公开(公告)号：US11312007B2

公开(公告)日：2022-04-26

申请号：US16095717

申请日：2017-06-23

申请人： China University of Mining and Technology

发明人： Chaoquan Tang ,  Gongbo Zhou ,  Eryi Hu ,  Hua Zhu ,  Bi Ma ,  Xin Shu ,  Jian Zhao ,  Xin Chen ,  Chusheng Liu

IPC分类号： B25J9/06 ,  B25J5/00 ,  B25J9/10

摘要： The invention relates to a serpentine inspection robot mechanism for lifting cage guide driven by magnetic wheels, comprising a magnetic wheel drive part and a pitching yawing part, wherein the magnetic wheel drive part comprises a worm and gear transmission mechanism (I) and a magnetic wheel driving mechanism (II), and the pitching yawing part comprises a pitching yawing mechanism (III). Magnetic wheels are driven by the worm and gear transmission mechanism (I) and the magnetic wheel driving mechanism (II), while the pitching and yawing control of the robot are realized by the pitching yawing mechanism (III). The serpentine robot driven by the magnetic wheels (22) resolves the problems that the efficiency of ordinary serpentine robot is low, and it is difficult for the simple-wheel-type robot to span the large gap and to reach some concealed corners, with the cage guide of the lifting machine sucked by the magnetic wheels (22).