Parallel opening and closing obstacle crossing magnetic sensor driving device with strong opening function

Abstract

The application provides a parallel opening and closing obstacle magnetic sensor driving device with a strong opening function, and belongs to the technical field of parallel opening and closing magnetic sensor driving devices. The problems of poor opening and closing function reliability of a cable detection robot in the presence of multiple obstacles, large slopes and long spans, and large size and weight of a magnetic sensor are solved. The device comprises a saddle-shaped frame, a through-length guide rail, two magnetic sensor assemblies and two driving devices. The through-length guide rail and the two driving devices are arranged on the saddle-shaped frame. The two driving devices are symmetrically arranged on the two sides of the saddle-shaped frame. The magnetic sensor assemblies are connected to the driving devices. The top of the magnetic sensor assemblies is slidably connected to the through-length guide rail, and the bottom of the magnetic sensor assemblies is slidably connected to the driving devices. The two magnetic sensor assemblies are oppositely arranged and are openable and closable. The driving devices drive the magnetic sensor assemblies to move through transmission connecting rods. The device is mainly used for cable detection.

Description

Technical Field

[0001] This invention belongs to the technical field of parallel opening and closing magnetic sensor driving devices, and in particular relates to a parallel opening and closing obstacle-crossing magnetic sensor driving device with a forced opening function. Background Technology

[0002] Currently, cables are widely used in bridges, power, construction, and mining industries. Besides large bridges, many large-scale buildings such as airports, stadiums, and FAST (Five-hundred-meter Aperture Spherical Telescope) also utilize cable structures. In practical applications, in addition to cable structures, there are also cable-driven mechanisms. For example, the FAST radio telescope is a cable parallel mechanism. Its drive chain is a flexible steel cable, and its advantages, such as a low weight-to-span ratio, give it unique applications, such as simulators, wind tunnel tests, and telescope feed support systems. If we consider only the use of steel cables or other metal cables, their applications are even more numerous, such as high-voltage power transmission, bridges, buildings, and high-altitude manned cableways.

[0003] Safety is the primary concern when using cables. Generally, the selection of steel cables is mainly based on their working environment, and a certain safety factor is chosen according to the working stress to ensure safe operation within their service life. However, steel cables may still experience fatigue fracture during their service life. Fatigue fracture does not occur instantaneously; before fatigue fracture, the steel cable usually shows signs of damage such as broken wires, corrosion, and other defects. If these defects can be detected early, and the replacement time of the steel cable can be determined based on the degree of damage, timely replacement of the steel cable can effectively prevent fracture from occurring.

[0004] For cables with multiple obstacles, large sluices, or long spans that cannot be inspected manually, inspection robots are often used. These robots primarily serve as carriers, employing magnetic detection, visible light cameras, infrared thermal imagers, and other inspection instruments as payload systems. Among these, magnetic detection technology is the most reliable, and it is divided into strong magnetic detection and weak magnetic detection.

[0005] Weak magnetic field detection fully utilizes the magnetic memory properties of ferromagnetic materials to actively plan a memory magnetic field. It employs wide-span, non-contact weak magnetic field sensing technology to continuously and uninterruptedly collect information on the differences in magnetic potential distributed in the wire rope. This allows for the automatic monitoring of various potential problems such as wire breakage, wear, corrosion, and fatigue that occur during the use of the wire rope.

[0006] During strong magnetic testing, the wire rope is first magnetically saturated using a testing instrument. Then, a magnetic head wraps around the wire rope and moves at a relatively uniform speed. Any defects in the wire rope, such as broken wires, wear, or corrosion, will cause changes in magnetic flux or leakage flux, which are then captured by the Hall sensor, converted into electrical signals, and output as intuitive analog signals.

[0007] Regardless of whether the detection method uses strong or weak magnetic fields, the underlying principle is the same: permanent magnets are the main components. Due to the inherent interaction forces within the permanent magnets, external forces are generated during cable detection, depending on the specific circumstances. These external forces primarily manifest as the attraction between the permanent magnets and the cable being detected, and the attraction or repulsion between the two halves of the permanent magnet within the sensor itself. These attraction or repulsion forces can even exceed 100 kg. Since the robot's detection environment is typically at high altitudes inaccessible to personnel, if the cable becomes stuck to the sensor, it cannot be opened by human intervention.

[0008] The existing sensor mechanism consists of two halves connected by a rotating axis to form a whole, and the opening and closing function is achieved by rotating around the rotating axis. The locking mechanism is manually tightened. When the two halves of the sensor are closed, there is a large mutual repulsive force. The repulsion is greatest when the two halves are closed. When they are open, the repulsive force decreases parabolically. When the two halves are about 50 mm apart, the repulsive force is almost zero.

[0009] For cable inspection robots, there is a lack of a parallel opening and closing magnetic sensor drive and forced opening device to solve the problem of reliable opening and closing function of magnetic sensors when cable inspection robots encounter multiple obstacles, large slopes, and long spans. Since the operating environment is mostly in a high position, there are also high requirements for the overall size and weight. Summary of the Invention

[0010] In view of this, the present invention aims to propose a parallel opening and closing magnetic sensor driving device with forced opening function to solve the problems of poor reliability of the opening and closing function and large size and weight of the magnetic sensor when the existing cable inspection robot encounters multiple obstacles, large shoals, and long spans.

[0011] To achieve the above objectives, the present invention adopts the following technical solution: a parallel opening and closing obstacle-crossing magnetic sensor driving device with forced opening function, comprising a saddle-shaped frame, a continuous guide rail, two magnetic sensor assemblies, and two driving devices. The continuous guide rail and the two driving devices are all mounted on the saddle-shaped frame. The two driving devices are symmetrically arranged on both sides of the saddle-shaped frame. Magnetic sensor assemblies are connected to the driving devices. The top of each magnetic sensor assembly is slidably connected to the continuous guide rail, and the bottom is slidably connected to the driving device. The two magnetic sensor assemblies are opposite to each other and are open and closed. The driving devices drive the magnetic sensor assemblies to move through a transmission linkage.

[0012] Furthermore, the driving device includes a drive base, a forced opening base, a drive cylinder assembly, and a forced opening drive motor assembly. Forced opening guide rails are provided on both sides of the forced opening base. A forced opening slider that cooperates with the forced opening guide rails is provided on the drive base. The drive base is slidably connected to the forced opening base via the forced opening slider. The forced opening base has a hollow groove, and cross roller guide rails are provided on both sides of the hollow groove. The drive cylinder assembly passes through the forced opening base and is connected to the sliding end of the cross roller guide rails. A bearing seat is provided at one end of the forced opening base, and a drive connecting rod is rotatably connected to the bearing seat. One end of the drive connecting rod is connected to the shaft. The bearing is rotatably connected to the other end, and rotatably connected to the transmission connecting rod. The output end of the drive electric cylinder assembly is rotatably connected to the middle of the drive connecting rod and drives the drive connecting rod to rotate. One end of the drive seat is provided with a forced opening drive motor assembly. The output end of the forced opening drive motor assembly is connected to a forced opening drive gear. Two forced opening transmission gears are rotatably arranged on the drive seat. The two forced opening transmission gears are spaced apart and mesh with the forced opening drive gears for transmission. The forced opening transmission gears are connected to the drive seat through a forced opening drive screw. One end of the forced opening drive screw is rotatably connected to the drive seat, and the other end is helically connected to the forced opening seat.

[0013] Furthermore, the drive seat is provided with a bearing assembly, the forced opening seat is provided with a forced opening drive nut, one end of the forced opening drive screw is rotatably connected to the drive seat through the bearing assembly, and the other end is helically connected to the forced opening drive nut.

[0014] Furthermore, locating pins that cooperate with one end of the drive seat are symmetrically arranged on both sides of one end of the forced opening seat.

[0015] Furthermore, the magnetic sensor assembly includes a magnetic sensor frame, a magnetic sensor, and a magnetic sensor guide wheel. The magnetic sensor and the magnetic sensor guide wheel are both mounted on the magnetic sensor frame. The magnetic sensor frame has a semi-circular groove, and magnetic sensor guide wheels are mounted on both the front and rear sides of the semi-circular groove. Magnetic sensors are mounted on both the upper and lower sides of the semi-circular groove. The semi-circular groove, magnetic sensor, and magnetic sensor guide wheel of the two magnetic sensor assemblies are respectively configured to cooperate with each other.

[0016] Furthermore, a magnetic sensor opening and closing slider is provided on the top of the magnetic sensor frame, and the magnetic sensor frame is slidably connected to the through-length guide rail through the magnetic sensor opening and closing slider.

[0017] Furthermore, the bottom of the magnetic sensor frame is symmetrically provided with magnetic sensor opening and closing guide shafts, and the bottom of the magnetic sensor frame is slidably connected to the drive seat through the magnetic sensor opening and closing guide shafts.

[0018] Furthermore, the drive seat is provided with a guide linear bearing at one end near the magnetic sensor assembly, which cooperates with the magnetic sensor opening and closing guide shaft. The magnetic sensor opening and closing guide shaft passes through the guide linear bearing and is slidably connected to the drive seat through the guide linear bearing.

[0019] Furthermore, multiple magnetic sensor self-positioning pins are symmetrically arranged on the opening and closing surface of the magnetic sensor, and the magnetic sensor self-positioning pins on the two magnetic sensor assemblies are correspondingly matched.

[0020] Furthermore, one end of the transmission link is rotatably connected to the drive link, and the other end is rotatably connected to the magnetic sensor frame.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. The two halves of the sensor in this invention are arranged in a saddle-shaped structure, which facilitates integration with cable detection robots;

[0023] 2. This invention uses a drive cylinder assembly to drive the connecting rod to realize the opening, closing and compaction functions of the two halves of the sensor. During the opening and closing process, a motion opening and closing mechanism that can adapt to the mechanical characteristics of the strong magnetic sensor was invented. The speed of opening and closing is adjusted by driving the connecting rod with a small driving force (that is, according to the characteristics of the permanent magnet, when a large force is required, the mechanism has the motion characteristics of low speed and high force, and when a fast movement is required, the mechanism has the motion characteristics of high speed). The drive part achieves the characteristics of lightweight.

[0024] 3. This invention achieves improved motion accuracy by installing two half sensors on the same guide rail within the effective space, adopts an auxiliary guiding mechanism to increase the opening and closing strength of the sensors, and the sensor positioning pin plays a secondary positioning function, thereby improving the repeatability of sensor opening and closing accuracy.

[0025] 4. The present invention designs two layers of guide rails in the opening and closing drive mechanism and uses a small lead double screw to increase the forced opening function for fault maintenance.

[0026] 5. The present invention makes reasonable and compact use of space layout, achieving reliable motion and high positioning accuracy while achieving lightweight. Attached Figure Description

[0027] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0028] Figure 1 This is an isometric view of the overall structure of a magnetic sensor driving device with a forced opening function for obstacle crossing, as described in this invention.

[0029] Figure 2This is a partial structural isometric view of a magnetic sensor driving device with a forced opening function for obstacle crossing, as described in this invention.

[0030] Figure 3 This is a front view schematic diagram of the overall structure of a parallel opening and closing obstacle-crossing magnetic sensor driving device with forced opening function according to the present invention when the magnetic sensor is opened.

[0031] Figure 4 This is a front view schematic diagram of the overall structure of a parallel opening and closing obstacle-crossing magnetic sensor driving device with forced opening function according to the present invention when the magnetic sensor is pressed and closed.

[0032] Figure 5 This is a front view schematic diagram of the overall structure of the magnetic sensor of the parallel opening and closing obstacle crossing magnetic sensor driving device with forced opening function according to the present invention when the magnetic sensor is forced open.

[0033] Figure 6 This is an isometric view of the drive mechanism of a parallel opening and closing obstacle-crossing magnetic sensor drive device with forced opening function according to the present invention.

[0034] Figure 7 for Figure 6 Enlarged view of part of the structure of the drive mechanism described herein;

[0035] Figure 8 This is an isometric view of the drive mechanism of a parallel opening and closing obstacle-crossing magnetic sensor drive device with forced opening function according to the present invention after forced opening.

[0036] Figure 9 This is a front view schematic diagram of the drive mechanism of a parallel opening and closing obstacle-crossing magnetic sensor drive device with forced opening function according to the present invention after forced opening.

[0037] Figure 10 This is a top view of the drive mechanism of a parallel opening and closing obstacle-crossing magnetic sensor drive device with forced opening function according to the present invention after forced opening.

[0038] Figure 11 This is a front view schematic diagram of the structure of the drive mechanism of a parallel opening and closing obstacle-crossing magnetic sensor drive device with forced opening function according to the present invention.

[0039] Figure 12 This is a top view schematic diagram of the structure of the drive mechanism of a parallel opening and closing obstacle-crossing magnetic sensor drive device with forced opening function according to the present invention.

[0040] Figure 13 for Figure 11 Sectional view of AA;

[0041] Figure 14 for Figure 13Enlarged view of the middle section structure;

[0042] Figure 15 for Figure 11 Sectional view of BB;

[0043] Figure 16 Figure 11 Sectional view of CC;

[0044] Figure 17 This is an isometric view of the magnetic sensor assembly of a parallel opening and closing obstacle-crossing magnetic sensor driving device with forced opening function according to the present invention.

[0045] Figure 18 This is a front view schematic diagram of the magnetic sensor assembly of a parallel opening and closing obstacle-crossing magnetic sensor driving device with forced opening function according to the present invention.

[0046] Figure 19 This is a side view schematic diagram of the magnetic sensor assembly of a parallel opening and closing obstacle-crossing magnetic sensor driving device with forced opening function according to the present invention.

[0047] 1-Saddle frame, 2-Drive device, 3-Long guide rail, 4-Guide linear bearing, 5-Magnetic sensor opening and closing guide shaft, 6-Magnetic sensor opening and closing slider, 7-Drive electric cylinder assembly, 8-Cross roller guide rail, 9-Drive connecting rod, 10-Transmission connecting rod, 11-Bearing seat, 12-Forced opening drive motor assembly, 13-Forced opening drive gear, 14-Forced opening transmission gear, 15-Bearing assembly, 16-Forced opening drive screw, 17-Forced opening drive nut, 18-Positioning pin, 19-Forced opening guide rail, 20-Forced opening slider, 21-Drive seat, 22-Forced opening seat, 23-Magnetic sensor, 24-Magnetic sensor guide distance measuring wheel, 25-Magnetic sensor self-positioning pin, 26-Magnetic sensor assembly, 27-Magnetic sensor frame. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0049] See Figure 1-19This embodiment describes a parallel opening and closing obstacle-crossing magnetic sensor driving device with a forced opening function, comprising a saddle-shaped frame 1, a continuous guide rail 3, two magnetic sensor assemblies 26, and two driving devices 2. The continuous guide rail 3 and the two driving devices 2 are all mounted on the saddle-shaped frame 1, with the two driving devices 2 symmetrically arranged on both sides of the saddle-shaped frame 1. Magnetic sensor assemblies 26 are connected to the driving devices 2. The top of each magnetic sensor assembly 26 is slidably connected to the continuous guide rail 3, and the bottom is slidably connected to the driving device 2. The two magnetic sensor assemblies 26 are opposite each other and open / closed. The driving devices 2 drive the magnetic sensor assemblies 26 to move via a transmission link 10. In this embodiment, the overall layout of the mechanism adopts a left-right symmetrical structure, and the overall shape of the mechanism resembles a saddle. When the robot performs cable inspection, it straddles the cable in a riding manner. The saddle-shaped frame 1 is the basic load-bearing component. The drive unit 2 and the long guide rail 3 are both fixedly mounted on the saddle frame 1. Two magnetic sensor assemblies 26 are assembled together on the long guide rail 3, enabling left and right sliding opening and closing functions. The magnetic sensor opening and closing guide shaft 5 on the magnetic sensor assembly 26 is assembled with the guide linear bearing 4 on the drive unit 2, which guides and strengthens the opening and closing movement of the two magnetic sensor assemblies 26.

[0050] In this embodiment, the driving device 2 includes a driving base 21, a forced opening base 22, a driving electric cylinder assembly 7, and a forced opening drive motor assembly 12. Forced opening guide rails 19 are provided on both sides of the forced opening base 22. A forced opening slider 20, which cooperates with the forced opening guide rails 19, is provided on the driving base 21. The driving base 21 is slidably connected to the forced opening base 22 via the forced opening slider 20. A hollow groove is provided on the forced opening base 22, and cross roller guide rails 8 are provided on both sides of the hollow groove. The driving electric cylinder assembly 7 passes through the forced opening base 22 and is connected to the sliding end of the cross roller guide rails 8. A bearing seat 11 is provided at one end of the forced opening base 22. A driving connecting rod 9 is rotatably connected to the bearing seat 11. One end of the driving connecting rod 9 is rotatably connected to the bearing seat 11, and the other end is rotatably connected to the transmission connecting rod 10. The output end of the driving electric cylinder assembly 7 is connected to the driving connecting rod 10. The middle part of the rod 9 is rotatably connected to and drives the drive connecting rod 9 to rotate. One end of the drive seat 21 is provided with a forced opening drive motor assembly 12. The output end of the forced opening drive motor assembly 12 is connected to a forced opening drive gear 13. Two forced opening transmission gears 14 are rotatably arranged on the drive seat 21. The two forced opening transmission gears 14 are spaced apart and mesh with the forced opening drive gear 13 for transmission. The forced opening transmission gears 14 are connected to the drive seat 21 through a forced opening drive screw 16. One end of the forced opening drive screw 16 is rotatably connected to the drive seat 21, and the other end is helically connected to the forced opening seat 22. A bearing assembly 15 is provided on the drive seat 21, and a forced opening drive nut 17 is provided on the forced opening seat 22. One end of the forced opening drive screw 16 is rotatably connected to the drive seat 21 through the bearing assembly 15, and the other end is helically connected to the forced opening drive nut 17. In this embodiment, on the saddle-shaped frame 1 of the drive device 2, the forced opening slider 20 is fixedly connected to the drive seat 21, and the forced opening guide rail 19 is fixedly connected to the forced opening seat 22. The drive seat 21 and the forced opening seat 22 can slide together via the forced opening guide rail 19 and the forced opening slider 20. In this example, the forced opening drive motor assembly 12 consists of a commercial-grade motor reducer. A forced opening drive gear 13 is fixed to the end of the reducer via a key connection. The forced opening drive gear 13 simultaneously drives two forced opening transmission gears 14 to rotate in the same direction. The forced opening transmission gears 14 are fixedly connected to the forced opening drive screw 16 via key connections. One end of the forced opening drive screw 16 is axially rotatable via two sets of bearing assemblies 15, and the other end of the forced opening drive screw 16 engages with a forced opening drive nut 17. The forced opening drive nut 17 is fixedly connected to the forced opening seat 22. This process constitutes the complete drive chain for the forced opening drive.

[0051] In this embodiment, the cross roller guide 8 is mounted on the forced-opening seat 22. The drive cylinder assembly 7 is composed of a commercial-grade motor, electric cylinder, and spherical bearing. Its internal structure and the driving method of the electric cylinder are existing technologies and will not be described in detail here. The drive cylinder assembly 7 is installed on the sliding end of the cross roller guide 8. The drive cylinder assembly 7 moves horizontally through the cross roller guide 8, thereby changing the horizontal position of the drive cylinder assembly 7 when the drive connecting rod 9 rotates. The bearing seat 11 is fixed to the forced-opening seat 22. The rotation axis of the drive connecting rod 9 is connected to the bearing seat 11 and the drive cylinder assembly 7 respectively. At this time, the connecting rod structure of the drive part is completed.

[0052] In this embodiment, during the opening process of the magnetic sensor assembly 26, the drive cylinder assembly 7 in the drive device 2 is raised at a constant speed, the lever arm of the connecting rod begins to change, the opening and closing speed changes from low speed to high speed, and the opening and closing force also changes from large to small in a parabolic manner.

[0053] In this embodiment, if an opening or closing failure occurs, the forced opening drive motor assembly 12 drives the forced opening drive gear 13 to drive the magnetic sensor opening and closing slider 6 to force the forced opening seat 22 out, thereby realizing the fault forced opening function.

[0054] In this embodiment, the two sides of one end of the forced opening seat 22 are symmetrically provided with positioning pins 18 that cooperate with one end of the drive seat 21. In this embodiment, when the forced opening seat 22 is retracted into the drive seat 21, the positioning pins 18 play a role in positioning and strengthening.

[0055] In this embodiment, one end of the transmission link 10 is rotatably connected to the drive link 9, and the other end is rotatably connected to the magnetic sensor frame 27.

[0056] In this embodiment, the magnetic sensor assembly 26 includes a magnetic sensor frame 27, a magnetic sensor 23, and a magnetic sensor guide wheel 24. The magnetic sensor 23 and the magnetic sensor guide wheel 24 are both mounted on the magnetic sensor frame 27. The magnetic sensor frame 27 has a semi-circular groove. The magnetic sensor guide wheel 24 is mounted on both the front and rear sides of the semi-circular groove. The magnetic sensor 23 is mounted on both the upper and lower sides of the semi-circular groove. The semi-circular groove, the magnetic sensor 23, and the magnetic sensor guide wheel 24 of the two magnetic sensor assemblies 26 are respectively configured to cooperate with each other.

[0057] In this embodiment, a magnetic sensor opening and closing slider 6 is provided on the top of the magnetic sensor frame 27, and the magnetic sensor frame 27 is slidably connected to the through guide rail 3 through the magnetic sensor opening and closing slider 6.

[0058] In this embodiment, the bottom of the magnetic sensor frame 27 is symmetrically provided with magnetic sensor opening and closing guide shafts 5, and the bottom of the magnetic sensor frame 27 is slidably connected to the drive seat 21 through the magnetic sensor opening and closing guide shafts 5.

[0059] In this embodiment, the magnetic sensor frame 27 is the basic frame structure, and the magnetic sensor 23 is directly fixed to the magnetic sensor frame 27 by screws. A magnetic sensor opening / closing guide shaft 5 and a magnetic sensor opening / closing slider 6 are also installed to guide the magnetic sensor assembly 26 during opening and closing movements.

[0060] In this embodiment, magnetic sensor guide distance measuring wheels 24 are installed at the front and rear positions of magnetic sensor 23. The magnetic sensor guide distance measuring wheels 24 are composed of code disk and wheel assembly, and have the functions of opening and closing guide positioning and radial support force to assist in holding. At the same time, they also provide detection mileage data for magnetic sensor 23.

[0061] In this embodiment, the drive seat 21 near the magnetic sensor assembly 26 is provided with a guide linear bearing 4 that cooperates with the magnetic sensor opening and closing guide shaft 5. The magnetic sensor opening and closing guide shaft 5 passes through the guide linear bearing 4 and is slidably connected to the drive seat 21 through the guide linear bearing 4.

[0062] In this embodiment, a plurality of magnetic sensor self-positioning pins 25 are symmetrically arranged on the opening and closing surface of the magnetic sensor 23. The magnetic sensor self-positioning pins 25 on the two magnetic sensor assemblies 26 are correspondingly matched. The magnetic sensor self-positioning pins 25 are installed on the opening and closing surface of the magnetic sensor 23. In the closed state, the self-positioning effect can be achieved, thereby improving the repeated closing positioning accuracy of the sensor.

[0063] In this embodiment, the sensor is fixed to the sliding base. A continuous guide rail 3 drives the sensor to open and close in parallel. Simultaneously, a drive cylinder assembly 7 drives a connecting rod structure to achieve the sensor's opening and closing. The motion characteristics of the connecting rod are matched to the repulsive force characteristics of the permanent magnet. When closed, the connecting rod's lever arm is 0, firmly pressing the permanent magnet through the connecting rod's dead point. When opening, the connecting rod moves, and the repulsive lever arm gradually increases from 0. The connecting rod opens with a low speed and high output. Subsequently, the movement speed increases while the output decreases. During this process, although the drive cylinder moves at a constant speed, the magnetic sensor adapts to the changes in the repulsive force of the permanent magnet.

[0064] In this embodiment, the two halves of the sensor are arranged in a saddle-shaped structure, which facilitates integration with the cable inspection robot.

[0065] This embodiment uses a drive cylinder assembly to drive the connecting rod to realize the opening, closing and compaction functions of the two halves of the sensor. During the opening and closing process, a motion opening and closing mechanism that can adapt to the mechanical characteristics of the strong magnetic sensor was invented. The speed of opening and closing is adjusted by driving the connecting rod with a small driving force. According to the characteristics of the permanent magnet, when a large output is required, the mechanism has the motion characteristics of low speed and high output, and when a fast movement is required, the mechanism has the motion characteristics of high speed. The drive part has the characteristics of lightweight.

[0066] This embodiment improves motion accuracy by installing two halves of the sensor on the same guide rail within the effective space. An auxiliary guiding mechanism is used to increase the opening and closing strength of the sensor, and the sensor positioning pin plays a secondary positioning function, which improves the repeatability of the sensor's opening and closing accuracy.

[0067] This embodiment incorporates two layers of guide rails within the opening and closing drive mechanism, and utilizes a small-lead twin-screw design to enhance the forced-open function for fault maintenance.

[0068] This embodiment makes reasonable and compact use of space layout, and the entire structure is integrated into the existing opening and closing mechanism. It not only achieves lightweighting, but also reduces size and space. Under the premise of achieving lightweighting, it achieves reliable movement and high positioning accuracy.

[0069] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A parallel opening and closing obstacle magnetic sensor driving device with strong opening function, characterized in that: it comprises a saddle-shaped frame (1), a through guide rail (3) and two magnetic sensor assemblies (26) and two driving devices (2), the through guide rail (3) and the two driving devices (2) are arranged on the saddle-shaped frame (1), the two driving devices (2) are symmetrically arranged on the two sides of the saddle-shaped frame (1), the magnetic sensor assembly (26) is connected to the driving device (2), the top of the magnetic sensor assembly (26) is slidably connected with the through guide rail (3), the bottom is slidably connected with the driving device (2), the two magnetic sensor assemblies (26) are oppositely arranged and opened and closed, and the driving device (2) drives the magnetic sensor assembly (26) to move through a transmission connecting rod (10); the driving device (2) comprises a driving seat (21), a strong opening seat (22), a driving electric cylinder assembly (7) and a strong opening driving motor assembly (12), both sides of the strong opening seat (22) are provided with a strong opening guide rail (19), the driving seat (21) is provided with a strong opening sliding block (20) matched with the strong opening guide rail (19), the driving seat (21) is slidably connected with the strong opening seat (22) through the strong opening sliding block (20), the strong opening seat (22) is provided with a hollow groove, both sides of the hollow groove are provided with cross roller guide rails (8), the driving electric cylinder assembly (7) penetrates through the strong opening seat (22) and is connected with the sliding end of the cross roller guide rail (8), one end of the strong opening seat (22) is provided with a bearing seat (11), the bearing seat (11) is rotatably connected with a driving connecting rod (9), one end of the driving connecting rod (9) is rotatably connected with the bearing seat (11), the other end is rotatably connected with a transmission connecting rod (10), the output end of the driving electric cylinder assembly (7) is rotatably connected with the middle part of the driving connecting rod (9) and drives the driving connecting rod (9) to rotate, one end of the driving seat (21) is provided with the strong opening driving motor assembly (12), the output end of the strong opening driving motor assembly (12) is connected with a strong opening driving gear (13), two strong opening transmission gears (14) are rotatably arranged on the driving seat (21), the two strong opening transmission gears (14) are arranged at intervals and meshed with the strong opening driving gear (13), the strong opening transmission gear (14) is connected with the driving seat (21) through a strong opening driving screw (16), one end of the strong opening driving screw (16) is rotatably connected with the driving seat (21), the other end is screw-connected with the strong opening seat (22). ​ The magnetic sensor assembly (26) comprises a magnetic sensor frame (27), a magnetic sensor (23) and a magnetic sensor guide ranging wheel (24), the magnetic sensor (23) and the magnetic sensor guide ranging wheel (24) are arranged on the magnetic sensor frame (27), a semicircular groove is arranged on the magnetic sensor frame (27), the magnetic sensor guide ranging wheels (24) are arranged on the front and back sides of the semicircular groove, the magnetic sensors (23) are arranged on the upper and lower sides of the semicircular groove, and the semicircular grooves, the magnetic sensors (23) and the magnetic sensor guide ranging wheels (24) of the two magnetic sensor assemblies (26) are correspondingly and cooperatively arranged; A plurality of magnetic sensor self-positioning pins (25) are symmetrically arranged on the opening and closing surface of the magnetic sensor (23), and the magnetic sensor self-positioning pins (25) on the two magnetic sensor assemblies (26) are correspondingly and cooperatively arranged.

2. The parallel opening and closing magnetic sensor driving device with strong opening function according to claim 1, characterized in that: A bearing set (15) is arranged on the driving seat (21), a strong opening driving nut (17) is arranged on the strong opening seat (22), one end of a strong opening driving screw rod (16) is rotatably connected with the driving seat (21) through the bearing set (15), and the other end is screw-connected with the strong opening driving nut (17).

3. The magnetic sensor driving device with strong opening function and parallel opening and closing obstacle according to claim 1, characterized in that: Positioning pins (18) matched with one end of the driving seat (21) are symmetrically arranged on the one end of the strong opening seat (22).

4. The magnetic sensor driving device with strong opening function and parallel opening and closing obstacle according to claim 1, characterized in that: A magnetic sensor opening and closing sliding block (6) is arranged on the top of the magnetic sensor frame (27), and the magnetic sensor frame (27) is slidably connected with the through guide rail (3) through the magnetic sensor opening and closing sliding block (6).

5. The magnetic sensor driving device with strong opening function and parallel opening and closing obstacle according to claim 1, characterized in that: Magnetic sensor opening and closing guide shafts (5) are symmetrically arranged on the bottom of the magnetic sensor frame (27), and the bottom of the magnetic sensor frame (27) is slidably connected with the driving seat (21) through the magnetic sensor opening and closing guide shafts (5).

6. The parallel opening and closing magnetic sensor driving device with strong opening function according to claim 5, characterized in that: A guide linear bearing (4) matched with the magnetic sensor opening and closing guide shafts (5) is arranged on the one end of the driving seat (21) close to the magnetic sensor assembly (26), the magnetic sensor opening and closing guide shafts (5) pass through the guide linear bearing (4) and are slidably connected with the driving seat (21) through the guide linear bearing (4).

7. The magnetic sensor driving device with strong opening function and parallel opening and closing obstacle according to claim 1, characterized in that: One end of the transmission connecting rod (10) is rotatably connected with the driving connecting rod (9), and the other end is rotatably connected with the magnetic sensor frame (27).

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