Magnetic wheel structure for power inspection robot

Abstract

The utility model relates to electric power inspection equipment technical field, and disclose a kind of magnetic attraction wheel structure for electric power inspection robot, including magnetic attraction wheel main part, connecting piece, internal support hub, outer sleeve shell and permanent magnet, installation hole is provided at internal support hub center, outer sleeve shell is attached and installed on internal support hub surface, outer sleeve shell is set to regular twenty-four-sided polygon structure, every edge surface of outer sleeve shell inner circumferential surface is provided with four magnet grooves of linear array distribution, permanent magnet is attached and installed in magnet groove inner wall, non-magnetic adhesive colloid is injected in magnet groove inner wall.The utility model is compared with the magnet of traditional circular wheel body sparse distribution, this polygonal structure combines dense magnet layout, so that magnetic attraction wheel in rolling process, with the magnetic circuit switching of metal surface more frequently and smoothly, greatly reduce the periodic fluctuation amplitude of magnetic attraction force, effectively suppress the adsorption shaking phenomenon of robot, provide more stable work platform for the detection equipment of carrying.

Description

Technical Field

[0001] This utility model belongs to the technical field of power inspection equipment, and specifically relates to a magnetic wheel structure for a power inspection robot. Background Technology

[0002] Power inspection robots are intelligent devices that integrate artificial intelligence, multi-sensor fusion, and autonomous navigation technologies. They are mainly used to replace manual labor in completing all-weather, high-precision inspection tasks of power facilities. Magnetic wheels are special walking mechanisms that use permanent magnets to adhere to metal surfaces and are often used by power inspection robots for climbing walls or working at heights.

[0003] In the current application of power inspection robots in substations, magnetic chucks are a key component for enabling the robot to crawl stably on the surface of metal structures.

[0004] However, existing magnetic chucks typically use a circular rubber shell with a limited number of permanent magnets arranged at equal intervals along the circumference. Due to the limited number and sparse distribution of magnets, this traditional design causes significant periodic fluctuations in magnetic attraction during wheel rolling. When the gaps between magnets pass over a metal surface, the attraction force drops sharply, causing the robot to vibrate and affecting the operational stability of the detection equipment.

[0005] Secondly, the existing magnetic chucks have weak magnet fixing structures, and most of them use simple adhesive or slot fixing. Under long-term high-speed rotation and vibration environment, the magnets are prone to displacement or even falling off, which not only affects the integrity of the magnetic circuit, but may also cause wheel body dynamic imbalance and generate additional vibration noise. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a magnetic wheel structure for power inspection robots.

[0007] To achieve the above objectives, this utility model adopts the following technical solution: a magnetic chuck structure for a power inspection robot, comprising a magnetic chuck body, a connector, an inner support hub, an outer shell, and permanent magnets. The inner support hub has a mounting hole at its center. The inner support hub is a hollow cylindrical structure supported by spokes. An outer shell is snap-fitted onto the surface of the inner support hub. The outer shell is a regular 24-sided polygon. Each side of the inner circumference of the outer shell has four linearly arrayed magnet slots. Permanent magnets are snap-fitted onto the inner walls of the magnet slots. A non-magnetic adhesive is injected into the inner walls of the magnet slots.

[0008] Preferably, a fixed circular groove is formed at one end of the inner wall of the magnet groove, a fixed ring is snapped into the inner wall of the fixed circular groove, a flange ring is snapped into one end of the fixed ring, the side of the flange ring near the fixed ring is in contact with one side of the permanent magnet, and the other side of the permanent magnet is in contact with the inner wall of the magnet groove.

[0009] Preferably, the inner wall of the fixed circular groove is provided with a groove array, and an insert is fixed at the corresponding position of the fixed circumferential surface and the groove.

[0010] Preferably, the other end edge of the magnet slot is configured as an auxiliary rounded edge.

[0011] Preferably, each side of the internal support hub is fixed with a locking point at both ends, and each side of the inner surface of the outer shell is provided with a locking groove at both ends.

[0012] Preferably, each side of the internal support hub has multiple rubber grooves linearly arranged at both ends.

[0013] Preferably, the outer shell surface has a plurality of anti-slip grooves arranged in a circumferential array, and the anti-slip grooves have an elliptical cross-section.

[0014] Preferably, a rubber ring groove is formed on the inner wall of the magnet groove at the end closest to the permanent magnet.

[0015] In summary, this utility model has the following beneficial effects:

[0016] 1. This utility model designs the outer shell as a regular 24-sided structure and sets four linearly arrayed magnet slots on the inner circumference of each side to install permanent magnets, forming a high-density, multi-polarized magnet array. Compared with the sparsely distributed magnets on the traditional circular wheel, this polygonal structure combined with the dense magnet layout makes the magnetic circuit switching between the magnetic wheel and the metal surface more frequent and smooth during the rolling process, which greatly reduces the periodic fluctuation amplitude of the magnetic attraction force, effectively suppresses the robot's adsorption shaking phenomenon, and provides a more stable working platform for the mounted detection equipment.

[0017] 2. This utility model utilizes a mechanical clamping structure consisting of a fixed circular groove, a fixed ring, and a flange ring formed on the inner wall of the magnet groove to physically limit the permanent magnet from one side. The fit between the insert and the groove prevents the fixed ring from rotating. Simultaneously, a non-magnetic adhesive is injected into the inner wall of the magnet groove, and an adhesive ring groove is provided to increase the adhesive adhesion area and mechanical locking effect; the auxiliary circular edge facilitates the installation and insertion of the permanent magnet. This dual protection of mechanical clamping and adhesive fixation effectively prevents the permanent magnet from shifting or falling off under long-term high-speed rotation and vibration environments, ensuring the integrity of the magnetic circuit and the dynamic balance of the wheel.

[0018] 3. The elliptical anti-slip grooves arranged in a circular array on the outer shell significantly increase the friction between the wheel surface and the metal surface, providing more reliable traction and preventing slippage.

[0019] 4. This utility model achieves quick and precise snap-fit ​​installation by connecting the internal support hub to the snap-fit ​​groove of the outer shell through the snap-fit ​​point. The glue groove is used to accommodate additional adhesive, preventing adhesive overflow and increasing the contact area with the components, further enhancing the connection strength between the hub and the outer shell. The standard mounting hole and connector design at the center of the internal support hub improve the adaptability of this magnetic wheel structure to different models of power inspection robots, and enhance the product's versatility. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the internal support hub of this utility model;

[0022] Figure 3 This is an exploded view of the anti-slip groove of this utility model;

[0023] Figure 4 This is a schematic diagram of the card part of this utility model;

[0024] Figure 5 This is a schematic diagram of the snap-fit ​​groove of this utility model;

[0025] Figure 6 This is a cross-sectional view of the auxiliary rounded edge of this utility model;

[0026] Figure 7 This is a cross-sectional view of the groove of this utility model.

[0027] Figure label:

[0028] 1. Magnetic chuck body; 101. Connector; 102. Internal support hub; 103. Mounting hole; 104. Outer shell; 105. Permanent magnet;

[0029] 2. Magnet slot; 201. Flange ring; 202. Fixing ring; 203. Fixing circular slot;

[0030] 3. Groove; 301. Insert;

[0031] 4. Auxiliary rounded edges;

[0032] 5. Card slot; 501. Card point;

[0033] 6. Glue tank;

[0034] 7. Anti-slip grooves;

[0035] 8. Glue ring groove. Detailed Implementation

[0036] To make the technical means, creative features, and achieved objectives and effects of this utility model easier to understand, the present utility model is further described below with reference to specific embodiments and accompanying drawings. However, the following embodiments are merely preferred embodiments of this utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described in the implementation plan without creative effort are all within the protection scope of this utility model.

[0037] The specific embodiments of this utility model are described below with reference to the accompanying drawings:

[0038] Example 1:

[0039] refer to Figures 1-7 A magnetic chuck structure for a power inspection robot includes a magnetic chuck body 1, a connector 101, an internal support hub 102, an outer shell 104, and a permanent magnet 105. The internal support hub 102 has a mounting hole 103 at its center. The internal support hub 102 is a hollow cylindrical structure and is supported by spokes. The outer shell 104 is snap-fitted onto the surface of the internal support hub 102. The outer shell 104 is a regular 24-sided polygon. Each side of the inner circumference of the outer shell 104 has four linearly arrayed magnet slots 2. The inner wall of the magnet slots 2 is snap-fitted with permanent magnets 105, and the inner wall of the magnet slots 2 is filled with a non-magnetic adhesive.

[0040] Specifically, by setting the outer shell 104 as a regular 104-sided polygon and opening four linearly arrayed magnet slots 2 on each side of its inner circumference to mount permanent magnets 105, a high-density, multi-polarized magnet array is constructed. This polygonal structure combined with the dense magnet layout makes the magnetic circuit switching between the magnetic roller and the metal surface more frequent and smooth during rolling, significantly reducing the periodic fluctuations of the magnetic attraction force, effectively suppressing the robot's adsorption vibration, and providing a more stable working platform for the inspection equipment. At the same time, non-magnetic adhesive is injected into the inner wall of the magnet slots 2 to provide initial fixation for the permanent magnets 105.

[0041] A fixed circular groove 203 is provided at one end of the inner wall of the magnet groove 2. A fixed ring 202 is snapped into the inner wall of the fixed circular groove 203. A flange ring 201 is snapped into one end of the fixed ring 202. The side of the flange ring 201 near the fixed ring 202 is in contact with one side of the permanent magnet 105, and the other side of the permanent magnet 105 is in contact with the inner wall of the magnet groove 2.

[0042] The inner wall of the fixed circular groove 203 is provided with a circumferential array of slots 3, and the circumferential surface of the fixed ring 202 is fixed with inserts 301 at the corresponding positions of the slots 3.

[0043] The other end edge of the magnet slot 2 is set as an auxiliary rounded edge 4.

[0044] Specifically, by setting a fixed circular groove 203, a fixed ring 202, and a flange ring 201 on the inner wall of the magnet groove 2, a mechanical clamping structure is formed for one end of the permanent magnet 105, providing reliable physical limitation and preventing axial movement. Furthermore, by opening a groove 3 on the inner wall of the fixed circular groove 203 and setting a corresponding insert 301 on the circumference of the fixed ring 202, the anti-rotation positioning of the fixed ring 202 is achieved, ensuring the stability of the mechanical clamping structure and preventing it from loosening due to vibration. By setting the edge of the other end of the magnet groove 2 as an auxiliary circular edge 4, a guiding effect is provided for the installation of the permanent magnet 105, avoiding installation difficulties or damage to the permanent magnet 105 caused by sharp edges, facilitating assembly, and forming a dual fixing system combining mechanical and adhesive methods, which enhances the fixing reliability of the permanent magnet 105 in high-speed rotation and vibration environments.

[0045] Each side of the internal support hub 102 is fixed with a locking point 501 at both ends, and each side of the inner surface of the outer shell 104 is provided with a locking groove 5 at both ends.

[0046] Specifically, by setting locking points 501 at both ends of each side of the internal support hub 102 and opening locking grooves 5 at corresponding positions on the inner surface of the outer shell 104, a fast and precise locking connection between the internal support hub 102 and the outer shell 104 is achieved, ensuring the alignment of the components and the convenience of assembly.

[0047] The internal support hub 102 has multiple rubber grooves 6 linearly arrayed at both ends of each side surface.

[0048] Specifically, by linearly arraying multiple adhesive grooves 6 at both ends of each side of the internal support hub 102, additional space is provided for the adhesive. On the one hand, this prevents the adhesive from overflowing excessively during the pressing process, maintaining a clean appearance; on the other hand, it significantly increases the contact area between the adhesive and the component, thereby greatly enhancing the connection strength and durability between the internal support hub 102 and the outer shell 104.

[0049] The outer shell 104 has multiple anti-slip grooves 7 arranged in a circumferential array on its surface, and the anti-slip grooves 7 have an elliptical cross-section.

[0050] Specifically, by creating multiple elliptical anti-slip grooves 7 in a circumferential array on the surface of the outer shell 104, the contact roughness and friction coefficient between the wheel surface and the metal surface are effectively increased, especially in working conditions where there may be oil or wetness, providing more reliable traction, significantly reducing the risk of slippage, and ensuring the robot's movement stability.

[0051] A rubber ring groove 8 is provided on the inner wall of the magnet groove 2 at one end near the permanent magnet 105.

[0052] Specifically, by opening a glue ring groove 8 at one end of the inner wall of the magnet groove 2 near the permanent magnet 105, an additional space for accommodating and locking non-magnetic adhesive is provided. This design increases the contact area between the adhesive and the inner wall of the magnet groove 2 and forms a mechanical interlocking structure similar to mortise and tenon, thereby significantly improving the firmness of the adhesive fixation and further preventing the permanent magnet 105 from loosening.

[0053] Example 2:

[0054] refer to Figures 1-7 Staff members use the structure disclosed in this utility model in the daily inspection operations of 500kV ultra-high voltage substations.

[0055] An orbital inspection robot equipped with an infrared thermal imager and an ultraviolet corona detector is carrying out its mission along a 35-meter-high steel structure inspection corridor.

[0056] The robot adopts the magnetic chuck structure of this utility model. The four magnetic chuck bodies 1 are connected to the robot drive shaft through the mounting holes 103 in the center of the internal support hub 102. The connecting parts 101, made of No. 45 steel, are fixed by set screws. The internal support hub 102 is made of ZL114A aluminum alloy and is supported by six spokes with a width of 15 mm to form a hollow cylindrical structure.

[0057] The outer shell 104 is a regular 24-sided structure made of polyurethane material with an outer diameter of 280 mm. Each side of its inner circumference has four magnet slots 2 with a depth of 12 mm. N45 neodymium iron boron permanent magnets 105 are installed in the slots, with dimensions of 20 mm × 10 mm × 8 mm. The magnetic induction intensity of a single magnet surface reaches 480 mT.

[0058] Loctite EAE-120HP non-magnetic epoxy resin is injected into the inner wall of the magnet slot 2, and a 1.5 mm deep adhesive ring groove 8 is opened in the slot wall to enhance the anchoring effect of the adhesive. Each magnet slot 2 has a fixed circular groove 203 at one end, in which a 2Cr13 stainless steel fixing ring 202 is embedded. Six inserts 301 on the circumference cooperate with the groove 3 to prevent rotation, and the flange ring 201 installed at the front end forms a mechanical clamping force on the permanent magnet 105.

[0059] The R2 mm auxiliary rounded edge 4 at the entrance of the magnet slot 2 ensures smooth magnet installation. The ZL301 aluminum alloy locking points 501 at both ends of each side of the internal support hub 102 form an interference fit with the locking groove 5 on the inner wall of the outer shell 104. Simultaneously, the 2 mm deep adhesive groove 6 on the hub surface is filled with silane-modified polymer sealant to enhance adhesion. The 24 evenly distributed elliptical anti-slip grooves 7 on the outer circumference of the outer shell 104, with a groove depth of 3 mm, effectively improve adhesion to steel surfaces contaminated with light oil.

[0060] In actual operation, when the magnetic chuck travels at a speed of 0.8 m / s along a steel beam inclined at a 15-degree angle, the dense magnetic circuit formed by 96 permanent magnets reduces the magnetic adsorption force fluctuation coefficient from 0.42 in the traditional structure to 0.15, improving the robot's posture stability by 60% and significantly enhancing the image stability acquired by the onboard FLIRT865 infrared thermal imager. After three months of continuous operation and verification, under vibration conditions with an average daily travel distance of 15 km, the permanent magnets did not exhibit any displacement or detachment, the wheel's dynamic balance remained excellent, and the robot's positioning accuracy was consistently maintained within ±2 mm.

[0061] The working principle of this utility model:

[0062] Step 1: The magnetic wheel is connected to the drive shaft of the power inspection robot through the mounting hole 103 in the center of the internal support hub 102 and is fixed by the connector 101. When the robot starts, the magnetic wheel body 1 contacts a metal surface, such as a substation frame. The permanent magnet 105 generates a strong magnetic attraction force, making the wheel firmly adhere to the metal surface. Because the outer shell 104 adopts a regular 104-sided polygon structure, and each side has four linearly arrayed magnet slots 2 on its inner circumference, the permanent magnets 105 are arranged in a high-density, multi-polarization manner, forming a continuous and uniform magnetic circuit. This layout ensures a wide magnetic force distribution during initial adsorption, avoiding slippage or detachment caused by insufficient local magnetic force.

[0063] Step 2: As the robot moves, the magnetic wheels begin to roll. Due to the design of the polygonal outer shell 104, the contact point between the wheels and the metal surface changes continuously, but the multiple permanent magnets 105 on each side will approach and leave the metal surface in sequence.

[0064] Compared to traditional circular wheels, this structure allows for more frequent magnetic circuit switching. With each side surface rolled, multiple magnets participate in adsorption, significantly reducing the fluctuation range of magnetic attraction. During rolling, when a magnet detaches from the metal surface, an adjacent magnet has already begun to attract, achieving seamless magnetic connection. This effectively suppresses periodic fluctuations in adsorption force, preventing robot vibration and providing a stable working platform for the mounted testing equipment.

[0065] Step 3: In high-speed rolling and vibration environments, the fixation of the permanent magnet 105 is crucial. The inner wall of the magnet groove 2 is filled with a non-magnetic adhesive to initially bond the permanent magnet 105. Simultaneously, a mechanical clamping structure, including a fixing circular groove 203, a fixing ring 202, and a flange ring 201, physically limits the permanent magnet 105 from one side. The fixing ring 202 prevents rotation through the engagement of the insert 301 with the groove 3, while the auxiliary circular edge 4 at the other end of the magnet groove 2 facilitates the installation of the permanent magnet 105 and prevents damage. Furthermore, the adhesive ring groove 8 increases the adhesive adhesion area, creating a mechanical locking effect. This dual fixing mechanism ensures that the permanent magnet 105 will not shift or fall off during long-term use, maintaining the integrity of the magnetic circuit and the dynamic balance of the wheel.

[0066] Step 4: The inner support hub 102 and the outer shell 104 are quickly snapped together via the snap-fit ​​point 501 and the snap-fit ​​groove 5, ensuring the alignment and assembly accuracy of the components. Simultaneously, the adhesive groove 6 on the inner support hub 102 provides space for additional adhesive, preventing overflow and enhancing connection strength. This design allows the wheel to maintain structural integrity under load and vibration, preventing loose components from affecting its adsorption performance.

[0067] Step 5: The elliptical anti-slip grooves 7 arranged in a circular array on the surface of the outer shell 104 increase the coefficient of friction between the wheel surface and the metal surface. Under harsh working conditions such as oil stains and wet slips, these anti-slip grooves 7 provide reliable traction by increasing contact roughness, preventing the robot from slipping or spinning, and ensuring the accuracy of the inspection path and the efficiency of movement.

[0068] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0069] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A magnetic chuck structure for a power inspection robot, comprising a magnetic chuck body (1), a connector (101), an internal support hub (102), an outer shell (104), and a permanent magnet (105), wherein a mounting hole (103) is provided at the center of the internal support hub (102), characterized in that: The internal support hub (102) is a hollow cylindrical structure and is supported by spokes. An outer shell (104) is snapped onto the surface of the internal support hub (102). The outer shell (104) is set as a regular 24-sided structure. Each side of the inner circumference of the outer shell (104) is provided with four linearly arrayed magnet slots (2). A permanent magnet (105) is snapped onto the inner wall of the magnet slot (2). The inner wall of the magnet slot (2) is filled with a non-magnetic adhesive.

2. The magnetic wheel structure for a power inspection robot according to claim 1, characterized in that: A fixed circular groove (203) is provided at one end of the inner wall of the magnet groove (2). A fixed ring (202) is snapped onto the inner wall of the fixed circular groove (203). A flange ring (201) is snapped onto one end of the fixed ring (202). The side of the flange ring (201) close to the fixed ring (202) is in contact with one side of the permanent magnet (105), and the other side of the permanent magnet (105) is in contact with the inner wall of the magnet groove (2).

3. The magnetic wheel structure for a power inspection robot according to claim 2, characterized in that: The inner wall of the fixed circular groove (203) is provided with a groove (3) in a circular array, and the fixed ring (202) is fixed with an insert (301) at the corresponding position of the groove (3).

4. The magnetic wheel structure for a power inspection robot according to claim 1, characterized in that: The other end edge of the magnet slot (2) is set as an auxiliary round edge (4).

5. The magnetic wheel structure for a power inspection robot according to claim 1, characterized in that: Each side of the internal support hub (102) is fixed with a locking point (501) at both ends, and each side of the inner surface of the outer shell (104) is provided with a locking groove (5).

6. The magnetic wheel structure for a power inspection robot according to claim 1, characterized in that: The internal support hub (102) has multiple rubber grooves (6) linearly arranged at both ends of each side surface.

7. The magnetic wheel structure for a power inspection robot according to claim 1, characterized in that: The outer shell (104) has a plurality of anti-slip grooves (7) arranged in a circumferential array on its surface, and the anti-slip grooves (7) have an elliptical cross section.

8. The magnetic wheel structure for a power inspection robot according to claim 1, characterized in that: The inner wall of the magnet groove (2) near the permanent magnet (105) has a rubber ring groove (8).

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