CN107649801B - A kind of easy-to-dismount magnetic suck robot - Google Patents
A kind of easy-to-dismount magnetic suck robot Download PDFInfo
- Publication number
- CN107649801B CN107649801B CN201710885837.2A CN201710885837A CN107649801B CN 107649801 B CN107649801 B CN 107649801B CN 201710885837 A CN201710885837 A CN 201710885837A CN 107649801 B CN107649801 B CN 107649801B
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- China
- Prior art keywords
- permanent magnet
- workbench
- robot
- magnetic suck
- ontology
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Classifications
-
- 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
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of easy-to-dismount magnetic suck robots, permanent magnet is equipped with including ontology, the body bottom portion, the permanent magnet adsorbs robot on the table, the workbench is equipped with track, the body bottom portion is equipped with cam corresponding with track, the cam can be additionally provided with the provision for disengagement for changing permanent magnet and workbench distance in the move in tracks, the ontology.Using the magnetic suck welding robot of technical solution of the present invention, it can change permanent magnet and workbench distance, when welding robot man-hour, permanent magnet and workbench distance are close, therefore it can steadily adsorb on the table, when needing to dismantle welding robot, increase permanent magnet at a distance from workbench, so that magnetic suck effect weakens significantly, so that can easily remove robot.Due to moving upwards again by motor after first adsorbing permanent magnet, prevent permanent magnet from burning with the excessive caused motor of workbench suction.
Description
Technical field
The present invention relates to a kind of easy-to-dismount magnetic suck robots, belong 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,
A kind of easy-to-dismount magnetic suck robot is provided, 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 easy-to-dismount magnetic suck robot, packet
Ontology, the body bottom portion are included equipped with permanent magnet, the permanent magnet adsorbs robot on the table, which is characterized in that institute
Workbench is stated equipped with track, the body bottom portion is equipped with cam corresponding with track, the cam can in the move in tracks,
The provision for disengagement for changing permanent magnet and workbench distance is additionally provided in the ontology.
Further, the provision for disengagement includes bracket, motor, crankshaft and electromagnet, and the motor is mounted on described
On bracket, the motor does 360 ° rotation movement on axial direction by output shaft band dynamic crankshaft, and the permanent magnet is mounted on institute
It states on crankshaft, electromagnet is installed in the upper end of the bracket.
Further, the crankshaft includes connecting rod and bent rod, and the connecting rod is set to the both ends of the bent rod.
Further, the distance between the electromagnet and the connecting rod are greater than the height of the bent rod.
Further, controller, current regulator and the pressure positioned at electromagnet lower surface are additionally provided in the ontology to pass
Sensor, the current regulator are equipped with convex block for the electric current in regulating magnet, the permanent magnet, and permanent magnet is revolved by motor
Turn after moving upwards, the convex block controls electric current tune against pressure sensor, the signal of the controller combination pressure sensor
Save the electric current of device.
The invention has the advantages that provision for disengagement of the invention can change permanent magnet and workbench distance, work as welding
Machine man-hour, permanent magnet and workbench distance are close, therefore can steadily adsorb on the table, when needs dismantle welding
When robot, permanent magnet is increased at a distance from workbench, so that magnetic suck effect weakens significantly, so that can easily remove
Robot.Due to being moved upwards again by motor after first adsorbing permanent magnet, caused by preventing permanent magnet and workbench suction excessive
Motor is burnt.
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 bottom；
Fig. 3 is the superposed structural schematic diagram of one permanent magnet of the present embodiment.
In figure: ontology 1, permanent magnet 2, convex block 22, workbench 3, track 31, cam 4, electromagnet 51, bracket 52, motor
53, crankshaft 54, controller 6, current regulator 7, pressure sensor 8.
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 Figs. 1-2, magnetic suck welding robot of the invention, including ontology 1, ontology 1 include top surface, side and bottom
Face, the welding robot are equipped with plumb joint (not showing), are equipped with permanent magnet 2 in robot interior, 1 bottom of ontology is additionally provided with convex
Wheel 4, cam 4 protrude the bottom of ontology 1, and workbench 3 is the plane of substantially one magnetic conduction, and track 31 is provided on workbench 3,
When robot is placed on the table, robot is adsorbed on workbench 3 by permanent magnet 2, and cam 4 is set in track, cam 4
Bottom contacted with track 31, the lower surface of ontology is adsorbed on the upper surface of workbench 3 by permanent magnet 2 by magnetic field.In ontology 1
It is additionally provided with the motor that driving cam 4 rotates, when cam 4 rotates, ontology 1 can be moved along track 31, to change welding
The position of point.
The provision for disengagement for changing permanent magnet and workbench distance is additionally provided in ontology 1, provision for disengagement includes bracket 52, motor
53, crankshaft 54 and electromagnet 51, motor 53 are hinged on bracket 52, and motor 53 is axial side by output shaft band dynamic crankshaft 54
Upward 360 ° rotation movement, permanent magnet 2 are fixedly mounted on crankshaft 54, and electromagnet 51 is installed in the upper end of bracket 52.Crankshaft 54 wraps
Connecting rod and bent rod are included, connecting rod is set to the both ends of bent rod, and the distance between electromagnet 51 and connecting rod are slightly larger than the height of bent rod
Degree, to guarantee that crankshaft 54 makes rotating motion on bracket 52.
Equipped with button is equipped on the outside of controller 6, ontology 1 in ontology, corresponding signal can be transmitted to by control by button
Device 6 processed, controller 6 control provision for disengagement movement, and current regulator 7 is additionally provided in ontology 1 and the pressure above through-hole passes
Sensor 8, current regulator 7 are equipped with convex block 22 for the electric current in regulating magnet, the permanent magnet 2, and permanent magnet is revolved by motor
Turn after moving upwards, is attracted by electromagnet, convex block 22 is against pressure sensor 8, the signal control of controller combination pressure sensor
The electric current of current regulator processed.
When user inputs the instruction of teardown of engine people by button, controller 6 controls motor and opens, while current regulation
Device 7 is to 51 input current information of electromagnet, so that electromagnet 51 works, motor 53 drives permanent magnet 2 to rotate, and by electromagnetism
Iron 51 attracts, and with the gradually increasing of electric current, the attraction of electromagnet 51 is increasingly greater than permanent magnet 2 to the attraction of workbench,
With the following position directly of the rotation of permanent magnet 2 to electromagnet, convex block 22 will accordingly be believed against pressure sensor 8, pressure sensor 8
Number it is transmitted to controller 6, shows that permanent magnet 2 has been attracted, permanent magnet 2 is far from workbench, so that ontology 1 and workbench
3 magnetic adsorbability is smaller and smaller, so that robot is easier to dismantle.
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 (3)
1. a kind of easy-to-dismount magnetic suck robot, including ontology, the body bottom portion are equipped with permanent magnet, 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 additionally provided in the move in tracks, the ontology changes tearing open for permanent magnet and workbench distance
Handler；
The provision for disengagement includes bracket, motor, crankshaft and electromagnet, and the motor is installed on the bracket, the electricity
Machine does 360 ° rotation movement on axial direction by output shaft band dynamic crankshaft, and the permanent magnet is mounted on the crankshaft, described
The upper end of bracket is installed by electromagnet；
The crankshaft includes connecting rod and bent rod, and the connecting rod is set to the both ends of the bent rod.
2. easy-to-dismount magnetic suck robot according to claim 1, which is characterized in that the electromagnet and the connecting rod
The distance between be greater than the bent rod height.
3. easy-to-dismount magnetic suck robot according to claim 1, which is characterized in that be additionally provided with control in the ontology
Device, current regulator and the pressure sensor positioned at electromagnet lower surface, the current regulator is in regulating magnet
Electric current, the permanent magnet is equipped with convex block, after permanent magnet is moved upwards by motor rotation, the convex block against pressure sensor,
The electric current of the signal control current regulator of the controller combination pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710885837.2A CN107649801B (en) | 2017-09-27 | 2017-09-27 | A kind of easy-to-dismount magnetic suck robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710885837.2A CN107649801B (en) | 2017-09-27 | 2017-09-27 | A kind of easy-to-dismount magnetic suck robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107649801A CN107649801A (en) | 2018-02-02 |
| CN107649801B true CN107649801B (en) | 2019-01-29 |
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ID=61115841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710885837.2A Active CN107649801B (en) | 2017-09-27 | 2017-09-27 | A kind of easy-to-dismount magnetic suck robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107649801B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048151B (en) * | 2018-09-11 | 2020-10-30 | 广东宏穗晶科技服务有限公司 | Magnetic attraction type robot convenient to disassemble |
| CN109551142A (en) * | 2019-01-21 | 2019-04-02 | 舟山利远机械有限公司 | Vehicle is climbed in intelligent all-position welding tracking |
| WO2021189170A1 (en) * | 2020-03-22 | 2021-09-30 | 苏州昇特智能科技有限公司 | Clamp and fixing device for testing performance of flexible material |
| CN112123318A (en) * | 2020-09-05 | 2020-12-25 | 杨国丽 | Intelligent robot with flexibly-adjusted touch screen structure |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204123402U (en) * | 2014-09-18 | 2015-01-28 | 苏州格雷特机器人有限公司 | A kind of permanent magnetism adsorption machine mechanical arm |
| 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 |
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| Publication number | Publication date |
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| CN107649801A (en) | 2018-02-02 |
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