CN210173605U - Support work piece electro-permanent magnet grabbing device and system - Google Patents
Support work piece electro-permanent magnet grabbing device and system Download PDFInfo
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- CN210173605U CN210173605U CN201920951965.7U CN201920951965U CN210173605U CN 210173605 U CN210173605 U CN 210173605U CN 201920951965 U CN201920951965 U CN 201920951965U CN 210173605 U CN210173605 U CN 210173605U
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Abstract
The application discloses strut work piece electricity permanent magnet grabbing device and system, wherein strut work piece electricity permanent magnet grabbing device is in including snatching the arm and setting snatch electric permanent magnet and magnetizer on the arm, magnetizer detachable sets up electric permanent magnet keeps away from the surface of snatching the arm. The grabbing device that this application provided can replace artifical transport and current manipulator anchor clamps, the release manpower that can be very big, and, utilize the magnetizer with the connection dismantled of electro-permanent magnet can realize quick replacement, conveniently chooses suitable support work piece according to strutting the hole footpath actual demand, and accommodation is wide, can satisfy the user demand of the entry driving machine of different diameters.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a grabbing device and system for supporting workpiece electro-permanent magnets.
Background
When the tunnel passes through the broken surrounding rocks, the primary support is not in time or the support quality is not high, and the engineering accidents of falling rocks, falling sands and even collapse of the surrounding rocks are easily caused. In order to ensure the stability of surrounding rocks in the tunnel construction process, at present, when construction is carried out in a general crushing interval, a reinforcing bar row, an arch frame and a reinforcing cage are mainly adopted to support a workpiece in time, and a steel plate and a steel pipe sheet are adopted to support the workpiece to strengthen the support under the geological conditions of rock burst and extreme severe water burst.
In the prior art, in the grabbing machinery for supporting workpieces on an arch frame and a steel reinforcement cage, a vacuum chuck, a mechanical claw and a rope hooking tool are mainly adopted, shaking and sliding are easy to occur in the grabbing process, meanwhile, the problems that the supporting workpieces are damaged and deformed to different degrees are caused exist, particularly, when the arch frame and the steel reinforcement cage are long in length and large in weight, the rope hooking tool and the mechanical claw tool are adopted in the grabbing and transferring process, the arch frame drops, the steel reinforcement cage deforms, potential safety hazards exist in the supporting process, the supporting quality is low, the manual auxiliary workload is large, and the invisible cost is increased.
In the prior art, in the grabbing process of the steel pipe, a vacuum chuck and a pipe piece bolt are mainly adopted, the vacuum chuck is prone to the conditions of uneven suction force, unstable vacuum pump air pressure and easy air leakage of an air pipe in the grabbing process, meanwhile, the requirement on the contact area of the steel pipe and the chuck is high, the use condition is harsh, the replacement and maintenance amount of parts which are easy to wear is large, and the maintenance cost is high; meanwhile, in order to meet the requirement of installing the segment bolt, at least one metal piece with a threaded hole needs to be specially welded on each steel tube segment, and manufacturing cost and manufacturing difficulty are increased.
Therefore, how to effectively improve the grabbing efficiency and reliability of the supporting workpiece is a technical problem to be solved by the technical personnel in the field at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a strut work piece electro-permanent magnet grabbing device and system for the degree of mechanization, the automation of snatching of work piece is strutted in the reinforcing, improves the reliability of snatching of strutting the work piece, reduces and snatchs the mechanical maintenance degree of difficulty.
In order to achieve the above purpose, the present application provides the following technical solutions:
the utility model provides a strut work piece electro-permanent magnet grabbing device, is in including grabbing the arm and setting up electro-permanent magnet and magnetizer on the arm of grabbing, magnetizer detachable sets up electro-permanent magnet keeps away from the surface of grabbing the arm.
Preferably, the device further comprises a buffer member disposed between the electro-permanent magnet and the grasping arm.
Preferably, the device further comprises a connecting piece used for installing the electro-permanent magnet, and the connecting piece is detachably connected with the free end of the grabbing arm.
Preferably, the grabbing arm is further provided with a clamping piece which can be clamped with the supporting workpiece to prevent the supporting workpiece from rotating or sliding.
The supporting workpiece electro-permanent magnet grabbing system comprises a supporting workpiece electro-permanent magnet grabbing device, wherein the supporting workpiece electro-permanent magnet grabbing device is the supporting workpiece electro-permanent magnet grabbing device; further comprising:
a detecting part for detecting whether the grabbing arm moves in place;
the pulse current intensity detection element is used for acquiring a micro-current value in the electro-permanent magnet to calculate a theoretical magnetic force value, and is arranged in the electro-permanent magnet;
a judgment part for judging whether the actual magnetic force value is larger than a preset suction force value;
the controller is used for controlling the action of the grabbing arm according to the judgment result of the judgment part;
the controller is in communication connection with the detection component and the judgment component.
Preferably, the device further comprises an alarm component for sending an alarm signal when the actual magnetic force value is smaller than the preset suction force value.
Preferably, the magnetic force sensor further comprises a gauss meter for detecting an actual magnetic force value of the electro-permanent magnet, and the gauss meter is connected with the controller.
Preferably, the detection means includes:
the distance sensor is used for acquiring the distance between the magnetizer and the supporting workpiece;
the contact sensor is used for judging whether the magnetizer is contacted with the supporting workpiece;
and the pressure sensor is used for detecting the pressure between the grabbing arm and the supporting workpiece.
Preferably, the device further comprises a visual detection component for detecting whether the supporting workpiece is successfully grabbed.
Preferably, the device further comprises a photoelectric sensor for acquiring the distance between the grabbing arm and the supporting workpiece.
The application provides a strut work piece electricity permanent magnet grabbing device is in including grabbing the arm and setting electric permanent magnet and magnetizer on the arm are grabbed, magnetizer detachable sets up electric permanent magnet is kept away from the surface of grabbing the arm. This grabbing device can replace artifical transport and current manipulator anchor clamps, release manpower that can be very big, and, utilize the magnetizer with the connection dismantled of electro-permanent magnet can realize quick replacement, conveniently chooses suitable work piece of strutting according to strutting the hole footpath actual demand, and accommodation is wide, can satisfy the user demand of the entry driving machine of different diameters.
The application provides a strut work piece electro-permanent magnet grasping system, including the strut work piece electro-permanent magnet grabbing device that the application provided, still include: a detecting part for detecting whether the grabbing arm moves in place; the pulse current intensity detection element is used for acquiring a micro-current value in the electro-permanent magnet to calculate a theoretical magnetic force value, and is arranged in the electro-permanent magnet; a judgment part for judging whether the actual magnetic force value is larger than a preset suction force value; the controller is used for controlling the action of the grabbing arm according to the judgment result of the judgment part; the controller is in communication connection with the detection component and the judgment component. This grasping system, through the detection part pulse current intensity detecting element judge the part and the setting of controller can rely on the remote control to realize remote control, ensures broken country rock worker's safety down, moreover, utilizes little current value calculates in advance theoretical magnetic value can before the electro-permanent magnet magnetizes, judge whether theoretical magnetic value accords with the demand, can effectually avoid because magnetic force is not enough and lead to the process of repeated magnetization, raises the efficiency, practices thrift the cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of one embodiment of an electro-permanent magnet gripping device for supporting a workpiece provided by the present application;
FIG. 2 is a schematic diagram illustrating the grabbing operation of the electro-permanent magnet grabbing device for supporting workpieces to a steel arch according to the present application;
fig. 3 is a schematic diagram illustrating a steel reinforcement cage grabbing operation performed by the electro-permanent magnet grabbing device for supporting workpieces provided by the present application;
fig. 4 is a schematic diagram illustrating the grabbing operation of the electro-permanent magnet grabbing device for supporting workpieces to a steel pipe sheet according to the present application;
FIG. 5 is a schematic structural view of one embodiment of an electro-permanent magnet grasping system for supporting a workpiece provided herein;
wherein: the device comprises a magnetizer (1), an electro-permanent magnet (2), a buffer part (3), a connecting flange plate (4), a connecting piece (5), a grabbing arm (6) and a supporting workpiece (7).
Detailed Description
The core of this application is to provide a strut work piece electro-permanent magnet grabbing device and system for the degree of mechanization, the automation of snatching of work piece is strutted in the reinforcing, can be applicable to the strut work piece of different grade type, improves suitability and reliability.
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings.
Referring to fig. 1 to 5, fig. 1 is a schematic structural view of an embodiment of an electro-permanent magnet gripping device for supporting a workpiece provided in the present application; FIG. 2 is a schematic diagram illustrating the grabbing operation of the electro-permanent magnet grabbing device for supporting workpieces to a steel arch according to the present application; fig. 3 is a schematic diagram illustrating a steel reinforcement cage grabbing operation performed by the electro-permanent magnet grabbing device for supporting workpieces provided by the present application; fig. 4 is a schematic diagram illustrating the grabbing operation of the electro-permanent magnet grabbing device for supporting workpieces to a steel pipe sheet according to the present application; fig. 5 is a schematic structural diagram of an embodiment of the electro-permanent magnet gripping system for supporting a workpiece provided by the present application.
In this embodiment, support work piece electro-permanent magnet grabbing device and include grabbing arm 6 and setting up electro-permanent magnet 2 and magnetizer 1 on grabbing arm 6, specifically, electro-permanent magnet 2 and magnetizer 1 install the free end at grabbing arm 6 to, magnetizer 1 detachable sets up and keeps away from the surface of grabbing arm 6 at electro-permanent magnet 2, and the number of magnetizer 1 can be a plurality ofly.
Specifically, with treating to snatch magnetizer 1 of strutting work piece 7 contact according to strutting the inboard contact surface shape of work piece 7, material characteristic application profile modeling method to the magnetic pole, magnetizer 1's shape and distribution carry out design optimization promptly, magnetizer 1 and electro-permanent magnet 2 are through dismantling bolted connection to satisfy the strutting work piece 7 change of different stratums, realize the quick modularization of magnetizer 1 and change, electro-permanent magnet 2 is inside to adopt soft magnetic material, NSN's magnetic circuit structure, magnetic attraction is big, effectively prevent sideslipping.
Preferably, the outer part of the electro-permanent magnet 2 adopts a double-layer sealed wear-resistant alloy shell, and has the characteristics of shock resistance and water resistance.
This grabbing device can replace artifical transport and current manipulator anchor clamps, release manpower that can be very big to, utilize being connected with dismantling of electro-permanent magnet 2 of magnetizer 1, can realize quick replacement, conveniently select suitable work piece 7 of strutting according to strutting the hole footpath actual demand, accommodation is wide, can satisfy the user demand of the entry driving machine of different diameters.
In addition to the above embodiments, the present invention further includes a buffer member 3 provided between the electro-permanent magnet 2 and the gripper arm 6. Specifically, the buffer component 3 can counteract part of buffer impact and deform to ensure that the magnetizer 1 can completely cling to the contact surface of the supporting workpiece 7 in the process that the electro-permanent magnet 2 clings to and drives the supporting workpiece 7 to move.
Preferably, the buffer member 3 may be a disc spring, a spring, or a buffer member 3 made of a rubber material, but may be other buffer members 3 capable of elastically deforming and absorbing energy.
On the basis of the above embodiments, the device further comprises a connecting piece 5 for installing the electro-permanent magnet 2, and the connecting piece 5 is detachably connected with the free end of the grabbing arm 6. Specifically, the electro-permanent magnet 2 is connected with the connecting piece 5 at the tail end of the grabbing arm 6 through the connecting flange plate 4, the connecting flange plate 4 is in a detachable design, and quick replacement can be realized according to the change of a supporting workpiece 7; the connecting piece 5 at the tail end of the grabbing arm 6 is quickly adjusted and assembled according to different grabbing and supporting workpieces 7.
On the basis of the above embodiments, the gripping arm 6 is further provided with a clamping member which can be clamped with the supporting workpiece 7 to prevent the supporting workpiece 7 from rotating or sliding. Specifically, after the electro-permanent magnet 2 is magnetized to adsorb the supporting workpiece 7, the clamping piece can be clamped on the supporting workpiece 7 in an electric or manual mode, and the clamping piece can be a clamping jaw or a bolt part.
In addition to the above embodiments, the power system of the electro-permanent magnet 2 mainly adopts two driving methods: electric power system and hydraulic power system; the electric power system comprises a direct-current power supply or a storage battery, a direct-current power supply form can be selected in the better example of the operation condition, the control feedback is timely, the storage battery can be selected and used for supplying power in the poorer example of the operation condition, the plug-in interface is used for charging, external circuits are reduced, and the use safety is improved.
On the basis of the above embodiments, the power of the gripper arm 6 is derived from the built-in hydraulic cylinder, and an electric cylinder can be selected and matched under the condition of good working environment.
Specifically, as shown in fig. 2, when the electro-permanent magnet 2 grabbing device grabs the steel arch, the power of the grabbing arm 6 comes from a built-in hydraulic oil cylinder or an electric cylinder; as shown in fig. 3, when the electro-permanent magnet 2 gripping device grips a steel bar cage segment, only a thin steel plate meeting the use requirement needs to be welded at the position where the steel bar cage is magnetically attracted in advance; as shown in fig. 4, the schematic diagram of the electro-permanent magnet 2 grabbing device for grabbing the steel pipe sheet is shown, at the moment, the electro-permanent magnets 2 are arranged according to the step-by-step condition of the steel pipe sheet frame, and the pipe sheet bolt mode matching operation can be selected and matched on the tunnel with the ultra-large diameter, so that multiple guarantee is achieved.
The grabbing device that this embodiment provided can realize the operation of snatching of multiple tunnel support work piece 7, including steel bow member, grille bow member, reinforcing bar net, steel reinforcement cage, steel-pipe sheet work piece type to, but magnetizer 1, electro-permanent magnet 2 and connecting piece 5 all adopt quick replacement formula design, can carry out on-the-spot quick replacement according to the engineering needs, improve suitability and change efficiency.
In addition, the electro-permanent magnet 2 grabbing device has the advantages of simple structure, small occupied space, convenience in pipe arrangement and wiring, stable suction, small size and adjustable magnetic permeability depth, and can realize multiple guarantees by matching with other forms of bolts and clamping jaws; and, electric permanent magnet 2 can adopt the battery energy supply, reduces outside cable, prevents that the circuit from damaging and influencing the result of use, and it is convenient to maintain, and later stage input cost is low.
Besides the supporting workpiece electro-permanent magnet grabbing device, the application also provides a supporting workpiece electro-permanent magnet grabbing system.
The grabbing system comprises a supporting workpiece electro-permanent magnet grabbing device, wherein the supporting workpiece electro-permanent magnet grabbing device is the supporting workpiece electro-permanent magnet grabbing device; further comprising:
a detecting part for detecting whether the gripper arm 6 is moved in place, the detecting part being preferably mounted on the gripper arm 6; the pulse current intensity detection element is used for acquiring a micro-current value in the electro-permanent magnet 2 to calculate a theoretical magnetic force value, and is arranged in the electro-permanent magnet 2; a judgment part for judging whether the actual magnetic force value is larger than the preset suction force value; a controller for controlling the action of the grabbing arm 6 according to the judgment result of the judging part; and the controller is in communication connection with the detection component and the judgment component.
Specifically, the pulse current intensity detection element can send the acquired micro-current value to the controller, after the controller calculates a theoretical magnetic force value through the micro-current value inside the electro-permanent magnet 2, the controller sends the theoretical magnetic force value to the judgment part, the judgment part judges whether the actual magnetic force value is larger than a preset attraction value, a calculation part can be independently arranged and connected with the pulse current intensity detection element or integrated in the pulse current intensity detection element, and the calculation part calculates the theoretical magnetic force value through the micro-current value inside the electro-permanent magnet 2 and then sends the theoretical magnetic force value to the judgment part or the controller.
More specifically, the pulse current intensity detection element comprises a sampling resistor, a relay and an operational amplifier, and the magnetizing parameters and the magnetic force value of the electro-permanent magnet 2 are determined according to the micro-current value, so that the magnetic force is ensured to reach the value required by the design.
This grasping system, through the setting of detection part, pulse current intensity detecting element, judgement part and controller, can rely on the remote control to realize remote control, ensure broken country rock worker safety down, moreover, utilize little current value to calculate theoretical magnetic force value in advance, can be before electro-permanent magnet 2 magnetizes, judge whether theoretical magnetic force value accords with the demand, can effectually avoid because magnetic force is not enough and lead to the process of repeated magnetization, raise the efficiency, practice thrift the cost.
On the basis of the above embodiments, the magnetic force sensor further comprises an alarm component for sending an alarm signal when the actual magnetic force value is smaller than the preset suction force value.
Specifically, judge the setting of part, through the setting of predetermineeing the suction value, when magnetizing back magnetic load and fail the suction and reach predetermined suction value, when safety threshold promptly, the controller will initiate the early warning, for example: the alarm signals of the display early warning, the sound warning and the voice notification reminding prevent safety accidents possibly caused by detection.
On the basis of each embodiment, still include the gauss meter that is used for detecting the actual magnetic force value of electro-permanent magnet 2, the gauss meter is connected with the controller, and the gauss meter can detect the actual magnetic force value of electro-permanent magnet 2, and the setting of cooperation pulse current strength detecting element can improve control accuracy to, when the gauss meter detects that the actual magnetic force value of electro-permanent magnet 2 is zero, then cut off the power, the system stop operation realizes automatic control.
In addition to the above embodiments, the detection means includes:
a distance sensor for acquiring the distance between the magnetizer 1 and the supporting workpiece 7;
a contact sensor for judging whether the magnetizer 1 is contacted with the supporting workpiece 7;
and the pressure sensor is used for detecting the pressure between the grabbing arm 6 and the supporting workpiece 7.
Specifically, the sensors are arranged in the electro-permanent magnet 2, the contact capability of the magnetizer 1 and the contact surface of the supporting workpiece 7 can be fed back in real time by means of a distance sensor and a touch sensor in the contact process of the electro-permanent magnet 2 and the supporting workpiece 7, and meanwhile, the pressure sensor is designed in the grabbing arm 6, so that the variation of the stretching pressure of the grabbing arm 6 in the contact process can be fed back; rely on multiple sensor, ensure that electric permanent magnet 2 fully pastes tight support work piece 7 before magnetizing, improve and snatch precision and efficiency to the reliability of guarantee contact, magnetism, extraction process.
In addition to the above embodiments, the present invention further includes a visual inspection unit for detecting whether or not the retaining work 7 is successfully gripped.
Preferably, the visual detection means is a camera. Of course, it can be observed by the naked eye of the worker. Specifically, the visual detection means detects whether or not the supporting workpiece 7 is gripped, and for example, whether or not the supporting workpiece 7 is gripped can be determined by observing whether or not the position of the supporting workpiece 7 moves, or of course, by attaching a displacement sensor to the supporting workpiece 7.
In addition to the above embodiments, the present invention further includes a photoelectric sensor for acquiring a distance between the gripper arm 6 and the support workpiece 7.
Specifically, the distance sensor can be directly selected from a photoelectric sensor, or the distance sensor except the photoelectric sensor is adopted to be matched with the photoelectric sensor for use. The photoelectric sensor is preferably applied to the environment with poor tunnel light or low safety coefficient and unfavorable for personnel to enter.
The grasping system provided in this embodiment, its sensing system includes: an internal sensor, an external sensor and an optional visual sensor; wherein, the internal sensor includes: the magnetic force test gauss meter sensor// pulse current intensity detection device comprises a magnetic force test gauss meter sensor// pulse current intensity detection element and a limit value decision module, wherein the limit value decision module comprises a judgment part; the external sensor mainly includes: a touch sensor, a distance sensor and a pressure sensor integrated in the grabbing arm 6; optional machine vision system is supplementary, and the in-process contact and the process feedback can be accomplished in the cooperation of magnetism to the camera like.
Specifically, the electric permanent magnet grabbing system for the supporting workpiece comprises the following steps in the actual working process:
step S1: controlling the grabbing arm 6 to move in place;
step S2: obtaining a micro-current value in the electro-permanent magnet 2, and calculating a theoretical magnetic force value of the electro-permanent magnet 2 according to the micro-current value;
step S3: when the theoretical magnetic force value is larger than the preset suction value, controlling the electro-permanent magnet 2 to be magnetized;
step S4: after the magnetizing is finished, the grabbing arm 6 is controlled to grab the supporting workpiece 7;
the preset suction value is a preset suction value set according to the characteristics of the supporting workpiece 7, such as shape and weight, and is preferably the minimum suction value capable of successfully gripping the supporting workpiece 7.
According to the grabbing method, the theoretical magnetic force value is calculated in advance by utilizing the micro-current value, whether the theoretical magnetic force value meets the requirement or not can be judged before the electro-permanent magnet 2 is magnetized, the repeated magnetizing process caused by insufficient magnetic force can be effectively avoided, the efficiency is improved, and the cost is saved.
In addition to the above embodiments, step S1 includes:
step S1-1: controlling the grabbing arm 6 to move until the distance between the grabbing arm 6 and the supporting workpiece 7 is smaller than the preset distance, and feeding back the moving position of the grabbing arm 6 by using a distance sensor;
step S1-2: controlling the grabbing arm 6 to move until the grabbing arm 6 is in contact with the surface of the supporting workpiece 7, and feeding back whether the grabbing arm 6 is close to the supporting workpiece 7 by using a contact sensor;
step S1-3: and controlling the grabbing arm 6 to continuously move, when the pressure between the grabbing arm 6 and the supporting workpiece 7 is greater than a preset pressure value, moving the grabbing arm 6 in place, wherein the preset pressure value can be set as required, and when the pressure between the grabbing arm 6 and the supporting workpiece 7 is greater than the preset pressure value, the situation that the grabbing arm 6 cannot continuously move is shown.
In addition to the above embodiments, the method further includes, after step S4:
step S5: it is determined whether the support workpiece 7 is successfully gripped, and when the support workpiece 7 is not successfully gripped, the gripping arm 6 is controlled to stop working, and step S1 is repeatedly performed. Specifically, whether the supporting workpiece 7 moves or not can be observed through a visual detection component such as a camera, and if the supporting workpiece 7 does not move or the supporting workpiece 7 falls off in the grabbing process, the supporting workpiece 7 can be grabbed again through the processes of re-positioning, magnetizing and grabbing.
This strut work piece electro-permanent magnet grasping system, to the bow member, the steel reinforcement cage, the metal characteristic of steel-pipe piece, research and development adopts the mode of electro-permanent magnet 2 to snatch strutting work piece 7, according to the 7 internal diameter radians of strutting work piece in tunnel, adopt the 1 contact surface copying method of magnetizer of electro-permanent magnet 2 to carry out the manufacturing-by-design, according to strutting the different grade type of work piece 7, adopt 1 modularization of magnetizer, but the quick replacement mode, electro-permanent magnet 2 snatchs and struts work piece 7, it is even to have magnetic attraction distribution, easy operation and the low advantage of maintenance cost. Meanwhile, in order to ensure that the process that the electric permanent magnet 2 grabbing mechanism grabs and releases the supporting workpiece 7 is rapid, safe and reliable, gaussmeter detection is added in the process of demagnetization of the electric permanent magnet grabbing mechanism, and the technical threshold is effectively reduced through a real-time feedback mode of the gaussmeter.
The supporting workpiece electro-permanent magnet gripping device and system provided by the application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. The utility model provides a strut work piece electro-permanent magnet grabbing device, its characterized in that is in including grabbing arm (6) and setting electro-permanent magnet (2) and magnetizer (1) on grabbing arm (6), magnetizer (1) detachable sets up electro-permanent magnet (2) are kept away from the surface of grabbing arm (6).
2. Electro-permanent magnet gripping device for supporting workpieces according to claim 1, characterised by further comprising a buffer member (3) arranged between the electro-permanent magnet (2) and the gripping arm (6).
3. Electro-permanent magnet gripping device for supporting workpieces according to claim 2, characterised by further comprising a connecting piece (5) for mounting the electro-permanent magnet (2), the connecting piece (5) being detachably connected to the free end of the gripping arm (6).
4. The electro-permanent magnet gripping device for timbering workpieces according to any one of claims 1 to 3, characterized in that the gripping arm (6) is further provided with a clamping piece which can be clamped with the timbering workpiece (7) to prevent the timbering workpiece (7) from rotating or sliding.
5. A shoring work piece electro-permanent magnet grasping system comprising a shoring work piece electro-permanent magnet grasping device, characterized in that the shoring work piece electro-permanent magnet grasping device is the shoring work piece electro-permanent magnet grasping device according to any one of claims 1 to 4; further comprising:
a detection means for detecting whether the gripper arm (6) is moved into position;
the pulse current intensity detection element is used for acquiring a micro-current value inside the electro-permanent magnet (2) to calculate a theoretical magnetic force value, and is arranged inside the electro-permanent magnet (2);
a judgment part for judging whether the actual magnetic force value is larger than the preset suction force value;
the controller is used for controlling the action of the grabbing arm (6) according to the judgment result of the judgment part;
the controller is in communication connection with the detection component and the judgment component.
6. The electro-permanent magnet gripping system for timbering workpieces of claim 5, further comprising an alarm component for signaling when said actual magnetic force value is less than said preset suction value.
7. The system according to claim 5, further comprising a gauss meter for detecting an actual magnetic force value of the electro-permanent magnet (2), the gauss meter being connected to the controller.
8. The system according to any one of claims 5 to 7, wherein the detection component comprises:
the distance sensor is used for acquiring the distance between the magnetizer (1) and the supporting workpiece (7);
the contact sensor is used for judging whether the magnetizer (1) is in contact with the supporting workpiece (7);
and the pressure sensor is used for detecting the pressure between the grabbing arm (6) and the supporting workpiece (7).
9. Electro-permanent magnet handling system for work pieces according to claim 8, characterized by further comprising visual detection means for detecting whether the work pieces (7) are successfully handled.
10. Electro-permanent magnet handling system for work pieces according to claim 8, characterized by further comprising a photoelectric sensor for acquiring the distance between the handling arm (6) and the work piece (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920951965.7U CN210173605U (en) | 2019-06-21 | 2019-06-21 | Support work piece electro-permanent magnet grabbing device and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920951965.7U CN210173605U (en) | 2019-06-21 | 2019-06-21 | Support work piece electro-permanent magnet grabbing device and system |
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| CN210173605U true CN210173605U (en) | 2020-03-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154076A (en) * | 2019-06-21 | 2019-08-23 | 中国铁建重工集团股份有限公司 | A kind of supporting workpiece electricity permanent magnet grabbing device, system and method |
| CN114227738A (en) * | 2021-12-17 | 2022-03-25 | 广东鑫光智能系统有限公司 | Feeding and discharging mechanism with double electric permanent magnetic chucks |
-
2019
- 2019-06-21 CN CN201920951965.7U patent/CN210173605U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154076A (en) * | 2019-06-21 | 2019-08-23 | 中国铁建重工集团股份有限公司 | A kind of supporting workpiece electricity permanent magnet grabbing device, system and method |
| CN110154076B (en) * | 2019-06-21 | 2023-09-19 | 中国铁建重工集团股份有限公司 | Supporting workpiece electro-permanent magnet grabbing device, system and method |
| CN114227738A (en) * | 2021-12-17 | 2022-03-25 | 广东鑫光智能系统有限公司 | Feeding and discharging mechanism with double electric permanent magnetic chucks |
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