CN113135068A - Array type permanent magnetic adsorption wheel for magnetic conduction wall surface - Google Patents
Array type permanent magnetic adsorption wheel for magnetic conduction wall surface Download PDFInfo
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- CN113135068A CN113135068A CN202110620065.6A CN202110620065A CN113135068A CN 113135068 A CN113135068 A CN 113135068A CN 202110620065 A CN202110620065 A CN 202110620065A CN 113135068 A CN113135068 A CN 113135068A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims abstract description 93
- 238000012545 processing Methods 0.000 claims abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 50
- 229910052742 iron Inorganic materials 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 description 16
- 229910052751 metal Inorganic materials 0.000 description 16
- 230000006698 induction Effects 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000004907 flux Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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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
- 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
-
- 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
- B60B2900/50—Improvement of
- B60B2900/551—Handling of obstacles or difficult terrains
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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
Abstract
The invention relates to an array permanent magnetic adsorption wheel for a magnetic conduction wall surface, which comprises a wheel hub, a synchronous belt, a plurality of magnets and annular yokes, wherein the wheel hub is manufactured by processing a synchronous belt wheel; the magnets are arranged in an array with the same polarity. The wheel has the characteristics of compact structure, reasonable magnetic strip layout, high magnetic utilization rate, strong magnetic adsorption force, light weight, strong obstacle crossing capability and the like.
Description
Technical Field
The invention relates to the robot technology, in particular to an array type permanent magnetic adsorption wheel for a magnetic conduction wall surface.
Background
With the development of the robot technology, more and more robots go deep into the production and life of people, the robots not only spray paint and remove rust for the wall, but also can detect whether the pipeline has defects such as cracks, magnetic flux leakage and the like, but how to better crawl on the wall surface, carrying detection and construction equipment are not little challenges, and therefore the key of crawling of the robots on the wall surface is the design of magnetic wheels.
The existing wheel type wall climbing adsorption device generally ensures the adsorption effect by directly contacting metal with the ground, but the metal is directly contacted with the wall surface to scratch the metal wall surface very easily, and the friction coefficient between the metal and the wall surface is relatively small, so that the phenomenon of slipping easily occurs in the movement; in this case, although many people use tires as a contact means with the wall surface, the friction coefficient between the magnet and the wheel can be increased, but in this case, the magnet is too far from the metal wall surface, and the magnetic attraction force is not effective. By combining the two factors, the invention provides the magnetic wheel which has strong adsorption force, high friction coefficient, high magnetic utilization rate and synchronous belt form, and improves the working efficiency.
Through literature search, the Chinese patent publication No. CN 105946450A, the application date is 2016, 9 and 21, and the invention name is: the invention discloses a self-driven permanent magnet rotating wheel suitable for wall surface adsorption climbing.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: the array permanent magnetic adsorption wheel for the magnetic conduction wall surface is strong in magnetic adsorption capacity of the metal wall surface and less in abrasion, and has the advantages of being compact in structure, reasonable in magnetic strip layout, high in magnetic utilization rate, strong in magnetic adsorption capacity, light in weight, strong in obstacle crossing capacity and the like.
The technical scheme for solving the technical problems is as follows: the array type permanent magnetic adsorption wheel for the magnetic conduction wall surface is characterized by comprising a wheel hub, a synchronous belt, a plurality of magnets and annular yokes, wherein the wheel hub is manufactured by processing a synchronous belt wheel, the synchronous belt is meshed with the synchronous belt wheel, the magnets are embedded in the annular area of the circumference of the synchronous belt wheel, and the annular yokes are installed at two ends of all the magnets; the magnets are arranged in an array with the same polarity.
The synchronous belt and the synchronous belt wheel are positioned on the outermost side of the wheel and are meshed with each other, so that sliding/rolling cannot occur; the circular surface of the synchronous belt wheel is provided with a plurality of through holes along the axial direction thereof for embedding magnets; the magnets are embedded at equal angles along the axial direction of the synchronous belt wheel, the magnets are parallel to the axial direction of the synchronous belt wheel, adjacent magnets are arranged in the same polarity, and the N-level and the S-level are perpendicular to the wheel surface; the magnets are in interference fit with through holes in the synchronous belt wheels, left and right yokes are arranged at the left and right ends of the magnets, the left and right yokes fix all the magnets in a limiting mode and limit the magnets to move in the direction perpendicular to the wheel surface, left and right magnetic wheel steel rings are symmetrically arranged on the magnets between the left and right yokes, and the left and right magnetic wheel steel rings enclose the magnets to prevent the magnets from moving normally.
The yoke iron is made of pure iron and is in an annular shape, and the area of an annular ring surface is not smaller than the area of the end surface of an annular array surrounded by the magnets, so that the yoke iron can surround the magnets in the annular array.
The hold-in range adopts rubber materials, and whole strip hold-in range parcel is on the hold-in range wheel surface, and the thickness of all positions of hold-in range equals, and the distance homoenergetic of hold-in range to the hold-in range wheel surface equals, and the hold-in range external diameter is greater than the external diameter of yoke, and the two is coaxial, and the hold-in range does not cover yoke place side.
The synchronous pulley is cylindrical, a plurality of through holes are formed in the area between the inner diameter and the outer diameter of the circular ring, the through holes are axially parallel to the synchronous pulley, the central angles between the adjacent through holes are the same, and a mounting hole connected with a vehicle body is formed in the center of the hub structure of the synchronous pulley, so that wheels and the vehicle body are connected and fixed together.
The ratio of the inner radius to the outer radius of the synchronous pulley is 2/3-4/5, and the edge of the through hole is tightly close to the inner diameter and the outer diameter of the synchronous pulley.
The thickness of the yoke iron is 1-3mm, and the outer diameter of the synchronous belt 205 is 0.8-1.5mm larger than the radius of the yoke iron 201.
Compared with the prior art, the invention has the beneficial effects that:
1) the magnet layout of the invention is more reasonable: the magnets are distributed in an annular array mode (the magnets are uniformly distributed according to a certain fixed rule and are circumferentially arranged at a fixed angle), so that the magnetic wheel is small in size and light in weight, the magnetic field intensity of the magnets arranged in the annular mode can be improved, the use of the magnets is reduced, and the robot can move on the wall surface by larger magnetic force.
2) The invention uses the yoke iron to improve the utilization rate of magnetic flux: the yoke iron made of pure iron surrounds the two sides of the magnet in an annular mode, and magnetic induction lines which surround the single magnet are guided by the yoke iron, so that the magnetic induction lines can circulate along the yoke iron and circulate along the annular direction of the yoke iron, magnetic force overflow and dispersion are reduced, and the utilization rate of magnetic flux is improved.
3) The invention has higher friction coefficient: the invention creatively uses the synchronous pulley and the synchronous belt to form the main body structure of the wheel, uses the rubber material synchronous belt to engage the synchronous pulley, so that the whole wheel is more uniformly contacted with the wall surface, improves the problem of low contact friction coefficient of iron and iron originally, and uses the rubber synchronous belt with uniform thickness to ensure that the robot has larger power in the motion process and improve the dynamic property of the robot.
4) The invention has less wear: the synchronous belt is higher than the yoke iron, and the synchronous belt is made of rubber, so that the yoke irons on two sides can not be in contact with the metal wall surface, only the rubber is in contact with the metal wall surface, the rubber is relatively soft, and the magnetic wheel and the metal wall surface are slightly lost due to collision in motion.
5) The invention has better wall surface transition capacity: the structure of the wheel is completely symmetrical, the magnetic adsorption capacity of each part of the wheel is uniform and good, the adsorption force does not fluctuate greatly in the movement process, the wheel is stable, and wall surface transition can be realized easily.
6) The invention is a wheel type structure, the rubber synchronous belt not only plays a role of protecting the synchronous wheel, but also can improve the friction force and the power, the radius of the synchronous belt is larger than that of the yoke iron and is transmitted to the wall surface through the yoke iron, the whole side surface is acted in a circle, and the synchronous belt is made into an array type, so that the yoke iron is prevented from being directly contacted with the wall surface, and the abrasion to the wall surface and the magnetic wheel is reduced. The problems that the friction coefficient of a traditional magnetic wheel is small, the wall surface motion effect is not excellent enough, the magnetic utilization rate is low, the wall surface adsorption capacity is poor, the abrasion between the magnetic wheel and a metal wall surface is large in the motion process and the like are solved.
7) The wheel of the invention has stronger obstacle crossing capability under the same condition, the obstacle crossing capability aims at the obstacle on the magnetic conduction wall surface, and the vehicle body can realize larger obstacle, 90-degree right-angle transition and discontinuous wall surface transition because the array type magnets are distributed and the yoke iron conduction mechanism realizes that all parts of the wheel can generate stronger magnetic force.
Drawings
Fig. 1 is a schematic view of a two-dimensional plane structure of an array type permanent magnetic adsorption wheel for a magnetic conductive wall surface relative to the wall surface according to the present invention;
FIG. 2 is a schematic diagram of an explosive structure of an array permanent magnetic adsorption wheel for a magnetic conductive wall surface according to the present invention;
in the figure: 101 magnet wheel, 102 wall surface, 201 yoke iron, 202 synchronous pulley made wheel hub, 203 magnet wheel steel ring, 204 magnet, 205 synchronous belt.
Detailed Description
The invention will be further described with reference to the following examples and the accompanying drawings. The scope of the claims of the present application is not limited to the description of the embodiments.
The invention relates to an array type permanent magnetic adsorption wheel for a magnetic conduction wall surface, which comprises a wheel hub, a synchronous belt, a plurality of magnets and annular yokes, wherein the wheel hub is manufactured by processing a synchronous belt wheel; the magnets are arranged in an array with the same polarity.
The synchronous belt and the synchronous belt wheel are positioned on the outermost side of the wheel and are meshed with each other, so that sliding cannot occur; the circular surface of the synchronous belt wheel is provided with a plurality of through holes along the axial direction thereof for embedding magnets; the magnetic wheels are embedded in the axial direction of the synchronous belt wheel at equal angles, the magnets are parallel to the axial direction of the synchronous belt wheel, adjacent magnets are arranged in the same polarity, the N-level and the S-level are perpendicular to the wheel surface, the magnets are in interference fit with through holes in the synchronous belt wheel, left and right yokes are arranged at the left and right ends of the magnets, the left and right yokes are used for limiting and fixing all the magnets and limiting the movement of the magnets perpendicular to the wheel surface, left and right magnetic wheel steel rings are symmetrically arranged on the magnets between the left and right yokes, and enclose the magnets to prevent the magnets from moving in the normal direction, so that the position stability of the magnets is ensured; the main purposes of the left and right magnetic wheel steel rings are as follows: in order to protect the soft pure iron magnetic yoke, the magnetic yoke is prevented from being damaged to influence the adsorption effect.
The yokes are made of pure iron and are in an annular shape, the area of an annular ring surface is not smaller than the area of the end face of an annular array formed by surrounding a plurality of magnets, so that the yokes can surround the magnets in the annular array, the left and right yokes are respectively provided with two yokes, magnetic induction lines can be well collected along the yokes, and the magnetic utilization rate is improved.
The synchronous belt is made of rubber materials, the whole synchronous belt is wrapped on the surface of the synchronous belt, the thicknesses of all positions of the synchronous belt are equal, the distances from the synchronous belt to the surface of the synchronous belt are equal, the radius from the synchronous belt to the circle center is larger than the radius of the yoke, the synchronous belt does not cover the side face where the yoke is located, the synchronous belt made of the rubber materials is in contact with the metal wall face in the movement, the friction coefficient can be improved, and the abrasion to the wall face in the movement is reduced.
The synchronous belt pulley is cylindrical, a plurality of through holes are formed in the area between the inner diameter and the outer diameter of the ring, the through holes are axially parallel to the synchronous belt pulley, the central angles between the adjacent through holes are the same, a hub structure is fixedly welded in the area of the inner diameter of the synchronous belt pulley, and the center of the hub structure is provided with a mounting hole connected with a motor reducer on a vehicle body, so that the vehicle wheel and the vehicle body are fixedly connected together.
The ratio of the inner radius to the outer radius of the synchronous pulley is 2/3-4/5, and the edge of the through hole is tightly close to the inner diameter and the outer diameter of the synchronous pulley. The thickness of the yoke is generally selected to be 1-3mm, which is positively correlated with the strength of the magnets and the number of magnets.
The magnets are cylindrical or prismatic, the N, S-grade magnets are guaranteed to be located at two ends, the shapes of the corresponding through holes in the synchronous pulleys are consistent with those of the magnets, and interference installation is facilitated.
The magnetic poles of the magnets are perpendicular to the wheel surface, the magnets are arranged on the synchronous belt wheel in an array mode, magnetic induction lines can be superposed to obtain stronger magnetism, the annular yokes on the left side and the right side just clamp the magnets to limit the degree of freedom of the magnets perpendicular to the wheel surface and are used for guiding the magnetic induction lines, the cylindrical magnets are arranged in an annular mode, the magnetic induction lines are perpendicular to the wheel surface and are dispersed, stronger magnetic fields can be superposed with each other, and the magnetic fields perpendicular to the wheel surface can be guided by the yokes to reduce magnetic spill. A plurality of magnet absorption live the yoke, and the yoke can not take place to drop, and sets up threaded hole on the yoke, and the convenience is dismantled the yoke.
The magnetic conduction mechanism of the invention is as follows: the magnetic energy of each magnet is transmitted to the yokes on the two sides, the yokes play a role in gathering the magnetic energy, waste of the magnetic energy of the magnets is avoided, and then the magnetic energy is transmitted to the wall surface through the yokes on the two sides to form a loop, so that the magnetic energy utilization rate is improved.
The work flow of the invention in practical application is as follows:
the working process of the wheel is as follows: when the power of the robot is transmitted to the hub 202 made of the synchronous belt wheel, the magnetic wheel starts to rotate, and the robot starts to move forwards; when meeting the metal wall surface, the magnet 204 on the wheel starts to play a role and is adsorbed on the surface of the metal wall surface; due to the existence of the adsorption force, the synchronous belt 205 has friction force with the metal wall surface, and the friction force ensures the movement of the robot on the wall surface.
Example 1
The magnetic wheel of the embodiment comprises 16 cylindrical magnets, two magnetic wheel steel rings, two annular yokes made of pure iron, a synchronous belt and a hub made of a synchronous belt wheel. The synchronous belt 205 and the hub 202 made of the synchronous belt wheel are meshed together without relative sliding/rolling, different numbers of magnets can be placed between the inner diameter and the outer diameter of the synchronous belt wheel to achieve different adsorption effects, the embodiment takes 16 magnets as an example for illustration, sixteen magnets are arranged in an annular shape with equal angles, the magnets are in interference fit with through holes in the synchronous belt wheel, two magnetic wheel steel rings 203 are fixed on the peripheries of all the magnets, the magnets are matched with the two magnetic wheel steel rings to limit the normal motion of the magnets, and left and right yokes are arranged on the left and right end faces of the magnets to limit the degree of freedom of the magnets perpendicular to the wheel faces.
The end faces of the magnets 204 are directly adsorbed on the corresponding yokes 201 and are arrayed in a gap between the inner diameter and the outer diameter of the hub 202 made of the synchronous belt wheel in an equiangular mode, the magnets are fixed by magnetic wheel steel rings 203, the outer diameters of the magnetic wheel steel rings and the synchronous belt wheel are not interfered, the outer diameters of the magnetic wheel steel rings and the outer diameters of the yokes 201 are the same, and the outer diameters of the magnetic wheel steel rings and the outer diameters of the yokes 201 are smaller than the outer diameter of the synchronous belt; the radius of the synchronous belt 205 is enlarged by about 1mm relative to the yoke 201, the synchronous belt is thin, the yoke is close to the wall surface, and good adsorption of the flat wall surface can be achieved, so that the synchronous belt 205 is always in contact with the metal wall surface in the movement, the abrasion of the metal wall surface of the yoke 201 is prevented, the friction force in the movement process is also improved, and meanwhile, strong magnetic adsorption is guaranteed.
The magnet is cylindrical, and the magnetic induction line direction of the magnet is perpendicular to the circular ring surface (namely the wheel surface) of the synchronous belt to enter and exit.
The yoke iron is made of pure iron, and has good magnetic conductivity and low magnetic loss. The magnetic wheel steel ring is made of 45# stainless steel.
The terms of orientation such as "left" and "right" mentioned in the invention are relative concepts, and the bottom surface of the cylinder of the synchronous pulley in the figure is defined to be in the left-right direction, namely the wheel surface.
Nothing in this specification is said to apply to the prior art.
Claims (7)
1. An array permanent magnetic adsorption wheel for a magnetic conduction wall surface is characterized by comprising a wheel hub, a synchronous belt, a plurality of magnets and annular yokes, wherein the wheel hub is manufactured by processing a synchronous belt wheel, the synchronous belt is meshed with the synchronous belt wheel, the magnets are embedded in the annular area of the circumference of the synchronous belt wheel, and the annular yokes are installed at two ends of all the magnets; the magnets are arranged in an array with the same polarity.
2. The wheel of claim 1, wherein the synchronous belt and the synchronous pulley are positioned at the outermost side of the wheel and are meshed with each other, so that sliding/rolling cannot occur; the circular surface of the synchronous belt wheel is provided with a plurality of through holes along the axial direction thereof for embedding magnets; the magnets are embedded at equal angles along the axial direction of the synchronous belt wheel, the magnets are parallel to the axial direction of the synchronous belt wheel, adjacent magnets are arranged in the same polarity, and the N-level and the S-level are perpendicular to the wheel surface; the magnets are in interference fit with through holes in the synchronous belt wheels, left and right yokes are arranged at the left and right ends of the magnets, the left and right yokes fix all the magnets in a limiting mode and limit the magnets to move in the direction perpendicular to the wheel surface, left and right magnetic wheel steel rings are symmetrically arranged on the magnets between the left and right yokes, and the left and right magnetic wheel steel rings enclose the magnets to prevent the magnets from moving normally.
3. The wheel according to claim 1, wherein the yoke is made of pure iron and has a ring shape, and the area of a ring surface of the ring shape is not smaller than the area of an end surface of the ring-shaped array surrounded by the plurality of magnets, so that the yoke can surround the ring-shaped array of magnets.
4. The wheel as claimed in claim 1, wherein the synchronous belt is made of rubber material, the whole synchronous belt is wrapped on the surface of the synchronous belt, the thickness of all positions of the synchronous belt is equal, the distance from the synchronous belt to the surface of the synchronous belt is equal, the outer diameter of the synchronous belt is larger than that of the yoke, the synchronous belt and the yoke are coaxial, and the synchronous belt does not cover the side surface of the yoke.
5. The wheel of claim 1, wherein the timing pulley is cylindrical, a plurality of through holes are formed in the area between the inner diameter and the outer diameter of the circular ring, the through holes are axially parallel to the timing pulley, the central angles between adjacent through holes are the same, and a mounting hole for connecting with a vehicle body is formed in the center of the hub structure of the timing pulley, so that the wheel and the vehicle body are fixedly connected together.
6. The wheel of claim 5, wherein the ratio of the inner and outer radii of the timing pulley is from 2/3 to 4/5, and the edge of the through hole abuts the inner and outer diameters of the timing pulley.
7. The wheel of claim 1, wherein the thickness of the yoke is 1-3mm, and the outer diameter of the timing belt is 0.8-1.5mm larger than the radius of the yoke.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110620065.6A CN113135068A (en) | 2021-06-03 | 2021-06-03 | Array type permanent magnetic adsorption wheel for magnetic conduction wall surface |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110620065.6A CN113135068A (en) | 2021-06-03 | 2021-06-03 | Array type permanent magnetic adsorption wheel for magnetic conduction wall surface |
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| Publication Number | Publication Date |
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| CN113135068A true CN113135068A (en) | 2021-07-20 |
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| CN202110620065.6A Pending CN113135068A (en) | 2021-06-03 | 2021-06-03 | Array type permanent magnetic adsorption wheel for magnetic conduction wall surface |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115891500A (en) * | 2023-03-09 | 2023-04-04 | 西南交通大学 | Magnetic wheel structure of magnetic suspension automobile |
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| JP2019084869A (en) * | 2017-11-02 | 2019-06-06 | 株式会社移動ロボット研究所 | Magnet wheel and drone with magnet wheel |
| CN214822315U (en) * | 2021-06-03 | 2021-11-23 | 河北工业大学 | Array type permanent magnetic adsorption wheel for magnetic conduction wall surface |
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2021
- 2021-06-03 CN CN202110620065.6A patent/CN113135068A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100212983A1 (en) * | 2007-10-11 | 2010-08-26 | Tecnomac S.R.L. | Magnetic Coupling Mobile Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115891500B (en) * | 2023-03-09 | 2023-05-12 | 西南交通大学 | Magnetic wheel structure of magnetic suspension automobile |
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