CN101941478A - Electromagnetic-permanent magnetic double-exciting sucking mechanism for wall-climbing robots - Google Patents
Electromagnetic-permanent magnetic double-exciting sucking mechanism for wall-climbing robots Download PDFInfo
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- CN101941478A CN101941478A CN 201010288769 CN201010288769A CN101941478A CN 101941478 A CN101941478 A CN 101941478A CN 201010288769 CN201010288769 CN 201010288769 CN 201010288769 A CN201010288769 A CN 201010288769A CN 101941478 A CN101941478 A CN 101941478A
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Abstract
An electromagnetic-permanent magnetic double-exciting sucking mechanism for wall-climbing robots belongs to the technical field of robots and comprises a plurality of sucking units arranged in a yoke in parallel, wherein each sucking unit comprises a magnet mounting frame, an electromagnet core, a permanent magnet and electromagnet coils; the electromagnet core and the electromagnet coils are arranged inside the magnet mounting frame; the permanent magnet is connected with the magnet mounting frame; and the electromagnet core is positioned between the permanent magnet and the yoke or the permanent magnet is positioned between the electromagnet core and the yoke. The sucking mechanism has permanent magnetic and electromagnetic sucking methods and depends on the permanent magnet for sucking when being not electrified. The magnetic force generated by being electrified with direct current offsets the magnetic force of the permanent magnet, thus ensuring the sucking mechanism to more easily break away. The magnetic force generated by reverse direct current is superposed with the magnetic force of the permanent magnet, thus enhancing the sucking effect.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is the two excitation of a kind of electromagnet and permanent magnet climbing robot adsorbing mechanism.
Background technology
Climbing robot has closely obtained using widely in reality as the mobile vehicle of operation under the destructuring environment.And the attached mode of magnetic be owing to can provide bigger adsorption affinity, and the climbing robot of operation adopts attached this suction type of magnetic more in ferromagnetics wall environment.
The attached mode of magnetic commonly used mainly is divided into permanent magnetism absorption and electromagnetism absorption.Permanent magnet chuck is to adopt the permanent magnetism magnetic source, by to the logical magnetic of magnetic source with every magnetic control system, makes alternately to occur magnetic field on its driving surface or close magnetic field.Because it in use need not electricity, can not produce temperature rise yet, and use saferly, reliable, thereby be widely adopted.FDAC was made the sufficient formula magnetically adsorbed wall-climbing robot of having developed in 1984, adopted the permanent magnetism adsorption structure.After this rapids luxuriant man of Wide of Tokyo Institute of Technology waits and has developed " internal forces offset-type magnetic absorbing unit ", has solved the difficult problem of getting rid of poverty of inhaling.Hereafter, the permanent magnetism suction type is widely used on the climbing robot of various mode of motion, and has brought into play important effect in the field of maintenance, welding, the various macrostructure things of inspection.
Find that through retrieval China Patent No. ZL200520014021.5 has put down in writing a kind of permanent magnet chuck with double magnetic loop to prior art.This sucker magnetic circuit is made of variable magnet and fixed magnets, during absorption, will form double magnetic circuit system on the driving surface, improves adsorption affinity, during disengaging, forms flux loop between variable magnet and fixed magnets, to reduce adsorption affinity.
Compare permanent magnet mechanism, the development of electromagnetic mechanism is comparatively slow.Electromagnetism absorption is the suction type of applied current magnetic effect, and electromagnetism is adsorbed with many advantages: the magnetic of electromagnetism absorption has or not can use the switching current control; The size of magnetic can be controlled with the power of electric current or the number of turn of coil; Also can change resistance control current size and control the magnetic size; Its magnetic pole can be controlled by changing sense of current, or the like.That is: the power of magnetic can change, magnetic have or not can control, the direction of magnetic pole can change.Though the alerting ability of electromagnetism absorption is better, owing to need externally fed to produce adsorption affinity, thereby stayed potential safety hazard.
Summary of the invention
The present invention is directed to the prior art above shortcomings, the two excitation of a kind of electromagnet and permanent magnet climbing robot adsorbing mechanism is provided, have permanent magnetism and electromagnetism absorption dual mode, during normal sorption, the magnet coil no power relies on permanent magnet to adsorb; When needs broke away from adsorption plane, to the logical direct current (DC) of coil, the magnetic force that electromagnet produces and the magnetic force of permanent magnet were cancelled each other, and adsorbing mechanism is broken away from more easily; Under special circumstances, need to increase the adsorption affinity of adsorbing mechanism, then can be to the logical reverse direct current (DC) of coil, the magnetic force that electromagnet produces and the magnetic force of permanent magnet superpose mutually, strengthen adsorption effect.
The present invention is achieved by the following technical solutions, the present invention is made up of the absorbing unit that several are set up in parallel in yoke, each absorbing unit comprises: magnet installing frame, electromagnet core, permanent magnet and magnet coil, wherein: electromagnet core and magnet coil are arranged at the inside of magnet installing frame, permanent magnet links to each other with the magnet installing frame, and permanent magnet is positioned in the middle of electromagnet core and the magnet installing frame.
Described magnet installing frame and yoke are that silicon steel is made;
In the middle of the described magnet installing frame is the survival space of permanent magnet and electromagnet, is respectively equipped with permanent magnet mounting hole and electromagnet mounting hole on the magnet installing frame; Described permanent magnet is installed in the permanent magnet mounting hole on the magnet installing frame;
Described electromagnet core is that soft-magnetic material is made;
Described electromagnet core is cylindrical, and high 15mm is a flush fit between the two ends of this electromagnet core and the magnet installing frame.
The present invention compares with existing adsorbing mechanism, comprises following advantage: the difficulty when having overcome common permanent magnetism adsorbing mechanism disengaging absorption surface, the adsorption affinity that magnetic adsorbability that the control electromagnet produces and permanent magnet produce offsets easier disengaging.Compare with electromagnetism absorption, safer, when power down, still can keep adsorbed state by permanent magnet, prevent that robot from coming off from absorption surface, robot or personnel are on every side caused damage.By changing the size of current in the magnet coil, can regulate the adsorption affinity that sucker produces according to different needs of work.Can not need switch on during conventional absorption, reduced the time of coil heating, increased its service life, and reduced power consumption.By finite element analysis software, reasonably designed the parameter of adsorbing mechanism each several part, improved magnet in the adsorbing mechanism magnetic energy density.Can select the absorbing unit number as required flexibly for use, adapt to different absorption requirements.
Description of drawings
Fig. 1 is the schematic three dimensional views of the single absorbing unit of the present invention.
Fig. 2 is the generalized section of the single absorbing unit inner structure of the present invention;
Wherein: Fig. 2 a is a lateral plan, and Fig. 2 b is a cutaway view.
Fig. 3 is the cutaway drawing of magnet installing frame.
Fig. 4 is that four absorbing units are installed on the schematic three dimensional views that becomes rectangular array on the yoke.
Fig. 5 is the following view of rectangular array among Fig. 4, and wherein: each unit is opposite with adjacent cells outside pole polarity.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Shown in Fig. 1 and Fig. 2 a and Fig. 2 b, present embodiment comprises: several are set up in parallel in the absorbing unit 1 of yoke 6 forms, each absorbing unit 1 comprises: magnet installing frame 2, electromagnet core 3, permanent magnet 4 and magnet coil 5, wherein: electromagnet core 3 and magnet coil 5 are arranged at the inside of magnet installing frame 2, permanent magnet links to each other with 4 magnet installing frames 2, is fixed between electromagnet core 3 and the magnet installing frame 2.
Described magnet installing frame 2 and yoke 6 are made for silicon steel;
Described magnet installing frame 2 is a rectangular configuration;
Described electromagnet core 3 is made for soft-magnetic material;
Described permanent magnet 4 is made for NdFeB material, and the trade mark is NdFe N45SH.
As shown in Figure 3, be respectively equipped with electromagnet core mounting hole A on the magnet installing frame 2, trough B and permanent magnet mounting hole C, wherein: electromagnet core mounting hole A and permanent magnet mounting hole C lay respectively at the inside of magnet installing frame 2, and trough B is positioned at the top sides edge of magnet installing frame 2.
As shown in Figure 4 and Figure 5, be the mechanism that single absorbing unit is carried out the formation behind the various combination.After combination, magnet can be formed C/LOOP by adjacent different magnetic poles, thereby combination is not the simple superposition to individual unit, but has a coupled relation.Through experimental test, when single absorbing unit is worked alone, owing to form closed magnetic loop by air, thereby suction is less, is about 4.1N.
As shown in Figure 4, be 1 one-tenth rectangular array of four absorbing units, adjacent cells outside pole polarity is opposite, and this moment, average each unit generation adsorption affinity was 19.5N; Four magnet units arrangement that can also be in line in addition, adjacent cells outside pole polarity is opposite, and this moment, to produce adsorption affinity be 18.2N in average each unit; Can arrange the magnet absorbing unit arbitrarily according to the space and the adsorption affinity needs processing yoke shape of reality.
Claims (8)
1. the two excitation of electromagnet and permanent magnet climbing robot adsorbing mechanisms, it is characterized in that, form by several absorbing units that are set up in parallel in yoke, each absorbing unit comprises: magnet installing frame, electromagnet core, permanent magnet and magnet coil, wherein: electromagnet core and magnet coil are arranged at the inside of magnet installing frame, permanent magnet links to each other with the magnet installing frame, and permanent magnet is positioned in the middle of electromagnet core and the magnet installing frame.
2. the two excitation of electromagnet and permanent magnet according to claim 1 climbing robot adsorbing mechanism is characterized in that described magnet installing frame and yoke are that silicon steel is made.
3. the two excitation of electromagnet and permanent magnet according to claim 1 climbing robot adsorbing mechanism is characterized in that described electromagnet core is that soft-magnetic material is made.
4. the two excitation of electromagnet and permanent magnet according to claim 1 climbing robot adsorbing mechanism is characterized in that, is the survival space of permanent magnet and electromagnet in the middle of the described magnet installing frame, is respectively equipped with permanent magnet mounting hole and electromagnet mounting hole on the magnet installing frame; Described permanent magnet is installed in the permanent magnet mounting hole on the magnet installing frame.
5. according to claim 1 or the two excitation of 3 described electromagnet and permanent magnets climbing robot adsorbing mechanism, it is characterized in that described electromagnet core is cylindrical, high 15mm is a flush fit between the two ends of this electromagnet core and the magnet installing frame.
6. the two excitation of electromagnet and permanent magnet according to claim 1 and 2 climbing robot adsorbing mechanism is characterized in that described magnet installing frame is a rectangular configuration.
7. the two excitation of electromagnet and permanent magnet according to claim 1 climbing robot adsorbing mechanism is characterized in that described permanent magnet is that NdFeB material is made, and the trade mark is NdFe N45SH.
8. the two excitation of electromagnet and permanent magnet according to claim 1 and 2 climbing robot adsorbing mechanism is characterized in that described magnet installing frame is provided with trough, and trough is positioned at the top sides edge of magnet installing frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010288769 CN101941478A (en) | 2010-09-21 | 2010-09-21 | Electromagnetic-permanent magnetic double-exciting sucking mechanism for wall-climbing robots |
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| CN 201010288769 CN101941478A (en) | 2010-09-21 | 2010-09-21 | Electromagnetic-permanent magnetic double-exciting sucking mechanism for wall-climbing robots |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501913A (en) * | 2011-11-10 | 2012-06-20 | 华北电力大学 | Wheel arm-combined wheel structure for over-obstruct robot |
| CN104494722A (en) * | 2015-01-07 | 2015-04-08 | 南京航空航天大学 | Internal-external gripping type crawling robot |
| CN107472387A (en) * | 2017-09-22 | 2017-12-15 | 南京天创电子技术有限公司 | A kind of module type magnetic adsorbent equipment |
| CN107498536A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of absorption type welding robot |
| CN107498588A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of method for dismounting of absorption type welding robot |
| CN107672684A (en) * | 2017-10-06 | 2018-02-09 | 南京中高知识产权股份有限公司 | Multi-functional climbing robot chassis and robot, method of work |
| CN107695570A (en) * | 2017-10-06 | 2018-02-16 | 南京中高知识产权股份有限公司 | Suitable for the magnetic welding robot and its method of work long lasting for work |
| CN108655077A (en) * | 2018-06-15 | 2018-10-16 | 山东交通学院 | One kind climbing wall rust removing robot and its dual adsorption method |
| CN108861864A (en) * | 2018-07-23 | 2018-11-23 | 深圳市专诚达机电设备有限公司 | Mechanism to be expected |
| CN109229299A (en) * | 2018-09-30 | 2019-01-18 | 友联船厂（蛇口）有限公司 | The magnetic structure of climbing robot magneto crawler belt |
| CN109866840A (en) * | 2019-03-18 | 2019-06-11 | 山东交通学院 | A kind of the sorption wheel group and its height adjusting method of self-adapting changeable suction |
| CN109969278A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of container climbs wall trolley check device |
| CN110379583A (en) * | 2019-08-12 | 2019-10-25 | 江苏睿昕联合汽车科技集团有限公司 | A kind of structure and its method of permanent magnet and copper coil cooperation increase magnetism |
| CN111301545A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Auxiliary device of wall-climbing robot |
| CN114228857A (en) * | 2021-12-31 | 2022-03-25 | 中国电子科技集团公司第十四研究所 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
| CN115056877A (en) * | 2022-07-15 | 2022-09-16 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
| CN115383492A (en) * | 2022-09-16 | 2022-11-25 | 湖南千豪机电技术开发有限公司 | Modular electric permanent magnet template |
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| JPS6035676A (en) * | 1983-08-06 | 1985-02-23 | Toshiba Corp | Magnetic adsorbing travel system |
| CN1702008A (en) * | 2005-06-14 | 2005-11-30 | 胡广怀 | Magnetizing walking wheel unit for magnetic adsorption type wall-climbing device |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501913A (en) * | 2011-11-10 | 2012-06-20 | 华北电力大学 | Wheel arm-combined wheel structure for over-obstruct robot |
| CN104494722A (en) * | 2015-01-07 | 2015-04-08 | 南京航空航天大学 | Internal-external gripping type crawling robot |
| CN107472387A (en) * | 2017-09-22 | 2017-12-15 | 南京天创电子技术有限公司 | A kind of module type magnetic adsorbent equipment |
| CN107672684A (en) * | 2017-10-06 | 2018-02-09 | 南京中高知识产权股份有限公司 | Multi-functional climbing robot chassis and robot, method of work |
| CN107695570A (en) * | 2017-10-06 | 2018-02-16 | 南京中高知识产权股份有限公司 | Suitable for the magnetic welding robot and its method of work long lasting for work |
| CN107498536A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of absorption type welding robot |
| CN107498588A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of method for dismounting of absorption type welding robot |
| CN109969278A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of container climbs wall trolley check device |
| CN108655077B (en) * | 2018-06-15 | 2023-06-16 | 山东交通学院 | Wall climbing rust removing robot and double adsorption method thereof |
| CN108655077A (en) * | 2018-06-15 | 2018-10-16 | 山东交通学院 | One kind climbing wall rust removing robot and its dual adsorption method |
| CN108861864A (en) * | 2018-07-23 | 2018-11-23 | 深圳市专诚达机电设备有限公司 | Mechanism to be expected |
| CN109229299A (en) * | 2018-09-30 | 2019-01-18 | 友联船厂（蛇口）有限公司 | The magnetic structure of climbing robot magneto crawler belt |
| CN109866840A (en) * | 2019-03-18 | 2019-06-11 | 山东交通学院 | A kind of the sorption wheel group and its height adjusting method of self-adapting changeable suction |
| CN110379583A (en) * | 2019-08-12 | 2019-10-25 | 江苏睿昕联合汽车科技集团有限公司 | A kind of structure and its method of permanent magnet and copper coil cooperation increase magnetism |
| CN111301545A (en) * | 2019-11-22 | 2020-06-19 | 广东省智能制造研究所 | Auxiliary device of wall-climbing robot |
| CN114228857A (en) * | 2021-12-31 | 2022-03-25 | 中国电子科技集团公司第十四研究所 | Magnetic force adjustable electromagnetism adsorbs formula wall climbing robot |
| CN115056877A (en) * | 2022-07-15 | 2022-09-16 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
| CN115056877B (en) * | 2022-07-15 | 2023-10-13 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
| CN115383492A (en) * | 2022-09-16 | 2022-11-25 | 湖南千豪机电技术开发有限公司 | Modular electric permanent magnet template |
| CN115383492B (en) * | 2022-09-16 | 2023-12-22 | 湖南千豪机电技术开发有限公司 | Modularized electro-permanent magnet template |
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Application publication date: 20110112 |