CN205325708U - Use magnetism manipulator of magnetic shelf principle - Google Patents
Use magnetism manipulator of magnetic shelf principle Download PDFInfo
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- CN205325708U CN205325708U CN201521140831.5U CN201521140831U CN205325708U CN 205325708 U CN205325708 U CN 205325708U CN 201521140831 U CN201521140831 U CN 201521140831U CN 205325708 U CN205325708 U CN 205325708U
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- manipulator
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Abstract
The utility model discloses an use magnetism manipulator of magnetic shelf principle, including a main frame that has closing inner cavity, the level is provided with the hollow cylinder section of thick bamboo that a magnetically soft material made in the main frame, be provided with in the hollow cylinder section of thick bamboo around the rotatory bar permanent magnet of hollow cylinder section of thick bamboo axis, the one end of a hollow cylinder section of thick bamboo be provided with respectively with permanent magnet and steering wheel output shaft rigid connection's rotary switch, the brass strip that has left and right sides two parts is equallyd divide with the main frame to interior still vertical being provided with of main frame, it has magnetically soft material to fill in the inner chamber of main frame. The utility model discloses a rotating permanent magnet control magnetic has or not, and then realizes utilizing soft magnetic material's easy magnetization and the fast characteristic of demagnetization to the picking or release of target object, realize to the target object pick with the function of releasing, simple manufacture is convenient, the feasibility is stronger.
Description
Technical field
This utility model relates to belong to robotics, particularly relates to the magnetic manipulator of a kind of using magnetic force frame principle, can be applicable to multiple robot, and such as climbing robot, industry captures robot etc.。
Background technology
In today that Machine automated technology is so flourishing, completing, by robot, the task that the mankind have been difficult to and become very general, robot has been widely applied to military and civilian industry and has produced, the every field such as building manufactures, detection maintenance, rescue and relief work。Mechanical hand is the industrial robot occurred the earliest; also it is the modern machines people occurred the earliest; it can replace the heavy labor of people to realize the mechanization and the automatization that produce; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy。
In present-day procedure, mechanical hand is applied in automatic assembly line widely, development and the production of robot have become in high-tech neighborhood, the emerging technology developed rapidly, it has promoted the development of mechanical hand more, making mechanical hand can realize the combination with mechanization and automatization better, often there is the defects such as structure complexity, heaviness in existing mechanical hand。
Utility model content
For above-mentioned technical problem, this utility model provides the mechanical hand of a kind of using magnetic force frame principle, namely this utility model can be applicable to climbing robot, also apply be applicable on factory lines for realizing the robot of crawl and carrying function, utilize the absorption affinity ratio that magnetic produces more uniform, reduce the situation that discontinuity occurs, moreover, the size of magnetic can also be controlled well by the anglec of rotation of steering wheel, and then affect the mechanical hand crawl dynamics to target object, such that it is able to realize crawl to the weight of Different Weight in maximum efficiency。
This utility model solves its technical problem and be the technical scheme is that
A kind of magnetic manipulator of using magnetic force frame principle, including one, there is the mainframe closing inner chamber, the hollow cylindrical tube that a soft magnetic materials is made it is horizontally disposed with in described mainframe, the strip permanent magnet rotated around hollow cylindrical tube axis it is provided with in described hollow cylindrical tube, the matched in clearance that gap is less is adopted, it is ensured that permanent magnet can carry out the rotation of smoothness inside cylindrical hole between permanent magnet and the bore area of hollow cylindrical tube。One end of described hollow cylindrical tube be provided with respectively with described permanent magnet and the rigidly connected rotary switch of steering wheel output shaft, also it is vertically arranged with in described mainframe to divide equally mainframe and has the two-part brass rod in left and right, the inner chamber of described mainframe is filled with soft magnetic materials。
This programme makes the soft magnetic materials magnetization in mainframe make the mainframe bottom surface strong magnetic of generation adsorb the object that can be attracted by the magnetic force by controlling steering wheel rotating permanent magnet, soft magnetic materials demagnetization can be made by rotating permanent magnet simultaneously, just can being taken off from mainframe bottom surface by object easily, simple in construction is easy and simple to handle。
Further, described mainframe both sides are also hinged with full wind-up symmetrically, the tail end of described full wind-up is connected with described mainframe by two orthogonal springs, when the target object that adsorption volume is relatively larger, full wind-up can pass through the extruding to spring and produce a clamping force, thus coordinating magnetic force, it is achieved more stable clamping。
Further, the material of described mainframe is cast iron, and cost is low, easily processes, and magnetic conductivity is good。
Further, described soft magnetic materials is the Ferrite Material that easy magnetization also easily demagnetizes。
Compared to existing technology, prominent effect of the present utility model is: simple in construction easily realizes, moulding lightly easily realizes producing in enormous quantities, and can realize its different function by different robot of arranging in pairs or groups, moreover it is possible to goes to design different sizes as required and is applied in different occasions。Go to capture the mode of magnetic metal by magnetic force, reliability is high, and easily controllable, just can realize being precisely controlled permanent magnet rotational angle by steering wheel and simple control circuit, thus controlling the size of magnetic force。If wanting to realize the magnetic force change in different range, it is possible to go to realize by changing the Magnet of unlike material。
Accompanying drawing explanation
Fig. 1 is the mechanical hand schematic three dimensional views of this utility model embodiment。
Fig. 2 is the mechanical hand generalized section of this utility model embodiment。
Fig. 3 is the inner workings schematic diagram during mechanical hand absorbent bodies of this utility model embodiment。
Fig. 4 is the operating diagram during mechanical hand crawl wisp of this utility model embodiment。
Fig. 5 is operating diagram during mechanical hand big object of crawl of this utility model embodiment。
Fig. 6 is the schematic three dimensional views that the mechanical hand of this utility model embodiment connects steering wheel and vertical axes。
Described in figure it is: 1-mainframe；2-rotary switch；3-spring；4-full wind-up；5-bottom surface；6-brass ingot；7-permanent magnet；8-steering wheel；9-vertical axes；10-object。
Detailed description of the invention
Below by specific embodiment, the purpose of this utility model being described in further detail, embodiment can not repeat one by one at this, but therefore embodiment of the present utility model is not defined in following example。
As depicted in figs. 1 and 2, a kind of magnetic manipulator of using magnetic force frame principle, including one, there is the mainframe 1 closing inner chamber, the material of described mainframe 1 is cast iron, cost is low, easily processing, magnetic conductivity is good, it is horizontally disposed with, in described mainframe 1, the hollow cylindrical tube that a soft magnetic materials is made, the strip permanent magnet 7 rotated around hollow cylindrical tube axis it is provided with in described hollow cylindrical tube, the matched in clearance that gap is less is adopted, it is ensured that permanent magnet can carry out the rotation of smoothness inside cylindrical hole between permanent magnet and the bore area of hollow cylindrical tube。One end of described hollow cylindrical tube is provided with rotary switch 2 rigidly connected with described permanent magnet 7 and steering wheel 8 output shaft respectively, also it is vertically arranged with in described mainframe 1 to divide equally mainframe 1 and has the two-part brass rod 6 in left and right, being filled with soft magnetic materials in the inner chamber of described mainframe 1, described soft magnetic materials is the Ferrite Material that easy magnetization also easily demagnetizes。
This programme makes the soft magnetic materials magnetization in mainframe 1 make mainframe bottom surface 5 produce strong magnetic to adsorb the object that can be attracted by the magnetic force by controlling steering wheel rotating permanent magnet, soft magnetic materials demagnetization can be made by rotating permanent magnet simultaneously, just can being taken off from mainframe 1 bottom surface by object easily, simple in construction is easy and simple to handle。
Described mainframe 1 both sides are also hinged with full wind-up 4 symmetrically, the tail end of described full wind-up 4 is connected with described mainframe 1 by two orthogonal springs, when the target object that adsorption volume is relatively larger, full wind-up can pass through the extruding to spring and produce a clamping force, thus coordinating magnetic force, it is achieved more stable clamping。
As shown in Figure 2, one piece of brass ingot 6 it is respectively arranged with up and down within mainframe 1, main material within mainframe 1 is a kind of soft magnetic materials, soft magnetic materials refers under more weak magnetic field, a kind of Ferrite Material that easy magnetization also easily demagnetizes, owing to brass ingot is non-magnetic metal, so brass ingot can be divided into two independent regions, left and right mainframe 1, magnetic wire cannot form the loop of Guan Bi, so when permanent magnet 7 is vertically placed, bottom surface 5 is substantially nonmagnetic。By rotation turn switch, rotating the permanent magnet 7 of the inside, when the two poles of the earth of permanent magnet 7 are horizontally oriented, the soft magnetic materials on mainframe 1 both sides is just magnetized, and at this moment bottom surface 5 produces strong magnetic, it is possible to be used for holding steel surface。And when permanent magnet 7 keeps vertical state (middle of strip Magnet only has minimum magnetic, it is possible to disregard), soft magnetic materials will not be magnetized, so now almost without magnetic force on bottom surface 5, it is possible to easily iron and steel is taken off。
Fig. 3 is mechanical hand inner workings figure when absorbent bodies, after permanent magnet 7 within mainframe 1 rotates, the bottom surface 5 that can make mainframe 1 produces magnetic absorption target object, after bottom surface 5 adsorbs metal works or climbing rod member, its internal magnetic field black arrow as shown in Figure 3 is the same, from N pole, through target object, it is eventually returned to S pole, exactly because the Guan Bi of its magnetic field line ensure that the stable crawl of device, simultaneously from effective flux formula, magnetic field angle angle value is regulated thus the size controlling magnetic field intensity can realize the control to output magnetic field force size by rotary switch 2, make manipulator clamping more specific aim, energy-efficient。Because the object lateral length grabbed shown in Fig. 3 is less, so not using the clamping of full wind-up 4。
Fig. 4 is the mechanical hand schematic diagram when adsorbing larger volume object, when target object volume is bigger, consider the balance when adsorption volume larger object and stability problem, two full wind-ups 4 being connected with spring 3 just can play extra clamping action, and when clamping, the holding force that adds of two full wind-up 4 generations is the F in Fig. 41And F2, and the equivalent force of the magnetic load that bottom surface 5 produces is F3, owing to the object of clamping is subject to three power, stress balance, it is possible to keeping more stable state, next step action for robot provides guarantee。
Fig. 5 is schematic diagram during mechanical hand absorption large-area flat-plate shape object, when adsorbing bigger plane object, for example metal wall surface, automobile chassis steel plate etc., now full wind-up 4 can be flipped an angle, making it will not interfere with the flat board of absorption, the bottom surface 5 of mechanical hand ensure that with flat board good magnetic is connected, so the clamping action that place is not required to full wind-up 4 is to ensure that good absorption stability。
Fig. 6 is the schematic three dimensional views that magnetic manipulator connects steering wheel and vertical axes, including steering wheel 8, connects the vertical axes 9 of mainframe 1, held object 10。The Main Function of steering wheel 8 is that switch 2 rotation is rotated, so that mechanical hand bottom surface 5 produces magnetic, adsorbed target thing, and vertical axes 9 and mechanical hand are rigidly connected, vertical axes 9 can move up and down in the Z-axis direction, if need to realize the movement of X-axis and Y-axis in horizontal direction can in vertical axes 9 again extension connect the track-type facilities being capable of on horizontal plane movement。
Present aspect principle is simple, convenient and reliable operation, it is possible to achieve crawl and the release to target object, application is stronger。Mechanical hand compared to Pneumatic driving type, this mechanical hand principle is simple, and eliminate the devices such as the cylinder of heaviness, air valve, gas tank and air compressor machine, device is mini lightly, it is suitable for producing in enormous quantities, there is higher feasibility, and utilize magnetic major part metal can be realized good adsorption effect。
Above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not the restriction to embodiment of the present utility model。For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description。Here without also cannot all of embodiment be given exhaustive。All any amendment, equivalent replacement and improvement etc. made within spirit of the present utility model and principle, should be included within this utility model scope of the claims。
Claims (4)
1. the magnetic manipulator of a using magnetic force frame principle, it is characterized in that: include one and there is the mainframe (1) closing inner chamber, described mainframe is horizontally disposed with, in (1), the hollow cylindrical tube that a soft magnetic materials is made, the strip permanent magnet (7) rotated around hollow cylindrical tube axis it is provided with in described hollow cylindrical tube, one end of described hollow cylindrical tube be provided with respectively with described permanent magnet (7) and the rigidly connected rotary switch of steering wheel (8) output shaft (2), also it is vertically arranged with in described mainframe (1) to divide equally mainframe (1) and has the two-part brass rod in left and right (6), the inner chamber of described mainframe (1) is filled with soft magnetic materials。
2. the magnetic manipulator of using magnetic force frame principle according to claim 1, it is characterized in that: described mainframe (1) both sides are also hinged with full wind-up (4) symmetrically, the tail end of described full wind-up (4) is connected with described mainframe (1) by two orthogonal springs (3)。
3. the magnetic manipulator of using magnetic force frame principle according to claim 1, it is characterised in that: the material of described mainframe (1) is cast iron。
4. the magnetic manipulator of using magnetic force frame principle according to claim 1, it is characterised in that: described soft magnetic materials is the Ferrite Material that easy magnetization also easily demagnetizes。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521140831.5U CN205325708U (en) | 2015-12-30 | 2015-12-30 | Use magnetism manipulator of magnetic shelf principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521140831.5U CN205325708U (en) | 2015-12-30 | 2015-12-30 | Use magnetism manipulator of magnetic shelf principle |
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| Publication Number | Publication Date |
|---|---|
| CN205325708U true CN205325708U (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521140831.5U Expired - Fee Related CN205325708U (en) | 2015-12-30 | 2015-12-30 | Use magnetism manipulator of magnetic shelf principle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459141A (en) * | 2015-12-30 | 2016-04-06 | 华南理工大学 | Magnetic manipulator adopting magnetic frame principle |
| CN107414883A (en) * | 2017-09-11 | 2017-12-01 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN108381594A (en) * | 2018-05-18 | 2018-08-10 | 广东交通职业技术学院 | A kind of magnetic clamp |
| CN110296129A (en) * | 2019-04-19 | 2019-10-01 | 国家电网有限公司 | The fixation device of jack |
| CN110371525A (en) * | 2019-06-17 | 2019-10-25 | 王泽宇 | A kind of dustbin with charge function |
-
2015
- 2015-12-30 CN CN201521140831.5U patent/CN205325708U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459141A (en) * | 2015-12-30 | 2016-04-06 | 华南理工大学 | Magnetic manipulator adopting magnetic frame principle |
| CN107414883A (en) * | 2017-09-11 | 2017-12-01 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN107414883B (en) * | 2017-09-11 | 2023-11-17 | 清华大学深圳研究生院 | Joint connection device of mechanical arm based on magnetic attraction seat |
| CN108381594A (en) * | 2018-05-18 | 2018-08-10 | 广东交通职业技术学院 | A kind of magnetic clamp |
| CN110296129A (en) * | 2019-04-19 | 2019-10-01 | 国家电网有限公司 | The fixation device of jack |
| CN110371525A (en) * | 2019-06-17 | 2019-10-25 | 王泽宇 | A kind of dustbin with charge function |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20181230 |
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| CF01 | Termination of patent right due to non-payment of annual fee |