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 PDF

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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
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China
Prior art keywords
magnet
magnetic
magnetic support
permanent
regulating handle
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Expired - Fee Related
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CN201310424613.3A
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Chinese (zh)
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CN103481276A (en
Inventor
张华�
熊德琛
叶艳辉
陈庆东
高延峰
葛斯嘉
王帅
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Jishou Wo Huade Robot Science And Technology Ltd Co
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Jishou Wo Huade Robot Science And Technology Ltd Co
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Priority to CN201310424613.3A priority Critical patent/CN103481276B/en
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Publication of CN103481276B publication Critical patent/CN103481276B/en
Expired - Fee Related legal-status Critical Current
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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

A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment
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.
CN201310424613.3A 2013-09-18 2013-09-18 A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment Expired - Fee Related CN103481276B (en)

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

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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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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

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