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Variable magnetic force adsorbing unit for wall clamping robot

A wall-climbing robot, magnetic adsorption technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problems of increasing drive power consumption torque requirements, increasing motion resistance, motion impact, etc., to overcome adsorption capacity and mobility, Switch control is convenient and the effect of compact structure

Inactive Publication Date: 2005-08-24
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The magnetic adsorption force generated by this kind of adsorption unit cannot be changed. When the adsorption unit is detached from the wall, it needs to consume extra energy and increase the movement resistance. Therefore, the drive system needs to use part of the power for the adsorption unit to detach from the wall, which increases the driving power consumption. and additional torque requirements, resulting in system motion impact, especially when the robot is running at low speed

Method used

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  • Variable magnetic force adsorbing unit for wall clamping robot
  • Variable magnetic force adsorbing unit for wall clamping robot
  • Variable magnetic force adsorbing unit for wall clamping robot

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Embodiment approach

[0027] The variable magnetic force adsorption unit of the present invention is as attached figure 1 And attached figure 2 As shown, the permanent magnet variable magnetic force adsorption unit designed by the present invention includes three parts: the magnetic circuit part, the connecting part and the toggle-return mechanism. The adsorption magnetic circuit part is composed of a permanent magnet 7 , a yoke 3 and a spacer magnet 4 . The permanent magnet 7 is cylindrical and magnetized in the radial direction. The yoke is composed of two parts and arranged symmetrically. A spacer magnet 4 is placed in the middle. A through hole is opened in the center of the rectangular yoke 3. The permanent magnet is located in the central through hole formed by the yoke and the spacer magnet. The permanent magnet 7 can rotate freely in the hole. . Among them, the permanent magnet is made of neodymium-iron-boron (NdFeB) magnetic material with high coercive force, and the aging treatment pr...

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Abstract

The magnetic adsorption mechanism of crawler wall-climbing robot comprises adsorption magnetic circuit portion, coupling mechanism portion and shifting-restoring mechanism, the shifting-restoring mechanism mainly comprises core shaft, bearing, returning spring and shifting lever, its permanent magnet adopts a cylindrical body magnetized along radial direction, and is placed in the central through hole of a rectangular magnetic yoke, and can be freely rotated, and said magnetic yoke is separated into symmetrical two halves by magnet-insulating body along its centre, said shifting-lever is connected with permanent magnet by means of core shaft. Said invention process bistable characteristics-magnetic adsorption state and magnetic short circuit state, between two states its switching-oven control is convenient.

Description

technical field [0001] The invention belongs to the technical field of robot control devices, and in particular relates to a structural design of a magnetic adsorption mechanism of a wall-climbing robot. technical background [0002] As a mobile carrier for operations in an unstructured environment, magnetic adsorption wall-climbing robots have been widely used in the production and construction of steel structures such as spherical (storage) tanks, pipelines, shipbuilding, aviation, automobiles, boilers, power stations, water turbines, buildings, and locomotives. Applications. [0003] A wall-climbing robot must have two basic functions: wall adsorption and mobile operations. As an important part of the wall-climbing robot, the adsorption unit provides adsorption force for the robot so that it can be reliably adsorbed on the wall. However, when the wall-climbing robot is moving, the adsorption force becomes its main motion resistance; and the greater the adsorption force,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/06
Inventor 陈强纪萌王军波孙振国
Owner TSINGHUA UNIV
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