CN206171600U - Magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts - Google Patents
Magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts Download PDFInfo
- Publication number
- CN206171600U CN206171600U CN201621225519.0U CN201621225519U CN206171600U CN 206171600 U CN206171600 U CN 206171600U CN 201621225519 U CN201621225519 U CN 201621225519U CN 206171600 U CN206171600 U CN 206171600U
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- Prior art keywords
- screw
- magnetic force
- magnet
- linear electric
- magnetic
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Abstract
The utility model discloses a magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts, it includes the permanent magnet, the magnet chassis, variable pitch screw linear electric motor, a supporting plate, the automobile body, force transducer and controller, the permanent magnet is installed on the magnet chassis, the permanent magnet is located on the terminal surface of magnet chassis, variable pitch screw linear electric motor is fixed in on the backup pad, variable pitch screw linear electric motor takes the motion of moving magnet chassis, force transducer's one end is fixed in on the automobile body, force transducer's the other end is fixed in in the backup pad, variable pitch screw linear electric motor and force transducer be connection director respectively, variable pitch screw linear electric motor includes driving motor, drive mechanism, screw rod and push rod, driving motor passes through drive mechanism drive screw and rotates, be equipped with the external screw thread of variable -pitch on the screw rod, pushing rod sleeve establishes on the screw rod, the one end of push rod and the screw thread fit connection of screw rod, the magnet chassis is connected to the one end of push rod. The utility model discloses the magnetic force of device is regulated the speed soon, and control accuracy is good.
Description
Technical field
The utility model is related to detection technique field, more particularly to a kind of magnetic force speed change adjustment of magnetic suck robot to fill
Put.
Background technology
There is wide practical prospect in Military and civil fields such as ship, special equipment, nuclear industry in magnetic suck robot, can replace
It is used for the work such as high-altitude rust cleaning, inspection, spray painting flaw detection for people, improves operating efficiency, saves human cost.Restriction climbing robot
Technology widespread adoption is in the absorption affinity that a key factor of actual working environment is climbing robot.Too small absorption affinity shadow
The work safety of robot is rung, excessive absorption affinity influences the kinematic dexterity of robot, thus adsorption magnetic force is one to pass
It is important to obtain parameter, the whether stable service behaviour for directly influencing robot of magnetic force.Quick adjustment robot absorption affinity is to optimal
In the range of value, the wall that can improve robot uses adaptability and kinematic dexterity.Current existing magnetic-adsorption climbs wall machine
Device people does not possess magnetic force tunable arrangement typically, or does not possess magnetic force high-speed adjustment device.
Therefore, to solve prior art the drawbacks of, because magnetic force size is tight apart from magnitude relationship with permanent magnet and wall,
When permanent magnet and wall distance become big, magnetic force diminishes quickly, conversely, when permanent magnet and wall distance reduce, magnetic force increase
Quickly, magnetic force adjusting apparatus are driven by varying pitch screw linear electric motors, is met in the case of same straight line power of motor, root
According to pressure sensor detect magnetic force size, realize the quick regulation of magnetic adsorption wall climbing robot magnetic force, make climbing robot
All the time in the range of optimal absorption affinity.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of magnetic force speed change of magnetic suck robot
Adjusting apparatus.
The technical solution adopted in the utility model is：
A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot, it includes that permanent magnet, magnet chassis, varying pitch screw are straight
Line motor, supporting plate, car body, force snesor and controller, the permanent magnet are arranged on magnet chassis, and the permanent magnet is located at
On the end face of magnet chassis, the varying pitch screw linear electric motors are fixed on supporting plate, varying pitch screw linear electric motors band
Moving magnet bobbin movement, one end of the force snesor is fixed on the car body, and the other end of force snesor is fixed on institute
State in supporting plate, varying pitch screw linear electric motors and force snesor connect controller, the varying pitch screw linear electric motors respectively
Including motor, transmission mechanism, screw rod and push rod, motor is provided with by transmission mechanism drive screw turns, screw rod
The external screw thread of varying pitch, push rod is set on screw rod, and one end and the screw flight of push rod are connected, one end connection of push rod
Magnet chassis.
Further, the pitch of the screw rod is tapered into along screw rod one end to the other end；When permanent magnet close to wall
During face, the varying pitch screw linear electric motors are operated in fine pitch state, and output torque is big, the distance adjustment with wall wall compared with
It is precision；When permanent magnet from wall farther out when, the varying pitch screw linear electric motors are operated in big pitch state, output torque
Small, point-to-point speed is very fast, can quickly adjust the size of absorption affinity.
Further, the transmission mechanism includes first gear and second gear, and first gear is fixed on motor
On output shaft, second gear is fixed on one end of screw rod, and first gear and second gear are meshed.
Further, the permanent magnet is more than 2, and N, S pole of the permanent magnet of more than 2 are spaced apart.
Further, the permanent magnet is molded by neodymium-iron-boron magnetic material.
Further, the force snesor is resistance strain type pressure sensor.
Further, the resistance strain type pressure sensor includes elastomer, resistance strain gage, Huygens's electric bridge, electricity
On elastomer, resistance strain gage electrically connects Huygens's electric bridge to resistance foil gauge, and when elastomer is deformed upon, Huygens's electric bridge is defeated
Go out not good enough signal.Due to being measured using full-bridge difference channel, so as to have temperature compensation function.
Further, Huygens's electric bridge connects controller by AD sample circuits and DSP reading circuits, and the AD is adopted
Sample circuit and DSP reading circuits collection read voltage signal.By the magnetic gathered using 24 AD and DSP reading process
Force signal, therefore precision is more preferably, speed is faster.
Further, the utility model also includes more than 2 being vertically directed bar, is vertically directed bar and is spaced and is fixed on magnet
On the another side on chassis, the car body correspondence is vertically directed and guide through hole is offered at bar.
The utility model uses above technical scheme, and the magnetic adsorbability of permanent magnet is carried out using the force snesor of low cost
Feedback information, and magnetic force adjustment is carried out using varying pitch screw, can according to the reality of work situation of magnetic-adsorption climbing robot,
Farthest using the power of linear electric motors, the relative distance between quick accurate regulation climbing robot and wall, from
And control in absorption affinity to optimized scope.Control accuracy of the present utility model is good, and speed is fast, and takes notice of that outgoing magnetisation iron will not be straight
Connect and be adsorbed on metope.
Brief description of the drawings
The utility model is described in further details below in conjunction with the drawings and specific embodiments；
Fig. 1 is a kind of structural representation of the magnetic force speed changing adjusting apparatus of magnetic suck robot of the utility model；
Fig. 2 is a kind of varying pitch screw linear electric motors of the magnetic force speed changing adjusting apparatus of magnetic suck robot of the utility model
Structural representation.
Specific embodiment
As shown in Figure 1 or 2, the utility model discloses a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot, its bag
Include permanent magnet 1, magnet chassis 2, varying pitch screw linear electric motors 4, supporting plate 5, car body 7, force snesor 6 and controller（In figure
Do not represent）, on magnet chassis 2, the permanent magnet 1 is located on the end face of magnet chassis 2 permanent magnet 1, the change
Pitch screw linear electric motors 4 are fixed on supporting plate 5, and varying pitch screw linear electric motors 4 are moved with moving magnet chassis 2, described
One end of force snesor 6 is fixed on the car body 7, and the other end of force snesor 6 is fixed in the supporting plate 5, becomes spiral shell
Controller is connected respectively away from screw rod linear electric motors 4 and force snesor 6, and the varying pitch screw linear electric motors 4 include motor
41st, transmission mechanism 42, screw rod 43 and push rod 44, motor 41 are rotated by the drive screw 43 of transmission mechanism 42, on screw rod 43
The external screw thread 431 of varying pitch is provided with, push rod 44 is set on screw rod 43, one end of push rod 44 coordinates with the screw thread of screw rod 43 and connects
Connect, one end connection magnet chassis 2 of push rod 44.Used as another embodiment, the varying pitch screw linear electric motors 4 also include
Fixed plate 45 and protection sleeve 46, the motor 41 and screw rod 43 are fixed in fixed plate 45,46 sets of the sleeve of protection
It is located at the outside of push rod 44, it is to avoid extraneous dust or other materials causes damage to screw rod 43.
Further, the pitch of the screw rod 43 is tapered into along the one end of screw rod 43 to the other end；When permanent magnet 1 close to wall
During wall wall, the varying pitch screw linear electric motors 4 are operated in fine pitch state, and output torque is big, the distance with wall wall
Adjustment is more accurate；When permanent magnet 1 from wall farther out when, the varying pitch screw linear electric motors 4 are operated in big pitch state, defeated
Go out torque small, point-to-point speed is very fast, can quickly adjust the size of absorption affinity.
Further, the transmission mechanism 42 includes first gear 421 and second gear 422, and first gear 421 is fixed on
On the output shaft of motor 41, second gear 422 is fixed on one end of screw rod 43, first gear 421 and the phase of second gear 422
Engagement.
Further, the permanent magnet 1 is more than 2, and N, S pole of the permanent magnet 1 of more than 2 are spaced apart.
Further, the permanent magnet 1 is molded by neodymium-iron-boron magnetic material.
Further, the force snesor 6 is resistance strain type pressure sensor 6.
Further, the resistance strain type pressure sensor 6 includes elastomer, resistance strain gage, Huygens's electric bridge, electricity
On elastomer, resistance strain gage electrically connects Huygens's electric bridge to resistance foil gauge, and when elastomer is deformed upon, Huygens's electric bridge is defeated
Go out not good enough signal.Due to being measured using full-bridge difference channel, so as to have temperature compensation function.
Further, Huygens's electric bridge connects controller by AD sample circuits and DSP reading circuits, and the AD is adopted
Sample circuit and DSP reading circuits collection read voltage signal.By the magnetic gathered using 24 AD and DSP reading process
Force signal, therefore precision is more preferably, speed is faster.
Further, the utility model also includes being vertically directed bar 8 for more than 2, is vertically directed bar 8 and is spaced and is fixed on magnetic
On the another side of iron chassis 2, the correspondence of the car body 7 is vertically directed at bar 8 and offers guide through hole.
The utility model uses above technical scheme, and the force snesor 6 using low cost enters to the magnetic adsorbability of permanent magnet 1
Row feedback information, and magnetic force adjustment is carried out using varying pitch screw 43, can be according to the reality of work of magnetic-adsorption climbing robot
Situation, farthest using the power of linear electric motors, between quick accurate regulation climbing robot and wall it is relative away from
From so as to control in absorption affinity to optimized scope.Control accuracy of the present utility model is good, and speed is fast, and takes notice of outgoing magnetisation iron
Directly will not be adsorbed on metope.
Claims (9)
1. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot, it is characterised in that：It includes permanent magnet, magnet chassis, becomes
Pitch screw linear electric motors, supporting plate, car body, force snesor and controller, the permanent magnet are arranged on magnet chassis, described
On the end face of magnet chassis, the varying pitch screw linear electric motors are fixed on supporting plate permanent magnet, varying pitch screw
Linear electric motors band moving magnet bobbin movement, one end of the force snesor is fixed on the car body, force snesor it is another
End is fixed in the supporting plate, and varying pitch screw linear electric motors and force snesor connect controller, the varying pitch spiral shell respectively
Bar linear electric motors include motor, transmission mechanism, screw rod and push rod, and motor passes through transmission mechanism drive screw turns,
Screw rod is provided with the external screw thread of varying pitch, and push rod is set on screw rod, and one end and the screw flight of push rod are connected, push rod
One end connection magnet chassis.
2. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 1, it is characterised in that：The screw rod
Pitch tapered into the other end along screw rod one end；When permanent magnet is close to wall wall, the varying pitch screw straight-line electric
Machine is operated in fine pitch state；When permanent magnet from wall farther out when, the varying pitch screw linear electric motors are operated in big pitch shape
State.
3. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 1, it is characterised in that：The transmission
Mechanism includes first gear and second gear, and first gear is fixed on the output shaft of motor, and second gear is fixed on spiral shell
One end of bar, first gear and second gear are meshed.
4. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 1, it is characterised in that：The permanent magnetism
Iron is more than 2, and N, S pole of the permanent magnet of more than 2 are spaced apart.
5. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 1, it is characterised in that：The permanent magnetism
Iron is molded by neodymium-iron-boron magnetic material.
6. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 1, it is characterised in that：The power is passed
Sensor is resistance strain type pressure sensor.
7. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 6, it is characterised in that：The resistance
Strain pressure transducer includes elastomer, resistance strain gage, Huygens's electric bridge, and resistance strain gage is located on elastomer, resistance
Foil gauge electrically connects Huygens's electric bridge, and when elastomer is deformed upon, Huygens's electric bridge exports not good enough signal.
8. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 7, it is characterised in that：The favour is more
This electric bridge connects controller by AD sample circuits and DSP reading circuits, and the AD sample circuits and the DSP reading circuits are adopted
Collection read voltage signal.
9. a kind of magnetic force speed changing adjusting apparatus of magnetic suck robot according to claim 1, it is characterised in that：Also include 2
Bar is vertically directed more than individual, bar interval is vertically directed and is fixed on the another side on magnet chassis, the car body correspondence is led vertically
To offering guide through hole at bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225519.0U CN206171600U (en) | 2016-11-15 | 2016-11-15 | Magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225519.0U CN206171600U (en) | 2016-11-15 | 2016-11-15 | Magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206171600U true CN206171600U (en) | 2017-05-17 |
Family
ID=58684669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621225519.0U Withdrawn - After Issue CN206171600U (en) | 2016-11-15 | 2016-11-15 | Magnetism adsorption apparatus ware people's magnetic force change speed adjusting gets ready and puts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206171600U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428280A (en) * | 2016-11-15 | 2017-02-22 | 福建省特种设备检验研究院 | Magnetic force speed changing adjusting device for magnetic adsorption robot |
| CN111301593A (en) * | 2020-02-10 | 2020-06-19 | 上海钧正网络科技有限公司 | Vehicle speed control device, circuit, method, medium, and terminal |
| 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 |
-
2016
- 2016-11-15 CN CN201621225519.0U patent/CN206171600U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428280A (en) * | 2016-11-15 | 2017-02-22 | 福建省特种设备检验研究院 | Magnetic force speed changing adjusting device for magnetic adsorption robot |
| CN106428280B (en) * | 2016-11-15 | 2018-11-20 | 福建省特种设备检验研究院 | A kind of magnetic force speed changing adjusting apparatus of magnetic suck robot |
| CN111301593A (en) * | 2020-02-10 | 2020-06-19 | 上海钧正网络科技有限公司 | Vehicle speed control device, circuit, method, medium, and terminal |
| CN111301593B (en) * | 2020-02-10 | 2021-06-08 | 上海钧正网络科技有限公司 | Vehicle speed control device, circuit, method, medium, and terminal |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20181120 |
|
| AV01 | Patent right actively abandoned |