CN110949557A - Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot - Google Patents
Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot Download PDFInfo
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- CN110949557A CN110949557A CN201911278785.8A CN201911278785A CN110949557A CN 110949557 A CN110949557 A CN 110949557A CN 201911278785 A CN201911278785 A CN 201911278785A CN 110949557 A CN110949557 A CN 110949557A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 65
- 230000009194 climbing Effects 0.000 title claims abstract description 39
- 230000005389 magnetism Effects 0.000 title claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000005415 magnetization Effects 0.000 claims description 8
- 230000007480 spreading Effects 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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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- 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
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Abstract
The invention discloses an adjustable permanent magnet adsorption device based on a pipe climbing robot, which comprises a distance component, an adsorption component and a lead screw component, wherein the distance component is arranged on the upper surface of the pipe climbing robot; the distance subassembly includes magnet car board and gyro wheel, and the absorption subassembly includes permanent magnetism chunk and magnet fixing device, and lead screw subassembly includes lead screw motor, the lead screw and the lead screw nut that link to each other with lead screw motor. The concrete during operation, lead screw motor can be rotatory according to a certain direction, drives the lead screw and is forward or reverse rotation, and when the lead screw was rotatory, the rotary motion of lead screw just converted into two screw nut's linear motion in opposite directions or back of the body mutually, and then combines connecting rod, magnet fixing device's transmission of force, and it is adjustable to realize the adsorption affinity through the distance of adjusting permanent magnetism chunk and pipe wall, adopts novel magnetic circuit structure in order to reduce the magnetic leakage to the permanent magnetism chunk simultaneously to it is directional to realize the magnetic force line. This structural design is ingenious reasonable, guarantees that it has enough big adsorption affinity and motion flexibility, reduces electronic components's electromagnetic interference simultaneously, has higher practical application and spreading value.
Description
Technical Field
The invention relates to the field of structural design of an adsorption device of a pipe climbing robot, in particular to an adjustable permanent magnet adsorption device based on a pipe climbing robot.
Background
The magnetic adsorption type wall climbing robot (pipe climbing robot) is one of special robots, is an automatic mechanical device designed to perform specific operations such as welding, polishing, detection, coating and the like on a magnetic conduction wall surface under the conditions of badness, danger and limitation, is more and more valued by people, has the advantages of stable adsorption force, larger suction force and the like due to permanent magnetic adsorption, and is widely applied to the pipe climbing robot on metal vertical surfaces.
For example, in the field of jacket detection of offshore platforms, jackets composed of cylindrical rods are the most widely used steel structures in offshore oil and gas fields at present. The structural stability is the primary consideration condition of the jacket, and is particularly important for checking and repairing the jacket on time. In order to reduce the detection cost and reduce the risk of manual operation, the operation of using the pipe climbing robot is a better choice. The adsorption device is used as an important component of the pipe climbing robot, the bearing capacity and the self weight of the pipe climbing robot are determined, and meanwhile, the motion flexibility of the robot is directly influenced by the size of the suction force of the adsorption device.
The adsorption equipment that wall climbing robot on the existing market adopted is mostly fixed magnet, and its defect can not accomplish to hug closely the wall, also can't adjust the adsorption affinity for effective adsorption affinity is not enough. For example, the invention patent with application publication number [ CN 104443096 a ] discloses a magnetic adsorption type wall climbing robot, which performs magnetic adsorption by using a strong magnet, and can realize the adjustable distance between the strong magnet group and the magnetic conductive surface, but the robot is manually adjusted and fixed in advance during adjustment, and when the magnetic adsorption type wall climbing robot is applied underwater, the motion flexibility of the robot is difficult to guarantee, and the magnetic leakage of the traditional magnet is serious, which may cause interference to other electronic components.
Therefore, the reasonable designed adsorption device of the pipe climbing robot has enough adsorption force, the robot can move flexibly, and meanwhile, the reduction of electromagnetic interference on electronic components of the robot is a key technology which needs to be researched urgently.
Disclosure of Invention
The invention provides an adjustable permanent magnet adsorption device based on a pipe climbing robot, which realizes the adjustable distance between a permanent magnet block and a pipe wall through an ingenious structural design, further realizes the adjustable adsorption force, and not only can ensure the enough adsorption force, but also can ensure the flexible movement of the robot.
The invention is realized by adopting the following technical scheme: an adjustable permanent magnet adsorption device based on a pipe climbing robot comprises a distance component, an adsorption component and a lead screw component;
the distance assembly comprises a frame, a magnetic car plate and rollers, the magnetic car plate is positioned below the frame, and the rollers are arranged below the frame and positioned at two ends of the magnetic car plate;
the adsorption component comprises a permanent magnet block and a magnet fixing device, and the permanent magnet block is arranged in a magnetic groove on the magnetic car plate and connected with the magnet fixing device;
the screw rod assembly comprises a screw rod motor, a screw rod connected with the screw rod motor and a screw rod nut (7) arranged on the screw rod; the lead screw is arranged on the upper surface of the frame through a lead screw fixing frame, and the thread directions from the middle part of the lead screw to the two ends of the lead screw are opposite; the lead screw nut includes two, sets up respectively on two sections opposite screw threads of the left and right sides of lead screw, lead screw nut's below links to each other through connecting rod and magnet fixing device are articulated, and when the lead screw rotated, two lead screw nuts were in opposite directions or back-to-back motion, and then driven the connecting rod action, under the connecting rod effect, made magnet fixing device drive the permanent magnetism chunk and keep away from or be close to the climbing pipe wall, realized changing the size of adsorption affinity through the distance of adjusting adsorption equipment and pipe wall.
Furthermore, the permanent magnet blocks are composed of a plurality of permanent magnets with variable magnetization directions, the magnetization directions of the permanent magnets are magnetized according to the direction of the semicircular magnetic circuit and are arranged in a circulating mode, one side, close to the surface of the climbing pipe wall, of each permanent magnet block is magnetized, and the other side, away from the climbing pipe wall, of each permanent magnet block is demagnetized.
Furthermore, screw nut tapered roller bearings are further arranged at two ends of the screw rod and are arranged on the screw rod fixing frame so as to ensure that the screw rod has certain straightness.
Furthermore, the interval between the lower surface of the magnetic car board and the climbing pipe wall is 3mm-5mm, namely the plane where the magnetic car board is located is slightly higher than the plane where the lowest end of the roller is located, and a certain small distance is kept between the lower surface of the magnetic car board and the climbing pipe wall due to the isolation of the roller, so that the damage of the device to the wall of the conduit frame, such as scraping, can be reduced, and strong enough magnetic adsorption is ensured.
Furthermore, the lead screw nut and the connecting rod and the magnet fixing device are connected in a hinged mode through hinges.
Furthermore, the two ends of the screw motor are respectively connected with a screw motor brake and a screw motor reducer, the screw motor brake, the screw motor and the screw motor reducer are sequentially connected, and the output end of the screw motor reducer is connected with one end of a screw.
Compared with the prior art, the invention has the advantages and positive effects that:
the scheme realizes that the adsorption force is adjustable by adjusting the distance between the permanent magnet block and the pipe wall through the design of the screw rod assembly, the adsorption assembly and the distance assembly, and simultaneously adopts a novel magnetic circuit structure for the permanent magnet block to reduce magnetic leakage and realize the orientation of magnetic lines of force; one side of the permanent magnet is gathered with magnetism, so that the adsorption force of the permanent magnet in unit area is greatly enhanced; the other side of the permanent magnet is demagnetized, and the interference on system electronic components and the like is reduced. This structural design is ingenious reasonable, guarantees that it has enough big adsorption affinity and motion flexibility, reduces electronic components's electromagnetic interference simultaneously, has higher practical application and spreading value.
Drawings
Fig. 1 is a schematic structural diagram of an adjustable permanent magnetic adsorption device according to an embodiment of the present invention;
FIG. 2 is a schematic magnetic circuit diagram of a permanent magnet block according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a magnetic circuit simulation when the permanent magnet block is attached to a wall surface according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of an adsorption wall of the adsorption apparatus according to the embodiment of the present invention;
FIG. 5 is a schematic side view of an adsorption wall of the adsorption apparatus according to the embodiment of the present invention;
wherein: 1. a jacket; 2. a roller; 3. a frame; 4. a lead screw motor; 5. a lead screw fixing frame; 6. a lead screw; 7. a lead screw nut; 8. a magnet fixing device; 9. a connecting rod; 10. a permanent magnet block; 11. a magnet car plate; 12. permanent magnet blocks; 13. a magnetic path direction; 14. the wall surface can be adsorbed; 15. a gap between the adsorption device and the wall of the climbing pipe.
Detailed Description
In order to clearly understand the above objects and advantages of the present invention, the following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings, and it should be noted that the present invention is not limited to the application of the suction device to the pipe climbing robot, and is also applicable to other structures or devices with similar functional requirements, or is slightly modified to be applied to other fields, and is also within the protection scope of the present invention.
An embodiment, an adjustable permanent magnetism adsorption equipment based on pipe climbing robot can be applied to the specific operation in place such as under water, as shown in fig. 1, adsorption equipment includes distance subassembly, adsorption component and lead screw subassembly, and is specific:
the distance subassembly includes frame 3, gyro wheel 2 and magnet car board 11, and gyro wheel 2 sets up the below at frame 3 to be located the both ends of magnet car board 11, the pipe walls such as pipe rack are hugged closely to the gyro wheel 2 at magnet car board 11 both ends, magnet car board 11 keeps certain small distance, for example 3mm-5mm, because the isolation of gyro wheel 2 and pipe rack wall, thereby can reduce the device to damage such as scraping of pipe rack wall, and can guarantee that the permanent magnetism chunk on magnet car board 11 keeps enough strong magnetism adsorption affinity when climbing the wall.
The adsorption component comprises a permanent magnet block 10 and a magnet fixing device 8, and the permanent magnet block 10 is fixed in a magnetic groove on the magnet fixing device 8. As shown in fig. 2, the permanent magnet block 10 is composed of a plurality of variable magnetization direction permanent magnets 12, and the magnetization directions of the permanent magnets 12 are magnetized and circularly arranged according to the direction of an approximately semicircular magnetic circuit. Make permanent magnetism chunk 10 be close to one side of climbing pipe wall surface and gather magnetism, its magnetic field intensity obviously increases, makes adsorption equipment can adsorb on the pipe wall surface, and magnetic circuit structure can improve the adsorption affinity of unit mass permanent magnet, and the volume of minimizing magnetism adsorption equipment under the condition of same adsorption affinity promptly reduces adsorption equipment's weight, makes adsorption equipment light as far as possible. Meanwhile, the magnetic circuit structure demagnetizes one side of the adsorption device, which is deviated from the pipe wall, so that the magnetic field intensity is greatly reduced, the interference of the adsorption device on electronic components of the device is reduced, and the working reliability of the system is improved.
The screw component comprises a screw motor 4, a screw nut 7, a screw fixing frame 5 and a screw 6, the screw motor 4 is connected with the screw 6, the spiral directions of the two screw sections at the two ends of the screw 6 are opposite, the two screw sections of the screw 6 are respectively provided with the screw nut 7, one screw nut 7 is connected with one connecting rod 9 in a hinged mode, the two connecting rods 9 are finally connected with a magnet fixing device 8 in a hinged mode, and the hinge can adopt a hinge mode and the like. The two ends of the screw motor 4 are also connected with a screw motor reducer and a screw motor brake, the screw motor and the screw motor reducer are sequentially connected, the output end of the screw motor reducer is connected with one end of the screw 6, screw nut tapered roller bearings are respectively arranged at the two ends of the screw 6 to keep certain straightness, and the screw nut tapered roller bearings are arranged on the screw fixing frame 5.
When the screw driver works specifically, as can be seen by combining fig. 4 and 5, the screw motor 4 can rotate in a certain direction to drive the screw 6 to rotate forwards or backwards, and when the screw 6 rotates, the rotary motion of the screw 6 is converted into opposite or back-to-back linear motion of the two screw nuts 7. The movement of the screw nut 7 is transmitted to the connecting rod 9 and then transmitted to the magnet fixing device 8, the permanent magnet block 10 is fixed on the magnet fixing device 8, and finally the permanent magnet block 10 is enabled to do translational movement perpendicular to the plane where the axes of the two rollers 2 are located, so that the pipe climbing robot can adsorb and release the wall surface of the jacket 1 by controlling the permanent magnet block 10 to be close to or far away from the bottom of the magnet car plate 11, and the adsorption force on the wall surface of the jacket 1 is adjustable.
It should be emphasized that, in this embodiment, as shown in fig. 2, the magnetic path of the permanent magnet block 10 composed of a plurality of variable magnetization direction permanent magnets 12 is optimally designed, when magnetizing, each permanent magnet is circularly and directionally magnetized in a semicircular direction, so that the magnetic path direction 13 of each permanent magnet can approach to an ideal semicircular shape as much as possible, thereby reducing the overflow of magnetic lines of force on the side away from the pipe wall, reducing the magnetic leakage, forming a single-sided magnetic field, and improving the unit mass adsorption force. In order to prove the rationality and effectiveness of the permanent magnet block structure design, as shown in fig. 3, a simulation diagram of magnetic circuit optimization design of the permanent magnet block 10 is shown, a magnetic circuit direction 13 in the permanent magnet block 10 formed by combining the permanent magnets 12 with different magnetization directions is approximately in an ideal semicircle shape, no magnetic force line passes through the upper side of the permanent magnet block 10, and the magnetic force line is gathered in the permanent magnet block 10, the adsorbable wall surface 14 and an air gap 15 between the adsorption device and the climbing pipe wall. The simulation result shows that the magnetic line orientation can be realized by using the magnetic circuit optimization design method, so that one side of the permanent magnet block 10 is magnetized, and the adsorption force of the permanent magnet in unit area is greatly enhanced; one side of the permanent magnet block 10 is demagnetized, so that the interference of system electronic components and the like is reduced, and the working reliability of the system is improved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (6)
1. An adjustable permanent magnet adsorption device based on a pipe climbing robot is characterized by comprising a distance component, an adsorption component and a lead screw component;
the distance assembly comprises a frame (3), a magnetic car plate (11) and rollers (2), the magnetic car plate (11) is positioned below the frame (3), and the rollers (2) are arranged below the frame (3) and positioned at two ends of the magnetic car plate (11);
the adsorption component comprises a permanent magnet block (10) and a magnet fixing device (8), wherein the permanent magnet block (10) is arranged in a magnetic groove of the magnetic car plate (11) and is connected with the magnet fixing device (8);
the screw component comprises a screw motor (4), a screw (6) connected with the screw motor (4) and a screw nut (7) arranged on the screw (6); the lead screw (6) is arranged on the upper surface of the frame (3) through a lead screw fixing frame (5), and the thread directions from the middle part of the lead screw (6) to the two ends of the lead screw are opposite; the screw rod nuts (7) comprise two screw rods which are respectively arranged on the left and right sections of opposite threads of the screw rod (6), and the lower part of the screw rod nut (7) is hinged with the magnet fixing device (8) through a connecting rod (9).
2. The adjustable permanent magnetic adsorption device based on the pipe climbing robot as claimed in claim 1, wherein: the permanent magnet block (10) is composed of a plurality of permanent magnets (12) with variable magnetization directions, the magnetization directions of the permanent magnets (12) are magnetized according to the direction of a semicircular magnetic circuit and are arranged in a circulating mode, one side, close to the surface of the climbing pipe wall, of the permanent magnet block (10) gathers magnetism, and one side, away from the climbing pipe wall, of the permanent magnet block is demagnetized.
3. The adjustable permanent magnetic adsorption device based on the pipe climbing robot as claimed in claim 1, wherein: and lead screw nut tapered roller bearings are further arranged at two ends of the lead screw (6) and are arranged on the lead screw fixing frame (5).
4. The adjustable permanent magnetic adsorption device based on the pipe climbing robot as claimed in claim 1, wherein: the distance between the lower surface of the magnetic car plate (11) and the climbing pipe wall is 3-5 mm.
5. The adjustable permanent magnetic adsorption device based on the pipe climbing robot as claimed in claim 1, wherein: the hinged connection mode between the screw rod nut (7) and the connecting rod (9) and between the connecting rod (9) and the magnet fixing device adopts hinged connection.
6. The adjustable permanent magnetic adsorption device based on the pipe climbing robot as claimed in claim 1, wherein: the two ends of the screw motor (4) are respectively connected with a screw motor brake and a screw motor reducer, the screw motor brake, the screw motor (4) and the screw motor reducer are sequentially connected, and the output end of the screw motor reducer is connected with one end of a screw (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911278785.8A CN110949557A (en) | 2019-12-13 | 2019-12-13 | Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911278785.8A CN110949557A (en) | 2019-12-13 | 2019-12-13 | Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot |
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| CN201911278785.8A Pending CN110949557A (en) | 2019-12-13 | 2019-12-13 | Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026950A (en) * | 2020-09-10 | 2020-12-04 | 广东工业大学 | Wheel-leg composite climbing robot |
| CN112519911A (en) * | 2020-12-04 | 2021-03-19 | 上海海事大学 | Electromagnetism and permanent magnetism compound adsorption equipment |
| CN113734313A (en) * | 2021-09-24 | 2021-12-03 | 上海电力股份有限公司吴泾热电厂 | Magnetic attraction force adjustable water-cooled wall tube robot |
| CN113753191A (en) * | 2021-09-24 | 2021-12-07 | 中国电子科技集团公司第十四研究所 | Wall-climbing robot for ship rust removal and paint spraying |
| CN113788070A (en) * | 2021-11-01 | 2021-12-14 | 成都熊谷加世电器有限公司 | Magnetic adsorption climbing trolley |
| CN115351476A (en) * | 2022-07-26 | 2022-11-18 | 山东省公路桥梁建设集团有限公司 | Automatic welding robot for splicing steel box girders and using method |
| CN115837945A (en) * | 2022-10-21 | 2023-03-24 | 威海市威力海洋装备技术工程有限公司 | Magnetic force self-adaptation wall climbing robot based on magnetic field intensity measurement |
| CN116331839A (en) * | 2023-05-26 | 2023-06-27 | 苏州浪潮智能科技有限公司 | Component transfer device and component production system |
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| CN211685389U (en) * | 2019-12-13 | 2020-10-16 | 中国海洋大学 | Permanent magnetism adsorption equipment with adjustable based on pipe climbing robot |
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2019
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026950A (en) * | 2020-09-10 | 2020-12-04 | 广东工业大学 | Wheel-leg composite climbing robot |
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| CN112519911A (en) * | 2020-12-04 | 2021-03-19 | 上海海事大学 | Electromagnetism and permanent magnetism compound adsorption equipment |
| CN113734313A (en) * | 2021-09-24 | 2021-12-03 | 上海电力股份有限公司吴泾热电厂 | Magnetic attraction force adjustable water-cooled wall tube robot |
| CN113753191A (en) * | 2021-09-24 | 2021-12-07 | 中国电子科技集团公司第十四研究所 | Wall-climbing robot for ship rust removal and paint spraying |
| CN113788070A (en) * | 2021-11-01 | 2021-12-14 | 成都熊谷加世电器有限公司 | Magnetic adsorption climbing trolley |
| CN115351476A (en) * | 2022-07-26 | 2022-11-18 | 山东省公路桥梁建设集团有限公司 | Automatic welding robot for splicing steel box girders and using method |
| CN115837945A (en) * | 2022-10-21 | 2023-03-24 | 威海市威力海洋装备技术工程有限公司 | Magnetic force self-adaptation wall climbing robot based on magnetic field intensity measurement |
| CN115837945B (en) * | 2022-10-21 | 2023-10-27 | 威海市威力海洋装备技术工程有限公司 | Magnetic force self-adaptive wall climbing robot based on magnetic field intensity measurement |
| CN116331839A (en) * | 2023-05-26 | 2023-06-27 | 苏州浪潮智能科技有限公司 | Component transfer device and component production system |
| CN116331839B (en) * | 2023-05-26 | 2023-08-11 | 苏州浪潮智能科技有限公司 | Component transfer device and component production system |
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