CN1375382A - Variable magnetic force adsorbing unit for wall clamping robot - Google Patents
Variable magnetic force adsorbing unit for wall clamping robot Download PDFInfo
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- CN1375382A CN1375382A CN 02117080 CN02117080A CN1375382A CN 1375382 A CN1375382 A CN 1375382A CN 02117080 CN02117080 CN 02117080 CN 02117080 A CN02117080 A CN 02117080A CN 1375382 A CN1375382 A CN 1375382A
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- yoke
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Abstract
The magnetic adsorption mechanism of crawler wall-climbing robot comprises adsorption magnetic circuit portion, coupling mechanism portion and shifting-restoring mechanism, the shifting-restoring mechanism mainly comprises core shaft, bearing, returning spring and shifting lever, its permanent magnet adopts a cylindrical body magnetized along radial direction, and is placed in the central through hole of a rectangular magnetic yoke, and can be freely rotated, and said magnetic yoke is separated into symmetrical two halves by magnet-insulating body along its centre, said shifting-lever is connected with permanent magnet by means of core shaft. Said invention process bistable characteristics-magnetic adsorption state and magnetic short circuit state, between two states its switching-oven control is convenient.
Description
Technical field
The invention belongs to machinery manufacturing technology field, particularly a kind of structural design of climbing robot magnetic random structure.
Technical background
Magnetic adsorption wall climbing robot has obtained using widely in the production and construction of steel constructions such as ball (storage) jar, pipeline, shipbuilding, aviation, automobile, boiler, power station, the hydraulic turbine, building, locomotive as the mobile vehicle of operation under the destructuring environment.
Climbing robot must possess two basic functions: wall absorption and mobile operating.Absorbing unit for robot provides absorption affinity, makes it reliably be adsorbed on wall as the important component part of climbing robot.But climbing robot is when mobile operating, and absorption affinity becomes its main resistance of motion; And absorption affinity is big more, and the resistance of motion is also big more, and the mobile operating ability of robot is also just poor more.This shows that the adsorption capacity of magnetic adsorption wall climbing robot and travelling performance are conflicting.The absorption crawler belt of crawler type magnetic adsorption wall climbing robot is made up of a plurality of absorbing units, therefore, the quality of absorbing unit performance has not only determined overall structure size, bearing capacity and the own wt of robot, but also directly affects its kinematic dexterity and driving power consumption.So the rational absorbing unit of research and design makes the absorption affinity that absorbing unit can be bigger, and can move flexibly, become the main key technology place of climbing robot.
In the prior art, the absorbing unit of climbing robot mainly comprises two kinds of electromagnetic type adsorbing mechanism and magneto adsorbing mechanisms.
The electromagnetic type adsorbing mechanism is to provide magnetic attraction by electromagnet, and robot is adsorbed in wall.For example Japanese TOSHIBA KK (TOKE) has invented a frame-type electromagnetism absorption dolly, and this dolly produces magnetic field by solenoid and passes to flexible pole shoe through iron core, and interacting by soft magnetic powder in the flexible pole shoe and magnetic surface produces suction.(patent No.: ZL97219169.0), also be similar principle, each crawler belt absorbing unit produces absorption affinity to China's utility model patent " crawler type electromagnetism adsorption wall climbing mechanism " under the effect of exciting curent, realize its wall adsorption function.For this kind electromagnetic type absorbing unit, though absorption affinity can change by the break-make of electric current, this mechanism wants consumed power during work, and security is relatively poor, easily causes danger when accident power-off.
The magneto adsorbing mechanism is to rely on permanent magnet that absorption affinity is provided.For example company of Ishikavajima-Hariama Heavy Industry has developed a kind of " the wheeled ultrasonic examination of permanent magnetism robot ", also adopts the ferromagnetism adsorbing mechanism, and suction can reach about 200 kilograms; " the crawler-type permanent magnet wall climbing mechanism " of the Tsing-Hua University development (patent No.: ZL00200795.9) and " wheel-type permanent-magnet adsorption wall climbing welding robot " (number of patent application: 00107432.6) all adopted the magneto absorbing unit of Beijing Institute of Petrochemical Technology's development.The magnetic adsorbability that this kind absorbing unit is produced can not change, when breaking away from wall, absorbing unit need consume extra energy, increased the resistance of motion, therefore drive system needs a part of power is used for absorbing unit disengaging wall, driving power consumption and extra torque demand have been increased, cause the motion of system to impact, especially more remarkable during the robot low cruise.
Summary of the invention
The objective of the invention is in order to overcome the contradiction between magneto absorbing unit adsorption capacity and the robot mobile operating ability, design the adjustable absorbing unit of a kind of magnetic attraction, can realize the moment of the close adsorption plane of absorbing unit, the magnetic attraction maximum, and in the moment that will break away from attachment surface, the magnetic attraction minimum.
The objective of the invention is to be achieved through the following technical solutions: a kind of variable magnetic force absorbing unit that is used for climbing robot, comprise absorption magnetic circuit part and the coupling part formed by permanent magnet and yoke, it is characterized in that: this absorbing unit also comprises to be stirred-response agency, described stirring-response agency is mainly by the mandrel that is arranged on permanent magnet one end, returning spring and group stalk are formed, driving lever is installed on the mandrel, returning spring one end is fixed on the yoke, the other end is fixed on the driving lever, described yoke is made up of and symmetric arrangement two parts, place every magnet the central through hole that permanent magnet is arranged in yoke and forms every magnet in the middle of it.
Variable magnetic force absorbing unit provided by the present invention, its permanent magnet adopts radially magnetized cylinder.Described mandrel is connected with permanent magnet by the bearing of being made by NULL; Described returning spring adopts torsion spring.
The variable magnetic force absorbing unit that the present invention is designed is by being arranged on stirring-response agency of permanent magnet one end, changing the relative position of permanent magnet magnetization direction and yoke, thereby reaches the purpose of the magnetic attraction size that changes absorbing unit.
Variable magnetic force absorbing unit of the present invention compared with prior art has following characteristics:
(1) imitates the contradiction that has overcome between magnetic adsorption wall climbing robot adsorption capacity and the travelling performance; Can realize the moment of the close adsorption plane of absorbing unit, the magnetic attraction maximum, and in the moment that will break away from attachment surface, the magnetic attraction minimum; Maximum adsorption Li Keda 25kgf during attached state, minimum absorption affinity only is 0.9kgf during the magnet short-cut path state.
(2) coupon unit has bistable characteristic, i.e. attached state of magnetic and magnet short-cut path state; Switching controls between two stable states (absorption-desorption, desorption-absorption) is convenient;
(3) volume little (54 * 20 * 16mm), (only being 0.13kg) in light weight, compact conformation.
Description of drawings
Fig. 1: be the structural representation (positive view) of variable magnetic force absorbing unit embodiment.
Fig. 2: be the A-A profile of Fig. 1.
Fig. 3 a: be the operation principle schematic diagram of the attached state of variable magnetic force absorbing unit magnetic.
Fig. 3 b: be the operation principle schematic diagram of variable magnetic force absorbing unit magnet short-cut path state
Fig. 4: be the graph of a relation between resilience moment M and the anglec of rotation δ.
Fig. 5 a: for the adsorbed state of variable magnetic force absorbing unit switches schematic diagram to short-circuit condition.
Fig. 5 b: for the short-circuit condition of variable magnetic force absorbing unit is switched schematic diagram to adsorbed state.
In Fig. 1～Fig. 5:
1,5,15,16: joint bolt 2: rear end cap 3: yoke 4: every magnet
6: connect clamp 7: permanent magnet 8: bearing 9: drive end bearing bracket 10: mandrel
11: returning spring 12: dial stalk 13: spring washer 14: clamp nut
Further specify concrete structure of the present invention and embodiment below in conjunction with accompanying drawing:
Variable magnetic force absorbing unit of the present invention as shown in Figures 1 and 2, the magneto variable magnetic force absorbing unit of the present invention design comprises absorption magnetic circuit part, coupling part and stirs-response agency three parts.Absorption magnetic circuit part is by permanent magnet 7, yoke 3 with form every magnet 4.Permanent magnet 7 is cylindrical, radially magnetization.Yoke is made up of and symmetric arrangement two parts, places every magnet 4 in the middle of it, and a through hole is opened at rectangle yoke 3 centers, the central through hole that permanent magnet is arranged in yoke and forms every magnet, and permanent magnet 7 can freely rotate in the hole.Wherein, permanent magnet is selected the higher neodymium iron boron of coercivity (NdFeB) magnetic material for use, and through burin-in process technology, improves the temperature stability of permanent magnet, adopts surface plating Ni technology, improves its chemical stability; Yoke is selected the good materials of magnetic property such as mild steel for use, selects the material of magnetic property differences such as copper or aluminium for use every magnet.
In the coupling part,, be bound up with the yoke 3 of separation with every magnet 4 by front and rear cover 9,2 and connection clamp 6 and screw 1,15,16.Joint bolt 5 is used to connect being connected of absorbing unit and crawler belt part, constitutes the variable magnetic force crawler belt; Stir-response agency by core 10, bearing 8, returning spring 11, dial stalk 12, spring washer 13 and clamp nut 14 and form, wherein, mandrel 10 is positioned at the end face opening part of permanent magnet, go out drive end bearing bracket 9 by bearing 8 extensions and connect, and adopt clamp nut 14 and spring washer 13 that it is fastening with driving lever 12.Returning spring 11 1 ends are arranged in the aperture of driving lever 12, and the other end is fixed on the joint bolt of drive end bearing bracket 9 and yoke 3.Wherein, returning spring 11 adopts torsion spring.Be weight reduction, bearing 8 can adopt the nylon material that has every magnetic property.Drive end bearing bracket 9 will stir-and bearing 8 in the response agency is fixed in the yoke 3, limited yoke along the axial displacement of permanent magnet; Connect clamp 6 by joint bolt, define the relative motion of yoke 3 and and permanent magnet axial direction vertical every magnet 4 edges.Joint bolt 5 is by connecting clamp 6, and the absorbing unit that the present invention designs and the wing plate of climbing robot track chain are linked, and forms complete climbing robot crawler belt.Connect clamp and select non-magnetic material such as stainless steel, aluminium or copper for use.
Operation principle of the present invention is described as follows in conjunction with Fig. 3 a, 3b:
The absorbing unit that the present invention is designed is by changing the relative position of permanent magnet magnetization direction and yoke, realizing the purpose that magnetic adsorbability is variable.
The absorbing unit that the present invention is designed has unique bistable characteristic---attached state of magnetic and magnet short-cut path state:
When being placed on the magnetic conduction wall such as iron and steel as Fig. 3 a when absorption magnetic circuit part, absorbing unit and wall are enough approaching, air-gap reluctance is very little, the magnetic flux of permanent magnet almost completely passes through yoke and magnetic conduction wall closure, magnetic induction intensity reaches maximum in the air gap, this moment, permanent magnet was in the attached state of magnetic, and suction is maximum magnetic flux suction; When permanent magnet is in the magnet short-cut path state (Fig. 3 b), mainly by both sides yoke closure, magnetic induction intensity is reduced to minimum of a value to magnetic flux in the air gap, and this moment, suction was kept to minimum magnetic attraction; And when the relative position of permanent magnet and yoke is between the two, absorbing unit to the absorption affinity of magnetic conduction wall also between between the two.Therefore, change the relative position of permanent magnet magnetization direction and yoke, can change the magnetic attraction size of absorbing unit.
The following describes the switching principle between the absorbing unit bistable state:
When inhaling between piece bottom surface and iron and steel wall air gap enough hour, (Fig. 3 be a settling position a) to the attached state of magnetic, and making the permanent magnet magnetization direction and the angle of suction piece vertical axis of symmetry is δ, at this moment δ=0 °; When inhaling the piece bottom surface away from the iron and steel wall, magnet short-cut path state (Fig. 3 b) is a settling position, δ=90 °.When permanent magnet departs from settling position, will be subjected to the effect of restoring moment M, the relation of M and δ is as shown in Figure 4.
The attached state of magnetic switches (shown in Fig. 5 a) to the magnet short-cut path state:
Be in the absorbing unit of the attached state of magnetic, its driving lever is subjected to the effect of external force F, and driving lever will be along the center line rotation of axle.When driving lever ° was rotated to δ=90 ° by δ=0, absorbing unit switched to the magnet short-cut path state by the attached state of magnetic.
The magnet short-cut path state switches (shown in Fig. 5 b) to the attached state of magnetic:
In the magnet short-cut path stateful switchover process, the effect that will be subjected to restoring moment M when permanent magnet departs from settling position is added in the spring energy storage that stretched at the attached state of magnetic.So when absorbing unit was fitted with wall again, under the acting in conjunction of restoring moment and spring, the automatic switchover of magnet short-cut path state to the attached state of magnetic finished in the unit, do not need any external force.
Therefore, the designed absorbing unit of the present invention has been realized the conversion between the minimum and maximum absorption affinity of absorbing unit, has the function of variable magnetic force.With when wall contacts, absorption affinity is a maximum at absorbing unit, and when breaking away from wall, can be kept to minimum again.So,, can overcome the contradiction between magnetic adsorption wall climbing robot adsorption capacity and the travelling performance by its adsorbing mechanism that constitutes (as attached crawler belt of climbing robot magnetic etc.).
Claims (5)
1. variable magnetic force absorbing unit that is used for climbing robot, comprise absorption magnetic circuit part and the coupling part formed by permanent magnet and yoke, it is characterized in that: this absorbing unit also comprises to be stirred-response agency, described stirring-response agency is mainly by the mandrel that is arranged on permanent magnet one end, returning spring and group stalk are formed, driving lever is installed on the mandrel, returning spring one end is fixed on the yoke, the other end is fixed on the driving lever, described yoke is made up of and symmetric arrangement two parts, place every magnet the central through hole that permanent magnet is arranged in yoke and forms every magnet in the middle of it.
2. according to the described variable magnetic force absorbing unit of claim 1, it is characterized in that: permanent magnet adopts radially magnetized cylinder.
3. according to claim 1 or 2 described variable magnetic force absorbing units, it is characterized in that: described mandrel is connected with permanent magnet by the bearing of being made by NULL.
4. according to the described variable magnetic force absorbing unit of claim 3, it is characterized in that: described returning spring adopts torsion spring.
5. according to the described variable magnetic force absorbing unit of claim 3, it is characterized in that: described bearing material adopts nylon material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02117080 CN1215924C (en) | 2002-04-29 | 2002-04-29 | Variable magnetic force adsorbing unit for wall clamping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02117080 CN1215924C (en) | 2002-04-29 | 2002-04-29 | Variable magnetic force adsorbing unit for wall clamping robot |
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| Publication Number | Publication Date |
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| CN1375382A true CN1375382A (en) | 2002-10-23 |
| CN1215924C CN1215924C (en) | 2005-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02117080 Expired - Fee Related CN1215924C (en) | 2002-04-29 | 2002-04-29 | Variable magnetic force adsorbing unit for wall clamping robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| CN102343588A (en) * | 2010-08-03 | 2012-02-08 | 顿向明 | Magnetic-disc-adsorptive wall climbing robot |
| CN105459141A (en) * | 2015-12-30 | 2016-04-06 | 华南理工大学 | Magnetic manipulator adopting magnetic frame principle |
| CN107061195A (en) * | 2017-04-26 | 2017-08-18 | 长春财经学院 | Climbing robot and tower cleaning equipment |
| CN107487391A (en) * | 2017-08-23 | 2017-12-19 | 河北工业大学 | A kind of adjustable crawler-type wall climbing robot of suction |
| CN107984966A (en) * | 2017-12-05 | 2018-05-04 | 北京安可为检测科技有限公司 | It is a kind of can magnetisation can the roller and application thereof of demagnetization, usage |
| CN108761699A (en) * | 2018-06-15 | 2018-11-06 | 董擎雷 | Magnetic gauge stand |
| WO2019127540A1 (en) * | 2017-12-29 | 2019-07-04 | Shenzhen United Imaging Healthcare Co., Ltd. | Attachment method and system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
-
2002
- 2002-04-29 CN CN 02117080 patent/CN1215924C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343588A (en) * | 2010-08-03 | 2012-02-08 | 顿向明 | Magnetic-disc-adsorptive wall climbing robot |
| CN102343588B (en) * | 2010-08-03 | 2015-07-15 | 顿向明 | Magnetic-disc-adsorptive wall climbing robot |
| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| CN101947777B (en) * | 2010-09-22 | 2012-07-04 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| CN105459141A (en) * | 2015-12-30 | 2016-04-06 | 华南理工大学 | Magnetic manipulator adopting magnetic frame principle |
| CN107061195A (en) * | 2017-04-26 | 2017-08-18 | 长春财经学院 | Climbing robot and tower cleaning equipment |
| CN107487391A (en) * | 2017-08-23 | 2017-12-19 | 河北工业大学 | A kind of adjustable crawler-type wall climbing robot of suction |
| CN107487391B (en) * | 2017-08-23 | 2023-09-15 | 河北工业大学 | Suction-adjustable crawler-type wall climbing robot |
| CN107984966A (en) * | 2017-12-05 | 2018-05-04 | 北京安可为检测科技有限公司 | It is a kind of can magnetisation can the roller and application thereof of demagnetization, usage |
| WO2019127540A1 (en) * | 2017-12-29 | 2019-07-04 | Shenzhen United Imaging Healthcare Co., Ltd. | Attachment method and system |
| US11496175B2 (en) | 2017-12-29 | 2022-11-08 | Shanghai United Imaging Healthcare Co., Ltd. | Attachment method and system |
| CN108761699A (en) * | 2018-06-15 | 2018-11-06 | 董擎雷 | Magnetic gauge stand |
| CN108761699B (en) * | 2018-06-15 | 2024-03-19 | 董擎雷 | Magnetic gauge stand |
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|---|---|
| CN1215924C (en) | 2005-08-24 |
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