CN206719351U - A kind of wheeled outstanding magnetic adsorption device - Google Patents
A kind of wheeled outstanding magnetic adsorption device Download PDFInfo
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- CN206719351U CN206719351U CN201621484042.8U CN201621484042U CN206719351U CN 206719351 U CN206719351 U CN 206719351U CN 201621484042 U CN201621484042 U CN 201621484042U CN 206719351 U CN206719351 U CN 206719351U
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Abstract
It the utility model is related to Industrial Robot Technology field, the disclosed wheeled outstanding magnetic adsorption device of one kind, it is made up of wheel body case, fan-shaped Nd-Fe-B permanent magnet pendulum, extension goods of furniture for display rather than for use, wheel body outer rubber, the wheel body cross-sectional outer is " day " character form structure, wherein countershaft is round outside but spuare inside hollow structure, the cylindrical of the round outside but spuare inside axle is used for hanging fan-shaped Nd-Fe-B permanent magnet pendulum, and interior square hole is used for coordinating square drive axle driving magnet-wheel to rotate；The fan-shaped Nd-Fe-B permanent magnet pendulum upper part is disposed with two symmetrical through holes, for fan-shaped permanent magnet pendulum is fixed together with hanging goods of furniture for display rather than for use；The wheel body outer rubber is coated on wheel body case external cylindrical surface.The utility model is alleviated the overall weight of magnetic absorbing unit, is avoided permanent magnet and directly contacted with magnetic conductivity wall using fan-shaped swingable structure, it is frangible to compensate for permanent magnet, the defects of low intensity, its is simple and compact for structure, it is easily achieved dismounting and safeguards, and assembling process is easy.
Description
Technical field
Industrial Robot Technology field is the utility model is related to, more particularly to a kind of wheeled outstanding magnetic adsorption device, the device
It can be applied to climbing robot field.Being creeped present invention is generally directed to existing climbing robot, stability is not good enough, kinematic dexterity
The problems such as poor, improved and optimizated by the structure to Conventional drum permanent magnetic adhesion device and the dual of magnetic induction line, have devised one
The wheeled outstanding magnetic adsorption device of kind.Permanent magnet in the device is suspended on magnetic wheel driven automatic scan axle as pendulum clock pendulum and can be around the drive
Moving axis is swung, and while providing reliable and stable absorption affinity for climbing robot, does not influence spirit of the robot on magnetic conductivity wall
Work is creeped.
Background technology
The one kind of climbing robot as mobile robot, because with can flexibly be creeped on magnetic conductivity wall, carrying work
Tool completes the characteristics of certain task, so since climbing robot comes out, just by the extensive concern of countries in the world scholar.Climb
Wall robot can replace manually performing simple repetition, dangerous task high, labor intensity is big, especially be led in ship, petrochemical industry etc.
In the routine maintenance work in domain, climbing robot has played very big effect.But existing climbing robot generally existing stability
Not good enough, the shortcomings of kinematic dexterity is poor.Want raising robot and climb wall stability, it is necessary to increase robot magnetic absorbing unit
Absorption affinity, the method for tradition increase magnetic adsorbability generally increases merely permanent magnet quantity, so as to cause magnetic absorbing unit overall
Heavier-weight, influence robot crawling flexibility.Now under the premise of robot absorption affinity performance is not reduced, mitigate absorbing unit
Weight just seems particularly important.
The content of the invention
For above-mentioned technical deficiency, the utility model overcomes absorption affinity and absorbing unit weight in existing magnetic suck technology
Contradiction, it is proposed that a kind of wheeled outstanding magnetic adsorption device.The present invention utilizes the original of magnetic energy based on lightweight principle and to greatest extent
Then, by Design of Permanent Magnet into fan-shaped swingable structure.The fan-shaped permanent magnet is suspended on as pendulum clock pendulum on magnetic wheel driven automatic scan axle
And it can be swung around the drive shaft.While magnetic adsorbability is increased, do not increase the overall weight of magnetic absorbing unit, so as to protect
Its divertical motion flexibility is also taken into account on the premise of card robot crawling stability.
For achieving the above object, the utility model adopts the following technical scheme that
A kind of wheeled outstanding magnetic adsorption device, the wheeled outstanding magnetic adsorption device is by wheel body case 101, fan-shaped Nd-Fe-B permanent magnet
Pendulum 105, extension goods of furniture for display rather than for use 103 are formed with 109, wheel body outer rubber 102, and wheel body case 101 cross section is " day " font knot
Structure, its outer side shield are dismountable block plate, lay down " mountain " character form structure that the wheel body case after outer side shield is side, among it
Axle is round outside but spuare inside hollow structure, and the cylindrical of the round outside but spuare inside axle is used for hanging fan-shaped Nd-Fe-B permanent magnet pendulum 105, interior side
Hole is used for coordinating square drive axle, and driving magnet-wheel rotates；The fan-shaped side view structure of Nd-Fe-B permanent magnet pendulum 105 is " convex " word
Shape structure, facing structure are bowl-shape concave structure, and distribution at an upper portion thereof is equipped with two symmetrical through holes 110 and 111,
For fan-shaped permanent magnet pendulum 105 and extension goods of furniture for display rather than for use 103, goods of furniture for display rather than for use 109 are fixed together；The wheel body outer rubber 102 coats
On the wheel external cylindrical surface of body case 101, for increasing the coefficient of friction of magnet-wheel and magnetic conductivity wall, prevent climbing robot from moving
There is skidding in dynamic steering procedure.
A kind of wheeled outstanding magnetic adsorption device, the extension facing structure of goods of furniture for display rather than for use 103 and 109 and side view structure are "convex" shaped
Structure, hang and be disposed with two symmetrical screwed holes on goods of furniture for display rather than for use 103 and 109, for by fan-shaped Nd-Fe-B permanent magnet pendulum 105
It is fixed together with goods of furniture for display rather than for use 103 is hung with 109；Hanging the top of goods of furniture for display rather than for use 103 and 109 has a through hole, and the through hole is provided with deep groove ball bearing
104th, deep groove ball bearing 108, for realizing that hang goods of furniture for display rather than for use 103 and 109 rotates around magnetic wheel driven automatic scan axle.
A kind of wheeled outstanding magnetic adsorption device, before the two extensions goods of furniture for display rather than for use 103 and 109 is clipped in fan-shaped permanent magnet pendulum 105 respectively
Two top half afterwards, screw pass through the through hole 110 on the screwed hole and fan-shaped Nd-Fe-B permanent magnet 105 hung on goods of furniture for display rather than for use 103 and 109
Three is fixed with 111 and tightened；Three is suspended on wheel by the deep groove ball bearing 104 and 108 being fixed on two extension goods of furniture for display rather than for uses again
On the inner magnet wheel drive shaft of body case 101, in magnet-wheel rotary state, for realizing fan-shaped Nd-Fe-B permanent magnet pendulum 105 and hanging
Rotation of the goods of furniture for display rather than for use 103 and 109 around magnetic wheel driven automatic scan axle.
Due to using technical scheme as described above, the utility model has following superiority：
（1）On the premise of magnetic adsorbability is ensured, it is particularly important to mitigate magnetic absorbing unit weight.The device is based on maximum limit
Degree improves the principle of permanent magnet magnetic strength line use ratio, is fan-shaped swingable by Design of Permanent Magnet to magnet structure reasonably optimizing
Structure, not only reduce the device overall weight and also reduce cost.
（2）Fan-shaped permanent magnet is suspended on magnet-wheel enclosure interior, avoids fan-shaped permanent magnet and is directly contacted with magnetic conductivity wall,
The defects of compensate for frangible permanent magnet, low intensity.
(3) pendulum model in light weight, small volume and assembling process is simple, it is easy to accomplish dismounting and dimension of hanging magnetic adsorption device
Shield.
Brief description of the drawings
Fig. 1 is the wheeled outstanding magnetic device outward appearance axonometric drawing of the utility model；
Fig. 2 is the wheeled outstanding magnetic device right view of the utility model；
Fig. 3 is the wheeled outstanding magnetic device left view of the utility model；
Fig. 4 is that the utility model hangs goods of furniture for display rather than for use and fan-shaped Nd-Fe-B permanent magnet assembling schematic diagram；
Fig. 5 is the wheeled outstanding magnetic device profile of the utility model；
In figure：101 wheel body cases, 102 wheel body outer rubbers, 103 outer pendant goods of furniture for display rather than for uses, 104 outboard bearings, 105 sectors are forever
Magnet, 106 magnetic wheel driven automatic scan axles, 107 shaft end fixing screws, 108 inboard bearings, pendant goods of furniture for display rather than for use, 110 fan-shaped neodymium iron borons are forever in 109
Fixing screwed hole, 111 fan-shaped Nd-Fe-B permanent magnets right side fixing screwed holes on the left of magnet.
Embodiment
As shown in Fig. 1,2,3,4,5, a kind of wheeled outstanding magnetic adsorption device is based on lightweight principle and is utilized to greatest extent
The principle of magnetic energy, by Design of Permanent Magnet into fan-shaped swingable structure.The fan-shaped permanent magnet is suspended on magnet-wheel as pendulum clock pendulum
It can swing in drive shaft and around the drive shaft.While magnetic adsorbability is increased, do not increase the overall weight of magnetic absorbing unit,
So as to also take into account its divertical motion flexibility on the premise of robot crawling stability is ensured.With existing magnetic adsorption device phase
Than, the outstanding magnetic adsorption device that weight is lighter, absorption affinity is bigger, overcome climbing robot stability and this conflict of flexibility,
Realize climbing robot flexibly creeping on magnetic conductivity wall.The device uses pendulum model structure, and fan-shaped permanent magnet is hung
It can swing on magnetic wheel driven automatic scan axle and around the drive shaft, on the one hand alleviate the overall weight of magnetic absorbing unit, on the other hand keep away
Exempt from permanent magnet directly to contact with magnetic conductivity wall, it is frangible to compensate for permanent magnet, the defects of low intensity.The device is based on to greatest extent
The principle of permanent magnet magnetic strength line use ratio is improved, reasonably optimizing, the annular permanent magnet knot to discard tradition are carried out to magnet structure
Structure, using fan-shaped swingable new structure, not only reduce cost and assembling process is easy, it is simple and compact for structure, it is easy to
Realize dismounting and safeguard.
The wheeled outstanding magnetic adsorption device its mainly by wheel body case, fan-shaped permanent magnet pendulum, hang goods of furniture for display rather than for use, wheel body outer rubber
Form.The wheel body cross-sectional outer is " day " character form structure, and its outer side shield is dismountable sideboard, lays down outer side block
Wheel body case after plate is " mountain " character form structure of side, and wherein countershaft is round outside but spuare inside hollow structure, the round outside but spuare inside axle
In excircle part be used for pass through bearing suspension sector permanent magnet pendulum, interior square hole is used for coordinating square drive axle, driving magnet-wheel
Rotate.The fan-shaped permanent magnet pendulum side view is "convex" shaped structure, and front view is bowl-shape concave structure, and it is by strong magnetic
Property material（Such as neodymium iron boron）It is prepared, for providing the strong magnetic environment for producing absorption affinity.Distribution is equipped with two left sides at an upper portion thereof
Right symmetrical through hole, for fan-shaped permanent magnet pendulum and extension goods of furniture for display rather than for use are fixedly installed to together.The extension goods of furniture for display rather than for use front view and side
View is "convex" shaped structure, hangs and is disposed with two symmetrical screwed holes on goods of furniture for display rather than for use, for by fan-shaped permanent magnet pendulum
It is fixedly installed to together with goods of furniture for display rather than for use is hung.Hanging has a through hole at the top of goods of furniture for display rather than for use, bearing is arranged on the through hole rear-mounted on outer circular shaft, uses
To realize the rotation for hanging goods of furniture for display rather than for use around round outside but spuare inside quill shaft.The wheel body outer rubber is coated on wheel body case external cylindrical surface,
Increase the coefficient of friction of magnet-wheel and magnetic conductivity wall, prevent climbing robot from being skidded in mobile steering procedure.Two hang goods of furniture for display rather than for use point
It is not clipped in top half before and after fan-shaped permanent magnet pendulum, screw is through the through hole on the screwed hole and fan-shaped permanent magnet hung on goods of furniture for display rather than for use
Three is fixed afterwards and tightened.Then three is again by being fixed on two bearing suspensions hung on goods of furniture for display rather than for use in the outer of wheel body enclosure
In circle on square quill shaft, when magnet-wheel rotates, realize that fan-shaped permanent magnet pendulum and extension goods of furniture for display rather than for use are round outside but spuare inside hollow inside magnet-wheel
The rotation of axle.
Magnetic structure is hanged using pendulum, is by being improved and optimizated to permanent magnet magnetic induction line and structure, is fan by Design of Permanent Magnet
The swingable structure of shape, is suspended on magnetic wheel driven automatic scan axle and can be around the drive shaft turns.So, magnet-wheel totality is not only alleviated
Weight also effectively raises the utilization rate of permanent magnet magnetic energy.
The wheeled outstanding magnetic adsorption device, specifically by wheel body case 101, fan-shaped Nd-Fe-B permanent magnet pendulum 105, extension goods of furniture for display rather than for use
103 are formed with 109, wheel body outer rubber 102.Wheel body case 101 cross section is " day " character form structure, and its outer side shield can
Dismounting, " mountain " character form structure that the wheel body case after outer side shield is side is laid down, wherein countershaft is round outside but spuare inside hollow knot
Structure, the cylindrical of the round outside but spuare inside axle are used for hanging fan-shaped Nd-Fe-B permanent magnet pendulum 105, and interior square hole is used for coordinating square drive
Axle, driving magnet-wheel rotate.The fan-shaped side view of Nd-Fe-B permanent magnet pendulum 105 is "convex" shaped structure, and front view is bowl-shape
Concave structure, distribution at an upper portion thereof is equipped with two symmetrical through holes 110 and 111, for by fan-shaped permanent magnet pendulum
105 and hang goods of furniture for display rather than for use 103 with 109 be fixedly installed to together with.The extension front view of goods of furniture for display rather than for use 103 and 109 and side view are " convex " word
Shape structure, hang and be disposed with two symmetrical screwed holes on goods of furniture for display rather than for use 103 and 109, for by fan-shaped Nd-Fe-B permanent magnet pendulum
105 and hang goods of furniture for display rather than for use 103 with 109 be fixedly installed to together with.Hanging the top of goods of furniture for display rather than for use 103 and 109 has a through hole, deep groove ball bearing 104 and
108 are arranged on the through hole, for realizing that hang goods of furniture for display rather than for use 103 and 109 rotates around magnetic wheel driven automatic scan axle.The wheel body outer rubber 102 wraps
Overlay on the wheel external cylindrical surface of body case 101, the coefficient of friction of increase magnet-wheel and magnetic conductivity wall, prevent climbing robot in movement
There is skidding in steering procedure.
Two extension goods of furniture for display rather than for uses 103 and 109 are clipped in two top halfs before and after fan-shaped permanent magnet pendulum 105 respectively, and screw is put through extension
Part 103 is tightened with fixing three after the through hole 110 and 111 on the screwed hole on 109 and fan-shaped Nd-Fe-B permanent magnet 105.So
Latter three is suspended on the inside magnet-wheel drive of wheel body case 101 by being fixed on two deep groove ball bearings 104 and 108 hung on goods of furniture for display rather than for use again
On moving axis, when magnet-wheel rotates, realize fan-shaped Nd-Fe-B permanent magnet pendulum 105 and hang goods of furniture for display rather than for use 103 and 109 around magnetic wheel driven automatic scan axle
Rotate.
Claims (3)
1. a kind of wheeled outstanding magnetic adsorption device, it is characterized in that：The wheeled outstanding magnetic adsorption device is by wheel body case（101）, fan-shaped neodymium
Iron boron permanent magnet pendulum（105）, hang goods of furniture for display rather than for use（103、109）, wheel body outer rubber（102）Form, the wheel body case（101）It is horizontal
Section is " day " character form structure, and its outer side shield is dismountable block plate, lays down the wheel body case after outer side shield as side
" mountain " character form structure, wherein countershaft are round outside but spuare inside hollow structure, and the cylindrical of the round outside but spuare inside axle is used for hanging fan-shaped neodymium iron
Boron permanent magnet pendulum（105）, for coordinating square drive axle, driving magnet-wheel rotates interior square hole；The fan-shaped Nd-Fe-B permanent magnet
Pendulum（105）Side view structure is "convex" shaped structure, and facing structure is bowl-shape concave structure, and distribution at an upper portion thereof is equipped with two
Individual symmetrical through hole（110、111）, for by fan-shaped permanent magnet pendulum（105）With hanging goods of furniture for display rather than for use（103、109）It is fixed on one
Rise；The wheel body outer rubber（102）It is coated on wheel body case（101）On external cylindrical surface, for increasing magnet-wheel and magnetic conductivity wall
The coefficient of friction in face, prevent climbing robot from skidding occur in mobile steering procedure.
2. the wheeled outstanding magnetic adsorption device of one kind according to claim 1, it is characterized in that：The extension goods of furniture for display rather than for use（103、109）Just
It is "convex" shaped structure depending on structure and side view structure, hangs goods of furniture for display rather than for use（103、109）On be disposed with two symmetrical screwed holes,
For by fan-shaped Nd-Fe-B permanent magnet pendulum（105）With extension goods of furniture for display rather than for use（103、 109）It is fixed together；Hang goods of furniture for display rather than for use（103、109）Top
There is a through hole in portion, and the through hole is provided with deep groove ball bearing（104）, deep groove ball bearing（108）, for realizing extension goods of furniture for display rather than for use（103、
109）Rotated around magnetic wheel driven automatic scan axle.
3. the wheeled outstanding magnetic adsorption device of one kind according to claim 1, it is characterized in that：Described two hang goods of furniture for display rather than for use（103、109）
Fan-shaped permanent magnet pendulum is clipped in respectively（105）Front and rear two top half, screw, which passes through, hangs goods of furniture for display rather than for use（103、109）On screwed hole and
Fan-shaped Nd-Fe-B permanent magnet（105）On through hole（110、111）Three is fixed and tightened；Three hangs pendulum by being fixed on two again
Deep groove ball bearing on part（104、108）It is suspended on wheel body case（101）On inner magnet wheel drive shaft, in magnet-wheel rotary state,
For realizing fan-shaped Nd-Fe-B permanent magnet pendulum（105）With extension goods of furniture for display rather than for use（103、109）Around the rotation of magnetic wheel driven automatic scan axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621484042.8U CN206719351U (en) | 2016-12-30 | 2016-12-30 | A kind of wheeled outstanding magnetic adsorption device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621484042.8U CN206719351U (en) | 2016-12-30 | 2016-12-30 | A kind of wheeled outstanding magnetic adsorption device |
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| Publication Number | Publication Date |
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| CN206719351U true CN206719351U (en) | 2017-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621484042.8U Active CN206719351U (en) | 2016-12-30 | 2016-12-30 | A kind of wheeled outstanding magnetic adsorption device |
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| CN (1) | CN206719351U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515896A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wheel type magnet suspension absorbing device |
| CN110435352A (en) * | 2019-09-17 | 2019-11-12 | 衡昇科技有限公司 | A kind of obstacle detouring magnet-wheel |
| CN114074724A (en) * | 2022-01-20 | 2022-02-22 | 彼合彼方机器人(天津)有限公司 | Wall climbing robot suitable for storage tanks with different curvature radiuses |
-
2016
- 2016-12-30 CN CN201621484042.8U patent/CN206719351U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515896A (en) * | 2016-12-30 | 2017-03-22 | 洛阳圣瑞智能机器人有限公司 | Wheel type magnet suspension absorbing device |
| CN110435352A (en) * | 2019-09-17 | 2019-11-12 | 衡昇科技有限公司 | A kind of obstacle detouring magnet-wheel |
| CN114074724A (en) * | 2022-01-20 | 2022-02-22 | 彼合彼方机器人(天津)有限公司 | Wall climbing robot suitable for storage tanks with different curvature radiuses |
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