CN113525544B - Intelligent steel wire rope flaw detection climbing robot with magnetic type anti-falling system - Google Patents
Intelligent steel wire rope flaw detection climbing robot with magnetic type anti-falling system Download PDFInfo
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- CN113525544B CN113525544B CN202110836548.XA CN202110836548A CN113525544B CN 113525544 B CN113525544 B CN 113525544B CN 202110836548 A CN202110836548 A CN 202110836548A CN 113525544 B CN113525544 B CN 113525544B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 74
- 239000010959 steel Substances 0.000 title claims abstract description 74
- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 230000009194 climbing Effects 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 66
- 239000000428 dust Substances 0.000 claims abstract description 52
- 230000005389 magnetism Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 241000446313 Lamella Species 0.000 claims description 10
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 9
- 229910052802 copper Inorganic materials 0.000 claims description 9
- 239000010949 copper Substances 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 6
- 230000005415 magnetization Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims description 2
- 238000005453 pelletization Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
- 241000018646 Pinus brutia Species 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000004451 qualitative analysis Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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- Physics & Mathematics (AREA)
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses an intelligent steel wire rope flaw detection climbing robot with a magnetic type anti-falling system, which comprises a rack, wherein a flaw detection channel through which a steel wire rope passes is arranged in the rack, an upper driving system, the magnetic type anti-falling system, the flaw detection system, a lower driving system and a dust removal system are sequentially arranged on the rack along the length direction of the steel wire rope and correspond to the flaw detection channel, the dust removal system is positioned at the front end of the rack in the displacement direction, and the rack moves along the steel wire rope through the upper driving system and the lower driving system. At the in-process along the wire rope displacement, detect a flaw to wire rope through the detecting system, and before detecting a flaw, remove dust through dust pelletizing system and clear up wire rope, and improved the detection precision of robot that detects a flaw, when the stall phenomenon appears in the frame, can brake and stop the whole frame that promotes the security through magnetism formula anti-falling system of inhaling.
Description
Technical Field
The invention belongs to the technical field of flaw detection of special mine robots, and particularly relates to an intelligent steel wire rope flaw detection climbing robot with a magnetic type anti-falling system.
Background
Mine hoist is widely used in metal mines, coal and other industries, and steel wire rope is used as a common component with high strength and light weight in many areas of our country. Due to the special underground working environment of the elevator, various faults or defects such as broken lines, abrasion, corrosion and the like can occur after the steel wire rope of the elevator is subjected to tension and vibration fatigue damage for a long time, normal underground production and worker safety are affected, and attention is paid to related industries. The conventional equipment for detecting the steel wire rope is mostly fixed, the steel wire rope still needs to be manually held to detect, and the steel wire rope which is already in working operation cannot be detected; considering that the steel wire rope usually works in a narrow mine tunnel with large depth and low illumination, the manual detection mode is more difficult and heavier.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the intelligent steel wire rope flaw detection climbing robot with the magnetic type anti-falling system, and the detection precision and the safety of the flaw detection robot are improved.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides an intelligence wire rope climbing robot of detecting a flaw with formula anti-falling system is inhaled to magnetism, which comprises a frame, contain the passageway of detecting a flaw that supplies wire rope to wear to establish to pass through in the frame, set gradually actuating system, magnetism along wire rope length direction in the frame corresponding to the passageway of detecting a flaw, inhale formula anti-falling system, the flaw detection system, down actuating system and dust pelletizing system, dust pelletizing system is located the ascending front end of frame displacement side, the frame is through last actuating system and lower actuating system along wire rope walking displacement.
Further, the frame contains the main frame and articulates the setting respectively and is in the auxiliary engine frame of main frame both sides, two but the auxiliary engine frame is kept away from the mutual pine of one side of main frame and is separated or the fastening connection setting, the main frame with two the auxiliary engine frame encloses and closes in the wire rope outside, just the main frame with two constitute the passageway of detecting a flaw between the auxiliary engine frame.
Furthermore, the upper driving system and the lower driving system have the same structure, the upper driving system comprises an active tensioning device and a walking driving device arranged on the active tensioning device, the walking driving device is arranged on the rack in a guiding and sliding manner in the radial direction of the steel wire rope, the walking driving device and the steel wire rope move relatively, and the active tensioning device drives the walking driving device to move and adjust in the radial direction of the steel wire rope.
Further, the active tensioning device comprises a linear displacement mechanism, a circumferential displacement slide block, a radial displacement slide block and a base, the base is perpendicular to the steel wire rope and arranged in the inner cavity of the frame, a linear displacement mechanism is arranged on the base at a distance from the steel wire rope, the displacement direction of the linear displacement mechanism is vertical to the displacement adjusting direction of the walking driving device, the linear displacement mechanism comprises a circumferential moving slide block, the circumferential moving slide block is arranged on the base in a guiding and sliding manner along the displacement direction of the linear displacement mechanism, a tensioning adjusting guide groove is concavely arranged on one side surface of the circumferential moving sliding block, which deviates from the base, the tensioning adjusting guide groove is coplanar and is inclined to the sliding direction of the circumferential moving sliding block, the walking driving device comprises a guide protrusion extending into the tensioning adjusting guide groove, and the walking driving device slides in the radial direction of the steel wire rope in a guiding manner through the movement of the tensioning adjusting guide groove.
The driving tensioning device is arranged on the main rack, and the two driven tensioning devices are respectively arranged on the two auxiliary racks;
the driven tension device comprises a driven gear, a driven rack, a driven sliding seat, a guide rod and a support plate, the supporting plates are coplanar with the base and arranged in the auxiliary frame, guide rods are arranged on the supporting plates at intervals, the guide rod is provided with a driven sliding seat in a sliding manner, the driven sliding seat is provided with a driven rack, the driven gear is of an arc-shaped external gear structure, the driven gear is rotationally arranged on the supporting plate and is in meshed transmission with the driven rack, a driven adjusting guide groove is concavely arranged on one side surface of the driven sliding seat, which deviates from the supporting plate, the driven adjusting guide groove is coplanar and inclined to the sliding direction of the driven sliding seat, an auxiliary traveling wheel set is arranged on the supporting plate in a sliding manner in the radial direction of the steel wire rope, and the auxiliary traveling wheel set guides and slides in the radial direction of the steel wire rope through the movement of the driven adjusting guide groove;
the circumferential moving sliding block is provided with a linkage rack, the gear tooth distribution direction of the linkage rack is the same as the sliding direction of the circumferential moving sliding block, the base is provided with a linkage gear in a coplanar and joint circle rotation manner with the two driven gears, the linkage gear and the linkage rack are in meshing transmission arrangement, and the linkage gear and the two driven gears are in butt contact with each other end to end; the sliding displacement of the circumferential moving slide block drives the linkage gear and the driven gear to rotate around the shaft, and the rotating driven gear drives the driven sliding seat to adjust the displacement.
Furthermore, walking drive device includes driving motor, drive shaft, gyro wheel and decides support and gyro wheel, the gyro wheel is decided the support and is set up on radial displacement slider, week fixed bolster is gone up to rotate and is provided with the drive shaft, the one end of drive shaft is provided with driving motor.
Furthermore, the dust removal system comprises a hollow rotary platform track, a hollow rotary platform, copper brushes, a dust removal motor and a dust removal gear, wherein three groups of hollow rotary platform tracks are circumferentially arrayed on the main frame and the two auxiliary frames by taking the steel wire rope as an axis, arc-shaped rotary tracks by taking the steel wire rope as an axis are arranged in the hollow rotary platform tracks, the hollow rotary platform is rotatably arranged on the hollow rotary platform tracks through the rotary tracks, the copper brushes corresponding to the outer surface of the steel wire rope are arranged on the hollow rotary platform, the rotary tracks in the three groups of hollow rotary platform tracks form a complete annular track, and the end parts of the three groups of hollow rotary platforms positioned in the rotary tracks are mutually abutted; the outer ring of the hollow rotary platform is provided with dust removing ring teeth, the hollow rotary platform is provided with a dust removing motor on a track, an output shaft of the dust removing motor is provided with a dust removing gear, and the dust removing gear is in meshing transmission with the dust removing ring teeth.
Further, the magnetic type anti-falling system comprises a mounting plate, a clamping force arm, an arc guide rail, an arc spring, a first-level decelerating electromagnet and a second-level decelerating electromagnet which are arranged in the inner cavity of the frame, wherein the mounting plate is perpendicular to the steel wire rope and is arranged on the frame, the two clamping force arms are arranged in an X-shaped crossed rotating manner, a common rotating shaft of the two clamping force arms is rotatably arranged on the mounting plate, one set of opposite clamping ends of the two clamping force arms are respectively provided with the first-level decelerating electromagnet, the magnetic poles of the first-level decelerating electromagnet are opposite, the other set of opposite clamping ends of the two clamping force arms are respectively provided with the second-level decelerating electromagnet, the magnetic poles of the two second-level decelerating electromagnets are opposite, the arm rod corresponding to the first-level decelerating electromagnet on the mounting plate is provided with the arc guide rail, and the arc guide rail and the rotating shaft axis of the clamping force arms are coaxially arranged, the two ends of the arc-shaped guide rail are movably arranged on the two clamping force arms in a penetrating mode, an arc-shaped spring is arranged on the arc-shaped guide rail, and the two ends of the arc-shaped spring are abutted to or connected to the two clamping force arms.
Further, the flaw detection system includes friction bush, magnetization iron plate and hall element, the friction bush contains a plurality of clearances and encloses the bush lamella body of establishing in the wire rope outside, the fixed setting of bush lamella body is in the frame, the outside of bush lamella body is provided with the magnetization iron plate, the inner chamber of bush lamella body is equipped with along wire rope's radial concave and inlays the dress recess, it is provided with hall element in the dress recess to inlay.
Further, still including connecting slot and parallel connector, the outside of frame is provided with at least a set of connecting slot, the detachable is provided with the parallel connector on the connecting slot, the frame passes through another frame that the parallel connector is parallelly connected adjacent or connects the module of detecting a flaw.
Has the advantages that: the invention drives the rack to move through the upper driving system and the lower driving system, detects the flaw of the steel wire rope through the flaw detection system in the process of moving along the steel wire rope, removes dust of the steel wire rope through the dust removal system before the flaw detection, prevents dust from entering the rack, improves the detection precision of the flaw detection robot, and can brake and stop the whole rack through the magnetic type anti-falling system when the rack stalls, thereby improving the safety.
Drawings
FIG. 1 is a perspective view of the overall internal structure of the present invention;
FIG. 2 is a schematic perspective view of the upper drive system of the present invention;
FIG. 3 is a schematic perspective view of the inspection system of the present invention;
FIG. 4 is a schematic three-dimensional view of the magnetic anti-falling system of the present invention;
FIG. 5 is a schematic structural view of a dust removal system of the present invention;
fig. 6 is a schematic diagram of the parallel operation of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in the attached drawing 1, an intelligence wire rope climbing robot that detects a flaw with formula anti-falling system is inhaled to magnetism, including frame 10, contain in the frame 10 and supply wire rope to wear to establish the passageway 12 of detecting a flaw that passes through, it has set gradually driving system 1, magnetism formula anti-falling system 8, flaw detection system 3, lower driving system 4 and dust pelletizing system 5 to correspond to the passageway of detecting a flaw along wire rope length direction in the frame 10, stability when promoting the frame displacement through last driving system 1 and lower driving system 4, dust pelletizing system 5 is located the ascending front end of frame 10 displacement direction, frame 10 is through last driving system 1 and lower driving system 4 along wire rope walking displacement. Carry out the drive displacement to the frame through last actuating system and lower actuating system, at the in-process along wire rope displacement, detect a flaw to wire rope through the detecting system, and before detecting a flaw, remove dust through dust pelletizing system and clear up wire rope, prevent that the dust from entering into the frame in, and improved the detection precision of robot of detecting a flaw, when the stall phenomenon appears in the frame, can brake the whole machine frame that stops of formula anti-falling system through magnetism, promote the security.
The machine frame 10 contains main frame 10a and articulates the setting through the hinge piece respectively and is in the auxiliary machine frame 10b of main frame 10a both sides, the auxiliary machine frame is the same with the main frame structure, and is fan-shaped cross section structure, two one side that the main frame 10a was kept away from to auxiliary machine frame 10b can loosen the separation each other or the fastening connection sets up through closing device 7, closing device 7 is locking mechanism such as buckle, tool to lock, main frame 10a and two the auxiliary machine frame 10b encloses and closes in the wire rope outside, just main frame 10a and two constitute flaw detection channel 12 between the auxiliary machine frame 10 b. Through the three groups of detachable rack structures, the installation of the rack relative to the steel wire rope is facilitated, and the climbing robot is easy to assemble and disassemble and convenient to carry; during installation, the closing device is opened firstly, so that the main frame part is attached to the steel wire rope to be tested; then, the two sub-frames 10b are attached to the steel wire rope to be detected, the closing device is closed, and the final main body closing is completed.
As shown in fig. 1 and fig. 2, the upper driving system 1 and the lower driving system 4 have the same structure, the upper driving system 1 includes at least an active tensioning device disposed in the main frame and a traveling driving device disposed on the active tensioning device, the traveling driving device is slidably disposed on the frame 10 in a radial direction of the steel wire rope, and the traveling driving device and the steel wire rope travel relatively, the active tensioning device drives the traveling driving device to adjust the displacement in the radial direction of the steel wire rope, and the traveling driving device adjusts the displacement by the active tensioning device, so that the movement stability is stronger, and the phenomenon of slippage or stall occurs in the mode of displacement.
The technical features corresponding to the reference numerals in the attached figure 2 are as follows:
401 closing cap, 402 right bearing seat, 403 bearing seat fixing bolt, 404 tensioning screw rod, 405 circumferential movement sliding block, 406 radial movement sliding block, 407 roller supporting frame, 408 wheel shaft, 409 linkage gear, 410 linkage rack, 411 spring shock-absorbing group, 412 arc roller, 413 elastic diaphragm coupling, 414 reducer, 415 driving motor, 416 encoder, 417 driving motor fixing bolt, 418 base, 419 left bearing seat, 420 tensioning motor and 421 adjusting screw rod.
The active tensioning device comprises a linear displacement mechanism, a circumferential displacement sliding block 405, a radial displacement sliding block 406 and a base 418, wherein the base 418 is arranged in an inner cavity of the rack 10 perpendicular to a steel wire rope, the linear displacement mechanism is arranged on the base 418 at an interval from the steel wire rope, the displacement direction of the linear displacement mechanism is perpendicular to the displacement adjusting direction of the walking driving device, the linear displacement mechanism comprises the circumferential displacement sliding block 405, a sealing cover 401 is further arranged on the rack 10 above the axial displacement sliding block 405 and used for protecting an upper driving system, the circumferential displacement sliding block 405 is arranged on the base 418 in a guiding and sliding manner along the displacement direction of the linear displacement mechanism, a tensioning adjusting guide groove 430 is concavely arranged on one side surface of the circumferential displacement sliding block 405, the tensioning adjusting guide groove 430 is coplanar and inclined to the sliding direction of the circumferential displacement sliding block 405, the traveling driving means includes a guide protrusion, such as a guide post, etc., which is inserted into the tension adjusting guide groove 430, and the traveling driving means is guided to slide in the radial direction of the wire rope by the movement of the tension adjusting guide groove 430.
The linear displacement mechanism is motor drive's screw mechanism, contains tensioning lead screw 404, tensioning motor 420 and circumferential movement slider 405, the parallel interval of tensioning lead screw 404 sets up in one side of base 418, just the both ends of tensioning lead screw 404 rotate the setting in base 418 top through right bearing frame 402, left bearing frame 409 respectively, the one end of tensioning lead screw is provided with tensioning motor 420, the displacement drive is provided with circumferential movement slider 405 on the tensioning lead screw 404, the slip of axial movement slider 405 direction is on the base.
In the driving and tensioning system disclosed by the patent of the invention, the tensioning motor is fixed on the frame and drives the adjusting screw rod to rotate, so that the circumferential moving slide block moves. The movement of the circumferential moving slide block pushes the radial moving slide block to move the roller on the radial moving slide block in the radial direction. The movement mode can enable the robot to adapt to steel wire ropes with different diameters, and different holding forces can be applied according to requirements.
As shown in fig. 1 and fig. 2, the tensioning device further includes a driven tensioning device, the driving tensioning device is disposed on the main frame 10a, and the two driven tensioning devices are respectively disposed on the two sub frames 10 b;
the driven tensioning device comprises a driven gear 20, a driven rack 22, a driven sliding seat 23, a guide rod 21 and a support plate 24, wherein the support plate 24 is arranged in the auxiliary frame 10b in a coplanar manner on a base 418, the guide rod 21 is arranged on the support plate 24 at intervals, the driven sliding seat 23 is arranged on the guide rod 21 in a sliding manner, the driven sliding seat 23 is provided with the driven rack 22, the driven gear 20 is of an arc-shaped external gear structure, the driven gear 20 is rotatably arranged on the support plate 24, the driven gear 20 and a steel wire rope are coaxial, the driven gear 20 and the driven rack 22 are arranged in a meshing transmission manner, a driven adjusting guide groove is concavely arranged on one side surface of the driven sliding seat 23, which is deviated from the support plate 24, the driven adjusting guide groove is coplanar and inclined to the sliding direction of the driven sliding seat 23, and an auxiliary traveling wheel set is arranged on the support plate 24 in a sliding manner in the radial direction of the steel wire rope, the auxiliary walking wheel group slides in the radial direction of the steel wire rope in a guiding way by the movement of the driven adjusting guide groove.
The auxiliary walking wheel set comprises a roller and a roller support, the structure of the auxiliary walking wheel set is the same as the whole structure of the walking driving device when the walking driving device does not comprise a driving motor, the auxiliary walking wheel set is used for clamping and stabilizing the steel wire rope, and the stability is improved.
The circumferential moving sliding block 405 is provided with a linkage rack 410, the gear tooth distribution direction of the linkage rack 410 is the same as the sliding direction of the circumferential moving sliding block 405, the base 418 is provided with a linkage gear 409 which is coplanar with the two driven gears 20 and rotates in a common pitch circle, the linkage gear 409 is in meshing transmission with the linkage rack 410, and the linkage gear 409 and the two driven gears 20 are in butt contact with each other end to end; the sliding displacement of the circumferential moving slide block 405 drives the linkage gear 409 and the driven gear 20 to rotate around the shaft, the rotating driven gear 20 drives the driven slide seat 23 to adjust the displacement, and further drives the auxiliary traveling wheel set to displace in the radial direction, so that the traveling driving device is tensioned.
Still including adjusting lead screw 421, roller bracket 407 is through adjusting the lead screw setting on radial movement slider, can adjust the centering position of gyro wheel through adjusting lead screw 421, can reach and adapt to different wire rope diameters. A spring suspension group 411 is further arranged between the roller bracket 407 and the radial moving slide block 406 to make the movement more stable.
The walking driving device comprises a driving motor 415, a driving shaft 408, a roller fixing bracket 407 and a roller 412, wherein the roller fixing bracket 407 is arranged on the radial displacement slider 406, the driving shaft 408 is rotatably arranged on the circumferential fixing bracket 422, and one end of the driving shaft 408 is provided with the driving motor 415.
The walking driving device is driven by a driving motor and the arc-shaped roller through connection of an elastic diaphragm coupler and a speed reducer, so that the robot can stably crawl on the steel wire rope. The driving tensioning device drives the tensioning screw rod through the tensioning motor, the tensioning screw rod enables the circumferential moving slide block to move to change the position of the radial moving slide block, and the driven tensioning device can be synchronously tensioned through the linkage gear and the communication rack while the driving tensioning device adjusts displacement.
In the upper driving system or the lower driving system described in the patent of the invention, an active tensioning device fixed on a main frame is an active unit and is provided with a tensioning motor; the left auxiliary frame and the right auxiliary frame are provided with driven units without a tensioning motor. In the invention, a linkage rack is arranged on a circumferential moving slide block and is connected with a linkage gear in the center of a rack. When the driving tensioning driving unit moves, the synchronous tensioning of the idler wheels is ensured by the connection of the racks and the gears, and the synergy is good. Meanwhile, one tensioning motor drives three groups of tensioning structures, so that the inner space of the robot is saved, and the reliability of the mechanical connection mode is also ensured.
As shown in fig. 5, the technical features corresponding to the reference numerals are as follows: 501 hollow rotating platform track, 502 hollow rotating platform, 503 copper brush, 504 dust removing motor fixing bolt, 505 dust removing motor and 506 dust removing gear.
The dust removal system 5 comprises a hollow rotary platform track 501, a hollow rotary platform 502, copper brushes 503, a dust removal motor 505 and a dust removal gear 506, wherein three groups of hollow rotary platform tracks 501 are circumferentially arrayed on a main frame and two auxiliary frames by taking a steel wire rope as an axis, arc-shaped rotary tracks by taking the steel wire rope as the axis are arranged in the hollow rotary platform tracks 501, the hollow rotary platform 502 is rotatably arranged on the hollow rotary platform tracks 501 through the rotary tracks, the copper brushes 503 corresponding to the outer surface of the steel wire rope are arranged on the hollow rotary platform 502, the rotary tracks in the three groups of hollow rotary platform tracks 501 form a complete annular track, and the end parts of the three groups of hollow rotary platforms 502 in the rotary tracks are mutually abutted; the outer ring of the hollow rotary platform 502 is provided with dust removing ring teeth 507, the hollow rotary platform track 501 is provided with a dust removing motor 505, an output shaft of the dust removing motor 505 is provided with a dust removing gear 506, and the dust removing gear 506 is in meshing transmission with the dust removing ring teeth 507.
The dust removal system is powered by a dust removal motor 505 which is fixed on a frame in an offset mode, the hollow rotating platform track 502 is fixed on the frame, the dust removal motor 505 drives the hollow rotating platform 502 to rotate on the hollow rotating platform track 501, no dead angle exists in the working mode of rotating around the steel wire rope during dust removal, and the cleaning effect is good. Copper brush 503 utilizes and places in the inside of cavity rotary platform 502 through the draw-in groove that reserves, and the copper brush can directly be changed when reaching life. In addition, the dust removal system is placed at the lowest part of the robot, and impurities are effectively prevented from entering the robot when cleaning.
As shown in fig. 4, the technical features corresponding to the reference numerals are as follows: the device comprises an 801 wedge-shaped friction block, an 802 wedge-shaped friction block fixing bolt, a 803 annular track fixing seat, a 804 primary speed-reducing electromagnet, a 805 secondary speed-reducing electromagnet, a 806 clamping force arm, an 807 annular track and a 808 arc-shaped spring.
The magnetic type anti-falling system 8 comprises a mounting plate 800, clamping force arms 806, an arc guide rail 807, an arc spring 808, a first-level deceleration electromagnet 804 and a second-level deceleration electromagnet 805 which are arranged in an inner cavity of a rack 1, wherein the mounting plate 800 is perpendicular to a steel wire rope and arranged on the rack, the two clamping force arms 806 are arranged in an X-shaped crossed rotating mode, a common rotating shaft of the two clamping force arms 806 is arranged on the mounting plate 800 in a rotating mode, one group of opposite clamping ends of the two clamping force arms 806 are respectively provided with the first-level deceleration electromagnet 804, the magnetic poles of the two first-level deceleration electromagnets 804 are opposite, the other group of opposite clamping ends of the two clamping force arms 806 are respectively provided with the second-level deceleration electromagnet 805, the magnetic poles of the two groups of second-level deceleration electromagnets are opposite, the arc guide rail 807 is arranged on an arm rod of the mounting plate 800 corresponding to the first-level deceleration electromagnet 804, the arc guide rail 807 and the rotating shaft axis of the clamping force arm are coaxially arranged, the two ends of the arc guide rail 807 are movably arranged on the two clamping force arms in a penetrating manner, an arc spring 808 is arranged on the arc guide rail 807, and the two ends of the arc spring 808 are abutted against or connected onto the two clamping force arms.
Wherein, it includes slide wedge clutch blocks 801, a plurality of to press from both sides tight arm of force 806 and correspond to the exposed core of second grade speed reduction electro-magnet 805 and inlay in the clamping face of slide wedge clutch blocks, the opposite face of slide wedge clutch blocks 801 is the slide wedge face, and is greater than the width of displacement direction rear side corresponding to the width around the displacement direction, can make slide wedge clutch blocks 801 gradually by pine to tight centre gripping wire rope, stability when promoting the brake prevents the emergency braking damage.
The annular spring and the clamping force arms penetrate through the annular rail to be fixed on the main frame, and the annular spring is arranged between the clamping force arms and is in flexible connection. In the anti-falling system disclosed by the patent of the invention, a magnetic attraction mode is adopted to provide locking force. When the robot normally operates, the annular spring is in a free telescopic state, the annular spring enables the clamping force arm to be opened, the two wedge-shaped friction blocks are separated, the steel wire rope is ensured not to be in contact with the wedge-shaped friction blocks, and the trafficability of the robot is not influenced. When the robot loses power, the speed sensor gives an electric signal to the first-level deceleration electromagnet 804, the first-level deceleration electromagnet is electrified and attracted, and under the action of the annular spring 808, the clamping force arm 806 can avoid suddenly clamping to damage the robot and the steel wire rope, so that the purpose of preliminary speed reduction is achieved. At this time, the secondary deceleration electromagnet 805 is electrified, and the electrification number of the electromagnet is selected according to the requirement of the actual working condition, so that the wedge-shaped friction block clamps the steel wire rope, the robot is stopped at a safe position, and a larger accident is prevented.
As shown in fig. 3, the flaw detection system 3 includes a friction bushing 304, a magnetized iron block 302 and a hall element 305, the friction bushing 304 includes a plurality of bushing petals 306 arranged around the outer side of the steel wire rope, the bushing petals 306 are fixedly arranged in the rack 10 through a first connecting piece 301 and a second connecting piece 303, the magnetized iron block 302 is arranged on the outer side of the bushing petals 306, an inner cavity of the bushing petals 306 is provided with an embedded groove along the radial direction of the steel wire rope, and the hall element 305 is arranged in the embedded groove. The whole part can be broken up into parts through three group's bush lamella bodies 306, the dismouting of the frame of being convenient for, three groups constitute complete regular ring after bush lamella body 306 folds.
The flaw detection system disclosed by the invention utilizes a magnetic detection method to carry out quantitative and qualitative analysis on the damage of the steel wire rope, and meanwhile, an industrial camera is used for extracting the external characteristics of the damage, so that the damage can be adjudged, and materials are left for further damage elimination.
As shown in fig. 6, the multifunctional detection device further comprises a connecting card slot 9 and a parallel connector 11, at least one group of connecting card slots 9 is arranged on the outer side of the rack 10, the parallel connector 11 is detachably arranged on the connecting card slots 9, the rack 10 is connected with another adjacent rack 10 in parallel or is connected with other types of detection modules through the parallel connector 11, the auxiliary fixing function can be achieved, and during detection, a parallel scheme can be selected according to actual needs.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. The utility model provides an intelligence wire rope climbing robot of detecting a flaw with formula anti-falling system is inhaled to magnetism, its characterized in that: the steel wire rope flaw detection device comprises a rack (10), wherein a flaw detection channel through which a steel wire rope penetrates is arranged in the rack (10), an upper driving system (1), a magnetic type anti-falling system (8), a flaw detection system (3), a lower driving system (4) and a dust removal system (5) are sequentially arranged on the rack (10) along the length direction of the steel wire rope corresponding to the flaw detection channel, the dust removal system (5) is located at the front end of the rack (10) in the displacement direction, and the rack (10) moves along the steel wire rope through the upper driving system (1) and the lower driving system (4);
the magnetic type anti-falling system (8) comprises a mounting plate (800), clamping force arms (806), an arc-shaped guide rail (807), an arc-shaped spring (808), a first-level deceleration electromagnet (804) and a second-level deceleration electromagnet (805) which are arranged in an inner cavity of a rack (10), wherein the mounting plate (800) is perpendicular to a steel wire rope and arranged on the rack, the two clamping force arms (806) are arranged in an X-shaped crossed rotating mode, a common rotating shaft of the two clamping force arms (806) is rotatably arranged on the mounting plate (800), the two clamping force arms (806) are respectively provided with the first-level deceleration electromagnet (804) on one group of opposite clamping ends, the magnetic poles of the first-level deceleration electromagnet (804) are opposite, the two groups of second-level deceleration electromagnets (805) are respectively arranged on the other group of opposite clamping force arms (806), and the magnetic poles of the two groups of second-level deceleration electromagnets (805) are opposite, be provided with arc guide rail (807) on the armed lever that corresponds to one-level gear electromagnet (804) on mounting panel (800), arc guide rail (807) set up with the axle center with the pivot axis that presss from both sides the tight arm of force, the both ends activity of arc guide rail (807) is worn to establish on two tight arms of force of clamp, be provided with arc spring (808) on arc guide rail (807), just the both ends of arc spring (808) are supported and are pressed or are connected on two tight arms of force of clamp.
2. The intelligent wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 1, is characterized in that: frame (10) contain main frame (10a) and articulate respectively and set up auxiliary frame (10b) of main frame (10a) both sides, two one side that main frame (10a) were kept away from in main frame (10b) can loosen the separation each other or the fastening connection sets up, main frame (10a) and two auxiliary frame (10b) enclose and close in the wire rope outside, just main frame (10a) and two constitute the passageway of detecting a flaw between auxiliary frame (10 b).
3. The intelligent wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 2, characterized in that: the upper driving system (1) and the lower driving system (4) are identical in structure, the upper driving system (1) comprises an active tensioning device and a walking driving device arranged on the active tensioning device, the walking driving device is arranged on the rack (10) in a guiding and sliding mode in the radial direction of the steel wire rope, the walking driving device and the steel wire rope move relatively, and the active tensioning device drives the walking driving device to move and adjust in the radial direction of the steel wire rope.
4. The intelligent wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 3, characterized in that: the active tensioning device comprises a linear displacement mechanism, a circumferential displacement sliding block (405), a radial displacement sliding block (406) and a base (418), wherein the base (418) is arranged in an inner cavity of the rack (10) and is perpendicular to a steel wire rope, the linear displacement mechanism is arranged on the base (418) at an interval from the steel wire rope, the displacement direction of the linear displacement mechanism is perpendicular to the displacement adjusting direction of the walking driving device, the linear displacement mechanism comprises the circumferential displacement sliding block (405), the circumferential displacement sliding block (405) is arranged on the base (418) in a guiding and sliding manner along the displacement direction of the linear displacement mechanism, a tensioning adjusting guide groove (430) is concavely arranged on one side surface of the circumferential displacement sliding block (405) deviating from the base (418), the tensioning adjusting guide groove (430) is coplanar and inclined to the sliding direction of the circumferential displacement sliding block (405), and the walking driving device comprises a guide protrusion extending into the tensioning adjusting guide groove (430), the walking driving device is guided to slide in the radial direction of the steel wire rope through the movement of the tensioning adjusting guide groove (430).
5. The intelligent steel wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 4, characterized in that: the device is characterized by further comprising driven tensioning devices, wherein the driving tensioning devices are arranged on the main rack (10a), and the two driven tensioning devices are respectively arranged on the two auxiliary racks (10 b);
the driven tensioning device comprises a driven gear (20), a driven rack (22), a driven sliding seat (23), a guide rod (21) and a support plate (24), the support plate (24) is coplanar with the base (418) and is arranged in the auxiliary frame (10b), the guide rod (21) is arranged on the support plate (24) at intervals, the driven sliding seat (23) is arranged on the guide rod (21) in a sliding mode, the driven rack (22) is arranged on the driven sliding seat (23), the driven gear (20) is an arc-shaped outer gear structure, the driven gear (20) is rotatably arranged on the support plate (24), the driven gear (20) is in meshed transmission with the driven rack (22), a driven adjusting guide groove is concavely arranged on one side face of the driven sliding seat (23) deviating from the support plate (24), the driven adjusting guide groove is coplanar with the sliding direction of the driven sliding seat (23), an auxiliary walking wheel set is arranged on the supporting plate (24) in a sliding manner in the radial direction of the steel wire rope, and the auxiliary walking wheel set slides in a guiding manner in the radial direction of the steel wire rope through the movement of the driven adjusting guide groove;
a linkage rack (410) is arranged on the circumferential moving sliding block (405), the gear tooth distribution direction of the linkage rack (410) is the same as the sliding direction of the circumferential moving sliding block (405), a linkage gear (409) is arranged on the base (418) and coplanar with the two driven gears (20) and rotates in a common pitch circle, the linkage gear (409) and the linkage rack (410) are in meshed transmission arrangement, and the linkage gear (409) and the two driven gears (20) are in butt contact with each other end to end; the sliding displacement of the circumferential moving slide block (405) drives the linkage gear (409) and the driven gear (20) to rotate around the shaft, and the rotating driven gear (20) drives the driven sliding seat (23) to adjust the displacement.
6. The intelligent wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 5, characterized in that: the walking driving device comprises a driving motor (415), a driving shaft (408), a roller fixing support (407) and a roller (412), wherein the roller fixing support (407) is arranged on the radial displacement sliding block (406), the driving shaft (408) is rotatably arranged on the circumferential fixing support (422), and the driving motor (415) is arranged at one end of the driving shaft (408).
7. The intelligent wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 2, characterized in that: the dust removal system (5) comprises a hollow rotary platform track (501), a hollow rotary platform (502), copper brushes (503), a dust removal motor (505) and a dust removal gear (506), wherein three groups of hollow rotary platform tracks (501) are circumferentially arrayed on a main frame and two auxiliary frames by taking a steel wire rope as an axis, arc-shaped rotary tracks by taking the steel wire rope as the axis are arranged in the hollow rotary platform track (501), the hollow rotary platform (502) is rotatably arranged on the hollow rotary platform track (501) through the rotary tracks, the copper brushes (503) corresponding to the outer surface of the steel wire rope are arranged on the hollow rotary platform (502), the rotary tracks in the three groups of hollow rotary platform tracks (501) form a complete annular track, and the end parts of the three groups of hollow rotary platforms (502) positioned in the rotary tracks are mutually abutted; the outer ring of the hollow rotary platform (502) is provided with dust removal ring teeth (507), the hollow rotary platform track (501) is provided with a dust removal motor (505), an output shaft of the dust removal motor (505) is provided with a dust removal gear (506), and the dust removal gear (506) is in meshing transmission with the dust removal ring teeth (507).
8. The intelligent wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 1, is characterized in that: flaw detection system (3) are including friction bush (304), magnetization iron plate (302) and hall element (305), friction bush (304) contain a plurality of clearances and enclose bush lamella body (306) of establishing in the wire rope outside, the fixed setting of bush lamella body (306) is in frame (10), the outside of bush lamella body (306) is provided with magnetization iron plate (302), the inner chamber of bush lamella body (306) is equipped with along wire rope's radial concave inlay groove, it is provided with hall element (305) to inlay the inslot.
9. The intelligent steel wire rope flaw detection climbing robot with the magnetic type anti-falling system according to claim 1, characterized in that: still including connecting draw-in groove (9) and parallel connector (11), the outside of frame (10) is provided with at least a set of connecting draw-in groove (9), the detachable is provided with parallel connector (11) on connecting draw-in groove (9), frame (10) are through connecting another frame (10) or the connection of parallel connector (11) parallelly connected adjacent to detect the die set.
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| CN114660258B (en) * | 2022-03-11 | 2024-05-17 | 江阴兴澄特种钢铁有限公司 | Flaw detection repairing device for steel wire rope |
| CN114803774B (en) * | 2022-04-26 | 2023-12-15 | 鞍钢集团矿业有限公司 | Multi-adaptive wire rope flaw detection robot and using method thereof |
| CN115420870B (en) * | 2022-08-12 | 2023-06-16 | 中国特种设备检测研究院 | Wire rope detection device |
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| DE102011013031A1 (en) * | 2010-08-19 | 2012-02-23 | Anton Jäger | cleaning device |
| CN102290192B (en) * | 2011-05-05 | 2013-01-09 | 北京理工大学 | Magnetic block design method for magnetic wall-climbing robot and magnetic block |
| CN103569918A (en) * | 2012-07-31 | 2014-02-12 | 湖北三江航天红阳机电有限公司 | Automatic-detection and falling-protection safety device |
| DE102013000685B4 (en) * | 2013-01-11 | 2014-11-13 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Mobile support system for at least one designed for nondestructive testing sensor element |
| CN106770662B (en) * | 2017-02-16 | 2023-04-07 | 沈阳工业大学 | Online flaw detection device for tower of wind generating set |
| CN107175665B (en) * | 2017-05-12 | 2020-10-02 | 西安科技大学 | Robot is patrolled and examined to suspension bridge wire rope damage |
| CN108499933B (en) * | 2018-03-28 | 2019-06-21 | 山东理工大学 | A kind of pole-climbing sweeping robot |
| CN208733464U (en) * | 2018-07-24 | 2019-04-12 | 洛阳百克特科技发展股份有限公司 | A kind of climbing robot |
| CN110137846B (en) * | 2019-05-14 | 2021-12-10 | 国网江苏省电力有限公司电力科学研究院 | Overhead carbon fiber wire detection robot and multi-angle flaw detection method |
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