CN108044639B - Cableway cleaning and lubricating robot - Google Patents
Cableway cleaning and lubricating robot Download PDFInfo
- Publication number
- CN108044639B CN108044639B CN201810095701.6A CN201810095701A CN108044639B CN 108044639 B CN108044639 B CN 108044639B CN 201810095701 A CN201810095701 A CN 201810095701A CN 108044639 B CN108044639 B CN 108044639B
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- China
- Prior art keywords
- main body
- rolling brush
- cableway
- running
- outer shell
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- 238000004140 cleaning Methods 0.000 title claims abstract description 25
- 230000001050 lubricating effect Effects 0.000 title claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 102
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 239000003921 oil Substances 0.000 claims abstract description 14
- 238000005461 lubrication Methods 0.000 claims abstract description 12
- 239000010687 lubricating oil Substances 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000002093 peripheral effect Effects 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 abstract description 4
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a cableway cleaning and lubricating robot which comprises a running device and a working device for cleaning and lubricating a cableway, wherein the running device comprises a running main body and a power system for driving the running main body to move along the cableway, one side of the running main body is provided with a mounting groove for enabling a cableway rope to pass through, and the working devices are symmetrically arranged at two ends of the running main body. After the automatic lubrication device is arranged on a cableway rope, a power system is started to enable a running device to freely run along the cableway, a rolling brush motor of an operation device drives a rolling brush mechanism to rotate, wire brushes of the rolling brush mechanism at the front end clean the cableway rope, an automatic oil supply system sprays lubricating oil to a rolling brush mechanism at the rear end, brushes of the rolling brush mechanism at the rear end lubricate the cableway rope, automatic cleaning and lubrication work of a high-altitude cableway can be achieved, labor intensity and dangerous coefficient of cleaning work of the cableway are reduced, and work efficiency of cleaning and lubrication work of the cableway is improved.
Description
Technical Field
The invention relates to the technical field of steel wire rope cableways, in particular to a cleaning and lubricating robot for a cableway.
Background
The long-term exposure of the overhead steel wire rope cableway to the natural environment causes the great influence on the service life of the steel wire rope cableway due to the evaporation, solidification and dust adhesion of grease on the surface of the steel wire rope cableway. In order to solve the problems, most units using high-altitude steel wire rope cableways manually clean solidified grease and dust accumulation on the surface of steel wires in a hanging basket by adopting a manual standing mode, the cleaning mode of the high-altitude cableways has high labor intensity and large danger coefficient, and the cleaning and the oiling are not thorough due to the specificity of working environments, and the cleaning and the lubricating are also partially performed by adopting machinery in the field, but cannot be thoroughly cleaned and lubricated due to the defects of the working principle.
Disclosure of Invention
The invention aims to provide a cableway cleaning and lubricating robot which solves the problems of high labor intensity, large danger coefficient and poor cleaning effect of cleaning and lubricating a steel wire rope cableway erected at high altitude in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention relates to a cableway cleaning and lubricating robot which comprises a running device and a working device for cleaning and lubricating a cableway, wherein the running device comprises a running main body and a power system for driving the running main body to move along the cableway, one side of the running main body is provided with a mounting groove for enabling a cableway rope to pass through, and the working device is symmetrically arranged at two ends of the running main body.
Further, each operation device comprises a non-detachable rolling brush mechanism, a rolling brush gear, a transmission gear and a rolling brush motor, wherein the rolling brush gear comprises a gear main body and a gear sheet, a notch is formed in the gear main body, the gear main body is rotatably arranged at one end of the running main body, the gear main body is far away from one end of the running main body and one end of the non-detachable rolling brush mechanism is fixedly connected, the gear sheet is matched with the notch, the gear sheet is fixedly arranged at one end of the detachable rolling brush mechanism, the detachable rolling brush mechanism is detachably arranged at one end of the gear main body, the detachable rolling brush mechanism and the non-detachable rolling brush mechanism are symmetrically arranged along the axis of the rolling brush gear, the transmission gear is rotatably arranged on the running main body and is meshed with the rolling brush gear, the rolling brush motor is arranged in the running main body, and the transmission gear of the rolling brush motor is connected with the driving shaft of the rolling brush motor and is fixedly connected with the battery.
Still further, the non-detachable rolling brush mechanism comprises a first outer shell, one end of the first outer shell is fixedly connected with the gear main body, a semicircular first centering opening is formed in the other end of the first outer shell, a first U-shaped baffle is arranged on the outer peripheral wall of the first outer shell, a plurality of first limit posts are uniformly arranged between the first U-shaped baffle and the first outer shell, each first limit post is perpendicular to the axis of the first outer shell and is in clearance fit with limit holes formed in the first outer shell and the first U-shaped baffle, a first transverse straight pin is fixedly arranged at a position, close to the outer peripheral wall of the first outer shell, of the first limit post, a first pressure spring is sleeved at a position, located between the first U-shaped baffle and the first transverse straight pin, of the first limit post, and one end, located inside the first outer shell, of the first limit post is fixedly connected with the first rolling brush;
the detachable rolling brush mechanism comprises a second outer shell, the gear sheet is fixedly arranged at one end of the second outer shell, one end of the gear sheet is arranged at the second outer shell and is detachably connected with the gear main body, a semicircular second centering opening is formed in the other end of the second outer shell, a second U-shaped baffle is arranged on the peripheral wall of the second outer shell, a plurality of second limiting columns are uniformly arranged between the second U-shaped baffle and the second outer shell, each second limiting column is perpendicular to the axis of the second outer shell and is in clearance fit with limiting holes formed in the second outer shell and the second U-shaped baffle, a second transverse straight pin is fixedly arranged at a position, close to the peripheral wall of the second outer shell, of the second limiting column, perpendicular to the second limiting column, a second pressure spring is sleeved at a position between the second U-shaped baffle and the second transverse straight pin, and the second limiting column is located inside the second outer shell and is fixedly connected with the second rolling brush.
Still further, one of the two first rolling brushes is a first wire brush, and the other is a first brush; one of the two second rolling brushes is a second wire brush, and the other is a second brush; the first wire brush and the second wire brush are correspondingly arranged, and the first brush and the second brush are correspondingly arranged.
Still further, the automatic oil supply system for spraying lubricating oil to the first hairbrush and the second hairbrush is fixedly arranged below the running main body.
Still further, the driving system comprises two driving walking wheels rotatably arranged in the walking main body, a driving device for driving the driving walking wheels to rotate, a position-adjustable passive pinch roller and an adjusting device for adjusting the position of the passive pinch roller.
Still further, the drive arrangement including set up in walk the line motor of line main part top, the drive shaft of motor with pass through synchronous toothed belt transmission connection between the two initiative travelling wheel, walk the line motor with set up in the group battery electric connection of line main part below.
Still further, a pinch roller shaft is arranged in the middle of the driven pinch roller, and the driven pinch roller is rotationally connected with the pinch roller shaft; the adjusting device comprises an adjusting screw, a first gas spring and a second gas spring, wherein the adjusting screw is in threaded connection with one end of the running main body, one end of the adjusting screw, which is positioned in the running main body, is hinged to one end of the first gas spring, the other end of the first gas spring is fixedly connected with the side part of the pinch roller shaft, one end of the second gas spring is fixedly connected with the side part of the pinch roller shaft, and the other end of the second gas spring is hinged to the inner wall of the other end of the running main body.
Still further, the top symmetry of running gear is provided with two monitor probes, monitor probe with set up in the signal storehouse dish electric connection of running main part below.
Still further, still include set up in the controller of walking main part below and set up in travel switch at walking main part both ends, the controller with travel switch, signal storehouse dish, driving system, operation device all electric connection.
Compared with the prior art, the invention has the beneficial technical effects that:
after the automatic lubrication device is arranged on a cableway rope, a power system is started, so that a running device can freely run along the cableway, a rolling brush motor drives a rolling brush mechanism to rotate, wire brushes of the rolling brush mechanism at the front end clean the cableway rope, an automatic oil supply system sprays lubricating oil to the rolling brush mechanism at the rear end, and brushes of the rolling brush mechanism at the rear end lubricate the cableway rope.
Drawings
The invention is further described with reference to the following description of the drawings.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view showing a detachable rolling brush mechanism according to the present invention;
FIG. 3 is a schematic view of the internal structure of the walking body of the present invention;
FIG. 4 is a schematic view of a non-detachable roll brush mechanism according to the present invention;
FIG. 5 is a schematic cross-sectional view of a non-detachable roll brush mechanism of the present invention;
FIG. 6 is a schematic view of a removable roll brush mechanism according to the present invention;
FIG. 7 is a schematic cross-sectional view of a non-detachable roll brush mechanism of the present invention;
reference numerals illustrate: 1. a walking main body; 1-1, a mounting groove; 1-2, hanging hooks; 2. a non-detachable rolling brush mechanism; 2-1, a first outer shell; 2-1-1 parts of a first centering hole, 2-2 parts of a first rolling brush; 2-3, a first U-shaped baffle; 2-4, a first limit column; 2-5, a first pressure spring; 2-6, a second transverse straight pin; 3. a detachable rolling brush mechanism; 3-1, a second outer shell; 3-1-1, a second centering opening, 3-2 and a second rolling brush; 3-3, a second U-shaped baffle; 3-4, a second limit column; 3-5, a second pressure spring; 3-6, a second transverse straight pin; 4. a rolling brush gear; 4-1, a gear body; 4-1-1, grooves; 4-2, a gear plate; 4-2-1, protrusions; 5. a transmission gear; 6. a roll brush motor; 7. an electric appliance box; 7-1, hanging pins; 8. an automatic oil supply system; 9. automatic travelling wheel; 10. a passive pinch roller; 11. a running motor; 12. a synchronous toothed belt; 13. a pressing wheel shaft; 14. adjusting a screw; 15. a first gas spring; 16. a second gas spring; 17. monitoring a probe; 18. cableway ropes; 19. and (3) a nut.
Detailed Description
As shown in fig. 1 to 7, a cableway cleaning and lubrication robot includes a running device and a working device for cleaning and lubricating the cableway.
The traveling device comprises a traveling main body 1 and a power system for driving the traveling main body to move along a cableway, travel switches are arranged at two ends of the traveling main body 1, a mounting groove 1-1 for enabling a cableway rope 18 to pass through is formed in one side of the traveling main body 1, an electric box 7 is arranged below the traveling main body 1, specifically, four hanging hooks 1-2 are fixedly welded at four corners of the bottom of the traveling main body 1, four hanging pins 7-1 are fixedly welded at four corners of the top of the electric box 7, and the electric box 7 is arranged below the traveling main body 1 by arranging the hanging pins 7-1 at the corresponding hanging hooks 1-2, and a battery pack, a signal bin disc and a controller are arranged in the electric box 7.
The power system comprises two driving walking wheels 9 rotatably arranged in the walking main body, a driving device for driving the driving walking wheels to rotate, a driven pressing wheel 10 with an adjustable position and an adjusting device for adjusting the position of the driven pressing wheel.
Each driving traveling wheel 9 is rotatably installed on a traveling wheel shaft arranged in the traveling main body 1 through a bearing, and one end of each driving traveling wheel 9 is fixedly connected with the coaxial center of the transmission wheel. The driving device comprises a trend motor 11 arranged above the walking main body, the driving motor 11 is electrically connected with the battery pack, a driving wheel is arranged on a driving shaft of the walking motor 11, and the driving wheel is in transmission connection with two driving wheels through a synchronous toothed belt 12 so as to realize the driving effect of the walking motor 11 on two driving walking wheels 9.
The middle part of the driven pinch roller 10 is provided with a pinch roller shaft 13, and the driven pinch roller 10 is rotatably connected with the pinch roller shaft 13 through a bearing. The adjusting device comprises an adjusting screw 14, a first gas spring 15 and a second gas spring 16, wherein the adjusting screw 14 is in threaded connection with one end of the running main body 1, a threaded hole matched with the adjusting screw 14 is formed in one end of the running main body, and nuts 19 matched with the adjusting screw 14 are fixedly welded at two ends of the threaded hole. The adjusting screw 14 is located at one end inside the running main body 1 and is hinged to one end of the first gas spring 15, the other end of the first gas spring 15 is fixedly connected with the side portion of the pinch roller shaft 13, one end of the second gas spring 15 is fixedly connected with the side portion of the pinch roller shaft 13, and the other end of the second gas spring 15 is hinged to the inner wall of the other end of the running main body 1.
Two monitoring probes 17 are symmetrically arranged above the running device 1, and the monitoring probes 17 are electrically connected with the signal bin disc.
The operation devices are symmetrically arranged at two ends of the running main body. Each working device comprises a non-detachable rolling brush mechanism 2, a detachable rolling brush mechanism 3, a rolling brush gear 4, a transmission gear 5 and a rolling brush motor 6. The rolling brush gear 4 comprises a gear main body 4-1 and a gear piece 4-2, wherein a notch is formed in the gear main body 4-1, and grooves 4-1-1 are formed in two sides of the notch. The gear main body 4 is rotatably installed at one end of the running main body 1 through a bearing, one end, away from the running main body 1, of the gear main body 4 is fixedly connected with one end of the non-detachable rolling brush mechanism 2, and the non-detachable rolling brush mechanism 2 is specifically installed at one end, away from the running main body 1, of the gear main body 4 through a fixing bolt. The gear piece 4-2 is matched with the notch, and protrusions matched with the grooves 4-1-1 are respectively arranged on two sides of the gear piece 4-2. The gear piece 4-2 is fixedly mounted at one end of the detachable rolling brush mechanism 3 through a bolt, the detachable rolling brush mechanism 3 is detachably mounted at one end, far away from the running main body 1, of the gear main body 2 through a mounting bolt, and when the detachable rolling brush mechanism 3 is mounted on the gear main body 2, the protrusion 4-2-1 and the groove 4-1-1 are mutually matched. The detachable rolling brush mechanism 2 and the non-detachable rolling brush mechanism 3 are symmetrically arranged along the axis of the rolling brush gear 2. The transmission gear 5 is rotatably installed on the running main body through a bearing and is meshed with the rolling brush gear 4, the rolling brush motor 6 is installed inside the running main body 1, a driving shaft of the rolling brush motor 6 is in transmission connection with the transmission gear 5, and the rolling brush motor 6 is electrically connected with the battery pack.
The non-detachable rolling brush mechanism 2 comprises a first outer shell 2-1, one end of the first outer shell 2-1 is arranged at one end of the gear main body 4-1 far away from the running main body 1 through a fixing bolt, a semicircular first centering opening 2-1-1 is arranged at the other end of the first outer shell 2-1, a first U-shaped baffle plate 2-3 is arranged on the peripheral wall of the first outer shell 2-1, the first U-shaped baffle plate 2-3 is reversely buckled on the peripheral wall of the first outer shell 2-1, a plurality of first limit posts 2-4 are uniformly arranged between the first U-shaped baffle plate 2-3 and the first outer shell 2-1, each first limit post 2-4 is perpendicular to the axis of the first outer shell 2-1 and is in clearance fit with limit holes formed in the first outer shell 2-1 and the first U-shaped baffle plate 2-3, the first limit posts 2-4 are close to the peripheral wall of the first outer shell 2-1, the first U-shaped baffle plate 2-4 is connected with the first straight compression spring pin 2-5 at the position of the first outer shell 2-1 in a transverse direction, the first limit posts 2-4 are connected with the first straight compression spring pin 2-5 at the position of the first outer side of the first outer shell 2-1 in a transverse direction, a compression spring is fixedly connected with the first end of the first outer shell 2-1, a plurality of compression spring is fixedly connected with the first compression spring 2-6 at the first end is perpendicular to the first end of the first end 2-5, one end of the first limiting column 2-4, which is positioned in the first outer shell 2-1, is fixedly connected with the first rolling brush 2-2.
The detachable rolling brush mechanism 3 comprises a second outer shell 3-1, the gear sheet 4-2 is fixedly arranged at one end of the second outer shell 3-1, one end of the second outer shell 3-1 provided with the gear sheet 4-2 is detachably arranged on the gear main body 4-1 through a mounting bolt, a semicircular second centering opening 3-1-1 is arranged at the other end of the second outer shell 3-1, a second U-shaped baffle 3-3 is arranged on the peripheral wall of the second outer shell 3-1, the second U-shaped baffle 3-3 is reversely buckled on the peripheral wall of the second outer shell 3-1, a plurality of second limiting columns 3-4 are uniformly arranged between the second U-shaped baffle 3-3 and the second outer shell 3-1, each second limiting column 3-4 is perpendicular to the axis of the second outer shell 3-1 and is in clearance fit with limiting holes formed in the second outer shell 3-1 and the second U-shaped baffle 3-3, a second transverse straight pin 3-6 is fixedly welded at the position, close to the peripheral wall of the second outer shell 3-1, of the second limiting column 3-4, the second transverse straight pin is perpendicular to the second limiting column 3-4, a second pressure spring 3-5 is sleeved at the position, located between the second U-shaped baffle 3-3 and the second transverse straight pin, of the second limiting column 3-4, one end of the second pressure spring 3-5 is fixedly connected with a bottom plate of the second U-shaped baffle 3-4, the other end of the second pressure spring 3-5 is fixedly connected with the second transverse straight pin 3-6, and one end of the second limiting column 3-4, which is positioned in the second outer shell 3-1, is fixedly connected with the first rolling brush 3-2.
One of the two first rolling brushes 2-2 is a first wire brush, and the other is a first brush; one of the two second rolling brushes 3-2 is a second wire brush, and the other is a second brush; the non-detachable rolling brush mechanism with the first wire brush and the detachable rolling brush mechanism with the second wire brush are correspondingly arranged at one end of the running main body 1, and the non-detachable rolling brush mechanism with the first brush and the detachable rolling brush mechanism with the second brush are correspondingly arranged at the other end of the running main body.
The automatic oil supply system 8 is fixedly arranged below the running main body, the automatic oil supply system 8 is respectively communicated with a nozzle tip arranged at the other end of the running main body through an oil way, and the nozzle tip sprays lubricating oil to the first hairbrush and the second hairbrush.
The controller is electrically connected with the travel switch, the signal bin disc, the shape-moving motor 11 and the rolling brush motor 6.
The working process of the invention is as follows:
firstly, the walking main body and the non-detachable rolling brush mechanism are manually hung on the cableway rope, and the compression force of the first gas spring and the second gas spring is used for compressing the passive pinch roller on the cableway rope by screwing the adjusting screw, so that the driving pinch roller and the cableway rope are ensured to generate enough friction force. Then, a detachable rolling brush mechanism, an electric appliance box and an automatic oil supply system are installed, a circuit and an oil circuit are connected, a non-detachable rolling brush mechanism with a first wire brush and a detachable rolling brush mechanism with a second wire brush are installed at the front end of the running main body, and a non-detachable rolling brush mechanism with a first brush and a detachable rolling brush mechanism with a second brush are installed at the rear end of the running main body. And two pairs of rolling brushes are distributed along the central line of the cableway rope; and then the power supply is started to start working.
The power system provides power for the whole robot, so that the robot can walk along the cableway rope in a reciprocating manner, and meanwhile, the rolling brush motor drives the front rolling brush and the rear rolling brush to rotate along the central line of the cableway rope; the mechanism consisting of the adjusting screw, the gas spring and the passive pinch roller ensures continuous pressure to the cableway rope, so that the mechanism cannot slip on the cableway rope. The two rolling brush mechanisms enable the mechanism to wrap the cableway rope, the rolling brushes can rotate along the axle center of the cableway rope, the wire brushes of the rolling brush mechanism at the front end clean the cableway rope, the automatic oil supply system sprays lubricating oil to the rolling brush mechanism at the rear end, and the brushes of the rolling brush mechanism at the rear end lubricate the cableway rope. The monitoring probe can transmit the working condition of the robot to an operator in real time; and the whole system is powered by a battery pack, and is not influenced by an environmental power supply. The oil pump of the automatic oil supply system sends lubricating oil to the front end position of each rolling brush through an oil pipe, the lubricating oil is sprayed on the cableway rope, and then the following rolling brush smears the lubricating oil on the surface of the cableway rope. When the robot walks to obstacles such as a lead fish cable car in the middle of a cableway, the robot touches a travel switch at the front end and sends a signal to the controller, the controller controls the walking motor and the rolling brush motor to rotate reversely, and the robot moves back to the starting position.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (7)
1. The utility model provides a clean lubrication robot of cableway which characterized in that: the device comprises a running device and a working device for cleaning and lubricating a cableway, wherein the running device comprises a running main body and a power system for driving the running main body to move along the cableway, one side of the running main body is provided with a mounting groove for enabling a cableway rope to pass through, and the working device is symmetrically arranged at two ends of the running main body;
each operation device comprises a non-detachable rolling brush mechanism, a rolling brush gear, a transmission gear and a rolling brush motor; the rolling brush gear comprises a gear main body and a gear sheet, a notch is formed in the gear main body, the gear main body is rotatably arranged at one end of the running main body, one end of the gear main body, which is far away from the running main body, is fixedly connected with one end of the non-detachable rolling brush mechanism, the gear sheet is matched with the notch, the gear sheet is fixedly arranged at one end of the detachable rolling brush mechanism, the detachable rolling brush mechanism can be detachably arranged at one end of the gear main body, which is far away from the running main body, the detachable rolling brush mechanism and the non-detachable rolling brush mechanism are symmetrically arranged along the axis of the rolling brush gear, the transmission gear is rotatably arranged on the running main body and is meshed with the rolling brush gear, the rolling brush motor is arranged in the running main body, a driving shaft of the rolling brush motor is in transmission connection with the transmission gear, and the rolling brush motor is electrically connected with a battery pack fixedly arranged below the running main body;
the non-detachable rolling brush mechanism comprises a first outer shell, one end of the first outer shell is fixedly connected with the gear main body, a semicircular first centering opening is formed in the other end of the first outer shell, a first U-shaped baffle is arranged on the outer peripheral wall of the first outer shell, a plurality of first limit posts are uniformly arranged between the first U-shaped baffle and the first outer shell, each first limit post is perpendicular to the axis of the first outer shell and is in clearance fit with limit holes formed in the first outer shell and the first U-shaped baffle, a first transverse straight pin is fixedly arranged at a position, close to the outer peripheral wall of the first outer shell, of the first limit post, the first limit post is perpendicular to the first limit post, a first pressure spring is sleeved at a position between the first U-shaped baffle and the first transverse straight pin, and one end, located in the first outer shell, of the first limit post is fixedly connected with the first rolling brush;
the detachable rolling brush mechanism comprises a second outer shell, the gear sheet is fixedly arranged at one end of the second outer shell, provided with the gear sheet, is detachably connected with the gear main body, the other end of the second outer shell is provided with a semicircular second centering opening, the outer peripheral wall of the second outer shell is provided with a second U-shaped baffle, a plurality of second limit posts are uniformly arranged between the second U-shaped baffle and the second outer shell, each second limit post is perpendicular to the axis of the second outer shell and is in clearance fit with limit holes formed in the second outer shell and the second U-shaped baffle, a second transverse straight pin is fixedly arranged at a position, close to the outer peripheral wall of the second outer shell, of the second limit post, perpendicular to the second limit post, a second pressure spring is sleeved at a position between the second U-shaped baffle and the second transverse straight pin, and the second limit post is positioned inside the second outer shell and is fixedly connected with the second rolling brush;
the power system comprises two driving travelling wheels which are rotatably arranged in the travelling main body, a driving device for driving the driving travelling wheels to rotate, a passive pinch roller with adjustable positions and an adjusting device for adjusting the positions of the passive pinch rollers.
2. The cableway cleaning and lubrication robot of claim 1, wherein: one of the two first rolling brushes is a first wire brush, and the other one is a first brush; one of the two second rolling brushes is a second wire brush, and the other is a second brush; the first wire brush and the second wire brush are correspondingly arranged, and the first brush and the second brush are correspondingly arranged.
3. The cableway cleaning and lubrication robot according to claim 2, characterized in that: an automatic oil supply system for spraying lubricating oil to the first hairbrush and the second hairbrush is fixedly arranged below the running main body.
4. The cableway cleaning and lubrication robot of claim 1, wherein: the driving device comprises a running motor arranged above the running main body, a driving shaft of the motor is connected with two driving running wheels through a synchronous toothed belt in a transmission manner, and the running motor is electrically connected with a battery pack arranged below the running main body.
5. The cableway cleaning and lubrication robot of claim 1, wherein: the middle part of the driven pinch roller is provided with a pinch roller shaft, and the driven pinch roller is rotationally connected with the pinch roller shaft; the adjusting device comprises an adjusting screw, a first gas spring and a second gas spring, wherein the adjusting screw is in threaded connection with one end of the running main body, one end of the adjusting screw, which is positioned in the running main body, is hinged to one end of the first gas spring, the other end of the first gas spring is fixedly connected with the side part of the pinch roller shaft, one end of the second gas spring is fixedly connected with the side part of the pinch roller shaft, and the other end of the second gas spring is hinged to the inner wall of the other end of the running main body.
6. The cableway cleaning and lubrication robot of claim 1, wherein: two monitoring probes are symmetrically arranged above the running device and are electrically connected with a signal bin disc arranged below the running main body.
7. The cableway cleaning and lubrication robot of claim 6, wherein: the automatic walking device is characterized by further comprising a controller arranged below the walking main body and travel switches arranged at two ends of the walking main body, wherein the controller is electrically connected with the travel switches, the signal bin disc, the power system and the operation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810095701.6A CN108044639B (en) | 2018-01-31 | 2018-01-31 | Cableway cleaning and lubricating robot |
Applications Claiming Priority (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108622803B (en) * | 2018-06-08 | 2020-02-07 | 天津科技大学 | Integrated high-altitude steel wire rope oil-removing lubricating device |
| CN110597136B (en) * | 2019-09-24 | 2020-07-28 | 苏州南师大科技园投资管理有限公司 | Intelligent inspection system for production line |
| CN111921930B (en) * | 2020-07-27 | 2022-08-09 | 东南大学 | Stay cable or sling surface cleaning device |
| CN112097085B (en) * | 2020-09-09 | 2021-10-29 | 安徽赛安安全技术有限公司 | Cleaning and lubricating device for steel cable |
| CN112319513B (en) * | 2020-11-19 | 2022-08-12 | 株洲中车特种装备科技有限公司 | Safety device for cableway vehicle |
| CN114438911B (en) * | 2022-03-02 | 2024-05-07 | 宁波甬桥工程科技有限公司 | Stable walking inspection robot for suspension bridge steel wire rope |
| CN115739713A (en) * | 2022-10-17 | 2023-03-07 | 福建省南平水文水资源勘测分中心 | Hydrology cableway cleaning equipment |
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| US4169427A (en) * | 1976-04-14 | 1979-10-02 | Crump Desmond G | Cable cleaning unit |
| WO2016185656A1 (en) * | 2015-05-15 | 2016-11-24 | 株式会社サカタ製作所 | Polishing device |
| CN107565452A (en) * | 2017-09-28 | 2018-01-09 | 梁瑞城 | A kind of live high voltage line foreign body eliminating apparatus |
| CN207807753U (en) * | 2018-01-31 | 2018-09-04 | 保定市保鼎大华吊索具设备研发有限公司 | A kind of cableway cleaning lubrication machine people |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2299662A1 (en) * | 2000-02-22 | 2001-08-22 | Serge Montambault | Remote controlled inspection and intervention vehicle for high tension power system |
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| US4169427A (en) * | 1976-04-14 | 1979-10-02 | Crump Desmond G | Cable cleaning unit |
| WO2016185656A1 (en) * | 2015-05-15 | 2016-11-24 | 株式会社サカタ製作所 | Polishing device |
| CN107565452A (en) * | 2017-09-28 | 2018-01-09 | 梁瑞城 | A kind of live high voltage line foreign body eliminating apparatus |
| CN207807753U (en) * | 2018-01-31 | 2018-09-04 | 保定市保鼎大华吊索具设备研发有限公司 | A kind of cableway cleaning lubrication machine people |
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