CN115156126A - Wire rope dirt-removing and lubricating integrated robot - Google Patents
Wire rope dirt-removing and lubricating integrated robot Download PDFInfo
- Publication number
- CN115156126A CN115156126A CN202210668631.5A CN202210668631A CN115156126A CN 115156126 A CN115156126 A CN 115156126A CN 202210668631 A CN202210668631 A CN 202210668631A CN 115156126 A CN115156126 A CN 115156126A
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- Prior art keywords
- wire rope
- tray
- lubricating
- half sleeve
- lubricating grease
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- 230000001050 lubricating effect Effects 0.000 title claims abstract description 168
- 239000004519 grease Substances 0.000 claims abstract description 116
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 50
- 239000010959 steel Substances 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000005201 scrubbing Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000007788 liquid Substances 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 32
- 238000010438 heat treatment Methods 0.000 claims description 19
- 238000005202 decontamination Methods 0.000 claims description 16
- 230000003588 decontaminative effect Effects 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 abstract 2
- 235000017491 Bambusa tulda Nutrition 0.000 abstract 2
- 241001330002 Bambuseae Species 0.000 abstract 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 abstract 2
- 239000011425 bamboo Substances 0.000 abstract 2
- 239000010802 sludge Substances 0.000 description 19
- 238000005461 lubrication Methods 0.000 description 8
- 206010066054 Dysmorphism Diseases 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 208000035859 Drug effect increased Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 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
- B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
-
- 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
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N11/00—Arrangements for supplying grease from a stationary reservoir or the equivalent in or on the machine or member to be lubricated; Grease cups
- F16N11/08—Arrangements for supplying grease from a stationary reservoir or the equivalent in or on the machine or member to be lubricated; Grease cups with mechanical drive, other than directly by springs or weights
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N11/00—Arrangements for supplying grease from a stationary reservoir or the equivalent in or on the machine or member to be lubricated; Grease cups
- F16N11/10—Arrangements for supplying grease from a stationary reservoir or the equivalent in or on the machine or member to be lubricated; Grease cups by pressure of another fluid
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
A wire rope dirt-removing and lubricating integrated robot comprises: the device comprises a vehicle body, a power mechanism, a dirt removing and lubricating device and a controller; the automobile body internal fixation is provided with power unit, and power unit and two walking wheel transmission coordination that the automobile body both sides set up, scrubbing lubricating arrangement arrange at the automobile body outside, and scrubbing lubricating arrangement includes first half sleeve and the half sleeve of second of mirror symmetry, and the brush section of thick bamboo of tubulose structure is constituteed jointly to first half sleeve and the half sleeve of second, is provided with the scraper that corresponds the setting with wire rope in the brush section of thick bamboo, and first half telescopic lateral part is linked together through the liquid outlet of lubricating grease pipe with the lubricating grease pump. The invention not only can maintain the steel wire rope in a service state and effectively improve the use convenience of the system, but also can completely soak the steel wire rope by using lubricating grease through the matching of the upper pressurizing cavity, the lubricating grease filling cavity and the lower pressurizing cavity, automatically complete the lubricating work of the steel wire rope and effectively improve the automation degree of the system.
Description
Technical Field
The invention relates to a steel wire rope dirt removing device, in particular to a steel wire rope dirt removing and lubricating integrated robot, which is particularly suitable for a practical training device capable of protecting a projector from being corroded by dust and foreign matters.
Background
The balance weight system of the three gorges ship lift is used as a key device for balancing the weight of the ship chamber of the ship lift, and the improvement of the safe reliability of the operation of the balance weight system has important significance on the operation safety of the three gorges ship lift.
The balancing weight steel wire rope of the three gorges ship lift consists of 256 double-layer multi-strand torsion-resistant steel wire ropes with the diameter of 74mm and the length of 150m, the diameter of a top pulley is 5m, the balancing weight steel wire rope passes through a large number of pulleys in service, has high probability of bearing reverse bending, high running speed and high bearing impact load, is mainly in failure form due to abrasion and fatigue, is easy to stick oil sludge, dust and the like on the surface in the using process, brings inconvenience to use and also causes pollution to the operation field environment, and if the stuck dirt contains corrosive media which can not be removed in time, the balancing weight steel wire rope can be damaged, the service life of the steel wire rope is shortened, and the production safety is influenced;
the balance weight system has the characteristics of complex operation environment, poor maintenance condition, large length and quantity of steel wire ropes, large replacement difficulty after damage and the like, good decontamination and lubrication protection are carried out on the balance weight steel wire ropes, the key for ensuring the safe operation of the balance weight system of the three gorges ship lift is realized, the technical research on the operation and maintenance of the balance weight steel wire ropes of the three gorges ship lift is developed, the long-term stable and efficient operation of the ship lift is ensured, and the important significance is realized on the improvement of the navigation and dam-crossing capacity of the three gorges junction. The steel wire rope dirt removal and lubrication integrated robot provided by the invention can improve the stability, durability and economy of the operation of the ship lift, has important significance for ensuring the safe operation of the ship lift and fully exerting the shipping benefit of the ship lift, and has great economic benefit and social benefit.
At present, the cleaning and maintenance of the steel wire rope mostly depend on manual operation, dirt among the steel wire rope strands is removed through a scraper, a steel wire brush and the like, and lubricating grease is filled through a lubricating grease pump. Although the mode can finish the decontamination and lubrication of the steel wire rope without special equipment, the mode still has the following defects:
1. the ship lift counterweight system comprises a plurality of heavy steel wire ropes, the difficulty of installation and disassembly is large, the working time is long, the maintenance is generally carried out in a service state, but the running speed of the steel wire ropes of the ship lift is relatively high, the manual operation working efficiency is difficult to follow, and the cleaning effect cannot be achieved.
2. The steel wire ropes are large in quantity and long in length, and manual operation is labor-consuming in cleaning and poor in effect.
Disclosure of Invention
The invention aims to solve the problem that a projector is exposed outside for a long time and corroded by dust and foreign matters in the prior art, and provides a practical training device capable of protecting the projector from being corroded by the dust and the foreign matters.
In order to achieve the above purpose, the technical solution of the invention is as follows:
a wire rope dirt-removing and lubricating integrated robot, comprising: the device comprises a vehicle body, a power mechanism, a decontamination lubricating device and a controller; the cleaning and lubricating device comprises a vehicle body, a power mechanism, a dirt removing and lubricating device, a lubricating oil pump, a controller and a lubricating grease pump, wherein two traveling wheels are arranged on two sides of the vehicle body respectively, the power mechanism is fixedly arranged in the vehicle body, a power output shaft of the power mechanism is in transmission fit with the traveling wheels through a gear set, the dirt removing and lubricating device is arranged outside the vehicle body and comprises a first half sleeve and a second half sleeve which are in mirror symmetry, the first half sleeve and the second half sleeve jointly form a brush cylinder with a tubular structure, a steel wire rope penetrates through the brush cylinder and then is in press fit with the inner wall of the brush cylinder, the first half sleeve and the second half sleeve are both in rotation fit with the vehicle body through mechanical arms, the side part of the first half sleeve is communicated with a liquid outlet of the lubricating grease pump through a lubricating grease pipe, and the controller is fixedly arranged in the vehicle body; the driving signal input end of the power mechanism is connected with the driving signal output end of the controller, and the lifting signal input end of the lifting mechanism is connected with the lifting signal output end of the controller.
The robot still includes the mud tray of collecting, the mud tray of collecting sets up under scrubbing lubricating arrangement, the mud tray of collecting includes tray, tray wall, wire rope pipe and mud bag installation pipe, the tray is the disc structure of bottom surface slope, the tray passes through the bottom plate fixed connection of linking arm and automobile body, the fixed tray wall that is provided with tubular structure in top of the outer circumference of tray, the fixed wire rope pipe that is provided with in middle part of tray, the wire rope pipe is hollow tubular structure, the wire rope pipe is connected as an organic wholely with the tray after passing the bottom plate of tray, the fixed bottom that sets up in the tray of mud bag installation pipe, the mud bag installation pipe is connected as an organic wholely with the tray after passing the bottom plate of tray.
Tray, tray wall, wire rope pipe and mud bag installation pipe all include two combination portions of mirror symmetry, two combination portions of tray respectively through the bottom plate normal running fit of a linking arm with the automobile body, the junction of two combination portions of tray respectively is provided with a bayonet socket, two combination portions of tray interconnect through the bayonet socket that sets up on it, tray wall, wire rope pipe and two combination portions of mud bag installation pipe form complete mud jointly and collect the tray.
The dirt removing and lubricating device comprises a first half sleeve and a second half sleeve which are in mirror symmetry, the first half sleeve and the second half sleeve jointly form a brush barrel with a tubular structure, the top and the bottom of the first half sleeve and the second half sleeve are respectively and fixedly provided with a mechanical arm, the first half sleeve and the second half sleeve are rotationally matched with a gear box through the mechanical arm arranged on the first half sleeve and the second half sleeve, the inner sides of the first half sleeve and the second half sleeve are provided with grooves, the grooves inside the brush barrel jointly formed by the first half sleeve and the second half sleeve form an upper pressurizing cavity, a lubricating grease filling cavity, a lower pressurizing cavity and a scraper cavity from top to bottom in sequence, the upper pressurizing cavity, the lubricating grease filling cavity, the lower pressurizing cavity and the scraper cavity are communicated with each other in sequence, the side parts of the upper pressurizing cavity and the lower pressurizing cavity are provided with an air inlet, two air filling inlets are fixedly provided with a compressed air pipe, the upper pressurizing cavity and the lower pressurizing cavity are communicated with a compressed air pipe arranged on the upper pressurizing cavity, the lubricating grease filling cavity is communicated with a grease outlet of a grease fixing mechanism, the lubricating grease inlet is arranged on the top of a lubricating grease fixing mechanism, the lubricating grease filling mechanism is arranged on the lubricating grease fixing mechanism, and a lubricating grease inlet, a lubricating grease outlet of a lubricating grease fixing mechanism is arranged on the lubricating grease fixing mechanism, and a lubricating grease fixing mechanism, the lubricating grease pump are arranged on the lubricating grease inlet, and a lubricating grease inlet of the lubricating grease inlet, and a lubricating grease inlet of a lubricating grease fixing mechanism, evenly be provided with the helix on the spiral line board, the gap correspondence setting between each strand rope on helix and the wire rope, scrape the rotatory scraper of intracavity detachable, rotatory scraper and the rotatory cooperation of scrubbing lubricating arrangement, the dysmorphism hole that can hold wire rope is seted up at the middle part of rotatory scraper, the scrubbing edge of a knife that the gap correspondence setting between each strand rope on the dysmorphism downthehole a plurality of and the wire rope of evenly being fixed with corresponds.
The gear box is internally provided with an opening and closing motor, a power output shaft of the opening and closing motor is in transmission fit with each mechanical arm, the opening and closing motor is used for driving the first half sleeve and the second half sleeve to be opened or closed, and an opening and closing signal input end of the opening and closing motor is connected with an opening and closing signal output end of the controller.
Rotatory scraper includes two semi-annular scrapers and two angle switches of mirror symmetry, and two semi-annular scrapers constitute the scraper of annular structure jointly, all fix on the interior circumference of two semi-annular scrapers and be provided with a plurality ofly and the scrubbing edge that each strand rope on the wire rope corresponds the setting, and two angle switches set up respectively in two junctions department of two semi-annular scrapers, two angle switches's feeler lever all with first semi-sleeve and the semi-sleeve transmission cooperation of second, be provided with the heating module between two semi-annular scrapers and first semi-sleeve and the semi-sleeve of second, and two angle switch's angle signal output part is connected with the limit signal input part of controller, the heating signal input part of heating module is connected with the heating signal output part of controller.
The robot still includes elevating system, elevating system includes elevator motor, worm and lift arm, elevator motor is fixed to be set up on the bottom plate of automobile body front side, elevator motor's nearly locomotive side is fixed and is provided with the worm installation storehouse, the worm installation storehouse is the cuboid structure, the fixed end face bearing that is provided with in bottom of worm installation storehouse roof, be provided with the worm mounting panel under the end face bearing, the fixed another end face bearing that is provided with in top of worm mounting panel, the worm sets up between two end face bearings along vertical direction, the top and the bottom of worm all with the end face bearing normal running fit that corresponds the side, the fixed lifting gear that is provided with in bottom of worm, the worm passes through lifting gear and elevator motor transmission cooperation, the spiral hole with worm matched with is seted up to the one end of lift arm, the worm passes behind the spiral hole and the lift arm transmission cooperation, and when the worm is rotatory, the lift arm goes up and down on the worm according to the direction of rotation, the other end and the gear box fixed connection of lift arm, elevator motor's lift signal input end is connected with the lift signal output of controller.
The automobile body side of nearly gear box is fixed and is provided with the slide rail, the fixed slider that is provided with in front end of roof, the fixed slide rail fixed motor that is provided with in top of slider, gear box is through the slide rail that sets up on it and slider sliding fit, the fixed motor of slide rail is through the clamping jaw and the spacing cooperation of slide rail that set up on the power output shaft, the spacing signal input part of the fixed motor of slide rail is connected with the spacing signal output part of controller.
The robot further comprises a storage battery and a wireless module, each electric device in the robot is powered by the storage battery, and the wireless signal output end of the wireless module is connected with the line signal input end of the controller.
Compared with the prior art, the invention has the beneficial effects that:
1. the dirt removing and lubricating device in the dirt removing and lubricating integrated robot for the steel wire rope is arranged on a vehicle body, two traveling wheels are arranged on two sides of the vehicle body respectively and are driven by a power mechanism fixedly arranged in the vehicle body, so that the design can move according to requirements, the dirt removing and lubricating device comprises a first half sleeve and a second half sleeve which are in mirror symmetry, the first half sleeve and the second half sleeve jointly form a brush cylinder with a tubular structure, the first half sleeve and the second half sleeve can clamp the steel wire rope through opening and closing, and after the first half sleeve and the second half sleeve clamp the steel wire rope, the steel wire rope is in press fit with the inner wall of the brush cylinder. Consequently, this design can remove to operating position according to the demand, and first half sleeve and second half sleeve can be maintained under the wire rope state of being in service for the design that can open and shut simultaneously, effectively improves system's convenience of use degree.
2. The invention relates to a wire rope dirt-removing and lubricating integrated robot, wherein grooves are formed in the inner sides of a first half sleeve and a second half sleeve, an upper pressurizing cavity, a lubricating grease filling cavity, a lower pressurizing cavity and a scraper cavity are sequentially formed in the grooves in the first half sleeve and the second half sleeve after the first half sleeve and the second half sleeve jointly form a brush cylinder, the side parts of the upper pressurizing cavity and the lower pressurizing cavity are communicated with an air outlet of a compressor through a compressed air pipe, the top part and the bottom part of the lubricating grease filling cavity are communicated with a liquid outlet of a lubricating grease pump through a lubricating grease pipe, the lubricating grease pump conveys lubricating grease into the lubricating grease filling cavity when in use, and the lubricating grease completely soaks a wire rope under the pressure effect increased by the lubricating grease pump and compressed air. Therefore, the design can be matched with the upper pressurizing cavity, the lubricating grease filling cavity and the lower pressurizing cavity, the steel wire rope is completely soaked by using the lubricating grease, the lubricating work of the steel wire rope is automatically completed, and the automation degree of the system is effectively improved.
3. The sludge collection tray is arranged right below the decontamination and lubrication device in the steel wire rope decontamination and lubrication integrated robot and comprises a tray, a tray wall, a steel wire rope pipe and a sludge bag installation pipe, each part on the sludge collection tray comprises two combination parts which are in mirror symmetry, the tray is of a disc-shaped structure with an inclined bottom surface and is fixedly connected with a bottom plate of a vehicle body through a connecting arm, the top of the outer circumference of the tray is fixedly provided with the tray wall of a tubular structure, the middle part of the tray is fixedly provided with the steel wire rope pipe, the sludge bag installation pipe is fixedly arranged at the bottom of the tray, a sludge bag can be sleeved on the sludge bag installation pipe, and the two combination parts can be opened and closed to enable the steel wire rope to pass through the steel wire rope pipe. Therefore, this design can make wire rope pass the wire rope pipe through the mud collection tray that can open and shut, and dirt under the scrubbing lubricating arrangement clearance receives on gravity influences whereabouts to the mud collection tray, and rethread mud bag installation pipe gets into in the mud bag, avoids the filth to pollute the place.
4. According to the wire rope dirt removing and lubricating integrated robot, the sliding rail is fixedly arranged on the side, close to the vehicle body, of the gear box, the sliding block is fixedly arranged at the front end of the vehicle body top plate, so that a dirt removing and lubricating device can be stably matched with the vehicle body in a sliding mode, the sliding rail fixing motor is fixedly arranged at the top of the sliding block, the sliding rail fixing motor can be clamped through the clamping jaw, and stable support is improved when lifting is not needed. Therefore, the design can be matched with the sliding rail, the sliding block and the sliding rail fixing motor, so that stable sliding fit and stable support can be formed between the decontamination lubricating device and the vehicle body, and the use safety of the system is effectively improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a schematic structural view of the dirt removing and lubricating apparatus of fig. 1.
Fig. 4 is a schematic view of the structure of the sludge collection tray of fig. 1.
In the figure: the device comprises a vehicle body 1, traveling wheels 11, a sliding rail 12, a sliding block 13, a sliding rail fixing motor 14, a wireless module 15, a battery 16, a power mechanism 2, a decontamination and lubrication device 3, a first half sleeve 31, a second half sleeve 32, a mechanical arm 33, a gear box 34, an upper pressurizing cavity 35, a lubricating grease filling cavity 36, a lower pressurizing cavity 37, a scraper cavity 38, an opening and closing motor 39, a lifting mechanism 4, a lifting motor 41, a worm 42, a lifting arm 43, a worm mounting bin 44, an end face bearing 45, a worm mounting plate 46, a lifting gear 47, a lubricating grease pump 5, a lubricating grease box 51, a lubricating grease filling port 52, a sludge collection tray 6, a tray 61, a tray wall 62, a steel wire rope pipe 63, a sludge bag mounting pipe 64, a connecting arm 65, a rotary scraper 7, a semi-annular scraper 71, an angle switch 72, a heating module 73, a compressor 8 and a controller 9.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 4, a wire rope dirt removing and lubricating integrated robot comprises: the device comprises a vehicle body 1, a power mechanism 2, a decontamination lubricating device 3 and a controller 9; the cleaning and lubricating device comprises a vehicle body 1, a power mechanism 2, a gear set, a dirt removing and lubricating device 3, a mechanical arm 33 and a controller 9, wherein two walking wheels 11 are respectively arranged on two sides of the vehicle body 1, the power mechanism 2 is fixedly arranged in the vehicle body 1, a power output shaft of the power mechanism 2 is in transmission fit with each walking wheel 11 through the gear set, the dirt removing and lubricating device 3 is arranged outside the vehicle body 1, the dirt removing and lubricating device 3 comprises a first half sleeve 31 and a second half sleeve 32 which are in mirror symmetry, the first half sleeve 31 and the second half sleeve 32 jointly form a brush cylinder with a tubular structure, a steel wire rope penetrates through the brush cylinder and then is in compression fit with the inner wall of the brush cylinder, the first half sleeve 31 and the second half sleeve 32 are both in rotation fit with the vehicle body 1 through the mechanical arm 33, the side part of the first half sleeve 31 is communicated with a liquid outlet of a lubricating grease pump 5 through the lubricating grease pipe, and the controller 9 is fixedly arranged in the vehicle body 1; the driving signal input end of the power mechanism 2 is connected with the driving signal output end of the controller 9, and the lifting signal input end of the lifting mechanism 4 is connected with the lifting signal output end of the controller 9.
The robot still includes sludge collection tray 6, sludge collection tray 6 sets up under scrubbing lubricating arrangement 3, sludge collection tray 6 includes tray 61, tray wall 62, wire rope pipe 63 and mud bag installing tube 64, tray 61 is the disc structure of bottom surface slope, tray 61 passes through linking arm 65 and 1 fixed connection of bottom plate of automobile body 1, the fixed tray wall 62 that is provided with tubular structure in top of the outer circumference of tray 61, the fixed wire rope pipe 63 that is provided with in middle part of tray 61, wire rope pipe 63 is hollow tubular structure, wire rope pipe 63 is connected as an organic wholely with tray 61 after passing tray 61's bottom plate, mud bag installing tube 64 is fixed to be set up in tray 61's bottom, mud bag installing tube 64 is connected as an organic wholely with tray 61 after passing tray 61's bottom plate.
The dirt removing and lubricating device 3 comprises a first half sleeve 31 and a second half sleeve 32 which are in mirror symmetry, the first half sleeve 31 and the second half sleeve 32 jointly form a brush cylinder with a tubular structure, the top and the bottom of the first half sleeve 31 and the second half sleeve 32 are respectively and fixedly provided with a mechanical arm 33, the first half sleeve 31 and the second half sleeve 32 are in rotating fit with a gear box 34 through the mechanical arm 33 arranged on the first half sleeve 31 and the second half sleeve 32, grooves are formed in the inner sides of the first half sleeve 31 and the second half sleeve 32, an upper pressurizing cavity 35, a lubricating grease filling cavity 36, a lower pressurizing cavity 37 and a scraper cavity 38 are sequentially formed in the grooves in the first half sleeve 31 and the second half sleeve 32 after the brush cylinder jointly forms the brush cylinder, the upper pressurizing cavity 35, the lubricating grease filling cavity 36, the lower pressurizing cavity 37 and the scraper cavity 38 are sequentially arranged in the brush cylinder from top to bottom, the upper pressurizing cavity 35, the lubricating grease filling cavity 36, the lower pressurizing cavity 37 and the scraper cavity 38 are sequentially communicated with each other, the side parts of the upper pressurizing cavity 35 and the lower pressurizing cavity 37 are respectively provided with an air inlet, compressed air pipes are fixedly arranged on the two air inlets, the upper pressurizing cavity 35 and the lower pressurizing cavity 37 are respectively communicated with an air outlet of the compressor 8 through the compressed air pipes arranged on the upper pressurizing cavity 35 and the lower pressurizing cavity 37, the compressor 8 is fixedly arranged right above the lifting mechanism 4, the top and the bottom of the lubricating grease filling cavity 36 are respectively provided with a lubricating grease hole, a lubricating grease pipe is fixedly arranged on the lubricating grease hole, the lubricating grease filling cavity 36 is communicated with a liquid outlet of the lubricating grease pump 5 through the lubricating grease pipe arranged on the lubricating grease filling cavity, a liquid inlet of the lubricating grease pump 5 is communicated with the bottom of the lubricating grease box 51, and the lubricating grease pump 5 and the lubricating grease box 51 are both fixedly arranged on the top of the power mechanism 2, the rear portion of grease case 51 is provided with grease filling port 52, the inboard fixed detachable spiral line board that is provided with in grease filling chamber 36, evenly be provided with the helix on the spiral line board, the gap between each strand rope corresponds the setting on helix and the wire rope, be provided with the rotatory scraper 7 of detachable in the scraper chamber 38, rotatory scraper 7 and the rotatory cooperation of scrubbing lubricating arrangement 3, the dysmorphism hole that can hold wire rope is seted up at the middle part of rotatory scraper 7, the dysmorphism downthehole evenly be fixed with a plurality ofly and the wire rope on the wire rope gap between each strand rope correspond the scrubbing edge of a knife that sets up.
An opening and closing motor 39 is arranged in the gear box 34, a power output shaft of the opening and closing motor 39 is in transmission fit with each mechanical arm 33, the opening and closing motor 39 is used for driving the first half sleeve 31 and the second half sleeve 32 to be opened or closed, and an opening and closing signal input end of the opening and closing motor 39 is connected with an opening and closing signal output end of the controller 9.
The robot still includes elevating system 4, elevating system 4 includes elevator motor 41, worm 42 and lift arm 43, elevator motor 41 is fixed to be set up on the bottom plate of 1 front side of automobile body, elevator motor 41's nearly locomotive side is fixed to be provided with worm installation storehouse 44, worm installation storehouse 44 is the cuboid structure, the fixed end face bearing 45 that is provided with in bottom of worm installation storehouse 44 roof, be provided with worm mounting panel 46 under end face bearing 45, the fixed another end face bearing 45 that is provided with in top of worm mounting panel 46, worm 42 sets up between two end face bearings 45 along vertical direction, the top and the bottom of worm 42 all with its end face bearing 45 normal running fit who corresponds the side, the fixed lifting gear 47 that is provided with in bottom of worm 42, worm 42 passes through lifting gear 47 and elevator motor 41 transmission cooperation, the spiral hole with worm 42 matched with is seted up to the one end of lift arm 43, worm 42 passes behind the spiral hole and cooperates with lift arm 43 transmission, and when 42 is rotatory, lift arm 43 falls at 42 according to the direction, the other end and the fixed gear box of lift arm 43, the lift signal output is connected with lift signal control ware 9.
The automobile body side of nearly automobile body of gear box 34 is fixed and is provided with slide rail 12, the front end of automobile body 1 roof is fixed and is provided with slider 13, the fixed slide rail fixed motor 14 that is provided with in top of slider 13, gear box 34 is through the slide rail 12 and the slider 13 sliding fit that set up on it, slide rail fixed motor 14 is through the spacing cooperation of the clamping jaw that sets up on the power output shaft and slide rail 12, the spacing signal input part of slide rail fixed motor 14 is connected with the spacing signal output part of controller 9.
The robot further comprises a storage battery 16 and a wireless module 15, each electric device in the robot is powered by the storage battery 16, and a wireless signal output end of the wireless module 15 is connected with a line signal input end of the controller 9.
The principle of the invention is illustrated as follows:
when the robot is in operation, an operator sends a control signal to the controller 9 through the wireless module 15, the controller 9 drives the power mechanism 2 to start working, the power mechanism 2 drives the traveling wheels 11 to start working through a power output shaft of the power mechanism, and the traveling wheels 11 drive the robot to move to a working position;
after the robot reaches the working position, an operator sends a control signal to the controller 9 through the wireless module 15, the controller 9 drives the lifting motor 41 to start working, and the lifting motor 41 drives the decontamination lubricating device 3 to lift to the working height through the worm 42 in transmission connection with the lifting motor 41;
after the decontamination lubricating device 3 reaches the working height, the controller 9 drives the switching motor 39 to start working, the switching motor 39 controls the mechanical arm 33 to drive the first half sleeve 31 and the second half sleeve 32 to be closed, the first half sleeve 31 and the second half sleeve 32 clamp the steel wire rope to be cleaned into the upper pressurizing cavity 35, the lubricating grease filling cavity 36, the lower pressurizing cavity 37 and the scraper cavity 38, at the moment, the spiral line in the lubricating grease filling cavity 36 and the gaps between strands on the steel wire rope are correspondingly arranged, and meanwhile, the decontamination knife edge on the rotary scraper 7 is also correspondingly arranged with the gaps between the strands on the steel wire rope;
when the steel wire rope to be cleaned is in a correct position, an operator manually controls the sludge collection tray 6 to fold, and then the sludge bag is sleeved on the sludge bag installation pipe 64, at the moment, the decontamination and lubrication preparation work is completed, the operator starts a steel wire rope reel driving motor, the steel wire rope reel rotates to drive the steel wire rope to ascend, meanwhile, the operator sends a control signal to the controller 9 through the wireless module 15, the controller 9 drives the lubricating grease pump 5, the heating module 73 and the compressor 8 to start working, the heating module 73 heats the rotary scraper 7 to 50 ℃, the lubricating grease pump 5 conveys lubricating grease into the lubricating grease filling cavity 36, the compressor 8 conveys compressed air into the upper pressurizing cavity 35 and the lower pressurizing cavity 37, and the lubricating grease in the lubricating grease filling cavity 36 forms a high-pressure area in the lubricating grease filling cavity 36 under the action of the lubricating grease pump 5 and the compressed air;
when the steel wire rope passes through the rotary scraper 7, the decontamination knife edge in the rotary scraper 7 rotates along the direction of the torsion angle of the steel wire rope, meanwhile, aged lubricating grease in the steel wire rope is scraped, the scraped lubricating grease falls onto the sludge collection tray 6 under the influence of gravity and then enters the sludge bag through the sludge bag mounting pipe 64, and when the steel wire rope passes through a high-pressure area in the lubricating grease filling cavity 36, the lubricating grease is pressed into the steel wire rope by pressure so as to completely soak the steel wire rope;
after the whole wire rope all passes through scrubbing lubricating arrangement 3, the operator sends control signal to controller 9 through wireless module 15, and the motor 39 that opens and shuts is started working in the drive of controller 9, and the motor 39 that opens and shuts controls arm 33 and drives first half sleeve 31 and second half sleeve 32 and open, and the operator is manual to take off the mud bag this moment, opens mud simultaneously and collects tray 6, and the scrubbing lubrication work completion this moment.
Example 1:
a wire rope dirt-removing and lubricating integrated robot, comprising: the device comprises a vehicle body 1, a power mechanism 2, a decontamination lubricating device 3 and a controller 9; the cleaning and lubricating device comprises a vehicle body 1, a power mechanism 2, a gear set, a dirt removing and lubricating device 3, a mechanical arm 33 and a controller 9, wherein two walking wheels 11 are respectively arranged on two sides of the vehicle body 1, the power mechanism 2 is fixedly arranged in the vehicle body 1, a power output shaft of the power mechanism 2 is in transmission fit with each walking wheel 11 through the gear set, the dirt removing and lubricating device 3 is arranged outside the vehicle body 1, the dirt removing and lubricating device 3 comprises a first half sleeve 31 and a second half sleeve 32 which are in mirror symmetry, the first half sleeve 31 and the second half sleeve 32 jointly form a brush cylinder with a tubular structure, a steel wire rope penetrates through the brush cylinder and then is in compression fit with the inner wall of the brush cylinder, the first half sleeve 31 and the second half sleeve 32 are both in rotation fit with the vehicle body 1 through the mechanical arm 33, the side part of the first half sleeve 31 is communicated with a liquid outlet of a lubricating grease pump 5 through the lubricating grease pipe, and the controller 9 is fixedly arranged in the vehicle body 1; the driving signal input end of the power mechanism 2 is connected with the driving signal output end of the controller 9, and the lifting signal input end of the lifting mechanism 4 is connected with the lifting signal output end of the controller 9.
The robot still includes mud collection tray 6, mud collection tray 6 sets up under scrubbing lubricating arrangement 3, mud collection tray 6 includes tray 61, tray wall 62, wire rope pipe 63 and mud bag installation pipe 64, tray 61 is the disc structure of bottom surface slope, tray 61 passes through linking arm 65 and automobile body 1's bottom plate 1 fixed connection, the fixed tray wall 62 that is provided with the tubular structure in top of the outer circumference of tray 61, the fixed wire rope pipe 63 that is provided with in middle part of tray 61, wire rope pipe 63 is hollow tubular structure, wire rope pipe 63 is connected as an organic wholely with tray 61 after passing tray 61's bottom plate, mud bag installation pipe 64 is fixed to be set up in tray 61's bottom, mud bag installation pipe 64 is connected as an organic wholely with tray 61 after passing tray 61's bottom plate.
The dirt removing and lubricating device 3 comprises a first half sleeve 31 and a second half sleeve 32 which are in mirror symmetry, the first half sleeve 31 and the second half sleeve 32 jointly form a brush cylinder with a tubular structure, the top and the bottom of the first half sleeve 31 and the second half sleeve 32 are respectively and fixedly provided with a mechanical arm 33, the first half sleeve 31 and the second half sleeve 32 are in rotating fit with a gear box 34 through the mechanical arm 33 arranged on the first half sleeve 31 and the second half sleeve 32, grooves are formed in the inner sides of the first half sleeve 31 and the second half sleeve 32, an upper pressurizing cavity 35, a lubricating grease filling cavity 36, a lower pressurizing cavity 37 and a scraper cavity 38 are sequentially formed in the grooves in the first half sleeve 31 and the second half sleeve 32 after the brush cylinder jointly forms the brush cylinder, the upper pressurizing cavity 35, the lubricating grease filling cavity 36, the lower pressurizing cavity 37 and the scraper cavity 38 are sequentially arranged in the brush cylinder from top to bottom, the upper pressurizing cavity 35, the lubricating grease filling cavity 36, the lower pressurizing cavity 37 and the scraper cavity 38 are sequentially communicated with each other, the side parts of the upper pressurizing cavity 35 and the lower pressurizing cavity 37 are respectively provided with an air inlet, compressed air pipes are fixedly arranged on the two air inlets, the upper pressurizing cavity 35 and the lower pressurizing cavity 37 are respectively communicated with an air outlet of the compressor 8 through the compressed air pipes arranged on the upper pressurizing cavity 35 and the lower pressurizing cavity 37, the compressor 8 is fixedly arranged right above the lifting mechanism 4, the top and the bottom of the lubricating grease filling cavity 36 are respectively provided with a lubricating grease hole, a lubricating grease pipe is fixedly arranged on the lubricating grease hole, the lubricating grease filling cavity 36 is communicated with a liquid outlet of the lubricating grease pump 5 through the lubricating grease pipe arranged on the lubricating grease filling cavity, a liquid inlet of the lubricating grease pump 5 is communicated with the bottom of the lubricating grease box 51, and the lubricating grease pump 5 and the lubricating grease box 51 are both fixedly arranged on the top of the power mechanism 2, the rear portion of grease case 51 is provided with grease filling port 52, the inboard fixed detachable spiral line board that is provided with in grease filling chamber 36, evenly be provided with the helix on the spiral line board, the gap between each strand rope corresponds the setting on helix and the wire rope, be provided with the rotatory scraper 7 of detachable in the scraper chamber 38, rotatory scraper 7 and the rotatory cooperation of scrubbing lubricating arrangement 3, the dysmorphism hole that can hold wire rope is seted up at the middle part of rotatory scraper 7, the dysmorphism downthehole evenly be fixed with a plurality ofly and the wire rope on the wire rope gap between each strand rope correspond the scrubbing edge of a knife that sets up.
An opening and closing motor 39 is arranged in the gear box 34, a power output shaft of the opening and closing motor 39 is in transmission fit with each mechanical arm 33, the opening and closing motor 39 is used for driving the first half sleeve 31 and the second half sleeve 32 to be opened or closed, and an opening and closing signal input end of the opening and closing motor 39 is connected with an opening and closing signal output end of the controller 9.
The robot still includes elevating system 4, elevating system 4 includes elevator motor 41, worm 42 and lift arm 43, elevator motor 41 is fixed to be set up on the bottom plate of 1 front side of automobile body, elevator motor 41's nearly locomotive side is fixed to be provided with worm installation bin 44, worm installation bin 44 is the cuboid structure, the fixed end face bearing 45 that is provided with in bottom of worm installation bin 44 roof, end face bearing 45 is provided with worm mounting panel 46 under, the fixed another end face bearing 45 that is provided with in top of worm mounting panel 46, worm 42 sets up between two end face bearing 45 along vertical direction, the top and the bottom of worm 42 all with its end face bearing 45 normal running fit who corresponds the side, the fixed lifting gear 47 that is provided with in bottom of worm 42, worm 42 passes through lifting gear 47 and elevator motor 41 normal running fit, the spiral hole with worm 42 matched with is seted up to the one end of lift arm 43, worm 42 passes behind the spiral hole and lifting arm 43 normal running fit, and when worm 42 is rotatory, lift arm 43 goes up and falls according to the rotation direction at worm 42, the other end and the fixed box 34 of lift arm 43, the lift signal output of being connected of lift signal control box 41 is connected with lift signal 9.
Example 2:
example 2 is substantially the same as example 1 except that:
the utility model discloses a portable electric vehicle, including gear box 34, slide rail 12, slider 13, slide rail fixed motor 14, gear box 34, slider 13, slide rail fixed motor 14, slide rail 12 and the slider 13 sliding fit that sets up on the gear box, slide rail fixed motor 14 is through the last slide rail 12 that sets up of power output shaft, the spacing cooperation of slide rail fixed motor 14 and slide rail 12, the spacing signal input part of slide rail fixed motor 14 is connected with the spacing signal output part of controller 9.
Example 3:
example 3 is substantially the same as example 2 except that:
the robot further comprises a storage battery 16 and a wireless module 15, each electric device in the robot is powered by the storage battery 16, and a wireless signal output end of the wireless module 15 is connected with a line signal input end of the controller 9.
Claims (9)
1. The utility model provides a lubricated integration robot of wire rope scrubbing which characterized in that:
the robot includes: the device comprises a vehicle body (1), a power mechanism (2), a decontamination lubricating device (3) and a controller (9); the vehicle body is characterized in that two walking wheels (11) are respectively arranged on two sides of the vehicle body (1), the power mechanism (2) is fixedly arranged in the vehicle body (1), a power output shaft of the power mechanism (2) is in transmission fit with the walking wheels (11) through a gear set, the dirt removing and lubricating device (3) is arranged outside the vehicle body (1), the dirt removing and lubricating device (3) comprises a first half sleeve (31) and a second half sleeve (32) which are in mirror symmetry, the first half sleeve (31) and the second half sleeve (32) jointly form a brush barrel with a tubular structure, a steel wire rope penetrates through the brush barrel and then is in compression fit with the inner wall of the brush barrel, the first half sleeve (31) and the second half sleeve (32) are in rotating fit with the vehicle body (1) through a mechanical arm (33), the side part of the first half sleeve (31) is communicated with a liquid outlet of a lubricating grease pump (5) through a lubricating grease pipe, and the controller (9) is fixedly arranged inside the vehicle body (1); the driving signal input end of the power mechanism (2) is connected with the driving signal output end of the controller (9), and the lifting signal input end of the lifting mechanism (4) is connected with the lifting signal output end of the controller (9).
2. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 1, wherein:
the robot still includes mud collection tray (6), mud collection tray (6) set up under scrubbing lubricating arrangement (3), mud collection tray (6) are including tray (61), tray wall (62), wire rope pipe (63) and mud bag installation pipe (64), tray (61) are the disc structure of bottom surface slope, tray (61) are through the bottom plate fixed connection of linking arm (65) with automobile body (1), the fixed tray wall (62) that is provided with the tubular structure in top of the outer circumference of tray (61), the fixed wire rope pipe (63) that is provided with in middle part of tray (61), wire rope pipe (63) are hollow tubular structure, wire rope pipe (63) are connected as an organic whole with tray (61) after passing the bottom plate of tray (61), mud bag installation pipe (64) are fixed to be set up in the bottom of tray (61), mud bag installation pipe (64) are connected as an organic whole with tray (61) after passing the bottom plate of tray (61).
3. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 2, characterized in that:
tray (61), tray wall (62), wire rope pipe (63) and mud bag installation pipe (64) all include two integrated parts of mirror symmetry, the bottom plate normal running fit of two integrated parts of tray (61) respectively through a linking arm and automobile body (1), the junction of two integrated parts of tray (61) respectively is provided with a bayonet socket, the bayonet socket interconnect that two integrated parts of tray (61) set up through it, two integrated parts of tray (61), tray wall (62), wire rope pipe (63) and mud bag installation pipe (64) form complete mud collection tray (6) jointly.
4. The wire rope dirt-removing and lubricating integrated robot as claimed in any one of claims 1 to 3, wherein:
the decontamination lubricating device (3) comprises a first half sleeve (31) and a second half sleeve (32) which are in mirror symmetry, the first half sleeve (31) and the second half sleeve (32) jointly form a brush cylinder with a tubular structure, the top and the bottom of the first half sleeve (31) and the second half sleeve (32) are respectively and fixedly provided with a mechanical arm (33), the first half sleeve (31) and the second half sleeve (32) are respectively and rotatably matched with a gear box (34) through the mechanical arm (33) arranged on the first half sleeve, the inner sides of the first half sleeve (31) and the second half sleeve (32) are provided with grooves, the grooves inside the first half sleeve (31) and the second half sleeve (32) jointly form an upper pressurizing cavity (35), a lubricating grease filling cavity (36), a lower pressurizing cavity (37) and a scraper cavity (38) from top to bottom in turn, the upper pressurizing cavity (35), the lubricating grease filling cavity (36), the lower pressurizing cavity (37) and the scraper cavity (38) are sequentially arranged in the brush cylinder from top to bottom, the pressurizing cavity (35), the scraper cavity (37) and the air inlet (35), the air inlet (37) and the two air inlets (35, the air inlet (36) and the air inlet (35) and the air inlet (38) are sequentially arranged on the brush cylinder and the lower pressure chamber (35) and the air inlet (36) and the air inlet of the scraper cavity (35) are sequentially communicated with the air inlet, go up booster chamber (35) and lower booster chamber (37) and all be linked together through the compressed air pipe that sets up on it with the gas outlet of compressor (8), compressor (8) are fixed to be set up directly over elevating system (4), the lubricating grease hole has been seted up to the top and the bottom of lubricating grease filling chamber (36), the fixed lubricating grease pipe that is provided with on the lubricating grease hole, lubricating grease filling chamber (36) are linked together through the lubricating grease pipe that sets up on it and the liquid outlet of lubricating grease pump (5), the inlet of lubricating grease pump (5) and the bottom of lubricating grease case (51) are linked together, lubricating grease pump (5) and lubricating grease case (51) are all fixed to be set up in the top of power unit (2), the rear portion of lubricating grease case (51) is provided with lubricating grease filling port (52), the inboard fixed detachable spiral that is provided with lubricating grease filling chamber (36), evenly be provided with the spiral scraper on the spiral line board, the gap between each strand rope on spiral line board and the wire rope corresponds the setting, be provided with rotatory detachable spiral line scraper (7) in scraper chamber (38), rotatory wire rope hole corresponds the rotatory wire rope hole and the rotatory wire rope hole has been seted up the rotatory wire rope hole.
5. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 4, wherein:
be provided with in gear box (34) and open and shut motor (39), the power output shaft and each arm (33) transmission cooperation of opening and shutting motor (39), open and shut motor (39) are used for driving first half sleeve (31) and second half sleeve (32) and open or fold, the signal input part that opens and shuts of opening and shutting motor (39) is connected with the signal output part that opens and shuts of controller (9).
6. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 5, wherein:
rotatory scraper (7) include two semi-ring scrapers (71) and two angle switch (72) of mirror symmetry, two semi-ring scrapers (71) constitute the scraper of annular structure jointly, all fix on the interior circumference of two semi-ring scrapers (71) and be provided with a plurality ofly and the scrubbing edge that each strand rope on the wire rope corresponds the setting, two angle switch (72) set up respectively in two junctions department of two semi-ring scrapers (71), the feeler lever of two angle switch (72) all with first semi-sleeve (31) and second semi-sleeve (32) transmission fit, be provided with between two semi-ring scrapers (71) and first semi-sleeve (31) and second semi-sleeve (32) heating module (73), the angle signal output of two angle switch (72) is connected with the spacing signal input of controller (9), the heating signal input of heating module (73) is connected with the heating signal output of controller (9).
7. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 6, wherein:
the robot further comprises a lifting mechanism (4), the lifting mechanism (4) comprises a lifting motor (41), a worm (42) and a lifting arm (43), the lifting motor (41) is fixedly arranged on a bottom plate of the front side of the vehicle body (1), a worm mounting bin (44) is fixedly arranged on the near vehicle head side of the lifting motor (41), the worm mounting bin (44) is of a cuboid structure, an end face bearing (45) is fixedly arranged at the bottom of a top plate of the worm mounting bin (44), a worm mounting plate (46) is arranged under the end face bearing (45), another end face bearing (45) is fixedly arranged at the top of the worm mounting plate (46), the worm (42) is arranged between the two end face bearings (45) along the vertical direction, the top and the bottom of the worm (42) are in rotating fit with the end face bearing (45) on the corresponding side, a lifting gear (47) is fixedly arranged at the bottom of the worm (42), the worm (42) is in rotating fit with the lifting motor (41) through the lifting gear (47), one end of the lifting arm (43) is provided with a spiral hole (42), and the lifting arm (43) is matched with the lifting arm (43) when the lifting arm (42) rotates in the lifting arm (43), the other end of the lifting arm (43) is fixedly connected with the gear box (34), and the lifting signal input end of the lifting motor (41) is connected with the lifting signal output end of the controller (9).
8. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 7, characterized in that:
the automobile body side of nearly automobile body of gear box (34) is fixed and is provided with slide rail (12), the front end of automobile body (1) roof is fixed and is provided with slider (13), the fixed slide rail fixed motor (14) that is provided with in top of slider (13), slide rail (12) and slider (13) sliding fit that gear box (34) set up through it, slide rail fixed motor (14) are through the clamping jaw that sets up on the power output shaft and slide rail (12) spacing cooperation, the spacing signal input part of slide rail fixed motor (14) is connected with the spacing signal output part of controller (9).
9. The wire rope dirt-removing and lubricating integrated robot as claimed in claim 8, wherein:
the robot further comprises a storage battery (16) and a wireless module (15), each electric device in the robot is powered by the storage battery (16), and a wireless signal output end of the wireless module (15) is connected with a line signal input end of the controller (9).
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| CN202210668631.5A CN115156126B (en) | 2022-06-14 | 2022-06-14 | Steel wire rope decontamination and lubrication integrated robot |
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| CN202210668631.5A CN115156126B (en) | 2022-06-14 | 2022-06-14 | Steel wire rope decontamination and lubrication integrated robot |
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| CN115156126B CN115156126B (en) | 2023-08-22 |
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| CN115156126B (en) | 2023-08-22 |
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