Magnetic assembly, magnetic device and robot

Abstract

The utility model relates to a magnetic assembly, a magnetic device and a robot. The magnetic assembly comprises a first magnetic medium, a second magnetic medium, a first magnetic part, a second magnetic part and a coil, the first magnetic conductive medium and the second magnetic conductive medium are arranged in a spaced mode in the first direction, the first magnetic part and the second magnetic part are sequentially arranged in the second direction, and the first magnetic part and the second magnetic part are clamped between the first magnetic conductive medium and the second magnetic conductive medium. The coil is arranged around the peripheries of the first magnetic piece and the second magnetic piece; the magnetism of the second magnetic piece is larger than that of the first magnetic piece, and the first direction is perpendicular to the second direction. The magnetic assembly can be demagnetized and magnetized through the coil.

Description

Technical Field

[0001] The utility model relates to the field of magnetic attraction, in particular to a magnetic component, a magnetic device and a robot. Background Art

[0002] The legged robot in the related art uses a magnetic switching 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. Utility Model Content

[0003] In view of this, the utility model provides a magnetic component, a magnetic device and a robot, wherein the magnetic component can be demagnetized and magnetized through a coil.

[0004] The utility model provides a magnetic assembly, comprising: a first magnetic conductive medium, a second magnetic conductive medium, a first magnetic component, a second magnetic component, and a coil;

[0005] The first magnetic conductive medium and the second magnetic conductive medium are spaced apart along a first direction, the first magnetic member and the second magnetic member are sequentially arranged along a second direction, the first magnetic member and the second magnetic member are sandwiched between the first magnetic conductive medium and the second magnetic conductive medium, and the coil is arranged around the outer circumference of the first magnetic member and the second magnetic member;

[0006] The magnetism of the second magnetic component is greater than that of the first magnetic component, and the first direction is perpendicular to the second direction.

[0007] Furthermore, the first magnetic conductive medium has a first surface opposite to the second magnetic conductive medium, the second magnetic conductive medium has a second surface opposite to the first magnetic conductive medium, and two sides of the first magnetic member and the second magnetic member are connected to the first surface and the second surface respectively;

[0008] The lengths of the first surface and the second surface along the second direction are greater than the sum of the first magnetic member and the second magnetic member.

[0009] Furthermore, the lengths of the first magnetic conductive medium and the second magnetic conductive medium along the first direction are both smaller than the lengths of the first magnetic member and / or the second magnetic member along the first direction.

[0010] Furthermore, the coil is wound around the first magnetic member at intervals along the outer circumference of the first magnetic member.

[0011] Furthermore, the first magnetic conductive medium has a third surface, which is perpendicular to the first surface; the second magnetic conductive medium has a fourth surface, which is perpendicular to the fourth surface, and the second surface and the fourth surface are used to connect with the magnetically adsorbable component.

[0012] Furthermore, the magnetic assembly further includes a buffer;

[0013] The buffer member is provided on both the second surface and the fourth surface. The buffer member can change the buffering strength of the buffer member according to the magnetic force of the first magnetic conductive medium and the second magnetic conductive medium.

[0014] Furthermore, a projection area of the buffer member along the first projection plane is larger than projection areas of the first magnetic conductive medium and the second magnetic conductive medium along the first projection plane.

[0015] The utility model also provides a magnetic device, comprising: a housing,

[0016] and one or more of said magnetic assemblies;

[0017] The plurality of magnetic components are arranged in sequence along a first direction; and one or more magnetic components are fixed in the shell by fixing glue.

[0018] Furthermore, the magnetic device further includes: a connecting piece; the connecting piece is arranged on a side of the shell away from the buffer piece, and the connecting piece is used to connect to the robot.

[0019] The utility model also provides a robot, comprising: a body and the magnetic device.

[0020] The above-mentioned magnetic component sandwiches the first magnetic part and the second magnetic part between the first magnetic conductive medium and the second magnetic conductive medium, and transmits the magnetic force of the first magnetic part and the second magnetic part to the first magnetic conductive medium and the second magnetic conductive medium through the first magnetic conductive part and the second magnetic conductive part, so that the first magnetic conductive medium and the second magnetic conductive medium can be connected to the magnetically adsorbable part, thereby realizing the connection between the magnetic component and the magnetically adsorbable part. When the first magnetic conductive medium and the second magnetic conductive medium need to be separated from the magnetically adsorbable part, power is supplied to the coil to change the magnetic direction of the first magnetic part, thereby weakening the magnetic force of the first magnetic conductive medium and the second magnetic conductive medium, so that the magnetic component can be separated from the magnetically adsorbable part. When it needs to be adsorbed again, power is supplied to the coil again to change the magnetic direction of the first magnetic part, so that the magnetic force of the first magnetic conductive medium and the second magnetic conductive medium is enhanced, so that the first magnetic conductive medium and the second magnetic conductive medium can be connected to the magnetically adsorbable part. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the implementation. Obviously, the drawings described below are some implementations of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of the overall structure of the magnetic assembly provided in an embodiment of the present utility model;

[0023] Figure 2 An exploded view of a magnetic assembly provided in an embodiment of the present utility model;

[0024] Figure 3 A front view of a magnetic assembly provided by an embodiment of the present utility model;

[0025] Figure 4 This is one of the structural schematic diagrams of the magnetic device provided in an embodiment of the present utility model;

[0026] Figure 5 The second structural diagram of the magnetic device provided by the embodiment of the utility model;

[0027] Figure 6 The third structural diagram of the magnetic device provided by the embodiment of the present utility model;

[0028] Figure 7 A schematic structural diagram of a robot provided in an embodiment of the present utility model.

[0029] Description of reference numerals:

[0030] 100. Magnetic component; 10. First magnetic conductive medium; 11. First surface; 12. Third surface; 20. Second magnetic conductive medium; 21. Second surface; 22. Fourth surface; 30. First magnetic member; 40. Second magnetic member; 50. Coil; 60. Buffer member; 70. First projection surface; 200. Magnetic device; 210. Shell; 220. Connector; 300. Robot; 310. Main body. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The terms "first," "second," and so on, in the specification and claims of this utility model and the accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0033] References herein to "embodiments" or "implementations" mean that a particular feature, structure, or characteristic described in connection with the embodiments or implementations may be included in at least one embodiment of the present invention. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor do they constitute independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] With the continuous advancement of industrial automation technology, climbing robots are playing an increasingly important role in areas such as building maintenance, bridge inspection, spacecraft servicing, and, in particular, large storage tank maintenance. These robots are able to move on vertical or inverted surfaces, enabling them to reach places that are difficult or unsafe for humans to reach, facilitating a variety of inspection and maintenance tasks.

[0035] Currently, traditional wheeled climbing robots are often unable to effectively navigate and complete tasks in large tank maintenance due to the complexity of the tank surface and the presence of various obstacles. While legged robots have improved their obstacle-crossing capabilities, their magnetic adhesion response mechanism is typically mechanically implemented, specifically through a magnet switching device (MSD) that switches the magnetic field, allowing the robot to demagnetize and remagnetize. However, this method has slow response times, and the complexity of the mechanical structure increases system weight and failure rates. Furthermore, existing climbing robots rely on various attachment mechanisms, such as suction cups, adhesive materials, mechanical claws, or magnetic devices, to achieve stable climbing on specific surfaces. Suction cups and adhesive materials are suitable for smooth surfaces but are less effective on rough or uneven surfaces. Mechanical claws can be applied to a wider variety of surfaces but may damage the surface they are climbing. Traditional magnetic devices, such as electromagnets, can provide strong adhesion on metal surfaces, but they typically require a continuous power supply to maintain adhesion, which limits the robot's operating time and flexibility.

[0036] For the convenience of the following description, the first direction in the present invention refers to Figure 1 X direction as shown or Figure 1The up and down directions shown in FIG. Figure 1 The Y direction shown or Figure 1 Left and right directions shown; Figure 3 Where L1 represents the length of the first magnetic member, L2 represents the length of the second magnetic member, and L3 represents the length of the first magnetic conductive medium 10 or the second magnetic conductive medium 20 .

[0037] In view of this, this embodiment provides a magnetic assembly 100 , a magnetic device 200 and a robot 300 . The magnetic assembly 100 can be demagnetized and magnetized through a coil 50 .

[0038] See also Figure 1 The present invention provides a magnetic assembly 100, comprising: a first magnetic conductive medium 10, a second magnetic conductive medium 20, a first magnetic member 30, a second magnetic member 40, and a coil 50;

[0039] The first magnetic conductive medium 10 and the second magnetic conductive medium 20 are spaced apart along a first direction, the first magnetic member 30 and the second magnetic member 40 are sequentially arranged along a second direction, the first magnetic member 30 and the second magnetic member 40 are sandwiched between the first magnetic conductive medium 10 and the second magnetic conductive medium 20, and the coil 50 is arranged around the outer circumference of the first magnetic member 30 and the second magnetic member 40;

[0040] The magnetism of the second magnetic member 40 is greater than that of the first magnetic member 30 , and the first direction is perpendicular to the second direction.

[0041] The magnetic assembly 100 is formed by sandwiching the first magnetic member 30 and the second magnetic member 40 between the first magnetic conductive medium 10 and the second magnetic conductive medium 20, and transmitting the magnetic force of the first magnetic member 30 and the second magnetic member 40 to the first magnetic conductive medium 10 and the second magnetic conductive medium 20 through the first magnetic conductive member and the second magnetic conductive member, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 can be connected to the magnetically adsorbable member, thereby realizing the connection between the magnetic assembly 100 and the magnetically adsorbable member. When the first magnetic conductive medium 10 and the second magnetic conductive medium 20 need to be separated from the magnetically adsorbable member, the magnetic direction of the first magnetic member 30 is changed (such as Figure 3 As shown), the magnetic force of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is weakened, so that the magnetic component 100 can be separated from the magnetically adsorbable part. When it is necessary to adsorb again, power is supplied to the coil 50 again to change the magnetic direction of the first magnetic part 30, so that the magnetic force of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is enhanced, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 can be connected to the magnetically adsorbable part.

[0042] It can be understood that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 are arranged along the Figure 1The direction from left to right is set in sequence, that is, along the first direction (such as Figure 1 In the X direction shown in FIG, a first magnetic member 30 and a second magnetic member 40 are sandwiched between the first magnetic conductive medium 10 and the second magnetic conductive medium 20. The first magnetic member 30 and the second magnetic member 40 are arranged along the X direction shown in FIG. Figure 1 The upper and lower directions shown are arranged in sequence, that is, arranged along the second direction (such as Figure 1 Y direction as shown).

[0043] See also Figure 1 As shown, the magnetic directions of the first magnetic member and the second magnetic member are the same ( Figure 1 The arrow in the figure indicates the magnetic direction), and this arrangement is to transfer the magnetic force of the first magnetic member 30 and the second magnetic member 40 to the first magnetic conductive medium 10 and the second magnetic conductive medium 20, and when the magnetic assembly 100 is connected to the magnetically adsorbable member, a magnetic field is formed as shown in FIG. Figure 1 The magnetic circuit shown in the figure enables the first magnetic conductive medium 10 and the second magnetic conductive medium 20 to be connected to the magnetically absorbable member, and the coil 50 is arranged around the first magnetic member 30 and the second magnetic member 40; when the coil 50 is energized, the magnetic direction of the first magnetic member 30 can be changed, and the magnetic directions of the first magnetic member 30 and the second magnetic member 40 are opposite (as shown in FIG. Figure 3 As shown in FIG, the magnetic attraction force transmitted from the first magnetic member 30 and the second magnetic member 40 to the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is greatly reduced or disappears, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 are separated from the magnetically adsorbable member

[0044] It should be noted that the above-mentioned first magnetic component 30 is weakly magnetic compared to the second magnetic component 40. The first magnetic component 30 can be other weak magnetic materials such as AlNiCo (aluminum nickel cobalt), and the second magnetic component 40 can be other strong magnetic materials such as NdFeB (neodymium iron boron). The first magnetic conductive medium 10 and the second magnetic conductive medium 20 can be Q235 (carbon structural steel).

[0045] See also Figure 1 and Figure 2 In some embodiments, the first magnetic conductive medium 10 has a first surface 11 opposite to the second magnetic conductive medium 20, the second magnetic conductive medium 20 has a second surface 21 opposite to the first magnetic conductive medium 10, and the two sides of the first magnetic member 30 and the second magnetic member 40 are respectively connected to the first surface 11 and the second surface 21; the length of the first surface 11 and the second surface 21 along the second direction is greater than the sum of the lengths of the first magnetic member 30 and the second magnetic member 40.

[0046] It can be understood that the first magnetic conductive medium 10 has a first surface 11, and the first surface 11 faces the second magnetic conductive medium 20. The second magnetic conductive medium 20 has a second surface 21, and the second surface 21 faces the first magnetic conductive medium 10, that is, the first surface 11 is the surface of the first magnetic conductive medium 10 facing the second magnetic conductive medium 20, and the second surface 21 is the surface of the second magnetic conductive medium 20 facing the first magnetic conductive medium 10. The first magnetic member 30 and the second magnetic member 40 are respectively in contact with the first surface 11 and the second surface 21 on both sides of the thickness direction (second direction) of the first magnetic member 30 and the second magnetic member 40. The first magnetic member 30 and the second magnetic member 40 both have magnetic attraction. When the first magnetic member 30 and the second magnetic member 40 are in contact with the first surface 11 and the second surface 21, the first magnetic member 30 and the second magnetic member 40 are adsorbed on the first surface 11 and the second surface 21.

[0047] The length of the first surface 11 and the second surface 21 along the second direction is greater than the sum of the lengths of the first magnetic component 30 and the second magnetic component 40. This is to ensure that a certain distance is created between the first magnetic component 30 and the second magnetic component 40 and the adsorption surface, thereby preventing the first magnetic component 30 and the second magnetic component 40 from being directly connected to the magnetic adsorbable component when the first magnetic conductive medium 10 and the second magnetic conductive medium 20 are adsorbed with the magnetic adsorbable component, thereby affecting the movement of the magnetic component 100.

[0048] See also Figure 3 In some embodiments, the lengths of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 along the first direction are both smaller than the lengths of the first magnetic member 30 and / or the second magnetic member 40 along the first direction.

[0049] It can be understood that the length of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 along the first direction is less than the length of the first magnetic component 30 and the second magnetic component 40 in the first direction, that is, the sum of the length L1 of the first magnetic component 30 and the length L2 of the second magnetic component 40 is less than the length L3 of the first magnetic conductive medium 10 or the length L3 of the second magnetic conductive medium 20. In this way, the magnetic force of the first magnetic component 30 and the second magnetic component 40 can be concentrated in a smaller area, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 have better magnetic attraction strength (that is, magnetic attraction force), and the first magnetic conductive medium 10 and the second magnetic conductive medium 20 are more stable when adsorbed with the adsorbable component, thereby improving the overall magnetic strength of the magnetic component 100.

[0050] See also Figure 3 In some embodiments, the coil 50 is wound around the first magnetic member 30 at intervals along the outer circumference of the first magnetic member 30 .

[0051] It can be understood that the coil 50 is an excitation coil or a solenoid. In order to ensure that the coil 50 can be magnetized as well as possible, the coil 50 is wound on the first magnetic part 30 at intervals. The coil 50 can be wound on the first magnetic part 30 in one or more layers, which can be determined according to the magnetic force of the first magnetic part 30.

[0052] It should be noted that a solenoid is a tightly spaced winding whose length is significantly greater than its diameter. When a current of a certain strength passes through the solenoid, it generates a magnetic field.

[0053] The magnetic field strength, B, of a solenoid consisting of a coil of wire wound in air (i.e., without a ferromagnetic core) can be calculated using the following formula:

[0054]

[0055] In the formula, B represents the magnetic induction intensity inside the solenoid, μ0 represents the magnetic permeability in a 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.

[0056] See also Figure 2 In some embodiments, the first magnetic conductive medium 10 has a third surface 12, which is perpendicular to the first surface 11; the second magnetic conductive medium 20 has a fourth surface 22, which is perpendicular to the fourth surface 22, and the second surface 21 and the fourth surface 22 are used to connect with the magnetically adsorbable part.

[0057] It can be understood that the third surface 12 of the first magnetic conductive medium 10 is as follows Figure 1 or Figure 3 The downward surface shown is perpendicular to the first surface 11, and the fourth surface 22 of the second magnetic conductive medium 20 is as shown in FIG. Figure 1 or Figure 3 The downward surface shown is arranged perpendicular to the second surface 21, and the third surface 12 and the fourth surface 22 can be directly connected to the magnetically adsorbable component. Specifically, the first magnetic conductive medium 10 and the second magnetic conductive medium 20 conduct the magnetic force of the first magnetic component 30 and the second magnetic component 40 to the third surface 12 and the fourth surface 22, thereby enhancing the magnetic force of the third surface 12 and the fourth surface 22, thereby achieving the connection between the second surface 21 and the fourth surface 22 and the magnetically adsorbable component.

[0058] See also Figure 2 and Figure 3 , in some embodiments, the magnetic assembly 100 further includes a buffer 60;

[0059] The buffer member 60 is disposed on both the second surface 21 and the fourth surface 22 . The buffer member 60 can change its buffering strength according to the magnetic forces of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 .

[0060] It can be understood that the buffer member 60 is used to provide a buffer for the first magnetic conductive medium 10 and the second magnetic conductive medium 20 when the first magnetic conductive medium 10 and the second magnetic conductive medium 20 are connected to the magnetically adsorbable member, so as to prevent the first magnetic conductive medium 10 and the second magnetic conductive medium 20 from causing damage to the first magnetic conductive medium 10 and the second magnetic conductive medium 20 or the magnetically adsorbable member when the first magnetic conductive medium 10 and the second magnetic conductive medium 20 adsorb the magnetically adsorbable member. The buffer member 60 is provided on the second surface 21 and the fourth surface 22, that is, Figure 2 or Figure 3 The first magnetic conductive medium 10 and the second magnetic conductive medium 20 are shown below.

[0061] Optionally, the buffer 60 is a magnetorheological elastomer. A magnetorheological elastomer is a polymer made by incorporating micron-sized ferromagnetic particles into a polymer and solidifying it in a magnetic field environment. As a result, the particles in the matrix have a chain or columnar structure, and the chain structure inside it can change according to the intensity of the magnetic field. Specifically, under a weaker magnetic field, the magnetic particles begin to tend to be arranged along the direction of the magnetic field, but this arrangement may not be complete, and the chain structure between the particles is not obvious. As the intensity of the magnetic field increases, the magnetic particles will be arranged more orderly along the direction of the magnetic lines of force, forming a clear chain or columnar structure. These chain structures penetrate the matrix elastomer, thereby changing the internal microstructure of the material.

[0062] During magnetization, the mechanical properties change. The chain-like structures formed by the magnetic particles enhance the overall stiffness of the material. This is because these chains increase internal restraint, making the MR elastomer more resistant to deformation when subjected to external forces. Furthermore, the formation of the chains and the increased interaction between the magnetic particles enhance the MR elastomer's internal friction and energy dissipation capacity, thereby improving the material's damping properties. This means the material can more effectively absorb and dissipate energy under vibration or impact, providing effective vibration isolation and damping.

[0063] In the present invention, the magnetorheological elastomer (buffer 60) can be used to absorb the magnetically adsorbable component according to the need of the first magnetic conductive medium 10 and the second magnetic conductive medium 20. When the magnetic force on the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is strong, the deformation ability of the magnetorheological elastomer will be reduced. This is because the chain structure of the particles provides additional resistance, thereby making the magnetorheological elastomer (buffer 60) harden to provide buffering for the first magnetic conductive medium 10 and the second magnetic conductive medium 20; when the first magnetic conductive medium 10 and the second magnetic conductive medium 20 need to leave the magnetically adsorbable surface, the magnetic attraction of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is reduced, and the magnetorheological elastomer (buffer 60) 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 60) will increase, which facilitates the first magnetic conductive medium 10 and the second magnetic conductive medium 20 to detach from the surface of the magnetically adsorbable component.

[0064] See also Figure 2 In some embodiments, the projection area of the buffer member 60 along the first projection plane 70 is larger than the projection areas of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 along the first projection plane 70 .

[0065] It can be understood that the first projection surface 70 is as follows Figure 2 As shown in the projection from top to bottom, the projection area of the buffer 60 along the first projection is larger than the projection surface of the first magnetic conductive medium 10 and the second magnetic conductive medium 20, that is, the surface area of the third surface 12 and the surface area of the fourth surface 22 are smaller than the surface area of the buffer 60. This can provide a wider range of protection for the first magnetic conductive medium 10 and the second magnetic conductive medium 20. In the process of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 being adsorbed onto the magnetically adsorbable component, if there is an obstruction nearby, the sides of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 can also be protected.

[0066] See 4 and Figure 6 The present invention further provides a magnetic device 200, comprising: a housing 210,

[0067] and one or more of the magnetic assemblies 100;

[0068] The plurality of magnetic components 100 are sequentially arranged along the third direction; one or more magnetic components 100 are fixed in the housing 210 by fixing glue.

[0069] It is understood that the magnetic device 200 includes the magnetic assembly 100, and the magnetic assembly 100 can be provided in plurality, and the plurality of magnetic assemblies 100 can be provided along a third direction, and the third direction can be as follows: Figure 1In the front-to-back direction shown, multiple magnetic components 100 are arranged in the shell 210. The shell 210 is customized according to the shape of the multiple magnetic components 100. The multiple magnetic components are fixed by injecting resin glue into the shell 210. Of course, in other embodiments, they can also be fixed by mechanical structures, for example: multiple magnetic components 100 are fixed by setting limit members.

[0070] In some embodiments, a magnetic assembly 100 is disposed in a housing 210 and fixed in the above-described manner to form a magnetic device 200 .

[0071] See also Figure 5 In some embodiments, the magnetic device 200 further includes: a connector 220 ; the connector 220 is disposed on a side of the housing 210 away from the buffer 60 , and the connector 220 is used to connect to the robot 300 .

[0072] It is understood that the connection member 220 is used to connect the magnetic device 200 to related equipment, such as a robotic arm, a robot 300 or a magnetic foot device. The connection member 220 is provided on the housing 210 and is provided on the side opposite to the buffer member 60. Figure 4 or Figure 5 The upper part shown is fixedly connected to the shell 210. When the link structure of the connecting piece 220 is connected to the robotic arm or robot 300 or the magnetic foot device, it needs to be adapted according to the interface reserved by the above-mentioned device. For example: multiple threaded holes are set on the connecting piece 220 to connect with the above-mentioned device, and the connection with the robotic arm or robot 300 or the magnetic foot device can also be achieved by means of snap fasteners.

[0073] See also Figure 7 The present invention further provides a robot 300 , comprising: a body 310 , and the magnetic device 200 .

[0074] The above-mentioned robot 300 can be any robot 300. In the present utility model, the preferred embodiment is a magnetic-footed robot 300. By setting the magnetic device 200 on the main body 310 of the magnetic-footed robot 300, and changing the magnetic direction of the first magnetic part 30 by changing the coil 50, the magnetic force of the first magnetic conductive medium 10 and the second magnetic conductive medium 20 is enhanced or weakened, thereby making the magnetic-footed robot 300 adsorbed on the surface of the magnetically adsorbable part or not adsorbed on the surface of the magnetically adsorbable part.

[0075] Specifically, the magnetic device 200 is arranged at the foot end of the magnetic foot robot 300. When the robot 300 needs to be adsorbed on the surface of the magnetically adsorbable part during operation, the magnetic forces of the second magnetic part 40 and the first magnetic part 30 are opposite, providing magnetic force for the first magnetic conductive medium 10 and the second magnetic conductive medium 20, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 can be adsorbed on the magnetically adsorbable part. When the magnetic foot robot 300 needs to move, the coil 50 magnetizes the first magnetic part 30 to change the magnetic direction of the first magnetic part 30, thereby demagnetizing the first magnetic conductive medium 10 and the second magnetic conductive medium 20, so that the first magnetic conductive medium 10 and the second magnetic conductive medium 20 can be separated from the surface of the magnetically adsorbable part, and the robotic arm of the magnetic foot robot 300 can move. After moving to the preset position, the above actions are repeated to achieve the movement of the magnetic foot robot 300.

[0076] Mentioning "embodiments" and "implementation methods" in this utility model means that the specific features, structures or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the utility model. The appearance of the phrases in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this utility model can be combined with other embodiments. In addition, it should also be understood that the features, structures or characteristics described in the various embodiments of this utility model can be arbitrarily combined to form another embodiment that does not deviate from the spirit and scope of the technical solution of this utility model, provided that there is no contradiction between them.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to the above preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model.

Claims

1. A magnetic component, characterized in that: include: A first magnetic conductive medium (10), a second magnetic conductive medium (20), a first magnetic component (30), a second magnetic component (40), and a coil (50); The first magnetic conductive medium (10) and the second magnetic conductive medium (20) are spaced apart along a first direction, the first magnetic member (30) and the second magnetic member (40) are sequentially arranged along a second direction, the first magnetic member (30) and the second magnetic member (40) are sandwiched between the first magnetic conductive medium (10) and the second magnetic conductive medium (20), and the coil (50) is arranged around the outer periphery of the first magnetic member (30); The magnetism of the second magnetic member (40) is greater than that of the first magnetic member (30), and when the coil (50) is energized, the magnetic direction of the first magnetic member (30) is changed; the first direction is perpendicular to the second direction.

2. The magnetic assembly according to claim 1, wherein: The first magnetic conductive medium (10) has a first surface (11) opposite to the second magnetic conductive medium (20), the second magnetic conductive medium (20) has a second surface (21) opposite to the first magnetic conductive medium (10), and the first magnetic component (30) and the second magnetic component (40) are connected to the first surface (11) and the second surface (21) at both sides, respectively.

3. The magnetic assembly according to claim 1, wherein: The lengths of the first magnetic conductive medium (10) and the second magnetic conductive medium (20) along the first direction are both greater than the lengths of the first magnetic component (30) and / or the second magnetic component (40) along the first direction.

4. The magnetic assembly according to claim 3, wherein: The coil (50) is wound around the first magnetic member (30) at intervals along the outer circumference of the first magnetic member (30).

5. The magnetic assembly according to claim 2, wherein: The first magnetic conductive medium (10) has a third surface (12), and the third surface (12) is perpendicular to the first surface (11); the second magnetic conductive medium (20) has a fourth surface (22), and the second surface (21) is perpendicular to the fourth surface (22); the second surface (21) and the fourth surface (22) are used to connect with the magnetically absorbable component.

6. The magnetic assembly according to claim 5, characterized in that The magnetic assembly (100) further includes a buffer (60); The second surface (21) and the fourth surface (22) are both provided with the buffer member (60), and the buffer member (60) can change the buffering strength of the buffer member (60) according to the magnitude of the magnetic force of the first magnetic conductive medium (10) and the second magnetic conductive medium (20).

7. The magnetic assembly according to claim 6, wherein: The projection area of the buffer member (60) along the first projection surface (70) is larger than the projection areas of the first magnetic conductive medium (10) and the second magnetic conductive medium (20) along the first projection surface (70).

8. A magnetic device, characterized in that: include: a housing (210), and one or more magnetic assemblies (100) according to any one of claims 1 to 7; The plurality of magnetic components (100) are arranged in sequence along a first direction; and one or more magnetic components (100) are fixed in the housing (210) by means of fixing glue.

9. The magnetic device according to claim 8, characterized in that The magnetic device (200) further comprises: a connecting member (220); the connecting member (220) is arranged on a side of the housing (210) away from the buffer member (60), and the connecting member (220) is used to connect to the robot (300).

10. A robot, characterized in that: include: including a body (310); And, the magnetic device (200) according to any one of claims 8 or 9.

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