CN112519911A - Electromagnetism and permanent magnetism compound adsorption equipment - Google Patents
Electromagnetism and permanent magnetism compound adsorption equipment Download PDFInfo
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- CN112519911A CN112519911A CN202011417361.8A CN202011417361A CN112519911A CN 112519911 A CN112519911 A CN 112519911A CN 202011417361 A CN202011417361 A CN 202011417361A CN 112519911 A CN112519911 A CN 112519911A
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- electromagnet
- permanent magnet
- cabin
- cabin body
- adsorption
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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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B81/00—Repairing or maintaining vessels
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an electromagnetic and permanent magnet composite adsorption device, which relates to the technical field of robot adsorption devices and comprises the following components: the top of the aluminum alloy cabin body is provided with a cabin body top cover; the permanent magnet is arranged on the lower side in the aluminum alloy cabin body; the electromagnet is arranged on the upper side in the aluminum alloy cabin body, the top of the electromagnet is fixedly connected to the lower surface of the cabin body top cover, and the permanent magnet is connected with the electromagnet through a spring; the aluminum polished rod penetrates through the electromagnet, the spring and the permanent magnet; and the electromagnet control circuit is electrically connected with two terminals of the electromagnet. The invention not only exerts the advantages of simple electromagnetic adsorption control and flexible movement, but also utilizes the characteristic of energy conservation of permanent magnetic adsorption, the adsorption device has simple structure and low energy consumption, can ensure the sufficient adsorption force of the robot, can realize the quick switching between adsorption and separation, and obviously improves the movement flexibility of the robot.
Description
Technical Field
The invention relates to the technical field of adsorption devices of ship cleaning robots and bridge maintenance robots, in particular to a magnetic adsorption device.
Background
With the development of the robot technology, a special robot which can be used for cleaning and overhauling a ship body and a bridge becomes a key research field of the robot technology. The ship cleaning and overhauling robot can replace manpower to clean and overhaul the ship in a dock and can also carry out related operation underwater, thereby not only improving the operation efficiency of cleaning and overhauling, but also reducing the operation cost and reducing the danger of underwater operation of divers. The bridge maintenance robot can be used for maintenance on the iron cables of large-span bridges such as cable-stayed bridges and the like, has the advantages of safety, rapidness, economy and the like, and also has wide application prospect.
Because the guy cables of the ship body or the bridge are made of iron materials, and iron can be tightly adsorbed by magnetic materials, some ship body cleaning robots or bridge guy cable maintenance robots adopt a magnetic adsorption device as a fixing mode when the robots operate. The conventional magnetic adsorption device has two types: electromagnetic adsorption device and permanent magnetism adsorption equipment. The electromagnetic adsorption device generates magnetic force when being electrified, so that the robot is adsorbed on the metal working surface, the magnetic force disappears when the power is cut off, the robot can move to the next position for operation, the robot has the advantages of flexible movement, convenient control and high power consumption, and once the power fails, the robot can fall off from a ship body or a bridge to cause loss. The permanent magnetic adsorption device does not need to provide a power supply, but the robot needs to overcome strong magnetic adsorption force when moving, so that great requirements are provided for the driving force and power of a robot driving system, the driving system with complex design is needed, and the moving speed of the robot is slow. The invention provides an electromagnetic and permanent magnetic composite adsorption device, which integrates the advantages of two magnetic adsorption devices, not only exerts the advantages of simple electromagnetic adsorption control and flexible movement, but also utilizes the characteristic of energy conservation of permanent magnetic adsorption, has simple structure and low energy consumption, can ensure the sufficient adsorption force of a robot, can realize quick switching between adsorption and separation, and obviously improves the movement flexibility of the robot and the operation efficiency of a hull cleaning robot and a bridge maintenance robot.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an electromagnetic and permanent magnetic composite adsorption apparatus for improving the adsorption reliability and flexibility of a robot and reducing the energy consumption and volume of the system.
In order to achieve the above object, the present invention provides an electromagnetic and permanent magnetic composite adsorption apparatus, comprising: the top of the aluminum alloy cabin body is provided with a cabin body top cover;
the permanent magnet is arranged on the lower side in the aluminum alloy cabin body and is used for providing adsorption force adsorbed on the metal working surface;
the electromagnet is arranged on the upper side in the aluminum alloy cabin body, the top of the electromagnet is fixedly connected to the lower surface of the cabin body top cover, two wiring terminals of the electromagnet penetrate through the cabin body top cover, the permanent magnet is connected with the electromagnet through a spring, and the electromagnet is used for controlling the permanent magnet to be in contact with or separated from a metal working surface;
the aluminum polish rod penetrates through the electromagnet, the spring and the permanent magnet, and the permanent magnet can slide in the aluminum alloy cabin along the aluminum polish rod;
the electromagnet control circuit is electrically connected with the two terminals of the electromagnet and controls the electrifying current direction of the two terminals of the electromagnet.
In the electromagnetic and permanent magnet compound adsorption device, the electromagnet control circuit includes two power relays, the two power relays are electrically connected to the two terminals of the electromagnet, the two power relays control the direction of the current applied to the two terminals of the electromagnet, so as to change the direction of the magnetic poles of the electromagnet, and the electromagnet generates an adsorption force or a repulsion force to the permanent magnet.
In the electromagnetic and permanent magnet composite adsorption device, the aluminum polish rod is a cylinder or a cuboid.
The electromagnetic and permanent magnet composite adsorption device comprises an aluminum alloy cabin body, wherein the aluminum alloy cabin body comprises an upper cabin body and a lower cabin body, the upper cabin body is fixedly connected to the top of the lower cabin body, the longitudinal section of the upper cabin body and the longitudinal section of the lower cabin body are in a convex shape, a cylindrical cavity is formed inside the upper cabin body and the lower cabin body, an electromagnet is located inside the upper cabin body, and a permanent magnet is located inside the lower cabin body.
In the electromagnetic and permanent magnet compound adsorption device, the spring is sleeved on the aluminum polished rod, one end of the spring is connected with the bottom of the electromagnet, and the other end of the spring is connected with the top of the permanent magnet.
In the electromagnetic and permanent magnet composite adsorption device, the spring is made of diamagnetic materials to prevent magnetization.
In the electromagnetic and permanent magnet composite adsorption device, the electromagnet is an electromagnet, and the permanent magnet is a strong magnet, but not limited to a samarium-cobalt (SmCo) permanent magnet and a neodymium-iron-boron (NdFeB) permanent magnet.
Preferably, the metal work surface may be a ship hull, an underwater petroleum pipeline and a bridge stay cable.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
1. the energy consumption of a system is reduced, the traditional single electromagnet adsorption device needs to continuously supply power to the electromagnet in order to keep the adsorption state of the robot, and the energy consumption is very high, compared with the traditional single electromagnet adsorption device, the invention can reduce unnecessary loss, and the specific principle is as follows:
when the robot is to be adsorbed to the metal working surface, the electromagnet is energized in the positive direction, the electromagnet generates a repulsive force acting on the permanent magnet, the electromagnet pushes the permanent magnet to the metal working surface, the permanent magnet is in close contact with the metal working surface, the permanent magnet provides an adsorption force, the robot is firmly adsorbed to the metal working surface, the electromagnet is powered off, and the energy consumption of the system is reduced.
2. The flexibility of the robot is improved, the requirement on the driving force of the robot is reduced, when the traditional single permanent magnet adsorption device is separated from a metal working surface, the robot is required to provide enough driving force, a hard separation mode is adopted, the flexibility is poor, the requirement on the driving force of the robot is high, and the adsorption device and a robot driver are easily damaged when the adsorption force is too large. The electromagnet and permanent magnet combined adsorption mechanism can effectively avoid the problems, not only improves the flexibility of the robot, but also simplifies the robot driving device, and has the following specific principle:
when the robot leaves the metal working surface, the electromagnet is electrified in the reverse direction, the electromagnet generates an attraction force acting on the permanent magnet, the permanent magnet is far away from the metal working surface under the attraction of the electromagnet, and after the permanent magnet is separated from the metal working surface, the robot can leave the metal working surface freely, so that the flexibility of the robot is improved.
Drawings
Fig. 1 is a structural diagram of an electromagnetic and permanent magnetic composite adsorption device of the present invention.
Fig. 2 is a circuit diagram of an electromagnet control circuit of the electromagnetic and permanent magnetic composite adsorption device of the invention.
Fig. 3 is a schematic diagram of the electromagnet of the electromagnetic and permanent magnetic composite adsorption device of the invention generating the action of repelling the permanent magnet.
Fig. 4 is a schematic diagram of the action of the electromagnet of the electromagnetic and permanent magnet combined adsorption device of the invention for adsorbing the permanent magnet.
Reference numerals: 1. an aluminum alloy cabin body; 11. an upper cabin body; 12. a lower cabin body; 13. a cabin top cover; 2. a permanent magnet; 3. an electromagnet; 31. a terminal; 4. a spring; 5. an aluminum polished rod; 6. an electromagnet control circuit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings and specific embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "upper" and "lower", "inner" and "outer" as used herein are defined with reference to the relative positions of the components in the drawings of the present invention only for the clarity and convenience of the description of the technical solutions, and it should be understood that the application of the terms should not be construed as limiting the scope of the present application.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The electromagnetic and permanent magnet composite adsorption device provided by the embodiment of the invention comprises an aluminum alloy cabin body 1, a permanent magnet 2, an electromagnet 3, an aluminum polished rod 5 and an electromagnet control circuit 6, wherein a cabin body top cover 13 is arranged at an opening at the top of the aluminum alloy cabin body 1, and the cabin body top cover 13 is connected with the aluminum alloy cabin body 1 through bolts, as shown in fig. 1, fig. 2, fig. 3 and fig. 4.
Wherein, the permanent magnet 2 is arranged at the lower side in the aluminum alloy cabin 1, the permanent magnet 2 is used for providing adsorption force adsorbed on the metal working surface, the electromagnet 3 is arranged at the upper side in the aluminum alloy cabin 1, the top of the electromagnet 3 is fixedly connected with the lower surface of the cabin top cover 13, two wiring terminals 31 of the electromagnet 3 both penetrate through the cabin top cover 13, the permanent magnet 2 and the electromagnet 3 are connected through a spring 4, the electromagnet 3 is used for controlling the contact or separation of the permanent magnet 2 and the metal working surface so as to control the adsorption force of the adsorption device and achieve the flexible switching of strong adsorption and quick separation of the robot on the metal working surface, the aluminum polished rod 5 penetrates through the electromagnet 3, the spring 4 and the permanent magnet 2, the permanent magnet 2 can slide in the aluminum alloy cabin 1 along the aluminum polished rod 5, and the electromagnet control circuit 6 is, the electromagnet control circuit 6 controls the direction of the energization current of the two terminals 31 of the electromagnet 3 to thereby change the magnetic pole direction of the electromagnet 3, thereby generating the attraction force or the repulsion force to the permanent magnet 2, respectively.
Further, as shown in fig. 2, the electromagnet control circuit 6 includes two power type relays electrically connected to the two terminals 31 of the electromagnet 3, the two power type relays control the two terminals 31 of the electromagnet 3 to be energized with the current direction, and change the magnetic pole direction of the electromagnet 3, and the electromagnet 3 generates the attraction force or the repulsion force to the permanent magnet 2.
Further optimizing the embodiment, the two power type relays are respectively a relay KM1 and a relay KM2, each relay KM1 and relay KM2 comprises two normally open contacts, only one relay KM1 and relay KM2 are allowed to be electrified at the same time, two terminals 31 of a coil of the electromagnet 3 are respectively a terminal L1 and a terminal L2, when the relay KM1 is electrified, the normally open contacts K1-1 and K1-2 of the relay KM1 are closed, the terminal L1 is connected with the positive pole of a power supply, and the terminal L2 is connected with the negative pole of the power supply, so that the electromagnet 3 is electrified in the forward direction; when the relay KM2 is electrified, normally open contacts K2-1 and K2-2 of the relay KM2 are closed, a terminal L1 is connected with the negative pole of a power supply, a terminal L2 is connected with the positive pole of the power supply, and the electromagnet 3 is electrified reversely.
As shown in fig. 3, "forward energization" means a current polarity that causes the electromagnet 3 to generate a magnetic flux distribution with N pole on top of S pole, thereby repelling the permanent magnet 2 (with S pole on top of N pole). As shown in fig. 4, "reverse energization" means that the electromagnet 3 generates a magnetic line distribution with the south pole on the bottom and the north pole on the top, thereby generating a current polarity for attracting the permanent magnet 2 (the south pole on the bottom and the north pole on the top).
In addition, the aluminum polished rod 5 is cylindrical or cuboid, so that the spring 4 can be prevented from being damaged when the permanent magnet 2 is twisted.
In the embodiment of the invention, the aluminum alloy cabin 1 comprises an upper cabin 11 and a lower cabin 12, the upper cabin 11 is fixedly connected to the top of the lower cabin 12, the longitudinal sections of the upper cabin 11 and the lower cabin 12 are in a shape like a Chinese character 'tu', cylindrical cavities are formed inside the upper cabin 11 and the lower cabin 12, the electromagnet 3 is located inside the upper cabin 11, and the permanent magnet 2 is located inside the lower cabin 12.
Further, 4 covers of spring are established on aluminium system polished rod 5, 4's one end is connected with electromagnet 3's bottom, 4's the other end is connected with permanent magnet 2's top, spring 4 plays the cushioning effect, when electromagnet 3 produces the adsorption of action with permanent magnet 2, 2 quick striking electromagnet 3 of permanent magnet can be avoided to spring 4, when electromagnet 3 produces the repulsion with permanent magnet 2, 2 quick striking adsorption equipment bottoms of permanent magnet can be avoided to spring 4, spring 4 adopts diamagnetic material, prevent the magnetization.
The working principle of the invention is as follows: when the robot is ready to be adsorbed on the metal working surface, the electromagnet 3 is positively electrified to generate repulsion action on the permanent magnet 2, so that the permanent magnet 2 slides towards the metal working surface in the aluminum alloy cabin body 1 and is tightly attracted on the metal working surface, the spring 4 can prevent the permanent magnet 2 from quickly impacting the bottom of the adsorption device, and then the electromagnet 3 is powered off, and the robot can be adsorbed on the metal working surface only by virtue of the adsorption force of the permanent magnet 2; when the robot is ready to leave the metal working surface, the electromagnet 3 is electrified reversely, so that the electromagnet 3 can adsorb the permanent magnet 2 to separate from the metal working surface, the spring 4 can prevent the permanent magnet 2 from quickly impacting the electromagnet 3 due to the adsorption of the electromagnet 3, and the robot can move flexibly.
In summary, the embodiment of the present invention provides an electromagnetic and permanent magnetic composite adsorption device, because a conventional single electromagnetic adsorption device needs to continuously supply power when providing an adsorption force, power consumption is high, and once a power supply fails, a robot may fall off from a metal working surface, which causes loss; and the single permanent magnetic adsorption device needs to provide enough driving force to realize 'hard' separation when moving, which has great requirements on the driving force and power of a robot driving system, needs to design a more complex driving system, has slower moving speed of the robot, and is easy to cause the driving device to be locked up and damaged. The robot adopting the electromagnetic and permanent magnet composite adsorption device has the advantages that the permanent magnet 2 generates adsorption force adsorbed on the metal working surface, the electromagnet 3 controls the contact and separation of the permanent magnet 2 and the metal working surface, when the permanent magnet 2 is in contact with the metal working surface, the adsorption device enables the robot to be adsorbed on the metal working surface, when the permanent magnet 2 is separated from the metal working surface, the adsorption force disappears, the robot can flexibly move to the next position for working, the electric energy is saved, and the flexible movement can be realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (6)
1. An electromagnetism and permanent magnetism compound adsorption equipment, its characterized in that includes:
the aluminum alloy cabin body (1), wherein a cabin body top cover (13) is arranged at the top of the aluminum alloy cabin body (1);
the permanent magnet (2), the permanent magnet (2) is arranged at the lower side in the aluminum alloy cabin body (1), and the permanent magnet (2) is used for providing adsorption force adsorbed on the metal working surface;
the electromagnet (3) is arranged on the upper side in the aluminum alloy cabin body (1), the top of the electromagnet (3) is fixedly connected to the lower surface of the cabin body top cover (13), two wiring terminals (31) of the electromagnet (3) penetrate through the cabin body top cover (13), the permanent magnet (2) is connected with the electromagnet (3) through a spring (4), and the electromagnet (3) is used for controlling the permanent magnet (2) to be in contact with or separated from a metal working surface;
the aluminum polished rod (5), the aluminum polished rod (5) penetrates through the electromagnet (3), the spring (4) and the permanent magnet (2), and the permanent magnet (2) can slide in the aluminum alloy cabin body (1) along the aluminum polished rod (5);
the electromagnet control circuit (6), the electromagnet control circuit (6) is electrically connected with the two terminals (31) of the electromagnet (3), and the electromagnet control circuit (6) controls the electrifying current direction of the two terminals (31) of the electromagnet (3).
2. The electromagnet and permanent magnet combined adsorption device according to claim 1, wherein the electromagnet control circuit (6) comprises two power type relays, the two power type relays are electrically connected with the two terminals (31) of the electromagnet (3), the two power type relays control the direction of the current applied to the two terminals (31) of the electromagnet (3) so as to change the direction of the magnetic poles of the electromagnet (3), and the electromagnet (3) generates the adsorption force or the repulsion force on the permanent magnet (2).
3. The electromagnetic and permanent magnetic composite adsorption device according to claim 1, wherein the aluminum polish rod (5) is cylindrical or rectangular.
4. The electromagnetic and permanent magnet composite adsorption device according to claim 1, wherein the aluminum alloy cabin (1) comprises an upper cabin (11) and a lower cabin (12), the upper cabin (11) is fixedly connected to the top of the lower cabin (12), the longitudinal sections of the upper cabin (11) and the lower cabin (12) are in a shape like a Chinese character 'tu', cylindrical cavities are formed inside the upper cabin (11) and the lower cabin (12), the electromagnet (3) is located inside the upper cabin (11), and the permanent magnet (2) is located inside the lower cabin (12).
5. The electromagnetic and permanent magnetic composite adsorption device according to claim 1, characterized in that the spring (4) is sleeved on the aluminum polished rod (5), one end of the spring (4) is connected with the bottom of the electromagnet (3), and the other end of the spring (4) is connected with the top of the permanent magnet (2).
6. The electromagnetic and permanent magnetic composite adsorption device according to claim 5, characterized in that the spring (4) is made of diamagnetic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011417361.8A CN112519911A (en) | 2020-12-04 | 2020-12-04 | Electromagnetism and permanent magnetism compound adsorption equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011417361.8A CN112519911A (en) | 2020-12-04 | 2020-12-04 | Electromagnetism and permanent magnetism compound adsorption equipment |
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| CN112519911A true CN112519911A (en) | 2021-03-19 |
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| CN202011417361.8A Pending CN112519911A (en) | 2020-12-04 | 2020-12-04 | Electromagnetism and permanent magnetism compound adsorption equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535108A (en) * | 2022-10-25 | 2022-12-30 | 西南科技大学 | Magnetic adsorption robot for curved surface detection and control method thereof |
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| CN205417847U (en) * | 2016-03-31 | 2016-08-03 | 山东科技大学 | Adjustable permanent -magnetic chuck based on drive of round trip shape memory alloy spring |
| CN107414370A (en) * | 2017-09-10 | 2017-12-01 | 南京中高知识产权股份有限公司 | A kind of method of work of quick detachable magnetic suck welding robot |
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