CN107695570A - Suitable for the magnetic welding robot and its method of work long lasting for work - Google Patents
Suitable for the magnetic welding robot and its method of work long lasting for work Download PDFInfo
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- CN107695570A CN107695570A CN201710926062.9A CN201710926062A CN107695570A CN 107695570 A CN107695570 A CN 107695570A CN 201710926062 A CN201710926062 A CN 201710926062A CN 107695570 A CN107695570 A CN 107695570A
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- pipette tips
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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
-
- 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
- B23K37/0252—Steering means
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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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- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The present invention relates to a kind of magnetic welding robot and its method of work being suitable to long lasting for work, this magnetic welding robot includes：Body, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet and permanent magnet mechanism of body bottom portion, for the roller for driving body to move, and controller；The welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm mechanism and electric welding pipette tips control by controller；And the controller first controls permanent magnet mechanism by after permanent magnet retraction body bottom portion, electromagnet is controlled to be adsorbed in magnetic conductor surface again, and control roller to rotate by roller drive module, so that the magnetic welding robot realizes that climbing wall parks or weld to target location；And when magnetic welding robot is parked or is welded, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conductor surface, electromagnet power supply is simultaneously closed off.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of method of work of magnetic welding robot.
Background technology
Magnetic welding robot can be climbed on vertical wall and complete the automatic machinery people of weld job.It is particularly suitable for
Welded climbing metal surface.
It is existing it is magnetic-type typically use electromagnetic mode, because its magnetic field is fixed, therefore, when robot load welding mechanism
Afterwards, if welding mechanism weight is larger, robot may be caused to cause to come off during climbing, cause serious consequence.
Also, in welding because voltage pulsation is larger, electromagnet electricity shortage can be caused, adsorption capacity reduces, magnetic
Welding robot can drop.
Based on this purpose, it is necessary to design a kind of magnetic welding robot and its method of work.
The content of the invention
It is an object of the invention to provide a kind of magnetic welding robot and its method of work, is dropped with realizing during park
Low power consumption.
In order to solve the above-mentioned technical problem, the invention provides a kind of magnetic welding robot, including：
Body, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet and permanent magnet mechanism of body bottom portion, used
In the roller for driving body movement, and controller；
The welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm
Mechanism and electric welding pipette tips control by controller；And
The controller first controls permanent magnet mechanism by after permanent magnet retraction body bottom portion, then controls electromagnet to be adsorbed in magnetic conduction body surface
Face, and control roller to rotate by roller drive module, so that the magnetic welding robot realizes that climbing wall to target location stops
Stay or weld；And when magnetic welding robot is parked or is welded, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conduction
Body surface face, simultaneously close off electromagnet power supply.
Further, the mechanical arm mechanism includes the translating device positioned at body upper part, and positioned at translating device top
Extending apparatus；The extending apparatus includes cantilever arm, and the electric welding pipette tips be located at the distal end of cantilever arm, and positioned at electric welding pipette tips and
The junction of cantilever arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；Wherein described control
Device processed is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and drives electric welding pipette tips before and after by extending apparatus
Translation, and collapse or open by controlling miniature rotary electric machine to be welded pipette tips.
Further, the magnetic welding robot also includes：The pressure sensor of body upper part is arranged on, the pressure passes
Sensor is connected with controller；
Before magnetic welding robot climbs wall, magnetic welding robot is kept flat to obtain magnetic bonding machine by pressure sensor
Total heavy burden of device people；
The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic welding robot is adsorbed in magnetic conduction
Body surface face.
Further, the body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable to
For the distance that detects body bottom portion between magnetic conductor surface of creeping；
If apart from increase when in motion, the controller is suitable to the current value of increase electromagnet, to improve magnetic welding robot
People's absorption affinity.
Further, the controller is connected with a memory, is suitable for prestoring what total heavy burden matched with electromagnet current
The second database that distance matches with electromagnet current between first database, and body bottom portion and magnetic conductor surface of creeping；
The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；And
The controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping
Electromagnet current value.
Further, the permanent magnet mechanism includes：Y types support, lifting driving micromachine, at least two block permanent magnets, and point
Not Wei Yu electromagnet both sides；
Two ends of the Y types support connect two block permanent magnets respectively, and mobile jib is threaded, the trunk and a gear nut
Screw thread coordinates,
When the lifting driving minitype motor driving gear nut rotation, to control the stretching of two permanent magnets or retraction body bottom portion.
Another aspect, present invention also offers a kind of method of work of magnetic welding robot, including：
Body, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet and permanent magnet mechanism of body bottom portion, used
In the roller for driving body movement, and controller；
The welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm
Mechanism and electric welding pipette tips control by controller；And
The controller first controls permanent magnet mechanism by after permanent magnet retraction body bottom portion, then controls electromagnet to be adsorbed in magnetic conduction body surface
Face, and control roller to rotate by roller drive module, so that the magnetic welding robot realizes that climbing wall to target location stops
Stay or weld；And when magnetic welding robot is parked or is welded, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conduction
Body surface face, simultaneously close off electromagnet power supply.
Further, the mechanical arm mechanism includes the translating device positioned at body upper part, and positioned at translating device top
Extending apparatus；
The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out
The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；Wherein
The controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and is driven and be welded by extending apparatus
Pipette tips are collapsed or opened along anterior-posterior translation, and by controlling miniature rotary electric machine to be welded pipette tips.
Further, the magnetic welding robot also includes：The pressure sensor of body upper part is arranged on, the pressure passes
Sensor is connected with controller；
Before magnetic welding robot climbs wall, magnetic welding robot is kept flat to obtain magnetic bonding machine by pressure sensor
Total heavy burden of device people；
The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic welding robot is adsorbed in magnetic conduction
Body surface face；And
The body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable for use in detection body
Distance between bottom and magnetic conductor surface of creeping；
If apart from increase when in motion, the controller is suitable to the current value of increase electromagnet, to improve magnetic welding robot
People's absorption affinity；And
The controller is connected with a memory, is suitable for prestoring the first database for always bearing a heavy burden and matching with electromagnet current,
The second database that distance matches with electromagnet current between body bottom portion and magnetic conductor surface of creeping；
The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；And
The controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping
Electromagnet current value.
Further, the permanent magnet mechanism includes：Y types support, lifting driving micromachine, at least two block permanent magnets, and point
Not Wei Yu electromagnet both sides；Two ends of the Y types support connect two block permanent magnets respectively, and mobile jib is threaded, described
Trunk and a gear nut screw thread coordinate, when the lifting driving minitype motor driving gear nut rotation, to control two permanent magnetism
Iron stretches out or retraction body bottom portion.
Beneficial effects of the present invention are as follows：
This magnetic welding robot and its method of work use dismountable welding mechanism, improve the general of magnetic welding robot
Property, and after magnetic welding robot climbs wall to target location, by the translating device in welding mechanism and dress can be stretched out
Put and the welding position for being welded pipette tips is finely adjusted；And when can park in magnetic welding robot, weld, control permanent magnetic motor
Structure stretches out permanent magnet to adsorb magnetic conductor surface, simultaneously closes off electromagnet power supply, to reduce the power consumption of magnetic welding robot,
And then improve the endurance of magnetic welding robot.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the magnetic welding robot of the present invention.
Fig. 2 is the top view of the welding mechanism of the present invention.
Fig. 3 is the part-structure schematic diagram of the magnetic welding robot of the present invention.
Fig. 4 is the structural representation of the permanent magnet mechanism of the present invention.
Fig. 5 is the workflow diagram of the magnetic welding robot crawling process of the present invention.
In figure：Body 1, electromagnet 2, roller 3, pressure sensor 4, range finder 5, welding mechanism 6, electric welding pipette tips
61st, miniature rotary electric machine 611, translating device 62, extending apparatus 63, cantilever arm 631, electric welding pipette tips collapse storehouse 631a, permanent magnetic motor
Structure 7, permanent magnet 71, Y types support 72, branch end 72a, mobile jib 72b, gear nut 72c, lifting driving micromachine 73.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in Figures 1 to 5, a kind of magnetic welding robot is present embodiments provided, including：
Body 1, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet 2 and permanent magnet mechanism of body bottom portion,
For the roller 3 for driving body to move, and controller；The welding mechanism includes：Pipette tips 61 are welded, suitable for adjusting electric torch
The mechanical arm mechanism of head moving direction, the mechanical arm mechanism and electric welding pipette tips control by controller；And the controller
Permanent magnet mechanism is first controlled by after permanent magnet retraction body bottom portion, then controls electromagnet to be adsorbed in magnetic conductor surface, and passes through roller
Drive module control roller rotates, so that the magnetic welding robot realizes that climbing wall parks or weld to target location；And
When magnetic welding robot is parked or is welded, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conductor surface, closes simultaneously
Close electromagnet power supply.
It is by permanent magnet that magnetic welding robot is firm when the magnetic welding robot can park in the present embodiment
Jail is adsorbed on magnetic conductor surface, and electromagnet absorption is converted into permanent magnet absorption, reduces robot power consumption.
The electric welding pipette tips need substantial amounts of electric energy at work, and the operating current, voltage to electromagnet can produce huge
Fluctuation, makes the operating current of electromagnet reduce, influences the adsorption capacity of magnetic welding robot, but the present embodiment passes through permanent magnetism
Magnetic welding robot can be firmly adsorbed in magnetic conductor surface by iron, and not consume electric energy additionally, and then ensure that welding supplies
Electricity needs.
The mechanical arm mechanism includes the translating device 62 positioned at body upper part, and the stretching dress positioned at translating device top
Put 63；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out
The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；Wherein described controller
Suitable for by controlling translating device to drive electric welding pipette tips or so translation（It is set to X-axis）, and electric welding pipette tips are driven by extending apparatus
Along anterior-posterior translation（Y-axis is set to, as shown in arrow F1 in Fig. 1）, and by control miniature rotary electric machine will be welded pipette tips collapse or
Open, gathering or opening direction, as shown in arrow F2 in Fig. 1.
Wherein controller can use single-chip microcomputer, and the controller is suitable to one current regulating module of control, to change electromagnetism
The operating current of iron, such as current regulating module can use switching tube, the single-chip microcomputer output pwm signal, with controlling switch
The shut-off cycle of pipe so realize operating current adjust；Lithium battery is also carried on the body to provide electric energy；It is and described
Electromagnet can use on DC electromagnet, or body and be additionally provided with DC-AC module, and the electromagnet uses alternating electromagnet；
The roller drive module can use four-wheel drive module, be provided with direct current generator in it, be controlled by controller.
The translating device 62, extending apparatus 63 can use screw body, wherein two lead screw motors can be by institute
Controller is stated to be controlled.
This magnetic welding robot and its method of work use dismountable welding mechanism, improve the general of welding robot
Property, and after magnetic welding robot climbs wall to target location, by the translating device in welding mechanism and dress can be stretched out
Put and the welding position for being welded pipette tips is finely adjusted；In crawling process, the electric welding pipette tips are collapsed in storehouse positioned at electric welding pipette tips,
Miniature rotary electric machine is controlled to be welded pipette tips opening after reaching purpose.
Specifically, the body upper part is provided with welding mechanism installation position, the installation position is provided with connector and gim peg etc.
Part, for welding mechanism to be arranged on into body upper part by way of the prior art such as above-mentioned.Each translating device, stretch out dress
The control line and power line for putting, being welded pipette tips and miniature rotary electric machine can be drawn from body, be connected by connecting plug.
Further, because welding mechanism is detachable, if traditional magnetic welding robot, because its magnetic field is fixed,
Therefore, after robotic asssembly welding mechanism, if erection welding mechanism weight is larger, robot may be caused to climb
Cause to come off in journey, cause serious consequence, therefore the versatility of robot reduces.
Simultaneously as climbing magnetic conductor surface is not straight all the time, may be inadequate due to absorption affinity when there is indenture
Robot is caused to fall, job insecurity.
Based on above-mentioned purpose, the magnetic welding robot also includes：It is arranged on the pressure sensor 4 of body upper part, institute
Pressure sensor 4 is stated with controller to be connected；Before magnetic welding robot climbs wall, magnetic welding robot is kept flat to pass through pressure
Force snesor obtains total heavy burden of magnetic welding robot（Heavy burden including welding mechanism）；The controller is suitable to according to total negative
The initial current of electromagnet is controlled again, so that magnetic welding robot is adsorbed in magnetic conductor surface.
The pressure sensor can use strain resistor sensor.
The body bottom portion is additionally provided with the range sensor 5 being connected with controller, and the range sensor 5 is suitable for use in spy
Survey distance between body bottom portion and magnetic conductor surface of creeping；If apart from increase when in motion, the controller is suitable to increase electricity
The current value of magnet, to improve magnetic welding robot absorption affinity.
The range sensor can be, but not limited to use high-precision infrared distance sensor or ultrasonic sensor.
The controller is connected with a memory, is suitable for prestoring the first data always born a heavy burden and matched with electromagnet current
The second database that distance matches with electromagnet current between storehouse, and body bottom portion and magnetic conductor surface of creeping；The controller
Suitable for obtaining the initial current of matching from the first database according to always bearing a heavy burden；And the controller is further adapted for according to body
Distance obtains the current value of the electromagnet of matching from the second database between bottom and magnetic conductor surface of creeping.
This magnetic welding robot first calculates total heavy burden after loading article, then determines the work of electromagnet according to total bear a heavy burden
Make electric current, so that product more steady operation；Magnetic welding robot move when, range finder detection body bottom away from
With a distance from magnetic conductor, and by distance information transmission to controller, when described distance changes, the controller foundation
Table of comparisons regulation in memory, so as to change absorption affinity, effectively prevents magnetic conductor alligatoring from making by the electric current of electromagnet
Into magnetic welding robot fall；And electric current is dynamic regulation so that absorption affinity will not be excessive, magnetic welding robot
Motion will not cause energy waste.
And in the present embodiment, permanent magnet can also provide auxiliary adsorption effect, the operating current of electromagnet is reduced, therefore
The endurance of this magnetic welding robot is extremely strong.
Distance of the electromagnet apart from magnetic conductor surface is 5-8mm.If greater than 8mm, then magnetic field is not enough concentrated, and is caused
Energy waste, if less than 5mm, then it may cause to interfere due to the out-of-flatness on magnetic conductor surface.
Total heavy burden of the magnetic welding robot is G, the then electromagnet absorption affinity T=KG, and wherein K is for absorption
Number, and 3<K<10.If K<3, magnetic welding robot job insecurity, due to some accidental causes magnetic may be caused to weld
Robot falls, if K>10, then resistance of the magnetic welding robot along magnetic conductor apparent motion is larger, causes energy waste.
Preferably, in order to increase frictional force, the edge of the roller 3 is made of anti-slip material, to increase roller and lead
The coefficient of friction of magnet surface, so as to reduce adsorption coefficient K value, realize energy-conservation.
As shown in Figure 3 and Figure 4, in the present embodiment, the permanent magnet mechanism includes：Y types support, lifting driving micro electric
Machine, at least two block permanent magnets, and it is located at the both sides of electromagnet respectively；Two ends of the Y types support connect two blocks of permanent magnetism respectively
Iron, and mobile jib is threaded, the trunk and a gear nut screw thread coordinate, when the lifting driving minitype motor driving gear
Nut rotation, to control the stretching of two permanent magnets or retraction body bottom portion.As shown in direction F3 in Fig. 3 and Fig. 4.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of work side of magnetic welding robot as described in Example 1
Method.
The operation principle of each several part of magnetic welding robot, process are discussed in detail in embodiment 1 in the present embodiment.
The method of work of the magnetic welding robot includes：
Body, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet and permanent magnet mechanism of body bottom portion, used
In the roller for driving body movement, and controller；The welding mechanism includes：Pipette tips are welded, are moved suitable for regulation electric welding pipette tips
The mechanical arm mechanism in dynamic direction, the mechanical arm mechanism and electric welding pipette tips control by controller；And the controller is first controlled
Permanent magnet mechanism processed is by after permanent magnet retraction body bottom portion, then controls electromagnet to be adsorbed in magnetic conductor surface, and is driven by roller
Module control roller rotates, so that the magnetic welding robot realizes that climbing wall parks or weld to target location；And work as magnetic
When inhaling welding robot park or welding, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conductor surface, simultaneously closes off electricity
Magnet is powered.
The mechanical arm mechanism includes the translating device positioned at body upper part, and the stretching dress positioned at translating device top
Put；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips and cantilever arm
Junction be provided with miniature rotary electric machine, and be provided with electric welding pipette tips in the distal end of cantilever arm and collapse storehouse；Wherein described controller is fitted
Electric welding pipette tips are driven along anterior-posterior translation in driving electric welding pipette tips or so translation by controlling translating device, and by extending apparatus,
And collapse or open by controlling miniature rotary electric machine to be welded pipette tips.
The magnetic welding robot also includes：Be arranged on the pressure sensor of body upper part, the pressure sensor with
Controller is connected；Before magnetic welding robot climbs wall, magnetic welding robot is kept flat to obtain magnetic by pressure sensor
Inhale total heavy burden of welding robot；The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic welds
Welding robot is adsorbed in magnetic conductor surface；It is described and the body bottom portion is additionally provided with the range sensor being connected with controller
Range sensor is suitable for use in distance between detection body bottom portion and magnetic conductor surface of creeping；If apart from increase when in motion,
The controller is suitable to the current value of increase electromagnet, to improve magnetic welding robot absorption affinity；And the controller with
One memory is connected, and is suitable for prestoring the first database for always bearing a heavy burden and matching with electromagnet current, and body bottom portion is with creeping
The second database that distance matches with electromagnet current between magnetic conductor surface；The controller is suitable to be born a heavy burden from first according to total
Database obtains the initial current of matching；And the controller is further adapted for according to body bottom portion and magnetic conductor surface of creeping
Between distance obtained from the second database matching electromagnet current value.
Distance of the electromagnet apart from magnetic conductor surface is 5-8mm.If greater than 8mm, then magnetic field is not enough concentrated, and is caused
Energy waste, if less than 5mm, then it may cause to interfere due to the out-of-flatness on magnetic conductor surface.
Total heavy burden of the magnetic welding robot is G, the then electromagnet absorption affinity T=KG, and wherein K is for absorption
Number, and 3<K<10.If K<3, magnetic welding robot job insecurity, due to some accidental causes magnetic may be caused to weld
Robot falls, if K>10, then resistance of the magnetic welding robot along magnetic conductor apparent motion is larger, causes energy waste.
Preferably, in order to increase frictional force, the edge of the roller 3 is made of anti-slip material, to increase roller and lead
The coefficient of friction of magnet surface, so as to reduce adsorption coefficient K value, realize energy-conservation.
In this embodiment, the permanent magnet mechanism includes：Y types support, lifting driving micromachine, at least two block permanent magnets,
And it is located at the both sides of electromagnet respectively；Two ends of the Y types support connect two block permanent magnets respectively, and mobile jib is threaded,
The trunk and a gear nut screw thread coordinate, when the lifting driving minitype motor driving gear nut rotation, to control two
Permanent magnet stretches out or retraction body bottom portion.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
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 scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (10)
- A kind of 1. magnetic welding robot, it is characterised in that including：Body, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet and permanent magnet mechanism of body bottom portion, used In the roller for driving body movement, and controller；The welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm Mechanism and electric welding pipette tips control by controller；AndThe controller first controls permanent magnet mechanism by after permanent magnet retraction body bottom portion, then controls electromagnet to be adsorbed in magnetic conduction body surface Face, and control roller to rotate by roller drive module, so that the magnetic welding robot realizes that climbing wall to target location stops Stay or weld；And when magnetic welding robot is parked or is welded, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conduction Body surface face, simultaneously close off electromagnet power supply.
- 2. magnetic welding robot according to claim 1, it is characterised in thatThe mechanical arm mechanism includes the translating device positioned at body upper part, and the extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；WhereinThe controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and is driven and be welded by extending apparatus Pipette tips are collapsed or opened along anterior-posterior translation, and by controlling miniature rotary electric machine to be welded pipette tips.
- 3. magnetic welding robot according to claim 2, it is characterised in thatThe magnetic welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure sensor and control Device is connected；Before magnetic welding robot climbs wall, magnetic welding robot is kept flat to obtain magnetic bonding machine by pressure sensor Total heavy burden of device people；The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic welding robot is adsorbed in magnetic conduction Body surface face.
- 4. magnetic welding robot according to claim 3, it is characterised in thatThe body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable for use in detection body Distance between bottom and magnetic conductor surface of creeping；If apart from increase when in motion, the controller is suitable to the current value of increase electromagnet, to improve magnetic welding robot People's absorption affinity.
- 5. magnetic welding robot according to claim 4, it is characterised in thatThe controller is connected with a memory, is suitable for prestoring the first database for always bearing a heavy burden and matching with electromagnet current, The second database that distance matches with electromagnet current between body bottom portion and magnetic conductor surface of creeping；The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；AndThe controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping Electromagnet current value.
- 6. according to the magnetic welding robot described in claim any one of 1-5, it is characterised in thatThe permanent magnet mechanism includes：Y types support, lifting driving micromachine, at least two block permanent magnets, and it is located at electromagnet respectively Both sides；Two ends of the Y types support connect two block permanent magnets respectively, and mobile jib is threaded, the trunk and a gear nut Screw thread coordinates,When the lifting driving minitype motor driving gear nut rotation, to control the stretching of two permanent magnets or retraction body bottom portion.
- A kind of 7. method of work of magnetic welding robot, it is characterised in that including：Body, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet and permanent magnet mechanism of body bottom portion, used In the roller for driving body movement, and controller；The welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm Mechanism and electric welding pipette tips control by controller；AndThe controller first controls permanent magnet mechanism by after permanent magnet retraction body bottom portion, then controls electromagnet to be adsorbed in magnetic conduction body surface Face, and control roller to rotate by roller drive module, so that the magnetic welding robot realizes that climbing wall to target location stops Stay or weld；And when magnetic welding robot is parked or is welded, control permanent magnet mechanism stretches out permanent magnet to adsorb magnetic conduction Body surface face, simultaneously close off electromagnet power supply.
- 8. method of work according to claim 7, it is characterised in thatThe mechanical arm mechanism includes the translating device positioned at body upper part, and the extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；WhereinThe controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and is driven and be welded by extending apparatus Pipette tips are collapsed or opened along anterior-posterior translation, and by controlling miniature rotary electric machine to be welded pipette tips.
- 9. method of work according to claim 8, it is characterised in thatThe magnetic welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure sensor and control Device is connected；Before magnetic welding robot climbs wall, magnetic welding robot is kept flat to obtain magnetic bonding machine by pressure sensor Total heavy burden of device people；The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic welding robot is adsorbed in magnetic conduction Body surface face；AndThe body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable for use in detection body Distance between bottom and magnetic conductor surface of creeping；If apart from increase when in motion, the controller is suitable to the current value of increase electromagnet, to improve magnetic welding robot People's absorption affinity；AndThe controller is connected with a memory, is suitable for prestoring the first database for always bearing a heavy burden and matching with electromagnet current, The second database that distance matches with electromagnet current between body bottom portion and magnetic conductor surface of creeping；The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；AndThe controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping Electromagnet current value.
- 10. according to the method for work described in claim any one of 7-9, it is characterised in thatThe permanent magnet mechanism includes：Y types support, lifting driving micromachine, at least two block permanent magnets, and it is located at electromagnet respectively Both sides；Two ends of the Y types support connect two block permanent magnets respectively, and mobile jib is threaded, the trunk and a gear nut Screw thread coordinates,When the lifting driving minitype motor driving gear nut rotation, to control the stretching of two permanent magnets or retraction body bottom portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926062.9A CN107695570A (en) | 2017-10-06 | 2017-10-06 | Suitable for the magnetic welding robot and its method of work long lasting for work |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710926062.9A CN107695570A (en) | 2017-10-06 | 2017-10-06 | Suitable for the magnetic welding robot and its method of work long lasting for work |
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| CN107695570A true CN107695570A (en) | 2018-02-16 |
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| CN201710926062.9A Pending CN107695570A (en) | 2017-10-06 | 2017-10-06 | Suitable for the magnetic welding robot and its method of work long lasting for work |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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