Magnetic assembly, device and robot
Through the coil-controlled magnetic components and buffer parts, the problems of slow magnetic adhesion response speed and complex mechanical structure of climbing robots are solved, and fast and controllable magnetic connections and disengagements are achieved, improving the flexibility and operating time of the robot.
Patent Information
- Application Number
- CN202422078333.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-08-26
AI Technical Summary
In the maintenance of large storage tanks, existing climbing robots have slow magnetic adhesion response speed and complex mechanical structure, which increases the weight and failure rate of the system. The traditional magnetic device requires continuous power supply to limit the operating time and flexibility of the robot.
The magnetic components controlled by coils are used to change the magnetic direction of the magnetic parts by energizing the coil, forming or destroying the magnetic circuit, achieving rapid magnetic charging and demagnetization, enhancing or reducing magnetic suction, and providing stable connections with the buffer.
Fast and controllable magnetic connections and disengagements are achieved, reducing the complexity and failure rate of mechanical structures, and improving the flexibility and operating time of the robot.
Smart Images
Figure CN223167304U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of magnetic attraction, in particular to a magnetic component, a device and a robot. Background Art
[0002] In the related art, a legged robot uses a magnet switch device (MSD) to achieve magnetic field transformation, so that the robot can be demagnetized and magnetized. However, this method has a slow response speed and a relatively complex mechanical structure, which increases the weight and failure rate of the system. Summary of the Utility Model
[0003] In view of this, the utility model provides a magnetic component, a device and a robot, and the magnetic component can achieve rapid magnetization and demagnetization through a coil.
[0004] The utility model provides a magnetic component, including: a first magnetic member, a second magnetic member, a third magnetic member, a fourth magnetic member, a first magnetic conduction medium, a second magnetic conduction medium, a third magnetic conduction medium, a fourth magnetic conduction medium and a coil;
[0005] The first magnetic conduction medium and the second magnetic conduction medium are arranged at intervals along a first direction, and the third magnetic conduction medium and the fourth magnetic conduction medium are arranged at intervals along a direction parallel to the first direction;
[0006] The first magnetic member is clamped between the first magnetic conduction medium and the third magnetic conduction medium, and the second magnetic member is clamped between the second magnetic conduction medium and the fourth magnetic conduction medium;
[0007] The third magnetic member is clamped between the first magnetic conduction medium and the second magnetic conduction medium, and the fourth magnetic member is clamped between the third magnetic conduction medium and the fourth magnetic conduction medium;
[0008] The coil is arranged on the third magnetic member and the fourth magnetic member. When the coil is electrified, the magnetic directions of the third magnetic member and the fourth magnetic member are changed.
[0009] Further, the magnetism of the first magnetic member and the second magnetic member is greater than that of the third magnetic member and the fourth magnetic member.
[0010] Further, the coil is wound around the outer circumferences of the third magnetic member and the fourth magnetic member at intervals.
[0011] Further, the orthographic projection areas of the first magnetic conduction medium, the second magnetic conduction medium, the third magnetic conduction medium and the fourth magnetic conduction medium on a first projection plane are greater than the orthographic projection areas of the first magnetic member, the second magnetic member, the third magnetic member and the fourth magnetic member on the first projection plane;
[0012] The central axes of the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, the fourth magnetic conductive medium, the central axes of the first magnetic member, the second magnetic member, the third magnetic member, and the fourth magnetic member are located at the same horizontal height.
[0013] Further, the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium each have a first surface and a second surface, and the first surface and the second surface are perpendicular to each other;
[0014] The third magnetic member or the fourth magnetic member is clamped between the adjacent first surfaces; the first magnetic member or the second magnetic member is clamped between the adjacent second surfaces.
[0015] Further, the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium each have a third surface; the third surface is perpendicular to the first surface and the second surface, and the third surface is used for connecting with a magnetically attractable accessory.
[0016] Further, it further includes: a buffer member;
[0017] The buffer member has a fourth surface and a fifth surface which are oppositely arranged. The buffer member is arranged on the third surface, the fourth surface is connected to the third surface, and the fifth surface abuts against the magnetically attractable accessory. The buffer member can change the stiffness and damping coefficient of the buffer member according to the magnitude of the magnetic force.
[0018] A magnetic device of the present utility model includes: a housing,
[0019] and the magnetic assembly as described above, and the magnetic assembly is fixedly arranged in the housing.
[0020] Further, the magnetic device further includes a connecting member; the connecting member is arranged on a side of the housing away from the buffer member, and the connecting member is used for connecting with a robot.
[0021] A robot of the present utility model includes a body;
[0022] and the magnetic device as described above.
[0023] The magnetic device further includes a connecting member; the connecting member is arranged on a side of the housing away from the buffer member, and the connecting member is used for connecting with a robot.
[0024] The present utility model further provides a robot, which includes a body and the magnetic device as described above.
[0025] A first magnetic member is disposed between the first magnetic conductive medium and the third magnetic conductive medium in the above magnetic assembly, a third magnetic member is disposed between the first magnetic conductive medium and the second magnetic conductive medium, a second magnetic member is disposed between the second magnetic conductive medium and the fourth magnetic conductive medium, and a fourth magnetic member is disposed between the third magnetic conductive medium and the fourth magnetic conductive medium. Such an arrangement is to enable the first magnetic member, the second magnetic member, the third magnetic member, and the fourth magnetic member to form a magnetic circuit, thereby enhancing the magnetic attraction force on the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium, so that the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium can be more strongly adsorbed on the magnetically attachable member, thereby realizing the connection between the magnetic assembly and the magnetically attachable member. When the first magnetic conductive medium and the second magnetic conductive medium need to be separated from the magnetically attachable member, by supplying power to the coil, the magnetic directions of the third magnetic member and the fourth magnetic member are changed. After the magnetic directions of the third magnetic member and the fourth magnetic member are changed, this will affect the magnetic circuit, so that the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium no longer have magnetic force or the magnetic force weakens, and thus the magnetic assembly can be separated from the magnetically attachable member. When the magnetic assembly needs to be adsorbed again, power is supplied to the coil again to change the magnetic directions of the third magnetic member and the fourth magnetic member, and the magnetic assembly forms a magnetic circuit again. The first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium have magnetic force, and the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium can be connected to the magnetically attachable member. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0027] Figure 1 Structural schematic diagram of the magnetic assembly provided by the embodiment of the present invention;
[0028] Figure 2 Partial exploded view of the magnetic assembly provided by the embodiment of the present invention;
[0029] Figure 3 Structural schematic diagram of the first projection plane of the magnetic assembly provided by the embodiment of the present invention;
[0030] Figure 4 Structural schematic diagram of the buffer member provided by the embodiment of the present invention;
[0031] Figure 5 Structural schematic diagram one of the magnetic device provided by the embodiment of the present invention;
[0032] Figure 6 The second structural schematic diagram of the magnetic device provided by the embodiment of the present utility model;
[0033] Figure 7 The third structural schematic diagram of the magnetic device provided by the embodiment of the present utility model;
[0034] Figure 8 The fourth structural schematic diagram of the magnetic device provided by the embodiment of the present utility model;
[0035] Figure 9 The structural schematic diagram of the robot provided by the embodiment of the present utility model.
[0036] Explanation of reference numerals:
[0037] 100, magnetic component; 10, first magnetic conduction medium; 20, second magnetic conduction medium; 30, third magnetic conduction medium; 40, fourth magnetic conduction medium; 41, first surface; 42, second surface; 43, third surface; 44, buffer; 441, fourth surface; 442, fifth surface; 50, first magnetic member; 60, second magnetic member; 70, third magnetic member; 80, fourth magnetic member; 81, first projection plane; 90, coil; 200, magnetic device; 210, housing; 220, connecting member; 300, robot; 310, body. Specific embodiments
[0038] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0039] The terms "first", "second", etc. in the specification and claims of the present utility model and the above accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.
[0040] References to "embodiments" or "implementations" in this document mean that the specific features, structures, or characteristics described in connection with the embodiments or implementations can be included in at least one embodiment of the present utility model. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.
[0041] With the continuous progress of industrial automation technology, climbing robots are playing an increasingly important role in fields such as building maintenance, bridge inspection, spacecraft servicing, and especially the maintenance of large storage tanks. Such robots can move on vertical or inverted surfaces, enabling them to reach places that are difficult or unsafe for humans to access, facilitating various inspection and maintenance tasks.
[0042] Currently, in the field of large storage tank maintenance, due to the complexity of the tank surface and various obstacles, traditional wheeled climbing robots often cannot effectively overcome obstacles and complete tasks. Although legged robots have improved obstacle-crossing capabilities, their magnetic adhesion response mechanism is usually achieved mechanically. Specifically, it is through a magnet switch device (MSD) to achieve the transformation of the magnetic field, enabling the robot to demagnetize and magnetize. However, this method has a slow response speed, and the complexity of the mechanical structure increases the weight and failure rate of the system. In addition, existing climbing robots rely on different attachment mechanisms such as suction cups, adhesive materials, mechanical claws, or magnetic devices to achieve stable crawling on specific surfaces. Among them, suction cups and adhesive materials are suitable for smooth surfaces but perform poorly on rough or uneven surfaces; mechanical claws can be applied to more types of surfaces but may damage the crawling surface; traditional magnetic devices, such as electromagnets, although able to provide a strong adsorption force on metal surfaces, usually require continuous power supply to maintain the adsorption state, which limits the operation time and flexibility of the robot.
[0043] The legged robots in the related art achieve the transformation of the magnetic field through a magnet switch device (MSD) to enable the robot to demagnetize and magnetize. However, this method has a slow response speed and a relatively complex mechanical structure, which increases the weight and failure rate of the system.
[0044] For the convenience of subsequent description, the first direction described in the present utility model is the X direction as shown in Figure 1 i.e., the direction from left to right or from right to left as shown in Figure 1 The second direction is the Y direction as shown in Figure 1 i.e., the direction from top to bottom or from bottom to top as shown in Figure 1 and Figure 1 and Figure 3The N and S therein represent the south and north poles of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80.
[0045] In view of this, this embodiment provides a magnetic assembly 100, a device, and a robot 300. The magnetic assembly 100 can achieve rapid magnetization and demagnetization through the coil 90.
[0046] Please refer to Figure 1 , a magnetic assembly 100, including: a first magnetic member 50, a second magnetic member 60, a third magnetic member 70, a fourth magnetic member 80, a first magnetic conduction medium 10, a second magnetic conduction medium 20, a third magnetic conduction medium 30, a fourth magnetic conduction medium 40, and a coil 90;
[0047] The first magnetic conduction medium 10 and the second magnetic conduction medium 20 are arranged at intervals along a first direction, and the third magnetic conduction medium 30 and the fourth magnetic conduction medium 40 are arranged at intervals along a direction parallel to the first direction;
[0048] The first magnetic member 50 is clamped between the first magnetic conduction medium 10 and the third magnetic conduction medium 30, and the second magnetic member 60 is clamped between the second magnetic conduction medium 20 and the fourth magnetic conduction medium 40;
[0049] The third magnetic member 70 is clamped between the first magnetic conduction medium 10 and the second magnetic conduction medium 20, and the fourth magnetic member 80 is clamped between the third magnetic conduction medium 30 and the fourth magnetic conduction medium 40;
[0050] The coil 90 is arranged on the third magnetic member 70 and the fourth magnetic member 80. When the coil 90 is powered on, the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80 are changed.
[0051] A first magnetic member 50 is interposed between the first magnetic conductive medium 10 and the third magnetic conductive medium 30 in the above-mentioned magnetic assembly 100, a third magnetic member 70 is interposed between the first magnetic conductive medium 10 and the second magnetic conductive medium 20, a second magnetic member 60 is interposed between the second magnetic conductive medium 20 and the fourth magnetic conductive medium 40, and a fourth magnetic member 80 is interposed between the third magnetic conductive medium 30 and the fourth magnetic conductive medium 40. Such an arrangement is to enable the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 to form a magnetic circuit, thereby enhancing the magnetic attraction force on the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40, so that the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 can be more powerfully adsorbed on the magnetically attractable accessory, and thus the connection between the magnetic assembly 100 and the magnetically attractable accessory is realized. When the first magnetic conductive medium 10 and the second magnetic conductive medium 20 need to be separated from the magnetically attractable accessory, by supplying power to the coil 90, the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80 are changed. After the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80 are changed, this will affect the magnetic circuit, causing the directions of the magnetic induction lines of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 not to pass through the lower surface, so that the magnetic assembly 100 can be separated from the magnetically attractable accessory (such as Figure 3 the magnetic circuit shown). When the magnetic assembly 100 needs to be adsorbed again, power is supplied to the coil 90 again to change the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80, and the magnetic assembly 100 forms a magnetic circuit (such as Figure 1 the magnetic circuit shown). At this time, the magnetic force of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 is enhanced, and the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 can be connected to the magnetically attractable accessory.
[0052] It can be understood that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 are arranged along as Figure 1The first magnetic member 50 is interposed between the first magnetic medium 10 and the third magnetic medium 30, the third magnetic medium 30 and the fourth magnetic medium 40 are arranged along one side parallel to the first magnetic medium 10 and the second magnetic medium 20 (it can be below the first magnetic medium 10 and the second magnetic medium 20, or above the first magnetic medium 10 and the second magnetic medium 20), and the third magnetic member 70 is interposed between the first magnetic medium 10 and the second magnetic medium 20, the second magnetic member 60 is interposed between the second magnetic medium 20 and the fourth magnetic medium 40, and the fourth magnetic member 80 is interposed between the third magnetic medium 30 and the fourth magnetic medium 40. Such an arrangement is to make the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 form a magnetic circuit, which can greatly enhance the magnetic attraction of the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40, so that the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, the fourth magnetic medium 40 and the magnetically attachable member are more stable when adsorbed to the magnetically attachable member.
[0053] It can be understood that coils 90 are arranged on the third magnetic member 70 and the fourth magnetic member 80, and the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80 can be changed by energizing the coils 90. Specifically, the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 are adsorbed on the magnetically attachable member.
[0054] When it is necessary for the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 to be separated from the magnetically attachable member, first supply power to the coils 90 to change the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80. At this time, the magnetic directions of the first magnetic member 50, the second magnetic member 60 and the third magnetic member 70, the fourth magnetic member 80 are as Figure 3As shown, the magnetic component 100 cannot form a magnetic circuit, and the magnetic poles of the two magnetic components connected to the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, or the fourth magnetic conductive medium 40 are the same, causing a change in the magnetic circuit of the magnetic device. Therefore, the magnetic attraction of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 becomes smaller. As a result, the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 can be separated from the magnetically adsorbable surface. When it is necessary to adsorb the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 to the magnetically adsorbable surface, the coil 90 is energized again to change the magnetic direction of the third magnetic component 70 and the fourth magnetic component 80. At this time, the magnetic component 100 forms a magnetic circuit, and the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 have magnetism, that is, they can be adsorbed to the magnetically adsorbable surface. If it is necessary to separate from the magnetically adsorbable surface, the above steps can be repeated.
[0055] Please refer to Figure 1 and Figure 2 , in some embodiments, the magnetism of the first magnetic component 50 and the second magnetic component 60 is greater than the magnetism of the third magnetic component 70 and the fourth magnetic component 80.
[0056] It can be understood that the first magnetic component 50 and the second magnetic component 60 are both strong magnets, the third magnetic component 70 and the fourth magnetic component 80 are soft magnets. The first magnetic component 50 and the second magnetic component 60 are used to provide a stronger magnetic attraction when the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 are adsorbed to the magnetically adsorbable surface. The third magnetic component 70 and the fourth magnetic component 80 are set as weak magnets to facilitate the coil 90 to change the magnetic direction of the third magnetic component 70 and the fourth magnetic component 80, and to facilitate the separation of the above magnetic conductive media from the magnetically adsorbable surface.
[0057] Optionally, the above first magnetic component 50 and second magnetic component 60 are both strong magnets, which can specifically be other strong magnets such as NdFeB (neodymium iron boron); the above third magnetic component 70 and fourth magnetic component 80 are weak magnets, which can specifically be other weak magnets such as AlNiCo (aluminum nickel cobalt). The above first magnetic conductive medium 10, second magnetic conductive medium 20, third magnetic conductive medium 30, and fourth magnetic conductive medium 40 can be any component capable of conducting magnetism, and is preferably Q235 (carbon structural steel) in the present invention.
[0058] Please refer to Figure 1 and Figure 2 , in some embodiments, the coil 90 is wound around the outer periphery of the third magnetic component 70 and the fourth magnetic component 80 at intervals.
[0059] It can be understood that the coil 90 is wound at intervals along the outer perimeters of the third magnetic member 70 and the fourth magnetic member 80, that is, disposed on the outer perimeters of the weak magnetic fields, so as to magnetize or demagnetize the third magnetic member 70 and the fourth magnetic member 80. The coil 90 can be an exciting coil 90 or a solenoid, and can be round wire or flat wire. In order to ensure that the coil 90 can be magnetized as quickly as possible, the coil 90 is wound at intervals on the third magnetic member 70 and the fourth magnetic member 80. The coil 90 can be wound one or more layers on the first magnetic member 50, and can be specifically determined according to the magnetic forces of the third magnetic member 70 and the fourth magnetic member 80.
[0060] It should be noted that a solenoid refers to a closely spaced winding whose length is significantly greater than its diameter. When a solenoid is passed through by a current of a certain intensity, it will generate a magnetic field.
[0061] The magnetic field intensity B of a solenoid composed of a coil wound in air (i.e., without a ferromagnetic core) can be calculated using the following formula:
[0062]
[0063] In the formula, B represents the magnetic induction intensity inside the solenoid, μ0 represents the magnetic permeability in vacuum, N represents the number of turns of the solenoid, I represents the current passing through the solenoid, and L represents the length of the solenoid.
[0064] Please refer to Figure 2 and Figure 3 In some embodiments, the orthographic projection areas of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 along the first projection plane 81 are larger than the orthographic projection areas of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 along the first projection plane 81;
[0065] The central axes of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 and the central axes of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 are located at the same horizontal height.
[0066] It can be understood that the first projection plane 81 is the projection plane shown in Figure 3 as shown in, along Figure 3In the left - right direction projection shown, the projected areas of the first magnetic - conductive medium 10, the second magnetic - conductive medium 20, the third magnetic - conductive medium 30, and the fourth magnetic - conductive medium 40 along the first projection plane 81 are larger than the orthographic projected areas of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 along the first projection plane 81. That is, the side - wall areas of the first magnetic - conductive medium 10, the second magnetic - conductive medium 20, the third magnetic - conductive medium 30, and the fourth magnetic - conductive medium 40 are larger than the areas of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80.
[0067] And the central axes of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 coincide with the central axes of the first magnetic - conductive medium 10, the second magnetic - conductive medium 20, the third magnetic - conductive medium 30, and the fourth magnetic - conductive medium 40. However, the surface areas of the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 are smaller than the surface areas of the magnetic - conductive media. In this way, a gap can be generated between the magnetic member and the magnet - adsorbable surface, preventing the magnetic member from directly adsorbing to the magnet - adsorbable component and affecting the movement of the entire magnetic assembly 100.
[0068] Please refer to Figure 2 , in some embodiments, the first magnetic - conductive medium 10, the second magnetic - conductive medium 20, the third magnetic - conductive medium 30, and the fourth magnetic - conductive medium 40 each have a first surface 41 and a second surface 42, and the first surface 41 and the second surface 42 are perpendicular to each other;
[0069] The third magnetic member 70 or the fourth magnetic member 80 is clamped between adjacent first surfaces 41; the first magnetic member 50 or the second magnetic member 60 is clamped between adjacent second surfaces 42.
[0070] It can be understood that the two opposite surfaces of the first magnetic - conductive medium 10 and the second magnetic - conductive medium 20 along the first direction are both the first surface 41, and the two opposite surfaces of the third magnetic - conductive medium 30 and the fourth magnetic - conductive medium 40 along the first direction are also both the first surface 41. The third magnetic member 70 is clamped between the first surfaces 41 of the first magnetic - conductive medium 10 and the second magnetic - conductive medium 20, and the fourth magnetic member 80 is clamped between the first surfaces 41 of the third magnetic - conductive medium 30 and the fourth magnetic - conductive medium 40. The two opposite surfaces of the first magnetic - conductive medium 10 and the third magnetic - conductive medium 30 along the second direction are the second surface 42, and the two opposite surfaces of the second magnetic - conductive medium 20 and the fourth magnetic - conductive medium 40 along the second direction are also the second surface 42. The first magnetic member 50 is clamped between the first magnetic - conductive medium 10 and the third magnetic - conductive medium 30, and the second magnetic member 60 is clamped between the second magnetic - conductive medium 20 and the fourth magnetic - conductive medium 40.
[0071] Please refer to Figure 2, in some embodiments, the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 all have a third surface 43; the third surface 43, the first surface 41, and the second surface 42 are perpendicular to each other, and the third surface 43 is used to connect with a magnetically attachable component.
[0072] It can be understood that the third surface 43 is the bottom surface of the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40. The third surface 43, the first surface 41, and the second surface 42 are perpendicular to each other. The third surface 43 is used to adsorb a magnetically attachable surface. Specifically, the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 conduct the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 to the third surface 43, so as to enhance the magnetic force of the third surface 43, and further enable the third surface 43 to connect with a magnetically attachable component, thereby realizing the connection between the magnetic assembly 100 and the magnetically attachable component.
[0073] Please refer to Figure 1 and Figure 4 , in some embodiments, it further includes: a buffer member 44;
[0074] The buffer member 44 has a fourth surface 441 and a fifth surface 442 that are oppositely arranged. The buffer member 44 is disposed on the third surface 43. The fourth surface 441 is connected to the third surface 43, and the fifth surface 442 abuts against a magnetically attachable component. The buffer member 44 can change the buffer strength of the buffer member 44 according to the magnitude of the magnetic force.
[0075] It can be understood that the fourth surface 441 of the buffer member 44 is the upper surface as shown in Figure 4 , and the fifth surface 442 is the lower surface as shown in Figure 4 . The fourth surface 441 of the buffer member 44 is connected to the third surface 43, and the fifth surface 442 is used to connect with a magnetically attachable component. The buffer member 44 is used to provide buffering for the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 when the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 are connected to a magnetically attachable component, so as to avoid damage to the first magnetic medium 10, the second magnetic medium 20, the third magnetic medium 30, the fourth magnetic medium 40 or the magnetically attachable component when the second magnetic medium 20, the third magnetic medium 30, and the fourth magnetic medium 40 adsorb the magnetically attachable component.
[0076] Optionally, the buffer member 44 is a magnetorheological elastomer. The magnetorheological elastomer is formed by incorporating micron-scale ferromagnetic particles into a polymer matrix and curing it in a magnetic field environment, so that the particles in the matrix have a chain or columnar structure, and the internal chain structure thereof can change according to the magnetic field strength. Specifically, in a weak magnetic field, the magnetic particles begin to tend to align along the magnetic field direction, but this alignment may not be complete, and the chain structure between the particles is not obvious. As the magnetic field strength increases, the magnetic particles will be more orderly arranged along the magnetic force line direction, forming an obvious chain or columnar structure. These chain structures penetrate the matrix elastomer, thereby changing the internal microstructure of the material.
[0077] When magnetized, the mechanical properties change, and the chain structure formed by the magnetic particles enhances the overall stiffness of the material. This is because these chain structures increase the internal binding force, making it more difficult for the magnetorheological elastomer to deform when subjected to an external force. Secondly, the formation of the chain structure and the increase in the interaction force between the magnetic particles enhance the internal friction and energy dissipation capacity of the magnetorheological elastomer, thereby improving the damping performance of the material. This means that the material can more effectively absorb and dissipate energy under vibration or impact, providing effective vibration isolation and damping effects.
[0078] In the present invention, the magnetorheological elastomer (buffer member 44) can be changed according to the current magnetic strength of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40. When the first magnetic conductive medium 10 and the second magnetic conductive medium 20 need to adsorb the magnetically attachable member, the magnetic force on the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 is stronger. At this time, the deformation ability of the magnetorheological elastomer will decrease because the chain structure of the particles provides additional resistance, thereby making the magnetorheological elastomer (buffer member 44) harder to provide buffering for the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40. When the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 need to leave the magnetically attachable member, the magnetic attraction of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 decreases, and the magnetorheological elastomer (buffer member 44) is less affected by the magnetic force. Therefore, the arrangement of the magnetic particles is not so tight, and the deformation ability of the magnetorheological elastomer (buffer member 44) will increase, facilitating the detachment of the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 from the surface of the magnetically attachable member.
[0079] Please refer to Figure 5 , the present invention also provides a magnetic device 200, including: a housing 210, and the magnetic assembly 100 as described above, and the magnetic assembly 100 is fixedly arranged in the housing 210.
[0080] Understandably, the magnetic device 200 includes the above-mentioned magnetic component 100. In this embodiment, one magnetic component 100 is provided. The magnetic component 100 is arranged inside the housing 210, and the housing 210 is customized according to the shape of the magnetic component 100. The magnetic component 100 is fixed by injecting resin glue into the housing 210. Of course, in other embodiments, it can also be fixed by a mechanical structure. For example, the magnetic component 100 is fixed inside the housing 210 by a limiting member.
[0081] In other embodiments, multiple magnetic components 100 can be arranged in the magnetic device 200, or the magnetic component 100 can be extended to form the magnetic device 200. When multiple magnetic components 100 are arranged or the magnetic component 100 is extended, the multiple magnetic conduction media are only connected to the magnetic parts in the length direction, and the connection in the width direction is only provided with magnetic parts on both sides to form a magnetic circuit for the magnetic device 200. The specific structure is as Figure 7 or Figure 8 shown.
[0082] It should be specifically noted that Figure 7 and Figure 8 The reference numerals in are for auxiliary understanding and mainly refer to their setting structures.
[0083] Please refer to Figure 6 , in some embodiments, the magnetic device 200 further includes a connecting member 220; the connecting member 220 is arranged on a side of the housing 210 away from the buffer member 44, and the connecting member 220 is used to connect with the robot 300.
[0084] Understandably, the connecting member 220 is for connecting the magnetic device 200 with related devices. For example: a robotic arm, the robot 300 or a magnetic foot device, etc. The connecting member 220 is arranged on the housing 210 and on the side opposite to the buffer member 44. It can be arranged and fixedly connected to the upper part of the housing 210 as shown in Figure 6 . When the connecting structure of the connecting member 220 is connected to the robotic arm or the robot 300 or the magnetic foot device, it needs to be adapted to the reserved interfaces of the above devices. For example: multiple threaded holes are arranged on the connecting member 220 to connect with the above devices, or it can also be connected to the robotic arm or the robot 300 or the magnetic foot device by means of a buckle, etc.; or in the form of a universal joint + mechanical limit + spring to form a passive joint at the foot end of the legged robot.
[0085] The present utility model also provides a robot 300, including a main body 310 and the magnetic device 200 as described above.
[0086] The magnetic device 200 further includes a connecting member 220; the connecting member 220 is disposed on a side of the housing 210 away from the buffer member 44, and the connecting member 220 is used to connect to the robot 300.
[0087] The above-mentioned robot 300 can be any robot 300. In a preferred embodiment of the present invention, it is a magnetic foot robot 300. By disposing the magnetic device 200 on the body 310 of the magnetic foot robot 300, the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80 are changed by changing the coil 90, so that the magnetic force of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is enhanced or weakened, and then the magnetic foot robot 300 can be adsorbed on the surface of the magnetically attachable member or not adsorbed on the surface of the magnetically attachable member.
[0088] Specifically, the magnetic device 200 is disposed at the foot end of the body 310 of the magnetic foot robot 300. When the robot 300 needs to be adsorbed on the surface of the magnetically attachable member during operation, the first magnetic member 50, the second magnetic member 60, the third magnetic member 70, and the fourth magnetic member 80 form a magnetic circuit, providing magnetic suction force for the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40, so that the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 can be adsorbed on the magnetically attachable member. When the magnetic foot robot 300 needs to move, the coil 90 magnetizes the third magnetic member 70 and the fourth magnetic member 80, causing the magnetic directions of the third magnetic member 70 and the fourth magnetic member 80 to change, and the magnetic circuit of the magnetic assembly 100 is destroyed, and the first magnetic conductive medium 10, the second magnetic conductive medium 20, the third magnetic conductive medium 30, and the fourth magnetic conductive medium 40 are demagnetized, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 can be separated from the surface of the magnetically attachable member, and the robotic arm of the magnetic foot robot 300 can move. When it moves to a preset position, repeating the above actions can achieve the movement of the magnetic foot robot 300.
[0089] In some embodiments, if it is a quadruped robot (mechanical dog), only considering the static gait, three foot ends are adsorbed on the wall surface, and one foot end is demagnetized to swing to the target position, and then adsorbed. At this time, another foot end is demagnetized to swing to the target position, and so on to move in a cycle. If it is a hexapod robot (spider robot), the foot ends are divided into 2 groups, and three foot ends in each group are demagnetized simultaneously to move, and the other three foot ends are adsorbed. When swinging to the target position, the other 3 foot ends are demagnetized to swing to the target position, and so on to move in a cycle.
[0090] In some embodiments, fixing members are provided on the two opposite surfaces of the first magnetic guiding member medium and the second magnetic guiding medium, the two opposite surfaces of the second magnetic guiding medium and the third magnetic guiding medium, the two opposite surfaces of the third magnetic guiding medium and the fourth magnetic guiding medium, and the two opposite surfaces of the fourth magnetic guiding medium and the first magnetic guiding medium. The fixing members are arranged around the first magnetic member, the second magnetic member, the third magnetic member, and the fourth magnetic member, and are used to fix the first magnetic member, the second magnetic member, the third magnetic member, and the fourth magnetic member.
[0091] In the present utility model, the mention of "embodiment" and "embodiment mode" means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present utility model. The appearance of the phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described in the present utility model can be combined with other embodiments. In addition, it should also be understood that the features, structures or characteristics described in each embodiment of the present utility model can be combined arbitrarily without contradiction to form another embodiment that does not deviate from the spirit and scope of the technical solution of the present utility model.
[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit them. Although the present utility model has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present utility model.
Claims
1. A magnetic component, characterized in that, Comprising: A first magnetic member, a second magnetic member, a third magnetic member, a fourth magnetic member, a first magnetic conductive medium, a second magnetic conductive medium, a third magnetic conductive medium, a fourth magnetic conductive medium, and a coil; The first magnetic conductive medium and the second magnetic conductive medium are spaced apart along a first direction, and the third magnetic conductive medium and the fourth magnetic conductive medium are spaced apart along a direction parallel to the first direction; The first magnetic member is clamped between the first magnetic conductive medium and the third magnetic conductive medium, and the second magnetic member is clamped between the second magnetic conductive medium and the fourth magnetic conductive medium; The third magnetic member is clamped between the first magnetic conductive medium and the second magnetic conductive medium, and the fourth magnetic member is clamped between the third magnetic conductive medium and the fourth magnetic conductive medium; The coil is disposed on the third magnetic member and the fourth magnetic member. When the coil is energized, the magnetic directions of the third magnetic member and the fourth magnetic member are changed.
2. The magnetic component according to claim 1, characterized in that, The magnetism of the first magnetic member and the second magnetic member is greater than that of the third magnetic member and the fourth magnetic member.
3. The magnetic component according to claim 2, wherein The coil is wound around the outer peripheries of the third magnetic member and the fourth magnetic member at intervals.
4. The magnetic component according to claim 1, wherein, The orthographic projection areas of the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium along a first projection plane are greater than the orthographic projection areas of the first magnetic member, the second magnetic member, the third magnetic member, and the fourth magnetic member along the first projection plane; The central axes of the first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium and the central axes of the first magnetic member, the second magnetic member, the third magnetic member, and the fourth magnetic member are at the same horizontal height.
5. The magnetic component according to claim 1 or 4, characterized in that, The first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium each have a first surface and a second surface, and the first surface and the second surface are perpendicular to each other; The third magnetic member or the fourth magnetic member is clamped between adjacent first surfaces; the first magnetic member or the second magnetic member is clamped between adjacent second surfaces.
6. The magnetic component according to claim 5, characterized in that, The first magnetic conductive medium, the second magnetic conductive medium, the third magnetic conductive medium, and the fourth magnetic conductive medium each have a third surface; the third surface is perpendicular to the first surface and the second surface, and the third surface is used for connecting with a magnetically attachable member.
7. The magnetic component according to claim 6, wherein Further comprising: A buffer member; The buffer member has a fourth surface and a fifth surface which are oppositely arranged. The buffer member is disposed on the third surface. The fourth surface is connected to the third surface, and the fifth surface abuts against the magnetically attachable member. The buffer member can change the stiffness and damping coefficient of the buffer member according to the magnitude of the magnetic force.
8. A magnetic device, characterized in that, Comprising: a housing, And the magnetic assembly according to any one of claims 1 to 7, wherein the magnetic assembly is fixedly disposed in the housing.
9. The magnetic device according to claim 8, wherein, The magnetic device further includes a connecting member; the connecting member is disposed on a side of the housing away from the buffer member, and the connecting member is used for connecting with a robot.
10. A robot, characterized in that, Comprising a body; And the magnetic device according to any one of claims 8 or 9.