Magnetic attraction device and welding robot

Abstract

The application provides a magnetic attraction device and a welding robot, the magnetic attraction device comprising a magnetic attraction base, a linkage assembly and a monitoring assembly, the magnetic attraction base having first and second magnets, the relative movement of which can make the magnetic attraction base in a magnetized or non-magnetic state; the linkage assembly comprising a limiting seat, a rotating disc and a trigger rod, the limiting seat having first and second limiting parts, the rotating disc driving the trigger rod to move between the two limiting parts; the monitoring assembly having a controller, first and second conductive parts, the first conductive part being electrically connected with the trigger rod, and the second conductive part being arranged on the first limiting part. When the magnetic attraction base is in the non-magnetic state, the trigger rod is in the first limiting part, and the two conductive parts are not connected; when the magnetic attraction base is in the magnetic state, the trigger rod is in the second limiting part, the two conductive parts are connected and deliver feedback signals to the controller, realizing the monitoring of the magnetic state of the magnetic attraction base. The application can realize the accurate detection and feedback of the magnetic attraction state, and guarantee the safety of the welding robot in the working process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding robots, in particular to a magnetic attraction device and a welding robot. BACKGROUND

[0002] In the operation process of the welding robot, the mechanical arm device is often attracted to the steel plate by the magnetic attraction mechanism to realize the installation and disassembly of the welding robot. In the related technology, the attraction state of the magnetic attraction mechanism mainly relies on manual observation and experience to determine the attraction state of the magnet. However, this method has great limitations and cannot accurately grasp the real attraction state of the magnet, especially the firmness in the multiple magnet attraction scene, which seriously restricts the safe and stable operation of the welding robot and the reliability of the welding quality. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the embodiments of the present application provide a magnetic attraction device and a welding robot, which can realize accurate detection and feedback of the magnetic attraction state, ensure the safety and stability of the welding robot in the operation process, and help improve the welding quality.

[0004] The magnetic attraction device provided by the embodiments of the present application comprises:

[0005] The magnetic attraction seat comprises a first magnet and a second magnet that are attached to each other, and the second magnet is rotatable relative to the first magnet to make the magnetic attraction seat in a magnetic state or a non-magnetic state.

[0006] The linkage assembly comprises a limiting seat, a rotating disc and a trigger rod, the limiting seat has a first limiting part and a second limiting part, the trigger rod is arranged on the rotating disc, and the rotating disc rotates synchronously with the second magnet, so that the rotating disc drives the trigger rod to be movable between the first limiting part and the second limiting part.

[0007] The monitoring assembly comprises a controller, a first conductive part and a second conductive part, the first conductive part and the second conductive part are arranged to be insulated from each other, the first conductive part is electrically connected with the trigger rod, and the second conductive part is arranged on the first limiting part.

[0008] When the magnetic attraction seat is in a non-magnetic state, the rotating disc drives the trigger rod to be in the first limiting part, and the first conductive part and the second conductive part are not conductive; when the magnetic attraction seat is in a magnetic state, the rotating disc drives the trigger rod to be in the second limiting part, the trigger rod contacts the second conductive part, and the first conductive part and the second conductive part are conductive to send a feedback signal to the controller, thereby realizing the magnetic state monitoring of the magnetic attraction seat.

[0009] In conclusion, the magnetic attraction device provided by the embodiment of the present application can realize flexible switching and accurate monitoring of the magnetic state of the magnetic attraction base through the cooperative work of the magnetic attraction base, the linkage assembly and the monitoring assembly, thereby improving the use convenience and flexibility of the magnetic attraction device and providing a reliable solution for various scenes requiring accurate fixing and intelligent monitoring.

[0010] In some embodiments, the magnetic attraction device further comprises a connecting base, the magnetic attraction base is connected with the connecting base, and the magnetic attraction base is provided in plurality, and the plurality of magnetic attraction bases are arranged around the connecting base.

[0011] In some embodiments, the linkage assembly further comprises a synchronous wheel and a rotating shaft, the rotating shaft connects the synchronous wheel and the rotating disc, and a pull rope is wound on the synchronous wheel to realize synchronous rotation of the second magnet in the plurality of magnetic attraction bases.

[0012] In some embodiments, the limiting seat is provided with a sliding groove, the sliding groove is arranged in a circular arc shape, the trigger rod is slidingly arranged in the sliding groove, and the first limiting portion and the second limiting portion are correspondingly arranged at two ends of the sliding groove; the limiting seat is provided with a boss, the boss has a first flat surface, the rotating disc is provided with a limiting clamping groove, the limiting clamping groove has a second flat surface, when the magnetic attraction base is in the magnetic state, the boss is located in the limiting clamping groove and the first flat surface is in contact with the second flat surface to limit the rotating disc from rotating from the second limiting portion to the first limiting portion.

[0013] In some embodiments, the magnetic attraction device further comprises a rotating handle and an elastic member, the rotating handle is connected with the rotating shaft, and the elastic member is used to apply an elastic force to the rotating disc to move towards the limiting seat; when the rotating handle is subjected to an applied force, the rotating handle drives the rotating disc to move away from the limiting seat through the rotating shaft, and the rotating disc drives the elastic member to move to deform, so that the boss is separated from the limiting clamping groove.

[0014] In some embodiments, the magnetic attraction device further comprises a limiting clamp block, the limiting clamp block is arranged on the limiting seat, the limiting clamp block has a wheel groove, and the edge of the synchronous wheel is inserted into the wheel groove to limit the movement of the synchronous wheel in the axial direction of the rotating shaft.

[0015] In some embodiments, the magnetic attraction device further comprises a driving motor, the driving motor is arranged on the connecting base, and the output end of the driving motor is connected with the pull rope to drive the synchronous wheel to rotate through the pull rope.

[0016] In some embodiments, the magnetic attraction device further comprises a tensioning assembly, the tensioning assembly comprising a tensioning wheel, a screw rod, a slide rail and a slide block, the screw rod is rotationally arranged on the connecting seat, the screw rod is threadedly connected with the slide block, the slide block is slidingly arranged on the slide rail, and the tensioning wheel is arranged on the slide block and abuts against the pull rope.

[0017] In some embodiments, an S-shaped rope groove is arranged on the synchronous wheel, and the pull rope is arranged in the S-shaped rope groove.

[0018] In addition, an embodiment of the present application further provides a welding robot comprising the magnetic attraction device provided by any one of the above embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the magnetic attraction device provided by an embodiment of the present application.

[0020] Figure 2 is a structural view of the magnetic attraction device provided by an embodiment of the present application after removing a cover plate.

[0021] Figure 3 is a structural view of the magnetic attraction device provided by an embodiment of the present application.

[0022] Figure 4 is a split view of the magnetic attraction device provided by an embodiment of the present application.

[0023] Figure 5 is a structural view of the synchronous wheel in the magnetic attraction device provided by an embodiment of the present application.

[0024] Figure 6 is a structural view of the limiting seat in the magnetic attraction device provided by an embodiment of the present application.

[0025] Figure 7 is a split view of the rotating disc, the limiting seat and the trigger rod in the magnetic attraction device provided by an embodiment of the present application.

[0026] Figure 8 is a structural view of the tensioning assembly in the magnetic attraction device provided by an embodiment of the present application.

[0027] Figure 9 is a structural view of the tensioning assembly in the magnetic attraction device provided by an embodiment of the present application from another angle.

[0028] Figure 10 is a structural view of the magnetic attraction device provided by another embodiment of the present application.

[0029] Figure 11 is a structural view of the magnetic attraction device provided by another embodiment of the present application from another angle.

[0030] 100, magnetic attraction device;

[0031] 10, magnetic attraction base; 11, first magnet; 12, second magnet;

[0032] 20, linkage assembly; 21, limiting seat; 211, first limiting part; 212, second limiting part; 213, sliding groove; 2131, first slot; 2132, second slot; 2133, mounting slot; 214, boss; 2141, first flat surface; 2142, first connecting surface; 2143, first inclined surface; 2144, third flat surface; 215, accommodating cavity; 2151, mounting flat surface; 22, rotating disc; 221, limiting clamping groove; 2211, second flat surface; 2212, second connecting surface; 2213, second inclined surface; 2214, fourth flat surface; 23, trigger lever; 24, synchronous wheel; 241, S-shaped rope groove; 242, wheel body; 243, pressing block; 244, third flat surface; 245, fourth flat surface; 25, rotating shaft; 251, first flat surface; 252, second flat surface; 26, pull rope;

[0033] 30, monitoring assembly; 32, first conductive part; 33, second conductive part;

[0034] 40, connecting seat; 41, bottom plate; 42, first side plate; 43, second side plate;

[0035] 51, rotating handle; 52, elastic member; 53, limiting clamping block; 531, wheel groove; 54, cover plate;

[0036] 60, tensioning assembly; 61, tensioning wheel; 62, screw rod; 63, sliding rail; 64, sliding block;

[0037] 71, driving motor; 72, switch. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described in detail below with reference to the attached drawings. The embodiments described below are examples and are intended to explain the present application, and are not to be understood as limiting the present application.

[0039] Reference Signs List Figures 1 to 11As shown, an embodiment of the present application provides a magnetic attraction device 100, which comprises a magnetic attraction base 10, a linkage assembly 20 and a monitoring assembly 30. The magnetic attraction base 10 comprises a first magnet 11 and a second magnet 12 arranged in close contact with each other. The second magnet 12 is rotatable relative to the first magnet 11, so that the magnetic attraction base 10 is in a magnetic state or a non-magnetic state. The linkage assembly 20 comprises a limiting seat 21, a rotating disc 22 and a trigger lever 23. The limiting seat 21 has a first limiting part 211 and a second limiting part 212. The trigger lever 23 is arranged on the rotating disc 22. The rotating disc 22 is synchronously rotatable with the second magnet 12, so that the rotating disc 22 drives the trigger lever 23 to be movable between the first limiting part 211 and the second limiting part 212. The monitoring assembly 30 comprises a controller, a first conductive part 32 and a second conductive part 33. The first conductive part 32 and the second conductive part 33 are arranged in insulation with each other. The first conductive part 32 is electrically connected with the trigger lever 23. The second conductive part 33 is arranged on the second limiting part 212.

[0040] When the magnetic attraction base 10 is in the non-magnetic state, the rotating disc 22 drives the trigger lever 23 to be in the first limiting part 211. The first conductive part 32 and the second conductive part 33 are not conductive. When the magnetic attraction base 10 is in the magnetic state, the rotating disc 22 drives the trigger lever 23 to be in the second limiting part 212. The trigger lever 23 is in contact with the second conductive part 33. The first conductive part 32 and the second conductive part 33 are conductive, so as to deliver a feedback signal to the controller, thereby realizing the magnetic state monitoring of the magnetic attraction base 10.

[0041] Specifically, the second magnet 12 is rotatable relative to the first magnet 11, so as to realize the magnetic state switching of the magnetic attraction base 10, and switch the magnetic attraction base 10 between the magnetic state and the non-magnetic state. In actual process, when it is needed to activate the magnetic attraction base 10 to be in the magnetic state, the second magnet 12 is only driven to rotate relative to the first magnet 11 until the first magnet 11 and the second magnet 12 are in contact with the same pole. At this time, according to the superposition principle of magnetic field, the magnetic fields generated by the first magnet 11 and the second magnet 12 are mutually enhanced, so that the whole composed of them shows strong magnetism to the outside. The magnetic attraction base 10 enters the magnetic state immediately. In this state, the magnetic attraction base 10 can generate strong adsorption force, and can be effectively and stably adsorbed on a steel plate or other fixed product, thereby providing reliable support for various scenes needing stable fixation.

[0042] On the contrary, when it is needed to cancel the magnetism of the magnetic attraction base 10, the second magnet 12 is only driven to rotate relative to the first magnet 11 again, so that the first magnet 11 and the second magnet 12 are in contact with different poles. In this case, the magnetic fields generated by the first magnet 11 and the second magnet 12 are mutually cancelled. The whole composed of them shows weak magnetism or no magnetism to the outside. The magnetic attraction base 10 enters the non-magnetic state. At this time, the magnetic attraction base 10 is difficult to realize effective fixation, and is difficult to meet the demand of fixation.

[0043] In the process of switching the magnetic state of the magnetic base 10, the rotation of the second magnet 12 can directly drive the rotation of the rotating disc, and further drive the trigger rod 23 to move between the first limiting portion 211 and the second limiting portion 212. That is, when the second magnet 12 rotates, the rotating disc 22 also rotates synchronously, and the trigger rod 23 reciprocates between the first limiting portion 211 and the second limiting portion 212 according to the rotation angle and direction of the rotating disc 22, so as to convert the change of the magnetic state of the magnetic base 10 into the change of the position of the trigger rod 23.

[0044] In the present application, the first conductive portion 32 and the trigger rod 23 are connected by electrical connection. For example, the magnetic base 10 and the linkage assembly 20 can be made of conductive material, and the first conductive portion 32 can be connected to the limiting seat, so as to realize the electrical connection between the first conductive portion 32 and the trigger rod 23. When the magnetic base 10 is in the non-magnetic state, the rotating disc 22 drives the trigger rod 23 to be in the first limiting portion 211. At this time, since the first conductive portion 32 and the second conductive portion 33 do not form effective contact, the circuit is in an open state, the first conductive portion 32 and the second conductive portion 33 are not conductive, and therefore no specific feedback signal is transmitted to the controller, which indicates that the magnetic base 10 is currently in a weak magnetic or non-magnetic state and cannot be effectively adsorbed and fixed.

[0045] When the magnetic base 10 is switched from the non-magnetic state to the magnetic state, the rotating disc 22 can drive the trigger rod 23 to move from the first limiting portion 211 to the second limiting portion 212, at which time the trigger rod 23 is in contact with the second conductive portion 33, so that the first conductive portion 32 and the second conductive portion 33 are conductive, forming a complete circuit loop, which can quickly transmit a feedback signal (conductive signal) to the controller. After receiving this signal, the controller can accurately determine that the magnetic base 10 is currently in a magnetic state, i.e. has strong adsorption capacity, i.e. determines that the magnetic base 10 can be stably adsorbed on the steel plate and other fixed objects.

[0046] It should be noted that the first magnet 11 and the second magnet each have an N pole and an S pole, wherein the N pole is the magnetic induction line emitting end and the S pole is the magnetic induction line entering end. When the first magnet 11 and the second magnet contact with the same poles, i.e. the N poles of the two magnets contact each other and the S poles contact each other, the magnetic field generated by the first magnet 11 and the magnetic field generated by the second magnet 12 are superimposed together, the magnetic induction lines change direction after being “blocked” at the contact surface (the contact position of the two magnets), and pass through the external space. A large number of magnetic induction lines pass through the outside of the magnet, thereby externally exhibiting a magnetic force, at which time the magnetic base is in a magnetic state.

[0047] When the first magnet 11 and the second magnet contact at different poles, that is, the N pole of the first magnet 11 contacts the S pole of the second magnet 12, and the S pole of the first magnet 11 contacts the N pole of the second magnet 12, the magnetic field generated by the first magnet 11 and the magnetic field generated by the second magnet 12 are fused with each other at the contact surface, forming a relatively closed internal magnetic field loop. Most of the magnetic lines of force circulate inside the magnet, and only a small amount of magnetic lines of force leak to the outside space. Therefore, the external magnetic field strength around the magnet is very weak and almost negligible, so that the magnetic attraction seat is in a non-magnetic state.

[0048] In conclusion, the magnetic attraction device 100 provided by the embodiment of the application can realize flexible switching and accurate monitoring of the magnetic state of the magnetic attraction seat 10 through the cooperative work of the magnetic attraction seat 10, the linkage assembly 20 and the monitoring assembly 30, thereby improving the use convenience and flexibility of the magnetic attraction device 100 and providing a reliable solution for various scenes requiring accurate fixing and intelligent monitoring.

[0049] As shown in Figure 1 and Figure 2 , in some embodiments, the magnetic attraction device 100 further comprises a connecting seat 40, the magnetic attraction seat 10 is connected with the connecting seat 40, and the magnetic attraction seat 10 is provided in plurality, and the plurality of magnetic attraction seats 10 are arranged around the connecting seat 40. The connecting seat 40 can include a bottom plate 41, a first side plate 42 and a second side plate 43, the first side plate 42 and the second side plate 43 are connected with the bottom plate 41, the first side plate 42 and the second side plate 43 are respectively arranged on both sides of the magnetic attraction seat 10, and the first side plate 42 and the second side plate 43 can be detachably fixed with the magnetic attraction seat 10 through a bolt structure.

[0050] Optionally, the magnetic attraction seat 10 can be provided in three, and correspondingly, the connecting seat 40 is adapted to the three magnetic attraction seats 10, the connecting seat 40 as a whole can be provided in a triangular structure, and the three magnetic attraction seats 10 can be detachably installed at three corners of the connecting seat 40, so as to ensure that the magnetic attraction device 100 can provide strong adsorption force from different angles.

[0051] In some embodiments, as shown in Figure 3 and Figure 4 , the linkage assembly 20 further comprises a synchronous wheel 24 and a rotating shaft 25, the rotating shaft 25 connects the synchronous wheel 24 and the rotating disc 22, and a pull rope 26 is wound on the synchronous wheel 24, so as to realize synchronous rotation of the second magnets 12 in the plurality of magnetic attraction seats 10, thereby ensuring that the actions of the magnetic attraction seats 10 are consistent, and avoiding problems such as uneven adsorption or operation errors caused by different rotation of the magnets.

[0052] Specifically, the synchronous wheel 24 and the rotating disc 22 are connected through the rotating shaft 25, and synchronous rotation of the two can be achieved. When the magnetic state of one of the plurality of magnetic seats 10 changes, the rotating disc 22 and the synchronous wheel 24 in the magnetic seat 10 also rotate. Since the pull rope 26 is connected to the synchronous wheels 24 of all the magnetic seats 10 at the same time, the movement of the pull rope 26 is synchronously transmitted to the synchronous wheels 24 of the other magnetic seats 10. The rotating shafts 25 of the other magnetic seats 10 can transmit the rotation of the synchronous wheels 24 to the rotating discs 22, and the rotating discs 22 can drive the second magnets 12 to rotate, thereby achieving synchronous rotation of the second magnets 12 in the plurality of magnetic seats 10, and further enabling all the magnetic seats 10 to complete the switching between the magnetic state and the non-magnetic state at the same time. In this embodiment, the pull rope 26 is located in the space formed by the bottom plate 41, the first side plate 42 and the second side plate 43, thereby providing protection for the pull rope 26.

[0053] Further, as shown in Figure 2 、 Figure 4 and Figure 5 , the synchronous wheel 24 is provided with an S-shaped rope groove 241, and the pull rope 26 is wound in the S-shaped rope groove 241, so that the rotation of the synchronous wheel 24 can be converted into the movement of the pull rope 26. The synchronous wheel 24 can include a wheel body 242 and a pressing block 243, and the S-shaped rope groove 241 is arranged on the wheel body 242. After the pull rope 26 is wound in the S-shaped rope groove 241, the pressing block 243 can be fixed above the S-shaped rope groove 241 of the wheel body 242 by a bolt structure, so as to fix the pull rope 26.

[0054] Further, the rotating shaft 25 can be integrated with the rotating disc 22, and the rotating shaft 25 is provided with a first plane 251 and a second plane 252, and the first plane 251 and the second plane 252 are oppositely arranged. The wheel hole of the synchronous wheel 24 is provided with a third plane 244 and a fourth plane 245, and the third plane 244 is arranged in abutment with the first plane 251, and the fourth plane 245 is arranged in abutment with the second plane 252, so as to achieve synchronous rotation between the rotating disc 22, the rotating shaft 25 and the synchronous wheel 24.

[0055] As shown in Figure 6 、 Figure 7 , in some embodiments, the limiting seat 21 is provided with a sliding groove 213, and the sliding groove 213 is arranged in a circular arc shape. The trigger rod 23 is arranged in the sliding groove 213, and the first limiting part 211 and the second limiting part 212 are correspondingly arranged at two ends of the sliding groove 213. That is, the contour curve of the sliding groove 213 matches the relative rotation track between the first magnet 11 and the second magnet 12, and the range of the arc of the sliding groove 213 is set as the maximum allowable rotation angle of the second magnet 12 relative to the first magnet 11.

[0056] Optionally, the arc of the sliding groove 213 is set to 180°. When the second magnet 12 rotates 180° relative to the first magnet 11, the first magnet 11 and the magnet can be switched between same-pole contact and opposite-pole contact.

[0057] Further, the sliding groove 213 adopts a double-groove composite structure, that is, the sliding groove 213 includes coaxially arranged first and second grooves 2131 and 2132, the first and second grooves 2131 and 2132 are mirror-symmetrically distributed, and the radius of the first groove 2131 is greater than that of the second groove 2132, which ensures the coordination and consistency of the two grooves during movement, making the entire sliding groove 213 structure more stable and reliable.

[0058] Correspondingly, in order to match the double-groove composite structure of the sliding groove 213, the trigger rod 23 is also provided with two. The two trigger rods 23 are respectively installed in the first and second grooves 2131 and 2132, and they can independently move in their respective grooves or cooperate with each other to complete a specific task. The combination design of the double-trigger rod 23 and the double-groove composite structure greatly enhances the flexibility and functionality of the device, enabling the device to achieve precise control and operation in more complex environments, providing strong support for the technical development of related fields.

[0059] Further, the first and second grooves 2131 and 2132 are each formed with a first and second limiting portion 211 and 212, wherein the second limiting portion 212 of the first groove 2131 is provided with a mounting groove 2133 communicating with the first groove 2131, and the second conductive portion 33 is arranged in the mounting groove 2133.

[0060] As shown in Figure 6 , Figure 7 In some embodiments, the limiting seat 21 is provided with a boss 214 having a first flat surface 2141, and the rotating disc 22 is provided with a limiting clamping groove 221 having a second flat surface 2211. When the magnetic seat 10 is in the magnetic state, the boss 214 is located in the limiting clamping groove 221 and the first flat surface 2141 and the second flat surface 2211 are in contact to limit the rotation of the rotating disc 22 from the second limiting portion 212 to the first limiting portion 211, thereby stabilizing the position of the rotating disc 22 of the magnetic seat 10 in the magnetic state and preventing unwanted rotation.

[0061] Specifically, the limiting seat 21 is provided with a containing cavity 215, the containing cavity 215 is coaxially arranged with the sliding groove 213, the containing cavity 215 is arranged above the sliding groove 213, and the containing cavity 215 is in communication with the sliding groove 213. The containing cavity 215 has a mounting plane 2151, and the boss 214 is arranged on the mounting plane 2151. The first flat surface 2141 can be perpendicular to the mounting plane 2151, and when the rotating disc 22 attempts to rotate, the interaction force between the first flat surface 2141 and the second flat surface 2211 can more effectively prevent the movement of the rotating disc 22, thereby further enhancing the limiting effect and ensuring the absolute stability of the position of the rotating disc 22 in the magnetic state of the magnetic seat 10.

[0062] Further, the boss 214 further comprises a first connecting surface 2142, a first inclined surface 2143 and a third flat surface 2144, both ends of the first connecting surface 2142 are connected with the first flat surface 2141 and the first inclined surface 2143, the first connecting surface 2142 is arranged in parallel with the mounting plane 2151, the height of the third flat surface 2144 is lower than that of the first flat surface 2141, and the first inclined surface 2143 is arranged inclinedly from the first connecting surface 2142 to the third flat surface 2144 and connected with the third flat surface 2144.

[0063] The rotating disc 22 is provided with a second connecting surface 2212, a second inclined surface 2213 and a fourth flat surface 2214, both ends of the second connecting surface 2212 are connected with the second flat surface 2211 and the second inclined surface 2213, and the second connecting surface 2212 is arranged in parallel with the first connecting surface 2142. The height of the fourth flat surface 245 is lower than that of the second flat surface 2211, and the second inclined surface 2213 is arranged inclinedly from the second connecting surface 2212 to the fourth flat surface 2214 and connected with the fourth flat surface 2214.

[0064] Further, the boss 214 and the limiting clamping groove 221 are both provided with two, the two bosses 214 are arranged in axial symmetry around the central axis of the sliding groove 213, and correspondingly, the limiting clamping groove 221 is arranged correspondingly with the boss 214. Among them, the containing cavity 215 is divided into a circular structure of 0° to 360° with the center of the sliding groove 213, the first limiting part 211 and the second limiting part 212 are respectively located at the positions of 0° and 180°, and the two bosses 214 are respectively located at the positions of 90° and 270°. So that the boss 214 can limit the rotating disc 22 at the middle position of the rotating disc 22, further enhancing the stability and reliability of the limiting.

[0065] When the rotating disc 22 tries to rotate, the two protrusions 214 will simultaneously function to limit the rotating disc 22 from two different directions, ensuring that the rotating disc 22 cannot rotate from the second limiting portion 212 toward the first limiting portion 211, thereby stabilizing the position of the rotating disc 22 of the magnetic suction seat 10 in the magnetic state within a fixed range, providing a strong guarantee for the normal operation of the magnetic suction device 100.

[0066] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , in some embodiments, the magnetic suction device 100 further comprises a rotating handle 51 connected with the rotating shaft 25 and an elastic member 52 for exerting an elastic force on the rotating disc 22 to move toward the limiting seat 21. When the rotating handle 51 is subjected to an applied force, the rotating handle 51 drives the rotating disc 22 to move toward the direction away from the limiting seat 21 through the rotating shaft 25, and the rotating disc 22 drives the elastic member 52 to move to deform, so that the protrusions 214 are disengaged from the limiting clamping grooves 221.

[0067] Optionally, the elastic member 52 can be a spring, and the two ends of the spring correspond to abut between the rotating disc 22 and the second magnet 12.

[0068] Referring to Figure 7 , the structure diagram of the trigger lever 23 in the rotating disc 22 of the magnetic suction device 100 provided by an embodiment of the present application is shown. For the convenience of description, the direction of the trigger lever 23 moving from the first limiting portion 211 toward the second limiting portion 212 is set as the first direction, and the direction of the trigger lever 23 rotating from the second limiting portion 212 toward the first limiting portion 211 is set as the second direction.

[0069] When the magnetic suction seat 10 is in the non-magnetic state, the third flat surface 2144 of the protrusion 214 abuts against the fourth flat surface 2214 of the rotating disc 22, and the trigger lever 23 is located at the first limiting portion 211 of the sliding groove 213, and since the sliding groove 213 has a semi-ring shape, the rotating disc 22 can only rotate in the direction of the first direction; similarly, when the magnetic suction seat 10 is in the magnetic state, the first flat surface 251 of the protrusion 214 abuts against the second flat surface 2211 of the rotating disc 22, and the trigger lever 23 is located at the second limiting portion 212 of the sliding groove 213, and since the sliding groove 213 has a semi-ring shape, the rotating disc 22 can only rotate in the direction of the second direction, thereby limiting the rotating direction of the rotating disc 22.

[0070] When the user needs to switch the magnetic base 10 from the non-magnetic state to the magnetic state, an external force (rotating force) can be applied to the rotating handle 51, so that the rotating handle 51, the rotating shaft 25, the rotating disc 22 and the trigger lever 23 on the rotating disc 22 rotate in the first direction. At this time, the second inclined surface 2213 on the rotating disc 22 can be attached to the first inclined surface 2143 of the boss 214, and a force that increases the distance between the limiting seat 21 and the rotating disc 22 can be generated. With the continuous rotation of the rotating disc 22, the distance is continuously increased, and at the same time, the movement of the rotating disc 22 will cause the elastic member 52 in contact with it to be elastically deformed. After being extruded, the elastic member 52 will store a certain elastic potential energy to provide power for subsequent resetting and locking. Until the rotating disc 22 rotates 180° and the trigger lever 23 is at the second limiting part 212, the user can withdraw the external force. At the moment when the external force is withdrawn, the elastic member 52 starts to release the elastic potential energy stored due to the elastic force, which will move the rotating disc 22 towards the limiting seat 21. Under the action of this elastic force, the limiting clamping groove 221 will be clamped to the next boss 214 again. Through the limiting action of the first flat surface 2141, the second flat surface 2211 and the sliding groove 213 on the trigger lever 23, the rotating disc 22 is firmly locked in the current position, so that the magnetic base 10 is stably maintained in the magnetic state. This locking mechanism ensures that the magnetic base 10 will not accidentally rotate in the magnetic state due to slight external interference, thereby ensuring the stability and reliability of the magnetic function.

[0071] When the user needs to switch the magnetic base 10 from the magnetic state to the non-magnetic state, an external force can be applied to the rotating handle 51, which drives the rotating disc 22 to move along the axial direction of the rotating shaft 25, so that the distance between the rotating disc 22 and the limiting seat 21 is increased, and the boss 214 of the limiting seat 21 is moved out of the limiting clamping groove 221, thereby releasing the limiting action of the boss 214 on the rotating disc 22. After the boss 214 of the limiting seat 21 is moved out of the limiting clamping groove 221, an external force can be applied to the rotating handle 51 again, so that the rotating handle 51, the rotating shaft 25, the rotating disc 22 and the trigger lever 23 on the rotating disc 22 rotate in the second direction until the rotating disc 22 rotates 180° and the trigger lever 23 is at the second limiting part 212 (here, the trigger lever 23 returns to the second limiting part 212 similar to the initial relative position concept after rotating 180° from magnetization to demagnetization to complete the state switching logic). At this time, the magnetic base 10 unlocks the locking of the magnetic state, and the rotating disc 22 can freely rotate in the limited direction (the first direction) in the non-magnetic state, and the magnetic device 100 also enters the non-magnetic state accordingly, and no longer has the magnetic attraction function.

[0072] Further, as Figure 2 , Figure 3 and Figure 4As shown, the magnetic attraction device 100 further comprises a limiting clamp 53, which is arranged on the limiting seat 21. The limiting clamp 53 has a wheel groove 531, and the edge of the synchronous wheel 24 is inserted into the wheel groove 531 to limit the movement of the synchronous wheel 24 in the axial direction of the rotating shaft 25. That is, when the rotating shaft 25 moves axially during the operation of the magnetic attraction device 100, since the edge of the synchronous wheel 24 is limited in the wheel groove 531, it cannot move in the axial direction along with the rotating shaft 25, thereby ensuring the stability of the position of the synchronous wheel 24; at the same time, it can also avoid the change of the connection relationship between the synchronous wheel 24 and the pull rope 26. Such a change may cause the pull rope 26 to be subjected to uneven tension, resulting in problems such as loosening, winding or breaking, which seriously affects the connection effect of the pull rope 26 and the normal operation of the magnetic attraction device 100.

[0073] Optionally, the limiting clamp 53 is provided with two limiting clamps 53, which are symmetrically arranged relative to the synchronous wheel 24 and tightly "hold" the edge of the synchronous wheel 24 from both sides. No matter what kind of factors (such as external impact, load change, etc.) cause the rotating shaft 25 to move axially during operation, the synchronous wheel 24 will be subjected to a symmetrical and opposite limiting force of the two limiting clamps 53. Such a limiting force can effectively prevent the displacement of the synchronous wheel 24 in the axial direction of the rotating shaft 25, ensuring that the synchronous wheel 24 always remains stable in the predetermined axial position.

[0074] Further, the magnetic attraction device 100 further comprises a cover plate 54, which covers the outside of the synchronous wheel 24 and the limiting clamp 53, effectively preventing the dust and debris from the outside from interfering with the rotation of the synchronous wheel 24 and the limiting function of the limiting clamp 53, thereby ensuring the normal operation of the magnetic attraction device 100. The cover plate 54 is provided with "attracting" and "loosening" marks. The "attracting" mark corresponds to the magnetic attraction seat 10 in the magnetic state, and the "loosening" mark corresponds to the magnetic attraction seat 10 in the non-magnetic state.

[0075] As shown in Figure 8 and Figure 9 In some embodiments, the magnetic attraction device 100 further comprises a tensioning assembly 60, which comprises a tensioning wheel 61, a screw rod 62, a sliding rail 63 and a sliding block 64. The screw rod 62 is rotationally arranged on the connecting seat 40, and is connected with the sliding block 64 through threads. The sliding block 64 is slidingly arranged on the sliding rail 63, and the tensioning wheel 61 is arranged on the sliding block 64 and abuts against the pull rope 26.

[0076] Specifically, the tensioning assembly 60 can be arranged on the connecting seat 40 through the slide rail 63, and the screw rod 62 can be rotatably arranged on the connecting seat 40. During operation, the tensioning wheel 61 abuts against the pull rope 26. By rotating the screw rod 62, the sliding block 64 is driven to move on the slide rail 63, thereby driving the tensioning wheel 61 to move close to or away from the pull rope 26, so as to realize accurate adjustment of the tensioning force of the pull rope 26. The design of the tensioning assembly 60 can adjust the tensioning degree of the pull rope 26 in real time according to the actual working condition of the magnetic attraction device 100, so as to ensure that the pull rope 26 is always in a suitable tensioning state, effectively avoids problems such as slipping and wear of the pull rope 26 due to relaxation, and improves the transmission efficiency and reliability of the magnetic attraction device 100.

[0077] Reference Figure 10 and Figure 11 A structural schematic view of the magnetic attraction device 100 provided by another embodiment of the present application is shown. The magnetic attraction device 100 further comprises a driving motor 71 arranged on the connecting seat 40, and the output end of the driving motor 71 is connected to the pull rope 26 to drive the synchronous wheel 24 to rotate through the pull rope 26. When the magnetic attraction seat 10 is in a non-magnetic state or a magnetic state, the driving motor 71 is in an energized state, and the driving motor 71 will provide a continuous pulling force to the pull rope 26 to realize locking of the magnetic attraction seat 10 in the non-magnetic state or the magnetic state.

[0078] During actual operation, after the driving motor 71 is started, the output end thereof rotates at a predetermined speed and direction. Since the output end of the driving motor 71 is connected to the pull rope 26, the rotary motion is converted into linear motion or reciprocating motion of the pull rope 26. The pull rope 26 is connected to the synchronous wheel 24 through a specific winding mode or meshing structure, and when the pull rope 26 is driven to move by the driving motor 71, a pulling force is applied to the synchronous wheel 24, thereby driving the synchronous wheel 24 to rotate around its own axis. The rotation of the synchronous wheel 24 further drives other transmission components (the rotating disc 22, the trigger lever 23, and the second magnet 12) in the magnetic attraction device 100, so as to realize switching of the magnetic attraction seat 10 in the magnetic attraction device 100 between the magnetic state and the non-magnetic state.

[0079] Further, the magnetic attraction device 100 further comprises a switch 72 electrically connected between the switch 72, the driving motor 71 and the controller, so as to realize control of the opening and closing of the driving motor 71.

[0080] It needs to be emphasized that in the magnetic attraction device 100 involved in the present application, the driving motor 71 and the rotating handle 51 jointly constitute two independent and complete driving modes of the pull rope 26. During actual use, the two driving modes can be comprehensively evaluated and compared according to specific use scenarios, work requirements, cost budgets and operation habits, and then one of them is selected for use, so as to achieve the best use effect and economic benefit.

[0081] Furthermore, the application also provides a welding robot comprising the magnetic attraction device 100 provided by any of the above embodiments. The welding robot provided by the application has the same implementation principle and technical effects as the above magnetic attraction device 100, and for brevity of description, the welding robot embodiment part not mentioned can refer to the corresponding content in the above magnetic attraction device 100 embodiment.

[0082] In the description of the application, it should be understood that the orientation or positional relationship indicated by the terms “center”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “axial”, “radial”, “circumferential” and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0083] In addition, the terms “first” and “second” are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with “first” and “second” can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of “a plurality of” is at least two, such as two, three, etc., unless otherwise specifically limited.

[0084] In the application, unless otherwise specifically defined and limited, the terms “mounting”, “connection”, “connecting”, “fixing” and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication or interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0085] In the application, unless otherwise specifically defined and limited, the first feature is “on” or “under” the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature “above”, “above” and “above” the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature “below”, “below” and “below” the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0086] In this invention, the terms "one embodiment," "some embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A magnetic attraction device, characterized by, The application relates to a magnetic attraction device. The magnetic attraction device comprises a magnetic attraction base, a linkage assembly, a monitoring assembly and a connecting base. The magnetic attraction base comprises a first magnet and a second magnet which is rotatable relative to the first magnet to make the magnetic attraction base in a magnetic state or a non-magnetic state. The linkage assembly comprises a limiting seat, a rotating disc and a trigger rod. The limiting seat has a first limiting part and a second limiting part. The rotating disc is provided with a limiting slot which is in the shape of a circular arc.

2. The magnetic attraction device of claim 1, wherein, The trigger rod is slidably arranged in the limiting slot.

3. The magnetic attraction device of claim 2, wherein, The first limiting part and the second limiting part are arranged at two ends of the limiting slot.

4. The magnetic attraction device of claim 3, wherein, The limiting seat is provided with a boss which has a first flat surface.

5. The magnetic attraction device of claim 4, wherein, The rotating disc is provided with a limiting clamping groove which has a second flat surface. The monitoring assembly comprises a controller, a first conductive part and a second conductive part. The first conductive part and the second conductive part are arranged in insulation with each other. The first conductive part is electrically connected with the trigger rod. The second conductive part is arranged in the first limiting part. When the magnetic attraction base is in the non-magnetic state, the rotating disc drives the trigger rod to be in the first limiting part, and the first conductive part and the second conductive part are not conductive. When the magnetic attraction base is in the magnetic state, the rotating disc drives the trigger rod to be in the second limiting part, the trigger rod contacts the second conductive part, and the first conductive part and the second conductive part are conductive to send a feedback signal to the controller to realize the magnetic state monitoring of the magnetic attraction base. The boss is arranged in the limiting clamping groove, and the first flat surface contacts the second flat surface to limit the rotating disc from rotating from the second limiting part to the first limiting part. The magnetic attraction device further comprises a connecting base. The magnetic attraction base is connected with the connecting base. A plurality of magnetic attraction bases are arranged around the connecting base. The linkage assembly further comprises a synchronous wheel and a rotating shaft. The rotating shaft connects the synchronous wheel and the rotating disc. A pull rope is wound around the synchronous wheel to realize the synchronous rotation of the second magnets in the plurality of magnetic attraction bases. The magnetic attraction device further comprises a rotating handle and an elastic member. The rotating handle is connected with the rotating shaft. The elastic member is used for applying an elastic force to the rotating disc to move towards the limiting seat. When the rotating handle is subjected to an applied force, the rotating handle drives the rotating disc to move away from the limiting seat through the rotating shaft. The rotating disc drives the elastic member to move to deform, so that the boss is separated from the limiting clamping groove. The magnetic attraction device further comprises a limiting clamp block. The limiting clamp block is arranged on the limiting seat. The limiting clamp block has a wheel groove. The edge of the synchronous wheel is inserted into the wheel groove to limit the synchronous wheel from moving along the axial direction of the rotating shaft.

6. The magnetic attraction device of claim 3, wherein, The magnetic attraction device further comprises a driving motor, the driving motor is arranged on the connecting seat, and an output end of the driving motor is connected with the pull rope to drive the synchronous wheel to rotate through the pull rope.

7. The magnetic attraction device of claim 3, wherein, The magnetic attraction device further comprises a tensioning assembly, the tensioning assembly comprises a tensioning wheel, a screw rod, a sliding rail and a sliding block, the screw rod is rotationally arranged on the connecting seat, the screw rod is threadedly connected with the sliding block, the sliding block is slidingly arranged on the sliding rail, and the tensioning wheel is arranged on the sliding block and abuts against the pull rope.

8. The magnetic attraction device of claim 3, wherein, An S-shaped rope groove is arranged on the synchronous wheel, and the pull rope is wound in the S-shaped rope groove.

9. A welding robot, characterized in that, The magnetic attraction device according to any one of claims 1 to 8.

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