CN215097922U - 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
- CN215097922U CN215097922U CN202120866257.0U CN202120866257U CN215097922U CN 215097922 U CN215097922 U CN 215097922U CN 202120866257 U CN202120866257 U CN 202120866257U CN 215097922 U CN215097922 U CN 215097922U
- Authority
- CN
- China
- Prior art keywords
- magnet
- unloading
- magnetic
- fixedly connected
- wall surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
Abstract
The utility model discloses a permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading, 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, one end of a magnetic unloading handle is fixedly connected with the magnet fixing piece, the utility model discloses a magnet module performance is good, and not only magnetic force is adjustable, unloads the magnetism convenience moreover, can also effectively protect the magnetic conduction wall.
Description
Technical Field
The utility model relates to an adsorption equipment technical field especially relates to a permanent magnetism adsorbs wheel that is used for realizing unloading magnetism fast of magnetic conduction wall.
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 this, the present invention is especially provided.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a permanent magnetism that is used for realizing unloading magnetism fast of magnetic conduction wall adsorbs wheel, and magnet module performance is good, and not only magnetic force is adjustable, unloads the magnetism convenience moreover, can also effectively protect the magnetic conduction wall, has wide application prospect, is favorable to popularizing and applying.
In order to achieve the purpose, the utility model provides a can realize unloading permanent magnetism adsorption wheel of magnetism fast for magnetic conduction wall, including pneumatic tire, pneumatic tire is fixed in wheel hub's outside, wheel hub passes through tire mounting and harmonic speed reducer rigid coupling, harmonic speed reducer and motor connecting axle rigid coupling for realize the motion transmission between step motor and harmonic speed reducer, the outside cover of motor connecting axle is equipped with the bearing housing, the harmonic speed reducer passes through the bearing housing and the automobile body rigid coupling, the bearing housing is overlapped and is equipped with synchronous pulley, magnet mounting and magnet connecting plate pass through the long screw rigid coupling and cover and locate on the bearing housing, be clearance fit between the inner space that the two formed and the bearing housing, magnet connecting plate and yoke rigid coupling, magnet direct adsorption is on the yoke, realizes magnet through locking long screw and reciprocates, 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 utility model provides a pair of a permanent magnetism that is used for realizing unloading magnetism fast of magnetic conduction wall adsorbs wheel has following beneficial effect.
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 view of a permanent magnetic adsorption wheel for a magnetic conductive wall surface, which can realize rapid magnetic flux unloading;
fig. 2 is an exploded view of a permanent magnetic adsorption wheel for a magnetic conductive wall surface, which can realize rapid magnetic flux unloading;
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 magnetic adsorption wheel for the magnetic conductive wall surface, which can realize rapid magnetic unloading;
fig. 4 is the utility model provides a pair of a permanent magnetism adsorption wheel that is used for realizing unloading magnetism fast of magnetic conduction wall magnet is unloading the position contrast picture of magnet for the magnetic conduction wall under the magnetic state.
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 facilitate understanding of the present invention.
As shown in fig. 1-2, it is respectively the structural schematic diagram and the exploded view of the permanent magnetic adsorption wheel for magnetic conductive wall surface that can realize quick magnetic unloading. 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 utility model discloses a theory of operation does:
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, for the utility model provides a pair of a permanent magnetism adsorption wheel that is used for realizing unloading magnetism fast of magnetic conduction wall is magnet for the position contrast diagram of magnetic conduction wall under the adsorption state.
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, for the utility model provides a magnet is for the position contrast diagram of magnetic conduction wall face under unloading the magnetism state for the permanent magnetism adsorption wheel that can realize unloading magnetism fast that is used for magnetic conduction wall face.
The utility model discloses magnetic force 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 present invention has been described in detail with reference to specific embodiments, and the description of the embodiments is only for the purpose of helping understanding the core idea of the present 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 intended to be included within 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 adsorption force is further changed, 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 |
|---|---|---|---|
| CN202120866257.0U CN215097922U (en) | 2021-04-26 | 2021-04-26 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120866257.0U CN215097922U (en) | 2021-04-26 | 2021-04-26 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215097922U true CN215097922U (en) | 2021-12-10 |
Family
ID=79271850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120866257.0U Active CN215097922U (en) | 2021-04-26 | 2021-04-26 | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215097922U (en) |
-
2021
- 2021-04-26 CN CN202120866257.0U patent/CN215097922U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102897241B (en) | Magnetic adsorption principle based small wheel-type wall-climbing robot platform | |
| CN113002653A (en) | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN105835976B (en) | A kind of magnetic suck driving wheel group device of axis angle automatic adjustment | |
| CN1321781C (en) | Non-contact magnetically adsorbed wall climbing robot | |
| CN202243767U (en) | Magnetic adsorption type wall-climbing robot | |
| CN105711673B (en) | Curved surface adaptive magnetic adsorption device | |
| CN102689296A (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN102673671A (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN102689295B (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| CN202608930U (en) | Composite magnetic adsorption type video detection wall climbing robot | |
| CN215097922U (en) | Permanent magnetic adsorption wheel used for magnetic conduction wall surface and capable of realizing rapid magnetic unloading | |
| CN102700646A (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| CN110434828B (en) | Large-scale metal facade obstacle-surmounting wall-climbing robot | |
| CN102897242B (en) | Suspended magnetic adsorption wheel | |
| CN106428281B (en) | Magnetic adsorption wall climbing robot | |
| CN202753150U (en) | Differential driving magnetic adsorption type multifunctional wall-climbing robot with multi-freedom-degree mechanical arm | |
| CN202805181U (en) | Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm | |
| CN107757748B (en) | Steering wheel device of robot | |
| CN215097918U (en) | Semi-automatic magnetic particle inspection robot | |
| CN206358243U (en) | The magnetic suck of magnetic adsorption wall climbing robot and driving integrated module | |
| CN113086043A (en) | Semi-automatic magnetic particle inspection robot | |
| CN211808817U (en) | Wheel for pipeline robot | |
| CN206663223U (en) | A kind of wheeled magnetic adsorption wall climbing robot of modularization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |