Coal mine lifter patrol robot mechanism based on electromagnetic suckers

Abstract

The invention discloses a structure of a coal mine lifter patrol climbing robot and belongs to lifter detection and maintenance equipment for coal mines. The structure comprises two two-freedom-degree wrist structures and climbing mechanical arms hinged to the two two-freedom-degree wrist structures, and the electromagnetic suckers are arranged at the bottoms of the two two-freedom-degree wrist structures respectively. The wrist structures are installed on the electromagnetic suckers, the other ends of the wrist structures are connected with the mechanical arms through shafts, the two mechanical arms are connected through a shaft and driven by a motor, rotation of other parts except the working sucker is achieved, and the two suckers move alternately so that the robot can climb. By means of the electromagnetic suckers, the surface of a lifter support is attracted and clamped tightly through the electromagnetic suckers, and sprayed paint on the surface of the support can not be damaged. Adjustment among multiple degrees of freedom makes the climbing robot reach any surface in the length range of the support structure, the robot can move flexibly and transversely move or change a work plane. The robot is simple in structure, small in self weight and capable of reaching any space position to adapt to complex working conditions.

Description

Technical field [0001] The invention relates to a robot mechanism, in particular to an electromagnetic suction cup-based coal mine hoist inspection robot mechanism suitable for the detection and maintenance of coal mine hoists, and belongs to a coal mine hoist detection device. Background technique [0002] Mine hoists are mainly used for dispatching mine carts in underground mines and other auxiliary traction. They can also be used for cooperative hauling, lifting or other auxiliary handling tasks in coal mines, metallurgical mines, construction sites and other fields, but they are not allowed to be used for manned use. [0003] However, the current detection and maintenance methods of mine hoists are relatively backward. Generally, hoists or other lifting equipment are used to install manned platforms for manual inspection, which will increase the risk of labor. Climbing robots that have emerged in recent years generally use electromagnetic drive friction wheels to compress. The ...

AI Technical Summary

Problems solved by technology

[0003] However, the detection 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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