A magnetic suction structure and material transport robot
By designing an inclined electromagnetic adsorption device and connecting plate, combined with correction devices and elastomers, the problems of inconvenient application of traditional magnetic absorption structures in complex environments and vulnerability to equipment are solved, and a more stable and durable magnetic absorption effect is achieved.
Patent Information
- Application Number
- CN202411985575.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-04-04
AI Technical Summary
Traditional magnetic structures lack flexible inclined design, making them difficult to adapt to materials at various angles and positions, and direct rigid collisions may cause equipment damage and wear, shortening service life.
A magnetic suction structure including an electromagnetic adsorption device and a connecting plate is designed, the electromagnetic housing can be tilted to any angle inside the chamber and is equipped with a correction device and an elastic body to avoid direct collision.
It realizes firm and stable adsorption of materials at various angles and positions, extends the service life of the device, and improves the stability and adaptability of adsorption.
Smart Images
Figure CN119748494A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robots, and in particular to a magnetic suction structure and a material transporting robot. Background Art
[0002] In the field of material handling in the cotton textile industry, magnetic material handling technology, with its magnetic adsorption mechanism, realizes rapid and accurate material handling operations, thereby significantly improving production efficiency.
[0003] However, since most traditional magnetic structures lack a flexible tiltable design, magnetic plates often have difficulty adapting to materials at various angles and positions, which limits their effective application in complex working environments. In addition, when the magnetic plate comes into contact with the object to be adsorbed, the direct and rigid collision may not only cause damage to the magnetic structure and the surface of the magnet, but may also accelerate the wear of the magnetic structure itself, thereby shortening the service life of the equipment.
[0004] Traditional magnetic devices often use fixed magnets or electromagnets, and their suction force and direction are fixed, making it difficult to flexibly adjust according to the shape, size and material of different materials. This design limitation makes it difficult for magnetic material handling technology to achieve the best handling effect when facing diversified materials. Summary of the invention
[0005] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a magnetic attraction structure that can achieve inclination angle adsorption and has a correction function.
[0006] In order to solve the above technical problems, the present invention adopts the following technical solution: The present invention provides a magnetic attraction structure, comprising:
[0007] An electromagnetic adsorption device, the electromagnetic adsorption device comprising an electromagnetic shell, and a magnetic adsorption plate with a magnetic adsorption function is installed at the end of the electromagnetic shell;
[0008] A connecting plate, wherein a chamber for mounting an electromagnetic shell is provided inside the connecting plate, a hemisphere is provided outside the electromagnetic shell, a spherical surface matching the hemisphere is provided inside the chamber, and the electromagnetic shell can be tilted at any angle inside the chamber;
[0009] Wherein, a correction device is installed at the tail of the electromagnetic shell, and the correction device can apply a correction force to the tail of the electromagnetic shell from multiple directions.
[0010] Preferably, a limiting sleeve is fixed inside the chamber, a supporting sleeve is slidably mounted inside the limiting sleeve via a second elastic body, and a spherical surface matching the surface of the hemisphere is provided on the inner side of the supporting sleeve.
[0011] Preferably, a slot and a tapered surface are provided inside the chamber, the second elastic body is tightly pressed in the slot, and the tapered surface is matched with the electromagnetic shell.
[0012] Preferably, a guide column is fixed to one end of the electromagnetic shell inserted into the chamber, a first support ring is sleeved on the outside of the guide column, a second support ring is sleeved on the outside of the first support ring, and a plurality of first elastomers are circumferentially installed between the first support ring and the second support ring.
[0013] Preferably, the inner ring surface of the first support ring is an arc surface, and a gap is left between the end of the guide column and the inner wall of the chamber.
[0014] Preferably, an iron core is installed inside the electromagnetic shell, and the iron core extends to the outside of the electromagnetic shell and is fixed to the magnetic attraction plate. A coil is wound between the iron core and the inner cavity of the electromagnetic shell, and the coil is electrically connected to a power supply outside the magnetic attraction structure.
[0015] Preferably, there are two electromagnetic adsorption devices, which are symmetrically installed on the connecting plate.
[0016] Preferably, a fixing plate is fixed on the connecting plate by bolts, and the fixing plate can clamp the limiting sleeve in the chamber.
[0017] Preferably, the guide column is a retractable column, an arc plate is fixed to one end of the guide column away from the electromagnetic housing, and an arc groove which is clamped with the arc plate is provided inside the connecting plate.
[0018] A material transport robot, comprising the magnetic attraction structure and a visual system.
[0019] The beneficial effects of the present invention are:
[0020] Through the tiltable design of the electromagnetic shell, the magnetic suction plate can achieve firm and stable adsorption of magnetic objects at various angles and positions, significantly improving the stability of adsorption. The second elastomer achieves an effective buffering effect, avoiding direct rigid collision when the magnetic suction plate is connected to external magnetic parts, protecting the parts from damage and extending the service life of the device.
[0021] The correction device can apply correction force to the tail of the electromagnetic shell from multiple directions to ensure that the electromagnetic shell always maintains the correct position and direction during use. The material transport robot can easily absorb and move the material transport rack with magnetic plates through the integrated magnetic suction structure, realizing automated and efficient material handling. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 This is an internal diagram of the magnetic structure.
[0023] Figure 2 This is the diagram of the tilted state of the electromagnetic shell.
[0024] Figure 3 This is the connection diagram of the electromagnetic housing, limit sleeve and arc plate.
[0025] Figure 4 It is a cross-sectional view of the connection between the first branch ring and the second branch ring of the present invention.
[0026] Figure 5 for Figure 1 Enlarged view of point A in .
[0027] Figure 6 It is a three-dimensional diagram of the magnetic structure.
[0028] Figure 7 This is the connection diagram between the material transport robot and the material transport rack.
[0029] In the figure: 1, connecting plate, 101, chamber, 2, electromagnetic shell, 3, limit sleeve, 4, support sleeve, 5, first support ring, 6, first elastic body, 7, second support ring, 8, magnetic plate, 9, iron core, 10, coil, 11, guide column, 12, hemisphere, 13, second elastic body, 14, fixing plate, 15, visual system, 16, material transport rack, 17, arc plate. DETAILED DESCRIPTION
[0030] The present invention is described below with specific embodiments, but they are not intended to be limiting of the invention.
[0031] Embodiment 1
[0032] In this embodiment, a magnetic attraction structure is provided, including an electromagnetic attraction device and a connecting plate 1 .
[0033] like Figure 1-Figure 6 As shown, the electromagnetic adsorption device includes an electromagnetic shell 2, and a magnetic attraction plate 8 with a magnetic attraction function is installed at the end of the electromagnetic shell 2. When the power supply provides current to the electromagnetic adsorption device, a magnetic field is generated, causing the magnetic attraction plate 8 to generate magnetism, which will attract external magnetic conductive parts (such as iron), thereby achieving external work.
[0034] The connection plate 1 has a chamber 101 for installing the electromagnetic shell 2 inside, a hemisphere 12 outside the electromagnetic shell 2, and a spherical surface adapted to the hemisphere 12 inside the chamber 101. The electromagnetic shell 2 can be tilted at any angle inside the chamber 101. The tiltable design of the electromagnetic shell 2 gives the magnetic plate 8 a corresponding tilting ability. This feature enables the magnetic plate 8 to effectively absorb those magnetic conductive objects that have a slight angle with the magnetic plate 8 when being adsorbed by the electromagnetic adsorption device. This design ensures that the magnetic adsorption process can form a more solid magnetic state, thereby enhancing the stability of adsorption.
[0035] In order to further optimize this function, two electromagnetic adsorption devices can be installed on the connecting plate 1, which can enhance the magnetic force, namely two magnetic suction plates 8. The two magnetic suction plates 8 can work together to complete the adsorption task of the magnetic conductive objects. More importantly, they can simultaneously produce a magnetic attraction effect with those magnetic conductive objects that are not in the same plane. This design not only broadens the application scope of the magnetic suction plate 8, but also significantly improves its ability to adapt to complex spatial layouts and adsorb irregularly shaped magnetic conductive objects.
[0036] In short, through the tiltable design of the electromagnetic shell 2 and the coordinated work of the two magnetic suction plates 8 on the connecting plate 1, the electromagnetic adsorption device can achieve firm and stable adsorption of magnetic conductive objects at various angles and positions.
[0037] Among them, a correction device is installed at the tail of the electromagnetic shell 2, and the correction device can apply a correction force to the tail of the electromagnetic shell 2 from multiple directions. During use, the electromagnetic shell 2 may tilt or deviate from its original position due to external factors (such as vibration, external force, etc.). At this time, the correction device begins to play a role. The correction device can sense the tilt or deviation of the electromagnetic shell 2 and apply appropriate correction forces to the tail of the electromagnetic shell 2 from multiple directions. The direction and magnitude of these correction forces are determined according to the degree of tilt of the electromagnetic shell 2, and the purpose is to pull the electromagnetic shell 2 back to its original position or the correct direction.
[0038] An iron core 9 is installed inside the electromagnetic shell 2, and the iron core 9 extends to the outside of the electromagnetic shell 2 and is fixed to the magnetic attraction plate 8. A coil 10 is wound between the iron core 9 and the inner cavity of the electromagnetic shell 2. The coil 10 is electrically connected to the power supply outside the magnetic attraction structure. When the coil 10 is energized, the current will generate a magnetic field, which will magnetize the iron core 9 and turn it into a magnet. The iron core 9 and the magnetic attraction plate 8 are integrally formed, thereby ensuring that the magnetic attraction plate 8 also has magnetism. There are two electromagnetic adsorption devices, which are symmetrically installed on the connecting plate 1. The adsorption force of the two electromagnetic adsorption devices is stronger.
[0039] Embodiment 2
[0040] like Figure 1-Figure 6 As shown, based on the first embodiment, this embodiment provides a tilting mechanism of the electromagnetic adsorption device, which is as follows:
[0041] The limiting sleeve 3 is fixed inside the chamber 101, and the inside of the limiting sleeve 3 is slidably installed with a support sleeve 4 through a second elastomer 13. A fixing plate 14 is fixed on the connecting plate 1 by bolts, and the fixing plate 14 can clamp the limiting sleeve 3 in the chamber 101. The inner side of the supporting sleeve 4 is provided with a spherical surface adapted to the surface of the hemisphere 12. The second elastomer 13 provides an elastic force for the supporting sleeve 4, the hemisphere 12 and the magnetic plate 8, so that they can have a certain sliding space inside the chamber 101. When the magnetic plate 8 comes into contact with the external magnetic conductive parts, this design can avoid direct rigid collision and instead reduce the impact force through the buffering effect of elastic force. In this way, not only the magnetic plate 8 and the external magnetic conductive parts are protected from damage, but also the service life of the entire device is significantly improved. The introduction of the second elastomer 13 achieves an effective buffering effect and enhances the durability and reliability of the device.
[0042] A slot and a conical surface are provided inside the chamber 101. The second elastomer 13 is pressed tightly against the slot, and the conical surface is adapted to the electromagnetic shell 2. When the electromagnetic shell 2 tilts inside the chamber 101, the design of the conical surface can cleverly make room for it, thereby effectively preventing unnecessary contact between the electromagnetic shell 2 and the inner wall of the chamber 101.
[0043] A guide column 11 is fixed to one end of the electromagnetic shell 2 inserted into the chamber 101, and a first support ring 5 is sleeved on the outside of the guide column 11, and a second support ring 7 is sleeved on the outside of the first support ring 5. A plurality of first elastic bodies 6 are circumferentially installed between the first support ring 5 and the second support ring 7, and a plurality of first springs are configured to apply a balanced force to the first support ring 5 from multiple directions to ensure that the first support ring 5 is stably located at the center of the chamber 101 in the initial state. When the electromagnetic shell 2 is tilted by an external force, the guide column 11 connected to the electromagnetic shell 2 will move accordingly, and drive the first support ring 5 to generate a force on the first elastic body 6. At this time, the first elastic body 6 will use its own elastic restoring force to apply a reverse corrective force to the electromagnetic shell 2, thereby helping to restore the electromagnetic shell 2 to its original position or reduce its tilt. This corrective force is relatively small, and its main function is to ensure that the electromagnetic shell 2 is in the center.
[0044] The inner ring surface of the first support ring 5 is an arc surface, which can ensure that the guide column 11 is tilted in any direction. The first support ring 5 will not clamp the guide column 11, and a gap is left between the end of the guide column 11 and the inner wall of the chamber 101. The gap allows the electromagnetic shell 2 to move as a whole into the chamber 101.
[0045] The guide column 11 is a retractable column. An arc plate 17 is fixed to one end of the guide column 11 away from the electromagnetic shell 2. An arc groove that is engaged with the arc plate 17 is provided inside the connecting plate 1. The guide column 11 can only retract inwardly, so that the electromagnetic shell 2 has space to move inwardly. When the magnetic attraction plate 8 is subjected to tension, the guide column 11 and the arc plate 17 will provide support force to prevent the electromagnetic shell 2 from falling off.
[0046] Embodiment 3
[0047] like Figure 1-Figure 7 As shown, on the basis of Example 1 and Example 2, this embodiment provides a material transport robot, which includes the above-mentioned magnetic attraction structure and also includes a visual system 15. The working principle of the visual system 15 installed on the material transport robot is to simulate the visual function of humans so that the machine can have the capabilities of detection, judgment, recognition, and measurement. The visual system is a commonly used function in the prior art and is not an innovation of the present invention, so the present invention will not be specifically explained. The material transport robot is adapted to a material transport rack 16 for conveying materials, a magnetic conductive plate is installed on the material transport rack 16, and a universal wheel is installed at the bottom of the material transport rack 16, the magnetic conductive plate cooperates with the magnetic attraction plate 8, and the magnetic attraction plate 8 on the material transport robot adsorbs the magnetic conductive plate, and the material transport rack 16 is driven to move by the material transport robot.
[0048] Working principle of magnetic structure:
[0049] When the power supply provides current to the electromagnetic adsorption device, the magnetic field generated by the coil 10 magnetizes the iron core 9, thereby making the magnetic attraction plate 8 magnetic. This magnetism can attract external magnetic conductive parts.
[0050] The tiltable design of the electromagnetic housing 2 allows the magnetic attraction plate 8 to adapt to a slight angle during the adsorption process, thereby ensuring a more secure magnetic attraction state.
[0051] When the electromagnetic housing 2 is tilted due to external factors (such as vibration, external force, etc.), the guide column 11 moves accordingly and generates a correction force through the first elastic body 6 to help the electromagnetic housing 2 return to its original position or reduce the tilt degree.
[0052] The correction device senses the tilt of the electromagnetic shell 2 and applies appropriate correction forces from multiple directions to ensure that the electromagnetic shell 2 maintains the correct direction.
[0053] The second elastic body 13 provides elastic force for the support sleeve 4, the hemispherical body 12 and the magnetic suction plate 8, so that they can avoid direct rigid collision during the adsorption process and reduce the impact force through the buffering effect of the elastic force.
[0054] This design not only protects the magnetic attraction plate 8 and external magnetic conductive parts, but also increases the service life of the entire device.
[0055] Working principle of material transport robot:
[0056] The material transport robot absorbs the material transport rack 16 with the magnetic conductive plate through the magnetic attraction structure thereon.
[0057] The material transport robot can achieve precise positioning through the visual system 15.
[0058] The installation of universal wheels enables the material transport rack 16 to be easily moved in different directions, thus achieving efficient and flexible material handling.
[0059] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.
Claims
1. A magnetic attraction structure, characterized in that: include: An electromagnetic adsorption device, the electromagnetic adsorption device comprising an electromagnetic shell (2), a magnetic adsorption plate (8) having a magnetic adsorption function being installed at the end of the electromagnetic shell (2); A connecting plate (1), wherein a chamber (101) for mounting an electromagnetic shell (2) is provided inside the connecting plate (1), a hemisphere (12) is provided outside the electromagnetic shell (2), a spherical surface matching the hemisphere (12) is provided inside the chamber (101), and the electromagnetic shell (2) can be tilted at any angle inside the chamber (101); Wherein, a correction device is installed at the tail of the electromagnetic shell (2), and the correction device can apply a correction force to the tail of the electromagnetic shell (2) from multiple directions.
2. A magnetic attraction structure according to claim 1, characterized in that: A limiting sleeve (3) is fixed inside the chamber (101), a supporting sleeve (4) is slidably mounted inside the limiting sleeve (3) via a second elastic body (13), and a spherical surface matching the surface of the hemisphere (12) is provided on the inner side of the supporting sleeve (4).
3. A magnetic attraction structure according to claim 2, characterized in that: The chamber (101) is provided with a slot and a tapered surface inside, the second elastic body (13) is tightly pressed in the slot, and the tapered surface is adapted to the electromagnetic shell (2).
4. A magnetic attraction structure according to claim 2, characterized in that: A guide column (11) is fixed to one end of the electromagnetic shell (2) inserted into the chamber (101); a first support ring (5) is sleeved on the outside of the guide column (11); a second support ring (7) is sleeved on the outside of the first support ring (5); and a plurality of first elastic bodies (6) are circumferentially installed between the first support ring (5) and the second support ring (7).
5. A magnetic attraction structure according to claim 4, characterized in that: The inner ring surface of the first support ring (5) is an arc surface, and a gap is left between the end of the guide column (11) and the inner wall of the chamber (101).
6. The magnetic attraction structure according to claim 1, characterized in that: An iron core (9) is installed inside the electromagnetic shell (2), and the iron core (9) extends to the outside of the electromagnetic shell (2) and is fixed to the magnetic attraction plate (8). A coil (10) is wound between the iron core (9) and the inner cavity of the electromagnetic shell (2), and the coil (10) is electrically connected to a power source outside the magnetic attraction structure.
7. The magnetic attraction structure according to claim 1, characterized in that: The number of the electromagnetic adsorption devices is two, and they are symmetrically mounted on the connecting plate (1).
8. The magnetic attraction structure according to claim 2, characterized in that: A fixing plate (14) is fixed to the connecting plate (1) by means of bolts, and the fixing plate (14) is capable of clamping the limiting sleeve (3) in the chamber (101).
9. The magnetic attraction structure according to claim 4, characterized in that: The guide column (11) is a contraction column, an arc plate (17) is fixed to one end of the guide column (11) away from the electromagnetic housing (2), and an arc groove is provided inside the connecting plate (1) for clamping with the arc plate (17).
10. A material transport robot, characterized in that: The material transport robot includes the magnetic attraction structure described in any one of claims 1-9 and also includes a visual system (15).