CN210680975U - Magnetic wheel device of wall-climbing robot - Google Patents
Magnetic wheel device of wall-climbing robot Download PDFInfo
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- CN210680975U CN210680975U CN201921624160.8U CN201921624160U CN210680975U CN 210680975 U CN210680975 U CN 210680975U CN 201921624160 U CN201921624160 U CN 201921624160U CN 210680975 U CN210680975 U CN 210680975U
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Abstract
The utility model discloses a magnetic wheel device of a wall-climbing robot, which comprises a driving mechanism, a magnetic adsorption mechanism and a wheel component, wherein the magnetic adsorption mechanism comprises a magnet fixing seat, a yoke and two tile-shaped magnets which are magnetized in radial direction and have opposite magnetizing directions; the driving mechanism is fixed on the magnet fixing seat and comprises a motor; the wheel assembly comprises a wheel hub and a tire skin, the wheel hub is driven by a motor, and the tire skin is sleeved on the outer side of the wheel hub. The utility model reasonably integrates the magnetic adsorption mechanism, the driving mechanism and the transmission mechanism of the wall-climbing robot into the wheel assembly, thereby realizing the integrated design of the magnetic adsorption type wall-climbing wheel; the magnetic attraction mechanism is subjected to attraction force directed to the wall surface and borne by the coupler and the bearing respectively.
Description
Technical Field
The utility model belongs to the technical field of the robot, in particular to magnetic wheel device of wall climbing robot.
Background
The wall climbing robot is classified according to the adsorption mode, and can be divided into a magnetic type, a negative pressure type, a bionic type, an electrostatic induction type, a propeller thrust and the like, wherein the magnetic type wall climbing robot is most widely applied. The magnetic adsorption is to utilize the magnetic field generated by an electromagnet or a permanent magnet and the ferromagnetic wall surface environment to generate adsorption force, and can be mainly divided into two adsorption modes of the electromagnet and the permanent magnet. The electromagnetic adsorption utilizes an electromagnet to generate adsorption force, the size of the adsorption force can be adjusted through current, but the structural volume and the weight are large, the adsorption force is lost when a system is powered off, and certain potential safety hazards exist; the permanent magnet adsorption mechanism adopts a permanent magnet to generate adsorption force, the structural volume and the mass of the adsorption mechanism are small, and the adsorption force is stable, so that the magnetic adsorption type wall climbing robot mostly adopts the adsorption mode of the permanent magnet.
In the wall-climbing robot using permanent magnet attraction, it is a problem that researchers must consider how to generate the maximum magnetic force by using a permanent magnet of the same weight. The performance of the permanent magnetic material is maximized by optimizing the permanent magnetic adsorption units. In addition, many researchers have developed magnet array designs based on Halbach arrays. The Halbach array is a special permanent magnet structure discovered by Klaus Halbach academician in an electron acceleration experiment by utilizing magnetic fields generated by various permanent magnet structures, and is gradually improved. The radial permanent magnets and the tangential permanent magnets are staggered according to a certain sequence, so that the magnetic field on one side of the array is obviously enhanced, the magnetic field on the other side of the array is greatly weakened, single-side strong magnetism is obtained, end edge magnetic leakage is reduced, air gap magnetic density is improved, and a large magnetic force is obtained by using fewer magnets.
The permanent magnet adsorption's wall climbing robot part utilizes the permanent magnet on the fuselage to accomplish to adsorb, and another part is the permanent magnet adsorption on the wheel, integrated adsorption apparatus, drive mechanism and the actuating mechanism that wherein wheel structure can be better, the magnetism that also integrates adsorbs the formula and climbs the wall wheel device.
The main research difficulty of the magnetic adsorption type wall climbing wheel is that all parts for complete adsorption, transmission and driving need to be integrated inside a wheel hub, and interference cannot occur among all the parts. In order to realize a relatively compact magnetic adsorption type wall climbing wheel structure, a magnet array with a curved surface structure needs to be designed on a magnetic adsorption mechanism so as to adapt to a cylindrical surface structure of the inner wall of a wheel and enable magnets to be more closely attached to the wall surface; the length requirement of the transmission and driving mechanism is smaller than the total width of the wheel, and the motor and the encoder are kept at a certain distance from the magnet, so that the normal work of the electronic element is prevented from being influenced by a strong magnetic field.
Disclosure of Invention
The utility model aims at providing a wall climbing robot's magnetism wheel device for realize the absorption of wall climbing robot on the ferromagnetism wall.
Therefore, the technical scheme of the utility model is that: the utility model provides a wall climbing robot's magnetism wheel device which characterized in that: the magnetic adsorption mechanism comprises a magnet fixing seat, a yoke and two tile-shaped magnets which are magnetized in the radial direction and opposite in magnetizing direction, the yoke is of an arc-shaped structure and is attached to the inner wall of each tile-shaped magnet, and the yoke and the tile-shaped magnets are arranged in the magnet fixing seat; the driving mechanism is fixed on the magnet fixing seat and comprises a motor; the wheel assembly comprises a wheel hub and a tire skin, the wheel hub is driven by a motor, and the tire skin is sleeved on the outer side of the wheel hub.
Preferably, a bearing is mounted on the magnet fixing seat and is in contact with the inner wall of the wheel assembly.
Preferably, the two tile-shaped magnets are spliced to form a fan-shaped structure, the yoke is attached to the inner wall, a fan-shaped installation position is arranged in the middle of the magnet fixing seat, and the tile-shaped magnets and the yoke are spliced to be placed on the installation position.
Preferably, the driving mechanism further comprises a motor fixing seat, a speed reducer and a coupling, the motor fixing seat is fixed on the magnet fixing seat, and the motor is installed on the motor fixing seat; the input end of the speed reducer is connected with the motor shaft, and the output end of the speed reducer is connected with the coupler.
The utility model adopts the steel yoke iron to increase the magnetic field intensity below the magnet fixing seat, plays the role of magnetic shielding above the magnet fixing seat, and can not affect the motor encoder; the two radial magnetized neodymium iron boron magnetic tiles have opposite magnetizing directions and form a closed magnetic loop with the steel yoke and the ferromagnetic wall surface, so that the adsorption force of the magnetic adsorption type wheel is improved.
The utility model reasonably integrates the magnetic adsorption mechanism, the driving mechanism and the transmission mechanism of the wall-climbing robot into the wheel assembly, thereby realizing the integrated design of the magnetic adsorption type wall-climbing wheel; the fan-shaped outer wall surface of the tile-shaped magnet is tightly attached to the inner wall surface of the wheel hub, so that the magnetic gap is reduced, the adsorption force is improved, in the rotation process of the magnetic wheel, the magnetic adsorption mechanism does not rotate along with the wheel, and the fan-shaped magnet is always kept at the position tightly attached to the wall surface; compared with an adsorption device on the machine body, the wheel is always in contact with the wall surface, so that the size of the magnetic gap is constant, and more stable adsorption force is provided.
The utility model discloses have higher structural strength, set up the bearing on the magnet fixing base and come with the contact of wheel hub inner wall, play the effect of supporting the magnet fixing base, should support and constitute simple beam structure with the shaft coupling is connected in wheel hub department, reduced the stress concentration of magnetism adsorption effort in motor output shaft department. The magnetic attraction mechanism is subjected to attraction force directed to the wall surface and borne by the coupler and the bearing respectively. And conventional wall climbing robot's adsorption affinity all is direct action on the motor output shaft of cantilever beam structure, the utility model discloses improve its bearing structure for the simple beam, reduced the stress concentration of motor output shaft department to the holistic deformation degree of wheel has been reduced.
Drawings
The following detailed description is made with reference to the accompanying drawings and embodiments of the present invention
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the components of the present invention;
fig. 3 is a side view of the structure of the present invention.
Labeled as: the motor comprises a motor fixing seat 1, a magnet fixing seat 2, neodymium iron boron magnetic shoes 3, No. 45 steel yoke iron 4, a direct current motor 5, a speed reducer 6, a countersunk screw 7, a flange coupling 8, a cylindrical head screw 9, a wheel hub 10, a rubber tire skin 11, a nylon bearing 12, a check ring 13 and a bearing mounting seat 14.
Detailed Description
See the drawings. The magnetic wheel device is used for a wall-climbing robot and comprises a driving mechanism, a magnetic adsorption mechanism and a wheel assembly, wherein the driving mechanism comprises a motor fixing seat 1, a direct current motor 5, a speed reducer 6 and a flange coupling 8; reduction gear 6 installs between direct current motor 5 and motor fixing base 1, is connected with motor fixing base 1 through countersunk screw 7, and reduction gear 6's input and direct current motor 5's output shaft, reduction gear 6's output are D type axle, and two jackscrews that each other become 90 degrees in the cooperation flange shaft coupling 8 fasten.
The wheel assembly comprises a wheel hub 10 and a rubber tire skin 11, wherein the rubber tire skin 11 is fixed on the outer side of the wheel hub 10 through gluing, and larger friction force can be provided. Four fastening screw holes for fixing the flange coupler 8 and the wheel hub 10 are threaded holes, and in the assembling process, the wheel can be assembled after other parts are installed.
The magnetic adsorption mechanism comprises a magnet fixing seat 2, a No. 45 steel yoke iron 4 and two radially magnetized neodymium iron boron magnetic tiles 3, wherein the No. 45 steel yoke iron 4 is of an arc-shaped structure and is attached to the inner wall of the spliced neodymium iron boron magnetic tiles 3, and the No. 45 steel yoke iron 4 and the two radially magnetized neodymium iron boron magnetic tiles 3 are arranged in the magnet fixing seat 2; the magnet array adopts No. 45 steel yoke iron, so that the magnetic field intensity below the magnet fixing seat can be increased, the magnetic shielding effect is realized above the magnet fixing seat 2, and the motor encoder is not influenced; the two radial magnetized neodymium iron boron magnetic tiles in each wheel have opposite magnetizing directions, and the two No. 3 and No. 45 steel yokes and 4 of the neodymium iron boron magnetic tiles and the ferromagnetic wall surface form a closed magnetic loop, so that the adsorption force of the magnetic adsorption type wheel is improved.
The motor fixing seat 1 is fixedly connected with the magnet fixing seat 2, three bearing mounting seats 14 are further fixed on the magnet fixing seat 2, nylon bearings 12 are mounted on the bearing mounting seats, and the bearing mounting seats are fixed and limited through retaining rings 13; the nylon bearing 12 is contacted with the inner wall of the wheel hub 10 to play a role of supporting the magnet fixing seat 2, the support and the flange coupling 8 are connected at the wheel hub 10 to form a simply supported beam structure, and the stress concentration of magnetic adsorption acting force at the output shaft of the motor is reduced; in the wheel rotation process, magnet fixing base 2 does not follow the motion, but is static for the robot body, can provide the adsorption affinity the same with monoblock ring shape magnet with the fan-shaped magnet of fritter.
Claims (4)
1. The utility model provides a wall climbing robot's magnetism wheel device which characterized in that: the magnetic adsorption mechanism comprises a magnet fixing seat, a yoke and two tile-shaped magnets which are magnetized in the radial direction and opposite in magnetizing direction, the yoke is of an arc-shaped structure and is attached to the inner wall of each tile-shaped magnet, and the yoke and the tile-shaped magnets are arranged in the magnet fixing seat; the driving mechanism is fixed on the magnet fixing seat and comprises a motor; the wheel assembly comprises a wheel hub and a tire skin, the wheel hub is driven by a motor, and the tire skin is sleeved on the outer side of the wheel hub.
2. The magnetic wheel apparatus of a wall-climbing robot as claimed in claim 1, wherein: and a bearing is arranged on the magnet fixing seat and is in contact with the inner wall of the wheel assembly.
3. The magnetic wheel apparatus of a wall-climbing robot as claimed in claim 1, wherein: the two tile-shaped magnets are spliced to form a fan-shaped structure, the yoke iron is attached to the inner wall, a fan-shaped installation position is arranged in the middle of the magnet fixing seat, and the tile-shaped magnets and the yoke iron are spliced to be placed on the installation position.
4. The magnetic wheel apparatus of a wall-climbing robot as claimed in claim 1, wherein: the driving mechanism further comprises a motor fixing seat, a speed reducer and a coupling, the motor fixing seat is fixed on the magnet fixing seat, and the motor is installed on the motor fixing seat; the input end of the speed reducer is connected with the motor shaft, and the output end of the speed reducer is connected with the coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921624160.8U CN210680975U (en) | 2019-09-27 | 2019-09-27 | Magnetic wheel device of wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921624160.8U CN210680975U (en) | 2019-09-27 | 2019-09-27 | Magnetic wheel device of wall-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN210680975U true CN210680975U (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921624160.8U Active CN210680975U (en) | 2019-09-27 | 2019-09-27 | Magnetic wheel device of wall-climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116512897A (en) * | 2023-07-04 | 2023-08-01 | 山西中北锐迪欧科技有限责任公司 | Variable adsorption surface magnetic attraction type hub motor and variable deflection angle four-wheel steering system |
-
2019
- 2019-09-27 CN CN201921624160.8U patent/CN210680975U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116512897A (en) * | 2023-07-04 | 2023-08-01 | 山西中北锐迪欧科技有限责任公司 | Variable adsorption surface magnetic attraction type hub motor and variable deflection angle four-wheel steering system |
| CN116512897B (en) * | 2023-07-04 | 2023-09-08 | 山西中北锐迪欧科技有限责任公司 | Variable adsorption surface magnetic attraction type hub motor and variable deflection angle four-wheel steering system |
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