wheels are connected with the corresponding right-angle speed reducers, the advancing wheels are hollow, the magnetic attraction wheels are coaxially installed on the inner sides of the advancing wheels, the magnetic attraction wheels are fan-shaped, the permanent magnets are installed on the fan-shaped ring faces of the magnetic attraction wheels, the servo motors are installed in the support, and the servo motors are connected with the corresponding magnetic attraction wheels through the synchronous belts. The synchronous belt is arranged on the other side of the outer wall of the support. The traveling wheel is arranged, the fan-shaped magnetic attraction wheel is installed in the traveling wheel, and the angle of the magnetic attraction wheel is controlled through the servo motor, so that the self weight is reduced while the attraction force of the magnetic attraction wheel is ensured, and the load capacity can be increased.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the wall -climbing robot technical field, concretely relates to a magnetic attraction drive assembly. BACKGROUND

[0002] In the large -scale welding, non -standard welding, mainly by artificial, need worker to work in high altitude, closed environment, and the welding scene is complex, make welding work not only low efficiency, and the security hidden danger is big. Along with the rapid development of industrial automation and intelligent manufacturing, in order to solve this problem, wall -climbing welding equipment is developed, for solving high altitude welding problem. However, the existing wall -climbing welding equipment mostly adopts magnetic attraction to realize wall climbing, and the existing magnetic attraction structure is bulky, heavy, which limits its wall -climbing effect, in addition, due to its heavy weight, its load is also light, which makes it difficult to realize complex welding. SUMMARY

[0003] The utility model discloses a magnetic attraction drive assembly, which is light in weight, heavy in load and suitable for various complex welding work.

[0004] The utility model discloses a magnetic attraction drive assembly, which is light in weight, heavy in load and suitable for various complex welding work.

[0005] A magnetic attraction drive assembly, comprising a bracket, a drive motor, a traveling wheel, a servo motor and a magnetic attraction wheel, the bracket is V-shaped, hollow, two traveling wheels are arranged at both ends of the bracket, two drive motors corresponding to the traveling wheels are installed on one side of the outer wall of the bracket, a right-angle speed reducer is connected to the output shaft of each drive motor, the right-angle speed reducer is fixed on the bracket, the traveling wheel is connected with the corresponding right-angle speed reducer, the traveling wheel is hollow, and a coaxial magnetic attraction wheel is installed on the inner side of the traveling wheel, the magnetic attraction wheel is fan-shaped, a plurality of permanent magnets distributed in a Halbach array are installed on the fan-shaped surface of the magnetic attraction wheel, two servo motors are installed in the bracket, the output shaft of the servo motor is connected with the corresponding magnetic attraction wheel through a synchronous belt, and the synchronous belt is arranged on the other side of the outer wall of the bracket.

[0006] The traveling wheel is provided with a bearing flange and an annular end cover plate at both ends, support rails connected with the bearing flange and the annular end cover plate are formed on the inner walls of both sides of the traveling wheel, the bearing flange is connected with the output end of the right-angle speed reducer, a magnetic attraction transmission shaft supporting the magnetic attraction wheel is installed between the bearing flange and the annular end cover plate, the magnetic attraction wheel is fixed on the magnetic attraction transmission shaft between the bearing flange and the annular end cover plate, and one end of the magnetic attraction transmission shaft extends out of the annular end cover plate, penetrates through the bracket and is connected with a synchronous wheel matched with the synchronous belt.

[0007] The support, the bearing flange and the annular end cover plate are all provided with an axle sleeve supporting the magnetic attraction transmission shaft.

[0008] The support edge near the annular end cover plate is machined with a clearance opening that matches the contour of the magnetic chuck.

[0009] The beneficial effects of the magnetic attraction drive assembly provided by this utility model are:

[0010] (1) By setting two traveling wheels and connecting a drive motor to each traveling wheel, each traveling wheel has driving force. At the same time, a fan-shaped magnetic suction wheel is installed inside the traveling wheel, and the angle of the magnetic suction wheel is controlled by a servo motor. In this way, while ensuring the magnetic suction force, the weight is reduced, thereby increasing the load capacity to adapt to various complex welding processes.

[0011] (2) By installing multiple permanent magnets in a Heilbeck array on the fan-shaped ring surface of the magnetic chuck, the magnetic attraction force can be guaranteed. At the same time, in conjunction with the servo motor, the magnetic direction of the permanent magnet can be adjusted, so that it can be easily picked up from the workpiece, avoiding the problem of traditional magnetic wheels being constantly attracted and inconvenient to pick up. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0013] Fig. 1 This is a structural schematic diagram provided for an embodiment of the present utility model.

[0014] Fig. 2 A cross-sectional view of the magnetic drive shaft provided in an embodiment of this utility model.

[0015] Fig. 3 This is a schematic diagram of the internal structure of the traveling wheel provided in an embodiment of the present utility model.

[0016] The markings in the diagram are: 1. Bracket; 2. Drive motor; 21. Right-angle reducer; 3. Traveling wheel; 31. Support edge; 32. Clearance opening; 33. Bearing flange with seat; 34. Annular end cover; 4. Servo motor; 41. Synchronous pulley; 42. Synchronous belt; 5. Magnetic pulley; 51. Permanent magnet; 6. Magnetic drive shaft; 7. Bushing. Detailed Implementation

[0017] like Figs. 1-3As shown, the magnetic drive assembly provided in this embodiment includes a bracket 1, a drive motor 2, a traveling wheel 3, a servo motor 4, and a magnetic wheel 5. The bracket 1 is V-shaped and hollow. Two traveling wheels 3 are respectively disposed at both ends of the bracket 1. Two drive motors 2, corresponding one-to-one with the traveling wheels 3, are installed on one side of the outer wall of the bracket 1. A right-angle reducer 21 is connected to the output shaft of each drive motor 2. The right-angle reducer 21 is fixed on the bracket 1. The traveling wheel 3 is connected to the corresponding right-angle reducer 21. The right-angle reducer 21 can reduce the speed of the drive motor 2 and increase the torque of the traveling wheel 3, so that the traveling wheel 3 can obtain a greater driving force. The traveling wheel 3 is hollow, and a coaxially arranged magnetic wheel is installed on the inner side of the traveling wheel 3. The magnetic suction wheel 5 is used to control the attraction force between the magnetic suction wheel and the workpiece. The magnetic suction wheel 5 is fan-shaped, and multiple permanent magnets 51 distributed in a Hellbeck array are installed on the fan-shaped ring surface of the magnetic suction wheel 5. The multiple permanent magnets 51 distributed in the Hellbeck array can generate the strongest magnetic field with the minimum amount of magnets. While ensuring the magnetic attraction force, it reduces its own weight and obtains a greater load capacity. Two servo motors 4 are installed in the bracket 1. The output shaft of the servo motor 4 is connected to the corresponding magnetic suction wheel 5 through a synchronous belt 42. The synchronous belt 42 is set on the other side of the outer wall of the bracket 1. Using the servo motors 4, the magnetic attraction direction of the magnetic suction wheel 5 can be controlled, and the attraction force between the magnetic suction wheel 5 and the workpiece can also be adjusted.

[0018] To facilitate the assembly of the front drive components, such as Fig. 1 , Fig. 2 As shown, the traveling wheel 3 is equipped with a bearing flange 33 and an annular end cover plate 34 at both ends. Support edges 31, which connect to the bearing flange 33 and annular end cover plate 34, are machined on the inner walls of both sides of the traveling wheel 3. The bearing flange 33 and annular end cover plate 34 are fixedly connected to the support edges 31 by screws. The bearing flange 33 is connected to the output end of the right-angle reducer 21. To facilitate the installation of the magnetic pulley 5, a connection point for the magnetic pulley is machined on the support edge 31 near the annular end cover plate 34. A contour-adaptive clearance opening 32 is provided. A magnetic drive shaft 6 supporting a magnetic pulley 5 is installed between a seated bearing flange 33 and an annular end cover plate 34. The magnetic pulley 5 is fixed on the magnetic drive shaft 6 between the seated bearing flange 33 and the annular end cover plate 34. One end of the magnetic drive shaft 6 extends from the annular end cover plate 34, passes through the bracket 1, and is connected to a synchronous pulley 41 that cooperates with the synchronous belt 42. A bushing 7 supporting the magnetic drive shaft 6 is installed on the support, the seated bearing flange 33, and the annular end cover plate 34.

[0019] The method of using this utility model is as follows:

[0020] In use, at least one set of drive components is installed on the chassis as the chassis driver. Then, the angle of the magnetic chuck 5 is adjusted by the servo motor 4 to move the permanent magnet 51 away from the workpiece surface. After placement, the magnetic chuck 5 is rotated to bring the permanent magnet 51 closer to the workpiece surface. At this time, under the action of the magnetic chuck 5, the drive motor 2 directly drives the traveling wheel 3 through the right-angle reducer 21, so that the traveling wheel 3 can travel directly on the workpiece. During the travel, the servo motor 4 can adjust the direction of the magnetic chuck 5 in real time to ensure the maximum magnetic attraction force, which can adapt to the climbing of complex workpieces. When it is necessary to remove it, first hold the drive component, and then control the magnetic chuck 5 to drive the permanent magnet 51 to the side away from the workpiece. At this time, the magnetic attraction force weakens, and then the drive component can be directly removed from the workpiece.

[0021] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A magnetic attraction drive assembly, characterized by: The utility model provides a kind of magnetic wheel robot, including support (1), drive motor (2), travelling wheel (3), servo motor (4) and magnetic wheel (5), the support (1) is V-shaped, support (1) is hollow, two travelling wheels (3) are respectively arranged in support (1) both ends, two drive motors (2) corresponding to travelling wheel (3) one by one are installed on the side of the outer wall of support (1), and the output shaft of each drive motor (2) is connected with right-angle speed reducer (21), and right-angle speed reducer (21) is fixed on support (1), travelling wheel (3) is connected with corresponding right-angle speed reducer (21), travelling wheel (3) is hollow, and coaxially arranged magnetic wheel (5) is installed in the inside of travelling wheel (3), the magnetic wheel (5) is fan-shaped, and a plurality of permanent magnets (51) are installed on the fan-shaped surface of magnetic wheel (5) in Halbach array distribution, two servo motors (4) are installed in support (1), and the output shaft of servo motor (4) is connected with corresponding magnetic wheel (5) by synchronous belt (42), and synchronous belt (42) is arranged on the other side of the outer wall of support (1).

2. The magnetic attraction driving assembly according to claim 1, wherein: Travelling wheel (3) is provided with flange plate (33) and annular end cover plate (34) with bearing seat on both ends, and support rail (31) connected with flange plate (33) and annular end cover plate (34) is machined on the inner wall of both sides of travelling wheel (3), the output end of right-angle speed reducer (21) is connected with flange plate (33) with bearing seat, and magnetic wheel (5) supporting magnetic transmission shaft (6) is installed between flange plate (33) with bearing seat and annular end cover plate (34), and the magnetic wheel (5) is fixed on magnetic transmission shaft (6) between flange plate (33) with bearing seat and annular end cover plate (34), and one end of magnetic transmission shaft (6) is connected with synchronous pulley (41) matched with synchronous belt (42) after extending from annular end cover plate (34) and passing through support (1).

3. The magnetic attraction driving assembly according to claim 2, characterized in that: Support (1), flange plate (33) with bearing seat and annular end cover plate (34) are all provided with shaft sleeve (7) supporting magnetic transmission shaft (6).

4. The magnetic attraction driving assembly according to claim 2, characterized in that: Avoidance port (32) matched with the contour of magnetic wheel (5) is machined on the support rail (31) close to one end of annular end cover plate (34).

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