CN115026031A - Dirt removing and descaling operation robot for mine steel wire rope and operation method - Google Patents
Dirt removing and descaling operation robot for mine steel wire rope and operation method Download PDFInfo
- Publication number
- CN115026031A CN115026031A CN202210971654.3A CN202210971654A CN115026031A CN 115026031 A CN115026031 A CN 115026031A CN 202210971654 A CN202210971654 A CN 202210971654A CN 115026031 A CN115026031 A CN 115026031A
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- wire rope
- steel wire
- rotating disc
- dust
- copper
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 117
- 239000010959 steel Substances 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 11
- 229910052802 copper Inorganic materials 0.000 claims abstract description 95
- 239000010949 copper Substances 0.000 claims abstract description 95
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 94
- 238000004140 cleaning Methods 0.000 claims abstract description 93
- 239000000428 dust Substances 0.000 claims abstract description 70
- 238000009434 installation Methods 0.000 claims abstract description 12
- 230000000670 limiting effect Effects 0.000 claims description 86
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000003780 insertion Methods 0.000 claims description 8
- 230000037431 insertion Effects 0.000 claims description 8
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000010030 laminating Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
Landscapes
- Cleaning In General (AREA)
Abstract
The invention discloses a robot for cleaning and descaling a mine steel wire rope and an operation method, wherein the robot comprises a driving device, a dust and dirt cleaning device and a connecting piece, two ends of the driving device are respectively connected with the dust and dirt cleaning device through the connecting piece, and a driving wheel rotates to drive the dust and dirt cleaning device to move along the steel wire rope; the dust and dirt cleaning device comprises an installation shell, a driven disc, a rotating disc and copper brushes, wherein the copper brushes are distributed around the axis of the driven disc at equal intervals; the wire rope is positioned at the axis position of the dust and dirt cleaning device, and the copper brush is surrounded on the periphery of the steel wire rope; the rotating disc rotates to drive the copper brush to be attached to the surface of the steel wire rope and then drives the copper brush to rotate around the periphery of the steel wire rope for cleaning; the copper brushes at the two ends of the driving device have opposite rotating directions. According to the invention, the plurality of copper brushes arranged on the plurality of dust and dirt cleaning devices respectively are attached to the surface of the steel wire rope along opposite directions to rotate, so that the problem of dead angles existing in the cleaning of the surface of the steel wire rope is solved.
Description
Technical Field
The invention relates to the technical field of steel wire rope descaling equipment, in particular to a mine steel wire rope descaling robot and an operation method.
Background
The steel wire rope is widely applied to industries such as mines, metallurgy, ports, tourism, buildings, railways and the like, and is in a very important position in all industries. Because the steel wire rope is generally in a very harsh environment such as damp, dark, dirty and the like, the surface of the steel wire rope is easy to generate oil stain, dust, rust stain and accumulated slag to form dust and dirt in the use process. The length of the mine steel wire rope is long, the environment where the steel wire rope is located is severe, dust and dirt are removed inconveniently, the dust and dirt removing efficiency of the traditional steel wire rope is low, and the effect of the dust and dirt removing efficiency is difficult to guarantee. The long-time accumulation of dirt leads to the wire rope damage such as corrosion, and the life-span of wire rope reduces, and the security also can't guarantee in the use. When the steel wire rope is subjected to nondestructive detection, the detection result of the steel wire rope is influenced due to the existence of dirt, and the evaluation of the steel wire rope is greatly influenced. Therefore, the dust and dirt removal of the steel wire rope is always a great difficulty, and becomes a great hidden danger of mine safety, and huge economic loss is caused.
The prior patent application CN113800359A discloses a mine steel wire rope dirt removing robot and a working method thereof, which are suitable for being used under a mine. It comprises a holding device, a lifting device, a driving device and a dust and dirt removing device; the upper and lower holding devices are symmetrically arranged up and down, and the robot can release the holding steel wire rope by opening and closing the upper and lower holding devices; the lifting devices are arranged in a bilateral symmetry mode, and can be flexibly lifted through being matched with the holding device, so that the climbing stability of the robot is ensured; the dust and dirt removing device is symmetrically arranged on the surface of the arch-shaped wall and is matched with the driving device to realize the dust and dirt removing work.
However, when the equipment is used for cleaning the steel wire rope, the whole structure of the equipment is large, the equipment can be blocked by the wall of a mine when moving under the mine, the movement of the equipment is not facilitated, the position of a steel brush arranged on the dust and dirt removing device of the equipment is fixed, the cleaning of the surface of the steel wire rope is incomplete when the equipment is moved, and a cleaning dead angle can exist in a gap of the steel wire rope.
Disclosure of Invention
To above-mentioned problem, provide a mine wire rope cleaning scale removal work robot, thereby it has the problem at dead angle to clean the brush to the wire rope surface to laminate the wire rope surface rotation along opposite direction through a plurality of copper brushes that set up respectively on a plurality of dirt cleaning device.
In order to solve the problems of the prior art, the invention adopts the technical scheme that:
the invention provides a mine steel wire rope dirt cleaning and removing robot, which comprises at least one driving device, at least one dust dirt cleaning device and at least one connecting piece, wherein two ends of the driving device are respectively connected with the dust dirt cleaning devices through the connecting pieces; the dust and dirt cleaning device comprises an installation shell, a driven disc, a rotating disc and a copper brush, wherein the driven disc and the rotating disc are coaxially arranged in the installation shell; the copper brushes are distributed around the axis of the driven disc at equal intervals; a first opening is formed below the mounting shell, a second opening is formed in the driven disc, a third opening is formed in the rotating disc, the steel wire rope enters the dust and dirt cleaning device through the first opening, the second opening and the third opening, the steel wire rope is located on the axis of the dust and dirt cleaning device, and the copper brush is wound on the periphery of the steel wire rope; the rotating disc rotates to drive the copper brush to move along the direction vertical to the axis of the mounting shell until the copper brush is attached to the surface of the steel wire rope, and then the rotating disc drives the copper brush to rotate around the periphery of the steel wire rope for cleaning; the copper brushes at the two ends of the driving device have opposite rotating directions.
Preferably, two ends of the copper brush are provided with sliding sheets, and the sliding sheets are provided with two adjusting rods which extend outwards in parallel to the axis of the driven disc; the driven disc is arranged at two ends of the copper brush, first limiting holes matched with the copper brush in number are formed in the driven disc, the first limiting holes are distributed around the axis of the driven disc at equal intervals, the first limiting holes extend in the direction perpendicular to the axis of the driven disc, and adjusting rods at two ends of the copper brush are inserted into the first limiting holes in a limiting mode; the rotating disc is arranged on the outer side of the driven disc, second limiting holes matched with the copper brushes in number are formed in the rotating disc, the second limiting holes are distributed around the axis of the rotating disc at equal intervals, the second limiting holes extend obliquely, adjusting rods on the upper sides of two ends of each copper brush are inserted into the second limiting holes in a limiting mode, and the adjusting rods move along the first limiting holes under the limiting effect of the second limiting holes when the rotating disc rotates; the mass of the driven disc is greater than the mass of the rotating disc.
Preferably, the rotating disc is provided with first avoidance grooves matched with the number of the copper brushes, and the first avoidance grooves are matched with the moving track of the adjusting rod on the lower side of one end of the copper brushes.
Preferably, the second limiting holes in the rotating discs of the dust and dirt cleaning devices at the two ends of the driving device are opposite to the first avoiding grooves in inclination direction, so that the copper brushes of the driving device are opposite in rotation direction.
Preferably, the peripheral side of the rotating disc protrudes out of the surface of the rotating disc, and tooth grooves distributed at equal intervals are formed in the peripheral side outer wall of the rotating disc; the inner side of the mounting shell is fixedly provided with at least three insertion seats, and the insertion seats are inserted with first gears; the axis of the first gear is parallel to the axis of the rotating disc, and the first gear is meshed with tooth grooves on the peripheral side of the rotating disc; one end of the first gear positioned on one side of the mounting shell is coaxially provided with a first bevel gear; a direct current speed reducing motor is fixedly installed outside one side of the installation shell, a second bevel gear is coaxially installed at the working end of the direct current speed reducing motor and is in meshed connection with the first bevel gear, and the direct current speed reducing motor drives the rotating disc to rotate.
Preferably, the both ends of installation shell are provided with the limiting plate, and the limiting plate has two at least, and the outer wall of rolling disc is laminated to the inner wall of limiting plate, and the limiting plate is spacing to the rolling disc by the rolling disc outside.
Preferably, one side of the driven disc, which faces the copper brush, is provided with a limiting strip, and the limiting strip extends around the axis of the driven disc; the driven plate is connected with the mounting shell through the connecting foot, the one end fixed mounting of connecting the foot is at the mounting shell inner wall, the other end of connecting the foot is provided with the spacing groove identical with spacing, and spacing installing of the spacing of driven plate is in the spacing groove of connecting the foot.
Preferably, a first hinge element is arranged at the third opening of the rotating disc, one end of the first hinge element is hinged to one side of the third opening, and the first hinge element is used for blocking the third opening.
Preferably, the driving wheel of the driving device is rotatably mounted on the movable seat, the movable seat on one side is inserted with a plurality of driving wheels, and the driving wheels are driven to synchronously rotate by the first rotary driving device fixedly mounted on the movable seat; the movable seat is V-shaped with an opening facing the inside of the fixed seat; the axes of the driving wheels are parallel to two sides of the movable seat, the driving wheels on the same movable seat are distributed at equal intervals, and the axes of two adjacent driving wheels are vertical to each other; the driving wheels on the two movable seats are arranged in a staggered manner.
Preferably, the driving device further comprises two electric push rods, the electric push rods are fixedly arranged on the outer side of the fixed seat, and the working ends of the electric push rods are fixedly connected with the movable seat; the movable seat is provided with guide rods horizontally extending towards the outer side of the fixed seat, the number of the guide rods is at least two, and the guide rods are inserted into guide holes formed in the two sides of the fixed seat.
The invention provides an operation method of the robot based on the mine steel wire rope dirt removing and descaling operation, which comprises the following steps:
the dust and dirt cleaning device is arranged on the steel wire rope through a first opening, a second opening and a third opening on the dust and dirt cleaning device;
the driving device between the front dust cleaning device and the rear dust cleaning device clamps the steel wire rope through the driving wheel, so that the two dust cleaning devices can be driven to move on the steel wire rope when the driving wheel rotates;
when the driving device drives the dust and dirt cleaning device, a plurality of steel brushes in the dust and dirt cleaning device are driven by the rotating disc to gradually move to the periphery side attached to the steel wire rope, and after the copper brushes are tightly attached to the periphery side of the steel wire rope, the rotating disc drives the copper brushes to rotate around the periphery side of the steel wire rope to clean the steel wire rope and remove dust or dirt attached to the surface of the steel wire rope;
when the two dust and dirt cleaning devices move along the steel wire rope, the steel brush on one side rotates forwards, and the steel brush on the other side rotates reversely.
Compared with the prior art, the beneficial effect of this application is:
1. the device drives the dust cleaning devices at two ends to move along the steel wire rope through the driving device, and the plurality of copper brushes arranged on the two dust cleaning devices respectively adhere to the surface of the steel wire rope in opposite directions to rotate so as to achieve the purpose of completely cleaning the steel wire rope without dead angles, so that the service life of the steel wire rope is prolonged, and the device is small in integral structure and convenient to move along the steel wire rope in various occasions.
2. According to the invention, the rotating disc is matched with the driven disc to drive the copper brush to gradually move to the periphery side of the attached steel wire rope, and after the copper brush is tightly attached to the periphery side of the steel wire rope, the rotating disc drives the copper brush to rotate around the periphery side of the steel wire rope to clean the steel wire rope, so that the copper brush can be adaptively attached to the surfaces of the steel wire ropes with different diameters, and the steel wire rope cleaning device is more convenient.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
FIG. 1 is a first perspective view of a robot for cleaning and descaling mine steel wire ropes in a working state;
FIG. 2 is a second perspective view of the robot for cleaning and descaling the mine steel wire rope in the working state;
FIG. 3 is a side view of the robot for cleaning and descaling mine steel wire rope according to the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a perspective view of the dirt cleaning device of the present invention;
FIG. 6 is an exploded perspective view of the dirt cleaning device of the present invention and a partially enlarged view thereof;
FIG. 7 is a partial enlarged view of FIG. 6 at B;
FIG. 8 is a perspective view of the rotating disk and first hinge member of the present invention;
FIG. 9 is a perspective view of a driven disk of the present invention;
FIG. 10 is a perspective view of a copper brush of the present invention;
FIG. 11 is a perspective view of the drive of the present invention;
FIG. 12 is a side view of the drive of the present invention;
fig. 13 is an exploded perspective view of the driving device of the present invention.
The reference numbers in the figures are: 1-a drive device; 1 a-a fixed seat; 1a 1-pilot hole; 1 b-a drive wheel; 1b1 — moving seat; 1b2 — first rotary drive; 1b 3-guide bar; 1 c-an electric push rod;
2-a dust cleaning device; 2 a-a mounting housing; 2a1 — first opening; 2a 2-cartridge; 2a3 — first gear; 2a4 — first bevel gear; 2a 5-dc gear motor; 2a6 — second bevel gear; 2a 7-limiting plate; 2 b-a driven disc; 2b1 — second opening; 2b2 — a first retaining hole; 2b 3-stop bar; 2b 4-connecting pin; 2b 5-limit groove; 2 c-a rotating disc; 2c 1-third opening; 2c 2-second limiting hole; 2c3 — first avoidance slot; 2c 4-gullet; 2 d-copper brush; 2d1 — slide; 2d 2-adjustment lever; 2 e-a first articulation;
3-connecting piece.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Referring to fig. 1 to 13: a dirt cleaning and removing robot for a mine steel wire rope comprises a driving device 1, dust and dirt cleaning devices 2 and a connecting piece 3, wherein the driving device 1 is provided with at least one, two ends of the driving device 1 are respectively connected with one dust and dirt cleaning device 2 through the connecting piece 3, the driving device 1 comprises a fixed seat 1a and two driving wheels 1b, the two driving wheels 1b are oppositely arranged, the driving wheels 1b clamp the steel wire rope from two sides, and the driving wheels 1b rotationally drive the dust and dirt cleaning devices 2 to move along the steel wire rope; the dust and dirt cleaning device 2 comprises an installation shell 2a, a driven disc 2b, a rotating disc 2c and a copper brush 2d, wherein the driven disc 2b and the rotating disc 2c are coaxially arranged in the installation shell 2 a; the copper brushes 2d are arranged in a plurality, and the copper brushes 2d are distributed around the axis of the driven disc 2b at equal intervals; a first opening 2a1 is arranged below the mounting shell 2a, a second opening 2b1 is arranged on the driven disc 2b, a third opening 2c1 is arranged on the rotating disc 2c, a steel wire rope enters the dust and dirt cleaning device 2 through the first opening 2a1, the second opening 2b1 and the third opening 2c1, the steel wire rope is located at the axis position of the dust and dirt cleaning device 2, and the copper brush 2d surrounds the periphery of the steel wire rope; the rotating disc 2c rotates to drive the copper brush 2d to move along the direction vertical to the axis of the installation shell 2a until the copper brush 2d is attached to the surface of the steel wire rope, and then the rotating disc 2c drives the copper brush 2d to rotate around the periphery of the steel wire rope for cleaning; the copper brushes 2d at both ends of the driving device 1 rotate in opposite directions.
When the equipment is used for cleaning the steel wire rope, a worker can install the dust cleaning device 2 on the steel wire rope through the first opening 2a1, the second opening 2b1 and the third opening 2c1 on the dust cleaning device 2, at the moment, the steel wire rope is positioned in the dust cleaning device 2, the driving device 1 between the two dust cleaning devices 2 clamps the two sides of the steel wire rope through the driving wheel 1b, so that the dust cleaning device 2 can be driven to move on the steel wire rope when the driving wheel 1b rotates, the driving wheel 1b can effectively fit the steel wire ropes with different sizes to achieve the driving effect, the driving device 1 is connected with the dust cleaning device 2 through the connecting piece 3, the connecting piece 3 can be a universal connector or a hinged joint, and the connecting piece 3 ensures that a certain angle can be formed between the driving device 1 and the dust cleaning device 2, therefore, when the steel wire rope is bent, the driving device 1 can drive the dust and dirt cleaning device 2 to move on the steel wire rope; dust cleaning device 2 in this embodiment cleans wire rope's surface through a plurality of copper brush 2d, drive arrangement 1 is when drive dust cleaning device 2, copper brush 2d receives the drive of rolling disc 2c to move to laminating wire rope's week side gradually, after copper brush 2d closely laminates wire rope week side, rolling disc 2c drive copper brush 2d is cleaned the brush around wire rope week side is rotatory, get rid of wire rope surface adnexed dust or dirt, two dust cleaning device 2 at drive arrangement 1 both ends adopt same principle to carry out reverse rotation when moving along wire rope, thereby can carry out more thorough cleaning effect to the wire rope surface, prevent to have clean dead angle in wire rope's the gap, improve wire rope's life
Referring to fig. 4, 8, 9 and 10: two ends of the copper brush 2d are provided with a sliding sheet 2d1, and the sliding sheet 2d1 is provided with two adjusting rods 2d2 which extend outwards in parallel with the axis of the driven disc 2 b; the driven disc 2b is arranged at two ends of the copper brush 2d, first limiting holes 2b2 matched with the copper brush 2d in number are formed in the driven disc 2b, the first limiting holes 2b2 are distributed around the axis of the driven disc 2b at equal intervals, the first limiting holes 2b2 extend in the direction perpendicular to the axis of the driven disc 2b, and adjusting rods 2d2 at two ends of the copper brush 2d are inserted into the first limiting holes 2b2 in a limiting mode; the rotating disc 2c is arranged on the outer side of the driven disc 2b, second limiting holes 2c2 matched with the copper brushes 2d in number are formed in the rotating disc 2c, the second limiting holes 2c2 are distributed around the axis of the rotating disc 2c at equal intervals, the second limiting holes 2c2 extend obliquely, adjusting rods 2d2 on the upper sides of two ends of the copper brushes 2d are inserted into the second limiting holes 2c2 in a limiting mode, and the adjusting rods 2d2 are limited by the second limiting holes 2c2 to move along the first limiting holes 2b2 when the rotating disc 2c rotates; the mass of the driven disc 2b is greater than the mass of the rotating disc 2 c.
In this embodiment, two ends of the copper brush 2d are respectively provided with two adjusting rods 2d2, the copper brush 2d is inserted into the first limiting hole 2b2 of the driven disc 2b through the adjusting rod 2d2 so as to be capable of moving in the radial direction of the mounting shell 2a along the first limiting hole 2b2, thereby realizing effective attachment to the surfaces of the steel wire ropes with different diameters, because the adjusting rod 2d2 on the upper side of one end of the copper brush 2d is inserted into the second limiting hole 2c2 of the rotating disc 2c, when the rotating disc 2c rotates around the axis of the driven disc 2b, because the mass of the driven disc 2b is greater than that of the rotating disc 2c, the rotating disc 2c preferentially drives the adjusting rod 2d2 of the copper brush 2d to move, the adjusting rod 2d2 moves along the first limiting hole 2b2 under the limiting of the second limiting hole 2c2 until the steel wire rope is tightly attached, the rotating disc 2c cannot drive the copper brush 2d at this time, thereby moving downward and driving the driven disc 2b to drive the copper brush 2d to rotate synchronously, the realization is to the cleaning of wire rope surface, and the wire rope surface of the different diameters of laminating that the driving disk 2c made copper brush 2d can the self-adaptation in this embodiment to the drive of copper brush 2d need not the position of staff's manual adjustment copper brush 2d, and is more convenient.
Referring to fig. 4 and 8: the rotating disc 2c is provided with first avoiding grooves 2c3 the number of which is matched with that of the copper brushes 2d, and the first avoiding grooves 2c3 are matched with the moving track of the adjusting rod 2d2 at the lower side of one end of the copper brushes 2 d.
When the rotating disc 2c drives the copper brush 2d to move, the moving track of the other adjusting rod 2d2 at one end of the copper brush 2d is matched with the first avoiding groove 2c3 formed in the rotating disc 2c, so that when the copper brush 2d moves outwards, the adjusting rod 2d2 on the upper side of the copper brush 2d slides in the second limiting hole 2c2, the other adjusting rod 2d2 can move in the first avoiding groove 2c3 to avoid collision with the rotating disc 2c to influence the position adjustment of the copper brush 2d, the opening of the first avoiding groove 2c3 can be set to expand outwards, and the adjusting rod 2d2 can conveniently enter the first avoiding groove 2c3 again when being reset after being separated from the first avoiding groove 2c 3.
Referring to fig. 2 and 6: the second limiting hole 2c2 on the rotating disc 2c of the dust and dirt cleaning device 2 at both ends of the driving device 1 is opposite to the first avoiding groove 2c3 in inclination direction.
Spacing hole 2c2 of rolling disc 2c of installation and the first slope opposite direction of dodging groove 2c3 on the dirt cleaning device 2 at drive arrangement 1 both ends, thereby make drive arrangement 1 when removing, the rolling disc 2c on the dirt cleaning device 2 at both ends need drive copper brush 2d laminating wire rope surface towards opposite direction rotation, and then drive copper brush 2d and carry out the rotation of opposite direction, make two dirt cleaning device 2 carry out the scrubbing of opposite direction to wire rope week side, carry out comprehensive clearance to adnexed dust and dirt on the wire rope, prevent that dust or dirt from being mingled with in wire rope's gap.
Referring to fig. 6 and 7: the peripheral side of the rotating disc 2c protrudes out of the surface of the rotating disc 2c, and tooth grooves 2c4 distributed at equal intervals are arranged on the peripheral side outer wall of the rotating disc 2 c; the mounting shell 2a is fixedly provided with at least three insertion seats 2a2 on the inner side, the insertion seats 2a2 are provided, and a first gear 2a3 is inserted on the insertion seat 2a 2; the axis of the first gear 2a3 is parallel to the axis of the rotary disk 2c, and the first gear 2a3 is engaged with the tooth space 2c4 on the peripheral side of the rotary disk 2 c; one end of the first gear 2a3 is coaxially provided with a first bevel gear 2a 4; a direct current speed reducing motor 2a5 is fixedly mounted on one side of the mounting shell 2a, a second bevel gear 2a6 is coaxially mounted at the working end of the direct current speed reducing motor 2a5, the second bevel gear 2a6 is meshed with the first bevel gear 2a4, and the direct current speed reducing motor 2a5 drives the rotating disc 2c to rotate.
In this embodiment, the circumferential side of the rotating disc 2c is protruded and provided with the tooth slot 2c4, the plurality of inserting seats 2a2 arranged inside the mounting housing 2a are inserted with the first gear 2a3 and engaged with the tooth slot 2c4, the axial position of the rotating disc 2c is stabilized by the plurality of first gears 2a3, and the rotating disc 2c can be driven to rotate by the dc speed-reducing motor 2a5 driving the first gear 2a3 to rotate, the number of the inserting seats 2a2 and the first gears 2a3 is at least three, and each first gear 2a3 keeps synchronous rotation, since each first gear 2a3 is in transmission connection with one dc speed-reducing motor 2a5, so as to ensure that when the third opening 2c1 of the rotating disc 2c moves to one of the first gears 2a3 and loses the engaged connection with the first gear 2a3, the mounting housing 2a keeps at least two first gears 2a3 to position the rotating disc 2c, the rotating disc 2c is driven to rotate continuously, and the axial line position of the rotating disc 2c is prevented from shifting.
Referring to fig. 5 and 6: limiting plates 2a7 are arranged at two ends of the mounting shell 2a, at least two limiting plates 2a7 are arranged, the inner walls of the limiting plates 2a7 are attached to the outer wall of the rotating disc 2c, and the limiting plates 2a7 limit the rotating disc 2c from the outer side of the rotating disc 2 c.
The axis position of the rotating disc 2c is limited through the first gear 2a3, one side of the rotating disc 2c is attached to one side of the driven disc 2b, the outer side of the rotating disc 2c is limited by the limiting plates 2a7 at two ends of the installation shell 2a, the limiting plates 2a7 are at least provided with two limiting plates 2a7, each limiting plate 2a7 is clamped at the edge protruding position of the rotating disc 2c, when the third opening 2c1 of the rotating disc 2c moves to the limiting plate 2a7, the edge of the rotating disc 2c is limited through another limiting plate 2a7, and the rotating disc 2c is prevented from moving along the axis direction.
Referring to fig. 6 and 9: one side of the driven disc 2b facing the copper brush 2d is provided with a limiting strip 2b3, and the limiting strip 2b3 extends around the axis of the driven disc 2 b; the driven disc 2b is connected with the mounting shell 2a through a connecting pin 2b4, one end of the connecting pin 2b4 is fixedly mounted on the inner wall of the mounting shell 2a, the other end of the connecting pin 2b4 is provided with a limiting groove 2b5 matched with the limiting strip 2b3, and the limiting strip 2b3 of the driven disc 2b is limited and mounted in the limiting groove 2b5 of the connecting pin 2b 4.
One side of the driven disc 2b is attached to the rotating disc 2c, the other side of the driven disc is connected with the copper brush 2d, one side, facing the copper brush 2d, of the driven disc 2b is provided with a limiting strip 2b3 extending around the axis of the driven disc 2b, a plurality of connecting pins 2b4 fixedly mounted on the mounting shell 2a are connected with the limiting strip 2b3 through limiting grooves 2b5 at one end, and the connecting pins 2b4 can ensure that the axis of the driven disc 2b is fixed in position and can also prevent the driven disc 2b from moving in the axis direction during rotation.
Referring to FIG. 8: a first hinge 2e is disposed at the third opening 2c1 of the rotating disc 2c, one end of the first hinge 2e is hinged to one side of the third opening 2c1, and the first hinge 2e is used for closing the third opening 2c 1.
The third opening 2c1 of the rotating disc 2c is blocked by the first hinge part 2e, the first hinge part 2e is hinged, when the steel wire rope is placed in the dust and dirt cleaning device 2, the first hinge part 2e is opened to enable the steel wire rope to pass through the second opening 2b1 and the third opening 2c1, after the steel wire rope enters the driven disc 2b, the first hinge part 2e is locked, and the steel wire rope is guaranteed to be always positioned in the driven disc 2b and the rotating disc 2c when the copper brush 2d is cleaned.
Referring to fig. 11 to 13: the driving wheel 1b of the driving device 1 is rotatably installed on the moving seat 1b1, a plurality of driving wheels 1b are inserted into the moving seat 1b1 on one side, and the driving wheels 1b are driven to synchronously rotate by a first rotary driving device 1b2 fixedly installed on the moving seat 1b 1; the movable seat 1b1 is in a V shape with an opening facing the inside of the fixed seat 1 a; the axes of the driving wheels 1b are parallel to two sides of the moving seat 1b1, the driving wheels 1b on the same moving seat 1b1 are distributed at equal intervals, and the axes of two adjacent driving wheels 1b are vertical to each other; the driving wheels 1b on the two moving seats 1b1 are arranged alternately.
Two driving wheels 1b of the driving device 1 move relatively on the fixed seat 1a along the same straight line direction, when the steel wire rope enters the fixed seat 1a of the driving device 1, the driving wheel 1b moves relatively until the steel wire rope is attached to the outer wall of the steel wire rope, because the movable seat 1b1 provided with the driving wheel 1b is provided with a V-shaped opening, the driving wheels 1b are arranged along the two sides of the movable seat 1b1 at intervals in parallel, the driving wheels 1b of the two movable seats 1b1 are staggered with each other in the process of approaching the steel wire rope, thereby realizing the effective joint of the steel wire ropes with different sizes, when the first rotary driving device 1b2 drives the driving wheel 1b to rotate, the driving device 1 and the dust cleaning device 2 can be driven to move along the steel wire rope, the first rotary driving device 1b2 may be a device in which a servo motor cooperates with a timing belt and a gear to drive the driving wheel 1b to rotate synchronously, and is mature, and will not be described in detail again.
Referring to fig. 11 to 13: the driving device 1 further comprises two electric push rods 1c, the electric push rods 1c are fixedly arranged on the outer side of the fixed seat 1a, and the working end of the electric push rod 1c is fixedly connected with the movable seat 1b 1; the movable seat 1b1 is provided with a guide rod 1b3 horizontally extending towards the outer side of the fixed seat 1a, the number of the guide rods 1b3 is at least two, and the guide rods 1b3 are inserted into guide holes 1a1 arranged at two sides of the fixed seat 1 a.
The movable seat 1b1 is respectively fixedly connected with the working ends of the electric push rods 1c on the two sides of the fixed seat 1a, when the electric push rods 1c push the movable seat 1b1 to move, the guide rod 1b3 on the movable seat 1b1 is inserted into the guide hole 1a1 of the fixed seat 1a, so that the stability of the movement of the driving wheel 1b is ensured, and the clamping effect of the driving wheel 1b on a steel wire rope is ensured.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are also meant to be within the scope of the invention and form different embodiments. For example, in the above embodiments, those skilled in the art can combine the technical solutions and technical problems to be solved by the present application.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a mine wire rope dirt cleaning scale removal work robot, includes drive arrangement (1), dirt cleaning device (2) and connecting piece (3), and drive arrangement (1) has one at least, and a dirt cleaning device (2), its characterized in that are connected respectively through connecting piece (3) in the both ends of drive arrangement (1):
the driving device (1) comprises a fixed seat (1 a) and two driving wheels (1 b), the two driving wheels (1 b) are arranged oppositely, the driving wheels (1 b) clamp the steel wire rope from two sides, and the driving wheels (1 b) rotate to drive the dust and dirt cleaning device (2) to move along the steel wire rope;
the dust and dirt cleaning device (2) comprises an installation shell (2 a), a driven disc (2 b), a rotating disc (2 c) and a copper brush (2 d), wherein the driven disc (2 b) and the rotating disc (2 c) are coaxially arranged in the installation shell (2 a);
the copper brushes (2 d) are provided with a plurality of copper brushes (2 d), and the copper brushes (2 d) are distributed around the axis of the driven disc (2 b) at equal intervals;
a first opening (2 a 1) is arranged below the mounting shell (2 a), a second opening (2 b 1) is arranged on the driven disc (2 b), a third opening (2 c 1) is arranged on the rotating disc (2 c), a steel wire rope enters the dust and dirt cleaning device (2) through the first opening (2 a 1), the second opening (2 b 1) and the third opening (2 c 1), the steel wire rope is located at the axis position of the dust and dirt cleaning device (2), and a copper brush (2 d) surrounds the periphery of the steel wire rope;
the rotating disc (2 c) drives the copper brush (2 d) to rotate and move along the direction vertical to the axis of the mounting shell (2 a), and the rotating disc (2 c) drives the copper brush (2 d) to rotate around the periphery of the steel wire rope for cleaning after the copper brush (2 d) is attached to the surface of the steel wire rope;
the copper brushes at the two ends of the driving device have opposite rotating directions.
2. The robot for cleaning and descaling mine steel wire rope according to claim 1, wherein the robot comprises:
two ends of the copper brush (2 d) are provided with sliding sheets (2 d 1), and the sliding sheets (2 d 1) are provided with two adjusting rods (2 d 2) which extend outwards in parallel with the axis of the driven disc (2 b);
driven discs (2 b) are arranged at two ends of a copper brush (2 d), first limiting holes (2 b 2) matched with the copper brush (2 d) in number are formed in the driven discs (2 b), the first limiting holes (2 b 2) are distributed around the axis of the driven discs (2 b) at equal intervals, the first limiting holes (2 b 2) extend in the direction perpendicular to the axis of the driven discs (2 b), and adjusting rods (2 d 2) at two ends of the copper brush (2 d) are inserted in the first limiting holes (2 b 2) in a limiting mode;
the rotating disc (2 c) is arranged on the outer side of the driven disc (2 b), second limiting holes (2 c 2) matched with the copper brushes (2 d) in number are formed in the rotating disc (2 c), the second limiting holes (2 c 2) are distributed around the axis of the rotating disc (2 c) at equal intervals, the second limiting holes (2 c 2) extend obliquely, adjusting rods (2 d 2) on the upper sides of two ends of the copper brushes (2 d) are inserted into the second limiting holes (2 c 2) in a limiting mode, and when the rotating disc (2 c) rotates, the adjusting rods (2 d 2) are limited by the second limiting holes (2 c 2) and move along the first limiting holes (2 b 2);
the mass of the driven disk (2 b) is greater than the mass of the rotating disk (2 c).
3. The robot for cleaning and descaling mine steel wire rope according to claim 2, characterized in that:
the rotating disc (2 c) is provided with first avoidance grooves (2 c 3) the number of which is matched with that of the copper brushes (2 d), and the first avoidance grooves (2 c 3) are matched with the moving track of the adjusting rod (2 d 2) on the lower side of one end of each copper brush (2 d);
the second limiting holes (2 c 2) on the rotating disc (2 c) of the dust and dirt cleaning devices (2) at the two ends of the driving device (1) are opposite to the first avoiding groove (2 c 3) in inclination direction, so that the copper brushes (2 d) at the two ends of the driving device (1) are opposite in rotation direction.
4. The robot for cleaning and descaling mine steel wire rope according to claim 2, characterized in that:
the peripheral side of the rotating disc (2 c) protrudes out of the surface of the rotating disc (2 c), and tooth grooves (2 c 4) distributed at equal intervals are arranged on the peripheral side outer wall of the rotating disc (2 c);
the inner side of the mounting shell (2 a) is fixedly provided with at least three insertion seats (2 a 2), and the insertion seats (2 a 2) are inserted with a first gear (2 a 3) on the insertion seat (2 a 2);
the axis of the first gear (2 a 3) is parallel to the axis of the rotating disc (2 c), and the first gear (2 a 3) is meshed with a tooth groove (2 c 4) on the peripheral side of the rotating disc (2 c);
one end of a first gear (2 a 3) positioned at one side of the mounting shell (2 a) is coaxially provided with a first bevel gear (2 a 4);
a direct current speed reducing motor (2 a 5) is fixedly mounted on the outer portion of one side of the mounting shell (2 a), a second bevel gear (2 a 6) is coaxially mounted at the working end of the direct current speed reducing motor (2 a 5), the second bevel gear (2 a 6) is meshed with the first bevel gear (2 a 4), and the direct current speed reducing motor (2 a 5) drives the rotating disc (2 c) to rotate.
5. The robot for cleaning and descaling mine steel wire rope according to claim 4, wherein:
limiting plates (2 a 7) are arranged at two ends of the mounting shell (2 a), the limiting plates (2 a 7) are at least two, the inner walls of the limiting plates (2 a 7) are attached to the outer wall of the rotating disc (2 c), and the limiting plates (2 a 7) limit the rotating disc (2 c) from the outer side of the rotating disc (2 c).
6. The robot for cleaning and descaling mine steel wire rope according to claim 4, wherein:
one side of the driven disc (2 b) facing the copper brush (2 d) is provided with a limiting strip (2 b 3), and the limiting strip (2 b 3) extends around the axis of the driven disc (2 b);
the driven disc (2 b) is connected with the mounting shell (2 a) through a connecting pin (2 b 4), one end of the connecting pin (2 b 4) is fixedly mounted on the inner wall of the mounting shell (2 a), the other end of the connecting pin (2 b 4) is provided with a limiting groove (2 b 5) matched with the limiting strip (2 b 3), and the limiting strip (2 b 3) of the driven disc (2 b) is mounted in the limiting groove (2 b 5) of the connecting pin (2 b 4) in a limiting mode.
7. The robot for cleaning and descaling mine steel wire rope according to claim 1, wherein the robot comprises:
a first hinge (2 e) is arranged at the third opening (2 c 1) of the rotating disc (2 c), one end of the first hinge (2 e) is hinged to one side of the third opening (2 c 1), and the first hinge (2 e) is used for blocking the third opening (2 c 1).
8. The robot for cleaning and descaling mine steel wire rope according to claim 1, wherein the robot comprises:
the driving wheel (1 b) of the driving device (1) is rotatably arranged on the moving seat (1 b 1), the moving seat (1 b 1) on one side is inserted with a plurality of driving wheels (1 b), and the driving wheels (1 b) are driven to synchronously rotate by a first rotary driving device (1 b 2) fixedly arranged on the moving seat (1 b 1);
the movable seat (1 b 1) is in a V shape with an opening facing the inside of the fixed seat (1 a);
the axes of the driving wheels (1 b) are parallel to two sides of the moving seat (1 b 1), the driving wheels (1 b) on the same moving seat (1 b 1) are distributed at equal intervals, and the axes of two adjacent driving wheels (1 b) are vertical to each other;
the driving wheels (1 b) on the two moving seats (1 b 1) are arranged in a staggered way.
9. The robot for cleaning and descaling mine steel wire rope according to claim 8, wherein:
the driving device (1) further comprises two electric push rods (1 c), the electric push rods (1 c) are fixedly arranged on the outer side of the fixed seat (1 a), and the working end of each electric push rod (1 c) is fixedly connected with the movable seat (1 b 1);
the movable seat (1 b 1) is provided with guide rods (1 b 3) which horizontally extend towards the outer side of the fixed seat (1 a), the number of the guide rods (1 b 3) is at least two, and the guide rods (1 b 3) are inserted into guide holes (1 a 1) arranged on two sides of the fixed seat (1 a).
10. An operation method of the robot for cleaning and descaling mine steel wire rope based on any one of claims 1 to 9, which is characterized in that:
the dust cleaning device (2) is arranged on the steel wire rope through a first opening (2 a 1), a second opening (2 b 1) and a third opening (2 c 1) on the dust cleaning device (2);
the driving device (1) between the front dust and dirt cleaning devices (2) and the rear dust and dirt cleaning devices (2) clamps the steel wire rope through the driving wheel (1 b), so that the two dust and dirt cleaning devices (2) can be driven to move on the steel wire rope when the driving wheel (1 b) rotates;
a plurality of steel brushes (2 d) in the dust and dirt cleaning device (2) are driven by a rotating disc (2 c) to gradually move to the periphery side attached to the steel wire rope, when the copper brushes (2 d) are tightly attached to the periphery side of the steel wire rope, the rotating disc (2 c) drives the copper brushes (2 d) to rotate around the periphery side of the steel wire rope to clean the steel wire rope, and dust or dirt attached to the surface of the steel wire rope is removed;
when the two dust and dirt cleaning devices (2) move along the steel wire rope, the steel brush (2 d) on one side rotates in the forward direction, and the steel brush (2 d) on the other side rotates in the reverse direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210971654.3A CN115026031B (en) | 2022-08-15 | 2022-08-15 | Dirt removing and descaling operation robot for mine steel wire rope and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210971654.3A CN115026031B (en) | 2022-08-15 | 2022-08-15 | Dirt removing and descaling operation robot for mine steel wire rope and operation method |
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| CN115026031A true CN115026031A (en) | 2022-09-09 |
| CN115026031B CN115026031B (en) | 2022-10-21 |
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| CN213287749U (en) * | 2020-07-02 | 2021-05-28 | 浙江水文新技术开发经营公司 | Hydrology cableway self-cleaning device |
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| CN113774699A (en) * | 2021-10-09 | 2021-12-10 | 成都汉维斯科技有限公司 | Automatic maintenance system for cableway |
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| CN114113945A (en) * | 2021-11-26 | 2022-03-01 | 高兰标 | Power leakage detection equipment and method for power grid cable |
| CN217157787U (en) * | 2022-04-24 | 2022-08-09 | 天马远东电缆有限公司 | Cable with cleaning device |
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2022
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213287749U (en) * | 2020-07-02 | 2021-05-28 | 浙江水文新技术开发经营公司 | Hydrology cableway self-cleaning device |
| CN112986255A (en) * | 2021-02-05 | 2021-06-18 | 陈聪 | Cable aging detection equipment and use method thereof |
| CN113774699A (en) * | 2021-10-09 | 2021-12-10 | 成都汉维斯科技有限公司 | Automatic maintenance system for cableway |
| CN215878921U (en) * | 2021-10-15 | 2022-02-22 | 南京弘王电力技术咨询有限公司 | Cleaning device for erecting power transmission and transformation cables |
| CN114113945A (en) * | 2021-11-26 | 2022-03-01 | 高兰标 | Power leakage detection equipment and method for power grid cable |
| CN217157787U (en) * | 2022-04-24 | 2022-08-09 | 天马远东电缆有限公司 | Cable with cleaning device |
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| CN115026031B (en) | 2022-10-21 |
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