CN110774289B - Air shaft inspection robot - Google Patents
Air shaft inspection robot Download PDFInfo
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- CN110774289B CN110774289B CN201910901130.5A CN201910901130A CN110774289B CN 110774289 B CN110774289 B CN 110774289B CN 201910901130 A CN201910901130 A CN 201910901130A CN 110774289 B CN110774289 B CN 110774289B
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a wind shaft inspection robot which comprises a rope driving device, a pulley type balancing device, a robot body and a linear guide piece, wherein the rope driving device is arranged on the robot body; the rope driving device comprises a power device and more than one driving rope; one end of the pulley type balancing device is fixed with the robot body, and the robot body is connected with the linear guide piece in a guiding way; the other end is provided with input ends with the same number as the driving ropes; one end of each driving rope is connected with the output end of the power device, and the other end of each driving rope is connected with the corresponding input end of the pulley type balancing device; the power output by each driving rope can uniformly act on the robot body after being transmitted by the pulley type balancing device, so that the robot body is prevented from rotating, and the robot body is driven to only do translational motion along the linear guide piece. Therefore, the robot can replace manual inspection in a shaft, can effectively avoid missing inspection and prevent potential safety hazards caused by manual inspection.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wind shaft inspection robot.
Background
The shaft is an important component of the whole coal mine and is used for carrying the tasks of underground operation staff, driving, coal mining and other equipment materials, up-and-down well, raw coal transportation and the like. The potential safety hazard exists in the walls of the vertical shaft, the tank beams and other facilities under the influence of water erosion, sundries falling, dampness, production operation and the like. Therefore, a shaft check is scheduled every day for a specific time (typically 2 hours). The inspection workers for the main well and the auxiliary well can stand in the inspection fence on the cage to conduct inspection from top to bottom, record inspection conditions, or timely handle small problems. For the return air shaft, the inspection task can be completed only through the ladder room erected on the shaft, the manual inspection mode is low in efficiency, the inspection omission is easy to occur, and potential safety hazards exist in the inspection process.
Disclosure of Invention
Aiming at the current situations that the manual inspection mode is low in efficiency, the inspection omission is easy to occur, potential safety hazards exist in the inspection process, and the like, the invention provides an air shaft inspection robot, which is used for solving the problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a robot is patrolled and examined to wind-powered electricity generation well, includes rope drive arrangement, pulley-type balancing unit, robot body and sets up the straight line guide in the pit shaft, wherein:
the rope driving device comprises a power device and more than one driving rope;
one end of the pulley type balancing device is fixed with the robot body, and the robot body is connected with the linear guide piece in a guiding way; the other end is provided with input ends with the same number as the driving ropes;
one end of each driving rope is connected with the output end of the power device, and the other end of each driving rope is connected with the corresponding input end of the pulley type balancing device;
the power output by each driving rope can uniformly act on the robot body after being transmitted by the pulley type balancing device, so that the robot body is prevented from rotating, and the robot body is driven to only do translational motion along the linear guide piece.
As a further improvement of the wind-well inspection robot, the rope driving devices comprise two rope driving devices, namely an upper rope driving device and a lower rope driving device, wherein the upper rope driving device is positioned above the robot body, and the lower rope driving device is positioned below the robot body;
the pulley type balance device is also provided with two pulley type balance devices, namely an upper pulley type balance device and a lower pulley type balance device;
the power device of the upper rope driving device is an upper power device, and the driving rope of the upper rope driving device is an upper driving rope; the power device of the lower rope driving device is a lower power device, and the driving rope of the lower rope driving device is a lower driving rope;
one end of each upper driving rope is connected with the output end of the upper power device, and the other end of each upper driving rope is connected with the robot body through the upper pulley type balancing device; one end of each lower driving rope is connected with the output end of the lower power device, and the other end of each lower driving rope is connected with the robot body through the lower pulley type balancing device.
As a further improvement of the wind-shaft inspection robot, the pulley-type balancing device comprises a guide platform, a balancing platform and pulley blocks, wherein the number of the pulley blocks is equal to that of the driving ropes;
the guide platform is fixed in the shaft and is adjacent to the power device;
the balance platform can translate relative to the guide platform and is fixed with the robot body;
each pulley block comprises a guide fixed pulley a; the guide fixed pulley a is the input end of the pulley type balancing device;
the guide fixed pulleys a of each pulley block are positioned and arranged on the guide platform and are uniformly distributed in a ring shape;
the driving rope is fixed with the balance platform after bypassing the guide fixed pulley a, and the driving rope between the guide platform and the balance platform is arranged in a straight line.
As a further improvement of the wind-shaft inspection robot, each pulley block further comprises a balance pulley block; the balance pulley block comprises a balance steel wire rope and a movable pulley; the balance pulley block is provided with two guide fixed pulleys b for the movable pulleys;
the guide fixed pulleys b are positioned and arranged on the balance platform, and the two guide fixed pulleys b of each pulley block are taken as a group and are uniformly distributed with the two guide fixed pulleys b which are taken as a group in the adjacent balance pulley blocks;
the driving rope is connected with the movable pulley through the connector after bypassing the guide fixed pulley a;
the two ends of the balance steel wire rope are led by the corresponding guide fixed pulleys b after being wound by the movable pulleys, and then are fixed with the balance platform.
As a further improvement of the wind-shaft inspection robot, the connector comprises a movable pulley support and a rope wedge sleeve; one end of the rope wedge sleeve is connected with the driving rope, and the other end of the rope wedge sleeve is fixedly connected with the movable pulley support through a cotter pin; and the movable pulley is positioned and installed on the movable pulley support.
As a further improvement of the wind-shaft inspection robot, the robot body comprises an image acquisition cradle head, a shell frame and a guide mechanism; the linear guide piece is a guide steel wire rope; wherein:
the guiding mechanism is fixed with the image acquisition cradle head through the shell frame and can form a moving pair with the guiding steel wire rope;
the guide mechanisms are at least two and are uniformly distributed on the periphery of the guide steel wire rope;
each guide mechanism comprises a roller and a roller adjusting mechanism capable of adjusting the interval between the roller and the guide wire rope;
the outer surface of the roller is provided with an annular arc-shaped inner groove matched with the outer surface of the guide steel wire rope; one end of the roller adjusting mechanism is movably connected with the shell frame, and the other end is provided with a roller; the annular arc-shaped inner groove of the roller can be abutted against the outer surface of the guide steel wire rope under the pushing of the roller adjusting mechanism.
As a further improvement of the wind-shaft inspection robot, each guide mechanism comprises two rollers, namely a first roller and a second roller; the first roller and the second roller are arranged at intervals along the length direction of the guide steel wire rope;
the roller adjusting mechanism comprises a screw, an elastic connecting piece and a connecting rod mechanism;
one end of the screw rod is provided with an end nut, the other end of the screw rod penetrates through the shell frame and is provided with a connecting block, and the screw rod is in threaded fit connection with the shell frame; the connecting block takes the axis of the screw as a symmetry line, and two mounting parts, namely a first mounting part and a second mounting part, are symmetrically arranged;
the two connecting rod mechanisms are respectively a first connecting rod mechanism and a second connecting rod mechanism, and the axis of the screw is used as a symmetrical line and symmetrically distributed on the two sides of the screw;
one end of the first connecting rod mechanism is hinged with the first installation part, and the other end of the first connecting rod mechanism is clamped and installed with the first idler wheel;
one end of the second connecting rod mechanism is hinged with the second installation part, and the other end of the second connecting rod mechanism is clamped and installed with a second roller;
the elastic connecting piece is sleeved on the periphery of the screw rod between the end nut and the shell;
the first connecting rod mechanism and the second connecting rod mechanism correspondingly drive the first roller and the second roller under the action of the screw rod, so that the guiding steel wire rope can be correspondingly embedded in the annular arc-shaped inner groove of the first roller and the annular arc-shaped inner groove of the second roller.
As a further improvement of the wind shaft inspection robot, each connecting rod mechanism comprises two tensioning connecting rods, two roller connecting rods, a pin shaft a, a pin shaft b and a roller shaft;
in each connecting rod mechanism, two tensioning connecting rods are respectively a tensioning connecting rod a and a tensioning connecting rod b, and two roller connecting rods are respectively a roller connecting rod a and a roller connecting rod b;
the tensioning connecting rod a and the tensioning connecting rod b are coaxially positioned and connected through a pin shaft a arranged on the first installation part, meanwhile, the tensioning connecting rod a, the tensioning connecting rod b, the roller connecting rod a and the roller connecting rod b are coaxially positioned and connected through a pin shaft b, and the roller connecting rod a and the roller connecting rod b are coaxially connected through a roller shaft;
the tensioning connecting rod a and the tensioning connecting rod b and the roller connecting rod a and the roller connecting rod b are symmetrically arranged at two sides of the first installation part through the same symmetry line;
the first roller/second roller is installed on the roller shaft between the roller connecting rod a and the roller connecting rod b.
As a further improvement of the above-mentioned wind-shaft inspection robot, the housing frame includes a housing bracket and a housing link; the number of the shell supports is equal to or more than 2, and the number of the shell connecting rods is equal to or more than 2; the shell frame is a polygonal frame formed by splicing shell brackets and shell connecting rods which are arranged alternately; the guiding mechanism is arranged on the shell bracket.
As a further improvement of the wind-shaft inspection robot, the number of the driving ropes is 3; the pulley block is provided with 3 groups; the guide mechanism has three guide mechanisms; the shell frame is a hexagonal frame and comprises three shell brackets and three shell connecting rods; the guide mechanisms are arranged on the corresponding shell brackets in a one-to-one correspondence.
According to the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a rope driving mode to supply power for the linear movement of the robot body, and simultaneously adopts the pulley type balancing device to be matched with the linear guide piece (the guide steel wire rope) so as to promote the movement of the robot body to be carried out along the linear guide piece all the time, and the robot body can not rotate in the moving process, therefore, the robot can replace manual inspection in a shaft, and the inspection mode can effectively avoid omission inspection and prevent potential safety hazards caused by manual inspection. Meanwhile, the invention has the advantage of strong load capacity.
2. The invention is provided with a set of rope driving device and a pulley type balancing device respectively above and below the robot body, thus avoiding the recovery problem of the robot; meanwhile, the inspection task can be performed in a deep environment, and the method has wide application range and strong expandability.
Drawings
Fig. 1 is an isometric view of a wind-well inspection robot according to embodiment 1 of the present invention;
FIG. 2 is an isometric view of a robot body according to the present invention;
FIG. 3 is a top view of the robot body of the present invention;
FIG. 4 is an isometric view of an upper pulley-type balancing device of the inspection robot for a wind tunnel;
in fig. 1 to 4: 1-a drive motor; 2-winding drum; 3-guiding a platform; 4-robot body; 4-1, a shell connecting rod; 4-2, a shell frame; 4-3, a screw rod; 4-4, springs; 4-5, tensioning a connecting rod; 4-5-1, tensioning connecting rod a;4-5-2, tensioning connecting rod b;4-6, a roller connecting rod; 4-6-1, roller connecting rod a;4-6-2, a roller connecting rod b;4-7, idler wheels; 4-7-1, a first roller; 4-7-2, a second roller; 5-guiding the steel wire rope; 6-a connector; 7-a video camera; 8-driving a steel wire rope; 9-image acquisition cradle head; 10. a guide fixed pulley a; 11. a fixed pulley support a; 12. a movable pulley support; 13. rope wedge sleeve; 14. a cotter pin; 15. a movable pulley; 16. balancing the steel wire rope; 17. a fixed pulley support b; 18. balance the cradle head; 19. a guide fixed pulley b;
fig. 5 is an isometric view of a wind-well inspection robot according to embodiment 2 of the present invention;
in fig. 5: 1-1, an upper driving motor; 1-2, a lower driving motor; 2-1, upper reel; 2-2, a lower reel; 3-1, upper guide platform; 3-2, a lower guide platform; 4-robot body; 5-guiding the steel wire rope; 6-1, upper connector; 6-2, a lower connector; 7-a video camera; 8-1, driving a steel wire rope at the upper part; 8-2, driving a steel wire rope at the lower part; 9-image acquisition cradle head; 10-1, upper guide fixed pulley a;10-2, lower guide fixed pulley a.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The relative arrangement, expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations).
Example 1
As shown in fig. 1 to 4, the wind shaft inspection robot according to the present embodiment includes a rope driving device, a robot body, and a linear guide disposed in a shaft, wherein:
the rope driving device comprises a power device and more than one driving rope (which is a steel wire rope); the power device adopts a motor to drive the winding drum to wind the driving rope; specifically, the power device comprises a driving motor and a winding drum connected with a motor shaft of the driving motor; each driving rope is wound on the winding drum, and the output end of each driving rope is connected with the robot body through a pulley type balancing device (the pulley type balancing device is provided with input ends with the same number as the driving ropes and is connected with the driving ropes in a one-to-one correspondence manner, in the drawing, the input ends of the pulley type balancing device are the guide fixed pulleys a) and the robot body is connected with the linear guide piece in a guiding manner. The power output by each driving rope can uniformly act on the robot body after being transmitted by the pulley type balancing device, so that the robot body is prevented from rotating, and the robot body is driven to only do translational motion along the linear guide piece. In other words, the pulley type balancing device of the embodiment has the main function of balancing the stress of the driving steel wire rope, and preventing the robot body from rotating due to uneven stress and from malfunctioning.
In this embodiment, the linear guide member provides a guide carrier for the robot body, so that the robot body can move along the guide wire rope to complete the inspection task. The linear guide employed is a guide wire rope suspended in the wellbore. Of course, the linear guide may also employ a rod or a chute.
In this embodiment, as shown in fig. 1 and fig. 4, the pulley type balancing device includes a guiding platform, a balancing platform, and pulley blocks with the same number as the driving ropes; in the drawing, 3 driving ropes are provided, and 3 pulley blocks are adopted; of course, the number of drive ropes is not limited to this, and in fact the number used is not critical, as in the present invention the even arrangement of the drive ropes in the ring shape of the guiding platform is more important, since such an arrangement can facilitate even forces exerted by the drive ropes on the robot body.
The guide platform is fixed in the shaft and is adjacent to the power device; a plurality of fixed pulley supports a are annularly and uniformly arranged on the plate surface facing one side of the pulley type balancing device, and the number of the fixed pulley supports is consistent with the number of the driving ropes and is used for installing the guide fixed pulleys a.
The balance platform can translate relative to the guide platform and is fixed with the robot body, so that the robot body can move along with the movement of the balance platform.
Each pulley block comprises a guide fixed pulley a; the guide fixed pulleys a of each pulley block are correspondingly positioned and arranged on the annular fixed pulley supports a which are uniformly distributed on the guide platform one by one; the driving rope is fixed with the balance platform after bypassing the guide fixed pulley a, and the driving rope between the guide platform and the balance platform is arranged in a straight line.
In order to adjust the length of the driving rope, balance the branch tension of the driving rope, further ensure that the robot body runs stably, each pulley block in the embodiment also comprises a balance pulley block; the balance pulley block comprises a balance steel wire rope and a movable pulley; the balance pulley block is provided with two guide fixed pulleys b for the movable pulleys; the guide fixed pulleys b are positioned and arranged on the balance platform, and the two guide fixed pulleys b of each pulley block are taken as a group and are uniformly distributed with the two guide fixed pulleys b which are taken as a group in the adjacent balance pulley blocks; the driving rope is connected with the movable pulley through the connector after bypassing the guiding fixed pulley a. In the embodiment, the connector comprises a movable pulley support and a rope wedge sleeve; one end of the rope wedge sleeve is connected with the driving rope, and the other end of the rope wedge sleeve is fixedly connected with the movable pulley support through a cotter pin; and the movable pulley is positioned and installed on the movable pulley support. The balance steel wire rope is an O-shaped steel wire rope and is sleeved on the peripheries of the movable pulley and the two guide fixed pulleys b respectively to form an isosceles triangle structure, the movable pulley is the vertex of the isosceles triangle at the moment, and the two guide fixed pulleys b are two endpoints of the bottom edge of the isosceles triangle. Therefore, the risk of contact winding of the balance steel wire rope and the guide steel wire rope in the balance pulley block can be effectively reduced; in order to further reduce the risk of contact winding of the balance wire rope and the guide wire rope, the balance wire rope and the movable pulley should be kept away from the guide wire rope as far as possible during arrangement.
As shown in fig. 1-3, the robot body comprises an image acquisition cradle head, a shell frame and a guiding mechanism; the linear guide piece is a guide steel wire rope; wherein:
the guiding mechanism is fixed with the image acquisition cradle head through the shell frame and can form a moving pair with the guiding steel wire rope; the guide mechanisms are at least two and are uniformly distributed on the periphery of the guide steel wire rope; the number of guide means shown in the drawings has 3, in fact 4, 5 etc. guide means, depending mainly on the size of the space of the housing frame, and if the housing frame is sufficiently large, the arrangement of the guide means does not interfere with the adjacent other components, and the number of guide means may be selected to be greater.
Each guide mechanism comprises a roller and a roller adjusting mechanism capable of adjusting the interval between the roller and the guide wire rope; the outer surface of the roller is provided with an annular arc-shaped inner groove matched with the outer surface of the guide steel wire rope; one end of the roller adjusting mechanism is movably connected with the shell frame, and the other end is provided with a roller; the annular arc-shaped inner groove of the roller can be abutted against the outer surface of the guide steel wire rope under the pushing of the roller adjusting mechanism. In other words, the guiding steel wire rope can be embedded in the annular arc-shaped inner groove of the roller under the action of the roller adjusting mechanism; when the rollers of the guiding mechanisms are all abutted against the outer surface of the guiding steel wire rope, the annular arc-shaped inner grooves of the rollers on the same annular direction can be basically spliced into a circular ring matched with the outer surface of the guiding steel wire rope, in other words, the sum of the contact lengths of the rollers on the same annular direction and the guiding steel wire rope is equal to the circumference of the guiding steel wire rope, so that the rollers are effectively prevented from laterally shifting when moving on the guiding steel wire rope. In addition, in order to increase the contact area between the roller and the guiding steel wire rope, a rubber curved roller (namely, a roller with an annular arc-shaped inner groove on the outer surface) is adopted, and the curvature radius of the curved surface of the curved roller is the same as the radius of the guiding steel wire rope.
In order to further maintain the structural balance of the robot body, two rollers, namely a first roller and a second roller, are included in each guide mechanism in the embodiment; the first roller and the second roller are arranged at intervals along the length direction of the guide steel wire rope.
In order to adjust the distance between the roller and the guiding wire rope and achieve the structural balance of the robot body, the roller adjusting mechanism in the embodiment comprises a screw, an elastic connecting piece and a connecting rod mechanism; specifically, one end of the screw rod is provided with an end nut, the other end of the screw rod penetrates through the shell frame and then is provided with a connecting block, and the screw rod is in threaded fit connection with the shell frame; the connecting block takes the axis of the screw as a symmetry line, and two mounting parts, namely a first mounting part and a second mounting part, are symmetrically arranged;
the two connecting rod mechanisms are respectively a first connecting rod mechanism and a second connecting rod mechanism, and the axis of the screw is used as a symmetrical line and symmetrically distributed on the two sides of the screw; one end of the first connecting rod mechanism is hinged with the first installation part, and the other end of the first connecting rod mechanism is clamped and installed with the first idler wheel; one end of the second connecting rod mechanism is hinged with the second installation part, and the other end of the second connecting rod mechanism is clamped and installed with a second roller; the elastic connecting piece is sleeved on the periphery of the screw rod between the end nut and the shell;
the first connecting rod mechanism and the second connecting rod mechanism correspondingly drive the first roller and the second roller under the action of the screw rod, so that the guiding steel wire rope can be correspondingly embedded in the annular arc-shaped inner groove of the first roller and the annular arc-shaped inner groove of the second roller.
Further, each connecting rod mechanism comprises two tensioning connecting rods, two roller connecting rods, a pin shaft a, a pin shaft b and a roller shaft; in each connecting rod mechanism, two tensioning connecting rods are respectively a tensioning connecting rod a and a tensioning connecting rod b, and two roller connecting rods are respectively a roller connecting rod a and a roller connecting rod b; the tensioning connecting rod a and the tensioning connecting rod b are coaxially positioned and connected through a pin shaft a arranged on the first installation part, meanwhile, the tensioning connecting rod a, the tensioning connecting rod b, the roller connecting rod a and the roller connecting rod b are coaxially positioned and connected through a pin shaft b, and the roller connecting rod a and the roller connecting rod b are coaxially connected through a roller shaft; the tensioning connecting rod a and the tensioning connecting rod b and the roller connecting rod a and the roller connecting rod b are symmetrically arranged at two sides of the first installation part through the same symmetry line; the first roller/second roller is installed on the roller shaft between the roller connecting rod a and the roller connecting rod b. Therefore, according to the link mechanism of the embodiment, the rotation direction depth of the screw is adjusted, so that the distance between the roller and the guide wire rope is adjusted, the robot body of the embodiment can adapt to the guide wire ropes with different diameters, symmetrical arrangement is adopted among all parts (such as the roller link a and the roller link b, the tensioning link a and the tensioning link b, and between the first roller and the second roller), the stability of the robot structure can be realized, the overall balance is kept, and meanwhile, due to the arrangement of the elastic connecting piece, the robot has certain flexibility, and therefore obstacle crossing capability is achieved.
The shell frame comprises a shell bracket and a shell connecting rod; the number of the shell supports is equal to or more than 2, and the number of the shell connecting rods is equal to or more than 2; the shell frame is a polygonal frame formed by splicing shell brackets and shell connecting rods which are arranged alternately; the guiding mechanism is arranged on the shell bracket.
Since the number of the driving ropes is 3; the pulley block is provided with 3 groups; the guide mechanism has three guide mechanisms; the shell frame is a hexagonal frame and comprises three shell brackets and three shell connecting rods; the guide mechanisms are arranged on the corresponding shell brackets in a one-to-one correspondence. Thus, in this embodiment, the 3 drive ropes are arranged at 120 °; the 3 pulley blocks are also arranged at 120 degrees.
The embodiment of the utility model provides a robot is patrolled and examined to wind-blown well, still includes power module and communication module, wherein: the power module comprises an intrinsic safety type power supply; the communication module comprises a set of wireless communication equipment and has the functions of wireless communication, GPS positioning and sensor signal acquisition and processing.
Example 2
In order to solve the recycling problem of the robot body, this embodiment is further improved on the basis of embodiment 1, and a set of moving devices are respectively disposed at the upper portion and the lower portion of the robot body, and each set of moving device includes a rope driving device, a driving rope, and a pulley type balancing device.
The structure of the wind-well inspection robot according to the present embodiment will be described in detail below with reference to fig. 5. As shown in the figure, the rope driving device in this embodiment includes two rope driving devices, which are an upper rope driving device and a lower rope driving device, respectively, where the upper rope driving device is located above the robot body, and the lower rope driving device is located below the robot body; the pulley type balance device is also provided with two pulley type balance devices, namely an upper pulley type balance device and a lower pulley type balance device; the power device of the upper rope driving device is an upper power device, and the driving rope of the upper rope driving device is an upper driving rope; the power device of the lower rope driving device is a lower power device, and the driving rope of the lower rope driving device is a lower driving rope. One end of each upper driving rope is connected with the output end of the upper power device, and the other end of each upper driving rope is connected with the robot body through the upper pulley type balancing device; one end of each lower driving rope is connected with the output end of the lower power device, and the other end of each lower driving rope is connected with the robot body through the lower pulley type balancing device.
In fig. 5, the wind shaft inspection robot includes the following components:
the upper power device comprises an upper driving motor and an upper winding drum; the lower power device comprises a lower driving motor and a lower winding drum; the upper pulley type balancing device comprises an upper guide platform, an upper pulley block and an upper balancing platform; the lower pulley type balancing device comprises a lower guide platform, a lower pulley block and a lower balancing platform. More than two upper guide fixed pulleys a are annularly and uniformly distributed on the lower surface of the upper guide platform; more than two lower guide fixed pulleys a are annularly and uniformly distributed on the upper surface of the lower guide platform.
The upper driving steel wire rope is wound on the upper winding drum, and the upper driving motor drives the upper winding drum to rotate so as to realize winding/unwinding of the upper driving steel wire rope. The movable end of the upper driving steel wire rope is connected with the top of the robot body through an upper pulley block and an upper balance platform in sequence.
The lower driving steel wire rope is wound on the lower winding drum, and the lower driving motor drives the lower winding drum to rotate so as to realize winding/unwinding of the lower driving steel wire rope. The movable end of the lower driving steel wire rope is connected with the bottom of the robot body through the lower pulley block and the lower balancing platform in sequence.
In this embodiment, the guiding wire rope can pass upper portion guiding platform, upper portion balancing platform, image acquisition platform, lower part balancing platform, lower part guiding platform's central point put setting in proper order respectively.
In this embodiment, the robot body has the same structure as that described in embodiment 1, and will not be described here; the specific configurations of the upper rope driving means and the lower rope driving means are the same as those of the rope driving means described in embodiment 1, and will not be described here. The upper and lower pulley-type balance devices are identical in structure to the pulley-type balance device described in embodiment 1, and will not be described here.
The invention relates to a use method of a wind shaft inspection robot, which comprises the following steps:
first, the installation stage. Firstly, determining the diameter of an arc curved surface of the outer surface of a roller according to the diameter of a guide steel wire rope, selecting a sensor to be carried by a robot body, fixing the sensor and a camera on an image acquisition cradle head of the robot body, and completing connection of a circuit according to requirements. Firstly, installing a shell frame on a guide steel wire rope, and connecting a shell connecting rod with a shell bracket through bolts; then connecting the balancing device holder with the shell bracket through screws; on the basis, an upper pulley type balancing device and a lower pulley type balancing device are installed; finally, the upper driving motor, the upper drum, the lower driving motor, the lower drum, the upper driving rope, and the lower driving rope are mounted to a predetermined position.
And secondly, debugging. The power module is connected with the communication module, and the communication quality of the system is tested; and secondly, debugging the driving motor, determining that the driving motor has no fault, and carrying out inspection according to a preset inspection task.
And thirdly, formally operating the stage. The ground control center sends starting and inspection commands, and the robot is controlled to carry out inspection tasks along a shaft by controlling the upper driving motor and the lower driving motor to rotate in a coordinated manner. Meanwhile, the ground control center checks data transmitted back by each sensor, such as information of detecting the residual electric quantity of the power supply module, whether the robot works normally, the temperature and humidity in the shaft and the like.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (7)
1. The utility model provides a robot is patrolled and examined to wind-powered electricity generation well, its characterized in that includes rope drive arrangement, pulley-type balancing unit, robot body and sets up the straight line guide in the pit shaft, wherein: the rope driving device comprises a power device and more than one driving rope;
one end of the pulley type balancing device is fixed with the robot body, and the robot body is connected with the linear guide piece in a guiding way; the other end is provided with input ends with the same number as the driving ropes;
one end of each driving rope is connected with the output end of the power device, and the other end of each driving rope is connected with the corresponding input end of the pulley type balancing device;
the power output by each driving rope can uniformly act on the robot body after being transmitted by the power transmission of the pulley type balancing device, so that the robot body is prevented from rotating, and the robot body is driven to only do translational motion along the linear guide piece;
the robot body comprises an image acquisition cradle head, a shell frame and a guide mechanism; the linear guide piece is a guide steel wire rope; wherein: the guiding mechanism is fixed with the image acquisition cradle head through the shell frame and can form a moving pair with the guiding steel wire rope;
the guide mechanisms are at least two and are uniformly distributed on the periphery of the guide steel wire rope;
each guide mechanism comprises a roller and a roller adjusting mechanism capable of adjusting the interval between the roller and the guide wire rope;
the outer surface of the roller is provided with an annular arc-shaped inner groove matched with the outer surface of the guide steel wire rope; one end of the roller adjusting mechanism is movably connected with the shell frame, and the other end is provided with a roller; the annular arc-shaped inner groove of the roller can be abutted against the outer surface of the guide steel wire rope under the pushing of the roller adjusting mechanism;
the two rollers included in each guide mechanism are respectively a first roller and a second roller; the first roller and the second roller are arranged at intervals along the length direction of the guide steel wire rope;
the roller adjusting mechanism comprises a screw, an elastic connecting piece and a connecting rod mechanism;
one end of the screw rod is provided with an end nut, the other end of the screw rod penetrates through the shell frame and is provided with a connecting block, and the screw rod is in threaded fit connection with the shell frame; the connecting block takes the axis of the screw as a symmetry line, and two mounting parts, namely a first mounting part and a second mounting part, are symmetrically arranged;
the two connecting rod mechanisms are respectively a first connecting rod mechanism and a second connecting rod mechanism, and the axis of the screw is used as a symmetrical line and symmetrically distributed on the two sides of the screw;
one end of the first connecting rod mechanism is hinged with the first installation part, and the other end of the first connecting rod mechanism is clamped and installed with the first idler wheel;
one end of the second connecting rod mechanism is hinged with the second installation part, and the other end of the second connecting rod mechanism is clamped and installed with a second roller;
the elastic connecting piece is sleeved on the periphery of the screw rod between the end nut and the shell;
the first connecting rod mechanism and the second connecting rod mechanism correspondingly drive the first roller and the second roller under the action of the screw rod, so that the guide steel wire rope can be correspondingly embedded in the annular arc-shaped inner groove of the first roller and the annular arc-shaped inner groove of the second roller;
each connecting rod mechanism comprises two tensioning connecting rods, two roller connecting rods, a pin shaft a, a pin shaft b and a roller shaft;
in each connecting rod mechanism, two tensioning connecting rods are respectively a tensioning connecting rod a and a tensioning connecting rod b, and two roller connecting rods are respectively a roller connecting rod a and a roller connecting rod b;
the tensioning connecting rod a and the tensioning connecting rod b are coaxially positioned and connected through a pin shaft a arranged on the first installation part, meanwhile, the tensioning connecting rod a, the tensioning connecting rod b, the roller connecting rod a and the roller connecting rod b are coaxially positioned and connected through a pin shaft b, and the roller connecting rod a and the roller connecting rod b are coaxially connected through a roller shaft;
the tensioning connecting rod a and the tensioning connecting rod b and the roller connecting rod a and the roller connecting rod b are symmetrically arranged at two sides of the first installation part through the same symmetry line;
the first roller and the second roller are arranged on a roller shaft between the roller connecting rod a and the roller connecting rod b.
2. The wind-shaft inspection robot according to claim 1, wherein the two rope driving devices are respectively an upper rope driving device and a lower rope driving device, the upper rope driving device is located above the robot body, and the lower rope driving device is located below the robot body;
the pulley type balance device is also provided with two pulley type balance devices, namely an upper pulley type balance device and a lower pulley type balance device;
the power device of the upper rope driving device is an upper power device, and the driving rope of the upper rope driving device is an upper driving rope; the power device of the lower rope driving device is a lower power device, and the driving rope of the lower rope driving device is a lower driving rope;
one end of each upper driving rope is connected with the output end of the upper power device, and the other end of each upper driving rope is connected with the robot body through the upper pulley type balancing device; one end of each lower driving rope is connected with the output end of the lower power device, and the other end of each lower driving rope is connected with the robot body through the lower pulley type balancing device.
3. The wind shaft inspection robot according to claim 1 or 2, wherein the pulley-type balancing device comprises a guiding platform, a balancing platform and pulley blocks with the same number as the driving ropes;
the guide platform is fixed in the shaft and is adjacent to the power device;
the balance platform can translate relative to the guide platform and is fixed with the robot body;
each pulley block comprises a guide fixed pulley a; the guide fixed pulley a is the input end of the pulley type balancing device;
the guide fixed pulleys a of each pulley block are positioned and arranged on the guide platform and are uniformly distributed in a ring shape;
the driving rope is fixed with the balance platform after bypassing the guide fixed pulley a, and the driving rope between the guide platform and the balance platform is arranged in a straight line.
4. A wind-shaft inspection robot according to claim 3, wherein each pulley block further comprises a balancing pulley block;
the balance pulley block comprises a balance steel wire rope and a movable pulley; the balance pulley block is provided with two guide fixed pulleys b for the movable pulleys;
the guide fixed pulleys b are positioned and arranged on the balance platform, and the two guide fixed pulleys b of each pulley block are taken as a group and are uniformly distributed with the two guide fixed pulleys b which are taken as a group in the adjacent balance pulley blocks;
the driving rope is connected with the movable pulley through the connector after bypassing the guide fixed pulley a;
the two ends of the balance steel wire rope are led by the corresponding guide fixed pulleys b after being wound by the movable pulleys, and then are fixed with the balance platform.
5. The wind-shaft inspection robot of claim 4, wherein the connector comprises a movable pulley support and a rope wedge sleeve;
one end of the rope wedge sleeve is connected with the driving rope, and the other end of the rope wedge sleeve is fixedly connected with the movable pulley support through a cotter pin; and the movable pulley is positioned and installed on the movable pulley support.
6. The wind shaft inspection robot of claim 1, wherein the housing frame comprises a housing bracket and a housing link; the number of the shell supports is equal to or more than 2, and the number of the shell connecting rods is equal to or more than 2; the shell frame is a polygonal frame formed by splicing shell brackets and shell connecting rods which are arranged alternately; the guiding mechanism is arranged on the shell bracket.
7. A wind shaft inspection robot according to claim 3, wherein the drive ropes are 3; the pulley block is provided with 3 groups; the guide mechanism has three guide mechanisms; the shell frame is a hexagonal frame and comprises three shell brackets and three shell connecting rods; the guide mechanisms are arranged on the corresponding shell brackets in a one-to-one correspondence.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910901130.5A CN110774289B (en) | 2019-09-23 | 2019-09-23 | Air shaft inspection robot |
| PCT/CN2019/117053 WO2021056719A1 (en) | 2019-09-23 | 2019-11-11 | Air shaft inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910901130.5A CN110774289B (en) | 2019-09-23 | 2019-09-23 | Air shaft inspection robot |
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| CN110774289A CN110774289A (en) | 2020-02-11 |
| CN110774289B true CN110774289B (en) | 2023-04-21 |
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| CN201910901130.5A Active CN110774289B (en) | 2019-09-23 | 2019-09-23 | Air shaft inspection robot |
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| CN (1) | CN110774289B (en) |
| WO (1) | WO2021056719A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111923014B (en) * | 2020-05-28 | 2022-08-26 | 中国矿业大学 | Manned air shaft inspection robot and air shaft inspection method |
| CN111685967A (en) * | 2020-06-10 | 2020-09-22 | 苏州大学 | Rope guiding device of rope-driven rehabilitation robot |
| CN112924463B (en) * | 2021-01-26 | 2022-04-01 | 中国矿业大学 | Coal mine shaft inspection device and laser scanning defect detection method |
| CN113612164B (en) * | 2021-08-25 | 2023-08-29 | 国家电网有限公司 | Power line corridor wiring device |
| CN114029964B (en) * | 2021-08-26 | 2024-04-23 | 中国矿业大学 | Deep well movable track type inspection robot and rope crossing obstacle crossing method thereof |
| CN114408782B (en) * | 2021-12-21 | 2024-01-19 | 国家电投集团雄安能源有限公司 | A heat supply network pipeline inspection robot descends and recovery unit for ventilation shaft |
| CN114408769B (en) * | 2022-01-07 | 2024-02-23 | 大连华锐重工集团股份有限公司 | Balance and safety device for steel wire rope of crane |
| CN115213941A (en) * | 2022-07-04 | 2022-10-21 | 常州检验检测标准认证研究院 | Precision testing and adjusting device for correcting robot positioning pose |
| CN116021529A (en) * | 2022-12-21 | 2023-04-28 | 中煤科工集团上海有限公司 | Self-walking type coal bunker inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT398491B (en) * | 1991-02-27 | 1994-12-27 | Hornyik Andreas Dipl Ing | METHOD FOR MEASURING THE CROSS SECTION OF A CAVITY |
| CN102275799B (en) * | 2011-07-08 | 2013-01-16 | 中国矿业大学 | Mine elevator |
| CN102682492A (en) * | 2012-05-14 | 2012-09-19 | 青岛秀山移动测量有限公司 | Mobile polling method and device of coal mine vertical shaft |
| CN104261225B (en) * | 2014-10-10 | 2017-04-12 | 中国矿业大学 | Test stand and method for ultra-deep mine hoisting systems |
| CN204355972U (en) * | 2014-12-18 | 2015-05-27 | 北京诺安舟应急缓降机械装置有限公司 | A kind of three groups of steel rope automatic balance devices |
| CN105035200B (en) * | 2015-07-02 | 2017-04-05 | 中国矿业大学 | A kind of vertical rope climbing crusing robot of extra deep shaft flexible cage guide |
| KR101966261B1 (en) * | 2017-07-06 | 2019-04-05 | 동국종합산업 주식회사 | Lift for personnel |
| CN208009499U (en) * | 2017-12-21 | 2018-10-26 | 中冶京诚工程技术有限公司 | Lifting platform of underground comprehensive pipe gallery inspection robot |
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2019
- 2019-09-23 CN CN201910901130.5A patent/CN110774289B/en active Active
- 2019-11-11 WO PCT/CN2019/117053 patent/WO2021056719A1/en active Application Filing
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| CN110774289A (en) | 2020-02-11 |
| WO2021056719A1 (en) | 2021-04-01 |
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