The invention discloses a permanent magnet adsorption type magnetic wheel which comprises a deflection mechanism, an auxiliary supporting column, a magnetic wheel mechanism and an elastic mechanism, and the magnetic wheel mechanism comprises a magnetic wheel constraint, a first annular yoke, a permanent magnet, a second annular yoke, a flange, a servo motor and a connecting bolt. The auxiliary supporting column and the deflection mechanism are fixed to the robot body, when the robot walks on the arc-shaped container wall face, the permanent magnet and the container wall face generate magnetic force, the magnetic wheel mechanism is stressed to deflect along the rotating screw, the permanent magnet is attached to the container wall face, the servo motor can drive the magnetic wheel mechanism to rotate after being powered on, and stable and reliable movement is achieved. The device is simple in structure, the utilization rate of magnetic energy and the adsorption force can be improved by adopting the magnetic loop unit magnetized in the thickness direction, the adsorption force can be adjusted, and meanwhile, the magnetic wheel mechanism can stably and reliably walk on the curved container wall surface through the deflection mechanism and the elastic mechanism, so that the requirements of different working conditions are met.
本发明公开了一种永磁吸附式磁轮,包括偏转机构、辅助支撑柱、磁轮机构、弹性机构,所述的磁轮机构包括磁轮约束、第一环形轭铁、永磁铁、第二环形轭铁、法兰、伺服电机、连接螺栓,该装置通常情况下四组一起使用,通过辅助支撑柱和偏转机构与机器人本体固定,当在圆弧形的容器壁面行走时,永磁铁与容器壁面产生磁力,磁轮机构受力沿转动螺钉偏转,使得永磁铁与容器壁面贴合,伺服电机通电后能驱动磁轮机构转动,实现稳定可靠运动。该装置结构简单,采用厚度方向充磁的磁回路单元能提高磁能的利用率及吸附力,且吸附力可以调整,同时,通过偏转机构和弹性机构,使得磁轮机构能在曲面的容器壁面上稳定、可靠行走,从而满足不同的工况需要。
Permanent magnet adsorption type magnetic wheel
一种永磁吸附式磁轮
2023-03-14
Patent
Elektronische Ressource
Chinesisch
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