CN103008936B - Flexible magnetic adhesion method for movable welding robot - Google Patents
Flexible magnetic adhesion method for movable welding robot Download PDFInfo
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- CN103008936B CN103008936B CN201210489710.6A CN201210489710A CN103008936B CN 103008936 B CN103008936 B CN 103008936B CN 201210489710 A CN201210489710 A CN 201210489710A CN 103008936 B CN103008936 B CN 103008936B
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- magnetic
- magnetic conduction
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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 robotics, particularly a kind of mobile welding robot Flexible magnetic adhesion method of out-of-flatness steel side.
Background technology
The development of modern industry and manufacturing technology, the application of important large-sized structural parts is got more and more, to the necessary field operation of the work such as welding, examination and repair of this class A of geometric unitA, realize its work such as automatic welding, examination and repair, mobile robot is the key realized as workbench.The automatic welding of large-scale component requires that robot can in wall general work, therefore how mobile welding robot is adsorbed in surface of the work becomes the problem that mobile welding robot primarily solves.Due to magnetic suck compact conformation, adsorption reliability, therefore the primary attachment mode becoming current mobile welding robot.But magnetic suck is very responsive to the change of absorption gap, when gap becomes large, absorption affinity declines rapidly, causes robot to drop from work wall.
Summary of the invention
The object of the invention is, for deficiency of the prior art, to propose a kind of Flexible magnetic adhesion method, can when gap change, magnetic adsorbability change is less.
The present invention is achieved by the following technical solutions.
A kind of be used for mobile welding robot Flexible magnetic adhesion method, 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); First magnetic conduction heel piece (1), the first magnetic patch (2), the absorbing unit formed 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), absorbing unit, flexible magnetic conductive media (7) and workpiece (8) is made to form magnetic circuit (9), and when absorbing unit and workpiece (8) distance change, flexible magnetic conductive media (7) remains and to contact between (8) with absorbing unit, workpiece, keeps magnetic circuit (9).
Flexible magnetic conductive media of the present invention refers to when magnetic conduction spatial variations, makes magnetic conduction space permeability change less magnetic conductive media by distortion or kinematic pair.
The present invention have structure simple, be easy to realize; Because increasing the flexible magnetic conductive media (7) of permeability much larger than air between absorbing unit and workpiece (8), during both gap changes, flexible magnetic conductive media (7) can keep contacting with both all the time, and permeability change is very little, therefore when between absorbing unit and workpiece (8), gap changes, absorption affinity change is very little.
Accompanying drawing explanation
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 is absorption magnetic circuit, and arrow is magnetic line of force direction.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the present invention includes the first magnetic conduction heel piece 1, be arranged on the absorbing unit of the compositions such as the first absorption magnetic patch 2 below this magnetic conduction heel piece, the 3rd magnetic conduction heel piece 6 below magnetic patch 3, second absorption magnetic patch 4 and the first magnetic patch 2 below the second magnetic conduction heel piece 5, second magnetic patch 4 on the left of magnetic patch 3 on the right side of magnetic patch 3, flexible magnetic conductive media 7 and workpiece 8; Absorbing unit, flexible magnetic conductive media 7 and workpiece 8 form magnetic circuit 9.When absorbing unit and workpiece 8 spacing change, flexible magnetic conductive media 7 can keep contacting with both all the time, and permeability change is very little, thus it is very little that absorption is changed.
Claims (1)
1. for the Flexible magnetic adhesion method of 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); 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) composition absorbing unit, it is characterized in that between absorbing unit and workpiece (8), increase by a flexible magnetic conductive media (7), absorbing unit, flexible magnetic conductive media (7) and workpiece (8) is made to form magnetic circuit (9), and when absorbing unit and workpiece (8) distance change, flexible magnetic conductive media (7) remains and to contact between (8) with absorbing unit, workpiece, 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 CN103008936A (en) | 2013-04-03 |
| CN103008936B true CN103008936B (en) | 2015-04-15 |
Family
ID=47958340
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 (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
Family Cites Families (4)
| 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 |
| JP5544599B2 (en) * | 2010-06-28 | 2014-07-09 | 国立大学法人東京工業大学 | Magnetic adsorption vehicle |
-
2012
- 2012-11-27 CN CN201210489710.6A patent/CN103008936B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102431635A (en) * | 2011-10-25 | 2012-05-02 | 清华大学 | Permanent magnetic adsorption-type crawler traveling mechanism used for underwater crawling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103008936A (en) | 2013-04-03 |
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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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| TR01 | Transfer of patent right | ||
| 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 |