A variable magnetic gap type magnetic pole rotation type magnetic grabber and its control method

Abstract

The present invention discloses a variable magnetic gap type magnetic pole rotating magnetic grabber and a control method thereof. The variable magnetic gap type magnetic pole rotating magnetic grabber includes a bracket, a lower disk, an upper disk, a rotation drive mechanism and a translation drive mechanism. The lower disk includes a turntable and a plurality of lower magnets. The turntable is rotatably arranged on the bracket, and the plurality of lower magnets are evenly fixed to the turntable along the circumferential direction. The upper disk includes a lifting disk and a plurality of upper magnets. The lifting disk can slide relative to the bracket, and the lifting disk and the turntable are arranged opposite to each other. The rotation drive mechanism is used to drive the turntable to rotate. The translation drive mechanism is used to drive the lifting disk to move so as to approach or move away from the turntable. The beneficial effect of the present invention is that while rotating the movable magnet, the action of magnet variable gap adjustment is also incorporated, which not only enriches the changing trend of the magnetic force, making the magnetic force regulation smoother and more flexible, but also realizes the precise control of the magnetic force at each stage.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic grabbers, and in particular to a variable magnetic gap type magnetic pole rotation type magnetic grabber and a control method thereof. Background Art

[0002] Magnetic machinery, with its advantages of contactless force and torque transmission, has been widely used in fields such as machinery, electronics, aerospace, chemical engineering, transportation, and medicine. Magnetic grippers are key components in magnetic machinery for securing and positioning workpieces. By generating a powerful magnetic force, magnetic machinery can better meet the needs of a variety of complex applications.

[0003] Permanent magnetic grippers are popular for their advantages, including requiring no external power supply, maintaining long-term magnetic force, and being energy-efficient and environmentally friendly. Their simple structure and easy maintenance make them suitable for various applications requiring long-term workpiece fixation. However, the magnetic force of permanent magnetic grippers is fixed and cannot be adjusted to suit the weight or shape of the workpiece. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and propose a variable magnetic gap type magnetic pole rotation type magnetic grabber and its control method to solve the technical problem that the magnetic force of the permanent magnetic grabber in the prior art is fixed and the magnetic force cannot be adjusted according to the weight and shape of the workpiece.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] The present invention provides a variable magnetic gap type magnetic pole rotation type magnetic grabber, comprising:

[0007] Bracket;

[0008] A lower magnetic disk, comprising a turntable and a plurality of lower magnets, wherein the turntable is rotatably disposed on the bracket, and the plurality of lower magnets are uniformly fixed to the turntable along a circumferential direction;

[0009] An upper magnetic disk, comprising a lifting disk and a plurality of upper magnets, wherein the lifting disk is slidable relative to the bracket, the lifting disk is disposed opposite to the turntable, and the plurality of upper magnets are uniformly fixed to the lifting disk along the circumference;

[0010] a rotation drive mechanism, the rotation drive mechanism being used to drive the turntable to rotate; and

[0011] The translation drive mechanism is used to drive the lifting plate to move closer to or away from the rotating plate.

[0012] In some embodiments, the bracket includes an upper support plate, a lower support plate and a plurality of columnar connecting members, the upper support plate and the lower support plate are arranged relative to each other, the two ends of each columnar connecting member are fixedly connected to the upper support plate and the lower support plate respectively, the turntable is rotatably set on the lower support plate, and the lifting plate is provided with a plurality of guide holes corresponding to each of the columnar connecting members one by one, and the lifting plate is slidably set on the columnar connecting members through each of the guide holes.

[0013] In some embodiments, the number of the lower magnets is an even number, the poles of two adjacent lower magnets are arranged opposite to each other, the number of the upper magnets is equal to the number of the lower magnets, and the poles of two adjacent upper magnets are arranged opposite to each other, when the turntable is in the first position, the pole direction of each lower magnet is opposite to the pole direction of the upper magnet directly above it, and when the turntable is in the second position, the pole direction of each lower magnet is the same as the pole direction of the upper magnet directly above it.

[0014] In some embodiments, the columnar connecting member includes a connecting tube, an upper fixing nail and a lower fixing nail, the upper end of the connecting tube is fixedly connected to the upper support plate via the upper fixing nail, and the lower end of the connecting tube is fixedly connected to the lower support plate via the lower fixing nail.

[0015] In some embodiments, the lower magnetic disk further includes a large bearing, an inner ring of the large bearing is fixedly connected to the lower support plate, and an outer ring of the large bearing is fixedly connected to the turntable.

[0016] In some embodiments, the rotation drive mechanism includes a first driven synchronous wheel, a first active synchronous wheel, a first synchronous belt and a rotation drive motor. The first driven synchronous wheel is coaxially fixed on the outer wall of the turntable. The two ends of the first synchronous belt are respectively wrapped around the first driven synchronous wheel and the first active synchronous wheel. The rotation drive motor is connected to the first active synchronous wheel and is used to drive the first active synchronous wheel to rotate.

[0017] In some embodiments, a clearance hole is opened in the center of the lifting plate; the translation drive mechanism includes a screw, a nut and a drive assembly, the screw is rotatably connected to the upper support plate via an upper bearing, the screw is rotatably connected to the turntable via a lower bearing, the nut is threaded and rotatably sleeved on the screw, the nut is fixed in the clearance hole, the drive assembly is connected to the screw, and is used to drive the screw to rotate.

[0018] In some embodiments, the drive assembly includes a second driven synchronous wheel, a second active synchronous wheel, a second synchronous belt and a lifting drive motor. The second driven synchronous wheel is coaxially fixed on the screw rod, and the two ends of the second synchronous belt are respectively wrapped around the second driven synchronous wheel and the second active synchronous wheel. The lifting drive motor is connected to the second active synchronous wheel and is used to drive the second active synchronous wheel to rotate.

[0019] In some embodiments, a plurality of rotating wheels are arranged on an end surface of the turntable away from the lifting plate.

[0020] The present invention also provides a control method for a variable magnetic gap type magnetic pole rotating magnetic grabber, which is applicable to the variable magnetic gap type magnetic pole rotating magnetic grabber and includes the following steps:

[0021] S1. When the magnetic attraction of the variable magnetic gap type magnetic pole rotation type magnetic grabber needs to be reduced to 0, the turntable is rotated to a first position. At this time, the magnetic pole direction of each of the lower magnets is opposite to the magnetic pole direction of the upper magnet directly above;

[0022] S2. When it is necessary to increase the magnetic attraction of the variable magnetic gap type magnetic pole rotation type magnetic grabber, the turntable is rotated to reduce the misalignment angle between a magnetic pole of the lower magnet and a magnetic pole of the same polarity of the upper magnet directly above, and / or the lifting plate is driven to move closer to the turntable by a translation drive mechanism;

[0023] S3. When it is necessary to reduce the magnetic attraction of the variable magnetic gap type magnetic pole rotating magnetic grabber, the turntable is rotated to increase the staggered angle between a certain magnetic pole of the lower magnet and a magnetic pole of the same polarity of the upper magnet directly above it, and / or the lifting plate is driven to move away from the turntable by a translation drive mechanism.

[0024] Compared with the existing technology, the variable magnetic gap type magnetic pole rotating magnetic grabber and its control method device provided by the present invention have the following beneficial effects: by introducing the design of a rotating movable magnet, not only can the magnetic force be turned on and off, but it can also be maintained at any angle, thereby flexibly adjusting the magnetic strength of the suction cup. At the same time, through the variable gap adjustment form, the size of the magnetic gap is adjusted to control the magnetic strength, ensuring that the grabber can provide accurate and stable magnetic force in different application scenarios. While rotating the movable magnet, the action of magnet variable gap adjustment is also incorporated, which not only enriches the changing trend of the magnetic force, making the magnetic force regulation smoother and more flexible, but also realizes precise control of the magnetic force at each stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of a variable magnetic gap type magnetic pole rotation type magnetic grabber provided by one embodiment of the present invention;

[0026] Figure 2 yes Figure 1 A top view of a variable magnetic gap type magnetic pole rotation type magnetic grabber;

[0027] Figure 3 yes Figure 2 Sectional view of mid-section AA;

[0028] Figure 4 yes Figure 1 An exploded view of a variable magnetic gap type magnetic pole rotation type magnetic grabber;

[0029] Figure 5 yes Figure 1 Schematic diagram of the three-dimensional structure of the bracket;

[0030] Figure 6 yes Figure 1 A schematic diagram of the three-dimensional structure of the lower disk and the upper disk when the turntable is in the first position;

[0031] Figure 7 yes Figure 6 Schematic diagram of the three-dimensional structure of the lower disk and the upper disk when the turntable is in the second position

[0032] Figure 8 yes Figure 6 Schematic diagram of the three-dimensional structure of the lower magnet;

[0033] Figure 9 yes Figure 1 A schematic diagram of the three-dimensional structure of the lifting plate and the driving assembly;

[0034] Figure 10 yes Figure 1 Schematic diagram of the magnetic force curve of the variable magnetic gap type magnetic pole rotation type magnetic grabber as the magnetic gap changes and the magnetic force curve as the rotation angle changes;

[0035] Figure 11 yes Figure 1 Flow chart of the control method of the variable magnetic gap type magnetic pole rotation type magnetic grabber.

[0036] Explanation of the accompanying drawings: 1-bracket, 11-upper support plate, 12-lower support plate, 13-cylindrical connecting piece, 131-connecting tube, 132-upper fixing nail, 133-lower fixing nail, 2-lower magnetic disk, 21-turntable, 211-rotating wheel, 22-lower magnet, 23-large bearing, 3-upper magnetic disk, 31-lifting disk, 311-guide hole, 32-upper magnet, 4-rotational drive mechanism, 41-first driven synchronous wheel, 42-first active synchronous wheel, 43-first synchronous belt, 44-rotational drive motor, 5-translational drive mechanism, 51-screw, 52-nut, 53-drive assembly, 531-second driven synchronous wheel, 532-second active synchronous wheel, 533-second synchronous belt, 534-lifting drive motor, 54-upper bearing, 55-lower bearing, 56-spring. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] In order to solve the technical problem that the magnetic force of a permanent magnetic gripper is fixed and cannot be adjusted according to the weight and shape of the workpiece, the present invention provides a variable magnetic gap type magnetic pole rotation type magnetic gripper and a control method thereof, which can achieve continuous adjustment of the magnetic force.

[0039] See also Figure 1 , Figure 1 This is a schematic diagram of the three-dimensional structure of a variable magnetic gap type magnetic pole rotation type magnetic grabber in one embodiment of the present invention. The variable magnetic gap type magnetic pole rotation type magnetic grabber and its control method include a bracket 1, a lower disk 2, an upper disk 3, a rotation drive mechanism 4 and a translation drive mechanism 5.

[0040] See also Figures 1-9 The lower magnetic disk 2 includes a turntable 21 and a plurality of lower magnets 22. The turntable 21 is rotatably disposed on the bracket 1, and the plurality of lower magnets 22 are uniformly fixed to the turntable 21 along the circumferential direction.

[0041] The upper magnetic disk 3 includes a lifting disk 31 and a plurality of upper magnets 32. The lifting disk 31 can slide relative to the bracket 1. The lifting disk 31 is arranged opposite to the turntable 21. The plurality of upper magnets 32 are evenly fixed to the lifting disk 31 along the circumference.

[0042] The rotation drive mechanism 4 is used to drive the turntable 21 to rotate;

[0043] The translation drive mechanism 5 is used to drive the lifting plate 31 to move closer to or away from the rotating plate 21 .

[0044] During use, when it is necessary to make the magnetic attraction of the variable magnetic gap type magnetic pole rotating type magnetic grabber to 0, the turntable 21 is rotated to rotate the turntable 21 to the first position. At this time, the magnetic pole direction of each of the lower magnets 22 is opposite to the magnetic pole direction of the upper magnet 32 ​​directly above, forming a closed magnetic circuit. At this time, no magnetic circuit is generated with the external magnetic conductive matrix, that is, it is in a non-adsorbable state; when it is necessary to increase the magnetic attraction of the variable magnetic gap type magnetic pole rotating type magnetic grabber, the turntable 21 is rotated to reduce the staggered angle between a certain magnetic pole of the lower magnet 22 and a magnetic pole of the same polarity of the upper magnet 32 ​​directly above, and / or the lifting plate 31 is driven to move by the translation drive mechanism 5 to get closer to the desired magnetic attraction. The turntable 21 is placed so that the lower end surface of the turntable 21 is close to the external magnetic conductive substrate. Since the offset angle between a certain magnetic pole of the lower magnet 22 and the magnetic pole of the same polarity of the upper magnet 32 ​​directly above it is reduced, the magnetism of the upper and lower magnets is superimposed and the magnetism is enhanced, or since the upper magnet 32 ​​is closer to the turntable 21, the superimposed magnetic force is stronger; conversely, when it is necessary to reduce the magnetic attraction force of the variable magnetic gap type magnetic pole rotating type magnetic grabber, the turntable 21 is rotated to increase the offset angle between a certain magnetic pole of the lower magnet 22 and the magnetic pole of the same polarity of the upper magnet 32 ​​directly above it, and / or the lifting plate 31 is driven to move by the translation drive mechanism 5 to move away from the turntable 21.

[0045] The present invention introduces the design of a rotating movable magnet, which not only enables the magnetic force to be turned on and off, but also maintains it at any angle, thereby flexibly regulating the magnetic strength of the suction cup. At the same time, the size of the magnetic gap is adjusted through the variable gap adjustment form to control the magnetic strength, ensuring that the suction cup can provide accurate and stable magnetic force in different application scenarios. While rotating the movable magnet, the action of magnet variable gap adjustment is also incorporated, which not only enriches the changing trend of the magnetic force, making the magnetic force regulation smoother and more flexible, but also realizes precise control of the magnetic force at each stage.

[0046] It should be noted that please refer to Figure 10 In the present invention, the reason why the magnetic force is adjusted by rotating the movable magnet and adjusting the magnetic gap at the same time is that it is impossible to achieve fine control of the magnetic force by rotating the movable magnet or adjusting the magnetic gap alone. Figure 10 As shown in the left figure, when the gap between the upper and lower magnets increases, the change in the magnitude of the magnetic force is not linear, but decreases sharply within a certain gap range. For example, Figure 10As shown in the right figure, when the rotation angle of the lower magnet changes, the magnetic force does not change linearly. The magnetic force will change dramatically within a certain angle range. Therefore, it is impossible to finely control the magnetic force by rotating the movable magnet or adjusting the magnetic gap to adjust the magnetic force. Therefore, the present invention adjusts the magnetic force by rotating the movable magnet and adjusting the magnetic gap at the same time. When the magnetic force is adjusted by rotating the movable magnet and adjusting the magnetic gap at the same time, the magnetic force changes more flexibly, which can improve the magnetic control accuracy.

[0047] In one embodiment, see Figure 3-Figure 5 The bracket 1 includes an upper support plate 11, a lower support plate 12 and a plurality of columnar connecting members 13. The upper support plate 11 and the lower support plate 12 are arranged relative to each other at intervals. The two ends of each columnar connecting member 13 are fixedly connected to the upper support plate 11 and the lower support plate 12 respectively. The turntable 21 is rotatably set on the lower support plate 12. The lifting plate 31 is provided with a plurality of guide holes 311 corresponding to each of the columnar connecting members 13. The lifting plate 31 is slidably set on the columnar connecting members 13 through each of the guide holes 311.

[0048] In this embodiment, both the upper support plate 11 and the lower support plate 12 are constructed from a specially shaped plate, with a smaller circular front end and a larger circular rear end. Multiple axial and mounting holes are provided, and tangential lines connect the joints to create a smooth, continuous shape. A circular notch is defined within the larger circular portion of the lower support plate 12, and the upper and lower support plates 11 and 12 are arranged coaxially and symmetrically.

[0049] In one embodiment, see Figure 3-Figure 5 The columnar connecting member 13 includes a connecting tube 131, an upper fixing nail 132 and a lower fixing nail 133. The upper end of the connecting tube 131 is fixedly connected to the upper support plate 11 via the upper fixing nail 132, and the lower end of the connecting tube 131 is fixedly connected to the lower support plate 12 via the lower fixing nail 133.

[0050] In one embodiment, see Figure 6-Figure 8 The number of the lower magnets 22 is an even number, and the magnetic poles of two adjacent lower magnets 22 are arranged oppositely. The number of the upper magnets 32 is equal to the number of the lower magnets 22, and the magnetic poles of two adjacent upper magnets 32 are arranged oppositely. When the turntable 21 is in the first position (such as Figure 6 ), the magnetic pole direction of each lower magnet 22 is opposite to the magnetic pole direction of the upper magnet 32 ​​directly above it. At this time, since the upper magnet 32 ​​and the lower magnet 22 form a closed magnetic circuit, the magnetic force of the grabber is 0. When the turntable 21 is in the second position (such as Figure 7), the magnetic pole direction of each lower magnet 22 is the same as the magnetic pole direction of the upper magnet 32 ​​directly above it. At this time, since the magnetic poles of the upper magnet 32 ​​and the lower magnet 22 are the same, the magnetic fields are superimposed and the magnetic force of the grabber is the largest.

[0051] Specifically, see Figure 6-Figure 8 The turntable 21 is made of a hard aluminum alloy. To arrange as many magnets (i.e., the lower magnets 22) as possible within the annular space and thereby increase the magnet ratio, eight mounting slots for the lower magnets 22 are uniformly arranged in an annular array in the middle of the turntable 21. The lower magnets 22 are mounted one-to-one in the magnet mounting slots on the upper side of the turntable 21. Figure 6-Figure 8 In the figure, the black portion of the lower magnet 22 represents the N pole, and the white portion of the lower magnet 22 represents the S pole. The upper and lower end surfaces of the turntable 21 are respectively covered by a circular iron sheet. This shell design can effectively eliminate magnetic flux leakage.

[0052] In this embodiment, the number of the upper magnets 32 and the number of the lower magnets 22 are both 8, so that the angle between two adjacent upper magnets 32 is 45°. Therefore, the period of magnetic field change is 45°, and the turntable 21 only needs to ensure that it can rotate within an angle range of 45°.

[0053] In this embodiment, the layout of the lifting plate 31 is consistent with that of the turntable 21. Eight mounting slots for the upper magnets 32 are arranged in a uniformly arranged annular pattern in the center of the lifting plate 31. The lifting plate 31 fits into the circular slot in the center of the lower support plate 12. Its outer edge extends outward to the same size as the large circular frame of the lower support plate 12 and is provided with circular holes for the cylindrical connectors 13. The upper magnets 32 are mounted in a one-to-one correspondence in the mounting slots on the upper side of the turntable 21, corresponding to the magnetic poles of the lower magnets 22. The upper and lower ends of the lifting plate 31 are each covered by a circular iron sheet. This housing design effectively eliminates magnetic flux leakage.

[0054] In one embodiment, see Figure 3-Figure 5 The lower magnetic disk 2 also includes a large bearing 23, the inner ring of the large bearing 23 is fixedly connected to the lower support plate 12, and the outer ring of the large bearing 23 is fixedly connected to the turntable 21, thereby realizing the rotational connection between the turntable 21 and the lower support plate 12.

[0055] In one embodiment, see Figure 3-Figure 5The rotation drive mechanism 4 includes a first driven synchronous wheel 41, a first active synchronous wheel 42, a first synchronous belt 43 and a rotation drive motor 44. The first driven synchronous wheel 41 is coaxially fixed on the outer wall of the turntable 21. The two ends of the first synchronous belt 43 are respectively wrapped around the first driven synchronous wheel 41 and the first active synchronous wheel 42. The rotation drive motor 44 is connected to the first active synchronous wheel 42 and is used to drive the first active synchronous wheel 42 to rotate, thereby driving the first driven synchronous wheel 41 to rotate via the first synchronous belt 43. The first driven synchronous wheel 41 drives the turntable 21 to rotate, and the turntable 21 drives each lower magnet 22 to rotate, thereby changing the angle between each lower magnet 22 and the upper magnet 32, thereby changing the magnetic force of the grabber.

[0056] Preferably, the rotation drive motor 44 is a brushless Hall effect motor with an integrated Hall element. The Hall element is a semiconductor device that can sense changes in the magnetic field and output an electrical signal. The rotation angle of the output shaft of the brushless Hall effect motor can be obtained, and the rotation angle of the turntable 21 can be calculated.

[0057] In one embodiment, see Figure 3 、 Figure 4 and Figure 9 The center of the lifting plate 31 is provided with a clearance hole; the translation drive mechanism 5 includes a screw 51, a nut 52, and a drive assembly 53. The screw 51 is rotatably connected to the upper support plate 11 via an upper bearing 54, and is rotatably connected to the turntable 21 via a lower bearing 55. The nut 52 is threadedly sleeved on the screw 51 and fixed in the clearance hole. The drive assembly 53 is connected to the screw 51 and is used to drive the screw 51 to rotate. In this embodiment, when in use, when it is necessary to adjust the gap between the upper and lower layers of magnets, the drive assembly 53 drives the screw 51 to rotate. When the screw 51 rotates, it acts on the nut 52. Since the nut 52 is limited by the lifting plate 31 and cannot rotate, the rotation of the screw 51 is converted into the up and down movement of the nut 52, which drives the lifting plate 31 to move up and down, thereby adjusting the gap between the lower magnet 22 and the upper magnet 32, thereby changing the magnetic force of the grabber.

[0058] In one embodiment, see Figure 3 、 Figure 4 and Figure 9 The translation drive mechanism 5 also includes a spring 56, which is sleeved on the columnar connecting member 13. The upper end of the spring 56 abuts against the lifting plate 31, and the lower end of the spring 56 abuts against the lower support plate 12, thereby playing a buffering role.

[0059] In one embodiment, see Figure 3 、 Figure 4 and Figure 9 The driving assembly 53 includes a second driven synchronous wheel 531, a second active synchronous wheel 532, a second synchronous belt 533 and a lifting drive motor 534. The second driven synchronous wheel 531 is coaxially fixedly sleeved on the screw 51. The two ends of the second synchronous belt 533 are respectively wound around the second driven synchronous wheel 531 and the second active synchronous wheel 532. The lifting drive motor 534 is connected to the second active synchronous wheel 532 and is used to drive the second active synchronous wheel 532 to rotate, thereby driving the second driven synchronous wheel 531 to rotate via the second synchronous belt 533. The second driven synchronous wheel 531 drives the screw 51 to rotate, and the screw 51 drives the lifting plate 31 to move up and down.

[0060] Preferably, the lift drive motor 534 is a brushless Hall effect motor with an integrated Hall element. A Hall effect element is a semiconductor device that senses changes in a magnetic field and outputs an electrical signal. This allows the rotation angle of the output shaft of the brushless Hall effect motor to be calculated, which in turn allows the rotation angle of the screw 51 to be calculated. This in turn allows the vertical movement distance of the lift plate 31 to be calculated, and the gap between the lower magnet 22 and the upper magnet 32 ​​to be determined.

[0061] In one embodiment, see Figure 3 and Figure 8 A plurality of rotating wheels 211 are arranged on one end surface of the turntable 21 away from the lifting plate 31. In this embodiment, the rotating wheel 211 is a bull's eye wheel, which protrudes slightly from the turntable 21. When an object is adsorbed, the bull's eye wheel will contact the object, thereby reducing the wear caused by the rotating wheel 211 contacting the object.

[0062] In addition, the present invention can also increase the magnetic force by adding a magnetic disk. The specific method is to fix the newly added magnetic disk on the lower end surface of the lower disk 2, and the magnetic direction of the newly added magnetic disk is the same as the magnetic direction of the lower disk 2, so that the magnetic force is superimposed.

[0063] The present invention also provides a control method for a variable magnetic gap type magnetic pole rotating magnetic grabber, which is applicable to the variable magnetic gap type magnetic pole rotating magnetic grabber and includes the following steps:

[0064] S1. When the magnetic attraction of the variable magnetic gap type magnetic pole rotation type magnetic grabber needs to be reduced to 0, the turntable 21 is rotated to the first position. At this time, the magnetic pole direction of each of the lower magnets 22 is opposite to the magnetic pole direction of the upper magnet 32 ​​directly above, forming a closed magnetic circuit. At this time, no magnetic circuit is generated with the external magnetic conductive substrate, that is, it is in a non-adsorbable state;

[0065] S2. When it is necessary to increase the magnetic attraction of the variable magnetic gap type magnetic pole rotating magnetic grabber, the turntable 21 is rotated to reduce the offset angle between a certain magnetic pole of the lower magnet 22 and a magnetic pole of the same polarity of the upper magnet 32 ​​directly above it, and / or the lifting disk 31 is driven to move by the translation drive mechanism 5 to approach the turntable 21, and the lower end surface of the turntable 21 is brought close to the external magnetic conductive substrate. Since the offset angle between a certain magnetic pole of the lower magnet 22 and a magnetic pole of the same polarity of the upper magnet 32 ​​directly above it is reduced, the magnetism of the upper and lower magnets is superimposed and the magnetism is enhanced, or since the upper magnet 32 ​​is closer to the turntable 21, the superimposed magnetic force is stronger;

[0066] S3. When it is necessary to reduce the magnetic attraction of the variable magnetic gap type magnetic pole rotating magnetic grabber, the turntable 21 is rotated to increase the staggered angle between a certain magnetic pole of the lower magnet 22 and a magnetic pole of the same polarity of the upper magnet 32 ​​directly above it, and / or the lifting plate 31 is driven to move away from the turntable 21 by the translation drive mechanism 5.

[0067] For details, please refer to Figure 11 The present invention provides a variable magnetic gap type magnetic pole rotating magnetic grabber, and its working mode and control method are as follows:

[0068] When the magnetic grabber is in a non-working state, the permanent magnets built into the lower disk 2 and the upper disk 3 correspond one to one and generate a stable magnetic field, forming a closed magnetic circuit; at this time, no magnetic circuit is generated with the external magnetic conductive substrate, that is, it is in a non-adsorbable state.

[0069] When the magnetic grabber is in operation, the lower disk 2 rotates, and the permanent magnets built into the lower disk 2 and the upper disk 3 change their magnetic circuits and release magnetic force outward. The range of magnetic force change is determined by the rotation angle, that is, the range is between 0 and 45 degrees, forming a magnetic force change process from zero to weak to strong, and conforms to the sine trend (such as Figure 10 Furthermore, the magnetic force is at its maximum at a relative rotation angle of 45°. Simultaneously, the upper disk 3 and the lower disk 2 move away from each other. As the upper disk 3 gradually moves away from the lower disk 2, creating a gap, the magnetic force gradually weakens until it disappears. The range of magnetic force is determined by the magnetic gap: a larger gap weakens the magnetic force, with the magnetic force decreasing steeply in the first half and gradually weakening until it disappears in the second half.

[0070] According to the above working mode and magnetic force attenuation principle, a precise control method for adjusting magnetic force changes is obtained:

[0071] a. Rotating disk control: This method changes the magnetic circuit distribution within the magnetic grabber by controlling the rotation angle of the lower disk 2. This is achieved through a motor drive and an angle sensor built into the motor. The motor drives the rotating disk, while the angle sensor provides real-time feedback on the rotation angle.

[0072] b. Telescopic Disk Control: The distance the upper disk 3 is raised or lowered determines the size of the magnetic gap, which in turn affects the strength of the magnetic force. Continuous adjustment of the magnetic force is achieved by adjusting the distance the upper disk 3 is raised or lowered. This is achieved by a motor-driven synchronous wheel transmission mechanism, while the motor's built-in angle sensor monitors the raising or lowering distance in real time.

[0073] c. Closed-loop control architecture: This architecture combines the control of lower disk 2 and upper disk 3 to form a closed-loop control architecture. This architecture automatically adjusts the rotation angle and lift distance based on the set magnetic gradient change requirements to achieve precise control of the magnetic force. Furthermore, a numerical feedback mechanism is introduced within the closed-loop control. By monitoring the magnetic force or adsorption force in real time and comparing it with the set value, the control parameters are adjusted to ensure that the magnetic gradient changes meet the expectations.

[0074] d. Preset Mode Control: Several different magnetic force gradient change modes can be preset based on actual application requirements. For example, from zero to weak, from weak to strong, or constant magnetic force. Select the corresponding mode as needed, and the magnetic gripper will automatically adjust the rotation angle and lift distance to achieve the preset magnetic force gradient change. In applications that require real-time adjustment of the magnetic force, the rotation angle and lift distance can be adjusted in real time through the human-computer interface or remote control system. Manually adjust the control parameters based on the real-time monitored magnetic force or adsorption force to achieve real-time magnetic force gradient change.

[0075] e. Intelligent Control: Advanced algorithms and artificial intelligence technologies are combined to achieve intelligent control of magnetic force. For example, machine learning algorithms can be used to learn the relationship between magnetic force changes, rotation angle, and lift distance, and then establish a prediction model to achieve adaptive control of magnetic force.

[0076] To sum up, the present invention introduces the design of a rotating movable magnet, which not only enables the magnetic force to be turned on and off, but also allows it to be maintained at any angle, thereby flexibly adjusting the magnetic strength of the suction cup. At the same time, the size of the magnetic gap is adjusted through the variable gap adjustment form to control the magnetic strength, ensuring that the grabber can provide accurate and stable magnetic force in different application scenarios. While rotating the movable magnet, the action of magnet variable gap adjustment is also incorporated, which not only enriches the changing trend of the magnetic force, making the magnetic force regulation smoother and more flexible, but also realizes precise control of the magnetic force at each stage.

[0077] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A variable magnetic gap type magnetic pole rotation type magnetic grabber, characterized in that: include: Bracket; A lower magnetic disk, comprising a turntable and a plurality of lower magnets, wherein the turntable is rotatably disposed on the bracket, and the plurality of lower magnets are uniformly fixed to the turntable along a circumferential direction; An upper magnetic disk, comprising a lifting disk and a plurality of upper magnets, wherein the lifting disk is slidable relative to the bracket, the lifting disk is disposed opposite to the turntable, and the plurality of upper magnets are uniformly fixed to the lifting disk along the circumference; A rotation drive mechanism, the rotation drive mechanism is used to drive the turntable to rotate; as well as, a translation drive mechanism, the translation drive mechanism being used to drive the lifting plate to move closer to or away from the turntable; The bracket includes an upper support plate, a lower support plate and a plurality of columnar connecting members, the upper support plate and the lower support plate are relatively spaced apart, the two ends of each columnar connecting member are fixedly connected to the upper support plate and the lower support plate respectively, the turntable is rotatably arranged on the lower support plate, the lifting plate is provided with a plurality of guide holes corresponding to each of the columnar connecting members, and the lifting plate is slidably arranged on the columnar connecting members through each of the guide holes; The number of the lower magnets is an even number, and the poles of two adjacent lower magnets are arranged opposite to each other. The number of the upper magnets is equal to the number of the lower magnets, and the poles of two adjacent upper magnets are arranged opposite to each other. When the turntable is in the first position, the magnetic pole direction of each lower magnet is opposite to the magnetic pole direction of the upper magnet directly above it. When the turntable is in the second position, the magnetic pole direction of each lower magnet is the same as the magnetic pole direction of the upper magnet directly above it.

2. The variable magnetic gap type magnetic pole rotation type magnetic grabber according to claim 1, characterized in that: The columnar connecting member includes a connecting pipe, an upper fixing nail and a lower fixing nail. The upper end of the connecting pipe is fixedly connected to the upper support plate via the upper fixing nail, and the lower end of the connecting pipe is fixedly connected to the lower support plate via the lower fixing nail.

3. The variable magnetic gap type magnetic pole rotation type magnetic grabber according to claim 1, characterized in that: The lower magnetic disk further comprises a large bearing, the inner ring of the large bearing is fixedly connected to the lower support plate, and the outer ring of the large bearing is fixedly connected to the turntable.

4. The variable magnetic gap type magnetic pole rotation type magnetic grabber according to claim 1, characterized in that: The rotation drive mechanism includes a first driven synchronous wheel, a first active synchronous wheel, a first synchronous belt and a rotation drive motor. The first driven synchronous wheel is coaxially fixedly sleeved on the outer wall of the turntable. The two ends of the first synchronous belt are respectively wound around the first driven synchronous wheel and the first active synchronous wheel. The rotation drive motor is connected to the first active synchronous wheel and is used to drive the first active synchronous wheel to rotate.

5. The variable magnetic gap type magnetic pole rotation type magnetic grabber according to claim 1, characterized in that: A clearance hole is provided at the center of the lifting plate; The translation drive mechanism includes a screw, a nut and a drive assembly. The screw is rotatably connected to the upper support plate via an upper bearing, and the screw is rotatably connected to the turntable via a lower bearing. The nut is threaded and rotatably sleeved on the screw, and the nut is fixed in the clearance hole. The drive assembly is connected to the screw and is used to drive the screw to rotate.

6. The variable magnetic gap type magnetic pole rotation type magnetic grabber according to claim 5, characterized in that: The driving assembly includes a second driven synchronous wheel, a second active synchronous wheel, a second synchronous belt and a lifting drive motor. The second driven synchronous wheel is coaxially fixedly sleeved on the screw rod. The two ends of the second synchronous belt are respectively wound around the second driven synchronous wheel and the second active synchronous wheel. The lifting drive motor is connected to the second active synchronous wheel and is used to drive the second active synchronous wheel to rotate.

7. The variable magnetic gap type magnetic pole rotation type magnetic grabber according to claim 5, characterized in that: A plurality of rotating wheels are arranged on an end surface of the rotating disk away from the lifting disk.

8. A control method for a variable magnetic gap type magnetic pole rotation type magnetic grabber, characterized in that: The method is applicable to the variable magnetic gap type magnetic pole rotation type magnetic grabber according to any one of claims 1 to 7, and comprises the following steps: S1. When the magnetic attraction of the variable magnetic gap type magnetic pole rotation type magnetic grabber needs to be reduced to 0, the turntable is rotated to a first position. At this time, the magnetic pole direction of each of the lower magnets is opposite to the magnetic pole direction of the upper magnet directly above; S2. When it is necessary to increase the magnetic attraction of the variable magnetic gap type magnetic pole rotation type magnetic grabber, the turntable is rotated to reduce the misalignment angle between a magnetic pole of the lower magnet and a magnetic pole of the same polarity of the upper magnet directly above, and / or the lifting plate is driven to move closer to the turntable by a translation drive mechanism; S3. When it is necessary to reduce the magnetic attraction of the variable magnetic gap type magnetic pole rotating magnetic grabber, the turntable is rotated to increase the staggered angle between a certain magnetic pole of the lower magnet and a magnetic pole of the same polarity of the upper magnet directly above it, and / or the lifting plate is driven to move away from the turntable by a translation drive mechanism.

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