CN106428280A - Magnetic force speed changing adjusting device for magnetic adsorption robot - Google Patents
Magnetic force speed changing adjusting device for magnetic adsorption robot Download PDFInfo
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- CN106428280A CN106428280A CN201611003859.3A CN201611003859A CN106428280A CN 106428280 A CN106428280 A CN 106428280A CN 201611003859 A CN201611003859 A CN 201611003859A CN 106428280 A CN106428280 A CN 106428280A
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- screw
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- speed changing
- magnet
- varying pitch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a magnetic force speed changing adjusting device for a magnetic adsorption robot. The device comprises a permanent magnet, a magnet base plate, a varying pitch screw linear motor, a supporting plate, a car body, a force sensor and a controller, wherein the permanent magnet is arranged on the magnet base plate, the permanent magnet is arranged on one end surface of the magnet base plate, the varying pitch screw linear motor is fixed on the supporting plate, the varying pitch screw linear motor drives the magnet base plate to move, one end of the force sensor is fixed on the car body, the other end of the force sensor is fixed on the supporting plate, the varying pitch screw linear motor and the force sensor are connected to the controller respectively, the varying pitch screw linear motor comprises a driving motor, a transmission mechanism, a screw and a push rod, the driving motor drives the screw to rotate through the transmission mechanism, external screw thread of the varying pitch is arranged on the screw, the push rod is arranged on the screw in a sleeved mode, one end of the push rod is connected to the screw thread of the screw in a matched mode, and one end of the push rod is connected to the magnet base plate. The magnet force speed changing adjusting device is fast in magnetic force regulating speed and good in control accuracy.
Description
Technical field
The present invention relates to detection technique field, more particularly, to a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot.
Background technology
In Military and civil fields such as ship, special equipment, nuclear industry, there is wide practical prospect in magnetic suck robot, can replace
It is used for the work such as high-altitude rust cleaning, inspection, spray painting flaw detection for people, improve operating efficiency, save human cost.Restriction climbing robot
Technology widespread adoption in actual working environment a key factor be climbing robot absorption affinity.Too small absorption affinity shadow
Ring the work safety of robot, excessive absorption affinity affects the kinematic dexterity of robot, thus adsorption magnetic force is one to pass
Important parameter, whether magnetic force stably directly influences the service behaviour of robot.Quick adjustment robot absorption affinity is to optimum
In the range of value, the wall that can improve robot uses adaptability and kinematic dexterity.Existing magnetic-adsorption climbs wall machine at present
Device people does not typically possess magnetic force tunable arrangement, or does not possess magnetic force high-speed adjustment device.
Therefore, for solving prior art the drawbacks of, because magnetic force size is tight apart from magnitude relationship with permanent magnet and wall,
When permanent magnet becomes big with wall distance, magnetic force diminishes quickly, conversely, when permanent magnet is reduced with wall distance, magnetic force increases
Quickly, drive magnetic force adjusting apparatus by varying pitch screw linear electric motors, meet in the case of same straight line power of motor, root
According to pressure sensor detect magnetic force size, realize the quick regulation of magnetic adsorption wall climbing robot magnetic force, make climbing robot
All the time it is in the range of optimum absorption affinity.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, a kind of magnetic force speed change of magnetic suck robot is provided to adjust
Device.
The technical solution used in the present invention is：
A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot, it includes permanent magnet, magnet chassis, varying pitch screw straight-line electric
Machine, gripper shoe, car body, force snesor and controller, described permanent magnet is arranged on magnet chassis, and described permanent magnet is located at magnet
On the end face of chassis, described varying pitch screw linear electric motors are fixed on gripper shoe, and varying pitch screw linear electric motors drive magnetic
Iron chassis move, and one end of described force snesor is fixed on described car body, and the other end of force snesor is fixed on described
On fagging, varying pitch screw linear electric motors and force snesor connect controller respectively, and described varying pitch screw linear electric motors include
Motor, transmission mechanism, screw rod and push rod, motor passes through transmission mechanism drive screw turns, and screw rod is provided with change spiral shell
Away from external screw thread, push rod is set on screw rod, and one end of push rod and screw flight are connected, and one end of push rod connects magnet
Chassis.
Further, the pitch of described screw rod tapers into along screw rod one end to the other end；When permanent magnet is close to wall
During face, described varying pitch screw linear electric motors are operated in fine pitch state, and output torque is big, adjust relatively with the distance of wall wall
For precision；When permanent magnet from wall farther out when, described varying pitch screw linear electric motors are operated in big pitch state, output torque
Little, point-to-point speed is very fast, can quickly adjust the size of absorption affinity.
Further, described transmission mechanism includes first gear and second gear, and first gear is fixed on motor
On output shaft, second gear is fixed on one end of screw rod, and first gear and second gear are meshed.
Further, described permanent magnet is more than 2, and N, S of the permanent magnet of more than 2 are extremely spaced apart.
Further, described permanent magnet is molded by neodymium-iron-boron magnetic material.
Further, described force snesor is resistance strain type pressure sensor.
Further, described resistance strain type pressure sensor includes elastomer, resistance strain gage, Huygens's electric bridge, electricity
On elastomer, resistance strain gage electrically connects Huygens's electric bridge to resistance foil gauge, and when elastomer deforms upon, Huygens's electric bridge is defeated
Go out not good enough signal.Due to being measured using full-bridge difference channel, thus having temperature compensation function.
Further, described Huygens's electric bridge passes through AD sample circuit and DSP reading circuit connects controller, and described AD adopts
Sample circuit and described DSP reading circuit collection read voltage signal.By the magnetic being gathered using 24 AD and DSP reading process
Force signal, therefore precision is more preferably, speed is faster.
Further, present invention additionally comprises more than 2 be vertically directed bar, be vertically directed bar interval be fixed on magnet chassis
Another side on, described car body correspondence is vertically directed at bar and offers guide through hole.
The present invention adopts above technical scheme, using inexpensive force snesor, the magnetic adsorbability of permanent magnet is fed back
Information, and carry out magnetic force adjustment using varying pitch screw, can be maximum according to the reality of work situation of magnetic-adsorption climbing robot
The power of the utilization linear electric motors of degree, quickly accurately adjusts the relative distance between climbing robot and wall, thus controlling
Absorption affinity processed is to optimized scope.The control accuracy of the present invention is good, and speed is fast, and takes notice of that outgoing magnetisation iron will not directly be adsorbed in
On metope.
Brief description
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details；
Fig. 1 is a kind of structural representation of the magnetic force speed changing adjusting apparatus of magnetic suck of present invention robot；
Fig. 2 is that a kind of varying pitch screw structure of the linear motion actuator of the magnetic force speed changing adjusting apparatus of magnetic suck of present invention robot is illustrated
Figure.
Specific embodiment
As shown in Figure 1 or 2, the present invention discloses a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot, and it is included forever
Magnet 1, magnet chassis 2, varying pitch screw linear electric motors 4, gripper shoe 5, car body 7, force snesor 6 and controller（The non-table of in figure
Show）, described permanent magnet 1 is arranged on magnet chassis 2, described permanent magnet 1 on the end face of magnet chassis 2, described varying pitch
Screw rod linear electric motors 4 are fixed on gripper shoe 5, and move in varying pitch screw linear electric motors 4 band moving magnet chassis 2, described power passes
One end of sensor 6 is fixed on described car body 7, and the other end of force snesor 6 is fixed in described gripper shoe 5, varying pitch spiral shell
Bar linear electric motors 4 and force snesor 6 connect controller respectively, and described varying pitch screw linear electric motors 4 include motor 41, pass
Motivation structure 42, screw rod 43 and push rod 44, motor 41 is rotated by transmission mechanism 42 drive screw 43, and screw rod 43 is provided with change
The external screw thread 431 of pitch, push rod 44 is set on screw rod 43, and one end of push rod 44 is connected with the screw thread of screw rod 43, push rod
44 one end connects magnet chassis 2.As another embodiment, described varying pitch screw linear electric motors 4 also include fixed plate
45 and protection sleeve 46, described motor 41 and screw rod 43 are fixed in fixed plate 45, and described protection sleeve 46 is set in and pushes away
The outside of bar 44, it is to avoid extraneous dust or other materials cause damage to screw rod 43.
Further, the pitch of described screw rod 43 tapers into along screw rod 43 one end to the other end；When permanent magnet 1 is close to wall
During wall wall, described varying pitch screw linear electric motors 4 are operated in fine pitch state, and output torque is big, the distance with wall wall
Adjustment is more accurate；When permanent magnet 1 from wall farther out when, described varying pitch screw linear electric motors 4 are operated in big pitch state, defeated
Go out moment little, point-to-point speed is very fast, can quickly adjust the size of absorption affinity.
Further, described transmission mechanism 42 includes first gear 421 and second gear 422, and first gear 421 is fixed on
On the output shaft of motor 41, second gear 422 is fixed on one end of screw rod 43, first gear 421 and second gear 422 phase
Engagement.
Further, described permanent magnet 1 is more than 2, and N, S of the permanent magnet 1 of more than 2 are extremely spaced apart.
Further, described permanent magnet 1 is molded by neodymium-iron-boron magnetic material.
Further, described force snesor 6 is resistance strain type pressure sensor 6.
Further, described resistance strain type pressure sensor 6 includes elastomer, resistance strain gage, Huygens's electric bridge, electricity
On elastomer, resistance strain gage electrically connects Huygens's electric bridge to resistance foil gauge, and when elastomer deforms upon, Huygens's electric bridge is defeated
Go out not good enough signal.Due to being measured using full-bridge difference channel, thus having temperature compensation function.
Further, described Huygens's electric bridge passes through AD sample circuit and DSP reading circuit connects controller, and described AD adopts
Sample circuit and described DSP reading circuit collection read voltage signal.By the magnetic being gathered using 24 AD and DSP reading process
Force signal, therefore precision is more preferably, speed is faster.
Further, present invention additionally comprises more than 2 be vertically directed bar 8, be vertically directed bar 8 interval be fixed on magnet bottom
On the another side of disk 2, described car body 7 correspondence is vertically directed and offers guide through hole at bar 8.
The present invention adopts above technical scheme, using inexpensive force snesor 6, the magnetic adsorbability of permanent magnet 1 is carried out instead
Feedforward information, and carry out magnetic force adjustment using varying pitch screw 43, can according to the reality of work situation of magnetic-adsorption climbing robot,
Farthest utilize the power of linear electric motors, quickly accurately adjust the relative distance between climbing robot and wall, from
And control absorption affinity to optimized scope.The control accuracy of the present invention is good, and speed is fast, and takes notice of that outgoing magnetisation iron will not directly be inhaled
Invest on metope.
Claims (9)
1. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：It includes permanent magnet, magnet chassis, change
Pitch screw linear electric motors, gripper shoe, car body, force snesor and controller, described permanent magnet is arranged on magnet chassis, described
On the end face of magnet chassis, described varying pitch screw linear electric motors are fixed on gripper shoe permanent magnet, varying pitch screw
Linear electric motors band moving magnet bobbin movement, one end of described force snesor is fixed on described car body, force snesor another
End is fixed in described gripper shoe, and varying pitch screw linear electric motors and force snesor connect controller respectively, described varying pitch spiral shell
Bar linear electric motors include motor, transmission mechanism, screw rod and push rod, and motor passes through transmission mechanism drive screw turns,
Screw rod is provided with the external screw thread of varying pitch, and push rod is set on screw rod, and one end of push rod and screw flight are connected, push rod
One end connect magnet chassis.
2. according to claim 1 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described screw rod
Pitch taper into along screw rod one end to the other end；When permanent magnet is close to wall wall, described varying pitch screw straight-line electric
Machine is operated in fine pitch state；When permanent magnet from wall farther out when, described varying pitch screw linear electric motors are operated in big pitch shape
State.
3. according to claim 1 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described transmission
Mechanism includes first gear and second gear, and first gear is fixed on the output shaft of motor, and second gear is fixed on spiral shell
One end of bar, first gear and second gear are meshed.
4. according to claim 1 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described permanent magnetism
Iron is more than 2, and N, S of the permanent magnet of more than 2 are extremely spaced apart.
5. according to claim 1 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described permanent magnetism
Iron is molded by neodymium-iron-boron magnetic material.
6. according to claim 1 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described power passes
Sensor is resistance strain type pressure sensor.
7. according to claim 6 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described resistance
Strain pressure transducer includes elastomer, resistance strain gage, Huygens's electric bridge, resistance strain gage on elastomer, resistance
Foil gauge electrically connects Huygens's electric bridge, and when elastomer deforms upon, Huygens's electric bridge exports not good enough signal.
8. according to claim 7 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Described favour is more
This electric bridge passes through AD sample circuit and DSP reading circuit connects controller, and described AD sample circuit and described DSP reading circuit are adopted
Collection read voltage signal.
9. according to claim 1 a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot it is characterised in that：Also include 2
Individual above be vertically directed bar, be vertically directed bar interval and be fixed on the another side on magnet chassis, described car body correspondence is vertically led
Offer guide through hole at bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611003859.3A CN106428280B (en) | 2016-11-15 | 2016-11-15 | A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611003859.3A CN106428280B (en) | 2016-11-15 | 2016-11-15 | A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot |
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| CN106428280A true CN106428280A (en) | 2017-02-22 |
| CN106428280B CN106428280B (en) | 2018-11-20 |
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| CN201611003859.3A Active CN106428280B (en) | 2016-11-15 | 2016-11-15 | A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828659A (en) * | 2017-03-28 | 2017-06-13 | 新疆交通职业技术学院 | A kind of new desert moves ahead dolly |
| CN107161286A (en) * | 2017-05-31 | 2017-09-15 | 宜昌江峡船用机械有限责任公司 | Balance adjusting device and leveling method in diving apparatus water |
| CN107487391A (en) * | 2017-08-23 | 2017-12-19 | 河北工业大学 | A kind of adjustable crawler-type wall climbing robot of suction |
| CN109050701A (en) * | 2018-07-13 | 2018-12-21 | 西南石油大学 | A kind of foot formula magnetic adsorption wall climbing robot |
| CN109605368A (en) * | 2018-11-29 | 2019-04-12 | 芜湖常瑞汽车部件有限公司 | A kind of robot trajectory's real-time control system based on force feedback |
| CN109648689A (en) * | 2018-12-29 | 2019-04-19 | 河南金厦智能装配建筑科技有限公司 | It is a kind of for placing the intelligent pallet arrangement of PC side mode |
| CN109927807A (en) * | 2019-04-24 | 2019-06-25 | 重庆科技学院 | A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface |
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| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN206171600U (en) * | 2016-11-15 | 2017-05-17 | 福建省特种设备检验研究院 | Magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts |
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Patent Citations (5)
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| JPH10175575A (en) * | 1996-12-19 | 1998-06-30 | Osaka Gas Co Ltd | Control device for magnetic attraction moving body |
| CN201633804U (en) * | 2009-11-03 | 2010-11-17 | 大连海事大学 | Climbing robot for descaling ship walls |
| CN104440952A (en) * | 2014-11-21 | 2015-03-25 | 清华大学 | Permanent magnet platform and permanent magnet gap attraction device comprising same |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828659A (en) * | 2017-03-28 | 2017-06-13 | 新疆交通职业技术学院 | A kind of new desert moves ahead dolly |
| CN106828659B (en) * | 2017-03-28 | 2023-03-10 | 新疆交通职业技术学院 | Novel desert advance dolly |
| CN107161286A (en) * | 2017-05-31 | 2017-09-15 | 宜昌江峡船用机械有限责任公司 | Balance adjusting device and leveling method in diving apparatus water |
| CN107161286B (en) * | 2017-05-31 | 2023-11-17 | 宜昌江峡船用机械有限责任公司 | Submersible equipment underwater balance adjusting device and leveling method |
| CN107487391A (en) * | 2017-08-23 | 2017-12-19 | 河北工业大学 | A kind of adjustable crawler-type wall climbing robot of suction |
| CN107487391B (en) * | 2017-08-23 | 2023-09-15 | 河北工业大学 | Suction-adjustable crawler-type wall climbing robot |
| CN109050701A (en) * | 2018-07-13 | 2018-12-21 | 西南石油大学 | A kind of foot formula magnetic adsorption wall climbing robot |
| CN109605368A (en) * | 2018-11-29 | 2019-04-12 | 芜湖常瑞汽车部件有限公司 | A kind of robot trajectory's real-time control system based on force feedback |
| CN109648689A (en) * | 2018-12-29 | 2019-04-19 | 河南金厦智能装配建筑科技有限公司 | It is a kind of for placing the intelligent pallet arrangement of PC side mode |
| CN109648689B (en) * | 2018-12-29 | 2024-01-05 | 南阳精工匠人装配建筑科技有限公司 | A intelligent layer board device for placing PC side forms |
| CN109927807A (en) * | 2019-04-24 | 2019-06-25 | 重庆科技学院 | A kind of intelligent mobile robot of adaptive complexity 3D metal curved surface |
Also Published As
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| CN106428280B (en) | 2018-11-20 |
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