CN204701688U - A kind of magnetic absorbing wheel for climbing robot - Google Patents
A kind of magnetic absorbing wheel for climbing robot Download PDFInfo
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- CN204701688U CN204701688U CN201520220679.5U CN201520220679U CN204701688U CN 204701688 U CN204701688 U CN 204701688U CN 201520220679 U CN201520220679 U CN 201520220679U CN 204701688 U CN204701688 U CN 204701688U
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- climbing robot
- absorbing wheel
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Abstract
A kind of magnetic absorbing wheel for climbing robot, array magnet ring is had at rotating shaft extenal fixation, array magnet ring comprises some groups of magnetic array elements, often organize magnetic array element and comprise the extremely centripetal radial magnetic patch to S pole of N, N pole successively to cw hoop magnetic patch, the extremely outer centripetal radial magnetic patch arriving S pole of N of S pole, N plate is to the conter clockwise hoop magnetic patch of S pole.Magnetic absorbing wheel is arranged by inner permanent magnet unit Halbach array principle, and by this arrangement of the utility model, can strengthen magnetic adsorbability substantially.
Description
Technical field
The utility model relates to a kind of magnetic absorbing wheel of climbing robot.
Background technology
Climbing robot is as the one of specialized robot, and being used for replacing manually cannot badly, dangerous, the operation under extreme condition.Job that requires special skills is carried out in magnetic basal wall face, as detection, polishing, polishing, welding etc., there is the features such as efficient, safety, obtained increasing concern.And how to make climbing robot be adsorbed on magnetic conduction basal plane securely, be the problem that people need to solve always.
The object of Halbach magnetic display produces the strongest magnetic field with minimum permanent magnet.And Halbach magnet ring magnet radial and run-in index is arranged to combine, magnet ring magnetic-field intensity is enhanced, and another side magnetic-field intensity then weakens, the monolateral magnetic field of final formation.
It is use as the standing field of rotor that Halbach magnet ring applies maximum fields at present.
Publication number is CN102673673A, denomination of invention is the Chinese patent of " a kind of novel universal rolling magnet-wheel device for magnetic adsorption wall climbing robot ", and publication number is CN102897242A, denomination of invention is the Chinese patent of " floated magnetic absorbing wheel ", also use the wheel of magnetic suck mode as climbing robot, but above patent all adopts the annular magnetic patch of monoblock, single axis or radial magnetizing are just carried out, the absorbing unit of magnet-wheel inside is not optimized, to reach the object increasing magnetic adsorbability.
Summary of the invention
For solving the shortcoming that magnet-wheel structure is simple, magnetic adsorbability is not strong that in prior art, climbing robot uses, provide a kind of magnetic absorbing wheel for climbing robot, this magnetic absorbing wheel advantages of simple, magnetic adsorbability is strong.
For achieving the above object, the utility model is by the following technical solutions:
A kind of magnetic absorbing wheel for climbing robot, array magnet ring is had at rotating shaft extenal fixation, array magnet ring comprises some groups of magnetic array elements, often organize magnetic array element and comprise the extremely centripetal radial magnetic patch to S pole of N, N pole successively to cw hoop magnetic patch, the extremely outer centripetal radial magnetic patch arriving S pole of N of S pole, N plate is to the conter clockwise hoop magnetic patch of S pole.
Above-mentioned a kind of magnetic absorbing wheel for climbing robot, external splint is connected with shaft thread, inner splint is connected with external splint by bolt, array magnet ring inner peripheral surface is provided with annular magnetic conduction heel piece, the outer peripheral face of array magnet ring is provided with rubber cradle, and ring-shaped yoke ferropexy is in the groove of external splint and inner splint.
Above-mentioned a kind of magnetic absorbing wheel for climbing robot, rotating shaft is hollow key axle.
Above-mentioned a kind of magnetic absorbing wheel for climbing robot, array magnet ring comprises four groups of magnetic array elements.
Above-mentioned a kind of magnetic absorbing wheel for climbing robot, adjacent radial magnetic patch and hoop magnetic patch, hoop angle is than being 0.4-0.8.
The output shaft of climbing robot drive motor and magnetic absorbing wheel are by the form transmitting torque of key and keyway, and rotating shaft drives clamping plate to rotate, and then drives magnetic absorbing wheel to rotate.Magnetic absorbing wheel is arranged by inner permanent magnet unit Halbach array principle, and by this arrangement of the utility model, maximally can strengthen magnetic adsorbability.
The arrangement mode change of annular Halbach is various, people often the magnetic pole that the S pole permanent magnet unit of a radial N pole permanent magnet unit and a hoop is formed call one extremely right.The Halbach annular array number of pole-pairs of multipole has even number and odd number two class, and odd number number of pole-pairs Halbach circular array is internal heavier-duty, and even number number of pole-pairs Halbach array is to external reinforced.Need to use external reinforced according to climbing robot and climbing robot is adsorbed on magnetizer, be usually adsorbed on iron flask body and use for the performance detecting iron flask body, therefore with 4,6,8,12,16 even number numbers of pole-pairs, carry out simulation analysis.
In accompanying drawing 5, X is the magnet-wheel anglec of rotation, and unit is °; Y is adsorption affinity, and unit is N.Can show that number of pole-pairs is more by the analogue computing of the known finite element of accompanying drawing 5, adsorption affinity more tends to be steady, number of pole-pairs less magnet-wheel adsorption affinity large small leak fluctuation larger.Adopt 8 number of pole-pairs magnet-wheel adsorption affinity undulated control within 5%, and magnetic adsorbability is also higher.
For the magnet ring of 8 number of pole-pairs compositions, the volume proportion of adjacent longitudinal permanent magnet unit and horizontal permanent magnet unit also has different impacts to adsorption affinity.For the size inlet coefficient hoop angle of both reactions is intuitively than k,
k=n/(n+m)
In above formula:
nfor radial permanent magnet unit angle;
mfor hoop permanent magnet unit angle.
In accompanying drawing 6, X1 is k value; Y is adsorption affinity, and unit is N.Known in the emulation of finite element by accompanying drawing 6, visible adsorption affinity is at about k=0.6, and magnet-wheel adsorption affinity will reach peak value.And k is in the interval of 0.4-0.8, adsorption affinity is also gratifying.
The utility model optimizes permanent magnetic suck block construction in permanent magnetic suck wheel, is arranged permanent magnetic suck unit and magnetizes angle, and the outer ring adsorption affinity of magnet ring is strengthened, and inner ring adsorption affinity is almost nil.Improve the unit magnetic usefulness of permanent magnet unit simultaneously, reach the adsorption affinity of nearly 2 times of same volume magnet ring.
Accompanying drawing explanation
Fig. 1 is climbing robot magnetic absorbing wheel integral structure schematic diagram.
Fig. 2 is the axial cutaway view of climbing robot magnetic absorbing wheel
Fig. 3 is climbing robot magnetic absorbing wheel radial cross-section.
Fig. 4 is the direction of magnetization of permanent magnet unit in Habalch array.
Fig. 5 is the finite element analogy figure of magnetic adsorbability and number of poles.
Fig. 6 is that different rings compares the finite element analogy figure with magnetic adsorbability to angle.
Be labeled as in figure: 1 inner splint, 2 rubber cradles, the screw of 3 connection external splints and rotating shaft, 4 annular yokes, 5 rotating shafts, 51 spindle keywaies, the screw of 6 connection inner splints and external splint, 7 external splints, 8 annular array magnet rings, 81 be the extremely centripetal radial magnetic patch to S pole of N, 82 for N pole be the N centripetal radial magnetic patch arriving S pole extremely outward to the cw hoop magnetic patch, 83 of S pole, 84 for N plate is to the conter clockwise hoop magnetic patch of S pole.
Detailed description of the invention
Embodiment one
Above-mentioned a kind of magnetic absorbing wheel for climbing robot, rotating shaft 5 is hollow shaft, is provided with keyway 51; External splint 7 is connected by screw 3 with rotating shaft 5, inner splint 1 is connected with external splint by screw 6, array magnet ring 8 inner peripheral surface is provided with annular magnetic conduction heel piece 4, and the outer peripheral face of array magnet ring is provided with rubber cradle 2, and ring-shaped yoke ferropexy is in the groove of external splint and inner splint.
Array magnet ring comprises four groups of magnetic array elements, often organizes magnetic array element and comprises the extremely centripetal radial magnetic patch 81 to S pole of N, N pole successively to cw hoop magnetic patch 82, the extremely outer centripetal conter clockwise hoop magnetic patch 84 of radial magnetic patch 83, N plate to S pole arriving S pole of N of S pole; Wherein adjacent radial magnetic patch and hoop magnetic patch, hoop angle ratio is 0.6.
Claims (5)
1. the magnetic absorbing wheel for climbing robot, it is characterized in that there is array magnet ring at rotating shaft extenal fixation, array magnet ring comprises some groups of magnetic array elements, often organize magnetic array element and comprise the extremely centripetal radial magnetic patch to S pole of N, N pole successively to cw hoop magnetic patch, the extremely outer centripetal radial magnetic patch arriving S pole of N of S pole, N plate is to the conter clockwise hoop magnetic patch of S pole.
2. a kind of magnetic absorbing wheel for climbing robot as claimed in claim 1, it is characterized in that external splint is connected with shaft thread, inner splint is connected with external splint by bolt, array magnet ring inner peripheral surface is provided with annular magnetic conduction heel piece, the outer peripheral face of array magnet ring is provided with rubber cradle, and ring-shaped yoke ferropexy is in the groove of external splint and inner splint.
3. a kind of magnetic absorbing wheel for climbing robot as claimed in claim 2, is characterized in that rotating shaft is hollow key axle.
4. a kind of magnetic absorbing wheel for climbing robot as claimed in claim 1 or 2, is characterized in that array magnet ring comprises four groups of magnetic array elements.
5. a kind of magnetic absorbing wheel for climbing robot as claimed in claim 1, adjacent radial magnetic patch and hoop magnetic patch, hoop angle is than being 0.4-0.8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520220679.5U CN204701688U (en) | 2015-04-14 | 2015-04-14 | A kind of magnetic absorbing wheel for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520220679.5U CN204701688U (en) | 2015-04-14 | 2015-04-14 | A kind of magnetic absorbing wheel for climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204701688U true CN204701688U (en) | 2015-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520220679.5U Expired - Fee Related CN204701688U (en) | 2015-04-14 | 2015-04-14 | A kind of magnetic absorbing wheel for climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN204701688U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875809A (en) * | 2015-04-14 | 2015-09-02 | 浙江工业大学 | Magnetic attracting wheel for wall-climbing robot |
| CN109229226A (en) * | 2018-11-06 | 2019-01-18 | 上海华威焊割机械有限公司 | A kind of magnetic trolley magnetic roller structure |
| CN115056877A (en) * | 2022-07-15 | 2022-09-16 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
-
2015
- 2015-04-14 CN CN201520220679.5U patent/CN204701688U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875809A (en) * | 2015-04-14 | 2015-09-02 | 浙江工业大学 | Magnetic attracting wheel for wall-climbing robot |
| CN104875809B (en) * | 2015-04-14 | 2017-10-17 | 浙江工业大学 | A kind of magnetic absorbing wheel for climbing robot |
| CN109229226A (en) * | 2018-11-06 | 2019-01-18 | 上海华威焊割机械有限公司 | A kind of magnetic trolley magnetic roller structure |
| CN115056877A (en) * | 2022-07-15 | 2022-09-16 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
| CN115056877B (en) * | 2022-07-15 | 2023-10-13 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151014 Termination date: 20180414 |
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| CF01 | Termination of patent right due to non-payment of annual fee |