Sucker device based on magnetic adsorption

Abstract

The utility model relates to the field of machinery, and discloses a suction cup device based on magnetic adsorption, which comprises a connecting end plate, the rotating shaft structures are connected to the lower side of the connecting end plate, and each rotating shaft structure correspondingly comprises a rotating shaft; the number of the adsorption leg structures is the same as that of the rotating shaft structures, and one ends of the adsorption leg structures are fixedly connected with the rotating shafts in the corresponding rotating shaft structures; the other end of the adsorption leg structure is correspondingly and fixedly connected with the universal joint structure; one end, far away from the adsorption leg structure, of the universal joint structure is correspondingly and fixedly connected with the electromagnet. According to the utility model, corresponding adjustment can be automatically carried out according to different specific conditions of the adsorption wall surface, so that the adaptation to different wall surface conditions is realized; in addition, the device is of a full-mechanical structure, only needs to be powered on by an electromagnet, is easy and convenient to control and use, is not prone to damage, has good adaptability to severe working environments, is easy to disassemble and can be suitable for devices needing to be attracted such as mechanical arms of different sizes.

Description

Technical Field

[0001] The utility model relates to the field of machinery, and more specifically, to a suction cup device based on magnetic adsorption. Background Art

[0002] Nowadays, wall-climbing robots are widely used in the painting, cleaning, sandblasting and other occasions of the inner wall of the cabin. The inner wall of the cabin is mostly made of ferroalloy materials with poor flatness and rough surface. Therefore, it is difficult for general wall-climbing robot adsorption devices such as traditional negative pressure adsorption, magnetic adsorption and bionic adsorption to achieve good adsorption effect on the inner wall of the cabin. In addition, the wall-climbing robots required for the cabin are heavy, and traditional adsorption methods are difficult to meet sufficient strength requirements.

[0003] The suction device suitable for the inner wall of the cabin should be able to stably adsorb the wall-climbing robot on the inner wall of the cabin, and can realize the corresponding functions in different terrains, and have sufficient strength. However, the current suction cup devices on the market cannot guarantee the adaptability to uneven terrain or sufficient structural strength. Utility Model Content

[0004] In view of this, the utility model proposes a suction cup device based on magnetic adsorption, and its specific technical solution is as follows:

[0005] A suction cup device based on magnetic adsorption, comprising:

[0006] Connect the end plates to serve as the installation base;

[0007] There are a total of several rotating shaft structures connected to the lower side of the connecting end plate, and each group of the rotating shaft structures includes a corresponding rotating shaft;

[0008] Adsorption leg structures, the number of which is the same as that of the rotating shaft structures, and one end of the adsorption leg structure is fixedly connected to the rotating shaft in the corresponding rotating shaft structure;

[0009] A universal joint structure, the other end of the adsorption leg structure is correspondingly fixedly connected to the universal joint structure;

[0010] An electromagnet, wherein one end of the universal joint structure away from the adsorption leg structure is fixedly connected to the electromagnet.

[0011] Preferably, the universal joint structure comprises:

[0012] An upper connecting column, the other end of the adsorption leg structure is fixedly connected to the upper connecting column;

[0013] A universal joint, wherein one end of the upper connecting column away from the adsorption leg structure is fixedly connected to the universal joint;

[0014] A lower connecting column, one end of the universal joint away from the upper connecting column is correspondingly fixedly connected to the lower connecting column; one end of the lower connecting column away from the universal joint is correspondingly fixedly connected to the electromagnet.

[0015] Preferably, a limiting structure 1 capable of limiting the rotation angle is provided on the universal joint.

[0016] Preferably, each group of the rotating shaft structure corresponds to the rotating shaft and a support seat arranged at both ends of the rotating shaft and fixed to the lower side of the connecting end plate. The end of the rotating shaft is connected to the bearing installed in the support seat, and the bearing is provided with a limiting structure 2 for limiting its rotation angle.

[0017] Preferably, the electromagnet is provided with an anti-skid structure for increasing the friction between the electromagnet and the wall surface.

[0018] Preferably, the anti-skid structure is an adsorption enhancement device for increasing the electromagnet's ability to exert external forces and torques parallel to the adsorption surface; the electromagnet includes a sleeve and a magnetic core disposed in the sleeve, and the sleeve and the magnetic core are connected to the universal joint structure via connecting bolts and mounting screw holes respectively provided thereon; the adsorption enhancement device includes a spring and a friction tip, one end of a plurality of the springs is fixedly connected to the annular outer end surface of the sleeve, and the other end is integrally fixedly connected to a circle of the friction tip, and the outer end surface of the magnetic core in the sleeve must be lower than the outer end of the friction tip.

[0019] Preferably, a reinforcing plate 1 is installed on the connecting end plate to reinforce its own structure, and a reinforcing plate 2 is installed on the adsorption leg structure to reinforce its own structure.

[0020] Preferably, the upper side of the connecting end plate is connected to a mechanical arm of the wall-climbing robot.

[0021] Preferably, the electromagnet is connected to a central controller of the wall-climbing robot via a line.

[0022] The utility model also provides a method for using a suction cup device based on magnetic adsorption, comprising the following steps:

[0023] Step 1: Connect the robot arm to the connecting end plate through bolts to achieve force transmission with the robot arm;

[0024] Step 2: The robotic arm connected to the suction cup device presses the suction cup device toward the wall in a manner parallel to the wall;

[0025] Step 3: Depending on the terrain, multiple adsorption leg structures are adsorbed on the wall with the help of corresponding electromagnets to achieve the adsorption of the robotic arm.

[0026] By adopting the above technical solution, the utility model of a magnetic adsorption-based suction cup device and a method of use can automatically make corresponding adjustments according to the specific conditions of the adsorption wall, so as to adapt to different wall conditions. The device is also a fully mechanical structure, which only requires the electromagnet to be energized, and is simple and convenient to control and use. It is not easy to be damaged, has good adaptability to harsh working environments, and is easy to disassemble, and can be applied to devices that require adsorption, such as mechanical arms of different sizes.

[0027] The utility model is a suction cup device based on magnetic adsorption, which also has the following beneficial effects:

[0028] 1) The adsorption legs can be adjusted to different degrees of wall flatness by floating up and down.

[0029] 2) The suction force of several electromagnets can achieve the effect of locking once adsorbed.

[0030] 3) The electromagnet anti-skid structure can be used to prevent the electromagnet from sliding and rotating on the wall, so that the electromagnet can achieve more stable adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 It is a front view of an embodiment of the suction cup device based on magnetic adsorption of the utility model.

[0033] Figure 2 It is a side view of an embodiment of the suction cup device based on magnetic adsorption of the utility model.

[0034] Figure 3 It is a rear view of an embodiment of the suction cup device based on magnetic adsorption of the utility model.

[0035] Figure 4 This is an axonometric diagram of an embodiment of the suction cup device based on magnetic adsorption of the utility model.

[0036] Figure 5 It is a schematic diagram of the connection between the universal joint structure and the electromagnet of the utility model.

[0037] Figure 6 It is a structural schematic diagram of the adsorption enhancement device on the electromagnet of the utility model.

[0038] In the figure: 1-connecting end plate, 2-rotating shaft structure, 21-rotating shaft, 22-support seat, 3-adsorption leg structure, 4-universal joint structure, 41-upper connecting column, 42-universal joint, 43-lower connecting column, 5-electromagnet, 51-sleeve, 52-mounting screw hole, 6-adsorption enhancement device, 61-spring, 62-friction tip. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] Example:

[0043] like Figure 1-Figure 5 As shown, the utility model is a suction cup device based on magnetic adsorption, comprising a connecting end plate 1, a rotating shaft structure 2, an adsorption leg structure 3, a universal joint structure 4 and an electromagnet 5.

[0044] in,

[0045] The connecting end plate 1 is used as an installation base, the upper side of which is connected to the mechanical arm of the wall-climbing robot, and the lower side is connected to the rotating shaft structure 2.

[0046] The rotating shaft structure 2 is used to rotate the adsorption leg. Specifically, there are several rotating shaft structures 2 and they are all connected to the lower side of the connecting end plate 1. Each set of rotating shaft structures 2 includes a rotating shaft 21 and a support seat 22 provided at both ends of the rotating shaft 21 and fixed to the lower side of the connecting end plate 1. The ends of the rotating shaft 21 are connected to the bearings installed in the support seat 22.

[0047] Furthermore, the bearing is provided with a second limiting structure for limiting its rotation angle, and the second limiting structure can directly apply the existing technical structure, such as the corresponding structures disclosed in the patents with application publication number CN112211912A, the bearing limiting system and limiting method with publication number CN103807300A, etc.

[0048] The adsorption leg structure 3 is used to lift the electromagnet 5 and float up and down to adapt to the terrain, so as to adapt to different degrees of flatness of the wall.

[0049] Specifically, the number of the adsorption leg structures 3 is the same as that of the rotating shaft structure 2 , and one end of the adsorption leg structure 3 is fixedly connected to the rotating shaft 21 in the corresponding rotating shaft structure 2 . The other end of the adsorption leg structure 3 is fixedly connected to the universal joint structure 4 .

[0050] The end of the universal joint structure 4 away from the adsorption leg structure 3 corresponds to the fixed electromagnet 5. The universal joint structure 4 is used to achieve the angle flipping of the electromagnet 5. The electromagnet 5 is connected to the central controller of the wall-climbing robot through a line, and the adsorption and desorption are achieved through instructions. The electromagnet 5 in the utility model is used to provide adsorption capacity to be adsorbed and fixed on the inner wall of the cabin. The suction force of several electromagnets 5 on the suction cup device can achieve a locking effect once adsorbed.

[0051] The universal joint structure 4 in the utility model includes an upper connecting column 41, a universal joint 42 and a lower connecting column 43. The other end of the suction leg structure 3 is fixedly connected to the upper connecting column 41 by bolts; the end of the upper connecting column 41 away from the suction leg structure 3 is fixedly connected to the universal joint 42, specifically, the upper connecting column 41 is axially and circumferentially fixed to the universal joint 42 by a pin control arranged on its lower side; the end of the universal joint 42 away from the upper connecting column 41 is fixedly connected to the lower connecting column 43; specifically, the lower connecting column 43 is axially and circumferentially fixed to the universal joint 42 by a pin control arranged on its upper side, and at the same time, the end of the lower connecting column 43 away from the universal joint 42 is fixedly connected to the electromagnet 5.

[0052] Furthermore, a limit structure 1 capable of limiting the rotation angle is provided on the universal joint 42 to limit the flip angle of the electromagnet 5. The universal joint 42 used in the present utility model is generally a cross-axis rigid universal joint, and the limit structure 1 on the universal joint 42 can directly apply the existing technical structure, such as the corresponding structures disclosed in the patents of the patent application publication number CN214171169U, the universal joint capable of limiting the rotation angle, and the patent application publication number CN217002767U.

[0053] In a specific embodiment of the utility model, there are three groups of rotating shaft structures 2, and the three rotating shaft structures 2 are installed at equal intervals on the outer ring on the lower side of the connecting end plate 1, and then the adsorption leg structure 3, the universal joint structure 4, and the electromagnet 5 are also correspondingly provided in three groups.

[0054] In a further specific embodiment, an anti-skid structure is installed on the electromagnet 5 to increase the friction between the electromagnet 5 and the wall surface. The anti-skid structure can prevent the electromagnet 5 from sliding and rotating on the wall surface, so as to achieve more stable adsorption of the electromagnet 5.

[0055] Since the electromagnet 5 is adsorbed on a plane, the anti-skid effect on the plane or wall relies on friction to resist external disturbances. However, since the size of the electromagnet used in the suction cup device of the utility model is limited and the wall surface is relatively smooth, it is necessary to design an adsorption enhancement device to increase the electromagnet's ability to exert external force and torque parallel to the adsorption surface.

[0056] Specifically, Figure 6 As shown, the anti-skid structure in the utility model is an adsorption enhancement device 6 for increasing the ability of the electromagnet 5 to exert external force and torque parallel to the adsorption surface; the electromagnet 5 includes a sleeve 51 and a magnetic core (not shown in the figure) placed in the sleeve 51, and the sleeve 51 and the magnetic core are connected to the universal joint structure through connecting bolts and mounting screw holes 52 respectively opened thereon; the adsorption enhancement device 6 includes a spring 61 and a friction tip 62, one end of a plurality of springs 61 is fixedly connected to the annular outer end surface of the sleeve 51, and the other end is integrally fixedly connected to a circle of friction tips 62, and the outer end surface of the magnetic core in the sleeve 51 must be lower than the outer end of the friction tip 62.

[0057] The utility model utilizes the suction force of the electromagnet 5, and at the same time adds a circle of friction tips 62 on the outer ring of the electromagnet 5 to increase the friction coefficient, and a spring 61 is connected between the friction tip 62 and the outer ring of the sleeve 51 on the electromagnet 5. When in use, the spring 61 is compressed by the adsorption of the electromagnet 5 and the plane or wall, and the spring 61 presses the friction tip 62 against the wall, thereby improving the adsorption capacity of the entire electromagnet 5, and can effectively improve the resistance of the electromagnet 5 to torque.

[0058] In a further specific embodiment, a reinforcing plate 1 for reinforcing its own structure is installed on the connecting end plate 1. A reinforcing plate 2 for reinforcing its own structure is installed on the adsorption leg structure 3. The reinforcing plate 1 and the reinforcing plate 2 can be fixed to the corresponding connecting end plate 1 and the adsorption leg structure 3 by bolts.

[0059] The utility model discloses a method for using a suction cup device based on magnetic adsorption, comprising the following steps:

[0060] Step 1: Connect the mechanical arm to the connecting end plate 1 by means of bolts to achieve force transmission with the mechanical arm;

[0061] Step 2: The robotic arm connected to the suction cup device presses the suction cup device toward the wall in a manner parallel to the wall;

[0062] Step 3: According to different terrains, multiple adsorption leg structures 3 are adsorbed on the wall surface with the help of corresponding electromagnets 5 to achieve adsorption of the robot arm.

[0063] The suction cup device in this embodiment can use three suction legs as independent suction points, and can be suctioned on three points respectively through the pre-pressure of the robot arm, and the three points are suctioned by independent electromagnets respectively. The three points may not be parallel to the fixed end surface, and can adapt to and stably suction on uneven or inclined wall surfaces when the wall surface inclination does not exceed the device limit. The wall-climbing robot equipped with this suction cup device has lower requirements for the flatness of the wall surface, and can work in places where ordinary wall-climbing robots cannot work normally, such as the inner wall of a cabin, a tower crane, and an offshore drilling platform.

[0064] In general, the utility model is a suction cup device based on magnetic adsorption, which can automatically make corresponding adjustments according to the specific conditions of the adsorption wall surface, so as to adapt to different wall surface conditions. Moreover, the device is a fully mechanical structure, which only requires the electromagnet to be energized, is simple and convenient to control and use, is not easy to be damaged, has good adaptability to harsh working environments, is easy to disassemble, and can be applied to devices that require adsorption, such as mechanical arms of different sizes.

[0065] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0066] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A suction cup device based on magnetic adsorption, characterized in that: include: Connect the end plates to serve as the installation base; There are a total of several rotating shaft structures connected to the lower side of the connecting end plate, and each group of the rotating shaft structures includes a corresponding rotating shaft; Adsorption leg structures, the number of which is the same as that of the rotating shaft structures, and one end of the adsorption leg structure is fixedly connected to the rotating shaft in the corresponding rotating shaft structure; A universal joint structure, the other end of the adsorption leg structure is correspondingly fixedly connected to the universal joint structure; An electromagnet, wherein one end of the universal joint structure away from the adsorption leg structure is fixedly connected to the electromagnet.

2. A suction cup device based on magnetic adsorption according to claim 1, characterized in that: The universal joint structure comprises: An upper connecting column, the other end of the adsorption leg structure is fixedly connected to the upper connecting column; A universal joint, wherein one end of the upper connecting column away from the adsorption leg structure is fixedly connected to the universal joint; A lower connecting column, one end of the universal joint away from the upper connecting column is correspondingly fixedly connected to the lower connecting column; one end of the lower connecting column away from the universal joint is correspondingly fixedly connected to the electromagnet.

3. A suction cup device based on magnetic adsorption according to claim 2, characterized in that: The universal joint is provided with a limiting structure 1 capable of limiting the rotation angle.

4. The suction cup device based on magnetic adsorption according to claim 1, characterized in that: Each group of the rotating shaft structure corresponds to the rotating shaft and a support seat arranged at both ends of the rotating shaft and fixed to the lower side of the connecting end plate. The end of the rotating shaft is connected to the bearing installed in the support seat, and the bearing is provided with a limiting structure 2 for limiting its rotation angle.

5. The suction cup device based on magnetic adsorption according to claim 1, characterized in that: The electromagnet is provided with an anti-skid structure for increasing the friction between the electromagnet and the wall surface.

6. A suction cup device based on magnetic adsorption according to claim 5, characterized in that: The anti-skid structure is an adsorption enhancement device used to increase the electromagnet's ability to withstand external forces and torques parallel to the adsorption surface; the electromagnet includes a sleeve and a magnetic core placed in the sleeve, and the sleeve and the magnetic core are connected to the universal joint structure through connecting bolts and mounting screw holes respectively provided thereon; the adsorption enhancement device includes a spring and a friction tip, one end of a plurality of the springs is fixedly connected to the annular outer end surface of the sleeve, and the other end is integrally fixedly connected to a circle of the friction tip, and the outer end surface of the magnetic core in the sleeve must be lower than the outer end of the friction tip.

7. The suction cup device based on magnetic adsorption according to claim 1, characterized in that: The connecting end plate is provided with a reinforcing plate 1 for reinforcing its own structure, and the adsorption leg structure is provided with a reinforcing plate 2 for reinforcing its own structure.

8. The magnetic suction cup device according to claim 1, characterized in that: The upper side of the connecting end plate is connected to the mechanical arm of the wall-climbing robot.

9. The suction cup device based on magnetic adsorption according to claim 1, characterized in that: The electromagnet is connected to the central controller of the wall-climbing robot through a line.

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