CN212577863U - Magnetic wheel device and welding robot - Google Patents
Magnetic wheel device and welding robot Download PDFInfo
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- CN212577863U CN212577863U CN202021260288.3U CN202021260288U CN212577863U CN 212577863 U CN212577863 U CN 212577863U CN 202021260288 U CN202021260288 U CN 202021260288U CN 212577863 U CN212577863 U CN 212577863U
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Abstract
The utility model relates to a welding robot technical field discloses a magnetic wheel device and welding robot, and the magnetic wheel device includes the magnetic wheel subassembly, still includes: the magnetic force detection device is arranged in the magnetic field range of the magnetic wheel assembly and is configured to detect the magnetic force of the position; and a magnetic force adjusting device configured to adjust a magnetic field intensity around the magnetic wheel assembly when the magnetic force detected by the magnetic force detecting device exceeds a preset magnetic force range. This magnetic wheel device is through setting up magnetic force detection device in the magnetic field scope of magnetic wheel subassembly to in detect the magnetic force of magnetic force detection device position through magnetic force detection device, when the magnetic force that magnetic force detection device detected surpassed preset magnetic force scope, adjust the magnetic field intensity around the magnetic wheel subassembly through magnetic force adjusting device, with the magnetic force size of adjusting the magnetic wheel subassembly, and then avoid appearing welding robot can't with treat the adsorbed condition of welded surface, eliminate the potential safety hazard.
Description
Technical Field
The utility model relates to a welding robot technical field especially relates to a magnetic wheel device and welding robot.
Background
With the development of welding automation, more and more large welding structures need to realize automatic welding. The guiderail-free all-position welding robot has unique competitive advantages, and the appearance makes the automatic welding of large structural members possible.
The welding robot that has now includes the automobile body and sets up in the magnetic wheel of automobile body bottom, and the automobile body adsorbs on waiting to weld the face through the magnetic attraction of magnetic wheel, and in welding robot welding process, the magnetic attraction that the magnetic wheel adsorbs in waiting to weld the face is very crucial to welding robot's normal operating. But because the magnetic attraction of current magnetic wheel can't be adjusted, the magnetic attraction that needs under the different operating modes of welding robot is different, for example: in the obstacle crossing process of the welding robot, the magnetic wheel presses against the obstacle to enable the magnetic wheel to be away from the surface to be welded for a certain distance; or when the contact area of the magnetic wheel and the surface to be welded is small, the magnetic force between the magnetic wheel and the surface to be welded is weakened; or under certain working conditions, for example, the to-be-welded part needs to be preheated to 100 ℃ or even higher temperature, the magnetic force of the magnetic wheel is easily weakened or even demagnetized, so that the welding robot cannot be reliably adsorbed on the to-be-welded surface, and the risk of falling is caused; in addition, when treating the weldment for tubular structure, can reliably adsorb in the optional position of treating the welding face in order to guarantee welding robot, the magnetic attraction of magnetic wheel will be more than or equal to welding robot can reliably adsorb the required magnetic force of the welding face of treating at the top of treating the weldment, but welding robot is treating the welding face bottom when, because the magnetic attraction of magnetic wheel can't be adjusted, the magnetic attraction is great this moment, can hinder welding robot's motion.
Therefore, it is needed to design a magnetic wheel, which can detect the magnetic force of the magnetic wheel and adjust the magnetic wheel in time, so as to avoid the phenomenon that the magnetic wheel cannot be reliably adsorbed on the surface to be welded.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a magnetism wheel device and welding robot can detect and adjust the magnetic force of magnetism wheel, avoids appearing the welding robot and can't reliably adsorb in the phenomenon of treating the face of weld.
To achieve the purpose, the utility model adopts the following technical proposal:
the utility model provides a magnetic wheel device, including the magnetic wheel subassembly, still include:
a magnetic force detection device disposed within a magnetic field of the magnetic wheel assembly, the magnetic force detection device configured to detect a magnetic force at a location; and
a magnetic force adjusting device configured to adjust a magnetic field intensity around the magnetic wheel assembly when the magnetic force detected by the magnetic force detecting device exceeds a preset magnetic force range.
This magnetic wheel device is through setting up magnetic force detection device in the magnetic field scope of magnetic wheel subassembly to in detect the magnetic force of magnetic force detection device position through magnetic force detection device, when the magnetic force that magnetic force detection device detected surpassed preset magnetic force scope, adjust the magnetic field intensity around the magnetic wheel subassembly through magnetic force adjusting device, with the magnetic force size of adjusting the magnetic wheel subassembly, and then avoid appearing magnetic force device can't with treat the adsorbed condition of welded surface, eliminate the potential safety hazard.
As a preferable mode of the above magnetic wheel apparatus, the magnetic wheel assembly includes:
installing a shaft; and
and the magnetic wheel is rotationally arranged on the mounting shaft.
The magnetic wheel assembly is convenient to install the magnetic wheel through the installation shaft.
As a preferable mode of the above magnetic wheel device, the magnetic wheel assembly further includes:
and the magnetic conduction parts are respectively arranged on the installation shaft in a rotating manner and synchronously rotate with the magnetic wheel.
Two magnetic conduction part portions rotate and set up in the installation epaxial and rotate with the magnetism wheel is synchronous, can play the effect of magnetic conduction through magnetic conduction portion to magnetic conduction portion can adsorb on treating the face of weld, and then can play the effect of protection to the magnetism wheel.
As a preferable mode of the magnetic wheel device, the magnetic force adjusting device includes:
the electrified coil is sleeved on the periphery of the magnetic wheel; and
a control circuit electrically connected with the electrical coil, the control circuit configured to control the on-off of the current within the electrical coil and to adjust the magnitude of the current.
The magnetic force adjusting device is used for controlling the on-off of current in the electrified coil and adjusting the current through the control circuit by sleeving the electrified coil on the periphery of the magnetic wheel, so that the magnetic field intensity around the magnetic wheel assembly can be adjusted.
As a preferable scheme of the above magnetic wheel device, the magnetic wheel assembly further includes a protective sleeve, and the protective sleeve is sleeved on the periphery of the energizing coil and located between the two magnetic conductive portions.
The protective sleeve can protect the electrified coil and the magnetic conduction part.
In a preferred embodiment of the magnetic wheel apparatus, the energizing coil is rotatable relative to the magnetic wheel through a bearing.
The electrified coil can rotate relative to the magnetic wheel through the bearing, so that the electrified coil can be fixed in the rotation process of the magnetic wheel, and the phenomenon that the electric wire connected with the electrified coil is wound and knotted is prevented.
As a preferable scheme of the magnetic wheel device, the magnetic force detection device is sleeved on the mounting shaft.
Install magnetic force detection device on the installation axle, be convenient for detect the magnetic force around the magnetic wheel subassembly.
As a preferable scheme of the magnetic wheel device, two magnetic force detection devices are provided, and the two magnetic force detection devices are respectively located at two sides of the magnetic wheel.
The magnetic force detection devices are arranged two, the two magnetic force detection devices are respectively located on two sides of the magnetic wheel, and then the magnetic force on two sides of the magnetic wheel can be respectively detected, so that the phenomenon of demagnetization of the magnetic wheel can be effectively prevented.
As a preferable scheme of the magnetic wheel device, the magnetic wheel device further includes a control device, and the magnetic force detection device and the magnetic force adjustment device are both electrically connected to the control device.
The magnetic force detection device and the magnetic force adjusting device are both electrically connected with the control device, a magnetic force signal detected by the magnetic force detection device is transmitted to the control device, and the control device controls the action of the magnetic force adjusting device according to the magnetic force signal.
The utility model also provides a welding robot, including foretell magnetic wheel device.
This welding robot passes through foretell magnetic wheel device, can adjust the magnetic force of magnetic wheel subassembly, and then avoids appearing the welding robot can't with treat the adsorbed condition of welded surface, eliminate the potential safety hazard.
The utility model has the advantages that:
the utility model provides a magnetic wheel device, through setting up magnetic force detection device in the magnetic field scope of magnetic wheel subassembly to detect the magnetic force of magnetic force detection device position through magnetic force detection device, when the magnetic force that magnetic force detection device detected surpassed preset magnetic force scope, adjust the magnetic field intensity around the magnetic wheel subassembly through magnetic force adjusting device, in order to adjust the magnetic force size of magnetic wheel subassembly, and then avoid appearing the magnetic force device and can't wait the condition that the bonding surface adsorbs, eliminate the potential safety hazard; but also can avoid the phenomenon that the welding robot is hindered to move because the magnetic attraction force is too big.
The utility model provides a welding robot, through foretell magnetic wheel device, can adjust the magnetic force of magnetic wheel subassembly, and then avoid appearing welding robot can't with treat the adsorbed condition of welded surface, eliminate the potential safety hazard.
Drawings
Fig. 1 is a schematic structural view of a magnetic wheel device provided by the present invention mounted on a vehicle body;
fig. 2 is a schematic structural diagram of a magnetic wheel device provided by the present invention;
fig. 3 is an exploded view of the magnetic wheel device provided by the present invention.
In the figure:
100. a magnetic wheel device; 200. a vehicle body;
1. a magnetic wheel assembly; 11. installing a shaft; 12. a magnetic wheel; 13. a magnetic conductive part; 14. a protective sleeve;
2. a magnetic force detection device;
31. and (6) energizing the coil.
Detailed Description
In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The present embodiment provides a welding robot for welding, as shown in fig. 1, the welding robot includes a vehicle body 200 and a magnetic wheel device 100 disposed at the bottom of the vehicle body 200, the vehicle body 200 can be adsorbed on the surface to be welded through the magnetic wheel device 100, and can move relative to the surface to be welded, so as to realize welding at different positions.
In the welding process of the welding robot, the magnetic attraction of the magnetic wheel on the surface to be welded is very critical to the normal operation of the welding robot. Because the magnetic attraction of current magnetic wheel can't be adjusted, the magnetic attraction that needs under the different operating modes of welding robot is different, for example: in the obstacle crossing process of the welding robot, the magnetic wheel presses against the obstacle to enable the magnetic wheel to be away from the surface to be welded for a certain distance; or when the contact area of the magnetic wheel and the surface to be welded is small, the magnetic force between the magnetic wheel and the surface to be welded is weakened; or under certain working conditions, for example, the to-be-welded part needs to be preheated to 100 ℃ or even higher temperature, the magnetic force of the magnetic wheel is easily weakened or even demagnetized, so that the welding robot cannot be reliably adsorbed on the to-be-welded surface, and the risk of falling is caused; in addition, when treating the weldment for tubular structure, can reliably adsorb in the optional position of treating the welding face in order to guarantee welding robot, the magnetic attraction of magnetic wheel will be more than or equal to welding robot can reliably adsorb the required magnetic force of the welding face of treating at the top of treating the weldment, but welding robot is treating the welding face bottom when, because the magnetic attraction of magnetic wheel can't be adjusted, the magnetic attraction is great this moment, can hinder welding robot's motion.
In order to solve the above problem, as shown in fig. 2 and 3, the magnetic wheel device 100 includes a magnetic wheel assembly 1, a magnetic force detecting device 2, and a magnetic force adjusting device, wherein the magnetic force detecting device 2 is disposed in a magnetic field range of the magnetic wheel assembly 1, the magnetic force detecting device 2 is used for detecting a magnetic force at a position of the magnetic wheel assembly, and the magnetic force adjusting device is used for adjusting a magnetic field intensity around the magnetic wheel assembly 1 when the magnetic force detected by the magnetic force detecting device 2 exceeds a preset magnetic force range.
This magnetic wheel device 100 is through setting up magnetic force detection device 2 in the magnetic field scope of magnetic wheel subassembly 1, so that detect the magnetic force of magnetic force detection device 2 position through magnetic force detection device 2, when the magnetic force that magnetic force detection device 2 detected surpassed the preset magnetic force scope, adjust the magnetic field intensity around magnetic wheel subassembly 1 through magnetic force adjusting device, with the magnetic force size of adjusting magnetic wheel subassembly 1, and then avoid appearing the magnetic force device can't with treat the adsorbed condition of welded surface, eliminate the potential safety hazard.
In this embodiment, the magnetic wheel device 100 further includes a control device, the magnetic force detection device 2 and the magnetic force adjustment device are both electrically connected to the control device, a magnetic force signal detected by the magnetic force detection device 2 is transmitted to the control device, and the control device controls the action of the magnetic force adjustment device according to the magnetic force signal.
Optionally, the value of the preset magnetic force range is preset in the control device, and preferably, the maximum value and the minimum value of the preset magnetic force range can be changed in a customized manner so as to be set according to requirements.
As shown in fig. 3, the magnetic wheel assembly 1 includes a mounting shaft 11 and a magnetic wheel 12, the mounting shaft 11 is mounted on the vehicle body 200, and the magnetic wheel 12 is rotatably disposed on the mounting shaft 11. The magnetic wheel assembly 1 facilitates the installation of the magnetic wheel 12 through the installation shaft 11.
Optionally, the magnetic wheel assembly 1 further includes two magnetic conductive portions 13, and the two magnetic conductive portions 13 are respectively rotatably disposed on two sides of the magnetic wheel 12. Two magnetic conduction portions 13 rotate respectively and set up on installation axle 11 to rotate in step with magnetism wheel 12, two magnetic conduction portions 13 are located the both sides of magnetism wheel 12 respectively, can play the effect of magnetic conduction through magnetic conduction portion 13, so that magnetic conduction portion 13 can adsorb on treating the face of weld, and then can play the effect of protection to magnetism wheel 12. In the present embodiment, the magnetic conductive part 13 is a yoke, and the yoke is coated on the side of the magnetic wheel 21.
In this embodiment, the magnetic conductive portion 13 is provided on the mounting shaft 11 via a bearing so that the magnetic conductive portion 13 can rotate relative to the mounting shaft 11.
As shown in fig. 3, the magnetic force adjusting device includes an energizing coil 31 and a control circuit, the energizing coil 31 is sleeved on the periphery of the magnetic wheel 12, the control circuit is electrically connected to the energizing coil 31, and the control circuit is used for controlling the on-off of the current in the energizing coil 31 and adjusting the magnitude of the current. The magnetic force adjusting device is used for controlling the on-off of the current in the electrified coil 31 and adjusting the magnitude of the current by sleeving the electrified coil 31 on the periphery of the magnetic wheel 12 through the control circuit, and further adjusting the magnetic field intensity around the magnetic wheel assembly 1. The magnetic force adjusting device controls the on-off of the control circuit so as to control the on-off of the current in the electrified coil 31. The magnetic force adjusting device increases the magnetic field intensity around the magnetic wheel assembly 1 by increasing the current led into the electrified coil 31; the magnetic field intensity around the magnetic wheel assembly 1 is reduced by reducing the current led into the electrified coil 31, and then the magnetic force of the magnetic wheel assembly 1 is adjusted to adapt to different working conditions.
Optionally, the control circuit can also control the change of the direction of the introduced current, and the magnetic field intensity of the magnetic wheel 12 is counteracted by changing the direction of the current, so that the magnetic force adjusting device can adjust the range of the magnetic force more widely.
Alternatively, the energizing coil 31 can rotate relative to the magnet wheel 12 via a bearing (not shown). The electrified coil 31 can rotate relative to the magnetic wheel 12 through the bearing, so that the electrified coil 31 can be fixed in the rotating process of the magnetic wheel 12, and the phenomenon that the electric wire connected with the electrified coil 31 is wound and knotted is prevented.
In this embodiment, the magnetic wheel assembly 1 further includes a protective sleeve 14, the protective sleeve 14 is sleeved on the periphery of the energizing coil 31 and is located between the two magnetic conductive portions 13. The protective cover 14 is provided to protect the energized coil 31 and the magnetically permeable portion 13.
As shown in fig. 2, the diameter of the magnetic conduction part 13 is larger than that of the protective sleeve 14, and the magnetic conduction part 13 is in contact with the surface to be welded, so that the protective sleeve 14 can be prevented from being in contact with the surface to be welded, and the magnetic wheel 12 and the energizing coil 31 can be protected.
In this embodiment, the magnetic force detection devices 2 are two, and the two magnetic force detection devices 2 are respectively located on two sides of the magnetic wheel 12, so that the magnetic forces on two sides of the magnetic wheel 12 can be respectively detected, and the phenomenon of demagnetization of the magnetic wheel 12 can be effectively prevented. In other embodiments, the magnetic force detection device 2 may be provided as one, and the magnetic force detection device 2 is located on either side of the magnetic wheel 12.
Preferably, the magnetic force detection device 2 is a non-contact magnetic force detection sensor, in this embodiment, the magnetic force detection device 2 is sleeved on the mounting shaft 11 so as to detect the magnetic force around the magnetic wheel assembly 1; in other embodiments, the magnetic force detection device 2 is fixed to the vehicle body 200; certainly, the magnetic force detection device 2 can be sleeved on the mounting shaft 11 and connected with the vehicle body 200, so that the position of the magnetic force detection device 2 for detecting the magnetic force is fixed, and the magnetic force detection device 2 is prevented from being displaced to cause inaccurate detection. The magnetic force detection device 2 is not limited to the above-described non-contact type magnetic force detection sensor, and may be any device as long as it can directly or indirectly detect the magnetic force of the magnetic wheel 12 adhering to the surface to be welded.
Specifically, welding robot is in the course of the work, adsorb on treating the face of weld through magnetic wheel subassembly 1, the magnetic force size of its position of magnetic force detection device 2 real-time detection, and give controlling means with the testing result transmission, controlling means is according to the testing result, when the magnetic force that magnetic force detection device 2 detected is less than the minimum of predetermineeing the magnetic force scope, controlling means control magnetic force adjusting device's control circuit opens, and the increase lets in the electric current in the circular telegram coil 31, with the magnetic field intensity around increase magnetic wheel 12. When the magnetic force detected by the magnetic force detection device 2 after adjustment falls within the magnetic force range, the adjustment is stopped.
When the magnetic force detected by the magnetic force detection device 2 is larger than the maximum value of the preset magnetic force range, the control device controls the control circuit of the magnetic force adjusting device to reduce the current passing through the electrified coil 31. If the magnetic force of the magnet wheel 12 is further reduced, the magnetic force of the magnet wheel 12 itself is cancelled by reversing the current flowing through the energized coil 31.
This welding robot passes through foretell magnetic wheel device 100, can adjust the magnetic force of magnetic wheel subassembly 1, and then avoids appearing the welding robot can't with treat the adsorbed condition of welded surface, eliminates the potential safety hazard.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are used in a descriptive sense or positional relationship based on the orientation or positional relationship shown in the drawings for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A magnetic wheel device comprising a magnetic wheel assembly (1), characterized in that it further comprises:
a magnetic force detection device (2) arranged in the magnetic field range of the magnetic wheel assembly (1), wherein the magnetic force detection device (2) is configured to detect the magnetic force of the position; and
a magnetic force adjustment device configured to adjust a magnetic field intensity around the magnetic wheel assembly (1) when the magnetic force detected by the magnetic force detection device (2) exceeds a preset magnetic force range.
2. A magnetic wheel arrangement according to claim 1, characterized in that the magnetic wheel assembly (1) comprises:
a mounting shaft (11); and
and the magnetic wheel (12) is rotationally arranged on the mounting shaft (11).
3. A magnetic wheel arrangement according to claim 2, characterized in that the magnetic wheel assembly (1) further comprises:
and the two magnetic conduction parts (13) are respectively arranged on the mounting shaft (11) in a rotating manner and synchronously rotate with the magnetic wheel (12).
4. The magnetic wheel apparatus of claim 3, wherein the magnetic force adjusting means comprises:
the energizing coil (31) is sleeved on the periphery of the magnetic wheel (12); and
a control circuit electrically connected with the electrical coil (31), the control circuit configured to control the on-off of the current in the electrical coil (31) and to adjust the magnitude of the current.
5. A magnetic wheel device according to claim 4, characterized in that the magnetic wheel assembly (1) further comprises a protective sleeve (14), the protective sleeve (14) is sleeved on the periphery of the energizing coil (31) and is located between the two magnetic conductive parts (13).
6. A magnet wheel arrangement according to claim 4, characterized in that the energized coil (31) is rotatable relative to the magnet wheel (12) by means of bearings.
7. A magnetic wheel arrangement according to any of claims 2-6, characterized in that the magnetic force detection means (2) is fitted over the mounting shaft (11).
8. A magnetic wheel device according to claim 7, characterized in that said magnetic force detection means (2) are provided in two, said two magnetic force detection means (2) being located on either side of said magnetic wheel (12).
9. A magnetic wheel arrangement according to any of claims 1-6, characterized in that the magnetic wheel arrangement (100) further comprises a control device, to which both the magnetic force detection means (2) and the magnetic force adjustment means are electrically connected.
10. A welding robot comprising the magnetic wheel apparatus of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021260288.3U CN212577863U (en) | 2020-06-30 | 2020-06-30 | Magnetic wheel device and welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021260288.3U CN212577863U (en) | 2020-06-30 | 2020-06-30 | Magnetic wheel device and welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212577863U true CN212577863U (en) | 2021-02-23 |
Family
ID=74654926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021260288.3U Active CN212577863U (en) | 2020-06-30 | 2020-06-30 | Magnetic wheel device and welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212577863U (en) |
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2020
- 2020-06-30 CN CN202021260288.3U patent/CN212577863U/en active Active
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