CN205766170U - Based on magnechuck armful of formula mining elevator inspection robot mechanism - Google Patents
Based on magnechuck armful of formula mining elevator inspection robot mechanism Download PDFInfo
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- CN205766170U CN205766170U CN201620388271.3U CN201620388271U CN205766170U CN 205766170 U CN205766170 U CN 205766170U CN 201620388271 U CN201620388271 U CN 201620388271U CN 205766170 U CN205766170 U CN 205766170U
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Abstract
The utility model discloses a kind of based on magnechuck armful of formula mining elevator inspection robot mechanism, its overall point of robot section that upper and lower two structures are identical, two robot section are connected by slider-crank mechanism and slide bar slide block mechanism, utilize two robot section alternately to hold elevator column tightly, realize the alternately rising of two robot section in combination with slider-crank mechanism and slide bar slide block mechanism thus realize the motion that robot is overall.Connected in each joint by robot section by steel wire rope, and connected by spring between each joint, and magnechuck is set on joint, 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；Its simple in construction is light and handy, and flexible movements and enclasping force are strong, can effectively reduce the power demand of motor, and is prevented effectively from and elevator is pulled rope or steel surface sprays paint or protective layer damages.
Description
Technical field
This utility model relates to a kind of robot mechanism, a kind of based on magnechuck armful of formula coal mine lifting machine inspection robot mechanism being applicable to 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 make manned use.
But detection and the maintenance mode of mining elevator are relatively backward at present, general employing hoist engine or other jacking equipments are installed manned platform and are artificially checked, therefore can increase artificial danger.The climbing robot risen in recent years typically use Electromagnetic Drive friction pulley compress be robot climb continuously or utilize pneumatic element step up wriggling climb or utilize claw promptly 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; the most above-mentioned that fixed form, inherently pulls rope or steel surface sprays paint or protective layer damages elevator.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 application on examination and maintenance elevator.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of based on magnechuck armful of formula mining elevator inspection robot mechanism being applicable to the detection of coal mining elevator and maintenance.
This utility model is achieved through the following technical solutions:
A kind of based on magnechuck armful of formula mining elevator inspection robot mechanism, its overall point of robot section that upper and lower two structures are 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 a wherein 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 includes that a finger tip joint and three middle joint, finger tip joint and three middle joint are sequentially connected in series by bearing pin respectively, 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 each middle joint, outside is connected by spring, and between finger tip joint and coupled middle joint and each 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 top of slide bar and the backboard back side of upper robot section is fixed, and the lower end of slide bar is slidably connected with the slide block at the backboard back side of lower robot section.
The operation method embracing formula mining elevator 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；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, simultaneously its magnechuck dead electricity, makes two grippers of mechanical hand unclamp elevator column under the restoring force effect of spring；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 mining elevator inspection robot mechanism mining elevator detection and safeguard in application.
Advantage of the present utility model and having the beneficial effect that
In this utility model, two robot section are connected by slider-crank mechanism and slide bar slide block mechanism, utilize two robot section alternately to hold elevator column tightly, realize the alternately rising of two robot section in combination with slider-crank mechanism and slide bar slide block mechanism thus realize the motion that robot is overall.Wherein, robot section, use 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；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 elevator column whether is held tightly；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 reduce the volume and weight of complete machine, and is prevented effectively from and elevator is pulled rope or steel surface sprays paint or protective layer damages.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is front view of the present utility model shown in Fig. 1.
Fig. 3 is the structural representation of the mechanical hand in this utility model.
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
The technical solution of the utility model is further illustrated below in conjunction with specific embodiment.
A kind of based on magnechuck armful of formula mining elevator inspection robot mechanism, its overall point of robot section that upper and lower two structures are identical, two robot section are connected by slider-crank mechanism and slide bar slide block mechanism, utilize two robot section alternately to hold elevator column tightly, realize the alternately rising of two robot section in combination with slider-crank mechanism and slide bar slide block mechanism thus realize the motion that robot is overall.
See 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 i.e. 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, steel wire rope 4 is connected on winching barrel 11 (i.e. 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, simultaneously magnechuck dead electricity during winching barrel 11 anti-pass, under the restoring force effect of spring 2, drive two respective four joints open elevator columns of gripper.
See 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 slidably connected with the slide block 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 the relative up and down motion along slide bar of two robot section by connecting rod 16 with slide block 17.
The method of operation of the present utility model 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；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, simultaneously its magnechuck dead electricity, makes two grippers of mechanical hand unclamp elevator column under the restoring force effect of spring；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 this utility model has been done exemplary description; should be noted that; in the case of without departing from core of the present utility model, any simple deformation, amendment or other those skilled in the art can not spend the equivalent of creative work to each fall within protection domain of the present utility model.
Claims (5)
1. based on magnechuck armful of formula mining elevator inspection robot mechanism, it is characterized in that: its overall point of robot section that upper and lower two structures are 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；
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 a wherein 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.
Based on magnechuck armful of formula mining elevator inspection robot mechanism the most according to claim 1, it is characterised in that: each gripper includes four joints respectively.
Based on magnechuck armful of formula mining elevator inspection robot mechanism the most 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 each middle joint, outside is connected by spring, and between finger tip joint and coupled middle joint and each middle joint, inner side is sequentially connected in series by steel wire rope.
Based on magnechuck armful of formula mining elevator inspection robot mechanism the most 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.
Based on magnechuck armful of formula mining elevator inspection robot mechanism the most 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 top of slide bar and the backboard back side of upper robot section is fixed, and the lower end of slide bar is slidably connected with the slide block at the backboard back side of lower robot section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620388271.3U CN205766170U (en) | 2016-04-29 | 2016-04-29 | Based on magnechuck armful of formula mining elevator inspection robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620388271.3U CN205766170U (en) | 2016-04-29 | 2016-04-29 | Based on magnechuck armful of formula mining elevator inspection robot mechanism |
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| Publication Number | Publication Date |
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| CN205766170U true CN205766170U (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620388271.3U Withdrawn - After Issue CN205766170U (en) | 2016-04-29 | 2016-04-29 | Based on magnechuck armful of formula mining elevator inspection robot mechanism |
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| Country | Link |
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| CN (1) | CN205766170U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN113846554A (en) * | 2021-08-19 | 2021-12-28 | 上海大学 | Line inspection alternate moving type pneumatic assembly and installation method thereof |
-
2016
- 2016-04-29 CN CN201620388271.3U patent/CN205766170U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN105710887B (en) * | 2016-04-29 | 2018-02-09 | 中国矿业大学 | Formula mining elevator inspection robot mechanism is embraced based on magnechuck |
| CN113846554A (en) * | 2021-08-19 | 2021-12-28 | 上海大学 | Line inspection alternate moving type pneumatic assembly and installation method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20180209 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20180209 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |