CN113002653A - Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading - Google Patents
Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading Download PDFInfo
- Publication number
- CN113002653A CN113002653A CN202110451199.XA CN202110451199A CN113002653A CN 113002653 A CN113002653 A CN 113002653A CN 202110451199 A CN202110451199 A CN 202110451199A CN 113002653 A CN113002653 A CN 113002653A
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- magnet
- wall surface
- unloading
- fixedly connected
- magnetic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C5/00—Inflatable pneumatic tyres or inner tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2900/00—Purpose of invention
- B60B2900/90—Providing or changing
- B60B2900/931—Magnetic effects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
Abstract
The invention discloses a permanent magnet adsorption wheel used for a magnetic conduction wall surface and capable of realizing rapid magnetic flux unloading, wherein an inflatable tire is fixed outside a wheel hub, the wheel hub is fixedly connected with a harmonic reducer, the harmonic reducer is fixedly connected with a motor connecting shaft, the outer part of the motor connecting shaft is sleeved with a bearing sleeve, the bearing sleeve is sleeved with a synchronous belt pulley, a magnet fixing piece and a magnet connecting plate are fixedly connected through a long screw and sleeved on the bearing sleeve, the magnet connecting plate is fixedly connected with a yoke, a magnet is directly adsorbed on the yoke, the outer sides of the magnet connecting plate and the magnet fixing piece are sequentially sleeved with a magnet retainer ring and a magnet limiting piece, the bearing sleeve is arranged on the synchronous belt pulley, the synchronous belt pulley is sleeved with a synchronous belt, the synchronous belt pulley is fixed on the wheel hub through a screw, the inflatable tire is clamped in the wheel hub through self inflation, the magnetic force is adjustable, the magnet is convenient to unload, and the magnetic conduction wall surface can be effectively protected.
Description
Technical Field
The invention relates to the technical field of adsorption devices, in particular to a permanent magnet adsorption wheel which is used for a magnetic conduction wall surface and can realize quick magnetic flux unloading.
Background
With the continuous promotion of globalization, the demand for large-scale manufacturing of large components such as large ships and heavy machinery is increasing, the manufacturing of the large components is often realized by welding, and there may be defects at the welding position, which may seriously affect the quality of the components and even bring about safety problems. In traditional weld joint detection, workers need to wear a mask and carry out detection operation by means of a detection instrument, the operation environment is poor, the danger is high, and therefore the digital fluorescent magnetic powder detection robot for magnetic conduction wall surface nondestructive inspection has wide application prospects.
Because permanent magnetism adsorbs has the stable and great advantage of adsorption affinity, the inspection robot who is applied to on the magnetic conduction wall surface adopts the permanent magnet as main adsorption mechanism more to ensure that the robot can move on the magnetic conduction wall surface. Most of permanent magnet type wall climbing detection robots in the market are fixed magnetic force, namely, the adsorption force generated by the magnet module is basically fixed no matter how the wall surface environment is, although the safety of the method is reliable, the performance of the magnet module is poor, and the magnetism of the magnet cannot be fully utilized; the provided magnetic force is not adjustable, so that the motion performance of the robot is reduced; the magnet is inconvenient to unload magnetism, and the wall climbing robot is difficult to separate from the magnetic conduction wall surface. Therefore, it is urgently needed to develop a permanent magnet adsorption wheel for a magnetic conduction wall surface, which can realize quick magnetic flux release to solve the technical problems.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a permanent magnet adsorption wheel which is used for a magnetic conduction wall surface and can realize quick magnetic flux unloading, the magnet module has good performance, the magnetic force is adjustable, the magnetic flux unloading is convenient, the magnetic conduction wall surface can be effectively protected, the application prospect is wide, and the popularization and the application are facilitated.
In order to achieve the purpose, the invention provides a permanent magnet adsorption wheel which is used for a magnetic conduction wall surface and can realize quick magnetic flux unloading, comprising an inflatable tire, wherein the inflatable tire is fixed outside a wheel hub, the wheel hub is fixedly connected with a harmonic reducer through a tire fixing piece, the harmonic reducer is fixedly connected with a motor connecting shaft and is used for realizing the motion transmission between a stepping motor and the harmonic reducer, a bearing sleeve is sleeved outside the motor connecting shaft, the harmonic reducer is fixedly connected with a vehicle body through the bearing sleeve, a synchronous belt pulley is sleeved on the bearing sleeve, a magnet fixing piece and a magnet connecting plate are fixedly connected and sleeved on the bearing sleeve through a long screw, the inner space formed by the magnet fixing piece and the magnet connecting plate is in clearance fit with the bearing sleeve, the magnet connecting plate is fixedly connected with a yoke, a magnet is directly adsorbed on the yoke, and the, and then change the adsorption affinity, magnet connecting plate is equipped with magnet retaining ring and magnet locating part with the outside cover in proper order of magnet mounting to prevent magnet axial displacement, the bearing housing is installed on synchronous pulley, the last cover of synchronous pulley is equipped with the hold-in range to realize that magnet and synchronous pulley's being connected make the wheel adsorb on the magnetic conduction wall, synchronous pulley passes through the fix with screw on wheel hub, and the pneumatic tire makes its card in wheel hub through self aerifing, unloads the one end of magnetism handle and passes preformed hole and magnet mounting rigid coupling on the magnet retaining ring.
Preferably, the magnet retaining ring and the magnet limiting piece are formed by butt joint of two semicircular monomers and fixedly connected through screws, a sleeving hole is formed in the butt joint position, and the magnet retaining ring and the magnet limiting piece are tightly attached to the side face of the magnet and sleeved on the bearing sleeve.
Preferably, one end of the magnetism unloading handle is fixedly connected with the magnet fixing piece through a screw, the other end of the magnetism unloading handle is fixedly connected with a magnetism unloading sleeve, and the magnetism unloading sleeve is fixedly connected with the magnetism unloading handle through a locking screw.
Preferably, the pneumatic tire and the wheel hub are fixed by a tire fixing piece through screws, and the tire fixing piece fixedly connects the wheel hub and the harmonic reducer through the screws.
Preferably, the harmonic reducer and the motor connecting shaft are connected with the bearing sleeve through screws.
Preferably, the yoke is fixedly connected with the magnet connecting plate through screws, and the magnet retainer ring is fixedly connected with the magnet limiting piece through screws.
Preferably, the bearing sleeve fixedly connects the harmonic reducer with the vehicle body through a screw.
Preferably, the magnets are arranged in a halbach array.
The permanent magnet adsorption wheel for the magnetic conduction wall surface and capable of rapidly unloading magnetism provided by the invention has the following beneficial effects.
1. The magnetic force is adjustable: adopt pneumatic tire and the mode of hold-in range on the one hand, this mode not only can increase the contact area and the coefficient of friction of wheel and magnetic conduction wall, also can adjust the distance of magnet apart from the magnetic conduction wall through pneumatic tire's the degree of inflation, in addition, the hold-in range has also restricted pneumatic tire's compression amount, avoid producing the too big problem of adsorption affinity, on the other hand adjusts the distance of magnet for the magnetic conduction wall through the long screw on the regulation magnet mounting, the adsorption efficiency of wheel has been guaranteed through the design in above two aspects, also make its motion performance obtain the guarantee.
2. The magnetic flux is convenient to unload: the magnet-unloading handle is mounted on the magnet fixing piece connected with the magnet and is connected with the magnet-unloading sleeve, when the wheel is adsorbed on the magnetic conduction wall surface, the magnet is perpendicular to the magnetic conduction wall surface, and the magnet-unloading sleeve connected with the magnet-unloading handle is rotated to ensure that the adsorption direction of the magnet is not perpendicular to the magnetic conduction wall surface any more, so that the effective component force of the magnetic force is changed, the adsorption force is greatly reduced, and the magnet-unloading effect is achieved.
3. The magnet module has good performance: the arrangement mode of the magnets is a Halbach array, the magnets are divided into three blocks, the magnetizing directions of the three blocks of magnets adopt the Halbach array, and the size of each permanent magnet is designed, so that the distribution of magnetic induction lines of the adsorption component is improved, the magnetic field intensity of the magnets in unit volume is enhanced, the strong adsorption force required by the wheel can be met, and the stability and the safety of the wheel during operation are improved.
4. The magnetic conduction wall surface is effectively protected: the tire adopts a pneumatic tire form, when the inflation degree of the pneumatic tire is higher, the pneumatic tire is contacted with the magnetic conduction wall surface, and the magnetic conduction wall surface can be effectively protected; when the inflation degree of the pneumatic tire is small, the synchronous belt is in contact with the magnetic conduction wall surface, the direct contact between the wheel hub and the magnetic conduction wall surface is avoided, and the magnetic conduction wall surface is further protected.
Drawings
Fig. 1 is a schematic structural diagram of a permanent magnet adsorption wheel for a magnetic conductive wall surface, which can realize rapid magnetic flux removal;
FIG. 2 is an exploded view of a permanent magnet adsorption wheel for a magnetically conductive wall surface, which can achieve rapid magnetic flux release;
fig. 3 is a comparison diagram of the position of the magnet relative to the magnetic conductive wall surface in the adsorption state of the permanent magnet adsorption wheel for the magnetic conductive wall surface, which can realize rapid magnetic release and is provided by the invention;
fig. 4 is a comparison diagram of the position of the magnet relative to the magnetic conductive wall surface in the magnetic flux release state of the permanent magnet adsorption wheel for the magnetic conductive wall surface and capable of realizing rapid magnetic flux release.
In the figure:
1. the pneumatic tire comprises a pneumatic tire 2, a wheel hub 3, a tire fixing piece 4, a harmonic speed reducer 5, a bearing sleeve 6, a motor connecting shaft 7, a synchronous belt 8, a synchronous belt pulley 9, a magnet fixing piece 10, a magnet connecting plate 11, a magnetism unloading handle 12, a magnet 13, a yoke 14, a magnet retainer ring 15, a magnet limiting piece 16 and a magnetic conduction wall surface.
Detailed Description
The present invention will be further described with reference to the following specific embodiments and accompanying drawings to assist in understanding the contents of the invention.
As shown in fig. 1-2, the present invention provides a schematic structural diagram of a permanent magnetic adsorption wheel for a magnetic conductive wall surface, which can realize rapid magnetic flux removal, and an exploded view thereof. The permanent magnet adsorption wheel used for the magnetic conduction wall surface and capable of achieving rapid magnet unloading comprises a pneumatic tire 1, a wheel hub 2, a tire fixing piece 3, a harmonic reducer 4, a bearing sleeve 5, a motor connecting shaft 6, a synchronous belt 7, a synchronous belt pulley 8, a magnet fixing piece 9, a magnet connecting plate 10, a magnet unloading handle 11, a magnet 12, a yoke 13, a magnet retainer ring 14, a magnet limiting piece 15 and a magnet unloading sleeve. The above components can limit the moving range of the magnet 12 on the bearing sleeve 5, and realize the control of the attraction force of the magnet 12 on the magnetic conduction wall surface 16 and the magnetic release.
Preferably, the pneumatic tire 1 and the wheel hub 2 are fixed by a tire fixing member 3 with screws, and the tire fixing member 3 fixes the wheel hub 2 and the harmonic reducer 4 by screws. The harmonic reducer 4 and the motor connecting shaft 6 are connected with the bearing sleeve 5 through screws. The yoke 13 is fixedly connected with the magnet connecting plate 10 through screws, and the magnet retainer ring 14 is fixedly connected with the magnet limiting piece 15 through screws. The bearing sleeve 5 fixedly connects the harmonic reducer 4 with the vehicle body through a screw.
The working principle of the invention is as follows:
the adsorption process of the permanent magnet adsorption wheel comprises the following steps: the magnet 12 is attached to the magnetic conductive wall surface 16, the magnet 12 is perpendicular to the magnetic conductive wall surface 16, and the pneumatic tire 1 is in contact with the magnetic conductive wall surface 16, so that the steering and obstacle crossing capability of the wheel can be realized. Through magnetic simulation and actual test, the magnetic wheel can reach the adsorption force of 220N, and the motion requirement of the whole vehicle can be met.
The adsorption force adjusting process of the permanent magnet adsorption wheel comprises the following steps: the distance between the magnet 12 and the magnetic conduction wall surface 16 is adjusted by adjusting a long screw on the magnet connecting plate 10, so as to adjust the adsorption force; the distance between the magnet 12 and the magnetic conduction wall surface 16 is adjusted by adjusting the inflation degree of the pneumatic tire 1, and then the adsorption force is adjusted, when the inflation degree of the pneumatic tire 1 is small, the synchronous belt 7 is in contact with the magnetic conduction wall surface 16, the contact area and the friction coefficient of the wheel and the magnetic conduction wall surface 16 are increased, in addition, the synchronous belt 7 also limits the compression amount of the pneumatic tire 1, and the problem of overlarge adsorption force is avoided. As shown in fig. 3, a comparison diagram of the position of the magnet relative to the magnetic conductive wall surface in the attraction state is provided for the permanent magnet attraction wheel for the magnetic conductive wall surface, which can realize rapid magnet release.
The magnetic unloading process of the permanent magnetic adsorption wheel comprises the following steps: the front wheel and the rear wheel of the vehicle body are provided with a magnetism unloading handle 11 and a magnetism unloading sleeve, and the magnetism unloading sleeve connected with the magnetism unloading handle 11 is rotated, so that the adsorption direction of the magnet 12 is not perpendicular to the magnetic conduction wall surface 16 any more, the adsorption force is greatly reduced, the magnetism unloading effect is achieved, and the vehicle wheel is conveniently taken down from the magnetic conduction wall surface 16. As shown in fig. 4, the present invention provides a comparison diagram of the position of the magnet relative to the magnetic conductive wall surface in the magnetic flux removing state of the permanent magnet adsorption wheel for the magnetic conductive wall surface capable of realizing rapid magnetic flux removal.
The magnetic force of the invention is adjustable: on one hand, a mode of adding the synchronous belt 7 to the pneumatic tire 1 is adopted, so that the contact area and the friction coefficient of the wheel and the magnetic conduction wall surface 16 can be increased, the distance between the magnet 12 and the magnetic conduction wall surface 16 can be adjusted through the inflation degree of the pneumatic tire 1, in addition, the synchronous belt 7 also limits the compression amount of the pneumatic tire 1, the problem of overlarge adsorption force is avoided, on the other hand, the distance between the magnet 12 and the magnetic conduction wall surface 16 is adjusted through adjusting a long screw on the magnet fixing piece 9, the adsorption capacity of the wheel is ensured through the design of the two aspects, and the movement performance of the wheel is also ensured; the magnetic flux is convenient to unload: a magnet unloading handle 11 is arranged on a magnet fixing piece 9 connected with a magnet 12, the magnet unloading handle 11 is connected with a magnet unloading sleeve, when a wheel is adsorbed on a magnetic conduction wall surface 16, the magnet 12 is perpendicular to the magnetic conduction wall surface 16, and the adsorption direction of the magnet 12 is not perpendicular to the magnetic conduction wall surface 16 any more by rotating the magnet unloading sleeve connected with the magnet unloading handle 11, so that the effective component force of the magnetic force is changed, the adsorption force is greatly reduced, and the magnet unloading effect is achieved; the magnet module has good performance: the arrangement mode of the magnets 12 is a Halbach array, the magnets 12 are totally divided into three blocks, the magnetizing directions of the three blocks of magnets 12 adopt the Halbach array and the size of each permanent magnet is designed, the distribution of magnetic induction lines of the adsorption component is improved, the magnetic field intensity of the magnets in unit volume is enhanced, the stronger adsorption force required by the wheel can be met, and the stability and the safety of the wheel during operation are improved; effectively protecting the magnetically conductive wall surface 16: the tire adopts the form of the pneumatic tire 1, when the inflation degree of the pneumatic tire 1 is larger, the pneumatic tire 1 is contacted with the magnetic conduction wall surface 16, and the magnetic conduction wall surface 16 can be effectively protected; when the inflation degree of the pneumatic tire 1 is small, the synchronous belt 7 is in contact with the magnetic conduction wall surface 16, so that the direct contact between the wheel hub 2 and the magnetic conduction wall surface 16 is avoided, and the magnetic conduction wall surface 16 is further protected.
The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Claims (8)
1. A permanent magnet adsorption wheel used for a magnetic conduction wall surface and capable of realizing rapid magnetic unloading is characterized by comprising an inflatable tire, wherein the inflatable tire is fixed outside a wheel hub, the wheel hub is fixedly connected with a harmonic reducer through a tire fixing piece, the harmonic reducer is fixedly connected with a motor connecting shaft and used for realizing motion transmission between a stepping motor and the harmonic reducer, a bearing sleeve is sleeved outside the motor connecting shaft, the harmonic reducer is fixedly connected with a vehicle body through the bearing sleeve, a synchronous belt wheel is sleeved on the bearing sleeve, a magnet fixing piece and a magnet connecting plate are fixedly connected and sleeved on the bearing sleeve through a long screw, an inner space formed by the magnet fixing piece and the magnet connecting plate is in clearance fit with the bearing sleeve, the magnet connecting plate is fixedly connected with a yoke, a magnet is directly adsorbed on the yoke, the magnet moves up and down through locking the long screw, and the, magnet connecting plate and magnet mounting's the outside cover in proper order is equipped with magnet retaining ring and magnet locating part to prevent magnet axial displacement, the bearing housing is installed on synchronous pulley, the last cover of synchronous pulley is equipped with the hold-in range, thereby realizes that magnet and synchronous pulley's being connected make the wheel adsorb on the magnetic conduction wall, synchronous pulley passes through the fix with screw on wheel hub, and pneumatic tire makes its card in wheel hub through self aerifing, unloads the one end of magnetism handle and passes preformed hole and magnet mounting rigid coupling on the magnet retaining ring.
2. The permanent magnet adsorption wheel for the magnetic conduction wall surface capable of achieving rapid magnet unloading as claimed in claim 1, wherein the magnet retaining ring and the magnet limiting piece are formed by butt joint of two semicircular single bodies which are fixedly connected through screws, a sleeve hole is formed at the butt joint, and the magnet retaining ring and the magnet limiting piece are tightly attached to the side surface of the magnet and are sleeved on the bearing sleeve.
3. The permanent magnet adsorption wheel for the magnetic conduction wall surface capable of realizing the rapid magnet unloading as claimed in claim 2, wherein one end of the magnet unloading handle is fixedly connected with the magnet fixing piece through a screw, the other end of the magnet unloading handle is fixedly connected with a magnet unloading sleeve, and the magnet unloading sleeve is fixedly connected with the magnet unloading handle through a locking screw.
4. The permanent magnet adsorption wheel for the magnetic conduction wall surface capable of achieving the rapid magnetic flux removal as claimed in claim 3, wherein the pneumatic tire and the wheel hub are fixed through a tire fixing piece by using a screw, and the tire fixing piece fixedly connects the wheel hub and the harmonic reducer through the screw.
5. The permanent magnet adsorption wheel used for the magnetic conduction wall surface and capable of achieving rapid magnet unloading is characterized in that the harmonic reducer and the motor connecting shaft are connected with the bearing sleeve through screws.
6. The permanent magnet adsorption wheel for the magnetic conduction wall surface capable of achieving the rapid magnet unloading as claimed in claim 5, wherein the yoke iron is fixedly connected with the magnet connecting plate through a screw, and the magnet retainer ring is fixedly connected with the magnet retainer through a screw.
7. The permanent magnet adsorption wheel for the magnetic conduction wall surface capable of achieving the rapid magnet unloading function is characterized in that the bearing sleeve fixedly connects the harmonic reducer with a vehicle body through a screw.
8. The permanent magnet adsorption wheel for the magnetic conductive wall surface capable of achieving the rapid magnet unloading function as claimed in claim 7, wherein the arrangement mode of the magnets is a Halbach array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110451199.XA CN113002653A (en) | 2021-04-26 | 2021-04-26 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110451199.XA CN113002653A (en) | 2021-04-26 | 2021-04-26 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
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| CN113002653A true CN113002653A (en) | 2021-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110451199.XA Pending CN113002653A (en) | 2021-04-26 | 2021-04-26 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787869A (en) * | 2021-09-22 | 2021-12-14 | 广东省科学院智能制造研究所 | Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof |
| CN114823238A (en) * | 2022-06-29 | 2022-07-29 | 深圳市恒讯通电子有限公司 | Electromagnetic switch with overload protection |
-
2021
- 2021-04-26 CN CN202110451199.XA patent/CN113002653A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113787869A (en) * | 2021-09-22 | 2021-12-14 | 广东省科学院智能制造研究所 | Magnetic wheel structure, wall-climbing robot and magnetic force adjusting method and advancing deviation rectifying method thereof |
| CN114823238A (en) * | 2022-06-29 | 2022-07-29 | 深圳市恒讯通电子有限公司 | Electromagnetic switch with overload protection |
| CN114823238B (en) * | 2022-06-29 | 2022-11-04 | 深圳市恒讯通电子有限公司 | Electromagnetic switch with overload protection |
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