CN103008936A - Flexible magnetic adhesion method for movable welding robot - Google Patents
Flexible magnetic adhesion method for movable welding robot Download PDFInfo
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- CN103008936A CN103008936A CN2012104897106A CN201210489710A CN103008936A CN 103008936 A CN103008936 A CN 103008936A CN 2012104897106 A CN2012104897106 A CN 2012104897106A CN 201210489710 A CN201210489710 A CN 201210489710A CN 103008936 A CN103008936 A CN 103008936A
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Abstract
The invention relates to a flexible magnetic adhesion method for movable welding robot. An adhesion device comprises a first magnetic conduction yoke, a first magnetic block, a magnetic isolation block, a second magnetic block, a second magnetic conduction yoke, a third magnetic conduction yoke, and a flexible magnetic conduction medium, wherein the first magnetic conduction yoke, the first magnetic block, the magnetic isolation block, the second magnetic block, the second magnetic conduction yoke, and the third magnetic conduction yoke and the like form an adhesion unit. The method is characterized in that the flexible magnetic conduction medium is added between the adhesion unit and a work piece, so that the adhesion unit, the flexible magnetic conduction medium and the work piece form a magnetic circuit; and when the distance between the adhesion unit and the work piece changes, the flexible magnetic conduction medium is always tightly contacted with the adhesion unit and the work piece to maintain the magnetic circuit. The invention has the advantages of simple structure, and easiness in implementation; since the flexible magnetic conduction medium with the magnetic permeability far beyond the air is added between the adhesion unit and the work piece, when the distance between the adhesion unit and the work piece changes, the flexible magnetic conduction medium is always contacted with the adhesion unit and the work piece and the change of the magnetic permeability is extremely small, and when the clearance between the adhesion unit and the work piece changes, the adhesion force changes very slightly.
Description
Technical field
The present invention relates to the Robotics field, particularly the mobile welding robot flexible magnetic adsorption method on a kind of out-of-flatness steel surface.
Background technology
The development of modern industry and manufacturing technology, so that the application of important large-sized structural parts is more and more, the necessary field operations of work such as welding, detection and maintenance to this class A of geometric unitA, realize the work such as its automatic welding, detection and maintenance, the mobile robot is the key that realizes as workbench.The automatic welding of large-scale component requires robot to work at wall, becomes the primary problem that solves of mobile welding robot therefore how mobile welding robot is adsorbed in surface of the work.Because the attached compact conformation of magnetic, adsorption reliability is therefore become the main suction type of present mobile welding robot.But magnetic is attached very responsive to the variation of absorption gap, and when the gap became large, absorption affinity descended rapidly, causes robot to drop from the work wall.
Summary of the invention
The objective of the invention is for deficiency of the prior art, propose a kind of flexible magnetic adsorption method, in the time of changing in the gap, magnetic adsorbability changes less.
The present invention is achieved by the following technical solutions.
A kind of for mobile welding robot flexible magnetic adsorption method, its adsorbent equipment comprises the first magnetic conduction heel piece (1), the first magnetic patch (2), every magnetic patch (3), the second magnetic patch (4), the second magnetic conduction heel piece (5), the 3rd magnetic conduction heel piece (6) and flexible magnetic conductive media (7); The first magnetic conduction heel piece (1), the first magnetic patch (2), the absorbing unit that forms every magnetic patch (3), the second magnetic patch (4), the second magnetic conduction heel piece (5), the 3rd magnetic conduction heel piece (6) etc., it is characterized in that between absorbing unit and workpiece (8), increase by a flexible magnetic conductive media (7), make absorbing unit, flexible magnetic conductive media (7) form magnetic circuit (9) with workpiece (8), and when absorbing unit and workpiece (8) variable in distance, flexible magnetic conductive media (7) remains with absorbing unit, workpiece and contacts between (8), keeps magnetic circuit (9).
Flexible magnetic conductive media of the present invention refers to when the magnetic conduction spatial variations, can be by distortion or kinematic pair so that the magnetic conduction space permeability changes less magnetic conductive media.
That the present invention has is simple in structure, be easy to realize; Because between absorbing unit and workpiece (8), increasing permeability much larger than the flexible magnetic conductive media (7) of air, when both gaps change, flexible magnetic conductive media (7) can keep contacting with both all the time, and permeability changes very little, therefore when absorbing unit and the variation of workpiece (8) gap, absorption affinity changes very little.
Description of drawings
Fig. 1 is structural principle schematic diagram of the present invention.1 is the first magnetic conduction heel piece; 2 is the first magnetic patch; 3 is every magnetic patch 3; 4 is the second magnetic patch; 5 is the second magnetic conduction heel piece; 6 is the 3rd magnetic conduction heel piece 6; 7 is flexible magnetic conductive media; 8 is workpiece; 9 are the absorption magnetic circuit, and arrow is magnetic line of force direction.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, the present invention includes the first magnetic conduction heel piece 1, be arranged on the absorption of first below this magnetic conduction heel piece magnetic patch 2, below magnetic patch 3, the second absorption magnetic patch 4 and the first magnetic patch 2 below second magnetic conduction heel piece 5 in magnetic patch 3 left sides, the second magnetic patch 4 every absorbing unit, flexible magnetic conductive media 7 and the workpiece 8 of the compositions such as the 3rd magnetic conduction heel piece 6 on magnetic patch 3 right sides; Absorbing unit, flexible magnetic conductive media 7 and workpiece 8 form magnetic circuit 9.When absorbing unit and 8 distance variations of workpiece, flexible magnetic conductive media 7 can keep contacting with both all the time, and the permeability variation is very little, thereby it is very little that absorption is changed.
Claims (1)
1. the flexible magnetic adsorption method that is used for mobile welding robot, its adsorbent equipment comprise the first magnetic conduction heel piece (1), the first magnetic patch (2), every magnetic patch (3), the second magnetic patch (4), the second magnetic conduction heel piece (5), the 3rd magnetic conduction heel piece (6) and flexible magnetic conductive media (7); The first magnetic conduction heel piece (1), the first magnetic patch (2), the absorbing unit that forms every magnetic patch (3), the second magnetic patch (4), the second magnetic conduction heel piece (5), the 3rd magnetic conduction heel piece (6) etc., it is characterized in that between absorbing unit and workpiece (8), increase by a flexible magnetic conductive media (7), make absorbing unit, flexible magnetic conductive media (7) form magnetic circuit (9) with workpiece (8), and when absorbing unit and workpiece (8) variable in distance, flexible magnetic conductive media (7) remains with absorbing unit, workpiece and contacts between (8), keeps magnetic circuit (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489710.6A CN103008936B (en) | 2012-11-27 | 2012-11-27 | Flexible magnetic adhesion method for movable welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210489710.6A CN103008936B (en) | 2012-11-27 | 2012-11-27 | Flexible magnetic adhesion method for movable welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103008936A true CN103008936A (en) | 2013-04-03 |
| CN103008936B CN103008936B (en) | 2015-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210489710.6A Expired - Fee Related CN103008936B (en) | 2012-11-27 | 2012-11-27 | Flexible magnetic adhesion method for movable welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103008936B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5459792A (en) * | 1977-10-21 | 1979-05-14 | Hitachi Metals Ltd | Adsorptive travelling device |
| JPS62134374A (en) * | 1985-12-09 | 1987-06-17 | Toshiba Corp | Internal force balanced type magnetic adsorption unit |
| JPH1024875A (en) * | 1996-07-11 | 1998-01-27 | Nippon Kensetsu Kikaika Kyokai | Traveling device of wall face running robot |
| CN201325495Y (en) * | 2008-12-03 | 2009-10-14 | 中核武汉核电运行技术股份有限公司 | Rubber magnetic wheel absorption driving structure of creeping trolley |
| JP2012006557A (en) * | 2010-06-28 | 2012-01-12 | Tokyo Institute Of Technology | Magnetic attraction vehicle |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
-
2012
- 2012-11-27 CN CN201210489710.6A patent/CN103008936B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5459792A (en) * | 1977-10-21 | 1979-05-14 | Hitachi Metals Ltd | Adsorptive travelling device |
| JPS62134374A (en) * | 1985-12-09 | 1987-06-17 | Toshiba Corp | Internal force balanced type magnetic adsorption unit |
| JPH1024875A (en) * | 1996-07-11 | 1998-01-27 | Nippon Kensetsu Kikaika Kyokai | Traveling device of wall face running robot |
| CN201325495Y (en) * | 2008-12-03 | 2009-10-14 | 中核武汉核电运行技术股份有限公司 | Rubber magnetic wheel absorption driving structure of creeping trolley |
| JP2012006557A (en) * | 2010-06-28 | 2012-01-12 | Tokyo Institute Of Technology | Magnetic attraction vehicle |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
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| Publication number | Publication date |
|---|---|
| CN103008936B (en) | 2015-04-15 |
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Effective date of registration: 20170606 Address after: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -11238 Patentee after: Zhuhai happy Welding Technology Co., Ltd. Address before: 999 No. 330031 Jiangxi province Nanchang Honggutan University Avenue Patentee before: Nanchang University |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20191127 |
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| CF01 | Termination of patent right due to non-payment of annual fee |