JP2009214273A - Magnetic attracting unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a magnetic attracting unit capable of magnetically attracting an attracted body strongly even when the attracted body has an irregular surface. <P>SOLUTION: The magnetic attracting unit 10 is a unit for attracting the attracted body by magnetism and is equipped with a stationary magnet 11, stationary yokes 12 to fix the stationary magnet 11, and movable yokes 13 freely movable inside the stationary yokes 12. When the magnetic attracting unit 10 approaches the attracted body, the movable yokes 13 move and attract the attracted body, then the stationary yokes 12 are attracted to the attracted body side. This causes the stationary yokes 12 to induce a magnetic flux of the stationary magnet 11 and the movable yokes 12 move by power of a magnetic circuit which the magnetic flux forms. Thus, by a peculiar dynamic flux induction mechanism generated by the same polarity opposing each other, a powerful attracting force can be displayed even when the attracted body has the irregular surface. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a magnetic adsorption unit that is adsorbed to an adsorbent by magnetism.

  In recent years, the demand for wall-mounted mobile robots that perform dangerous tasks on behalf of people has increased. One of the indispensable elements for the development of the wall-moving robot is the magnetic attractor. Since the permanent magnet can be continuously attracted to the magnetic body without supplying energy, it is effective for attracting and fixing to the magnetic body. The internal force compensation type magnetic attractor developed by the present inventor as one of the magnetic attractors is characterized by its ability to desorb the strong magnetic attracting force of a permanent magnet with a slight force (non-development). (See Patent Documents 1, 2, and 3). In addition, the technical content relevant to this invention is disclosed (refer nonpatent literature 4). This is considered to be applicable to Patent Act Article 30 (1).

Shigeo Hirose, Minehisa Imazato, Yoshiaki Kudo, Yoji Umeya: “Internal force compensation type magnetic adsorption unit”, Robotics Society of Japan, vol. 3, no. 1.1985 Tsurusei, Shigeo Hirose: “Wall-adsorption mobile omnidirectional mobile robot”, Robotics and Mechatronics Lecture, Proceedings 1P1-H05 (2002) Shinya Kitai, Tsuruyoshi, Shigeo Hirose: “Research on Group-type Wall Moving Robot“ AnchorClimber ”, Japan Society of Mechanical Engineers Robot Mechatronics Division, 2A1-L1-72, 2004 Tsurusei, Shigeo Hirose: “Considerations on Performance Improvement of Permanent Magnet Adsorption Unit” 25th Annual Conference of the Robotics Society of Japan 3I34 (2007)

  However, solid permanent magnets adhere to the entire surface on a flat surface and exhibit a large adsorbing force. However, the adsorbing force is remarkably reduced because the entire surface cannot be adhered to an uneven surface such as a rivet or a welded portion.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a magnetic adsorption unit capable of powerful magnetic adsorption even when the object to be adsorbed is an uneven surface.

  To achieve the above object, the magnetic adsorption unit of the present invention is a magnetic adsorption unit that is magnetically adsorbed to an object to be adsorbed, and is moved within the fixed yoke, a fixed yoke that fixes the fixed magnet, and the fixed yoke. A plurality of free moving yokes, and when approaching the object to be adsorbed, the moving yoke first moves and is adsorbed to the object to be adsorbed, and then the fixed yoke is drawn into the object to be adsorbed and fixed magnet Is close to the object to be adsorbed, and a plurality of moving yokes are fixed to the fixed yoke in a state of being adsorbed along an uneven adsorption surface.

  As a result, the fixed yoke and the plurality of moving yokes efficiently guide the magnetic flux of the fixed magnet to the attracted member. When the moving yoke is fixed to the fixed yoke in this state, the fixed magnet, the fixed yoke, and the plurality of moving yokes This moving yoke constitutes a magnetic adsorption unit having a shape familiar with the unevenness of the plate to be attracted, and can exhibit a strong magnetic attraction force in this state.

  In order to achieve the above object, according to another magnetic attraction unit of the present invention, a magnetic attraction unit for attracting an object by magnetism, a plurality of prismatic fixed magnets arranged in parallel at predetermined intervals, and the fixed magnet A plurality of prismatic fixed yokes arranged between the fixed magnets so as to fix the fixed yokes, and a plurality of cylindrical moving yokes movable in a plurality of through holes penetrating the fixed yokes at predetermined intervals. In the state that is not in the attracted state, the plurality of moving yokes jump out to the position restrained by the stopper, so when approaching the object to be adsorbed, the moving yoke is first adsorbed to the object to be adsorbed, and then Since the moving yoke generates a force to be pulled into the through hole, the fixed yoke is pulled toward the attracted body, and the magnetic attracting unit approaches the attracted body to the shortest distance. And it has the apparatus which can implement | achieve the operation | movement which further fixes several moving yokes with respect to a fixed yoke in this state.

  As a result, a plurality of cylindrical moving yokes that smoothly enter and exit are provided on the fixed yoke that induces the magnetic flux of the fixed magnet, and it protrudes outward. The moving yoke first attracts and then generates a force that the moving yoke pulls into the through hole, so the fixed yoke attracts the uneven surface to the fixed magnet side, and the moving yoke is fixed to the fixed yoke in that state. Therefore, a large adsorption force can be generated even on an uneven adsorption surface.

  To achieve the above object, another magnetic adsorption unit of the present invention is a magnetic adsorption unit that is magnetically adsorbed to an object to be adsorbed, and a plurality of prismatic fixed magnets arranged at predetermined intervals on the circumference, A plurality of fan-shaped fixed yokes arranged between the fixed magnets so as to fix the fixed magnets; and a plurality of cylindrical moving yokes movable in a plurality of through holes penetrating the fixed yokes. When approaching the object to be adsorbed, the moving yoke is first adsorbed to the object to be adsorbed, and then the fixed yoke is drawn toward the object to be adsorbed so that the fixed magnet approaches the object to be adsorbed. Is fixed in a state of being adsorbed along an uneven adsorption surface.

  A fixed yoke having a through hole provided with a moving yoke is arranged so that magnetism is sandwiched between fixed magnets of the same polarity, and the same magnetic attractive force is generated from both magnets. For this reason, since the magnetic attractive force of the same strength is applied to the moving yoke in the opposite direction, the total magnetic attractive force cancels each other, and the sliding resistance when moving through the through hole of the moving yoke is reduced. Small and smooth sliding motion can be obtained.

Further, the moving yoke is characterized in that the side facing the object to be adsorbed is made of a magnetic material and the side opposite to the object to be adsorbed is made of a nonmagnetic material. The magnetic material is formed to have a substantially conical shape portion, and the non-magnetic material is formed to have a substantially circular hole shape portion into which the substantially conical shape portion is fitted. .
Thereby, since the gradient occurs in the magnetic resistance of the moving yoke, it is possible to realize a smooth pull-in operation of the moving yoke.

Further, the present invention is characterized in that the apparatus has a device capable of being fixed to the fixed yoke in a state in which the fixed magnet approaches the object to be attracted and the plurality of moving yokes are attracted along the uneven attracting surface.
As a result, the fixed magnet, the fixed yoke, and the plurality of moving yokes form a shape familiar to the unevenness of the attracted plate, and thus can exhibit a strong magnetic attracting force in this state.
Further, the moving yoke is characterized in that a stopper is provided on a side opposite to the object to be adsorbed.
As a result, the moving yoke can be prevented from coming off when the uneven surface is moved.

  Embodiments of the present invention will be described with reference to the drawings. The embodiments described below do not limit the invention according to the claims, and all the combinations of features described in the embodiments are not necessarily essential to the solution means of the invention. Absent.

FIG. 1 is a cross-sectional view showing a first embodiment of the magnetic adsorption unit of the present invention.
The magnetic attraction unit 10 has a prismatic fixed yoke 12 made of a magnetic material fitted and fixed between prismatic fixed magnets 11a and 11b made of permanent magnets, and a through hole provided in the fixed yoke 12 Further, a cylindrical moving yoke 13 made of a magnetic material 13a and a non-magnetic material 13b is movably inserted. The braking device 14 that brakes the moving motion of the moving yoke 13 is configured to be able to brake the movement of the moving yoke 13 along the through hole by pressing the moving yoke 13 from the side.

  The moving yoke 13 has a configuration in which the front end side (the lower side in the drawing) is made of a cylindrical magnetic material 13a and the rear end side (the upper end in the drawing) is made of a cylindrical nonmagnetic material 13b, and both are joined. . A flange-like stopper 13c is provided at the top of the nonmagnetic material 13b to prevent the nonmagnetic material 13b from coming off. The magnetic attraction unit according to the present invention shown in FIG. 1 configured as described above has a fixed magnet 11a that attracts the moving yoke 13 to the left by the moving yoke 13 and the magnetic circuit 15a configured through the moving yoke located on the left side. Since the force 16a and the attracting force 16b that pulls the moving yoke 13 to the right in the magnetic circuit 15b formed by the fixed magnet 11b via the moving yoke 13 and the moving yoke located on the right side are the same in size and opposite to each other, The lateral force acting on the moving yoke 13 becomes almost zero, and there is no friction and it can easily slide in the through hole.

  When there is no object to be attracted, the magnetic attraction unit 10 having such a configuration minimizes the magnetic resistance of the magnetic circuit configured with air interposed therebetween. It is in a state of jumping out. Then, when attracted to the object to be attracted, a magnetic circuit is formed between the magnetic flux and the object to be attracted via the moving yoke group, and this time the moving yoke generates a force to be pulled into the through hole so as to reduce its magnetic resistance. Then, the fixed yoke 12 is brought closer to the object to be adsorbed. Eventually, the object to be adsorbed with unevenness is drawn to the shortest position with respect to the fixed magnet while the tip (lower part) of the moving yoke is in contact with the object to be adsorbed. In this state, even if the object to be adsorbed is uneven, the magnetic flux of the permanent magnet 11 is guided to the object to be adsorbed via the moving yoke 13, so that the object to be adsorbed is sucked through air without the moving yoke. It can be adsorbed with a much larger adsorption force. Further, when the braking device 14 is operated in a state where the moving yoke is adsorbed on the uneven adsorption surface, the fixed yoke and the moving yoke are fixed in a shape that fits the irregularity of the object to be adsorbed. Force can be generated.

  When the braking device 14 is released after the magnetic attraction unit 10 is detached from the object to be adsorbed, the moving yoke 13 can freely slide through the through hole, and again jumps out to the outermost side (downward in the figure). It becomes a state. Thus, when not being attracted to the object to be attracted, the moving yoke 13 returns to a standby state in a protruding state, so that the magnetic attracting unit 10 can be used repeatedly. This magnetic attraction unit 10 has a through-hole generated according to the smooth movement of the moving yoke 13 and the state of the object to be attracted to the moving yoke, which is obtained by the above-described dynamic magnetic flux induction mechanism using the magnetic homopolar facing type. The movement and the moving yoke fixing function of the braking device 14 are implemented, and the operation will be described in detail with reference to the drawings.

2A to 2C are cross-sectional views illustrating the operation of the magnetic attraction unit of FIG.
As shown in FIG. 2A, when the same poles of the fixed magnet 11 are opposed to each other, an attracting force that is the same and opposite in both directions is generated in the central moving yoke, and the attracting forces cancel each other. If there is a magnet only on one side, a frictional force proportional to the attracting force is generated between the fixed yoke and the moving yoke as shown in FIG. 9, so the sliding resistance in the through hole of the moving yoke is Although the movement is large and not smooth, by generating the suction force from the opposite direction as in the present invention, the sliding resistance in the through hole of the moving yoke is remarkably reduced because the attracting force is canceled out, and the moving yoke penetrates. It can be easily moved in the hole. In this state, the moving yoke 13 extends downward and is stopped by a stopper.

  Next, as shown in FIG. 2 (A), when the magnetic attraction unit 10 is brought close to the attracted body 1 with the moving yoke 13 protruding from the fixed yoke 12, the movement is performed as shown in FIG. 2 (B). After the yoke 13 is attracted to the object to be adsorbed 1, the fixed yoke 12 is pulled into the object to be adsorbed 1, as shown in FIG.

  The reason for this is that the moving yoke 13 is stationary in a state of protruding before being attracted. When the magnetic adsorption unit 10 is brought close to the object to be adsorbed 1, the magnetic flux is attracted to the object to be adsorbed 1, so that the moving yoke 13 moves to be adsorbed to the object to be adsorbed 1. This is because, after the moving yoke 13 is attracted to the object to be attracted 1, a force for pulling the fixed yoke 12 into the object to be attracted 1 works in order to minimize the magnetic resistance of the magnetic circuit.

FIG. 3 is a cross-sectional view corresponding to FIG. 1 showing a second embodiment of the magnetic adsorption unit of the present invention. The same components as those of the magnetic attraction unit of the first embodiment shown in FIG.
In this magnetic attraction unit 20, the fixed magnet 11 and the fixed yoke 12 have the same configuration as the magnetic attraction unit 10 shown in FIG. 1, but the moving yoke 23 has a different configuration. The moving yoke 23 is formed of a cylindrical magnetic material 23a on the front end side (lower side in the drawing) and a nonmagnetic material 23b on the rear end side (upper end in the drawing), and has a flange-like shape on the top of the nonmagnetic material 23b. The stopper 23c is the same as the moving yoke 13 shown in FIG. 1, but the joining state of the two is different.

  That is, in the moving yoke 13 shown in FIG. 1, the magnetic material 13a and the nonmagnetic material 13b are joined on a flat surface. However, in this moving yoke 23, the top of the magnetic material 23a is formed on the cone 23aa, and the nonmagnetic material is formed. A conical hole 23ba into which the conical body 23aa of the magnetic material 23a can be fitted is formed and joined to the bottom of the material 23b. According to such a taper configuration, since the change in the sliding distance and the magnetic resistance in the through hole of the moving yoke 13 becomes larger, the force drawn into the through hole of the moving yoke 13 can be made larger.

4 and 5 are perspective views showing first and second embodiments of the magnetic adsorption unit.
A magnetic attraction unit 30 shown in FIG. 4A has a plurality of prismatic (four in this example) fixed magnets 31 arranged in parallel at a predetermined interval, and a plurality of prismatic (three in this example) fixed yokes. 32 are arranged between the fixed magnets 31 so as to fix the fixed magnets 31, and a plurality of cylindrical moving yokes (12 in this example, not shown in this figure) move the fixed yokes 32 at a predetermined interval. Are inserted in a plurality of (12 in this example) through-holes 32a so as to be movable, and four prismatic frames 34 are arranged so as to surround and fix them. Yes.

  A magnetic adsorption unit 40 shown in FIG. 5A has a plurality of prismatic (eight in this example) fixed magnets 41 arranged on the circumference at predetermined intervals, and a plurality of fan-like (eight in this example). The fixed yokes 42 are arranged between the fixed magnets 41 so as to fix the fixed magnets 41, and a plurality of cylindrical moving yokes 43 (eight in this example, not shown in this figure) move the fixed yokes 42. It is configured to be inserted movably in a plurality of (8 in this example) through-holes 42a.

  The fixed magnets 31 and 41 are made of, for example, neodymium magnets, the fixed yokes 32 and 42 are made of soft iron, and the moving yokes 33 and 43 are made of soft iron and aluminum. Instead of the tapered moving yoke 23 as shown in FIG. 3, the moving yokes 33 and 43 are formed of cylindrical bodies 33ab and 43ab having steps as shown in FIG. By forming 23ba with stepped cylindrical holes 33bb and 43bb, it is possible to reduce the cost of manufacturing parts while producing the same effect as the tapered shape.

  As shown in FIG. 4 (B), the magnetic adsorption unit 30 shown in FIG. 4 (A) moves smoothly because the magnetic force is balanced in all directions as shown by the arrows in the intermediate moving yoke 33. However, as shown in FIG. 4 (C), in the moving yoke 33 at the end, the magnetic force works only in the left direction as indicated by an arrow and is unbalanced, so that it is difficult to obtain a smooth movement. . With regard to such a moving yoke portion at the end portion, as shown in FIG. 4D, when the fixed yoke is contracted shorter than the fixed magnet, the magnetic flux from the right end portion of the fixed magnet concentrates on the narrow fixed yoke portion. A large magnetic attraction force is generated. As a result, when the contraction method of the end of the fixed yoke is appropriately set, the forces acting on the magnets on both sides can be balanced and a smooth movement is possible. On the other hand, in the case of the magnetic attraction unit 40 shown in FIG. 5 (A), when the through hole is located at the center as shown in FIG. 5 (B), the resultant force of the attraction acting from the fixed magnets on both sides is inside the ring. Smooth movement is not possible. However, as shown in FIG. 5C, when the position is biased to the inside, the force acting on the outside is larger than the force acting on the inside of the ring. As a result, if the distance shifted inward is appropriately set, The attraction force generated by the fixed magnets can be in the opposite and opposite directions as shown in the figure. Therefore, if a through hole 42a is provided at this position and the moving yoke is moved, smooth movement becomes possible.

7A to 7C are diagrams illustrating the operation of the magnetic attraction unit of FIG. 5 or FIG.
In FIG. 7A, the moving yoke 33 or 43 is pushed outward by a spring.

  Next, as shown in FIG. 7B, the moving yokes 33 and 43 are attracted to the object to be attracted 2. At this time, if there is a convex portion 2a in a part of the object to be adsorbed 2, the moving yokes 33 and 43 adsorbing to the convex portion 2a contract, and the moving yokes 33 and 43 adsorbing to other than the convex portion 2a are expanded to fix the fixed yoke. 32 and 42 maintain a substantially parallel state with the to-be-adsorbed body 2. This phenomenon is the same when there is a recess in a part of the adsorbent 2. Thereafter, as shown in FIG. 7C, the fixed yokes 32 and 42 are drawn into the object to be adsorbed 2 and can adhere to each other even on the uneven surface to obtain a large adsorbing force.

FIGS. 8A to 8C are sectional views showing a third embodiment of the magnetic attraction unit and its operation.
This magnetic attraction unit 50 is a modification of the magnetic attraction unit 30 shown in FIG. 4, and the same constituent members are assigned the same reference numerals and detailed description thereof is omitted. As shown in FIG. 8A, the magnetic adsorption unit 50 has a structure in which a guide plate 51 that covers the upper surface of the unit and a ratchet 52 as a device that brakes the movement of the moving yoke 33 are added.

  The guide plate 51 is arranged at a predetermined interval upward from the fixed yoke 32. And the through-hole 51a corresponding to the through-hole 32a is drilled, and the upper end of the movement yoke 33 is inserted. The ratchet 52 is disposed between the guide plate 51 and the fixed yoke 32 and restricts the downward movement of the moving yoke 33. The rotation shaft 52a of each ratchet 52 is connected to a guide rod (not shown), and the guide rod is attached to the fixed yoke 32 so as to be swingable. This guide bar swings so that each ratchet 52 contacts and separates from each moving yoke 33.

  In such a configuration, as shown in FIG. 8B, when the magnetic adsorption unit 50 is brought close to the object to be adsorbed 3 with the moving yoke 33 protruding from the fixed yoke 32, the moving yoke 33 is moved to the object to be adsorbed 3. Adsorb to. At this time, the moving yoke 33 adsorbed to the convex portion 3a of the object to be adsorbed 3 is contracted, the moving yoke 33 adsorbing to the concave part 3b of the object to be adsorbed 3 is expanded, and the fixed yoke 32 is substantially parallel to the object to be adsorbed 3. keep. Thereafter, as shown in FIG. 8C, the fixed yoke 32 is drawn into the adsorbed body 2.

  At this time, since the ratchet 52 does not mesh with the moving yoke 33, the fixed yoke 32 is smoothly drawn into the attracted member 2. Then, the fixed yoke 32 approaches the object 3 to the shortest distance. In this state, even if a force is applied to the magnetic adsorption unit 50 in the direction of peeling from the object to be adsorbed 3, the ratchet 52 attached to the fixed yoke 32 is engaged with the moving yoke 33. 3 produces a strong adsorption force. And if it separates with respect to each moving yoke 33 so that engagement of each ratchet 52 may be cancelled | released, the magnetic attraction unit 50 can be peeled from the to-be-adsorbed body 3 comparatively easily.

  FIG. 9 is a cross-sectional view showing one embodiment of a configuration that does not balance the magnetic force of the fixed magnet introduced in the present invention. This magnetic adsorption unit 90 is fixed to both sides of a prismatic fixed magnet 91 made of a permanent magnet by contacting a prismatic fixed yoke 92 made of a magnetic material, and is further inserted into a through hole provided in the fixed yoke 92. A cylindrical moving yoke 93 made of a magnetic material 93a and a non-magnetic material 93b is movably inserted. When such a magnetic adsorption unit faces the object to be adsorbed, the magnetic flux tends to close like 94. In such a structure, the moving yoke 93 is attracted to the fixed magnet 91 and strongly pressed against the surface of the through hole on the magnet side. Therefore, the friction between the moving yoke 93 and the through hole is so large that it cannot slide in the through hole, and the moving yoke 93 remains in contact with the object to be adsorbed.

It is sectional drawing which shows 1st Embodiment of the magnetic adsorption unit of this invention. It is sectional drawing which shows operation | movement of the magnetic attraction unit of FIG. It is sectional drawing which shows 2nd Embodiment of the magnetic adsorption unit of this invention corresponding to FIG. It is a perspective view which shows the 1st Example of a magnetic adsorption unit. It is a perspective view which shows the 2nd Example of a magnetic adsorption unit. It is sectional drawing which shows the modification of the movement yoke of FIG. It is sectional drawing which shows operation | movement of the magnetic adsorption unit of FIG. 5 or FIG. It is sectional drawing which shows the 3rd Example and operation | movement of a magnetic adsorption unit. It is sectional drawing which shows one embodiment which comprises a magnetic adsorption unit.

Explanation of symbols

  10, 20, 30, 40, 50, 90 Magnetic adsorption unit, 11, 31, 41, 91 Fixed magnet, 12, 32, 42, 92 Fixed yoke, 13, 23, 33, 43, 93 Moving yoke, 51 Guide plate , 52 Ratchet

Claims (7)

A magnetic adsorption unit that adsorbs to an adsorbent by magnetism,
A fixed magnet;
A fixed yoke for fixing the fixed magnet;
A movable yoke movable within the fixed yoke,
The magnetic attraction unit according to claim 1, wherein the moving yoke first moves and adsorbs to the adsorbed object when approaching the adsorbed object, and then the fixed yoke is drawn to the adsorbed object side. A magnetic adsorption unit that adsorbs to an adsorbent by magnetism,
A plurality of prismatic fixed magnets arranged in parallel at a predetermined interval;
A plurality of prismatic fixed yokes arranged between the fixed magnets to fix the fixed magnets;
A plurality of cylindrical moving yokes movable in a plurality of through holes penetrating each fixed yoke at a predetermined interval;
The magnetic attraction unit according to claim 1, wherein the moving yoke first moves and adsorbs to the adsorbed object when approaching the adsorbed object, and then the fixed yoke is drawn to the adsorbed object side. A magnetic adsorption unit that adsorbs to an adsorbent by magnetism,
A plurality of fan-shaped fixed magnets arranged at predetermined intervals on the circumference;
A plurality of prismatic fixed yokes arranged between the fixed magnets to fix the fixed magnets;
A plurality of cylindrical moving yokes movable in a plurality of through holes penetrating each of the fixed yokes;
The magnetic attraction unit according to claim 1, wherein the moving yoke first moves and adsorbs to the adsorbed object when approaching the adsorbed object, and then the fixed yoke is drawn to the adsorbed object side. 4. The moving yoke includes a magnetic material on a side facing the object to be adsorbed and a non-magnetic material on a side opposite to the object to be adsorbed. A magnetic adsorption unit according to claim 1. The magnetic material is formed so as to have a substantially conical shape portion, and the nonmagnetic material is formed so as to have a substantially circular hole shape portion into which the substantially conical shape portion is fitted. 5. A magnetic adsorption unit according to 4. The magnetic adsorption unit according to any one of claims 1 to 3, wherein the moving yoke is provided with a stopper on a side opposite to the object to be adsorbed. The moving yoke that moves in a through hole that penetrates the fixed yoke is equipped with a device for braking the movement of the fixed yoke at an arbitrary position in the through hole. The magnetic attraction unit according to any one of claims 1 to 3.

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