Inspection Robot Mechanism of Hugging Mine Hoist Based on Electromagnetic Chuck

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 [0001] The invention relates to a robot mechanism, in particular to a hug type coal mine hoist inspection robot mechanism based on an electromagnetic sucker, which is suitable for detection and maintenance of a coal mine hoist. Background technique [0002] Mining hoists are mainly used for dispatching mine cars and other auxiliary traction in mines, and can also be used for hauling, lifting or other auxiliary handling in coal mines, metallurgical mines, construction sites, etc., but they cannot be used for manned use. [0003] However, the detection and maintenance methods of mining hoists are relatively backward at present. Generally, winches or other lifting equipment are used to install manned platforms for manual inspection, which will increase manual risks. Climbing robots that have emerged in recent years generally use electromagnetically driven friction wheels to hold down. The robot climbs continuously, or uses pneumatic components to tighten creepin...

AI Technical Summary

Problems solved by technology

[0003] However, the inspection and maintenance methods of mining hoists are relatively backward at present. Generally, hoists or other lifting equipment are used to install manned platforms for manual inspection, which will increase manual risks.

Climbing robots that have emerged in recent years generally use electromagnetically driven friction wheels to hold down. The robot climbs continuously, or uses pneumatic components to tighten creeping climbs, or uses claws to grasp bridge construction to achieve continuous climbing, and then uses the inspection and painting equipment it carries to inspect the bridge. And maintenance, and these pressing or grasping fixing methods are not suitable for the inspection of the hoist, no matter the above-mentioned fixing methods, it will definitely damage the paint or protective layer of the hoist rope or the surface of the steel

Moreover, these robots have the disadvantages of heavy weight, inflexible activities, and high energy consumption.

Therefore, such robots have not been widely used in inspection and maintenance of hoists

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