CN105710887A - Hooped mine elevator patrol robot mechanism based on electromagnetic chucks - Google Patents
Hooped mine elevator patrol robot mechanism based on electromagnetic chucks Download PDFInfo
- Publication number
- CN105710887A CN105710887A CN201610282287.0A CN201610282287A CN105710887A CN 105710887 A CN105710887 A CN 105710887A CN 201610282287 A CN201610282287 A CN 201610282287A CN 105710887 A CN105710887 A CN 105710887A
- Authority
- CN
- China
- Prior art keywords
- robot
- joint
- magnechuck
- elevator
- robot section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hooped mine elevator patrol robot mechanism based on electromagnetic chucks. The hooped mine elevator patrol robot mechanism is integrally divided into an upper mechanical hand part and a lower mechanical hand part which are the same in structure. The two mechanical hand parts are connected through a slider-crank mechanism and a sliding rod-slider mechanism. The two mechanical hand parts are used for alternately hooping an elevator stand column, meanwhile, the slider-crank mechanism and the sliding rod-slider mechanism are combined for achieving alternate ascending of the two mechanical hand parts, and therefore the overall movement of a robot is achieved. All joints are connected in series by the mechanical hand parts through a steel wire rope, and all the joints are connected by the mechanical hand parts through springs. The electromagnetic chucks are arranged on the joints. The steel wire rope is driven through a winch motor to be tensioned and loosened. Under the effect of the restoring force of the springs and with the combination of electricity obtaining and losing of the electromagnetic chucks, mechanical claws are controlled to be opened and closed. The hooped mine elevator patrol robot mechanism is simple and light in structure, flexible in action and high in hooping force, the requirement for power of a motor can be effectively lowered, and the phenomenon that that spray paint or a protection layer on the surface of a cable or a steel material of the elevator is damaged is effectively avoided.
Description
Technical field
The present invention relates to a kind of robot mechanism, especially a kind of armful formula coal mine lifting machine inspection robot mechanism based on magnechuck suitable in the detection of coal mining elevator and maintenance.
Background technology
Mining elevator is mainly used in mine dispatching mine car and other auxiliary traction use, also can be used for the occasions such as colliery, metallurgical mine, construction site and hauls, promotes work or other auxiliary carrying work, but must not do manned use.
But the detection of current mining elevator and maintenance mode are relatively backward, it are generally adopted hoist engine or other jacking equipments are installed manned platform and artificially checked, therefore can increase artificial danger.The climbing robot risen in recent years be generally adopted Electromagnetic Drive friction pulley compress be robot climb continuously or utilize pneumatic element step up wriggling climb or utilize claw firmly grasp bridge build realize climb continuously; then utilize its detection carried and paint spraying apparatus that bridge is carried out examination and maintenance; and these compressions or fixed form promptly are not particularly suited for the detection of elevator; no matter above-mentioned that fixed form, inherently elevator is pulled rope or steel surface spray paint or protective layer damages.And it is big to there is weight in these robots, movable underaction, the shortcomings such as energy consumption is big.Therefore this type of robot does not obtain extensive use on examination and maintenance elevator.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of armful formula coal mine lifting machine inspection robot mechanism based on magnechuck suitable in the detection of coal mining elevator and maintenance.
The present invention is achieved by the following technical solutions:
A kind of armful formula coal mine lifting machine inspection robot mechanism based on magnechuck, the robot section that its overall point upper and lower two structure is identical, two robot section each include two grippers being symmetrical set, each gripper includes multiple joint respectively, multiple joints are sequentially connected in series by bearing pin, wherein, the joint being positioned at end is arranged on backboard by bearing pin；Medial surface in each joint is fixedly installed magnechuck respectively；Between each joint, outside is connected by spring simultaneously, and between each joint, inner side is sequentially connected in series by steel wire rope, and the through hole on steel wire penetrating backboard is connected on winching barrel；The two axial ends of described winching barrel is fixed on the back side of backboard by bearing block, and one end of winching barrel is connected with the output shaft of the elevator motor at the back side being fixed on backboard by shaft coupling, and elevator motor drives winching barrel to rotate by shaft coupling；Strained by elevator driven by motor steel wire rope and unclamp, under the effect of spring-return power, in combination with the electric dead electricity that obtains of magnechuck, the opening and closing movement of control gripper；
Two robot section are vertically connected with by slider-crank mechanism, wherein, slider-crank mechanism includes crank, connecting rod and slide block, slide block is fixed on the backboard back side of lower robot section by frame, crank is arranged on the backboard back side of robot section, and the center of rotation axle of crank is connected with lifting motor by reductor, and reductor and lifting motor are fixed on the backboard back side of robot section, one end of connecting rod is hinged with slide block, and the other end of connecting rod is hinged with crank；Two robot section are vertically connected with also by slide bar slide block mechanism, wherein, slide bar slide block mechanism includes slide bar and slide block, and the backboard back side of one end of slide bar and wherein a robot section is fixed, and the other end of slide bar is connected with the backboard Dorsal glide of another robot section by slide block；Realize two robot section by slider-crank mechanism relatively to move up and down along slide bar.
In technique scheme, each gripper includes four joints respectively.
In technique scheme, each gripper is included a finger tip joint and three middle joint, finger tip joint and three middle joint respectively and is sequentially connected in series by bearing pin, and wherein, the middle joint being positioned at end is arranged on backboard by bearing pin；Medial surface at finger tip joint and three middle joint is fixedly installed magnechuck respectively；Meanwhile, between finger tip joint and coupled middle joint and individual middle joint, outside is connected by spring, and between finger tip joint and coupled middle joint and individual middle joint, inner side is sequentially connected in series by steel wire rope.
In technique scheme, finger tip joint global approximation triangle, and the finger tip in finger tip joint curves inwardly, middle joint is rectangular structure.
In technique scheme, crank is disc crank, and one end of connecting rod is hinged with the edge of disc crank.
In technique scheme, the lateral symmetry at the backboard back side of upper robot section is provided with fixed block, the lateral symmetry at the backboard back side of lower robot section is provided with slide block, connected by two slide bars being parallel to each other between fixed block and slide block, the fixed block at the backboard back side of the top of slide bar and upper robot section is fixed, and the lower end of slide bar is connected with the skid at the backboard back side of lower robot section.
The operation method embracing formula coal mine lifting machine inspection robot mechanism based on magnechuck: the elevator driven by motor steel wire rope tension of upper robot section, the energising of its magnechuck, makes two grippers of mechanical hand hold elevator column tightly simultaneously；Then above robot arm is divided into fixing point to utilize slider-crank mechanism that lower robot section is mentioned (this at present robot section be releasing orientation), it is promoted to the elevator driven by motor steel wire rope tension of peak robot section at present, the energising of its magnechuck, makes two grippers of lower mechanical hand hold elevator column tightly simultaneously；Then the elevator driven by motor steel wire rope going up robot section unclamps, and its magnechuck dead electricity, makes two grippers of mechanical hand unclamp elevator column under the restoring force effect of spring simultaneously；Then following robot arm is divided into the strong point to realize moving upward of upper robot section, such alternating movement, it is achieved the lifting of complete machine again with slider-crank mechanism.
Based on magnechuck embrace formula coal mine lifting machine inspection robot mechanism mining elevator detection and safeguard in application.
Advantages of the present invention and having the beneficial effect that
In the present invention, two robot section are connected by slider-crank mechanism and slide bar slide block mechanism, utilizing two robot section alternately to hold elevator column tightly, realizing the alternately rising of two robot section thus realizing the motion that robot is overall in combination with slider-crank mechanism and slide bar slide block mechanism.Wherein, robot section, adopt multi-joint gripper to embrace formula structure, is connected by steel wire rope in each joint, and connected by spring between each joint, and magnechuck is set on joint；Being strained by elevator driven by motor steel wire rope during work and unclamp, under the effect of spring-return power, in combination with the electric dead electricity that obtains of magnechuck, the opening and closing movement of control gripper, thus realizing whether holding tightly elevator column；Its simple in construction is light and handy, and flexible movements and enclasping force are strong, can effectively reduce the power demand of motor, thus reducing the volume and weight of complete machine, and be prevented effectively from elevator is pulled rope or steel surface spray paint or protective layer damages.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the front view of the present invention shown in Fig. 1.
Fig. 3 is the structural representation of the mechanical hand in the present invention.
Fig. 4 is the top view of mechanical hand shown in Fig. 3.
Wherein: 1 is finger tip joint, 2 is spring, and 3 is magnechuck, and 4 is steel wire rope, 5 is bearing pin, and 6 is middle joint, and 7 is backboard, and 8 is elevator motor, 9 is shaft coupling, and 10 is bearing, and 11 is winching barrel, 12 is bearing block, and 13-1 is fixed block, and 13-2 is slide block, 14 is slide bar, and 15 is lifting motor, and 16 is connecting rod, 17 is crank block, and 18 is crank, and 19 is reductor.
Detailed description of the invention
Technical scheme is further illustrated below in conjunction with specific embodiment.
A kind of armful formula coal mine lifting machine inspection robot mechanism based on magnechuck, the robot section that its overall point upper and lower two structure is identical, two robot section are connected by slider-crank mechanism and slide bar slide block mechanism, utilizing two robot section alternately to hold elevator column tightly, realizing the alternately rising of two robot section thus realizing the motion that robot is overall in combination with slider-crank mechanism and slide bar slide block mechanism.
Referring to accompanying drawing 3 and accompanying drawing 4, two robot section each include two grippers being symmetrical set, each gripper includes a finger tip joint 1 and three middle joint 6 (finger tip joint global approximation trianglees respectively, and the finger tip in finger tip joint curves inwardly, middle joint is rectangular structure), finger tip joint and three middle joint are sequentially connected in series by bearing pin 5, and wherein, the middle joint being positioned at end is arranged on backboard 7 by bearing pin；Medial surface at finger tip joint and three middle joint is fixedly installed magnechuck 3 (being namely fixedly installed magnechuck 3 respectively in the finger tip joint of two grippers and the opposite side of three middle joint) respectively；Simultaneously, between finger tip joint and coupled middle joint and 3 middle joint, outside is connected by spring 2, between finger tip joint and coupled middle joint and 3 middle joint, inner side is sequentially connected in series by steel wire rope 4, (namely steel wire rope 4 is connected on winching barrel 11 through the through hole on backboard 7, one end of steel wire rope 4 and finger tip joint 1 is fixing to be connected, and then steel wire rope 4 sequentially passes through three middle joint 6 and backboard 7 is finally connected on winching barrel 11)；The two axial ends of described winching barrel 11 is fixed on the back side of backboard 7 by bearing block 12, and one end of winching barrel 11 is connected with the output shaft of the elevator motor 8 at the back side being fixed on backboard 7 by shaft coupling 9, elevator motor 8 drives winching barrel 11 to rotate by shaft coupling 9.During work, during winching barrel 11 main story, tense wire rope 4 drives two respective four joints of gripper (finger tip joint 1 and three middle joint 6) to tighten up and embrace elevator column, is energized to magnechuck simultaneously, and magnechuck sucks column；Loosen steel wire rope 4 during winching barrel 11 anti-pass, simultaneously magnechuck dead electricity, under the restoring force effect of spring 2, drive two respective four joints open elevator columns of gripper.
Referring to attached Fig. 1 and 2, two robot section are vertically connected with by slider-crank mechanism, wherein, slider-crank mechanism includes a disc crank 18, connecting rod 16, with slide block 17, slide block 17 is fixed on the backboard back side of lower robot section by frame, disc crank 18 is arranged on the backboard back side of robot section, and the center of rotation axle of disc crank 18 is connected with lifting motor 15 by reductor 19, reductor 19 and lifting motor 15 are fixed on the backboard back side of robot section, one end of connecting rod 16 is hinged with slide block 17, the other end of connecting rod is hinged with the edge of disc crank 18；In order to make two robot section can realize vertical knee-action under the drive of slider-crank mechanism, upper and lower two robot section are vertically connected with also by slide bar slide block mechanism, wherein, the lateral symmetry at the backboard back side of upper robot section is provided with fixed block 13-1, the lateral symmetry at the backboard back side of lower robot section is provided with slide block 13-2, connected by two slide bars being parallel to each other 14 between fixed block 13-1 and slide block 13-2, the fixed block at the top of described slide bar 14 and the backboard back side of upper robot section is fixed, the lower end of slide bar is connected with the skid at the backboard back side of lower robot section；During work, lifting motor 15 drives disc crank 18 to rotate by reductor 19, and wheel crank 18 realizes two robot section by connecting rod 16 and moves up and down along the relative of slide bar with slide block 17.
The method of operation of the present invention is as follows:
The elevator driven by motor steel wire rope tension of upper robot section, the energising of its magnechuck, makes two grippers of mechanical hand hold elevator column tightly simultaneously；Then above robot arm is divided into fixing point to utilize slider-crank mechanism that lower robot section is mentioned (this at present robot section be releasing orientation), it is promoted to the elevator driven by motor steel wire rope tension of peak robot section at present, the energising of its magnechuck, makes two grippers of lower mechanical hand hold elevator column tightly simultaneously；Then the elevator driven by motor steel wire rope going up robot section unclamps, and its magnechuck dead electricity, makes two grippers of mechanical hand unclamp elevator column under the restoring force effect of spring simultaneously；Then following robot arm is divided into the strong point to realize moving upward of upper robot section, such alternating movement, it is achieved the lifting of complete machine again with slider-crank mechanism.
Above the present invention has been done exemplary description; should be noted that; when without departing from the core of the present invention, any simple deformation, amendment or other those skilled in the art can not spend the equivalent replacement of creative work to each fall within protection scope of the present invention.
Claims (8)
1. armful formula coal mine lifting machine inspection robot mechanism based on magnechuck, the robot section that its overall point upper and lower two structure is identical, two robot section each include two grippers being symmetrical set, each gripper includes multiple joint respectively, multiple joints are sequentially connected in series by bearing pin, wherein, the joint being positioned at end is arranged on backboard by bearing pin；Medial surface in each joint is fixedly installed magnechuck respectively；Between each joint, outside is connected by spring simultaneously, and between each joint, inner side is sequentially connected in series by steel wire rope, and the through hole on steel wire penetrating backboard is connected on winching barrel；The two axial ends of described winching barrel is fixed on the back side of backboard by bearing block, and one end of winching barrel is connected with the output shaft of the elevator motor at the back side being fixed on backboard by shaft coupling, and elevator motor drives winching barrel to rotate by shaft coupling；Strained by elevator driven by motor steel wire rope and unclamp, under the effect of spring-return power, in combination with the electric dead electricity that obtains of magnechuck, the opening and closing movement of control gripper；
Two robot section are vertically connected with by slider-crank mechanism, wherein, slider-crank mechanism includes crank, connecting rod and slide block, slide block is fixed on the backboard back side of lower robot section by frame, crank is arranged on the backboard back side of robot section, and the center of rotation axle of crank is connected with lifting motor by reductor, and reductor and lifting motor are fixed on the backboard back side of robot section, one end of connecting rod is hinged with slide block, and the other end of connecting rod is hinged with crank；Two robot section are vertically connected with also by slide bar slide block mechanism, wherein, slide bar slide block mechanism includes slide bar and slide block, and the backboard back side of one end of slide bar and wherein a robot section is fixed, and the other end of slide bar is connected with the backboard Dorsal glide of another robot section by slide block；Realize two robot section by slider-crank mechanism relatively to move up and down along slide bar.
2. armful formula coal mine lifting machine inspection robot mechanism based on magnechuck according to claim 1, it is characterised in that: each gripper includes four joints respectively.
3. armful formula coal mine lifting machine inspection robot mechanism based on magnechuck according to claim 1, it is characterized in that: each gripper includes a finger tip joint and three middle joint respectively, finger tip joint and three middle joint are sequentially connected in series by bearing pin, wherein, the middle joint being positioned at end is arranged on backboard by bearing pin；Medial surface at finger tip joint and three middle joint is fixedly installed magnechuck respectively；Meanwhile, between finger tip joint and coupled middle joint and individual middle joint, outside is connected by spring, and between finger tip joint and coupled middle joint and individual middle joint, inner side is sequentially connected in series by steel wire rope.
4. according to claim 3 embrace formula coal mine lifting machine inspection robot mechanism based on magnechuck, it is characterised in that: finger tip joint global approximation triangle, and the finger tip in finger tip joint curves inwardly, middle joint is rectangular structure.
5. armful formula coal mine lifting machine inspection robot mechanism based on magnechuck according to claim 1, it is characterised in that: crank is disc crank, and one end of connecting rod is hinged with the edge of disc crank.
6. armful formula coal mine lifting machine inspection robot mechanism based on magnechuck according to claim 1, it is characterized in that: the lateral symmetry at the backboard back side of upper robot section is provided with fixed block, the lateral symmetry at the backboard back side of lower robot section is provided with slide block, connected by two slide bars being parallel to each other between fixed block and slide block, the fixed block at the backboard back side of the top of slide bar and upper robot section is fixed, and the lower end of slide bar is connected with the skid at the backboard back side of lower robot section.
7. the operation method embracing formula coal mine lifting machine inspection robot mechanism based on magnechuck as described in one of claim 1-6, it is characterized in that: the elevator driven by motor steel wire rope tension of upper robot section, the energising of its magnechuck, makes two grippers of mechanical hand hold elevator column tightly simultaneously；Then above robot arm is divided into fixing point to utilize slider-crank mechanism that lower robot section is mentioned (this at present robot section be releasing orientation), it is promoted to the elevator driven by motor steel wire rope tension of peak robot section at present, the energising of its magnechuck, makes two grippers of lower mechanical hand hold elevator column tightly simultaneously；Then the elevator driven by motor steel wire rope going up robot section unclamps, and its magnechuck dead electricity, makes two grippers of mechanical hand unclamp elevator column under the restoring force effect of spring simultaneously；Then following robot arm is divided into the strong point to realize moving upward of upper robot section, such alternating movement, it is achieved the lifting of complete machine again with slider-crank mechanism.
8. the application in the detection and maintenance of mining elevator of armful formula coal mine lifting machine inspection robot mechanism based on magnechuck as described in one of claim 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610282287.0A CN105710887B (en) | 2016-04-29 | 2016-04-29 | Formula mining elevator inspection robot mechanism is embraced based on magnechuck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610282287.0A CN105710887B (en) | 2016-04-29 | 2016-04-29 | Formula mining elevator inspection robot mechanism is embraced based on magnechuck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105710887A true CN105710887A (en) | 2016-06-29 |
| CN105710887B CN105710887B (en) | 2018-02-09 |
Family
ID=56161855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610282287.0A Expired - Fee Related CN105710887B (en) | 2016-04-29 | 2016-04-29 | Formula mining elevator inspection robot mechanism is embraced based on magnechuck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105710887B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
| CN107283410A (en) * | 2017-05-24 | 2017-10-24 | 中国矿业大学 | A kind of snakelike inspection robot mechanism of elevator cage guide based on magnetic wheel driven automatic scan |
| CN108406833A (en) * | 2018-04-25 | 2018-08-17 | 贵州电网有限责任公司 | A kind of electromagnetic adsorption type two degrees of freedom redundant mechanical pawl |
| WO2018177181A1 (en) * | 2017-03-30 | 2018-10-04 | 深圳光启合众科技有限公司 | Swaying structure and bionic plant |
| CN109733133A (en) * | 2018-12-18 | 2019-05-10 | 南京理工大学 | A kind of flexible trailer auxiliary alignment and drawn |
| CN109877859A (en) * | 2019-03-15 | 2019-06-14 | 天津交通职业学院 | The pneumatic machinery finger that each joint can be move freely |
| CN112476470A (en) * | 2020-11-09 | 2021-03-12 | 梁弘 | Self-adaptive-appearance clamping manipulator for hot forging |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| US20120060514A1 (en) * | 2010-09-09 | 2012-03-15 | Hamilton Storage Technologies, Inc. | Tube Picking Mechanisms with an Ultra-Low Temperature or Cryogenic Picking Compartment |
| CN202593671U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Integral pole-climbing robot |
| CN204355189U (en) * | 2015-01-04 | 2015-05-27 | 中铁十九局集团第七工程有限公司 | For the vacuum type climbing robot of column |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN205766170U (en) * | 2016-04-29 | 2016-12-07 | 中国矿业大学 | Based on magnechuck armful of formula mining elevator inspection robot mechanism |
-
2016
- 2016-04-29 CN CN201610282287.0A patent/CN105710887B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN101664927A (en) * | 2009-09-15 | 2010-03-10 | 华南理工大学 | Modularized biomimetic climbing robot |
| US20120060514A1 (en) * | 2010-09-09 | 2012-03-15 | Hamilton Storage Technologies, Inc. | Tube Picking Mechanisms with an Ultra-Low Temperature or Cryogenic Picking Compartment |
| CN202593671U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Integral pole-climbing robot |
| CN204355189U (en) * | 2015-01-04 | 2015-05-27 | 中铁十九局集团第七工程有限公司 | For the vacuum type climbing robot of column |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN205766170U (en) * | 2016-04-29 | 2016-12-07 | 中国矿业大学 | Based on magnechuck armful of formula mining elevator inspection robot mechanism |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
| WO2018177181A1 (en) * | 2017-03-30 | 2018-10-04 | 深圳光启合众科技有限公司 | Swaying structure and bionic plant |
| CN108654101A (en) * | 2017-03-30 | 2018-10-16 | 深圳光启合众科技有限公司 | Swinging structure and bionic plant |
| CN107283410A (en) * | 2017-05-24 | 2017-10-24 | 中国矿业大学 | A kind of snakelike inspection robot mechanism of elevator cage guide based on magnetic wheel driven automatic scan |
| WO2018214217A1 (en) * | 2017-05-24 | 2018-11-29 | 中国矿业大学 | Magnetic wheel drive-based snakelike inspection robot mechanism for elevator cage guide |
| US11312007B2 (en) * | 2017-05-24 | 2022-04-26 | China University Of Mining And Technology | Serpentine inspection robot mechanism for lifting cage guide driven by magnetic wheels |
| CN108406833A (en) * | 2018-04-25 | 2018-08-17 | 贵州电网有限责任公司 | A kind of electromagnetic adsorption type two degrees of freedom redundant mechanical pawl |
| CN108406833B (en) * | 2018-04-25 | 2024-05-24 | 贵州电网有限责任公司 | Electromagnetic adsorption type two-degree-of-freedom redundant mechanical claw |
| CN109733133A (en) * | 2018-12-18 | 2019-05-10 | 南京理工大学 | A kind of flexible trailer auxiliary alignment and drawn |
| CN109877859A (en) * | 2019-03-15 | 2019-06-14 | 天津交通职业学院 | The pneumatic machinery finger that each joint can be move freely |
| CN112476470A (en) * | 2020-11-09 | 2021-03-12 | 梁弘 | Self-adaptive-appearance clamping manipulator for hot forging |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105710887B (en) | 2018-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105710887A (en) | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks | |
| CN105729487B (en) | One kind embraces formula mining elevator crusing robot | |
| CN101734300B (en) | Continuous movable type cable climbing device | |
| CN201648963U (en) | Continuous mobile cable robot creeping device | |
| CN107827002A (en) | A kind of turnable architectural engineering lifting device | |
| CN103342318B (en) | Lifting device for steel truss inspection trolley working platform and installation method thereof | |
| CN105459129A (en) | Coal mine lifter patrol robot mechanism based on electromagnetic suckers | |
| CN113800359B (en) | Mine steel wire rope dust and dirt removing robot and working method | |
| CN205466233U (en) | Robot mechanism is patrolled and examined to colliery lifting machine based on electromagnet | |
| CN204125835U (en) | A kind of bridge inspection vehicle | |
| CN101259857A (en) | Electric-drive creeping type cable robot | |
| CN110061449A (en) | A kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires | |
| CN205766170U (en) | Based on magnechuck armful of formula mining elevator inspection robot mechanism | |
| CN106741269A (en) | A kind of gait clamped-in style climbing robot | |
| CN104192728B (en) | Lifting monolock stops mechanical and electric equipment installation mechanism of hook type rotation substation | |
| CN102059704B (en) | Novel iron tower climbing robot manipulator device | |
| CN206408523U (en) | A kind of cable robot for bridge machinery | |
| CN203685283U (en) | Stepping type moving and conveying device for mine-used lifesaving cabins | |
| CN201648982U (en) | Small-sized continuous movable cable crawling device | |
| CN202499621U (en) | Steel wire rope lifting clamper for checking elevator speed governor | |
| CN213416079U (en) | Lifting device for bridge engineering | |
| CN105398952B (en) | A kind of finished product is laid bricks fixture | |
| CN203903936U (en) | Lifting mechanism | |
| CN210825276U (en) | Semi-automatization's gripper carrier | |
| CN2419248Y (en) | Horizontally moving isolated platform for steel beam maintaining vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Tang Chaoquan Inventor after: Lv Yaobin Inventor after: Du Xiangwei Inventor after: Gong Guirong Inventor after: Ma Bi Inventor after: Zhou Gongbo Inventor after: Zhu Hua Inventor after: Zhang Meng Inventor after: Hu Eryi Inventor after: Shu Xin Inventor after: Ding Xingwang Inventor after: Yi Junhua Inventor before: Tang Chaoquan Inventor before: Ma Bi Inventor before: Zhou Gongbo Inventor before: Shu Xin Inventor before: Zhang Meng |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 Termination date: 20210429 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |