CN111976378A - Controllable magnetic wheel and assembling method and using method thereof - Google Patents

Abstract

The invention provides a controllable magnetic wheel, an assembling method and a using method thereof, and belongs to the technical field of magnetic wheels. The controllable magnetic wheel includes an inner hub choke, a number of same number of magnetic conductive blocks, isolation nests, an outer hub and permanent magnets. The permanent magnets are spaced apart and fixedly connected to the outer surface of the inner hub choke. The magnetic poles on the inner and outer surfaces of the permanent magnet block are opposite. The magnetic conductive block is sleeved in the isolation nest, and the isolation nest is embedded on the outer ring hub. The magnetic conductive block, the isolation nest and the outer ring hub form a combination. On the outer side of the permanent magnet, the permanent magnet and the combined body form a magnet conducting body, and a brass isolation block is inlaid between the adjacent magnet conducting bodies. The controllable magnetic wheel only needs to contact two adjacent magnetic conductive blocks through the connecting brush to reduce the magnetic adsorption force, and easily move the robot using the controllable magnetic wheel away from the wall surface, reducing workload and improving work efficiency.

Description

A controllable magnetic wheel and its assembling method and using method

technical field

The invention belongs to the technical field of magnetic wheels, and relates to a controllable magnetic wheel and a method for assembling and using the same.

Background technique

Equipment made of steel and other magnetically conductive materials, such as the inner wall of large pipelines, ship surfaces, and steel bridges, requires a lot of manpower and material resources for welding, cleaning, and testing. Wall-climbing robots that can flexibly crawl on large and complex magnetically permeable surfaces and carry various types of operation equipment to perform corresponding work according to different task requirements are increasingly used in the above occasions.

At present, the known wall-climbing robots on the market mostly use permanent magnet adsorption wheels for adsorption. When the robot completes the work, it is difficult to move the robot away from the wall surface, which greatly reduces the efficiency of the work; and the use of electromagnetic adsorption wheels has processing and manufacturing methods. Suffering, complex structure, power failure and other risks.

SUMMARY OF THE INVENTION

Aiming at the above problems existing in the prior art, the present invention provides a controllable magnetic wheel, and the technical problem to be solved by the present invention is: how to improve work efficiency.

The object of the present invention can be realized through the following technical solutions:

A controllable magnetic wheel, comprising an inner hub yoke and a number of same number of magnetic conductive blocks, isolation nests, an outer ring hub and permanent magnets, the permanent magnets are spaced apart and fixedly connected to the outer surface of the inner hub yoke in pairs , the magnetic poles of the two adjacent permanent magnets are opposite, the magnetic conductive block is inserted into the isolation nest, the isolation nest is embedded on the outer ring hub, and each magnetic conductive block is connected to the corresponding isolation nest and the corresponding outer ring. The hub forms a combined body, the combined body is installed on the outer side of the permanent magnet, the permanent magnet and the combined body form a magnetic conducting body, and a brass isolation block is embedded between the adjacent magnet conducting bodies.

Its working principle is: when the controllable magnetic wheel is in the working state, because there are brass isolation blocks between the adjacent magnetizers, that is, there is no contact between the two adjacent permanent magnets, when the inner part of one of the permanent magnets is in contact with each other. When the direction of the magnetic field lines is from the inner surface of the permanent magnet to the outer surface, the external magnetic field lines reach the adsorbed wall surface through the outer ring hub corresponding to the permanent magnet, and then return from the wall surface to the outer surface corresponding to the adjacent permanent magnet. the outer ring hub, and finally return to the adjacent permanent magnet; since most of the magnetic field lines pass through the outer ring hub, a magnetic adsorption force is generated on the outer edge of the controllable magnetic wheel; the permanent magnet of the controllable magnetic wheel adopts the interval And they are arranged in pairs, and the magnetic poles on the inner and outer surfaces of the two adjacent permanent magnets are opposite. When the controllable magnetic wheel moves, it can ensure that the controllable magnetic wheel provides sufficient magnetic adsorption force. When it is necessary to reduce the magnetic attraction force of the controllable magnetic wheel, contact the connecting brush made of magnetic conductive material on the wall-climbing robot to two adjacent magnetic conductive blocks, so that the magnetic field lines outside the permanent magnet pass through The magnetic conductive block flows to the adjacent magnetic conductive block, and finally returns to the adjacent permanent magnet; since most of the magnetic field lines pass through the magnetic conductive block, only a few scattered magnetic field lines pass through the outer ring hub, so the magnetic force can be controlled. There is only a small amount of magnetic attraction on the outer rim of the wheel. The controllable magnetic wheel only needs to contact two adjacent magnetic conductive blocks by connecting brushes to reduce the magnetic adsorption force, and the robot using the controllable magnetic wheel can be easily moved away from the wall surface, reducing workload and improving work efficiency.

In the above-mentioned controllable magnetic force wheel, the magnetic force wheel further comprises a brass baffle plate, the brass baffle plate is installed on one end of the choke iron of the inner hub, and the brass isolation stopper is connected to the yellow plate through locking screws. The copper baffle is fixed.

In the above-mentioned controllable magnetic wheel, the permanent magnet is provided with two slot holes with stepped grooves, the inner hub choke is provided with threaded holes, and the permanent magnet is fixed inside the inner hub by a locking screw on the threaded hole of the hub choke.

In the above-mentioned controllable magnetic wheel, the permanent magnet is in the shape of a tile.

In the above-mentioned controllable magnetic wheel, flange connection holes are provided on the inner hub choke.

In the above-mentioned controllable magnetic wheel, the inner hub yoke is made of magnetic conductive ferromagnetic material, the outer ring hub and the magnetic conductive block are made of magnetic conductive material, and the isolation nest is made of non-magnetic material. Made of magnetic rubber.

Preferably, the number of the permanent magnets is 4 pairs or 6 pairs or 8 pairs.

Another object of the present invention is to provide a method for assembling a controllable magnetic wheel, comprising the following steps:

A. Install the permanent magnets on the outer side of the inner hub choke by locking screws in sequence;

B. Install the brass baffle on one end of the inner hub choke first, then insert the brass isolation block into the gap of each permanent magnet in turn, and then fix the brass isolation block on the brass block by locking screws board;

C. Set the magnetic conductive block inside the isolation nest, then insert the isolation nest into the outer ring hub to form a combination, then install the combination on the permanent magnet, and fix it on the brass baffle by locking screws When installing the assembly, first adsorb the inner end of the assembly to the outer surface of the permanent magnet, and then push the assembly to the direction of the brass baffle.

In the above-mentioned method for assembling a controllable magnetic wheel, when the number of pairs of permanent magnets is greater than 8, step B is performed first, and then step A is performed.

Another object of the present invention is to provide a method of using a controllable magnetic wheel, comprising the following steps:

S1. Install the controllable magnetic wheel on the wall-climbing robot;

S2. The wall-climbing robot moves on the wall and performs corresponding operations;

S3. When the wall-climbing robot needs to move away from the wall to complete the operation, use the connecting brush to contact the two magnetic conductive blocks closest to the controllable magnetic wheel to the wall, which can reduce the magnetic attraction force of the controllable magnetic wheel, and then the staff will The wall-climbing robot moves away from the wall.

Compared with the prior art, the advantages of the present invention are as follows:

1. The controllable magnetic wheel only needs to contact two adjacent magnetic conductive blocks through the connecting brush to reduce the magnetic adsorption force, and easily move the robot using the controllable magnetic wheel away from the wall surface, reduce workload and improve work efficiency .

2. The controllable magnetic wheel is installed on the wall-climbing robot, which is simple and convenient to install, and has good disassembly and maintenance.

Description of drawings

Fig. 1 is the structural representation of this controllable magnetic wheel;

Figure 2 is an exploded view of the controllable magnetic wheel;

Fig. 3 is the structural representation of assembly;

Fig. 4 is a schematic diagram of the flow direction of magnetic field lines during the adsorption of the controllable magnetic wheel;

Figure 5 is the flow direction of the magnetic field line when the controllable magnetic wheel is demagnetized;

Figure 6 is a schematic structural diagram of the controllable magnetic wheel installed on the wall-climbing robot;

FIG. 7 is a schematic view of the structure of the controllable magnetic wheel installed on the wall-climbing robot from another perspective.

In the figure, 1. Inner hub choke; 2. Magnetic conductive block; 3. Isolated nesting; 4. Outer ring hub; 5. Permanent magnet; 6. Magnetic conductive body; 7. Brass isolation stop; 8. Brass baffle plate; 9. slotted hole; 10. threaded hole; 11. flange connection hole.

Detailed ways

The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

As shown in Figures 1-3, the controllable magnetic wheel includes an inner hub yoke 1 and a number of the same number of magnetic conductive blocks 2, an isolation nest 3, an outer ring hub 4 and permanent magnets 5. The permanent magnets 5 are spaced and formed For the outer surface of the yoke iron 1 fixedly connected to the inner hub, the magnetic poles of the inner and outer surfaces of the two adjacent permanent magnets 5 are opposite, the magnetic conductive block 2 is inserted into the isolation nest 3, and the isolation nest 3 is embedded on the outer ring hub 4. , the magnetic conductive block 2 forms a composite body with the corresponding isolation nest 3 and the corresponding outer ring hub 4, the composite body is installed on the outer side of the permanent magnet 5, the magnetic conductive block 2 is in contact with the permanent magnet 5, the permanent magnet 5 and The assembly forms a magnetic conductor 6, and a brass isolation block 7 is inlaid between the adjacent magnet conductors 6. The brass isolation block 7 is used to prevent the magnetic field lines of the permanent magnets 5 from directly passing through the adjacent two permanent magnets 5. Connected together to reduce the magnetic attraction force of the entire controllable magnetic wheel.

1-5 to illustrate the working principle of the controllable magnetic wheel: when the controllable magnetic wheel is in the working state, due to the brass isolation block 7 between the adjacent magnetic conductors 6, that is, two adjacent permanent magnets are separated. There is no contact between the magnets 5. When the direction of the magnetic field lines inside one of the permanent magnets 5 is from the inner surface of the permanent magnet 5 to the outer surface, the external magnetic field lines pass through the outer ring hub 4 corresponding to the permanent magnet 5 to reach the adsorption. On the wall surface, then from the wall surface back to the outer ring hub 4 corresponding to the adjacent permanent magnet 5, and finally back to the adjacent permanent magnet 5; since most of the magnetic field lines pass through the outer ring hub 4, this A magnetic adsorption force is generated on the outer edge of the controllable magnetic wheel; the permanent magnets 5 of the controllable magnetic wheel are arranged at intervals and in pairs, and the magnetic poles of the inner and outer surfaces of the two adjacent permanent magnets 5 are opposite, when the controllable magnetic wheel moves, It can be ensured that the controllable magnetic wheel provides sufficient magnetic attraction force. When it is necessary to reduce the magnetic attraction force of the controllable magnetic wheel, the connecting brush made of magnetic conductive material on the wall-climbing robot is contacted on the two adjacent magnetic conductive blocks 2, so that the magnetic field lines outside the permanent magnet 5 It flows through the magnetic conductive block 2 to the adjacent magnetic conductive block 2, and finally returns to the adjacent permanent magnet 5; since most of the magnetic field lines pass through the magnetic conductive block 2, only a few scattered magnetic field lines pass through the outer ring wheel hub 4, so there is only a small amount of magnetic attraction force on the outer edge of the controllable magnetic wheel. The controllable magnetic wheel only needs to contact two adjacent magnetic conductive blocks 2 through the connecting brush to reduce the magnetic attraction force, and easily move the robot using the controllable magnetic wheel away from the wall surface.

As shown in Figure 1, in this embodiment, the controllable magnetic wheel further includes a brass baffle 8, the brass baffle 8 is installed on one end of the inner hub choke 1, and the brass isolation baffle 7 is connected to the yellow one through locking screws. The copper baffle 8 is fixed. In this structure, the controllable magnetic wheel is combined to form a whole through the brass baffle 8, and the brass isolation block 7 is fixed with the brass baffle 8 by locking screws, which is safe and reliable.

As shown in FIG. 2, in this embodiment, the permanent magnet 5 is provided with two slot holes 9 with stepped grooves, the inner hub choke 1 is provided with threaded holes 10, and the permanent magnet 5 is fixed to the inner hub by locking screws On the threaded hole 10 of the choke 1. In this structure, the permanent magnet 5 is fixed on the threaded hole 10 of the inner hub choke 1 through a locking screw, so that the connection is firm and reliable.

As shown in FIG. 2 , in this embodiment, the permanent magnet 5 is of a tile-shaped design. In this structure, the permanent magnet 5 adopts a tile-shaped design, the inner arc of the permanent magnet 5 can be closely attached to the inner hub choke 1 , and the outer arc of the permanent magnet 5 is attached to the outer hub 4 .

As shown in FIG. 1 , in this embodiment, the inner hub choke 1 is provided with a flange connection hole 11 . In this structure, the output shaft of the permanent magnet adsorption robot is installed in the flange connection hole 11 on the inner hub choke 1, and the controllable magnetic wheel can be used, which is simple and convenient.

As shown in FIG. 1 , in this embodiment, the inner hub yoke 1 is made of magnetically permeable ferromagnetic material, the outer ring hub 4 and the magnetically permeable block 2 are both made of magnetically permeable material, and the isolation nest 3 is made of non-magnetic material. Made of magnetic rubber. The inner hub choke 1 is made of magnetically permeable ferromagnetic material to ensure that the magnetic field lines on the controllable magnetic wheel will not leak out, and the maximum magnetic force is concentrated on the magnetic wheel adsorption; the outer ring hub 4 is made of magnetically permeable material. It is used to transmit the magnetic attraction force of the permanent magnet 5 to the rim; the isolation nest 3 is made of non-magnetic rubber, which can not only prevent the outer arc of the magnetic conductive block 2 from contacting the outer ring hub 4, but also can Provides the function of shock absorption and facilitates the installation of the magnetic conductive block 2 .

As a preferred embodiment, the number of permanent magnets 5 is 4 pairs or 6 pairs or 8 pairs. The number of magnetic pairs of the permanent magnet 5 is designed according to the size of the magnetic attraction force required by the controllable magnetic wheel. The greater the required magnetic attraction force, the more the number of pairs of permanent magnets 5. The more difficult it is, so you need to choose a reasonable number of magnetic pairs according to your needs, 4 pairs or 6 pairs or 8 pairs are the best choices.

The assembly method of the controllable magnetic wheel includes the following steps:

A. Install the permanent magnets 5 on the outer side of the inner hub choke 1 at intervals through locking screws in turn; since the magnetic pole directions of the two adjacent permanent magnets 5 are opposite, the permanent magnets should be installed by means of interval installation 5, that is, first install the permanent magnet 5 with the magnetic pole direction from the inner arc to the outer arc (or the outer arc to the inner arc), and then install the permanent magnet 5 with the opposite magnetic pole direction;

B. Install the brass baffle 8 on one end of the inner hub choke 1 first, then insert the brass isolation stopper 7 into the gap of each permanent magnet 5 in turn, and the brass isolation stopper 7 then passes through the locking screw Fixed on the brass baffle 8;

C. Set the magnetic conductive block 2 in the isolation nest 3, and then insert the isolation nest 3 on the outer ring hub 4 to form a combined body, and then install the combined body on the permanent magnet 5 and fix it by locking screws On the brass baffle 8; when installing the assembly, first adsorb the inner end of the assembly on the outer surface of the permanent magnet 5, and then push the assembly to the direction of the brass baffle 8.

In this embodiment, when the number of pairs of permanent magnets is greater than 8, step B is performed first, and then step A is performed.

As shown in Figure 6-7, the use method of the controllable magnetic wheel includes the following steps:

S1. Install the controllable magnetic wheel on the wall-climbing robot, and the side with the magnetic conductive block 2 faces the wall-climbing robot;

S2. The wall-climbing robot moves on the wall and performs corresponding operations;

S3. When the wall-climbing robot needs to move away from the wall to complete the operation, use the connecting brush to contact the two magnetic conductive blocks 2 closest to the wall of the controllable magnetic wheel, which can reduce the magnetic attraction force of the controllable magnetic wheel, and then the staff Move the wall-climbing robot away from the wall.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (10)

1. The utility model provides a controllable magnetic force wheel, its characterized in that, includes interior hub yoke iron (1) and the same magnetic conduction piece (2) of a plurality of quantity, keeps apart nested (3), outer lane wheel hub (4) and permanent magnet (5), permanent magnet (5) interval and in pairs fixed connection in the surface of interior hub yoke iron (1), the magnetic pole of two adjacent permanent magnet (5) is opposite, magnetic conduction piece (2) are pegged graft in keeping apart nested (3), keep apart nested (3) and inlay on outer lane wheel hub (4), each magnetic conduction piece (2) and the outer lane wheel hub (4) that keep apart nested (3) and correspond that correspond form a complex, the lateral surface in permanent magnet (5) is installed to the complex, permanent magnet (5) and complex form a magnetizer (6), inlay between adjacent magnetizer (6) and have brass to keep apart dog (7).

2. A controllable magnetic force wheel according to claim 1, characterized in that the magnetic force wheel further comprises a brass baffle (8), the brass baffle (8) is mounted at one end of the inner hub yoke (1), and the brass isolation stop (7) is fixed with the brass baffle (8) by a locking screw.

3. A controlled magnetic wheel according to claim 1, characterized in that the permanent magnet (5) is provided with two stepped slots (9), the inner hub yoke (1) is provided with threaded holes (10), and the permanent magnet (5) is fixed to the threaded holes (10) of the inner hub yoke (1) by means of locking screws.

4. A controlled-magnetic wheel according to claim 1, characterized in that the permanent magnets (5) are tile-shaped.

5. A wheel with controlled magnetic force according to claim 1, characterized in that the inner hub yoke (1) is provided with flange attachment holes (11).

6. A controllable magnetic force wheel according to claim 1, characterized in that the inner hub yoke (1) is made of magnetically conductive ferromagnetic material, the outer ring hub (4) and the magnetically conductive blocks (2) are made of magnetically conductive material, and the spacer nest (3) is made of magnetically non-conductive rubber.

7. A controllable magnetic wheel according to any of claims 1-6, characterized in that the number of permanent magnets (5) is 4 or 6 or 8 pairs.

8. A method of assembling a controlled magnetic wheel as claimed in claim 7, comprising the steps of:

A. the permanent magnets (5) are sequentially arranged on the outer side surface of the inner hub yoke (1) at intervals through locking screws;

B. the brass baffle plate (8) is firstly installed at one end of the inner hub yoke (1), then the brass isolation stop blocks (7) are sequentially embedded into the gaps of each permanent magnet (5), and the brass isolation stop blocks (7) are fixed on the brass baffle plate (8) through locking screws;

C. sleeving the magnetic conduction block (2) in the isolation nesting sleeve (3), embedding the isolation nesting sleeve (3) on the outer ring hub (4) to form a combined body, then installing the combined body on the permanent magnet (5), and fixing the combined body on the brass baffle (8) through a locking screw; when the assembly is installed, one end of the inner side of the assembly is firstly adsorbed on the outer side face of the permanent magnet (5), and then the assembly is pushed towards the brass baffle (8).

9. A method for assembling a controlled-magnetic wheel according to claim 8, wherein when the number of pairs of permanent magnets (5) is greater than 8, step B is performed before step A.

10. A method of using a controllable magnetic wheel as claimed in claim 7, comprising the steps of:

s1, mounting the controllable magnetic wheel on the wall-climbing robot;

s2, the wall climbing robot moves on the wall surface and carries out corresponding operation;

s3, when the wall climbing robot needs to move away from the wall surface after completing the operation, the connecting brush is contacted on the two magnetic conduction blocks (2) of the controllable magnetic force wheel, which are closest to the wall surface, so that the magnetic adsorption force of the controllable magnetic force wheel can be reduced, and then the worker moves the wall climbing robot away from the wall surface.

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