CN107442982B - It is a kind of based on magnetic-type welding robot - Google Patents
It is a kind of based on magnetic-type welding robot Download PDFInfo
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- CN107442982B CN107442982B CN201710882053.4A CN201710882053A CN107442982B CN 107442982 B CN107442982 B CN 107442982B CN 201710882053 A CN201710882053 A CN 201710882053A CN 107442982 B CN107442982 B CN 107442982B
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- driving mechanism
- robot
- permanent magnet
- workbench
- magnetic field
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Abstract
The present invention relates to a kind of based on magnetic-type welding robot, including ontology, body bottom portion is equipped with permanent magnet, robot is adsorbed on workbench upper table equipped with track by the permanent magnet, body bottom portion is equipped with cam corresponding with track, cam can move in orbit, the midpoint of permanent magnet is hinged on support base, support base is located at the medium position of bottom, magnet block is equipped at the lower surface end positions of permanent magnet, the inner sidewall of body bottom portion is equipped with the iron block to attract each other with the magnet block, robot further includes the changes of magnetic field device for facilitating welding robot to dismount.By the change in magnetic field, so that magnetic-type robot is locally separated with workbench, robot may make easily to remove from workbench by isolated position.
Description
Technical field
The present invention relates to a kind of based on magnetic-type welding robot, belongs to robotic technology field.
Background technique
With the development of welding technology field, for some highly difficult weldings, often through welding robot into
Row, in order to ensure the stability of welding, welding robot generallys use the steady contact that permanent magnet ensures robot and track, by
It is strong in permanent permanent magnet suction, do not need additionally to power, be not concerned about power loss and slip, therefore there are many natural advantages, still
When magnetic force is very strong, places trolley and be just difficult to be directed at weld seam, adjustment also difficulty, also highly difficult when removing, therefore, it is desirable to can be as electricity
Permanent magnet arbitrarily changes the presence or absence of magnetic force like that.
In order to enable welding robot is removed, there are many unlocking mechanisms, but existing mechanical release mechanism is usually
The huge inconvenient use of not laborsaving enough or mechanism size, and need to be separately provided unlocking mechanism, it is cumbersome.
Summary of the invention
The technical problem to be solved by the present invention is overcome the technical problem that welding robot is not easy to disassemble in the prior art,
It provides a kind of based on magnetic-type welding robot, is not only able to realize accurate welding, is steadily adsorbed in workbench, Er Qierong
It is quick detachable.
The technical solution adopted by the present invention to solve the technical problems is: a kind of based on magnetic-type welding robot, packet
Ontology, the body bottom portion are included equipped with permanent magnet, the permanent magnet adsorbs robot on the table, and the workbench is equipped with
Track, the body bottom portion be equipped with cam corresponding with track, the cam can in the move in tracks, the permanent magnet
Midpoint is hinged on support base, and the support base is located at the medium position of bottom, the lower surface both ends position of the permanent magnet
It sets place and is equipped with magnet block, the inner sidewall of the body bottom portion is equipped with the iron block to attract each other with the magnet block, the robot
It further include the changes of magnetic field device for facilitating welding robot to dismount.
Preferably, the changes of magnetic field device includes the first driving mechanism and the second driving mechanism, first driving
Mechanism and the second driving mechanism are respectively arranged on the left and right sides of the support base and against the lower surfaces of the permanent magnet, described
Driving mechanism drives the end of permanent magnet to moving above or below ontology by adjusting oneself height；The robot
Lower front and rear side are equipped with inclination angle, form the first inclined surface for being located at front side bottom and incline positioned at the second of bottom rear
Inclined-plane；When first driving mechanism drops to preset height, the magnet block of place end is mutually attracted with iron block, and magnetic field is driven
It overturns robot and contacts the first inclined surface with workbench, so that bottom rear, which tilts, is detached from workbench.
Preferably, the changes of magnetic field device includes the first driving mechanism and the second driving mechanism, first driving
Mechanism and the second driving mechanism are respectively arranged on the left and right sides of the support base and against the lower surfaces of the permanent magnet, described
Driving mechanism drives the end of permanent magnet to moving above or below ontology by adjusting oneself height；The robot
Lower front and rear side are equipped with inclination angle, form the first inclined surface for being located at front side bottom and incline positioned at the second of bottom rear
Inclined-plane；When second driving mechanism drops to preset height, the magnet block of place end is mutually attracted with iron block, and magnetic field is driven
It overturns robot and contacts the second inclined surface with workbench, so that front side bottom, which tilts, is detached from workbench.
Preferably, the inclination angle is 10-15 °.
Preferably, first driving mechanism or the second driving mechanism include motor, fixed link or elevating lever, the motor
Drive shaft for driving elevating lever to move up and down in the fixed link.
Preferably, equal speed mechanism is additionally provided between the motor and drive shaft.
Preferably, first driving mechanism or the second driving mechanism include air pump, piston and connecting rod, and one end of connecting rod is used
In the lower surface against permanent magnet, the other end of connecting rod connects piston, when gas is reduced in air pump, pushes piston to ontology lower section
Movement, so that connecting rod be driven to move downward, the magnet block of place end is mutually attracted with iron block.
The invention has the advantages that robot of the invention is equipped with changes of magnetic field device, by the change in magnetic field, thus
So that magnetic-type robot is locally separated with workbench, it may make robot easily from workbench by isolated position
It removes.Changes of magnetic field device includes the first driving mechanism and the second driving mechanism, by adjusting the first driving mechanism or second
The difference in height of driving mechanism can drive permanent magnet to move to the front side or rear side of ontology, and the lower front and rear side of robot are equipped with
First inclined surface and the second inclined surface, when the first driving mechanism drops to preset height, the magnet block and iron of place end
Block is mutually attracted, and magnetic field drives robot to overturn and contacts the first inclined surface with workbench, so that another side bottom is stuck up
It rises and is detached from, other side adsorption capacity weakens significantly, keeps welding robot easily disassembled.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the working state schematic representation figure of the present embodiment one；
Fig. 2 is the structural schematic diagram that one permanent magnet of the present embodiment is located at middle part；
Fig. 3 is the structural schematic diagram that one permanent magnet of the present embodiment is located at side.
In figure: ontology 1, the first inclined surface 11, the second inclined surface 12, permanent magnet 2, workbench 3, track 31, cam 4,
One driving mechanism 5, motor 51, fixed link 52, elevating lever 53, the second driving mechanism 6, magnet block 7, iron block 8, support base 9.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in Figure 1-3, of the invention based on magnetic-type welding robot, including ontology 1, ontology 1 includes top surface, side
Face and bottom surface, welding robot are equipped with plumb joint (not showing), are equipped with permanent magnet 2, the middle point of permanent magnet 2 in robot interior
It sets and is hinged on support base 9 by rotary shaft, support base 9 is located at the medium position of bottom, to keep permanent magnet 2 in the horizontal direction
Upper holding balances, and magnet block 7 is equipped at the lower surface end positions of permanent magnet 2, the inner sidewall of 1 bottom of ontology is equipped with and magnet block
7 iron blocks 8 to attract each other, 1 bottom of ontology are additionally provided with cam 4, and cam 4 protrudes the bottom of ontology 1, and workbench 3 is substantially one
The plane of a magnetic conduction is provided with track 31 on workbench 3, and when robot is placed on the table, permanent magnet 2 inhales robot
It is attached on workbench 3, cam 4 is set in track, and the bottom of cam 4 is contacted with track 31, and permanent magnet 2 leads to the lower surface of ontology
Cross the upper surface that magnetic field is adsorbed on workbench 3.The motor that driving cam 4 rotates is additionally provided in ontology 1, when cam 4 rotates, this
Body 1 can be moved along track 31, to change the position of pad.
The lower front and rear side of robot are equipped with inclination angle, form the first inclined surface 11 and position for being located at front side bottom
In the second inclined surface 12 of bottom rear.
Robot further includes the changes of magnetic field device for facilitating welding robot to dismount, and changes of magnetic field device includes the first driving
Mechanism 5 and the second driving mechanism 6, the first driving mechanism 5 and the second driving mechanism 6 are respectively arranged on the left and right two of support base 9
Side simultaneously passes through adjusting oneself height against the lower surface of permanent magnet 2, the first driving mechanism 5 and the second driving mechanism 6 to drive
The end of permanent magnet 2 is to moving above or below ontology.Wherein, the first driving mechanism 5 or the second driving mechanism 6 include motor
51, fixed link 52 or elevating lever 53, the drive shaft of motor 51 is for driving elevating lever 53 to move up and down in fixed link 52.
When first driving mechanism 5 drops to preset height, the magnet block 7 and iron block 8 of place end are mutually attracted, magnetic field
It drives robot to overturn and contacts the first inclined surface 11 with workbench 3, so that bottom rear, which tilts, is detached from workbench 3.
In the present embodiment, since the robot of the present embodiment is by the change in magnetic field, so that magnetic-type robot is local
It is separated with workbench, robot may make easily to remove from workbench by isolated position.User need to only press phase
Button is answered, the rotation angle of permanent magnet 2 can be adjusted, so that body end and table stroke gap generate variation, and
And side adsorption capacity weakens significantly, so that welding robot is easily disassembled.If inclination angle, may be due to less than 10 °
Tilting height is too small, and related tool or people operating space are too small, is still inconvenient to dismantle, if inclination angle is greater than 15 °, is overturning
Robot may be caused to overturn due to effect of inertia in the process, to bring security risk.
Situations such as in order to ensure the safety of robot, prevent robot from translating into, between the motor and drive shaft also
Equipped with equal speed mechanism, so that the movement of permanent magnet 2 will not be too fast or too slow, usually, 1m/s should be less than.
Embodiment two:
Embodiment two and the difference of embodiment one are that driving mechanism is different.
In the present embodiment, the first driving mechanism 5 or the second driving mechanism 6 include air pump, piston and connecting rod, one end of connecting rod
Piston is connected for the other end against the lower surface of permanent magnet 2, connecting rod, when gas is reduced in air pump, pushes piston to ontology
Moved beneath, so that connecting rod be driven to move downward, the magnet block 7 and iron block 8 of place end are mutually attracted.
The principle of the present embodiment is roughly the same with embodiment one, is not discussed in detail herein, and the present embodiment is made using air pump
For driving mechanism, so that robot work is more stable, noise is smaller.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (6)
1. a kind of be equipped with permanent magnet based on magnetic-type welding robot, including ontology, the body bottom portion, the permanent magnet will
Robot adsorbs on the table, which is characterized in that the workbench is equipped with track, and the body bottom portion is equipped with corresponding with track
Cam, the cam can be hinged on support base in the move in tracks, the midpoint of the permanent magnet, the support
Seat is located at the medium position of bottom, is equipped with magnet block at the lower surface end positions of the permanent magnet, the body bottom portion it is interior
Side wall is equipped with the iron block to attract each other with the magnet block, and the robot further includes that the magnetic field for facilitating welding robot to dismount becomes
Makeup is set；The changes of magnetic field device include the first driving mechanism and the second driving mechanism, first driving mechanism and
Second driving mechanism is respectively arranged on the left and right sides of the support base and against the lower surface of the permanent magnet, first driving
Mechanism and the second driving mechanism drive the end of permanent magnet to moving above or below ontology by adjusting oneself height；
The lower front and rear side of the robot are equipped with inclination angle, form the first inclined surface for being located at front side bottom and are located at rear side
Second inclined surface of bottom；When first driving mechanism drops to preset height, the magnet block and iron block phase of place end
It is mutually attracted, magnetic field drives robot to overturn and contacts the first inclined surface with workbench, is detached from so that bottom rear tilts
Workbench.
2. robot according to claim 1, which is characterized in that the changes of magnetic field device include the first driving mechanism with
And second driving mechanism, first driving mechanism and the second driving mechanism are respectively arranged on the left and right sides of the support base simultaneously
Against the lower surface of the permanent magnet, first driving mechanism and the second driving mechanism are by adjusting oneself height to drive
The end of permanent magnet is to moving above or below ontology；The lower front and rear side of the robot are equipped with inclination angle, shape
At the first inclined surface for being located at front side bottom and positioned at the second inclined surface of bottom rear；Second driving mechanism drops to pre-
If when height, where the magnet block of end be mutually attracted with iron block, magnetic field drive robot to overturn and make the second inclined surface and
Workbench contact, so that front side bottom, which tilts, is detached from workbench.
3. robot according to claim 1 or 2, which is characterized in that the inclination angle is 10-15 °.
4. robot according to claim 1, which is characterized in that first driving mechanism or the second driving mechanism include
Motor, fixed link or elevating lever, the drive shaft of the motor is for driving elevating lever to move up and down in the fixed link.
5. robot according to claim 4, which is characterized in that be additionally provided at the uniform velocity machine between the motor and drive shaft
Structure.
6. robot according to claim 1, which is characterized in that first driving mechanism or the second driving mechanism include
Air pump, piston and connecting rod, one end of connecting rod are used in the lower surface of permanent magnet, the other end connection piston of connecting rod, air pump
When gas is reduced, push piston to ontology moved beneath, so that connecting rod is driven to move downward, the magnet block and iron of place end
Block is mutually attracted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710882053.4A CN107442982B (en) | 2017-09-26 | 2017-09-26 | It is a kind of based on magnetic-type welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710882053.4A CN107442982B (en) | 2017-09-26 | 2017-09-26 | It is a kind of based on magnetic-type welding robot |
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| Publication Number | Publication Date |
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| CN107442982A CN107442982A (en) | 2017-12-08 |
| CN107442982B true CN107442982B (en) | 2019-05-10 |
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| CN201710882053.4A Active CN107442982B (en) | 2017-09-26 | 2017-09-26 | It is a kind of based on magnetic-type welding robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107442982B (en) * | 2017-09-26 | 2019-05-10 | 南京中高知识产权股份有限公司 | It is a kind of based on magnetic-type welding robot |
| CN108208059B (en) * | 2018-04-09 | 2020-06-30 | 武汉钇太自动化设备有限公司 | Automatic discharging device for flour processing |
| CN109366051A (en) * | 2018-12-07 | 2019-02-22 | 北京博清科技有限公司 | Adjustable magnetic adsorbent equipment and welding robot |
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| CN204332576U (en) * | 2014-11-25 | 2015-05-13 | 中国人民解放军镇江船艇学院 | Magnetic suck bracing or strutting arrangement peculiar to vessel |
| CN205189605U (en) * | 2015-11-20 | 2016-04-27 | 赵仁杰 | Magnetic force actuation smart door and window control system |
| CN205492807U (en) * | 2016-03-06 | 2016-08-24 | 吕炳顺 | Gel resin formula of being convenient for shoes material gluing machine |
| CN106426247A (en) * | 2016-10-09 | 2017-02-22 | 成都诺博特科技有限公司 | Magnetic adsorption robot |
| CN107442982A (en) * | 2017-09-26 | 2017-12-08 | 南京中高知识产权股份有限公司 | It is a kind of based on magnetic-type welding robot |
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| CN105033529B (en) * | 2015-09-01 | 2017-07-04 | 苏州睿牛机器人技术有限公司 | The unlocking mechanism and method of magnetic force magnetic suck welding robot running gear |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204332576U (en) * | 2014-11-25 | 2015-05-13 | 中国人民解放军镇江船艇学院 | Magnetic suck bracing or strutting arrangement peculiar to vessel |
| CN205189605U (en) * | 2015-11-20 | 2016-04-27 | 赵仁杰 | Magnetic force actuation smart door and window control system |
| CN205492807U (en) * | 2016-03-06 | 2016-08-24 | 吕炳顺 | Gel resin formula of being convenient for shoes material gluing machine |
| CN106426247A (en) * | 2016-10-09 | 2017-02-22 | 成都诺博特科技有限公司 | Magnetic adsorption robot |
| CN107442982A (en) * | 2017-09-26 | 2017-12-08 | 南京中高知识产权股份有限公司 | It is a kind of based on magnetic-type welding robot |
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