CN103481276B - A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment - Google Patents
A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment Download PDFInfo
- Publication number
- CN103481276B CN103481276B CN201310424613.3A CN201310424613A CN103481276B CN 103481276 B CN103481276 B CN 103481276B CN 201310424613 A CN201310424613 A CN 201310424613A CN 103481276 B CN103481276 B CN 103481276B
- Authority
- CN
- China
- Prior art keywords
- magnet
- magnetic
- magnetic support
- permanent
- regulating handle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of absorption affinity adjustable permanent magnetism gap 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 magnet is fixedly mounted in magnetic support by magnet driver plate, and magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle; Magnet regulating handle is connected with magnet camshaft, and rotor magnet regulating handle can realize magnetic adsorbability between adsorbent equipment and magnetic conduction workpiece.The present invention can be installed on mobile robot platform in magnetic work, and improve the Static and dynamic stability of mobile robot platform, meanwhile, absorption affinity is adjustable makes the carrying of mobile robot platform more convenient, laborsaving, reduces the labour intensity of workman.
Description
Technical field
The present invention relates to a kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment, particularly relate to a kind of for mobile robot platform in magnetic work for improving the permanent magnetism gap adsorbent equipment of stability.
Background technology
In the prior art, in order to improve adhesive force and the stability of the mobile mobile robot platform worked on magnetic conduction workpiece, usually magnetic adsorption device is increased on a mobile platform.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 on to be arranged between the magnetic patch of mobile robot platform and magnetic conduction workpiece provides absorption affinity.The applying date is on September 9th, 2005, application number is " a kind of non-contact magnetically adsorbed wall climbing robot " that the patent of 200510086383.X relates to, this robot adopts gap permanent magnetic adhesion device to be installed on climbing robot chassis, magnetic energy utilization rate is high, absorption affinity is strong, and robot motion is flexible.
Magnetic wheel type adsorbent equipment operation principle relies on magnet-wheel and magnetic conduction absorption surface to make it be adsorbed on workpiece, and be characterized in that mobile robot platform kinematic dexterity is better, but the contact area of magnet-wheel and workpiece is little, cause magnetic energy utilization rate not high, adhesive force is little.
Crawler type adsorbent equipment operation principle relies on the magnetic patch be arranged in crawler-type mobile mechanism to be adsorbed on magnetic conduction workpiece, be characterized in that load capacity is strong, but mobile robot platform kinematic dexterity is poor, particularly when carrying out divertical motion, because between crawler belt and magnetic conduction workpiece, contact area is large, steering drag is large, and turning radius is large, and steering flexibility is poor.
In above-mentioned various magnetic adsorption device, magnetic patch is arranged on robot chassis or with magnetic conduction workpiece and directly contacts, and between it, 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 magnetic conduction workpiece, and carrying is inconvenient.
Summary of the invention
The object of the invention is the shortcoming for prior art, a kind of absorption affinity adjustable permanent magnetism 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 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; Magnet driver plate adopts permeability magnetic material manufacture, is installed on magnetic support, for fixing permanent magnet; Magnet cam sleeve adopts three bolts to be installed on mobile robot chassis; Magnet camshaft is installed in magnet cam sleeve, and magnet regulating handle is installed in its axle one end, and the cam of the other end contacts with magnet driver plate lower surface; Magnet regulating handle is connected by pin with magnet camshaft.
Because the absorption affinity between magnet with permeability magnetic material is relevant with air gap between the two, so the present invention is by the air gap between permanent magnet and magnetic conduction workpiece, change absorption affinity size between the two;
When mobile robot chassis normally works, the basic circle of the cam of magnet camshaft contacts with magnet driver plate, and now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, and magnetic adsorbability is maximum, and robot stabilization is best; When rotor magnet regulating handle certain angle, the cam upwards jack-up magnet driver plate of magnet camshaft, makes magnetic support rotate around magnetic support axle, thus the distance of permanent magnet and magnetic conduction workpiece is increased, thus magnetic adsorbability is reduced; When staff needs transfer robot, magnet regulating handle can be made to rotate the angle of 90 degree, and now the distance of permanent magnet and magnetic conduction workpiece is maximum, and magnetic adsorbability is minimum, the most laborsaving.
Beneficial effect of the present invention: the mobile robot chassis adopting described permanent magnetism gap adsorbent equipment, adhesive force is large, improves driving force and Static and dynamic stability.Because absorption affinity is adjustable, make robot safe in handling process, laborsaving.
Accompanying drawing explanation
Fig. 1 is the structural representation of absorption affinity of the present invention adjustable permanent magnetism gap adsorbent equipment;
Fig. 2 is the upward view of absorption affinity of the present invention adjustable permanent magnetism gap adsorbent equipment;
Structural representation when Fig. 3 is absorption affinity of the present invention adjustable permanent magnetism gap adsorption device adsorbs power maximum position;
Structural representation when Fig. 4 is absorption affinity of the present invention adjustable permanent magnetism gap adsorption device adsorbs power 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.
Detailed description of the invention
Accompanying drawings is as follows:
Permanent magnetism gap adsorbent equipment structure that absorption affinity of the present invention is adjustable, comprises 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 permeability magnetic material manufacture, is installed on magnetic support (3), 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 magnet regulating handle (6) is installed in its axle one end, 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 the absorption affinity between magnet with permeability magnetic material is relevant with air gap between the two, so the present invention is by the air gap between permanent magnet (8) and magnetic conduction workpiece, change absorption affinity size between the two.
When mobile robot chassis normally works, 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 are apart from minimum, and magnetic adsorbability is maximum, and robot stabilization is best; When rotor magnet regulating handle (6) certain angle, the cam upwards jack-up magnet driver plate (7) of magnet camshaft (4), magnetic support (3) is rotated around magnetic support axle (2), thus permanent magnet (8) is increased with the distance of magnetic conduction workpiece, thus magnetic adsorbability is reduced.When staff needs transfer robot, as shown in Figure 4, magnet regulating handle (6) can be made to rotate the angle of 90 degree, and now permanent magnet (8) is maximum with the distance of magnetic conduction workpiece, and now magnetic adsorbability is minimum, the most laborsaving.
Claims (1)
1. an absorption affinity adjustable permanent magnetism gap adsorbent equipment, comprises magnet regulating handle, it is characterized in that: described adsorbent equipment also comprises: 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 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; Magnet driver plate adopts permeability magnetic material manufacture, is installed on magnetic support, for fixing permanent magnet; Magnet cam sleeve adopts three bolts to be installed on mobile robot chassis; Magnet camshaft is installed in magnet cam sleeve, and magnet regulating handle is installed in its axle one end, and the cam of the other end contacts with magnet driver plate lower surface; Magnet regulating handle is connected by pin with magnet camshaft;
By the air gap between permanent magnet and magnetic conduction workpiece, change absorption affinity size between the two;
When mobile robot chassis normally works, the basic circle of the cam of magnet camshaft contacts with magnet driver plate, and now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, and magnetic adsorbability is maximum, and robot stabilization is best; When rotor magnet regulating handle certain angle, the cam upwards jack-up magnet driver plate of magnet camshaft, makes magnetic support rotate around magnetic support axle, thus the distance of permanent magnet and magnetic conduction workpiece is increased, thus magnetic adsorbability is reduced; When staff needs transfer robot, magnet regulating handle can be made to rotate the angle of 90 degree, and now the distance of permanent magnet and magnetic conduction workpiece is maximum, and magnetic adsorbability is minimum, 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103481276A CN103481276A (en) | 2014-01-01 |
| CN103481276B true CN103481276B (en) | 2016-04-06 |
Family
ID=49822045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310424613.3A Expired - Fee Related CN103481276B (en) | 2013-09-18 | 2013-09-18 | A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103481276B (en) |
Families Citing this family (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 |
| 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 |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN201833419U (en) * | 2010-10-18 | 2011-05-18 | 俞荣梁 | Device for controlling cutting distance |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3472004B2 (en) * | 1995-12-20 | 2003-12-02 | 住重テクノセンター株式会社 | Processing cart |
| JP3372434B2 (en) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | Wall adsorption type moving device |
| ITBS20070154A1 (en) * | 2007-10-11 | 2009-04-12 | Tecnomac Srl | MOBILE ROBOT WITH MAGNETIC ANCHORING |
-
2013
- 2013-09-18 CN CN201310424613.3A patent/CN103481276B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN201833419U (en) * | 2010-10-18 | 2011-05-18 | 俞荣梁 | Device for controlling cutting distance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103481276A (en) | 2014-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1321781C (en) | Non-contact magnetically adsorbed wall climbing robot | |
| CN102689296B (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN205819364U (en) | A kind of electromagnetic adsorption type climbing robot | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN101947777B (en) | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system | |
| CN202243767U (en) | Magnetic adsorption type wall-climbing robot | |
| CN202400191U (en) | Permanent-magnet attraction wheel type iron-wall crawling robot | |
| CN102672704A (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN102689295B (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| CN107226146B (en) | A kind of adjustable suspension fork mechanism of three axis for robot | |
| CN103481276B (en) | A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment | |
| CN204250039U (en) | A kind of air cushion suspended transport vehicle is accurately walked servo motor driving device | |
| CN102673670A (en) | Novel full driving composite adsorption climbing robot | |
| CN106608306A (en) | Wall-climbing robot | |
| CN202686558U (en) | Magnetic adsorption universal wheel device for magnetically adsorbing wall-climbing robot | |
| CN206384065U (en) | A kind of transfer of wheeled magnetic adsorption wall climbing robot | |
| CN103495968B (en) | A kind of mobile welding robot body chassis | |
| CN102700646A (en) | Fully-driven magnet-adsorption type multifunctional wall-climbing robot with small folding robotic arm | |
| Li et al. | Novel omnidirectional climbing robot with adjustable magnetic adsorption mechanism | |
| CN202753150U (en) | Differential driving magnetic adsorption type multifunctional wall-climbing robot with multi-freedom-degree mechanical arm | |
| CN203449327U (en) | Permanent-magnetic clearance adsorption device | |
| CN203449966U (en) | Differentially driven mobile robot chassis mechanism | |
| CN103009917A (en) | Compound wheel of movable welding robot | |
| CN103659076A (en) | Magnetically crawling type welding machine for steel structures | |
| CN202622793U (en) | Novel all-wheel-drive composite adsorption type wall-climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20200918 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |