CN-224197954-U - Magnetic adsorption type driving wheel of underwater robot

CN224197954UCN 224197954 UCN224197954 UCN 224197954UCN-224197954-U

Abstract

The utility model discloses a magnetic adsorption type underwater robot driving wheel with good adsorption performance, dynamic stability and terrain adaptability, which comprises a watertight shell, wherein a driving motor is arranged in the shell, the driving motor is connected with at least one harmonic reducer, the harmonic reducer drives a pair of rollers rotatably arranged on two sides of the shell, a driving bracket used for being connected with an underwater robot body is arranged on the shell, an installation seat sliding up and down is arranged below the shell, an adjusting mechanism for driving the installation seat to move up and down is arranged on the shell, a permanent magnet adsorption module is arranged in the installation seat and comprises three groups of magnets which are arranged in parallel, and N poles of the three groups of magnets are respectively distributed rightward, downward and leftward along the direction parallel to the output shaft of the motor.

Inventors

YAN CHENGYUAN
ZHANG PENGYONG
Luo Chuankun
LIU DAXIN
XIONG MINGYANG
LI XIUXIN

Assignees

无锡蓝启智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20250808

Claims (9)

1. The magnetic adsorption type underwater robot driving wheel comprises a watertight shell and is characterized in that a driving motor is arranged in the shell and is connected with at least one harmonic reducer, the harmonic reducer drives a pair of rollers rotatably arranged on two sides of the shell, and a driving bracket used for being connected with an underwater robot body is arranged on the shell; The permanent magnet adsorption module comprises three groups of magnets which are arranged in parallel, and N poles of the three groups of magnets are respectively distributed rightward, downward and leftward along the direction parallel to the output shaft of the motor.
2. The underwater robot driving wheel of claim 1, wherein the mounting base and the three groups of magnets are in a circular arc shape bent around a central axis parallel to a force output shaft of the driving motor.
3. A magnetically attractable underwater robot driving wheel as set forth in claim 2, wherein yoke assemblies are provided in said mounting base outside three sets of said magnets, respectively.
4. A driving wheel of a magnetically attractable underwater robot as set forth in claim 1 wherein said driving bracket is hinged to the housing for rotation about a horizontal axis disposed perpendicular to the central axis of the driving motor.
5. A driving wheel for a magnetically attractable underwater robot as set forth in claim 1, wherein the housing is provided with a limiting mechanism for limiting rotation of the driving wheel support by plus or minus 5-10 degrees.
6. The underwater robot driving wheel of claim 5, wherein the limiting mechanism comprises arc-shaped long holes respectively arranged on two sides of the hinging position on the driving wheel support, and a pair of limiting short screws matched with the arc-shaped long holes are arranged on the shell, so that the rotation range of the driving wheel support is within a range of plus or minus 5-10 degrees.
7. A driving wheel for a magnetically attractable underwater robot as claimed in any one of claims 1 to 6 wherein the adjustment mechanism comprises a plurality of adjustment screws movably disposed vertically upwardly in the mounting base, and the housing has threaded bores for mating with the adjustment screws.
8. The driving wheel of the underwater robot of any one of claims 1 to 6, wherein the adjusting mechanism comprises an adjusting screw rod vertically arranged on a shell, the mounting seat is connected with a sliding block of the adjusting screw rod, a plurality of vertically arranged guide posts are arranged on the shell, and guide holes matched with the guide posts are formed in the mounting seat.
9. The underwater robot driving wheel of claim 8, wherein a distance meter for detecting the distance between the mounting seat and the adsorption surface is arranged at the lower part of the mounting seat, the end part of the adjusting screw rod is connected with the output shaft of the servo motor, and the distance meter is electrically connected with the servo motor.

Description

Magnetic adsorption type driving wheel of underwater robot Technical Field The utility model relates to underwater intelligent operation equipment, in particular to a magnetic adsorption type underwater robot driving wheel. Background With the rapid growth of the demands of marine exploration, ship detection and underwater operation, the underwater robot has higher requirements on the adaptability to complex environments and the dynamic stability. However, the conventional driving wheel system generally has the technical bottleneck that firstly, the magnetic adsorption performance is limited, and the conventional magnetic adsorption driving wheel mostly adopts a uniform magnet arrangement or fixing structure, so that the conventional magnetic adsorption driving wheel is difficult to dynamically adapt to metal surfaces with different thicknesses or curvatures. Further, the driving stability is insufficient, slip problems are easily caused by uneven torque distribution of the single-shaft driving wheel, and particularly, the driving force output efficiency is remarkably reduced under the condition of low adhesion coefficient surface or load fluctuation. And because of the limitation of structural rigidity, the design of the traditional rigid support cannot adapt to the cambered surface or the uneven surface of the ship body, so that the driving wheel is suspended or the magnetic circuit is interrupted, and the adsorption force and the movement stability are further reduced. Disclosure of utility model The utility model aims to solve the technical problem of providing the magnetic adsorption type underwater robot driving wheel which can be better adapted to metal surfaces with different thicknesses or curvatures. In order to solve the technical problems, the utility model adopts the technical scheme that the driving wheel of the magnetic adsorption type underwater robot comprises a watertight shell, wherein a driving motor is arranged in the shell and is connected with at least one harmonic reducer, the harmonic reducer drives a pair of rollers rotatably arranged at two sides of the shell, and a driving bracket used for being connected with the underwater robot body is arranged on the shell; The permanent magnet adsorption module comprises three groups of magnets which are arranged in parallel, and N poles of the three groups of magnets are respectively distributed rightward, downward and leftward along the direction parallel to the output shaft of the motor. As a preferred solution, the mounting base and the three groups of magnets are in a circular arc shape bent around a central axis parallel to the output shaft of the driving motor. As a preferable scheme, the mounting seat is provided with a magnetic yoke assembly outside the three groups of magnets respectively. As a preferred solution, the driving support is hinged on the housing, and the driving support rotates around a horizontal axis arranged perpendicular to the central axis direction of the driving motor. As a preferable scheme, a limiting mechanism for limiting the rotation of the driving wheel bracket by plus or minus 5-10 degrees is arranged on the shell. As a preferable scheme, the limiting mechanism comprises arc long holes respectively arranged on two sides of the hinge joint on the driving wheel support, and a pair of limiting short screws matched with the arc long holes are arranged on the shell, so that the rotation range of the driving wheel support is plus or minus 5-10 degrees. As a preferable scheme, the adjusting mechanism comprises a plurality of adjusting screws vertically and movably arranged in the mounting seat, and a threaded hole matched with the adjusting screws is formed in the shell. As another preferable scheme, the adjusting mechanism comprises an adjusting screw rod vertically arranged on the shell, the mounting seat is connected with a sliding block of the adjusting screw rod, a plurality of guide posts vertically arranged are arranged on the shell, and guide holes matched with the guide posts are formed in the mounting seat. As a preferable scheme, a distance meter for detecting the distance between the mounting seat and the adsorption surface is arranged at the lower part of the mounting seat, the end part of the adjusting screw rod is connected with the output shaft of the servo motor, and the distance meter is electrically connected with the servo motor. The beneficial effects of the utility model are as follows: the permanent magnet adsorption module adopts three groups of magnets, wherein N pole directions of the three groups of magnets are distributed in a right-lower-left gradient mode along the radial direction, the bottom magnetic field intensity is improved through magnetic flux density vector superposition, the magnetic circuit system is provided with a magnetic yoke assembly and the magnets to form a closed magnetic loop, and the distance between the magnets and an adsorption surface is adjusted through an a