CN110154076A - A kind of supporting workpiece electricity permanent magnet grabbing device, system and method - Google Patents
A kind of supporting workpiece electricity permanent magnet grabbing device, system and method Download PDFInfo
- Publication number
- CN110154076A CN110154076A CN201910543398.6A CN201910543398A CN110154076A CN 110154076 A CN110154076 A CN 110154076A CN 201910543398 A CN201910543398 A CN 201910543398A CN 110154076 A CN110154076 A CN 110154076A
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- Prior art keywords
- permanent magnet
- supporting workpiece
- crawl arm
- crawl
- grabbing device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
This application discloses a kind of supporting workpiece electricity permanent magnet grabbing devices, system and method, wherein supporting workpiece electricity permanent magnet grabbing device includes crawl arm and the electric permanent magnet and the magnetizer that are arranged on the crawl arm, and the surface of the electric permanent magnet far from the crawl arm is removably arranged in the magnetizer.Grabbing device provided herein, it can replace manual handling and existing manipulator fixture, manpower can greatly be discharged, and, utilize being detachably connected, it can be achieved that quick-replaceable, facilitates and carry out choosing suitable supporting workpiece according to the diameter actual demand of supporting hole for the magnetizer and the electric permanent magnet, wide adaptation range can satisfy the use demand of the development machine of different-diameter.
Description
Technical field
This application involves engineering machinery field, more particularly to a kind of supporting workpiece electricity permanent magnet grabbing device, system and
Method.
Background technique
When Tunnel Passing breaking surrounding rock, preliminary bracing is not in time or supporting quality is not high, it is easy to cause country rock falling rocks, fall
Engineering accident that is husky, even caving in.In order to guarantee the stabilization of country rock during constructing tunnel, currently applied in general broken section
Working hour mainly uses reinforcing bar row, arch, steel reinforcement cage supporting workpiece immediate support, uses under rock burst, the exceedingly odious geology of water burst
Steel plate, steel pipe sheet supporting workpiece carry out strengthening supporting.
In the prior art, in the crawl machinery to arch, steel reinforcement cage supporting workpiece, vacuum chuck, machinery are mainly used
Pawl and hook rigging, are easy to appear shaking, slide situation during crawl, exist simultaneously damage supporting workpiece, cause branch nurse
The problem of part deforms in various degree, especially when arch, length of reinforcing cage is longer, weight is larger when, grab transport process in, adopt
With rigging, gripper pincers worker tool is hooked, there are arches to fall off, steel reinforcement cage risk of distortion, and causing Bracing Process, there are security risk, branch
Protect of low quality, human assistance heavy workload, invisible cost increases.
In the prior art, during the crawl to steel pipe sheet, the main form for being added segment bolt using vacuum chuck is grabbed
Vacuum chuck is easy to appear that suction is uneven, and vacuum pump air pressure is unstable during taking, the easy gas leakage situation of tracheae, while steel pipe sheet
Height is required with sucker contact area, use condition is harsh, easy wearing detail replacement maintenance is big, and maintenance cost is high；Meanwhile in order to full
The requirement of foot installation segment bolt, every piece of steel pipe sheet need to specially weld at least one piece of metalwork with threaded hole, increase and be fabricated to
Sheet and manufacture difficulty.
Therefore, the crawl efficiency and reliability for how effectively improving supporting workpiece is that those skilled in the art need at present
The technical issues of solution.
Apply for content
The purpose of the application is to provide a kind of supporting workpiece electricity permanent magnet grabbing device, system and method, for enhancing branch
The crawl mechanization of nurse's part, the degree of automation improve the crawl reliability of supporting workpiece, reduce and grab mechanical maintenance difficulty.
To achieve the above object, the application provides the following technical solutions:
A kind of supporting workpiece electricity permanent magnet grabbing device, including crawl arm and the electric permanent magnet being arranged on the crawl arm
And the surface of the electric permanent magnet far from the crawl arm is removably arranged in magnetizer, the magnetizer.
It preferably, further include the buffer unit being arranged between the electric permanent magnet and the crawl arm.
Preferably, further include connector for installing the electric permanent magnet, the connector and the crawl arm from
It is detachably connected by end.
A kind of supporting workpiece electricity permanent magnet grasping system, including supporting workpiece electricity permanent magnet grabbing device, the branch nurse
Part electricity permanent magnet grabbing device is supporting workpiece electricity permanent magnet grabbing device as described above；Further include:
For detecting whether the crawl arm moves detection part in place；
For obtaining the micro-current value inside the electric permanent magnet to calculate the pulse current intensity inspection of theoretical magnetic force value
Element is surveyed, the pulse current intensity detection element setting is inside the electric permanent magnet；
For judging whether the practical magnetic force value is greater than the judgement part of default suction value；
For controlling the controller of the crawl arm movement according to the judging result of the judgement part；
The controller and the detection part and the judgement part communication connection.
Preferably, further include for the practical magnetic force value be less than the default suction value when issue alarm signal report
Alert component.
It preferably, further include gaussmeter for detecting the practical magnetic force value of the electric permanent magnet, the gaussmeter and institute
State controller connection.
Preferably, the detection part includes:
For obtaining the range sensor of distance between the magnetizer and the supporting workpiece；
The contact sensor whether contacted with the supporting workpiece for judging the magnetizer；
For detecting the pressure sensor of pressure between the crawl arm and the supporting workpiece.
A kind of supporting workpiece electricity permanent magnet grasping means is applied to supporting workpiece electricity permanent magnet as described above crawl system
System, comprising the following steps:
Step S1: it is mobile in place to control the crawl arm；
Step S2: the micro-current value in the electric permanent magnet is obtained, and the electric permanent magnetism is calculated by the micro-current value
The theoretical magnetic force value of iron；
Step S3: it when the theoretical magnetic force value is greater than the default suction value, controls the electric permanent magnet and magnetizes；
Step S4: it after the completion of magnetizing, controls the crawl arm and the supporting workpiece is grabbed.
Preferably, the step S1 includes:
Step S1-1: it controls the crawl arm and is moved to the distance between the crawl arm and the supporting workpiece less than pre-
If distance；
Step S1-2: it controls the crawl arm and is moved to the crawl arm and contacted with the surface of the supporting workpiece；
Step S1-3: controlling the crawl arm and continue to move to, the pressure between the crawl arm and the supporting workpiece
When power is greater than preset pressure value, then the crawl arm is mobile in place.
Preferably, after the step S4 further include:
Step S5: judging whether the supporting workpiece is successfully grabbed, when the supporting workpiece is not grabbed successfully, then
It controls the crawl arm to stop working, and repeats step S1.
Supporting workpiece electricity permanent magnet grabbing device provided herein, including crawl arm and setting are on the crawl arm
Electric permanent magnet and magnetizer, the electric surface of the permanent magnet far from the crawl arm is removably arranged in the magnetizer.
The grabbing device can replace manual handling and existing manipulator fixture, can greatly discharge manpower, also, described in utilization
Magnetizer is detachably connected with the electric permanent magnet, it can be achieved that quick-replaceable, facilitates and carried out according to the diameter actual demand of supporting hole
Suitable supporting workpiece is chosen, wide adaptation range can satisfy the use demand of the development machine of different-diameter.
Supporting workpiece electricity permanent magnet grasping system provided herein, forever including supporting workpiece electricity provided herein
Magnet grabbing device, further includes: for detecting whether the crawl arm moves detection part in place；For obtaining the electricity forever
Micro-current value inside magnet is to calculate the pulse current intensity detection element of theoretical magnetic force value, the pulse current intensity inspection
Element setting is surveyed inside the electric permanent magnet；For judging whether the practical magnetic force value is greater than the judging part of default suction value
Part；For controlling the controller of the crawl arm movement according to the judging result of the judgement part；The controller with it is described
Detection part and the judgement part communication connection.The grasping system is examined by the detection part, the pulse current intensity
The setting of element, the judgement part and the controller is surveyed, can may be implemented remotely to control by remote control, it is ensured that broken
Safety of workers under country rock, moreover, the theoretical magnetic force value is precomputed using the micro-current value, it can be in the electric permanent magnetism
Before iron is magnetized, judge whether the theoretical magnetic force value meets demand, can effectively avoid leading since magnetic force is insufficient
The process for repeating to magnetize is caused, is improved efficiency, save the cost.
Supporting workpiece electricity permanent magnet grasping means provided herein, comprising the following steps: step S1: grabbed described in control
Take arm mobile in place；Step S2: the micro-current value in the electric permanent magnet is obtained, and the electricity is calculated by the micro-current value
The theoretical magnetic force value of permanent magnet；Step S3: when the theoretical magnetic force value is greater than the default suction value, the electric permanent magnetism is controlled
Iron magnetizes；Step S4: it after the completion of magnetizing, controls the crawl arm and the supporting workpiece is grabbed；Wherein, described pre-
If suction value is the default suction value according to the property settings of the supporting workpiece.The grasping means utilizes the micro-current value
The theoretical magnetic force value is precomputed, can judge that the theoretical magnetic force value is before the electric permanent magnet is magnetized
It is no to meet demand, it can effectively avoid leading to the process for repeating to magnetize since magnetic force is insufficient, improve efficiency, save the cost.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural representation of specific embodiment of supporting workpiece electricity permanent magnet grabbing device provided herein
Figure；
Fig. 2 is the crawl operation schematic diagram of supporting workpiece electricity permanent magnet grabbing device provided herein to steel arch-shelf；
Fig. 3 is the crawl operation schematic diagram of supporting workpiece electricity permanent magnet grabbing device provided herein to steel reinforcement cage；
Fig. 4 is the crawl operation schematic diagram of supporting workpiece electricity permanent magnet grabbing device provided herein to steel pipe sheet；
Fig. 5 is a kind of structural representation of specific embodiment of supporting workpiece electricity permanent magnet grasping system provided herein
Figure；
Fig. 6 is the flow chart of supporting workpiece electricity permanent magnet grasping means provided herein；
Wherein: magnetizer (1), electric permanent magnet (2), buffer unit (3), connecting flange plate (4), connector (5), crawl arm
(6), supporting workpiece (7).
Specific embodiment
The core of the application is to provide a kind of supporting workpiece electricity permanent magnet grabbing device, system and method, for enhancing branch
The crawl mechanization of nurse's part, the degree of automation can be suitable for different types of supporting workpiece, improve applicability and reliable
Property.
In order to make those skilled in the art more fully understand application scheme, with reference to the accompanying drawings and detailed description
The application is described in further detail.
Fig. 1 to Fig. 6 is please referred to, Fig. 1 is a kind of specific reality of supporting workpiece electricity permanent magnet grabbing device provided herein
Apply the structural schematic diagram of mode；Fig. 2 is the crawl of supporting workpiece electricity permanent magnet grabbing device provided herein to steel arch-shelf
Operation schematic diagram；Fig. 3 is that supporting workpiece electricity permanent magnet grabbing device provided herein illustrates the crawl operation of steel reinforcement cage
Figure；Fig. 4 is the crawl operation schematic diagram of supporting workpiece electricity permanent magnet grabbing device provided herein to steel pipe sheet；Fig. 5 is
A kind of structural schematic diagram of specific embodiment of supporting workpiece electricity permanent magnet grasping system provided herein；Fig. 6 is this Shen
Please provided by supporting workpiece electricity permanent magnet grasping means flow chart.
In this embodiment, supporting workpiece electricity permanent magnet grabbing device includes crawl arm 6 and is arranged on crawl arm 6
Electric permanent magnet 2 and magnetizer 1, specifically, electric permanent magnet 2 and magnetizer 1 are mounted on the free end of crawl arm 6, also, magnetic conduction
Removably electric surface of the permanent magnet 2 far from crawl arm 6 is arranged in body 1, and the number of magnetizer 1 can be multiple.
Specifically, the magnetizer 1 contacted with supporting workpiece 7 to be grabbed is according to the contact surface shape on the inside of supporting workpiece 7, material
Expect that characteristic uses form cutting to magnetic pole, i.e. the shape of magnetizer 1 and distribution is designed optimization, and magnetizer 1 and electric permanent magnet 2 are logical
Hinged bolt connection is crossed, is changed with meeting the supporting workpiece 7 of Different Strata, realizes the replacement of the quick modularization of magnetizer 1, electricity is forever
Soft magnetic materials is used inside magnet 2, the magnetic structure of NSN, magnetic attraction is big, effective anti-sideslip.
Preferably, the outside of electric permanent magnet 2 uses double-layer seal antifriction alloy shell, has shockproof, fire resistance characteristic.
The grabbing device can replace manual handling and existing manipulator fixture, can greatly discharge manpower, also,
Using being detachably connected, it can be achieved that quick-replaceable for magnetizer 1 and electric permanent magnet 2, facilitate according to the diameter actual demand of supporting hole into
Row chooses suitable supporting workpiece 7, and wide adaptation range can satisfy the use demand of the development machine of different-diameter.
It further include the buffer unit being arranged between electric permanent magnet 2 and crawl arm 6 on the basis of the respective embodiments described above
3.Specifically, buffer unit 3 can offset partial buffer during electric permanent magnet 2 is adjacent to and drives supporting workpiece 7 mobile
Impact, and deformation occurs to guarantee that magnetizer 1 can be adjacent to the contact surface of supporting workpiece 7 completely.
Preferably, buffer unit 3 can be disc spring, spring or buffer unit 3 made of rubber material, certainly,
Flexible deformation can occur and absorb the buffer unit 3 of energy for other forms.
Further include the connector 5 for installing electric permanent magnet 2 on the basis of the respective embodiments described above, connector 5 with grab
The free end of arm 6 is taken to be detachably connected.Specifically, relying on connection method between electric permanent magnet 2 and the connector 5 of 6 end of crawl arm
Blue plate 4 connects, and connecting flange plate 4 is design for disassembly, is changed according to supporting workpiece 7, quick-replaceable may be implemented；Crawl arm 6
The connector 5 of end is quickly adjusted according to the difference of crawl supporting workpiece 7, is assembled.
On the basis of the respective embodiments described above, be also equipped on crawl arm 6 can with supporting workpiece 7 be clamped shackle member with
Prevent supporting workpiece 7 from rotating or sliding.Specifically, after electric permanent magnet 2 magnetizes and adsorbs supporting workpiece 7, it can be by electronic
Or manually mode, shackle member is clamped on supporting workpiece 7, shackle member can be claw or bolt components.
On the basis of the respective embodiments described above, the dynamical system of electric permanent magnet 2 mainly uses two kinds of driving methods: electronic
Dynamical system and dynamical system of surging；Power-driven power system includes direct power or battery, in the preferable example of operating condition
In it is optional take direct power form, control feedback in time, can be matched in the poor example of operating condition and be energized using battery,
And charged using plug-in interface, external route is reduced, safety in utilization is improved.
On the basis of the respective embodiments described above, the power resources of crawl arm 6 are good to operating environment in built-in hydraulic cylinder
In the case where can match electric cylinder.
Specifically, as shown in Fig. 2, 6 power resources of crawl arm are in built-in when electric 2 grabbing device of permanent magnet grabs steel arch-shelf
Hydraulic cylinder or electric cylinder；As shown in figure 3, need to only shift to an earlier date in reinforcing bar when electric 2 grabbing device of permanent magnet crawl steel reinforcement cage section of jurisdiction
Weld the sheet metal satisfied the use demand in position of the cage with magnetic；It is illustrated in figure 4 electric 2 grabbing device of permanent magnet crawl steel
The schematic diagram of section of jurisdiction, electric permanent magnet 2 is arranged according to steel pipe sheet frame substep situation at this time, can also be selected on super-large diameter tunnel
With section of jurisdiction bolt pattern coordinating operation, multi-ensuring.
Grabbing device provided by the present embodiment, it can be achieved that a variety of tunnel support workpiece 7 crawl operation, including steel arch
Frame, lattice coral arch, steel mesh, steel reinforcement cage, steel pipe sheet workpiece type, also, magnetizer 1, electric permanent magnet 2 are adopted with connector 5
It is designed with fast changeable formula, live quick-replaceable can be carried out according to requirement of engineering, improves applicability and replacement efficiency.
Also, the 2 grabbing device structure of electricity permanent magnet simply occupies little space, and stringing wiring is convenient, and suction is stablized, volume
It is small, the saturating adjustable advantage of magnetic depth, while cooperating the form of other bolts, claw, realize multi-ensuring；Also, electric permanent magnet 2
Can be used battery energy supply, reduce External cable, prevent line impairment and influence using effect, it is easy to maintain, the later period investment at
This is low.
In addition to above-mentioned supporting workpiece electricity permanent magnet grabbing device, present invention also provides a kind of supporting workpiece electricity permanent magnets to grab
Take system.
The grasping system, including supporting workpiece electricity permanent magnet grabbing device, supporting workpiece electricity permanent magnet grabbing device are such as
On supporting workpiece electricity permanent magnet grabbing device；Further include:
For detecting whether crawl arm 6 moves detection part in place, detection part is preferably mounted on crawl arm 6；With
In obtaining the micro-current value inside electric permanent magnet 2 to calculate the pulse current intensity detection element of theoretical magnetic force value, pulse is electric
Intensity of flow detecting element is arranged inside electric permanent magnet 2；For judging whether practical magnetic force value is greater than the judgement of default suction value
Component；For controlling the controller that crawl arm 6 acts according to the judging result of judgement part；Also, controller and detection part
With judgement part communication connection.
Specifically, the micro-current value that pulse current intensity detection element can will acquire is sent to controller, controller is logical
After the micro-current value crossed inside electric permanent magnet 2 calculates theoretical magnetic force value, theoretical magnetic force value is sent to judgement part by controller,
Judgement part judges whether practical magnetic force value is greater than default suction value, and calculating unit, calculating unit and arteries and veins can also be separately provided
The connection of current strength detecting element is rushed, or calculating unit is integrated in pulse current intensity detection element, calculating unit is logical
The micro-current value crossed inside electric permanent magnet 2 is sent to judgement part or controller after calculating theoretical magnetic force value.
More specifically, pulse current intensity detection element includes sampling resistor, relay and operational amplifier, according to micro- electricity
Flow valuve determines magnetize parameter and the magnetic force value of electricity permanent magnet 2, it is ensured that magnetic attraction reaches design requirement value.
The grasping system passes through setting for detection part, pulse current intensity detection element, judgement part and controller
It sets, can may be implemented remotely to control by remote control, it is ensured that safety of workers under breaking surrounding rock, moreover, preparatory using micro-current value
Theoretical magnetic force value is calculated, can judge whether theoretical magnetic force value meets demand before electric permanent magnet 2 is magnetized, it can
It effectively avoids leading to the process for repeating to magnetize since magnetic force is insufficient, improve efficiency, save the cost.
It further include for issuing report when practical magnetic force value is less than default suction value on the basis of the respective embodiments described above
The warning piece of alert signal.
Specifically, the setting of judgement part, by presetting the setting of suction value, magnetic force load fails suction and reaches after magnetizing
When to default suction value, i.e. safe threshold, controller will initiate early warning, such as: display early warning, sound warning and verbal announcement
The alarm signal of prompting, prevents the safety accident that may cause for detection.
It further include the gaussmeter for detecting the practical magnetic force value of electric permanent magnet 2 on the basis of the respective embodiments described above,
Gaussmeter is connect with controller, and gaussmeter can detecte the practical magnetic force value of electric permanent magnet 2, cooperation pulse current intensity detection member
Control precision can be improved in the setting of part, also, when gaussmeter detects that the practical magnetic force value of electric permanent magnet 2 is zero, then cuts
Power-off source, system is out of service, realizes and automatically controls.
On the basis of the respective embodiments described above, detection part includes:
For obtaining the range sensor of distance between magnetizer 1 and supporting workpiece 7；
The contact sensor whether contacted with supporting workpiece 7 for judging magnetizer 1；
For detecting the pressure sensor of pressure between crawl arm 6 and supporting workpiece 7.
Wherein, range sensor also could alternatively be close to switch, specifically, above-mentioned by installing in electric permanent magnet 2
Each sensor, in 7 contact process of supporting workpiece, can be with Real-time Feedback magnetizer 1 by range sensor, touch sensor
With the engagement capacity of 7 contact surface of supporting workpiece, while crawl arm 6 in design have pressure sensor, can feed back in contact process,
Crawl arm 6 stretches pressure variety；By multiple sensors, it is ensured that electric permanent magnet 2 is sufficiently adjacent to supporting workpiece 7 before magnetizing,
Crawl precision and efficiency are improved, and ensures the reliability of contact, magnetic, abstraction process.
It further include the vision whether successfully grabbed for detecting supporting workpiece 7 on the basis of the respective embodiments described above
Detection part.
Preferably, vision-based detection component is video camera.It is of course also possible to be visually observed by staff.Specifically, view
Feeling the effect of detection part is, whether detection supporting workpiece 7 is picked up, such as can be by observing the position of supporting workpiece 7
No generation is mobile to determine whether by picking up, it is of course also possible to be sentenced by installing displacement sensor on supporting workpiece 7
It is disconnected.
It further include the light for obtaining distance between crawl arm 6 and supporting workpiece 7 on the basis of the respective embodiments described above
Electric transducer.
Specifically, range sensor can directly select photoelectric sensor, alternatively, using the distance in addition to photoelectric sensor
Sensor cooperates photoelectric sensor to use.Above-mentioned photoelectric sensor be preferably applied in tunnel light is poor or safety coefficient is low,
It is unfavorable in the environment of personnel's entrance.
Grasping system provided by the present embodiment, sensory perceptual system include: internal sensor, external sensor and can match
Visual sensor；Wherein, internal sensor include: magnetic force test Gauss flowmeter sensor // pulse current intensity detection element with
And limits value decision-making module, wherein limits value decision-making module includes judgement part；External sensor specifically includes that tactile sensing
Device, range sensor and the pressure sensor for being integrated in crawl arm 6；The NI Vision Builder for Automated Inspection auxiliary that can be matched, such as camera can
Contact and process feedback during magnetic are completed in cooperation.
In addition to above-mentioned supporting workpiece electricity permanent magnet grasping system, present invention also provides a kind of supporting workpiece electricity permanent magnets to grab
Take method.The grasping means, applied to supporting workpiece electricity permanent magnet grasping system as above, comprising the following steps:
Step S1: control crawl arm 6 is mobile in place；
Step S2: obtaining the micro-current value in electric permanent magnet 2, and the theoretical magnetic of electric permanent magnet 2 is calculated by micro-current value
Force value；
Step S3: it when theoretical magnetic force value is greater than default suction value, controls electric permanent magnet 2 and magnetizes；
Step S4: after the completion of magnetizing, control crawl arm 6 grabs supporting workpiece 7；
Wherein, preset suction value be according to the property settings of supporting workpiece 7, such as shape and weight, default suction value,
Specifically, default suction value is preferably the minimum suction value that can grab the success of supporting workpiece 7.
The grasping means precomputes theoretical magnetic force value using micro-current value, can carry out magnetizing it in electric permanent magnet 2
Before, judge whether theoretical magnetic force value meets demand, can effectively avoid leading to the process for repeating to magnetize since magnetic force is insufficient,
It improves efficiency, save the cost.
Specifically, step S1 includes:
Step S1-1: control crawl arm 6 is moved to the distance between crawl arm 6 and supporting workpiece 7 and is less than pre-determined distance, can
To utilize range sensor, the shift position of crawl arm 6 is fed back；
Step S1-2: control crawl arm 6 is moved to crawl arm 6 and contacts with the surface of supporting workpiece 7, can use contact and passes
Sensor, feedback crawl arm 6 whether close to supporting workpiece 7；
Step S1-3: control crawl arm 6 continues to move to, and presets when the pressure between crawl arm 6 and supporting workpiece 7 is greater than
When pressure value, then in place, preset pressure value can be set as needed the movement of crawl arm 6, when crawl arm 6 and supporting workpiece 7
Between pressure be greater than preset pressure value when, illustrate that crawl arm 6 can not continue to move to.
On the basis of the respective embodiments described above, after step S4 further include:
Step S5: judging whether supporting workpiece 7 is successfully grabbed, and when supporting workpiece 7 is not grabbed successfully, then control is grabbed
It takes arm 6 to stop working, and repeats step S1.Specifically, supporting can be observed by vision-based detection component, such as camera
Whether workpiece 7 moves, if supporting workpiece 7 does not move, or during crawl, supporting workpiece 7 is fallen, and can lead to
The process reposition, magnetize, grabbing is crossed, supporting workpiece 7 is grabbed again.
The supporting workpiece electricity permanent magnet grasping system and method are ground for the metallic character of arch, steel reinforcement cage, steel pipe sheet
It generates and supporting workpiece 7 is grabbed by the way of electric permanent magnet 2, according to the 7 internal diameter radian of supporting workpiece in tunnel, forever using electricity
The 1 contact surface form cutting of magnetizer of magnet 2 is designed manufacture, according to the different type of supporting workpiece 7, using 1 mould of magnetizer
Block, Ke Kuaisugenghuan mode, electric permanent magnet 2 grab supporting workpiece 7, are evenly distributed with magnetic attraction, easy to operate and maintenance
Advantage at low cost.Meanwhile to guarantee that electric 2 grasping mechanism of permanent magnet crawl release 7 process of supporting workpiece is quick, safe and reliable,
Demagnetization process is rushed to electric permanent magnetism grasping mechanism and increases gaussmeter detection, by the Real-time Feedback mode of gaussmeter, skill is effectively reduced
Art threshold.
Detailed Jie has been carried out to supporting workpiece electricity permanent magnet grabbing device provided herein, system and method above
It continues.Specific examples are used herein to illustrate the principle and implementation manner of the present application, and the explanation of above embodiments is only
It is to be used to help understand the method for this application and its core ideas.It should be pointed out that for those skilled in the art
For, under the premise of not departing from the application principle, can also to the application, some improvement and modification can also be carried out, these improve and repair
Decorations are also fallen into the protection scope of the claim of this application.
Claims (10)
1. a kind of supporting workpiece electricity permanent magnet grabbing device, which is characterized in that including crawl arm (6) and be arranged in the crawl arm
(6) electric permanent magnet (2) and magnetizer (1) on, removably setting is separate in the electric permanent magnet (2) for the magnetizer (1)
The surface of the crawl arm (6).
2. supporting workpiece electricity permanent magnet grabbing device according to claim 1, which is characterized in that further include being arranged described
Buffer unit (3) between electric permanent magnet (2) and the crawl arm (6).
3. supporting workpiece electricity permanent magnet grabbing device according to claim 2, which is characterized in that further include for installing
The connector (5) of electric permanent magnet (2) is stated, the connector (5) and the free end of the crawl arm (6) are detachably connected.
4. a kind of supporting workpiece electricity permanent magnet grasping system, including supporting workpiece electricity permanent magnet grabbing device, which is characterized in that institute
Stating supporting workpiece electricity permanent magnet grabbing device is the supporting workpiece electricity permanent magnet crawl as described in claims 1 to 3 any one
Device；Further include:
For detecting whether the crawl arm (6) moves detection part in place；
For obtaining the internal micro-current value of the electric permanent magnet (2) to calculate the pulse current intensity detection of theoretical magnetic force value
Element, the pulse current intensity detection element setting are internal in the electric permanent magnet (2)；
For judging whether the practical magnetic force value is greater than the judgement part of default suction value；
For controlling the controller of crawl arm (6) movement according to the judging result of the judgement part；
The controller and the detection part and the judgement part communication connection.
5. supporting workpiece electricity permanent magnet grasping system according to claim 4, which is characterized in that further include for described
Practical magnetic force value issues the warning piece of alarm signal when being less than the default suction value.
6. supporting workpiece electricity permanent magnet grasping system according to claim 4, which is characterized in that further include for detecting
The gaussmeter of the practical magnetic force value of electric permanent magnet (2) is stated, the gaussmeter is connect with the controller.
7. according to supporting workpiece electricity permanent magnet grasping system described in claim 4 to 6 any one, which is characterized in that described
Detection part includes:
For obtaining the range sensor of distance between the magnetizer (1) and the supporting workpiece (7)；
The contact sensor whether contacted with the supporting workpiece (7) for judging the magnetizer (1)；
For detecting the pressure sensor of pressure between the crawl arm (6) and the supporting workpiece (7).
8. a kind of supporting workpiece electricity permanent magnet grasping means, applied to the supporting workpiece as described in claim 4 to 7 any one
Electric permanent magnet grasping system, which comprises the following steps:
Step S1: it is mobile in place that the crawl arm (6) are controlled；
Step S2: the micro-current value in the electric permanent magnet (2) is obtained, and the electric permanent magnet is calculated by the micro-current value
(2) theoretical magnetic force value；
Step S3: it when the theoretical magnetic force value is greater than the default suction value, controls the electric permanent magnet (2) and magnetizes；
Step S4: it after the completion of magnetizing, controls the crawl arm (6) and the supporting workpiece (7) is grabbed.
9. supporting workpiece electricity permanent magnet grasping means according to claim 8, which is characterized in that the step S1 includes:
Step S1-1: it controls the crawl arm (6) and is moved to the distance between the crawl arm (6) and the supporting workpiece (7)
Less than pre-determined distance；
Step S1-2: it controls the crawl arm (6) and is moved to the crawl arm (6) and contacted with the surface of the supporting workpiece (7)；
Step S1-3: it controls the crawl arm (6) and continues to move to, when between the crawl arm (6) and the supporting workpiece (7)
Pressure when being greater than preset pressure value, then the crawl arm (6) is mobile in place.
10. supporting workpiece electricity permanent magnet grasping means according to claim 8, which is characterized in that after the step S4
Further include:
Step S5: judging whether the supporting workpiece (7) is successfully grabbed, when the supporting workpiece (7) is not grabbed successfully,
It then controls the crawl arm (6) to stop working, and repeats step S1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543398.6A CN110154076B (en) | 2019-06-21 | 2019-06-21 | Supporting workpiece electro-permanent magnet grabbing device, system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543398.6A CN110154076B (en) | 2019-06-21 | 2019-06-21 | Supporting workpiece electro-permanent magnet grabbing device, system and method |
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| Publication Number | Publication Date |
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| CN110154076A true CN110154076A (en) | 2019-08-23 |
| CN110154076B CN110154076B (en) | 2023-09-19 |
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| CN201910543398.6A Active CN110154076B (en) | 2019-06-21 | 2019-06-21 | Supporting workpiece electro-permanent magnet grabbing device, system and method |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2861018Y (en) * | 2005-12-23 | 2007-01-24 | 殷秋强 | Manipulator apparatus for packaging machine |
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| CN2861018Y (en) * | 2005-12-23 | 2007-01-24 | 殷秋强 | Manipulator apparatus for packaging machine |
| CN205668808U (en) * | 2016-05-16 | 2016-11-02 | 机械科学研究总院先进制造技术研究中心 | A kind of automatization steel plate sorting conditioning machines people being applicable to plasma cutting |
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| CN110154076B (en) | 2023-09-19 |
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