CN205116008U - Electro -magnet formula cable robot safety return stroke mechanism - Google Patents
Electro -magnet formula cable robot safety return stroke mechanism Download PDFInfo
- Publication number
- CN205116008U CN205116008U CN201520831840.2U CN201520831840U CN205116008U CN 205116008 U CN205116008 U CN 205116008U CN 201520831840 U CN201520831840 U CN 201520831840U CN 205116008 U CN205116008 U CN 205116008U
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- China
- Prior art keywords
- electromagnet
- electro
- beam slab
- magnet
- frame
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Abstract
The utility model discloses an electro -magnet formula cable robot safety return stroke mechanism belongs to the special robots field, beam slab, electromagnet device and safe return stroke mechanism under the robot, frame, the beam slab is fixed on the robot under the frame, and electromagnet device fixes under the frame on the beam slab, electromagnet device includes wire, electro -magnet, electro -magnet fixed bolster, connecting link pin, controller, and the electro -magnet is fixed mutually with the electro -magnet fixed bolster, and the beam slab was fixed mutually under the electro -magnet fixed bolster passed through connecting link pin and frame, and the wire is continuous with the robot's controller, safe return stroke mechanism under by balancing weight, escapement connecting rod, escapement claw, round pin axle, escape wheel, frame the beam slab forms, escapement claw and electro -magnet are apart from being the 2 -10 millimeter. The utility model discloses increasing electromagnet device solution light volume cable robot quality and gently can not starting the safe mechanism of returning journey, remote control electro -magnet magnetism is realized to incremental control unit valence, has simple and practical's advantage.
Description
Technical field
The utility model relates to a kind of safe return mechanism of specialized robot, and more particularly, it relates to the safe return mechanism of a kind of electromagnet type cable robot.
Background technology
The appearance of cable stayed bridge is worldwide widely used, cable as cable stayed bridge critical piece long term exposure in atmosphere, as emerging cable inspection instrument, the extensive use of cable robot well addresses this problem, but cable robot, when work high above the ground, is declined by self gravitation, the speed that robot is arrived bottom cable is very large, the large problem of bottom speed is reached, the safe return mechanism of design cable robot for solving.
But some cable robot compact structure, light, self gravitation kicks the beam, do not start safe return mechanism by self gravitation, if be at this moment energized by electromagnet, obtain magnetic attraction balancing weight, safe return mechanism is started, after deenergization, robot completes uniform descent by the safe return mechanism started, and at present, market not yet occurs the safe return mechanism of electromagnet type that a kind of cable robot for lightweight designs.
Utility model content
The utility model overcomes the deficiencies in the prior art, fills up gaps in market, provide a kind of structure simple, be easy to processing and manufacturing, be applicable to the safe return mechanism of electromagnet type of lightweight cable robot.
The safe return mechanism of electromagnet type cable robot of the present utility model, comprise robot body, beam slab under frame, electromagnet apparatus and safe return mechanism, under frame, beam slab is fixed on robot body, electromagnet apparatus to be fixed under frame on beam slab, described electromagnet apparatus comprises wire, electromagnet, electromagnet fixed support, connecting link pin, controller, electromagnet and electromagnet fixed support fix, electromagnet fixed support is fixed by beam slab under connecting link pin and frame, wire is connected with electromagnet by controller, described safe return mechanism is by balancing weight, escapement connecting rod, escapement pawl, bearing pin, escape wheel, beam slab composition under frame, escapement pawl and electromagnet distance are 2-10 millimeter.
Described balancing weight 1 is metal material, and this metal material is iron.Described controller 11 is made up of control panel and power supply, and this power supply is dc source, and supply voltage is 5-12V.Described connecting link pin 10 is connected by welding manner with beam slab under frame 6.
Compared with prior art, the beneficial effects of the utility model are:
(1) structure is simple, easily manufactured, is easy to install.
(2) cable robot rolling-operation mode can be applicable to.
(3) increase electromagnet apparatus, the cable robot of lightweight can be solved because quality kicks the beam, the problem of safe return mechanism during decline, can not be started.
(4) increase control original paper, the presence or absence of electric current can be controlled by controller, so control electromagnetism ferromagnetic with or without, realize Long-distance Control.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is robot body structure schematic diagram.
In figure: 1-balancing weight, 2-escapement connecting rod, 3-escape wheel, 4-bearing pin, 5-escape wheel, beam slab under 6-frame, 7-wire
, 8-electromagnet, 9-electromagnet fixed support, 10-connecting link pin, 11-controller.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model will be further described.
In the drawings, the safe return mechanism of electromagnet type cable robot primarily of balancing weight 1, escapement connecting rod 2, escape wheel 3, bearing pin 4, escape wheel 5, beam slab 6 under frame, wire 7, electromagnet 8, electromagnet fixed support 9, connecting link pin 10, formation such as controller 11 grade.
Described electromagnet apparatus comprises wire 7, electromagnet 8, electromagnet fixed support 9, connecting link pin 10, controller 11, controller 11 comprises control panel and power supply, controller 11 can adopt single-chip microcomputer, programmable logic controller or relay, signal is sent to realize control by remote controller, power supply is arranged in controller 11, its voltage is 10V, power supply sends by single-chip microcomputer the break-make that signal controls electric current, thus control the presence or absence of electromagnet 8 magnetic, electromagnet 8 and electromagnet fixed support 9 fix, electromagnet fixed support 9 is fixed by connecting link pin 10 and beam slab under frame 6, connected mode is welding, wire 7 is connected with electromagnet 8 by controller 11, the presence or absence of electric current is controlled by single-chip microcomputer signal, thus control the presence or absence of electromagnet 8 magnetic, realize Long-distance Control.
Described safe return mechanism is made up of beam slab 6 under balancing weight 1, escapement connecting rod 2, escapement pawl 3, bearing pin 4, escape wheel 5, frame, and described escapement pawl 3 and electromagnet 8 are apart from being 2-10 millimeter.
This device can well solve lightweight cable robot is difficult to open safe return mechanism problem because own wt kicks the beam, by remote controller to controller signals, the power supply of supply electromagnet is energized, electromagnet obtains magnetic attraction balancing weight, thus opens safe return mechanism, when robot declines, balancing weight does simple harmonic motion, the kinetic transformation that robot declines is become the energy of simple harmonic motion, and then control decrease speed, make robot at the uniform velocity low speed decline.
Claims (6)
1. the safe return mechanism of electromagnet type cable robot, comprise robot body (12), beam slab (6) under frame, electromagnet apparatus and safe return mechanism, it is characterized in that, under described frame, beam slab (6) is fixed on robot body (12), electromagnet apparatus to be fixed under frame on beam slab (6), described electromagnet apparatus comprises wire (7), electromagnet (8), electromagnet fixed support (9), connecting link pin (10), controller (11), electromagnet (8) and electromagnet fixed support (9) fix, electromagnet fixed support (9) is fixed by connecting link pin (10) and beam slab (6) under frame, wire (7) is connected with electromagnet (8) by controller (11), described safe return mechanism comprises balancing weight (1), escapement connecting rod (2), escapement pawl (3), bearing pin (4), escape wheel (5), beam slab (6) under frame, escapement pawl (3) is 2-10 millimeter with electromagnet (8) distance.
2. the safe return mechanism of electromagnet type cable robot according to claim 1, is characterized in that, described balancing weight (1) is metal material.
3. the safe return mechanism of electromagnet type cable robot according to claim 2, is characterized in that, described metal material is iron.
4. the safe return mechanism of electromagnet type cable robot according to claim 1, is characterized in that, described controller (11) is made up of control panel and power supply.
5. the safe return mechanism of electromagnet type cable robot according to claim 4, is characterized in that, described power supply is dc source, and supply voltage is 10-12V.
6. the safe return mechanism of electromagnet type cable robot according to claim 1, is characterized in that, described connecting link pin (10) is connected by welding manner with beam slab under frame (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520831840.2U CN205116008U (en) | 2015-10-26 | 2015-10-26 | Electro -magnet formula cable robot safety return stroke mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520831840.2U CN205116008U (en) | 2015-10-26 | 2015-10-26 | Electro -magnet formula cable robot safety return stroke mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205116008U true CN205116008U (en) | 2016-03-30 |
Family
ID=55571629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520831840.2U Expired - Fee Related CN205116008U (en) | 2015-10-26 | 2015-10-26 | Electro -magnet formula cable robot safety return stroke mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205116008U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106968184A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | Character of Cable Force of Cable stayed Bridge climbing robot and its control method climbed and declined |
| CN106968174A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | The electromechanical assembly of Character of Cable Force of Cable stayed Bridge climbing robot |
-
2015
- 2015-10-26 CN CN201520831840.2U patent/CN205116008U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106968184A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | Character of Cable Force of Cable stayed Bridge climbing robot and its control method climbed and declined |
| CN106968174A (en) * | 2017-05-05 | 2017-07-21 | 广西师范大学 | The electromechanical assembly of Character of Cable Force of Cable stayed Bridge climbing robot |
| CN106968174B (en) * | 2017-05-05 | 2019-05-28 | 广西师范大学 | The electromechanical assembly of Character of Cable Force of Cable stayed Bridge climbing robot |
| CN106968184B (en) * | 2017-05-05 | 2019-05-28 | 广西师范大学 | Character of Cable Force of Cable stayed Bridge climbing robot and its control method climbed and declined |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20161026 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |