CN103481276A - Permanent-magnet gap suction apparatus with adjustable suction force - Google Patents
Permanent-magnet gap suction apparatus with adjustable suction force Download PDFInfo
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- CN103481276A CN103481276A CN201310424613.3A CN201310424613A CN103481276A CN 103481276 A CN103481276 A CN 103481276A CN 201310424613 A CN201310424613 A CN 201310424613A CN 103481276 A CN103481276 A CN 103481276A
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Abstract
The invention discloses a permanent-magnet gap suction apparatus with adjustable suction force. The permanent-magnet gap suction apparatus comprises a magnet adjusting handle, a magnet cam shaft, a magnet cam shaft sleeve, a magnet transmission plate, magnet bases, permanent magnets, magnet base bearing blocks and magnet base shafts; the permanent magnets are fixedly mounted in the magnet bases by the aid of the magnet transmission plate, and the magnet bases are connected with a supporting base plate by the magnet base bearing blocks and can respectively rotate around the magnet base shafts; the magnet adjusting handle is connected with the magnet cam shaft, and magnet adjusting handle can rotate, so that the magnetic suction force can be generated between the suction apparatus and a magnetic-permeable workpiece. The permanent-magnet gap suction apparatus has the advantages that permanent-magnet gap suction apparatus can be mounted on the magnetic workpiece on a movable robot platform, so that the static stability and the dynamic stability of the robot platform can be improved; the suction force is adjustable, so that the movable robot platform can be carried conveniently in a labor-saving manner, and the labor intensity of workers can be reduced.
Description
Technical field
The present invention relates to a kind of absorption affinity and can regulate permanent magnetism gap adsorbent equipment, relate in particular to a kind of for mobile robot platform on magnetic work for improving the permanent magnetism gap adsorbent equipment of stability.
Background technology
In the prior art, for adhesive force and the stability that improves the mobile mobile robot platform of working on the magnetic conduction workpiece, usually on mobile platform, increase magnetic adsorption device.The main magnetic adsorption device adopted has permanent magnetism clearance-type, magnetic wheel type, crawler type adsorbent equipment at present.
Permanent magnetism clearance-type adsorbent equipment is a kind of contactless adsorbent equipment, and its operation principle relies between the magnetic patch that is arranged on mobile robot platform and magnetic conduction workpiece absorption affinity is provided.The applying date is on September 9th, 2005, " a kind of non-contact magnetically adsorbed wall climbing robot " that the patent that application number is 200510086383.X relates to, this robot adopts the gap permanent magnetic adhesion device to be installed on the climbing robot chassis, the magnetic energy utilization rate is high, absorption affinity is strong, and the robot motion is flexible.
Magnetic wheel type adsorbent equipment operation principle is to rely on magnet-wheel to contact it is adsorbed on workpiece with the magnetic conduction workpiece, be characterized in that the mobile robot platform kinematic dexterity is better, but the contact area of magnet-wheel and workpiece is little, causes the magnetic energy utilization rate not high, and adhesive force is little.
Crawler type adsorbent equipment operation principle is to rely on the magnetic patch be arranged in crawler-type mobile mechanism to be adsorbed on the magnetic conduction workpiece, be characterized in that load capacity is strong, but the mobile robot platform kinematic dexterity is poor, particularly when carrying out divertical motion, because contact area between crawler belt and magnetic conduction workpiece is large, steering drag is large, and turning radius is large, and steering flexibility is poor.
In above-mentioned various magnetic adsorption devices, magnetic patch is arranged on the robot chassis or with the magnetic conduction workpiece and directly contacts, and between it, the absorption affinity size is uncontrollable.Although can give security, robot moving platform has enough absorption affinities at work, robot body is separated very difficult with the magnetic conduction workpiece, and carrying is inconvenient.
Summary of the invention
The objective of the invention is the shortcoming for prior art, the adjustable permanent magnetism of a kind of absorption affinity gap adsorbent equipment is provided, particularly a kind of permanent magnetism gap adsorbent equipment that can regulate absorption affinity between robot chassis and magnetic conduction workpiece.
Absorption affinity of the present invention is adjustable, and permanent magnetism gap adsorbent equipment structure comprises: magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle; Permanent magnetism gap adsorbent equipment makes two magnetic support bearing blocks be connected with the mobile robot chassis by bolt; Described magnetic support is connected by two magnetic support axles with two magnetic support bearing blocks, and four permanent magnets are arranged in magnetic support; The magnet driver plate adopts the permeability magnetic material manufacture, is installed on magnetic support, for fixing permanent magnet; The magnet cam sleeve adopts three bolts to be installed on the mobile robot chassis; The magnet camshaft is installed in the magnet cam sleeve, and its axle one end is installed the magnet regulating handle, and the cam of the other end contacts with magnet driver plate lower surface; The magnet regulating handle is connected by pin with the magnet camshaft.
Because magnet is relevant with air gap between the two with the absorption affinity between permeability magnetic material, so the present invention, by the air gap between permanent magnet and magnetic conduction workpiece, changes absorption affinity size between the two;
In mobile robot chassis when normal operation,, the basic circle of the cam of magnet camshaft contacts with the magnet driver plate, and now magnetic adsorption device and magnetic conduction workpiece be apart from minimum, the magnetic adsorbability maximum, and robot stabilization is best; When rotor magnet regulating handle certain angle, the cam of the magnet camshaft jack-up magnet driver plate that makes progress, make magnetic support rotate around the magnetic support axle, thereby make the distance increase of permanent magnet and magnetic conduction workpiece, thereby magnetic adsorbability is reduced; When the staff needs transfer robot, can make the magnet regulating handle rotate the angle of 90 degree, now the distance of permanent magnet and magnetic conduction workpiece is maximum, and the magnetic adsorbability minimum is the most laborsaving.
Beneficial effect of the present invention: adopt the mobile robot chassis of described permanent magnetism gap adsorbent equipment, adhesive force is large, improves driving force and Static and dynamic stability.Because absorption affinity can be regulated, make robot safe in handling process, laborsaving.
The accompanying drawing explanation
The structural representation that Fig. 1 is the adjustable permanent magnetism of absorption affinity of the present invention gap adsorbent equipment;
The upward view that Fig. 2 is the adjustable permanent magnetism of absorption affinity of the present invention gap adsorbent equipment;
Structural representation when Fig. 3 is the adjustable permanent magnetism of absorption affinity of the present invention gap adsorbent equipment absorption affinity maximum position;
Structural representation when Fig. 4 is the adjustable permanent magnetism of absorption affinity of the present invention gap adsorbent equipment absorption affinity minimum position;
In figure: 1, magnetic support bearing block 2, magnetic support axle 3, magnetic support 4, magnet camshaft 5, magnet cam sleeve 6, magnet regulating handle 7, magnet driver plate 8, permanent magnet 9, mobile robot chassis.
The specific embodiment
Accompanying drawings is as follows:
Permanent magnetism gap adsorbent equipment structure that absorption affinity of the present invention is adjustable, comprise magnet regulating handle (6), magnet camshaft (4), magnet cam sleeve (5), magnet driver plate (7), magnetic support (3), permanent magnet (8), magnetic support bearing block (1), magnetic support axle (2); Described permanent magnetism gap adsorbent equipment makes two magnetic support bearing blocks (1) be connected with mobile robot chassis (9) by bolt; Described magnetic support (3) is connected by two magnetic support axles (2) with two magnetic support bearing blocks (1), and four permanent magnets (8) are arranged in magnetic support (3); Described magnet driver plate (7) adopts the permeability magnetic material manufacture, is installed on magnetic support (3) upper, for fixing permanent magnet (8); Described magnet cam sleeve (5) adopts three bolts to be installed on mobile robot chassis (9); Described magnet camshaft (4) is installed in magnet cam sleeve (5), and its axle one end is installed magnet regulating handle (6), and the cam of the other end contacts with magnet driver plate (7) lower surface; Described magnet regulating handle (6) is connected by pin with magnet camshaft (4).
Because magnet is relevant with air gap between the two with the absorption affinity between permeability magnetic material, so the present invention changes absorption affinity size between the two by the air gap between permanent magnet (8) and magnetic conduction workpiece.
In mobile robot chassis when normal operation,, as shown in Figure 3, the basic circle of the cam of magnet camshaft (4) contacts with magnet driver plate (7), and now magnetic adsorption device and magnetic conduction workpiece be apart from minimum, the magnetic adsorbability maximum, and robot stabilization is best; When rotor magnet regulating handle (6) certain angle, the cam of magnet camshaft (4) the jack-up magnet driver plate (7) that makes progress, magnetic support (3) is rotated around magnetic support axle (2), thereby permanent magnet (8) and the distance of magnetic conduction workpiece are increased, thereby magnetic adsorbability is reduced.When the staff needs transfer robot, as shown in Figure 4, can make magnet regulating handle (6) rotate the angle of 90 degree, now permanent magnet (8) is maximum with the distance of magnetic conduction workpiece, and now the magnetic adsorbability minimum, the most laborsaving.
Claims (1)
1. an absorption affinity can be regulated permanent magnetism gap adsorbent equipment, and it is characterized in that: described adsorbent equipment comprises: magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle;
Permanent magnetism gap adsorbent equipment makes two magnetic support bearing blocks be connected with the mobile robot chassis by bolt; Described magnetic support is connected by two magnetic support axles with two magnetic support bearing blocks, and four permanent magnets are arranged in magnetic support; The magnet driver plate adopts the permeability magnetic material manufacture, is installed on magnetic support, for fixing permanent magnet; The magnet cam sleeve adopts three bolts to be installed on the mobile robot chassis; The magnet camshaft is installed in the magnet cam sleeve, and its axle one end is installed the magnet regulating handle, and the cam of the other end contacts with magnet driver plate lower surface; The magnet regulating handle is connected by pin with the magnet camshaft;
By the air gap between permanent magnet and magnetic conduction workpiece, change absorption affinity size between the two;
In mobile robot chassis when normal operation,, the basic circle of the cam of magnet camshaft contacts with the magnet driver plate, and now magnetic adsorption device and magnetic conduction workpiece be apart from minimum, the magnetic adsorbability maximum, and robot stabilization is best; When rotor magnet regulating handle certain angle, the cam of the magnet camshaft jack-up magnet driver plate that makes progress, make magnetic support rotate around the magnetic support axle, thereby make the distance increase of permanent magnet and magnetic conduction workpiece, thereby magnetic adsorbability is reduced; When the staff needs transfer robot, can make the magnet regulating handle rotate the angle of 90 degree, now the distance of permanent magnet and magnetic conduction workpiece is maximum, and the magnetic adsorbability minimum is the most laborsaving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310424613.3A CN103481276B (en) | 2013-09-18 | 2013-09-18 | A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310424613.3A CN103481276B (en) | 2013-09-18 | 2013-09-18 | A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment |
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| CN103481276A true CN103481276A (en) | 2014-01-01 |
| CN103481276B CN103481276B (en) | 2016-04-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440952B (en) * | 2014-11-21 | 2016-08-24 | 清华大学 | A kind of permanent magnet platform and use the permanent magnetism gap adsorbent equipment of this permanent magnet platform |
| CN108945142A (en) * | 2018-08-20 | 2018-12-07 | 南昌大学 | A kind of adjustable permanent magnetism gap adsorbent equipment of the adsorption capacity based on internal balance theory |
| CN111674484A (en) * | 2020-06-04 | 2020-09-18 | 大连理工大学 | Translation magnetic attraction wall-climbing robot suitable for large-curvature steel plate and working mode of translation magnetic attraction wall-climbing robot |
Citations (8)
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| JPH09168864A (en) * | 1995-12-20 | 1997-06-30 | Sumijiyuu Techno Center Kk | Working truck |
| JPH10151586A (en) * | 1996-11-19 | 1998-06-09 | Mitsubishi Heavy Ind Ltd | Wall surface attractive moving device |
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN1891397A (en) * | 2006-01-16 | 2007-01-10 | 胡宁成 | Gecko-type electromagnetic electric-driving machine product series |
| CN1923441A (en) * | 2006-09-07 | 2007-03-07 | 大连宝通工业控制有限公司 | Permanent-magnet orientating fastener for laser welding and cutting steel plate |
| US20100212983A1 (en) * | 2007-10-11 | 2010-08-26 | Tecnomac S.R.L. | Magnetic Coupling Mobile Robot |
| CN201833419U (en) * | 2010-10-18 | 2011-05-18 | 俞荣梁 | Device for controlling cutting distance |
-
2013
- 2013-09-18 CN CN201310424613.3A patent/CN103481276B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09168864A (en) * | 1995-12-20 | 1997-06-30 | Sumijiyuu Techno Center Kk | Working truck |
| JPH10151586A (en) * | 1996-11-19 | 1998-06-09 | Mitsubishi Heavy Ind Ltd | Wall surface attractive moving device |
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN1739925A (en) * | 2005-09-09 | 2006-03-01 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN1891397A (en) * | 2006-01-16 | 2007-01-10 | 胡宁成 | Gecko-type electromagnetic electric-driving machine product series |
| CN1923441A (en) * | 2006-09-07 | 2007-03-07 | 大连宝通工业控制有限公司 | Permanent-magnet orientating fastener for laser welding and cutting steel plate |
| US20100212983A1 (en) * | 2007-10-11 | 2010-08-26 | Tecnomac S.R.L. | Magnetic Coupling Mobile Robot |
| CN201833419U (en) * | 2010-10-18 | 2011-05-18 | 俞荣梁 | Device for controlling cutting distance |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440952B (en) * | 2014-11-21 | 2016-08-24 | 清华大学 | A kind of permanent magnet platform and use the permanent magnetism gap adsorbent equipment of this permanent magnet platform |
| CN108945142A (en) * | 2018-08-20 | 2018-12-07 | 南昌大学 | A kind of adjustable permanent magnetism gap adsorbent equipment of the adsorption capacity based on internal balance theory |
| CN108945142B (en) * | 2018-08-20 | 2023-10-31 | 南昌大学 | Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle |
| CN111674484A (en) * | 2020-06-04 | 2020-09-18 | 大连理工大学 | Translation magnetic attraction wall-climbing robot suitable for large-curvature steel plate and working mode of translation magnetic attraction wall-climbing robot |
| CN111674484B (en) * | 2020-06-04 | 2022-08-16 | 大连理工大学 | Translation magnetic attraction wall-climbing robot suitable for large-curvature steel plate and working mode of translation magnetic attraction wall-climbing robot |
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| CN103481276B (en) | 2016-04-06 |
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