Steel corrugated plate electric permanent magnetic adsorption grabbing device

Abstract

The present application belongs to the technical field of steel plate grabbing manipulator, solves the problem of poor cleaning effect of adsorption surface affecting the reliability of adsorption and grabbing corrugated plate in the prior art, and provides a kind of steel corrugated plate electric permanent magnet adsorption and grabbing device, including base body, magnetic pole, cleaning mechanism and self-adapting horizontal moving mechanism, self-adapting horizontal moving mechanism includes: first rack, fixedly arranged on base body;Elastic expansion piece, its fixed part is slidingly fitted with base body in horizontal direction, and its movable part can elastically expand relative to the fixed part;Transmission gear, rotatably installed on the fixed part, and engaged with the first rack;Second rack, fixedly arranged on the movable part, and engaged with the transmission gear;Cleaning mechanism is installed at the bottom end of movable part;When base body descends and cleaning mechanism contacts steel corrugated plate crest, cleaning mechanism is subjected to upward thrust of crest, forcing self-adapting horizontal moving mechanism to drive cleaning mechanism to move horizontally to leave magnetic pole area, and this device can be reliably adsorbed and grabbed when grabbing steel corrugated plate.

Description

Technical Field

[0001] This invention relates to the field of steel plate gripping robot technology, specifically to an electro-permanent magnet adsorption gripping device for corrugated steel plates. Background Technology

[0002] Corrugated steel sheets are widely used in engineering fields such as highway culverts, tunnel support, and underground utility tunnels due to their advantages such as high load-bearing capacity, convenient construction, and adaptability to deformation. During the assembly and construction of corrugated steel sheets, construction machinery (such as excavators) is typically used to lift the sheets to the installation location, where they are then held in place by a magnetic suction device. However, during stacking and transportation, the surface of the corrugated steel sheets easily accumulates dirt, sand, iron filings, and other debris. Direct suction can cause poor contact between the magnetic poles and the sheet surface, significantly reducing the suction force and potentially leading to accidents such as detachment during lifting. Currently, some patents involve corrugated sheet gripping or cleaning technologies. For example: Chinese patent CN211573550U discloses an electromagnetic gripper for a special trolley used in corrugated sheet assembly. This electromagnetic chuck consists of a telescopic electromagnetic head and features a longitudinal guiding and resetting mechanism, enabling it to adapt to the undulations of the corrugated sheet surface and achieve rapid and stable gripping. However, this patent completely lacks an automatic cleaning function before adsorption, leaving the construction site still reliant on manual cleaning, resulting in low efficiency and poor safety.

[0003] Chinese patent CN115246578A discloses a steel plate picking system and method, which uses an electro-permanent magnet assembly in conjunction with a pressure plate device to press down the edge of the waste material during picking. This patent is aimed at the sorting scenario of flat steel plates and does not involve the corrugated surface of steel plates. Moreover, the pressure plate device is used to prevent waste material from being carried away, rather than to clean the adsorption surface.

[0004] Chinese patent CN108313863A discloses a magnetic hanger with dust and debris removal function. It uses sliding tracks and fans on both sides of the hanger body to blow away dust and debris from the adsorption surface before holding the workpiece. However, this patent uses a fixed-position fan for cleaning, which cannot thoroughly clean the top surface and side slopes of the corrugated steel plate, creating cleaning dead zones. Furthermore, the lack of any isolation structure allows dust to easily fall onto the magnetic pole working surface during the cleaning process, causing secondary pollution.

[0005] Chinese patent CN116638541B discloses a robotic electro-permanent magnet steel plate gripping fixture, which improves the gripping effect by using a limiting and locking component to assist in fixing the steel plate. This patent does not involve any cleaning function and is designed for flat steel plates, making it unsuitable for the corrugated surface of corrugated steel plates.

[0006] Furthermore, Chinese patent CN202210179175A discloses a flexibly adjustable omnidirectional manipulator mounted on an excavator's telescopic arm for gripping corrugated sheets. This patent uses a hydraulically driven gripping tooth assembly for mechanical clamping, requiring an independent hydraulic power source and control logic; it does not involve magnetic adsorption and lacks cleaning functions. Chinese patent CN213358719U discloses an interlaced gripping mechanism and a hydraulic excavator, also belonging to mechanical gripping, but without integrated adsorption and cleaning functions.

[0007] In summary, the existing technology has the following shortcomings: (1) It lacks an adaptive cleaning mechanism for the corrugated steel plate surface, and the existing fixed-position blowing or brushing cannot cover the top surface of the wave crest and the two side slopes at the same time; (2) The dust generated during the cleaning process is easy to contaminate the magnetic poles, affecting the reliability of adsorption and gripping. Summary of the Invention

[0008] In order to solve the above-mentioned technical problems, or at least partially solve the technical problems that existing cleaning methods cannot adapt to the shape of the corrugated steel plate crests and that dust during the cleaning process causes secondary contamination of the magnetic poles, affecting the reliability of adsorption and gripping, the present invention provides an electro-permanent magnetic adsorption and gripping device for corrugated steel plates that can adapt to the shape of the corrugated steel plate crests and automatically isolate dust during the cleaning process to ensure the reliability of adsorption and gripping.

[0009] To achieve the aforementioned objectives, the present invention provides an electro-permanent magnetic adsorption and gripping device for corrugated steel sheets, comprising a base, magnetic poles disposed at the bottom of the base for attaching the corrugated steel sheets to the crests, and a cleaning mechanism for cleaning the surface of the corrugated steel sheets to the crests, and further comprising: An adaptive lateral movement mechanism is disposed between the two ends of the substrate and the cleaning mechanism, the adaptive lateral movement mechanism comprising: The first rack is fixedly mounted on the base. An elastic telescopic component includes a fixed part and a movable part, wherein the fixed part slides with the base in the horizontal direction, and the movable part is capable of elastic extension and retraction relative to the fixed part in the vertical direction; A transmission gear is rotatably mounted on the fixed part and meshes with the first rack. The second rack is fixedly mounted on the movable part and meshes with the transmission gear. The cleaning mechanism is installed at the bottom of the movable part; When the base descends and the cleaning mechanism contacts the crest of the corrugated steel plate, the cleaning mechanism is pushed upward by the crest, forcing the movable part to compress upward relative to the fixed part. The movable part drives the transmission gear to roll on the first rack through the second rack, causing the cleaning mechanism to move laterally relative to the base to leave the magnetic pole region.

[0010] Optionally, the cleaning mechanism includes: A support plate is fixedly connected to the bottom end of the movable part; The brush roller is rotatably mounted on the support plate; A drive motor, mounted on the support plate, is used to drive the brush roller to rotate.

[0011] Optionally, two cleaning mechanisms are provided, symmetrically arranged on both sides of the substrate. In the initial state, the two cleaning mechanisms are close to each other and are used to contact the crests of the corrugated steel plate.

[0012] Optionally, the brush roller includes: A roller shaft is rotatably mounted on the support plate, and the roller shaft is connected to a drive motor, which is used to drive the roller shaft to rotate. A fixed brush body is provided, with multiple sets of brushes fixedly arranged axially on the surface of the roller shaft; Multiple sets of movable brushes are slidably arranged on the surface of the roller shaft along the axial direction; the fixed brushes and movable brushes are staggered in the axial direction of the roller shaft, and the fixed brushes and movable brushes are staggered in the circumferential direction of the roller shaft. The mandrel is axially slidably disposed inside the roller shaft, and the movable brush body is fixedly connected to the mandrel; The aforementioned electro-permanent magnet gripping device for corrugated steel plates further includes two sets of adjustment mechanisms. When the two brush rollers approach each other radially, the two sets of adjustment mechanisms drive the two spindles to move in opposite directions by the same distance, so that the fixed brush body and the movable brush body on each roller are aligned axially.

[0013] Optionally, the adjustment mechanism includes: The mounting sleeve is fixedly installed at the bottom end of the movable part; A movable sleeve is slidably installed in the mounting sleeve along the axial direction of the mandrel, and the movable sleeve is rotatably sleeved on the end of the mandrel. The surface of the movable sleeve is provided with a spiral groove. The outer rotating sleeve is rotatably mounted on the mounting sleeve, and the outer rotating sleeve is threaded onto the outside of the movable sleeve. The inner wall of the outer rotating sleeve is provided with balls that slide in cooperation with the spiral groove. The adjusting gear is fixedly sleeved on the outside of the outer rotating sleeve and is used to drive the outer rotating sleeve to rotate. Adjust the toothed plate to slide against the support plate in the horizontal plane; A return spring is provided between the adjusting toothed plate and the support plate. When the two brush rollers approach each other radially, the two adjusting tooth plates press against each other and move in opposite directions. When the adjusting tooth plates move, they drive the moving sleeve to move axially through the adjusting gear and the outer rotating sleeve. The moving sleeve drives the spindle to move axially, thereby adjusting the movable brush body to be flush with the fixed brush body in the axial direction.

[0014] Optionally, the elastic telescopic member includes: The guide sleeve constitutes the fixed part; The telescopic rod, constituting the movable part, is slidably disposed within the guide sleeve; A cavity is provided inside the telescopic rod body; An elastic element is disposed within the cavity, with its top and bottom ends connected to the guide sleeve and the bottom wall of the cavity, respectively, to provide an elastic force that causes the telescopic rod to extend downward.

[0015] Optionally, it also includes: An isolation cover is provided on both sides of the base, and the top of the two isolation covers is rotatably engaged with the base. The height of the isolation cover is greater than the height of the brush roller. A locking plate is movably mounted on the surface of the base, and locking grooves are provided on both sides of the locking plate; The locking rod is fixedly installed on the isolation cover; The isolation shield has a free state and a closed state; when the isolation shield is in the free state, the side of the isolation shield facing the wave crest is located in the lateral slope area of ​​the wave crest, and the locking rod is located outside the locking groove; when the isolation shield is in the closed state, the two isolation shields surround the magnetic poles, and the locking rod is engaged in the locking groove. When the two brush rollers approach each other radially, the fixed part pushes the locking rod to switch the isolation cover from a free state to a closed state, and the fixed part pushes the locking rod into the locking groove; When the isolation cover descends with the base in the closed state, the locking plate is pushed upward by the crest of the corrugated steel plate. Before the isolation cover contacts the top of the crest of the corrugated steel plate, the locking groove separates from the locking rod by moving upward with the locking plate, thereby allowing the isolation cover to switch to the free state.

[0016] Optionally, it also includes: An elastic telescopic rod is rotatably connected between the base and the isolation cover to keep the isolation cover in a free state; when the isolation cover is in the closed state, the elastic telescopic rod is stretched. As the isolation shield moves downward on the lateral slope of the wave crest, the lateral slope of the wave crest pushes the isolation shield to swing away from the side of the corrugated steel plate wave crest, thereby compressing the elastic telescopic rod.

[0017] Optionally, the transmission gear includes a first gear body, a second gear body, and a rotating shaft. The first gear body and the second gear body are both fixedly connected to the outside of the rotating shaft. The rotating shaft is rotatably mounted on the fixed part. The first gear body meshes with a first rack, and the second gear body meshes with a second rack. The diameter of the first gear body is larger than the diameter of the second gear body.

[0018] Optionally, it also includes a synchronization plate, which is sleeved on the side of the base; the top of the movable part passes through the fixed part, and the top of the movable part located at both ends of the cleaning mechanism is fixedly connected to the synchronization plate.

[0019] The technical solution provided by this invention has the following advantages compared with the prior art: 1. By setting an adaptive lateral movement mechanism, the vertical motion of the substrate descending is converted into the horizontal lateral movement of the cleaning mechanism. When the substrate descends and the brush roller contacts the crest, the upward thrust of the crest forces the elastic telescopic component to compress, and drives the brush roller to move horizontally along the crest slope through a gear and rack mechanism. This achieves passive adaptive cleaning of "pressing down to clean and cleaning to make way," resulting in good cleaning effect on the crest adsorption surface and thus improving the reliability of adsorption and gripping of the corrugated steel plate.

[0020] 2. The brush rollers adopt a structure combining fixed and movable brush bodies, and the spindle is driven to move axially through an adjustment mechanism. When the two brush rollers approach each other radially, the brush bodies automatically switch from an "axially staggered + circumferentially offset" distribution to an "axially aligned" distribution. This avoids the brush bristles squeezing and tangling with each other when initially approaching, improving the cleaning effect on the top of the corrugated plate, and also ensures that the brush bristles fully cover the inclined surfaces on both sides of the corrugated plate during cleaning, leaving no dead corners and providing a good cleaning effect on the adsorption surface, thereby improving the reliability of adsorption and gripping of the corrugated steel plate.

[0021] 3. The isolation cover is linked to the radial movement of the locking plate and locking rod with the downward movement of the brush roller and the substrate. During the cleaning process, the isolation cover automatically closes and locks, completely surrounding the magnetic poles and blocking dust. When the substrate descends to the point where the isolation cover is about to contact the crest of the wave, the locking plate is pushed upward by the wave crest to unlock, and the isolation cover automatically opens to make way, ensuring that the magnetic poles are cleanly fitted into the wave crest. The entire process requires no independent drive, has precise timing, and effectively solves the problem of dust contaminating the magnetic poles, preventing magnetic pole contamination from affecting the adsorption and gripping of the corrugated steel sheet.

[0022] 4. The transmission gears adopt a structure where the first gear body and the second gear body are coaxial but have different diameters, making the horizontal lateral movement distance greater than the vertical compression distance. For steel corrugated plates of different specifications (with varying crest slope angles), this design provides a greater tolerance margin, ensuring that the brush roller can reliably move out of the magnetic pole area under various working conditions and avoid jamming. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the electro-permanent magnet adsorption gripping device for corrugated steel sheets of the present invention when it just comes into contact with the crest of the corrugated steel sheet. Figure 2 This is a schematic diagram of the base and magnetic poles of the electro-permanent magnet adsorption and gripping device for corrugated steel plates of the present invention; Figure 3 This is the present invention. Figure 1 A partial schematic diagram; Figure 4 This is the present invention. Figure 3 Enlarged view of point A in the middle; Figure 5 This is the present invention. Figure 1 The front view; Figure 6 This is the present invention. Figure 1 Side view; Figure 7 This is an overall schematic diagram of the cleaning mechanism of the present invention; Figure 8 This is a schematic diagram of the cooperation between the roller and the adjustment mechanism of the present invention; Figure 9 This is the present invention. Figure 8 Enlarged view at point B in the middle; Figure 10 This is the present invention. Figure 8 A partial sectional view; Figure 11 This is the present invention. Figure 10 A partial schematic diagram; Figure 12 This is a schematic diagram of the fit between the movable sleeve and the mandrel of the present invention; Figure 13 This is a schematic diagram of the adaptive transverse movement mechanism of the electro-permanent magnet adsorption gripping device for corrugated steel plates of the present invention; Figure 14 This is a schematic diagram of the guide sleeve after being cut open in the elastic telescopic component of the present invention; Figure 15 This is the present invention. Figure 14 A diagram illustrating the breakdown; Figure 16 This is a schematic diagram showing the cooperation of the isolation cover, locking plate, locking groove, locking rod and elastic telescopic rod of the present invention.

[0025] Wherein: 1 – Base; 2 – Magnetic pole; 3 – Cleaning mechanism; 301 – Support plate; 302 – Brush roller; 3021 – Roller shaft; 3022 – Fixed brush body; 3023 – Movable brush body; 3024 – Core shaft; 3025 – Long groove; 3026 – Slider; 303 – Drive motor; 4 – Adaptive transverse movement mechanism; 401 – First rack; 402 – Elastic telescopic component; 4021 – Guide sleeve; 4022 – Telescopic rod; 4023 – Cavity; 4024 – Elastic element; 4025 – Guide hole; 4026 – Connecting block; 403 – Transmission gear; 40 31 – First gear body; 4032 – Second gear body; 4033 – Rotating shaft; 404 – Second rack; 405 – Guide rail; 406 – Guide groove; 5 – Adjustment mechanism; 501 – Mounting sleeve; 502 – Moving sleeve; 503 – Outer rotating sleeve; 504 – Adjusting gear; 505 – Adjusting tooth plate; 506 – Return spring; 507 – Spiral groove; 508 – Ball bearing; 509 – Slide groove; 6 – Isolation cover; 7 – Locking plate; 8 – Locking groove; 9 – Locking rod; 10 – Elastic telescopic rod; 11 – Synchronizing plate; 12 – Vertical slide rail; 12 – Universal steering device. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0028] like Figure 1 and Figure 2As shown, an electro-permanent magnet adsorption and gripping device for corrugated steel sheets includes a base 1, magnetic poles 2 disposed at the bottom of the base 1 for covering the crests of the corrugated steel sheets, and cleaning mechanisms 3 for cleaning the surface of the crests of the corrugated steel sheets. The magnets are flared "C"-shaped, and their inner cavity contours are adapted to the outer surface of the crests of the corrugated steel sheets, for covering the outside of the crests in the adsorption state. Two cleaning mechanisms 3 are provided, symmetrically arranged on the left and right sides of the base 1. In the initial state, the two cleaning mechanisms 3 are close to each other for contacting the crests of the corrugated steel sheets.

[0029] In one usage scenario, the device also includes an electrical control unit (not shown) and a triggering device (not shown). When the base 1 descends to its lowest position (i.e., the magnetic pole 2 is fully inserted into the corrugated plate), the operator presses the trigger button. The electrical control unit outputs a positive current pulse to the excitation coil inside the magnetic pole 2, causing the magnetic pole 2 to generate a strong magnetic field that attracts the corrugated plate. After hoisting is completed, pressing the release button outputs a reverse current pulse to demagnetize and release the plate.

[0030] The base 1 has a universal steering device 13 on its top, with a flange at its top. The flange can be connected to a connecting lug (not shown). The connecting lug has a hinge hole that is compatible with the end of the excavator boom. By hinged to the connecting lug and the linkage mechanism at the end of the excavator boom using a pin, the device can be quickly mounted. To accommodate different excavator models, the connecting lug can use a standard quick-connect coupling without modifying the original excavator structure.

[0031] The electrical control unit of this device is integrated into the junction box on the side of the base 1. A cable is led out from the junction box, laid along the protective cable channels of the excavator's boom and arm, and finally leads into the excavator's cab, connecting to a handheld or panel-mounted trigger device (control box). This trigger device has two buttons: "Activate" and "Release," allowing for one-handed operation.

[0032] Operating procedures Mounting: Move the excavator boom above the device, align the pin hole, insert the pin shaft and lock it.

[0033] Alignment: Operate the excavator to move the device directly above the crest of the corrugated steel plate, and adjust the universal steering device 13 to align the magnetic pole 2 with the crest.

[0034] Downward cleaning: The forearm is slowly lowered, and the device automatically completes the cleaning of the crest surface.

[0035] Adsorption: After cleaning, press the "Adsorption" button in the cab. Magnetic pole 2 will be energized and magnetized, thus adsorbing the corrugated sheet.

[0036] Lifting: Raise the boom to hoist the corrugated sheet to the installation position.

[0037] Release: After the corrugated plate is fixed, press the "Release" button to demagnetize magnetic pole 2 and separate the device from the corrugated plate.

[0038] Reset: Lifting the device causes the cleaning mechanism 3 to automatically reset, allowing the next corrugated steel sheet to be processed.

[0039] like Figure 3 and Figure 14 As shown, a steel corrugated plate electro-permanent magnet adsorption gripping device also includes an adaptive transverse movement structure, which is set between the two ends of the base 1 and the cleaning mechanism 3. The adaptive transverse movement mechanism 4 includes a first rack 401, an elastic telescopic member 402, a transmission gear 403 and a second rack 404.

[0040] The first rack 401 is fixedly disposed on the base 1. Specifically, the first rack 401 is fixedly disposed at both the front and rear ends of the base 1. The first rack 401 extends in the horizontal direction and the teeth of the first rack 401 face upward.

[0041] like Figure 3 , Figure 13 and Figure 14 As shown, the elastic telescopic member 402 includes a fixed part and a movable part. The fixed part slides with the base 1 in the horizontal direction, and the movable part can elastically extend and retract relative to the fixed part in the vertical direction. Specifically, guide rails 405 are fixedly installed at both the front and rear ends of the base 1. The fixed part is provided with two guide grooves 406 distributed vertically. The two guide grooves 406 are slidably sleeved on the outside of the first rack 401 and the outside of the guide rails 405, respectively, so that the elastic telescopic member 402 can move relative to the base 1 in the horizontal direction.

[0042] like Figure 13 and Figure 14 As shown, a specific structure of the elastic telescopic member 402 is as follows: the elastic telescopic member 402 includes a guide sleeve 4021, a telescopic rod 4022, a cavity 4023, and an elastic element 4024.

[0043] like Figure 15 As shown, the guide sleeve 4021 is sleeve-shaped and constitutes the fixed part. A vertical guide hole 4025 is provided inside the guide sleeve 4021. The telescopic rod 4022 constitutes the movable part. The telescopic rod 4022 is square tube-shaped and is located inside the guide hole 4025, so that the telescopic rod 4022 is set in the guide sleeve 4021, and the lower end of the telescopic rod 4022 extends out of the fixed part.

[0044] like Figure 14 and Figure 15As shown, a cavity 4023 is disposed inside the telescopic rod 4022, and an elastic element 4024 is disposed within the cavity 4023. The top and bottom ends of the elastic element 4024 are respectively connected to the guide sleeve 4021 and the bottom wall of the cavity 4023, providing an elastic force for the telescopic rod 4022 to extend downward. Specifically, a connecting block 4026 is fixedly disposed within the guide hole 4025, with both ends of the connecting block 4026 fixedly connected to the side wall of the guide hole 4025. The connecting block 4026 extends into the cavity 4023 of the telescopic rod 4022, and the outer contour of the connecting block 4026 is adapted to the cross-sectional shape of the cavity 4023, allowing the connecting block 4026 to slide relative to the cavity 4023. The elastic element 4024 is a spring, and a portion of the elastic element 4024 is located in the overlapping area of ​​the fixed and movable parts, which has the advantage of reducing the overall length of the elastic telescopic component 402.

[0045] like Figure 3 and Figure 14 As shown, the transmission gear 403 is rotatably mounted on the fixed part and meshes with the first rack 401. The second rack 404 is fixedly mounted on the movable part and meshes with the transmission gear 403—specifically, the second rack 404 is vertically arranged and offset from the first rack 401 in the front-rear direction of the base 1. When the movable part moves up and down relative to the fixed part, the second rack 404 drives the transmission gear 403 to rotate.

[0046] like Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the cleaning mechanism 3 is installed at the bottom of the movable part. When the base 1 descends and the cleaning mechanism 3 contacts the crest of the corrugated steel plate, the cleaning mechanism 3 is pushed upward by the crest, forcing the movable part to compress upward relative to the fixed part. The movable part drives the transmission gear 403 to roll on the first rack 401 via the second rack 404, causing the cleaning mechanism 3 to move laterally relative to the base 1 to leave the magnetic pole 2 region. See also Figure 3 and Figure 7 In this embodiment, the cleaning mechanism 3 includes a support plate 301, a brush roller 302, and a drive motor 303. The support plate 301 is fixedly connected to the bottom end of the movable part, the brush roller 302 is rotatably mounted on the support plate 301, and the drive motor 303 is mounted on the support plate 301 to drive the brush roller 302 to rotate.

[0047] Work process: Initial state: The substrate 1 is located above the crest of the corrugated steel plate. At this time, under the elastic force of the elastic element 4024, the movable part is in the extreme position of extending downwards, the cleaning mechanism 3 is located on both sides of the middle part below the magnetic pole 2, and the two cleaning mechanisms 3 are close to each other, and the height of the brush roller 302 is lower than the lowest point of the magnetic pole 2.

[0048] Contact with the corrugated steel plate crest stage: The excavator is operated to move the base 1 downwards as a whole. When the brush roller 302 first contacts the tip of the corrugated steel plate crest, the crest generates an upward thrust on the brush roller 302. This thrust is transmitted to the moving part through the support plate 301, forcing the moving part to overcome the elastic force of the elastic element 4024, causing the moving part to move upwards relative to the fixed part and compress the elastic element 4024.

[0049] Adaptive lateral movement phase: As the moving part moves upward, the second rack 404 moves upward accordingly. The second rack 404 drives the transmission gear 403 to rotate. While rotating, the transmission gear 403 rolls along the first rack 401. This rolling motion causes the elastic telescopic member 402 and the cleaning mechanism 3 to move laterally (i.e., away from the center line of the wave crest) relative to the base 1.

[0050] Assuming the upward compression distance of the moving part is Δy, and the pitch circle radius of the transmission gear 403 is r, then the gear rotation angle θ = Δy / r; since the transmission gear 403 rolls on the first rack 401, its horizontal movement distance Δx = θ·r = Δy. Therefore, Δx = Δy, that is, the horizontal lateral movement distance of the cleaning mechanism 3 is equal to the compression distance of the moving part during the descent of the base 1.

[0051] Cleaning and Clearance: As the substrate 1 continues to descend, the brush roller 302 rotates under the drive of the motor 303, cleaning the top and sides of the corrugated steel plate crests. Simultaneously, the brush roller 302 continuously moves horizontally outward, gradually moving away from the area directly below the magnetic pole 2. When the substrate 1 descends to its lowest position (i.e., the magnetic pole 2 is completely covered by the corrugated steel plate crests), the horizontal lateral movement distance Δx of the cleaning mechanism 3 reaches its maximum value. This distance is greater than half the width of the magnetic pole 2; therefore, the brush roller 302 has completely moved out of the coverage area of ​​the magnetic pole 2 and fallen into the adjacent trough, without interfering with the magnetic pole 2's adsorption of the corrugated steel plate crests.

[0052] Adsorption Phase: After cleaning, the electrical control unit outputs a positive current pulse to the excitation coil inside magnetic pole 2, causing magnetic pole 2 to generate a strong magnetic field that attracts the corrugated steel sheet. Subsequently, the excavator lifts the device to complete the hoisting.

[0053] Reset phase: When the magnetic force of the magnetic pole 2 disappears and the device separates from the corrugated steel plate, during the rising process of the base 1, the elastic element 4024 pushes the movable part to reset downwards, and at the same time the transmission gear 403 rotates in the opposite direction, driving the cleaning mechanism 3 to move inwards horizontally and return to the initial state.

[0054] Based on the above implementation method, the following optimizations can be made: like Figure 14 and Figure 15As shown, the transmission gear 403 includes a first gear body 4031, a second gear body 4032, and a rotating shaft 4033. The first gear body 4031 and the second gear body 4032 are both fixedly connected to the outside of the rotating shaft 4033. The rotating shaft 4033 is rotatably mounted on the fixed part. The first gear body 4031 meshes with the first rack 401, and the second gear body 4032 meshes with the second rack 404. The diameter of the first gear body 4031 is larger than the diameter of the second gear body 4032.

[0055] At this point, Δx = (r1 / r2)·Δy, where r1 is the pitch circle radius of the first gear body 4031 and r2 is the pitch circle radius of the second gear body 4032. By selecting an appropriate diameter ratio, Δx > Δy can be achieved, thus better adapting to the side surfaces of wave crests with different tilt angles.

[0056] like Figure 1 and Figure 13 As shown, a corrugated steel sheet electro-permanent magnet gripping device further includes a synchronization plate 11, which is sleeved on the side of the base 1; the top of the movable part passes through the fixed part, and the top of the movable parts located at both ends of the cleaning mechanism 3 are fixedly connected to the synchronization plate 11. When the base 1 descends, the synchronization plate 11 ensures that the movable parts at both ends move synchronously, preventing the cleaning mechanism 3 from tilting.

[0057] The electro-permanent magnet gripping device for corrugated steel sheets provided in this embodiment converts the vertical motion of the base 1 descending into the horizontal movement of the cleaning mechanism 3 through the adaptive lateral movement mechanism 4, realizing automated operation of "pressing down to clean and cleaning to move aside". The entire process requires no additional sensors or independent power source, is purely mechanically linked, has high reliability, and is particularly suitable for the adsorption and gripping operation of corrugated steel sheets by construction machinery such as excavators in dusty environments.

[0058] like Figure 8 and Figure 9 As shown, each cleaning mechanism 3 includes a brush roller 302 comprising a roller shaft 3021, a fixed brush body 3022, a movable brush body 3023, and a spindle 3024.

[0059] The roller shaft 3021 is rotatably mounted on the support plate 301. In the front-rear direction of the base 1, both ends of the roller shaft 3021 are rotatably engaged with the two support plates 301 respectively. The roller shaft 3021 is connected to the drive motor 303, which drives the roller shaft 3021 to rotate. Specifically, the roller shaft 3021 can be rotatably mounted on the support plate 301 via bearings, and one end is fixedly connected to the output shaft of the drive motor 303. The roller shaft 3021 has a hollow structure and an axial hole inside.

[0060] Multiple sets of fixed brush bodies 3022 are axially fixedly disposed on the surface of the roller shaft 3021. Specifically, the fixed brush bodies 3022 are multiple sets of bristle bundles fixed to the outer surface of the roller shaft 3021. Each set of fixed brush bodies 3022 is arranged in a ring along the axial direction of the roller shaft 3021, and the multiple sets of fixed brush bodies 3022 are evenly arranged at predetermined intervals in the axial direction. The bristles of the fixed brush bodies 3022 extend radially outward, and their length is determined according to the crest height and cleaning requirements. In this embodiment, the fixed brush bodies 3022 can be fixed to the surface of the roller shaft 3021 by bonding or embedding, and cannot move axially.

[0061] like Figure 9 and Figure 10 As shown, multiple sets of movable brush bodies 3023 are slidably arranged along the axial direction on the surface of the roller shaft 3021; ​​the fixed brush bodies 3022 and movable brush bodies 3023 are staggered along the axial direction of the roller shaft 3021, and the fixed brush bodies 3022 and movable brush bodies 3023 are staggered relative to each other in the circumferential direction of the roller shaft 3021. Specifically, the movable brush body 3023 also consists of multiple sets of bristle bundles. Multiple elongated grooves 3025 are formed along the axial direction on the surface of the roller shaft 3021. A slider 3026 is fixedly installed at the root of the movable brush body 3023. The slider 3026 slides in engagement with the elongated grooves 3025, and the inner end of the slider 3026 passes through the elongated grooves 3025 and is fixedly connected to the internal spindle 3024, so that it can slide along the axial direction together with the spindle 3024. The bristle length and distribution density of the movable brush body 3023 are the same as those of the fixed brush body 3022.

[0062] The mandrel 3024 is axially slidably disposed inside the roller 3021, and the movable brush body 3023 is fixedly connected to the mandrel 3024. Specifically, the mandrel 3024 and the roller 3021 are slidably disposed coaxially in the axial hole inside the roller 3021, and the outer diameter of the mandrel 3024 and the inner diameter of the axial hole form a clearance fit to ensure smooth axial movement. The end of the mandrel 3024 away from the drive motor 303 extends out of the end of the roller 3021, and the end of the mandrel 3024 facing the drive motor 303 is located inside the roller 3021.

[0063] like Figure 3 , Figure 4 , Figure 9 and Figure 10 As shown, a steel corrugated plate electro-permanent magnet gripping device also includes two sets of adjustment mechanisms 5. When the two brush rollers 302 approach each other in the radial direction, the two sets of adjustment mechanisms 5 drive the two spindles 3024 to move in opposite directions by the same distance, so that the fixed brush body 3022 and the movable brush body 3023 on each roller 3021 are aligned in the axial direction.

[0064] When the two brush rollers 302 are not radially close, the fixed brush body 3022 and the movable brush body 3023 are staggered along the axial direction of the roller shaft 3021, which can clean the lateral slope of the wave crest from all directions. Figure 7 As shown, when the two brush rollers 302 approach each other at the crest, the fixed brush body 3022 and the movable brush body 3023 on one brush roller 302 can be respectively embedded in the corresponding gap of the other brush roller 302, avoiding the bristles from squeezing and tangling with each other, thus ensuring the smoothness of the cleaning process.

[0065] like Figure 4 , Figure 9 and Figure 11 As shown, the adjustment mechanism 5 includes a mounting sleeve 501, a movable sleeve 502, an outer rotating sleeve 503, an adjustment gear 504, an adjustment toothed plate 505, and a return spring 506. Since the two brush rollers 302 are symmetrically arranged, the adjustment mechanism 5 is also symmetrically arranged. In the front-rear direction of the base 1, the adjustment mechanism 5 and the drive motor 303 are located on opposite sides of the base 1, i.e., the drive motor 303 is located at the rear end of the base 1, and the adjustment mechanism 5 is located at the front end of the base 1.

[0066] like Figure 4 and Figure 11 As shown, the mounting sleeve 501 is fixedly installed at the bottom of the movable part—specifically, one end of the mounting sleeve 501 is fixedly connected to the support plate 301, and the mounting sleeve 501 can move up and down and horizontally together with the cleaning mechanism 3. The mounting sleeve 501 is provided with a sliding groove 509 extending axially along the spindle 3024; like Figure 11 and Figure 12 As shown, the movable sleeve 502 is slidably installed inside the mounting sleeve 501 along the axial direction of the mandrel 3024, and the movable sleeve 502 is rotatably sleeved on the end of the mandrel 3024. The surface of the movable sleeve 502 is provided with a spiral groove 507—specifically, the movable sleeve 502 is cylindrical, and the movable sleeve 502 is slidably engaged with the sliding groove 509 of the mounting sleeve 501, allowing it to move axially but not rotate. One end of the movable sleeve 502 can be rotatably sleeved on the end of the mandrel 3024 via a bearing, that is, the movable sleeve 502 and the mandrel can rotate relative to each other, but their axial relative positions are fixed. like Figure 11 As shown, the outer rotating sleeve 503 is rotatably mounted on the mounting sleeve 501, and the outer rotating sleeve 503 is threaded onto the outside of the movable sleeve 502. The inner wall of the outer rotating sleeve 503 is provided with balls 508 that slide in conjunction with the spiral groove 507. Specifically, the outer rotating sleeve 503 is cylindrical, and the movable sleeve 502 can move axially inside the outer rotating sleeve 503. The outer rotating sleeve 503 is rotatably mounted on the mounting sleeve 501, for example, supported by a bearing, so that it can rotate around its own axis but cannot move axially.

[0067] like Figure 4 and Figure 9As shown, the adjusting gear 504 is fixedly sleeved on the outside of the outer rotating sleeve 503, and is used to drive the outer rotating sleeve 503 to rotate; the adjusting toothed plate 505 slides in engagement with the support plate 301 in the horizontal plane—specifically, the adjusting toothed plate 505 and the mounting sleeve 501 slide in engagement in the horizontal plane. A rack portion is provided on one side of the adjusting toothed plate 505, which meshes with the adjusting gear 504. The other end of the adjusting toothed plate 505 is a free end, facing the other brush roller 302.

[0068] like Figure 4 As shown, the reset spring 506 is located between the adjusting toothed plate 505 and the support plate 30. Specifically, the reset spring 506 always pushes the adjusting toothed plate 505 toward the other brush roller 302 (i.e., toward the inward side).

[0069] When the two brush rollers 302 approach each other radially, the free ends of the two adjusting tooth plates 505 press against each other, and the two adjusting tooth plates 505 move in opposite directions. At this time, the return spring 506 is compressed. During the movement of the adjusting tooth plates 505, the toothed part of the adjusting tooth plates 505 drives the adjusting gear 504 to rotate. The adjusting gear 504 drives the outer rotating sleeve 503 to rotate. The outer rotating sleeve 503 drives the moving sleeve 502 to move axially through the ball bearings 508 and the spiral groove 507. The moving sleeve 502 drives the spindle 3024 to move axially, thereby adjusting the movable brush body 3023 to be flush with the fixed brush body 3022 in the axial direction.

[0070] The following explains how the adjusting mechanism 5 drives the spindle 3024 to move when the two brush rollers 302 are radially close together, so that the fixed brush body 3022 is flush with the movable brush body 3023: (1) When the two brush rollers 302 are located on both sides of the center line of the wave crest and are far apart from each other, the adjusting tooth plate 505 is in the position of extending inward under the action of the return spring 506, the adjusting gear 504 is not driven, the spindle 3024 is in the initial axial position, and the fixed brush body 3022 and the movable brush body 3023 on the roller shaft 3021 are staggered in the axial direction and staggered in the circumferential direction.

[0071] (2) Radial approach process: When the two brush rollers 302 gradually move towards the center line of the wave crest under the drive of the adaptive transverse mechanism 4 (i.e., radially approach each other), when the distance between the two brush rollers 302 decreases to a certain extent, the left adjusting toothed plate 505 and the right adjusting toothed plate 505 come into contact with each other and begin to squeeze. Since the two adjusting toothed plates 505 are symmetrically arranged, they are subjected to equal and opposite squeezing forces, which force the two adjusting toothed plates 505 to move outwards at the same time. At this time, the two outer rotating sleeves 503 rotate synchronously in opposite directions.

[0072] Since the spiral grooves 507 on the surfaces of the two movable sleeves 502 have the same spiral direction, when the left movable sleeve 502 moves backward in the front-rear direction of the base 1, the right movable sleeve 502 moves forward in the front-rear direction of the base. This causes the left mandrel 3024 to move towards the rear of the base 1, and the right mandrel 3024 to move towards the front of the base 1.

[0073] (3) Alignment: When the two brush rollers 302 are completely radially close (i.e., reach the cleaning position at the crest top), the spindle 3024 moves a preset distance, which is exactly equal to the axial distance between the two adjacent fixed brush bodies 3022. At this time, the movable brush body 3023 moves from the original "staggered position" to a position flush with the fixed brush body 3022 under the drive of the spindle 3024. That is, the movable brush body 3023 and the adjacent fixed brush body 3022 are in the same plane in the axial direction, and the two together form a continuous and fully covered bristle surface in the circumferential direction. At the same time, the bristle surfaces formed by the fixed brush body 3022 and the movable brush body 3023 on the two brush rollers 302 are staggered in the axial direction of the roller shaft 3021, so that when the brush rollers 302 rotate, the bristles on the two roller shafts 3021 will not squeeze and deform against each other.

[0074] The bristle length is set so that, in the above-mentioned flush state, the bristles cover the crest of the wave. Thus, when cleaning the crest of the wave, the bristles on the two brush rollers 302 are staggered along the axial direction of the roller shaft 3021, making the distance between the two brush rollers 302 smaller and enabling better cleaning of the crest of the wave.

[0075] When the base 1 descends and the two brush rollers 302 move away from each other, the reset spring 506 pushes the adjusting tooth plate 505 to reset inward, causing the spindle 3024 to retract, so that the movable brush body 3023 returns to the staggered position. At this time, the fixed brush body 3022 and the movable brush body 3023 on the two roller shafts 3021 fully cover the roller shafts 3021 in the axial direction, thereby improving the lateral slope effect of cleaning the wave crest.

[0076] By setting the aforementioned adjustment mechanism 5, the following is achieved: 1. When the two brush rollers 302 approach each other radially, the bristles automatically switch from an "interlaced distribution" to an "aligned distribution" in the axial direction, avoiding bristle interference during initial approach and ensuring continuous full coverage of the wave crest surface during cleaning. 2. The adjustment mechanism 5 utilizes the mechanical movement of the brush rollers 302 approaching radially as the driving force, requiring no additional sensors or motors, making it reliable and suitable for harsh working conditions. 3. Precise synchronization: The symmetrical pressing of the two adjustment toothed plates 505 ensures that the two spindles 3024 move in opposite directions at equal distances, making the brush bodies of the left and right brush rollers 302 move in an aligned and synchronized manner, avoiding uneven cleaning or interference caused by asynchrony.

[0077] like Figure 1 , Figure 3 , Figure 5 and Figure 16 As shown, a corrugated steel plate electro-permanent magnet gripping device further includes an isolation cover 6, a locking plate 7, and a locking rod 9. Two isolation covers 6 are provided, one on the left and one on the right of the base 1, respectively. The tops of the two isolation covers 6 are rotatably engaged with the base 1—specifically, the top of each isolation cover 6 is rotatably connected to the side wall of the base 1 via a hinge, allowing the isolation cover 6 to swing about the hinge in a vertical plane. The height of the isolation cover 6 is greater than the height of the brush roller 302. The side wall of the base 1 is adapted to fit the isolation cover 6, and the side wall of the base 1 always adheres to the inner surface of the isolation cover 6 to ensure that the magnetic pole 2 and the brush roller 302 are completely shielded in the closed state. The isolation cover 6 is preferably made of lightweight, high-strength engineering plastic or aluminum alloy, with a smooth inner surface and an outer surface that can be coated with an anti-stick coating.

[0078] like Figure 3 and Figure 16 As shown, the locking plate 7 is vertically mounted on the surface of the base 1. Locking grooves 8 are provided on both sides of the locking plate 7. Specifically, the locking plate 7 is located at the front and rear ends of the base 1. Vertical guide rails 12 are fixedly mounted at the middle of both ends of the base 1. The locking plate 7 is slidably sleeved on the outside of the vertical guide rails 13, allowing the locking plate 7 to move up and down vertically. A locking groove 8 is provided on each of the left and right sides of the locking plate 7, with the opening of the locking groove 8 facing downwards. The lower end of the locking plate 7 extends below the magnetic pole 2, used to contact the crest of the corrugated steel plate when the base 1 descends.

[0079] Locking rod 9 is fixedly installed on isolation cover 6. Specifically, locking rod 9 is fixedly installed on the surface of each isolation cover 6 and on the side close to the center line of the wave crest. In the front-back direction, locking rod 9 is located on the side of isolation cover 6 away from the base 1.

[0080] The isolation cover 6 has a free state and a closed state; when the isolation cover 6 is in the free state, the side of the isolation cover 6 facing the wave crest is located in the lateral slope area of ​​the wave crest, and the locking rod 9 is located outside the locking groove 8; when the isolation cover 6 is in the closed state, the two isolation covers 6 surround the magnetic pole 2, the locking rod 9 is engaged in the locking groove 8, and there is a sufficient gap between the bottom of the isolation cover 6 and the brush roller 302 to allow the brush roller 302 to move horizontally under the drive of the adaptive transverse mechanism 4 without interfering with the isolation cover 6; When the two brush rollers 302 approach each other radially, the fixed part pushes the locking rod 9 to switch the isolation cover 6 from the free state to the closed state, and the fixed part pushes the locking rod 9 into the locking groove 8; When the isolation cover 6 descends with the base 1 in the closed state, the locking plate 7 is pushed upward by the crest of the corrugated steel plate. Before the isolation cover 6 contacts the top of the crest of the corrugated steel plate, the locking groove 8 separates from the locking rod 9 by moving upward with the locking plate 7, thereby allowing the isolation cover 6 to switch to the free state.

[0081] 1. In the free state, the isolation shield 6 is not locked and can swing freely around the hinge. At this time, the side of the isolation shield 6 facing the wave crest hangs down naturally and is located in the lateral slope area of ​​the wave crest (that is, the lower edge of the isolation shield 6 is roughly along the slope direction of the wave crest).

[0082] 2. When the isolation covers 6 are closed, the two isolation covers 6 completely surround the magnetic pole 2 (i.e., the magnetic pole 2 is located within the enclosed space formed by the two isolation covers 6). At this time, the locking rod 9 engages with the locking groove 8 of the locking plate 7, locking the isolation covers 6 in the closed position to prevent them from opening accidentally. In the closed state, the lower edge of the isolation covers 6 is higher than the bottom of the brush roller 302, thus effectively preventing dust from contacting the magnetic pole 2 during the cleaning process.

[0083] 3. Switching from free state to closed state – in conjunction with the radial approach of brush roller 302: When the two brush rollers 302 approach each other radially (i.e., the adaptive transverse mechanism 4 drives the brush rollers 302 to move towards the center line of the wave crest), the fixed part will synchronously push the locking rod 9, so that the isolation cover 6 switches from the free state to the closed state.

[0084] The specific process is as follows: (1) When the two brush rollers 302 are in a position far apart from each other, the isolation cover 6 is in a free state and the locking rod 9 is not pushed.

[0085] (2) Radial approach process: Under the elastic action of the elastic element 4024 in the adaptive transverse mechanism 4 and the action of the self-gravity of the cleaning mechanism 3, the moving part will move downward relative to the fixed part, so that the driving cleaning mechanism 3 moves towards the center line of the wave crest.

[0086] As the two brush rollers 302 gradually approach each other, the outer wall of the fixed part contacts the side of the locking rod 9, and as the fixed part continues to move, it pushes the locking rod 9 to swing inward. The locking rod 9 drives the isolation cover 6 to rotate inward around the hinge. When the locking rod 9 rotates inward, it lifts the locking plate 7 through the area of ​​the upper locking plate 7 located below the locking groove 8.

[0087] (3) Closure and locking: When the two brush rollers 302 are completely radially close (i.e., reach the cleaning position at the top of the wave crest), the fixed part pushes the locking rod 9 to the limit position. At this time, the isolation cover 6 is completely closed and surrounds the magnetic pole 2. At the same time, the locking rod 9 moves to the bottom of the locking groove 8, the locking plate 7 is lowered by gravity and puts on the locking rod 9. The locking rod 9 is engaged with the locking groove 8, and the isolation cover 6 is locked in the closed state.

[0088] 4. Switching from the closed state to the free state – in conjunction with the descent of base 1: (1) When the isolation cover 6 is in the closed state and continues to descend with the base 1, the locking plate 7 will first contact the top of the corrugated steel plate crest, thereby triggering unlocking—specifically: as the base 1 continues to descend, the lower end of the locking plate 7 first contacts the top of the corrugated steel plate crest. The crest exerts an upward thrust on the locking plate 7, forcing the locking plate 7 to move upward relative to the base 1, and the locking groove 8 moves upward synchronously with the locking rod 7, so that the locking groove 8 gradually disengages from the locking rod 9. After the locking plate 7 moves upward a certain distance, the locking rod 9 completely exits the locking groove 8, and the locking rod 9 loses its constraint.

[0089] (2) Isolation cover 6 opens: After the locking rod 9 is unlocked, the isolation cover 6 is no longer constrained by the locking groove 8. At this time, the isolation cover 6 swings outward under its own weight and switches to a free state.

[0090] It is important to note that the locking plate 7 is designed to trigger unlocking by moving upwards before the isolation cover 6 contacts the crest of the corrugated steel plate. In other words, the locking plate 7 has already completed its upward unlocking before the lower end of the isolation cover 6 contacts the crest, and the isolation cover 6 has already opened in advance. In this way, the isolation cover 6 will not have a rigid collision with the crest, but will open naturally, making room for the magnetic pole 2 to fit into the crest.

[0091] By setting the isolation cover 6 as described above: 1. The closing and opening of the isolation cover 6 depends entirely on the radial movement of the brush roller 302 and the downward movement of the base 1, requiring no additional sensors or actuators, resulting in a simple and reliable structure. 2. The closing action of the isolation cover 6 is synchronized with the approach of the brush roller 302, ensuring that the magnetic pole 2 is completely isolated during the cleaning process; the opening action is synchronized with the contact crest of the locking plate 7, ensuring that the isolation cover 6 has made room before the magnetic pole 2 is inserted, thus preventing interference with adsorption. 3. During the cleaning process, the engagement between the locking rod 9 and the locking groove 8 ensures that the isolation cover 6 will not be accidentally opened due to vibration or external force, effectively preventing dust pollution.

[0092] like Figure 1 , Figure 3 , Figure 5 and Figure 16 As shown, a corrugated steel plate electro-permanent magnet gripping device further includes an elastic telescopic rod 10, which is connected between the base 1 and the isolation cover 6 to keep the isolation cover 6 in a free state; when the isolation cover 6 is in the closed state, the elastic telescopic rod 10 is stretched. Specifically, one end of the elastic telescopic rod 10 is rotatably engaged with the base 1, and the other end of the elastic telescopic rod 10 is rotatably engaged with the isolation cover 6. When the isolation cover 6 is in a free state, the elastic telescopic rod 10 is at its natural length; when the isolation cover 6 is forcibly swung inward to the closed state, the elastic telescopic rod 10 is stretched, storing elastic potential energy.

[0093] When the isolation shield 6 is in a free state, the side of the isolation shield 6 closest to the lateral slope of the wave crest can contact the lateral slope of the wave crest. When the isolation shield 6 moves downward on the lateral slope of the wave crest, the lateral slope of the wave crest pushes the isolation shield 6 to swing away from the side of the corrugated steel wave crest, causing the elastic telescopic rod 10 to be compressed.

[0094] 1. When the isolation cover 6 is in a free state, due to the presence of the elastic telescopic rod 10, even if it is subjected to vibration or unexpected external force, the isolation cover 6 will not easily swing inward, thereby ensuring the reliability of the exposure of the magnetic pole 2 or subsequent actions in a non-clean state.

[0095] 2. When the two brush rollers 302 approach each other radially, the fixed part pushes the locking rod 9, forcing the isolation cover 6 to swing inward to the closed state against the tension of the elastic telescopic rod 10. At this time, the elastic telescopic rod 10 is stretched stepwise, storing a large amount of elastic potential energy. When the subsequent locking rod 9 is locked by the locking groove 8, the tension of the elastic telescopic rod 10 is balanced by the locking mechanism, and the isolation cover 6 remains closed.

[0096] 3. When the isolation cover 6 is in the closed state and descends with the base 1, and the locking rod 9 disengages from the locking groove 8, the isolation cover 6 swings outward under the pulling force of the elastic telescopic rod 10, and the lower end of the isolation cover 6 contacts the lateral slope of the wave crest. As the base 1 continues to descend, the lateral slope of the wave crest generates a normal reaction force on the isolation cover 6. The horizontal component of this reaction force pushes the isolation cover 6 outward (i.e., away from the wave crest). As the base 1 descends further, the isolation cover 6 rolls downward along the lateral slope of the wave crest, and the lateral slope of the wave crest continues to push the isolation cover 6 outward. During this process, the elastic telescopic rod 10 is gradually compressed. The isolation cover 6 smoothly opens to its maximum position, making room for the magnetic pole 2 to fit into the wave crest. When the base 1 descends to its lowest point, the isolation cover 6 has been completely pushed open, and its lower end is located in the trough region, which will not interfere with the attraction of the magnetic pole 2.

[0097] 4. When the adsorption is completed and the substrate 1 rises, the isolation cover 6 gradually swings inward under the thrust of the elastic telescopic rod 10, returning to a free state.

[0098] This embodiment, by incorporating the elastic telescopic rod 10, ensures that the isolation cover 6 will not close accidentally when not in operation, thus improving the reliability and safety of the device. Utilizing the contact between the isolation cover 6 and the wave crest slope, the vertical motion of the base 1 descending is converted into the driving force for the isolation cover 6 to swing outwards, achieving automatic and sequential opening of the isolation cover 6 without the need for an additional power source. The opening action of the isolation cover 6 is naturally coordinated with the action of the magnetic pole 2 fitting into the wave crest, ensuring that the isolation cover 6 has fully yielded its position before the magnetic pole 2 contacts the wave crest, avoiding interference.

[0099] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A steel corrugated sheet electro-permanent magnet adsorption gripping device, comprising a base (1), magnetic poles (2) disposed at the bottom of the base (1) for attaching the corrugated steel sheet crests, and a cleaning mechanism (3) for cleaning the surface of the corrugated steel sheet crests, characterized in that, Also includes: An adaptive lateral movement mechanism (4) is disposed between the two ends of the substrate (1) and the cleaning mechanism (3), the adaptive lateral movement mechanism (4) comprising: The first rack (401) is fixedly disposed on the base (1); The elastic telescopic component (402) includes a fixed part and a movable part. The fixed part slides with the base (1) in the horizontal direction, and the movable part is capable of elastic extension and retraction in the vertical direction relative to the fixed part. The transmission gear (403) is rotatably mounted on the fixed part and meshes with the first rack (401); The second rack (404) is fixedly mounted on the movable part and meshes with the transmission gear (403); The cleaning mechanism (3) is installed at the bottom of the movable part; When the base (1) descends and the cleaning mechanism (3) contacts the crest of the corrugated steel plate, the cleaning mechanism (3) is pushed upward by the crest, forcing the movable part to compress upward relative to the fixed part. The movable part drives the transmission gear (403) to roll on the first rack (401) through the second rack (404), causing the cleaning mechanism (3) to move laterally relative to the base (1) to leave the magnetic pole (2) area.

2. The electro-permanent magnet adsorption and gripping device for corrugated steel plates according to claim 1, characterized in that, The cleaning mechanism (3) includes: Support plate (301) is fixedly connected to the bottom end of the movable part; The brush roller (302) is rotatably mounted on the support plate (301); A drive motor (303) is mounted on the support plate (301) and is used to drive the brush roller (302) to rotate.

3. The electro-permanent magnet gripping device for corrugated steel plates according to claim 2, characterized in that, There are two cleaning mechanisms (3). The two cleaning mechanisms (3) are symmetrically arranged on both sides of the base (1). In the initial state, the two cleaning mechanisms (3) are close to each other and are used to contact the crest of the steel corrugated plate.

4. The electro-permanent magnet gripping device for corrugated steel plates according to claim 3, characterized in that, The brush roller (302) includes: A roller (3021) is rotatably mounted on the support plate (301). The roller (3021) is connected to a drive motor (303), which is used to drive the roller (3021) to rotate. A fixed brush body (3022) is fixedly provided along the axial direction on the surface of the roller (3021); Multiple sets of movable brush bodies (3023) are slidably arranged on the surface of the roller shaft (3021) along the axial direction; the fixed brush bodies (3022) and movable brush bodies (3023) are staggered in the axial direction of the roller shaft (3021), and the fixed brush bodies (3022) and movable brush bodies (3023) are staggered in the circumferential direction of the roller shaft (3021); The mandrel (3024) is axially slidably disposed inside the roller (3021), and the movable brush body (3023) is fixedly connected to the mandrel (3024); The steel corrugated plate electro-permanent magnet gripping device further includes two sets of adjustment mechanisms (5). When the two brush rollers (302) approach each other in the radial direction, the two sets of adjustment mechanisms (5) drive the two spindles (3024) to move in opposite directions by the same distance, so that the fixed brush body (3022) and the movable brush body (3023) on each roller (3021) are aligned in the axial direction.

5. The electro-permanent magnet gripping device for corrugated steel plates according to claim 4, characterized in that, The adjustment mechanism (5) includes: Mounting sleeve (501) is fixedly installed at the bottom end of the movable part; The movable sleeve (502) is slidably installed in the mounting sleeve (501) along the axial direction of the mandrel (3024), and the movable sleeve (502) is rotatably sleeved on the end of the mandrel (3024). The surface of the movable sleeve (502) is provided with a spiral groove (507). The outer rotating sleeve (503) is rotatably mounted on the mounting sleeve (501), and the outer rotating sleeve (503) is threaded onto the outside of the movable sleeve (502). The inner wall of the outer rotating sleeve (503) is provided with balls (508) that slide in cooperation with the spiral groove (507). The adjusting gear (504) is fixedly sleeved on the outside of the outer rotating sleeve (503) and is used to drive the outer rotating sleeve (503) to rotate; Adjusting the toothed plate (505) allows for sliding contact with the support plate (301) on the horizontal plane; A return spring (506) is disposed between the adjusting tooth plate (505) and the support plate (301); When the two brush rollers (302) approach each other in the radial direction, the two adjusting tooth plates (505) press against each other and move in opposite directions. When the adjusting tooth plates (505) move, they drive the moving sleeve (502) to move axially through the adjusting gear (504) and the outer rotating sleeve (503). The moving sleeve (502) drives the spindle (3024) to move axially, thereby adjusting the movable brush body (3023) to be flush with the fixed brush body (3022) in the axial direction.

6. The electro-permanent magnet gripping device for corrugated steel plates according to claim 1, characterized in that, The elastic telescopic member (402) includes: Guide sleeve (4021) constitutes the fixed part; The telescopic rod (4022) constitutes the movable part and is slidably disposed within the guide sleeve (4021); A cavity (4023) is provided inside the telescopic rod (4022); An elastic element (4024) is disposed in the cavity (4023). The top and bottom ends of the elastic element (4024) are respectively connected to the guide sleeve (4021) and the bottom wall of the cavity (4023) to provide elastic force for the telescopic rod (4022) to extend downward.

7. The electro-permanent magnet gripping device for corrugated steel plates according to claim 1, characterized in that, Also includes: Isolation covers (6) are set on both sides of the base (1), and the tops of the two isolation covers (6) are rotatably engaged with the base (1). The height of the isolation covers (6) is greater than the height of the brush roller (302). The locking plate (7) is vertically mounted on the surface of the base (1), and locking grooves (8) are provided on both sides of the locking plate (7). The locking rod (9) is fixedly installed on the isolation cover (6); The isolation cover (6) has a free state and a closed state; when the isolation cover (6) is in the free state, the side of the isolation cover (6) facing the wave crest is located in the lateral slope area of ​​the wave crest, and the locking rod (9) is located outside the locking groove (8); when the isolation cover (6) is in the closed state, the two isolation covers (6) surround the magnetic pole (2), and the locking rod (9) is engaged in the locking groove (8); When the two brush rollers (302) approach each other in the radial direction, the fixed part pushes the locking rod (9) to switch the isolation cover (6) from the free state to the closed state, and the fixed part pushes the locking rod (9) into the locking groove (8); When the isolation cover (6) descends with the base (1) in the closed state, the locking plate (7) is pushed upward by the crest of the corrugated steel plate, so that before the isolation cover (6) contacts the top of the crest of the corrugated steel plate, the locking groove (8) separates from the locking rod (9) by moving upward with the locking plate (7), thereby allowing the isolation cover (6) to switch to the free state.

8. The electro-permanent magnet gripping device for corrugated steel plates according to claim 7, characterized in that, Also includes: An elastic telescopic rod (10) is rotatably connected between the base (1) and the isolation cover (6) to keep the isolation cover (6) in a free state; when the isolation cover (6) is in a closed state, the elastic telescopic rod (10) is stretched. When the isolation cover (6) moves downward on the lateral slope of the crest, the lateral slope of the crest pushes the isolation cover (6) to swing away from the crest of the corrugated steel plate, thereby compressing the elastic telescopic rod (10).

9. The electro-permanent magnet gripping device for corrugated steel plates according to claim 1, characterized in that, The transmission gear (403) includes a first gear body (4031), a second gear body (4032), and a rotating shaft (4033). The first gear body (4031) and the second gear body (4032) are both fixedly connected to the outside of the rotating shaft (4033). The rotating shaft (4033) is rotatably mounted on the fixed part. The first gear body (4031) meshes with the first rack (401), and the second gear body (4032) meshes with the second rack (404). The diameter of the first gear body (4031) is larger than the diameter of the second gear body (4032).

10. The electro-permanent magnet gripping device for corrugated steel plates according to claim 1, characterized in that, It also includes a synchronization plate (11), which is sleeved on the side of the base (1); the top of the movable part passes through the fixed part, and the top of the movable part located at both ends of the cleaning mechanism (3) is fixedly connected to the synchronization plate (11).

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