WO2017000520A1 - 一种超深立井钢丝绳罐道垂直爬绳巡检机器人 - Google Patents

一种超深立井钢丝绳罐道垂直爬绳巡检机器人 Download PDF

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Publication number
WO2017000520A1
WO2017000520A1 PCT/CN2015/099111 CN2015099111W WO2017000520A1 WO 2017000520 A1 WO2017000520 A1 WO 2017000520A1 CN 2015099111 W CN2015099111 W CN 2015099111W WO 2017000520 A1 WO2017000520 A1 WO 2017000520A1
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WO
WIPO (PCT)
Prior art keywords
shaft
driving
bearing
driven wheel
housing
Prior art date
Application number
PCT/CN2015/099111
Other languages
English (en)
French (fr)
Inventor
周公博
王朋辉
朱真才
吴承祥
曹国华
李伟
彭玉兴
Original Assignee
中国矿业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to US15/516,205 priority Critical patent/US20170297589A1/en
Publication of WO2017000520A1 publication Critical patent/WO2017000520A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B7/00—Rope railway systems with suspended flexible tracks
    • B61B7/06—Rope railway systems with suspended flexible tracks with self-propelled vehicles
    • 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
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C3/00—Electric locomotives or railcars
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/38—Control circuits or drive circuits associated with geared commutator motors of the worm-and-wheel type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/081—Structural association with bearings specially adapted for worm gear drives
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • 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
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only

Definitions

  • the invention belongs to the technical field of special robots, and particularly relates to an inspection robot capable of vertically crawling along a steel wire rope channel in an ultra-deep vertical wellbore.
  • the rope-climbing robot must meet the explosion-proof requirements of the coal mine, carry the corresponding testing equipment, climb the rope vertically at a relatively fast speed, and patrol the designated position, which is for the robot.
  • the coordination of the various agencies' movements and the precision of control put forward higher requirements.
  • the object of the present invention is to provide a roller type that can hover over an ultra-deep vertical shaft of a steel wire rope channel and climbs up and down vertically along the rope, with real-time monitoring function.
  • the robot the robot itself is evenly distributed, meets the explosion-proof requirements of the coal mine, can reach the designated position during the maintenance system maintenance, monitor the strain of the wellbore wall, the structure of the well derrick, and wirelessly transmit the monitoring image to the ground control center to improve the maintenance of the equipment. Efficiency, enhance the safety of the operation of the wellbore lifting system.
  • an ultra-deep vertical shaft wire rope canal vertical climbing rope inspection robot including an explosion-proof casing, a driving mechanism, a roller mechanism, a clamping mechanism, a mounting mechanism and an electric control device;
  • the flameproof enclosure includes an upper drive housing, a lower drive housing, a driver housing, an electric control device housing, and a mounting mechanism housing.
  • the upper driving housing and the lower driving housing are symmetrically disposed at two ends of the driver housing, and the electronic control device housing end and the lower driving housing Through the hinge connection, the other end of the outer casing of the electric control device is connected to the upper drive casing through a closing bolt;
  • the driving mechanism includes an upper driving portion, a lower driving portion and a driver portion, the upper driving portion is disposed in the upper driving housing, the lower driving portion is disposed in the lower driving housing, the driver portion is disposed in the driver housing, and the driver portion is respectively driven by the connection Part and lower drive parts;
  • the roller mechanism includes an upper driving wheel portion, an upper left driven wheel portion, an upper right driven wheel portion, a lower driving wheel portion, a lower left driven wheel portion, a lower right driven wheel portion, an upper driving wheel portion and a lower active portion.
  • the wheel is partially symmetrically disposed on the upper and lower sides of the driver housing, the upper left driven wheel portion and the upper right driven wheel portion
  • the symmetry is arranged on both sides of the top of the electric control device casing, and the lower left driven wheel portion and the lower right driven wheel portion are symmetrically disposed on both sides of the bottom of the electric control device casing, the upper driving wheel portion is connected to the upper driving portion, and the lower driving wheel portion is connected.
  • Lower drive section ;
  • the clamping mechanism includes a left clamping portion and a right clamping portion, the left clamping portion connecting the upper left driven wheel portion and the lower left driven wheel portion, and the right clamping portion connecting the upper right driven wheel portion And the lower right driven wheel portion;
  • the mounting mechanism comprises a mobile trolley, an intrinsically safe camera and a cloud platform.
  • the cloud platform has a notched annular shape, and a limit switch is arranged at both ends of the cloud platform.
  • the bottom of the platform is welded with a short column and a long column, and the short column and the upper drive housing
  • the bottom surface of the lower drive shell is welded, the lower end of the long column is connected to the outer casing of the electric control device through a connecting screw, the mobile trolley is arranged on the pan/tilt, the mounting mechanism is arranged on the mobile trolley, and the intrinsically safe camera is arranged on the mounting mechanism outer casing;
  • the electronic control device is disposed in the outer casing of the electronic control device, and the electronic control device is respectively connected to the upper driving portion, the lower driving portion, the driver portion, the moving trolley mechanism and the intrinsically safe camera.
  • the upper driving part comprises a DC brushless motor, a motor fixing plate, an elastic sleeve pin coupling and a worm gear reducer
  • the worm gear reducer comprises a worm, a worm wheel, a worm shaft first bearing, a worm
  • a DC brushless motor is arranged on the motor fixing plate
  • the first bearing of the worm shaft is arranged on the first bearing seat of the worm shaft
  • the second bearing seat of the worm shaft is set
  • the second bearing of the worm shaft, the output shaft of the brushless DC motor is connected with the worm through the elastic sleeve pin coupling, the worm is arranged on the first bearing of the worm shaft and the second bearing of the worm shaft, the worm wheel meshes with the worm
  • the lower driving part structure
  • the driver portion includes a motor driver that respectively connects the DC brushless motor that connects the upper
  • the worm gear reducer further comprises an oil storage sponge bracket, and the oil storage sponge bracket is provided with an oil immersion sponge, and the oil immersion sponge is in contact with the worm.
  • the upper driving wheel portion and the lower driving wheel portion respectively comprise a driving shaft, an active rubber roller, a driving shaft first bearing, a driving shaft first bearing seat, a driving shaft second bearing, a driving shaft second bearing seat, and an active
  • the third bearing of the shaft and the third bearing of the driving shaft, the driving shaft is disposed on the first bearing of the driving shaft, the second bearing of the driving shaft and the third bearing of the driving shaft, and the first bearing of the driving shaft is disposed on the first bearing seat of the driving shaft
  • the second bearing of the driving shaft is disposed on the second bearing seat of the driving shaft, the third bearing of the driving shaft is disposed on the third bearing seat of the driving shaft, and the first bearing seat of the driving shaft of the upper driving wheel part and the second bearing seat of the driving shaft are welded to
  • the third bearing housing of the upper driving wheel portion is welded to the outer side of the lower driving housing, and the first bearing housing of the lower driving pulley portion and the second bearing housing of the driving shaft are welded to the inner side
  • the upper left driven wheel portion includes a driven nylon roller, a driven wheel support rod, a support rod connecting member, a driven wheel bushing, a driven long bolt, a driven wheel bearing pair and a driven nut, and the support rod connecting member is welded to the electric Control device
  • one end of the driven wheel support rod is connected with the support rod connecting piece through a pin shaft
  • the other end of the driven wheel support rod is provided with a U-shaped frame
  • the driven long bolt is mounted on the U-shaped frame through the driven nut
  • the driven long bolt is
  • a driven wheel bushing is provided, and a driven wheel bearing pair is arranged at both ends of the driven wheel bushing.
  • the driven nylon roller inner ring is sleeved on the moving wheel bushing and the driven wheel bearing pair, the upper right driven wheel part and the lower left driven wheel.
  • the partial and lower right driven wheel portion structures are identical to the upper left driven wheel portion.
  • the worm wheel and the active rubber roller are radially positioned on the driving shaft through a key connection, and a copper bushing, a joint surface of the copper bushing and the driving shaft is disposed on the driving shaft between the worm wheel and the second bearing of the driving shaft.
  • the width is equal to the diameter of the driving shaft at the joint surface, the shoulder is arranged on the driving shaft on the side of the active rubber roller, and the driving shaft sleeve is arranged on the driving shaft on the other side of the active rubber roller.
  • circumferential surfaces of the active rubber roller and the driven nylon roller of the roller mechanism are both concave curved surfaces.
  • the left clamping part comprises a support rod cylindrical rotating block, a spring, a spring bolt connecting piece, a clamping long bolt and a clamping nut, and the supporting rod cylindrical rotating block and the driven wheel supporting rod are connected by a pin shaft, and the supporting rod A through hole is arranged in the middle of the cylindrical rotating block, and the outer side of the outer casing of the electric control device is welded with a protruding support portion, the protruding support portion is provided with a sliding slot, the spring bolt connecting member is cylindrical, and the spring bolt connecting member passes through the protruding supporting portion chute, and the clamping length is long.
  • the lower end of the bolt is connected with the upper end of the spring bolt connecting piece, and the upper end of the clamping long bolt passes through the through hole of the support rod cylindrical rotating block and the clamping nut in sequence, the upper end of the spring is connected with the lower end of the spring bolt connecting piece, and the lower end of the spring passes through the supporting rod cylindrical rotating block.
  • the through hole is fixed.
  • the mobile trolley comprises a miniature DC gear motor, a bevel gear pair, a rotating shaft, a rotating shaft bearing pair, a traveling gear and a traveling roller, a miniature DC geared motor, a bevel gear pair and a rotating shaft are located inside the mounting mechanism casing, the traveling gear and the traveling roller
  • the output shaft of the miniature DC geared motor is connected to the rotating shaft through the bevel gear pair.
  • the rotating shaft is disposed on the pair of rotating shaft bearings.
  • One end of the rotating shaft is connected with the traveling gear, and the outer ring of the pan/tilt is provided with a V-shaped matching with the traveling roller.
  • the inner ring of the gimbal is provided with gear teeth, and the gear teeth mesh with the traveling gear.
  • the electronic control device comprises a battery, a controller, a voltage conversion module and an intrinsically safe wireless communication module, a battery connection voltage conversion module, and a voltage conversion module respectively connected to the controller, the intrinsically safe wireless communication module, the DC brushless motor, and the motor
  • the driver and the micro DC geared motor are connected to the motor driver, the brushless DC motor, the micro DC gear motor, the intrinsically safe wireless communication module and the intrinsically safe camera.
  • the inspection robot further includes an introduction device including a drive mechanism introduction device, an electric control device introduction device, and a loading mechanism introduction device.
  • the drive mechanism introduction device is disposed on the driver housing, and the electronic control device introduction device is disposed.
  • the mounting mechanism introduction device is provided on the mounting mechanism housing.
  • the climbing rope inspection robot of the invention can meet the explosion-proof requirements of the coal mine, can realize the hovering on the ultra-deep shaft wire rope channel, vertically climbs and descends, can monitor the wellbore wall strain and monitor the wellbore wall during the maintenance of the wellbore.
  • the structure of the derrick is self-locking, the movement is stable, the movement independence of each mechanism is good, the control is comprehensive, the mounting mechanism can be expanded, and other sensing devices are installed, which can greatly improve the maintenance efficiency and provide a reliable guarantee for improving the safe operation of the system.
  • the roller adopts a curved concave form to increase the contact area with the arc surface of the steel wire rope, and the active roller is made of rubber material.
  • the drive mechanism uses the self-locking characteristics of the worm gear reducer, the robot can Hanging on the wire rope under the condition of sufficient friction;
  • the worm gear reducer is equipped with oil storage sponge, which can lubricate the worm gear and reduce mechanical wear;
  • the pre-tightening force of the clamping mechanism can be adjusted to increase The applicable range of the rope-climbing robot to the diameter of the wire rope;
  • the driving mechanism and the mounting mechanism can be operated independently, and the moving trolley rotates smoothly on the gimbal to provide a stable platform for collecting images at full angle for inspection.
  • the electronic control device can calculate the coordinates of the robot in the wellbore in real time, prevent the active roller from slipping, and at the same time make the control more purposeful.
  • Figure 1 is a front elevational view of the climbing rope inspection robot of the present invention
  • Figure 2 is a rear view of the climbing rope inspection robot of the present invention.
  • Figure 3 is a structural view of a driving portion of the driving mechanism of the present invention.
  • Figure 4 is a structural view of a portion of an upper driving wheel of the roller mechanism of the present invention.
  • Figure 5 is a structural view of a portion of a lower driving wheel of the roller mechanism of the present invention.
  • Figure 6 is a structural view of the upper left driven wheel portion of the roller mechanism of the present invention.
  • Figure 7 is a structural view of the clamping portion on the left side of the clamping mechanism of the present invention.
  • Figure 8 is a structural view of a cylindrical rotating block of a support rod of a clamping mechanism of the present invention.
  • Figure 9 is a structural view showing a moving trolley of the mounting mechanism of the present invention.
  • FIG. 10 is a schematic view showing the positions of the modules of the electronic control unit of the present invention.
  • Figure 11 is a schematic view showing the control principle of the electronic control device of the present invention.
  • the ultra-deep vertical shaft wire rope roller type rope climbing inspection robot of the present invention comprises an explosion-proof casing, a driving mechanism, a roller mechanism, a clamping mechanism 16, a mounting mechanism, an electric control device and an introduction device.
  • the flameproof enclosure includes an upper drive housing 2, a lower drive housing 5, a driver housing 9, an electronic control unit housing 8, and a mounting mechanism housing 11.
  • the upper drive housing 2 and the lower drive housing 5 are symmetrically disposed at both ends of the drive housing 9, and the drive housing 9 and the upper drive housing 2 and the lower drive housing 5 are both connected by an explosion-proof flange 3, and one end of the electric control device housing 8 and the lower drive housing 5 It can be rotated by the hinge 6 connection, and the other end of the electric control device casing 8 is connected to the upper drive casing 2 through the closing bolt 17.
  • the explosion-proof casing has a thickness of 6 mm and the explosion-proof flange 3 has a thickness of 10 mm.
  • the drive mechanism includes an upper drive portion, a lower drive portion, and a driver portion.
  • the upper driving portion is disposed in the upper driving housing 2, and the upper driving portion includes a DC brushless motor 20, a motor fixing plate 22, an elastic sleeve pin coupling 23 and a worm gear reducer, and the worm gear reducer includes the worm 30
  • a DC brushless motor 20 is disposed on the motor fixing plate 22, a worm shaft first bearing 24 is disposed on the worm shaft first bearing seat 28, a worm shaft second bearing seat 29 is provided with a worm shaft second bearing 25, and a DC brushless motor 20 output shaft is provided.
  • the worm gear 30 is coupled to the worm 30 via a resilient sleeve pin coupling 23, and the worm 30 is disposed on the worm shaft first bearing 24 and the worm shaft second bearing 25, and the worm wheel 27 meshes with the worm 30.
  • the oil storage sponge holder 26 is provided with a layer of oil immersion sponge, and the oil immersion sponge is in contact with the worm 30 to ensure lubrication of the worm wheel 27 and the worm 30.
  • the lower drive portion is disposed in the lower drive housing 5, and the lower drive portion structure is the same as the upper drive portion.
  • the driver portion is disposed in the driver housing 9, and the driver portion includes a motor driver 21 that connects the upper brushless motor 20 of the upper driving portion and the lower driving portion, respectively.
  • the roller mechanism includes an upper driving wheel portion, an upper left driven wheel portion, an upper right driven wheel portion, a lower driving wheel portion, a lower left driven wheel portion, and a lower right side.
  • the moving wheel portion, the upper driving wheel portion and the lower driving wheel portion are symmetrically disposed on the upper and lower sides of the driver housing 9, and the upper left driven wheel portion and the upper right driven wheel portion are symmetrically disposed on both sides of the top of the electric control device casing 8, and the lower left side
  • the driven wheel portion and the lower right driven wheel portion are symmetrically disposed on both sides of the bottom of the electric control device casing 8.
  • the upper driving wheel portion and the lower driving wheel portion respectively include a driving shaft 35, an active rubber roller 36, a driving shaft bushing 37, a driving shaft first bearing 31, a driving shaft first bearing seat 33, a driving shaft second bearing 32, and an active The shaft second bearing housing 34, the driving shaft third bearing 38, the driving shaft third bearing housing 39 and the copper bushing 40.
  • the driving shaft 35 is disposed on the driving shaft first bearing 31, the driving shaft second bearing 32 and the driving shaft third bearing 38.
  • the driving shaft first bearing 31 is disposed on the driving shaft first bearing seat 33, and the driving shaft second bearing 32
  • the drive shaft third bearing 38 is disposed on the drive shaft third bearing seat 39, and the drive shaft first bearing block 33 and the drive shaft second bearing block 34 of the upper drive wheel portion are welded to The inner side of the upper drive housing 2, the third shaft of the drive shaft of the upper drive wheel portion
  • the bearing seat 39 is welded to the outer side of the lower driving housing 5, and the driving shaft first bearing housing 33 and the driving shaft second bearing housing 34 of the lower driving wheel portion are welded to the inner side of the lower driving housing 5, and the driving shaft third bearing housing of the lower driving wheel portion is 39 is welded to the outer side of the upper drive casing 2, the active rubber roller 36 and the upper drive portion of the worm wheel 27 are disposed on the drive shaft 35 of the upper drive wheel portion, and the active rubber roller 36 and the lower drive are disposed on the drive shaft 35 of the lower drive wheel portion.
  • Both the worm gear 27 and the active rubber roller 36 are radially positioned on the drive shaft 35 by a keyed connection.
  • a copper bushing 40 is disposed on the driving shaft 35 between the worm wheel 27 and the driving shaft second bearing 32.
  • the joint width of the copper bushing 40 and the driving shaft 35 is equal to the diameter of the driving shaft 35 at the joint surface, and the copper bushing 40
  • the worm wheel 27 and the second shaft 32 of the drive shaft are axially positioned and act as a flameproof.
  • the outer surface of the active rubber roller 36 is a concave curved surface, a shoulder is disposed on the driving shaft 35 on the side of the active rubber roller 36, and a driving shaft sleeve 37 is disposed on the driving shaft 35 on the other side of the active rubber roller 36.
  • the shoulder and drive shaft bushings 37 axially position the active rubber roller 36.
  • the upper left driven wheel portion includes a driven nylon roller 43, a driven wheel support rod 41, a support rod connecting member 18, a driven wheel bushing 44, a driven long bolt 45, a driven wheel bearing pair 42, and a driven nut 46.
  • the support rod connecting member 18 is welded to the outer side of the electronic control device flameproof enclosure 8.
  • One end of the driven wheel support rod 41 is connected with the support rod connecting member 18 through a pin shaft, and the other end of the driven wheel support rod 41 is provided with a U-shaped frame and a driven long bolt.
  • 45 is mounted on the U-shaped frame by the driven nut 46.
  • the driven long bolt 45 is provided with a driven wheel bushing 44.
  • the driven wheel bushing 44 is provided with a driven wheel bearing pair 42 at both ends, and the driven wheel bearing pair 42 is a pair.
  • the deep groove ball bearing and the driven nylon roller 43 are sleeved on the movable wheel bushing 44 and the driven wheel bearing pair 42, and the circumferential surface of the driven nylon roller 43 is also a concave curved surface.
  • the upper right driven wheel portion, the lower left driven wheel portion, and the lower right driven wheel portion are all identical in structure to the upper left driven wheel portion.
  • the clamping mechanism 16 includes a left clamping portion and a right clamping portion, and the left clamping portion connects the upper left driven wheel portion and the lower left driven wheel portion, and the right side clamp The tight portion connects the upper right driven wheel portion and the lower right driven wheel portion.
  • the left clamping portion includes a support rod cylindrical turn block 47, a spring 48, a spring bolt connection member 49, a clamp long bolt 50, and a clamp nut 51.
  • the support rod cylindrical rotating block 47 and the driven wheel support rod 41 are connected by a pin shaft, and can be rotated.
  • the support rod cylindrical rotating block 47 is provided with a through hole in the middle thereof, and the outer side of the electric control device casing 8 is welded with the protruding supporting portion 63, and the protruding supporting portion 63 is opened.
  • the spring bolt connecting member 49 has a cylindrical shape, the spring bolt connecting member 49 passes through the protruding support portion 63, and the spring bolt connecting member 49 can slide freely in the sliding slot, clamping the lower end of the long bolt 50 and the spring bolt connecting member 49 is connected at the upper end, and the upper end of the clamping long bolt 50 passes through the through hole of the support rod cylindrical rotating block 47 and the clamping nut 51 in sequence.
  • the upper end of the spring 48 is connected with the lower end of the spring bolt connecting member 49, and the lower end of the spring 48 passes through the supporting rod cylindrical rotating block.
  • the through hole of 47 is fixed. By rotating the clamp nut 51, the clamping force of the driven nylon roller 43 of the upper left driven wheel portion can be adjusted. The clamping force of the driven nylon roller 43 of the lower left driven wheel portion can be ensured by the spring 48.
  • the mounting mechanism includes a mobile trolley, an intrinsically safe camera 52, and a pan/tilt head 12.
  • the gimbal 12 has a notched annular shape, and a limit switch 19 is disposed at both ends of the gimbal 12, and the bottom surface of the gimbal 12 is welded.
  • the short column 13 and the long column 14 are welded to the top surface of the upper driving shell 2 and the lower driving shell 5, and the lower end of the long column 14 is connected with the connecting screw 15
  • the electric control device casing 8 is connected, the moving cart is disposed on the platform 12, the mounting mechanism casing 11 is disposed on the moving cart, and the intrinsically safe camera 52 is disposed on the mounting mechanism casing 11.
  • the moving trolley includes a miniature DC gear motor 53, a bevel gear pair 56, a rotating shaft 55, a rotating shaft bearing pair 54, a traveling gear 57, and a traveling roller 58, the micro DC gear motor 53, the bevel gear pair 56, and the rotating shaft 55 are located in the mounting mechanism housing 11.
  • the inner side, the traveling gear 57 and the traveling roller 58 are located outside the mounting mechanism casing 11, and the output shaft of the micro DC motor 53 is connected to the rotating shaft 55 via the bevel gear pair 56.
  • the rotating shaft 55 is disposed on the rotating shaft bearing pair 54, one end of the rotating shaft 55 and the traveling gear 57. connection.
  • the outer ring of the pan/tilt 12 is provided with a V-shaped track matched with the traveling roller 58.
  • the traveling roller 58 can roll along the V-shaped track, and the inner ring of the pan/tilt 12 is provided with gear teeth, and the gear teeth mesh with the running gear 57. .
  • the electronic control device is disposed in the electronic control device casing 8.
  • the electronic control device includes a battery 62, a controller 60, a voltage conversion module 61, and an intrinsically safe wireless communication module 59, wherein the intrinsically safe wireless communication Module 59 can also be mounted on top of the electrical control unit housing 8.
  • the battery 62 is connected to the voltage conversion module 61
  • the voltage conversion module 61 is connected to the controller 60, the intrinsically safe wireless communication module 59, the DC brushless motor 20, the motor driver 21 and the micro DC gear motor 53, respectively
  • the controller 60 is connected to the motor driver 21, The brushless DC motor 20, the micro DC gear motor 53, the intrinsically safe wireless communication module 59, and the intrinsically safe camera 52.
  • the introduction device includes a drive mechanism introduction device 4, an electric control device introduction device 7, and a loading mechanism introduction device 10.
  • the drive mechanism introduction device 4 is disposed on the driver housing 9
  • the electronic control device introduction device 7 is disposed on the electronic control device housing 8
  • the mounting mechanism introduction device 10 is disposed on the mounting mechanism housing 11, the drive mechanism introduction device 4, and the electronic control device are introduced
  • the device 7 and the loading mechanism introduction device 10 each include a straight through joint and a joint, the straight through joint is welded from the outside of the explosion-proof housing, and the joint portion is welded from the inside of the explosion-proof housing.
  • the first step is the installation process. First, it is determined that the diameter of the wire rope 1 is within the diameter of the rope climbing of the rope climbing inspection robot.
  • the closing bolt 17 and the connecting screw 15 are loosened and pulled out, so that the electric control device casing 8 is rotated around the hinge 6, leaving an opening aligned with the notch of the gimbal 12, and the wire rope is 1 Nesting from the opening, two active rubber rollers 36 and four driven nylon rollers 43 are fixed, so that the six rollers are symmetrically centered on the central axis of the wire rope 1, and the whole robot is symmetrically distributed around the wire rope 1 to electrically control the casing 8 Rotate and tighten the closing bolt 17 and the connecting screw 15 to close the entire robot.
  • the second step is the commissioning phase.
  • the robot can climb, hover and descend normally on the wire rope to ensure the balance of the robot.
  • the clamping nut 51 is tightened on the two clamping long bolts 50 respectively, and the self-locking property of the worm gear reducer is used to make the robot have no external force. Underneath it to hover itself. Starting on this basis, if the DC brushless motor 20 rotates normally and the active rubber roller 36 slips on the surface of the wire rope 1, the clamping nut 51 needs to be further tightened until the pre-tightening force is appropriate, and the robot climbs up and down normally.
  • the third step is the formal walking stage.
  • the ground control center sends start and walk commands, by the intrinsically safe wireless communication module
  • the receiving is transmitted to the controller 60, and the controller 60 controls the steering and rotating speed of the brushless DC motor 20 through the motor driver 21.
  • the brushless DC motor 20 drives the worm 30 through the elastic pin coupling 23, and the worm 30 meshes with the worm wheel 27.
  • the driving shaft 35 is rotated to drive the active rubber roller 36 to rotate, and the driven nylon roller 43 also moves to reach the designated position.
  • the controller 60 calculates the coordinates of the robot in the wellbore in real time through the RSSI algorithm, determines whether the robot active roller is slipping in place, and makes the control of the ground control center more purposeful.
  • the fourth step is the inspection stage.
  • the controller 60 receives the stop signal, controls the DC brushless motor 20 to stop, and the robot hovers.
  • the controller 60 receives the ground control center signal, controls the moving trolley to rotate along the pan/tilt head 12, and activates the micro DC geared motor 53.
  • the micro DC geared motor 53 rotates through the meshing of the bevel gear pair 56, and the rotating shaft 55 drives the traveling gear 57 along and The inner ring of the meshing pan/tilt 12 rolls, so that the traveling roller 58 is also driven to roll along the outer ring of the pan/tilt 12, ensuring that the moving cart 11 runs smoothly, and the inspection is performed by the intrinsically safe camera 52.
  • a limit switch 19 is installed at both ends of the notch of the pan/tilt head 12. When the moving cart moves to the position of both ends of the notch, the limit switch 19 is touched to stop moving, or the controller 60 is instructed to reverse the movement.
  • the climbing rope inspection robot can perform the inspection task according to the control command to different designated positions, and the controller 60 detects the remaining power of the battery 62, and judges whether the remaining power in the position can ensure the return of the robot according to the coordinates in the wellbore. To the initial installation position, if not, the controller 60 will issue an alarm to the ground control center, and if the ground control center return command is received, the robot will return to the initial installation position.

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Abstract

一种超深立井钢丝绳罐道垂直爬绳巡检机器人，包括防爆外壳、驱动机构、滚轮机构、夹紧机构、搭载机构和电控装置；隔爆外壳包括上驱动外壳（2）、下驱动外壳（5）、驱动器外壳（9）、电控装置外壳（8）和搭载机构外壳（11），驱动机构包括上驱动部分、下驱动部分和电机驱动器（21），滚轮机构包括上部主动轮部分、上部左侧从动轮部分、上部右侧从动轮部分、下部主动轮部分、下部左侧从动轮部分和下部右侧从动轮部分，夹紧机构（16）包括左侧夹紧部分和右侧夹紧部分，搭载装置包括移动小车（11）、本安摄像头（52）和云台（12）。爬绳巡检机器人能够满足煤矿防爆要求，可实现在超深立井钢丝绳罐道上的爬行，实时监测井筒壁应变和井架结构情况。

Description

一种超深立井钢丝绳罐道垂直爬绳巡检机器人 技术领域
本发明属于特种机器人技术领域，具体涉及一种超深立井井筒中可沿钢丝绳罐道垂直爬行的巡检机器人。
背景技术
在煤矿领域，机器人研究主要集中在监测和救援方面，并且多应用于井下巷道和工作面。然而在超深立井提升系统中，复杂的地质条件、时变的运行环境等因素可能导致其井筒发生纵向、环向和径向形变。因此，在提升井筒中下放爬绳巡检机器人，及早发现超深立井提升系统中潜在的故障和缺陷，改变提升系统检修期间人力检修低效率的现状，并最终实现井筒健康状态实时监测，对提高矿井提升系统安全可靠性、保障生命财产安全，显得尤为重要和紧迫。
与现有技术不同的是，在井筒窄长空间中，爬绳机器人要满足煤矿防爆要求，搭载相应的检测设备，以较快的速度垂直爬绳，到指定位置巡检，这就对机器人的各机构运动的协调性和控制的精准度提出了更高的要求。
发明内容
发明目的：针对以上阐述的问题和现有技术的不足，本发明的目的是提供一种可在超深立井钢丝绳罐道上悬停，并沿绳垂直上爬、下行，具有实时监测功能的滚轮式机器人，该机器人自身重量均匀分布，满足煤矿防爆要求，能够在提升系统检修期间到达指定位置，监测井筒壁应变情况、井筒井架结构情况，并将监测图像无线发送给地面控制中心，提高设备的检修效率，增强井筒提升系统运行的安全保障。
为了实现上述目的，本发明采用了如下的技术方案：一种超深立井钢丝绳罐道垂直爬绳巡检机器人，包括防爆外壳、驱动机构、滚轮机构、夹紧机构、搭载机构和电控装置；
所述隔爆外壳包括上驱动外壳、下驱动外壳、驱动器外壳、电控装置外壳和搭载机构外壳，上驱动外壳和下驱动外壳对称设置在驱动器外壳两端，电控装置外壳一端与下驱动外壳通过合页连接，电控装置外壳另一端与上驱动外壳通过封闭螺栓连接；
所述驱动机构包括上驱动部分、下驱动部分和驱动器部分，上驱动部分设置在上驱动外壳内，下驱动部分设置在下驱动外壳内，驱动器部分设置在驱动器外壳内，驱动器部分通过分别连接上驱动部分和下驱动部分；
所述滚轮机构包括上部主动轮部分、上部左侧从动轮部分、上部右侧从动轮部分、下部主动轮部分、下部左侧从动轮部分、下部右侧从动轮部分，上部主动轮部分和下部主动轮部分对称设置在驱动器外壳上下两侧，上部左侧从动轮部分和上部右侧从动轮部 分对称设置在电控装置外壳顶部两侧，下部左侧从动轮部分和下部右侧从动轮部分对称设置在电控装置外壳底部两侧，上部主动轮部分连接上驱动部分，下部主动轮部分连接下驱动部分；
所述夹紧机构包括左侧夹紧部分和右侧夹紧部分，左侧夹紧部分连接上部左侧从动轮部分和下部左侧从动轮部分，右侧夹紧部分连接上部右侧从动轮部分和下部右侧从动轮部分；
所述搭载机构包括移动小车、本安摄像头和云台，云台呈带缺口的圆环状，云台两端设有限位开关，云台底面焊接短立柱和长立柱，短立柱与上驱动外壳和下驱动外壳顶面焊接，长立柱下端通过连接螺钉与电控装置外壳连接，移动小车设置在云台上，搭载机构外壳设置在移动小车上，本安摄像头设置在搭载机构外壳上；
所述电控装置设置在电控装置外壳内，电控装置分别连接上驱动部分、下驱动部分、驱动器部分、移动小车机构和本安摄像头。
进一步的，所述上驱动部分包括直流无刷电机、电机固定板、弹性套柱销联轴器和蜗轮蜗杆减速器，所述的蜗轮蜗杆减速器包括蜗杆、蜗轮、蜗杆轴第一轴承、蜗杆轴第一轴承座、蜗杆轴第二轴承和蜗杆轴第二轴承座，电机固定板上设置直流无刷电机，蜗杆轴第一轴承座上设置蜗杆轴第一轴承，蜗杆轴第二轴承座设置蜗杆轴第二轴承，直流无刷电机输出轴通过弹性套柱销联轴器与蜗杆连接，蜗杆设置在蜗杆轴第一轴承和蜗杆轴第二轴承上，蜗轮与蜗杆相啮合；下驱动部分结构与上驱动部分相同；驱动器部分包括电机驱动器，电机驱动器分别连接连接上驱动部分和下驱动部分的直流无刷电机。
进一步的，所述蜗轮蜗杆减速器还包括储油海绵支架，储油海绵支架上设有浸油海绵，浸油海绵与蜗杆接触。
进一步的，所述上部主动轮部分和下部主动轮部分均包括主动轴、主动橡胶滚轮、主动轴第一轴承、主动轴第一轴承座、主动轴第二轴承、主动轴第二轴承座、主动轴第三轴承和主动轴第三轴承座，主动轴设置在主动轴第一轴承、主动轴第二轴承和主动轴第三轴承上，主动轴第一轴承设置在主动轴第一轴承座上，主动轴第二轴承设置在主动轴第二轴承座上，主动轴第三轴承设置在主动轴第三轴承座上，上部主动轮部分的主动轴第一轴承座和主动轴第二轴承座焊接于上驱动外壳内侧，上部主动轮部分的主动轴第三轴承座焊接于下驱动外壳外侧，下部主动轮部分的主动轴第一轴承座和主动轴第二轴承座焊接于下驱动外壳内侧，下部主动轮部分的主动轴第三轴承座焊接于上驱动外壳外侧，在上部主动轮部分的主动轴上设置主动橡胶滚轮和上驱动部分的蜗轮，在下部主动轮部分的主动轴上设置主动橡胶滚轮和下驱动部分的蜗轮；
所述上部左侧从动轮部分包括从动尼龙滚轮、从动轮支撑杆、支撑杆连接件、从动轮轴套、从动长螺栓、从动轮轴承对和从动螺母，支撑杆连接件焊接于电控装置隔爆外 壳外侧，从动轮支撑杆一端与支撑杆连接件通过销轴连接，从动轮支撑杆另一端设有U型架，从动长螺栓通过从动螺母安装在U型架上，从动长螺栓上设有从动轮轴套，从动轮轴套两端设有从动轮轴承对，从动尼龙滚轮内圈套设在动轮轴套和从动轮轴承对上，上部右侧从动轮部分、下部左侧从动轮部分和下部右侧从动轮部分结构均与上部左侧从动轮部分相同。
进一步的，所述蜗轮和主动橡胶滚轮均通过键连接径向定位于主动轴上，在蜗轮与主动轴第二轴承之间的主动轴上设置铜轴套，铜轴套和主动轴的结合面宽度等于主动轴在结合面处的直径，在主动橡胶滚轮一侧的主动轴上设置轴肩，在主动橡胶滚轮另一侧的主动轴上设置主动轴轴套。
进一步的，所述滚轮机构的主动橡胶滚轮和从动尼龙滚轮的圆周面均为内凹曲面。
进一步的，所述左侧夹紧部分包括支撑杆圆柱转块、弹簧、弹簧螺栓连接件、夹紧长螺栓和夹紧螺母，支撑杆圆柱转块与从动轮支撑杆通过销轴连接，支撑杆圆柱转块中间设有通孔，电控装置外壳外侧焊接突出支撑部，突出支撑部开设有滑槽，弹簧螺栓连接件呈圆柱状，弹簧螺栓连接件穿过突出支撑部滑槽，夹紧长螺栓下端与弹簧螺栓连接件上端连接，夹紧长螺栓上端依次穿过支撑杆圆柱转块的通孔和夹紧螺母，弹簧上端与弹簧螺栓连接件下端连接，弹簧下端穿过支撑杆圆柱转块的通孔固定。
进一步的，所述移动小车包括微型直流减速电机、锥齿轮对、转轴、转轴轴承对、行走齿轮和行走滚轮，微型直流减速电机、锥齿轮对和转轴位于搭载机构外壳内侧，行走齿轮和行走滚轮位于搭载机构外壳外侧，微型直流减速电机的输出轴通过锥齿轮对连接转轴，转轴设置在转轴轴承对上，转轴一端与行走齿轮连接，云台外圈设有与行走滚轮相匹配的V字型轨道，云台内圈设有轮齿，轮齿与行走齿轮相啮合。
进一步的，所述电控装置包括蓄电池、控制器、电压转换模块和本安无线通信模块，蓄电池连接电压转换模块，电压转换模块分别连接控制器、本安无线通信模块、直流无刷电机、电机驱动器和微型直流减速电机，控制器分别连接电机驱动器、直流无刷电机、微型直流减速电机、本安无线通信模块和本安摄像头。
进一步的，所述巡检机器人还包括引入装置，所述引入装置包括驱动机构引入装置、电控装置引入装置、搭载机构引入装置，驱动机构引入装置设置在驱动器外壳上，电控装置引入装置设置在电控装置外壳上，搭载机构引入装置设置在搭载机构外壳上。
有益效果：(1)本发明爬绳巡检机器人能够满足煤矿防爆要求，可实现在超深立井钢丝绳罐道上的悬停，垂直上爬、下行，能够在提升井筒检修期间实时监测井筒壁应变和井架结构情况，自锁性好，运动平稳，各机构运动独立性好，控制全面，搭载机构还可扩展，搭载其他传感设备，能极大提高检修效率，为提升系统的安全运行提供可靠保障；(2)滚轮采用曲面内凹形式，增大与钢丝绳弧面的接触面积，主动滚轮为橡胶材质， 增大与钢丝绳表面之间的摩擦力，从动滚轮为尼龙材质，在保证硬度的情况下减小重量，减小滚轮转动阻力；(3)驱动机构利用蜗轮蜗杆减速器自锁特性，机器人可在摩擦力足够的条件下悬停在钢丝绳上；(4)蜗轮蜗杆减速器安装储油海绵，可以润滑蜗轮蜗杆，减小机械磨损；(5)夹紧机构的预紧力可调，增大了该爬绳机器人对钢丝绳直径的适用范围；(6)驱动机构和搭载机构可独立运行，移动小车平稳转动在云台上运行转动，为巡检提供了稳定的、可全角度采集图像的平台；(7)电控装置能够实时计算机器人在井筒中的坐标，防止主动滚轮打滑，同时使控制更具有目的性。
附图说明
图1为本发明爬绳巡检机器人正视图；
图2为本发明爬绳巡检机器人后视图；
图3为本发明驱动机构上驱动部分结构图；
图4为本发明滚轮机构上部主动轮部分结构图；
图5为本发明滚轮机构下部主动轮部分结构图；
图6为本发明滚轮机构上部左侧从动轮部分结构图；
图7为本发明夹紧机构左侧夹紧部分结构图；
图8为本发明夹紧机构支撑杆圆柱转块结构图；
图9为本发明搭载机构移动小车结构图；
图10为本发明电控装置部分各模块位置示意图；
图11为本发明电控装置控制原理示意图。
图中，1、钢丝绳；2、上驱动外壳；3、防爆法兰；4、驱动机构引入装置；5、下驱动外壳；6、合页；7、电控装置引入装置；8、电控装置外壳；9、驱动器外壳；10、搭载机构引入装置；11、搭载机构外壳；12、云台；13、短立柱；14、长立柱；15、连接螺钉；16、夹紧机构；17、封闭螺栓；18、支撑杆连接件；19、限位开关；20、直流无刷电机；21、电机驱动器；22、电机固定板；23、弹性套柱销联轴器；24、蜗杆轴第一轴承；25、蜗杆轴第二轴承；26、储油海绵支架；27、蜗轮；28、蜗杆轴第一轴承座；29、蜗杆轴第二轴承座；30、蜗杆；31、主动轴第一轴承；32、主动轴第二轴承；33、主动轴第一轴承座；34、主动轴第二轴承座；35、主动轴；36、主动橡胶滚轮；37、主动轴轴套；38、主动轴第三轴承；39、主动轴第三轴承座；40、铜轴套；41、从动轮支撑杆；42、从动轮轴承对；43、从动尼龙滚轮；44、从动轮轴套；45、从动长螺栓；46、从动螺母；47、支撑杆圆柱转块；48、弹簧；49、弹簧螺栓连接件；50、夹紧长螺栓；51、夹紧螺母；52、本安摄像头；53、微型直流减速电机；54、转轴轴承对；55、转轴；56、锥齿轮对；57、行走齿轮；58、行走滚轮；59、本安无线通信模块；60、控制器；61、电压转换模块；62、蓄电池；63、突出支撑部。
具体实施方式：
下面结合附图对本发明做更进一步的解释。
如图1和2所示，本发明的超深立井钢丝绳罐道滚轮式爬绳巡检机器人包括防爆外壳、驱动机构、滚轮机构、夹紧机构16、搭载机构、电控装置和引入装置。
所述隔爆外壳包括上驱动外壳2、下驱动外壳5、驱动器外壳9、电控装置外壳8和搭载机构外壳11。上驱动外壳2和下驱动外壳5对称设置在驱动器外壳9两端，驱动器外壳9与上驱动外壳2和下驱动外壳5均通过防爆法兰3连接，电控装置外壳8一端与下驱动外壳5通过合页6连接，可以转动，电控装置外壳8另一端与上驱动外壳2通过封闭螺栓17连接。防爆外壳壳体厚度为6mm，防爆法兰3厚度为10mm。
如图3所示，所述驱动机构包括上驱动部分、下驱动部分和驱动器部分。上驱动部分设置在上驱动外壳2内，上驱动部分包括直流无刷电机20、电机固定板22、弹性套柱销联轴器23和蜗轮蜗杆减速器，所述的蜗轮蜗杆减速器包括蜗杆30、蜗轮27、蜗杆轴第一轴承24、蜗杆轴第一轴承座28、蜗杆轴第二轴承25、蜗杆轴第二轴承座29和储油海绵支架26。电机固定板22上设置直流无刷电机20，蜗杆轴第一轴承座28上设置蜗杆轴第一轴承24，蜗杆轴第二轴承座29设置蜗杆轴第二轴承25，直流无刷电机20输出轴通过弹性套柱销联轴器23与蜗杆30连接，蜗杆30设置在蜗杆轴第一轴承24和蜗杆轴第二轴承25上，蜗轮27与蜗杆30相啮合。所述的储油海绵支架26上设有一层浸油海绵，浸油海绵与蜗杆30接触，保证蜗轮27、蜗杆30的润滑。下驱动部分设置在下驱动外壳5内，下驱动部分结构与上驱动部分相同。驱动器部分设置在驱动器外壳9内，驱动器部分包括电机驱动器21，电机驱动器21分别连接上驱动部分和下驱动部分的直流无刷电机20。
如图4、5和6所示，所述滚轮机构包括上部主动轮部分、上部左侧从动轮部分、上部右侧从动轮部分、下部主动轮部分、下部左侧从动轮部分、下部右侧从动轮部分，上部主动轮部分和下部主动轮部分对称设置在驱动器外壳9上下两侧，上部左侧从动轮部分和上部右侧从动轮部分对称设置在电控装置外壳8顶部两侧，下部左侧从动轮部分和下部右侧从动轮部分对称设置在电控装置外壳8底部两侧。
上部主动轮部分和下部主动轮部分均包括包括主动轴35、主动橡胶滚轮36、主动轴轴套37、主动轴第一轴承31、主动轴第一轴承座33、主动轴第二轴承32、主动轴第二轴承座34、主动轴第三轴承38、主动轴第三轴承座39和铜轴套40。主动轴35设置在主动轴第一轴承31、主动轴第二轴承32和主动轴第三轴承38上，主动轴第一轴承31设置在主动轴第一轴承座33上，主动轴第二轴承32设置在主动轴第二轴承座34上，主动轴第三轴承38设置在主动轴第三轴承座39上，上部主动轮部分的主动轴第一轴承座33和主动轴第二轴承座34焊接于上驱动外壳2内侧，上部主动轮部分的主动轴第三轴 承座39焊接于下驱动外壳5外侧，下部主动轮部分的主动轴第一轴承座33和主动轴第二轴承座34焊接于下驱动外壳5内侧，下部主动轮部分的主动轴第三轴承座39焊接于上驱动外壳2外侧，在上部主动轮部分的主动轴35上设置主动橡胶滚轮36和上驱动部分的蜗轮27，在下部主动轮部分的主动轴35上设置主动橡胶滚轮36和下驱动部分的蜗轮27。蜗轮27和主动橡胶滚轮36均通过键连接径向定位于主动轴35上。在蜗轮27与主动轴第二轴承32之间的主动轴35上设置铜轴套40，铜轴套40和主动轴35的结合面宽度等于主动轴35在结合面处的直径，铜轴套40对蜗轮27和主动轴第二轴承32进行轴向定位，并起隔爆作用。主动橡胶滚轮36外圆面为内凹曲面，在主动橡胶滚轮36一侧的主动轴35上设置轴肩，在主动橡胶滚轮36另一侧的主动轴35上设置主动轴轴套37，通过轴肩和主动轴轴套37对主动橡胶滚轮36进行轴向定位。
上部左侧从动轮部分包括从动尼龙滚轮43、从动轮支撑杆41、支撑杆连接件18、从动轮轴套44、从动长螺栓45、从动轮轴承对42和从动螺母46。支撑杆连接件18焊接于电控装置隔爆外壳8外侧，从动轮支撑杆41一端与支撑杆连接件18通过销轴连接，从动轮支撑杆41另一端设有U型架，从动长螺栓45通过从动螺母46安装在U型架上，从动长螺栓45上设有从动轮轴套44，从动轮轴套44两端设有从动轮轴承对42，从动轮轴承对42为一对深沟球轴承，从动尼龙滚轮43内圈套设在动轮轴套44和从动轮轴承对42上，从动尼龙滚轮43圆周面也为内凹曲面。上部右侧从动轮部分、下部左侧从动轮部分和下部右侧从动轮部分结构均与上部左侧从动轮部分相同。
如图7和8所示，所述夹紧机构16包括左侧夹紧部分和右侧夹紧部分，左侧夹紧部分连接上部左侧从动轮部分和下部左侧从动轮部分，右侧夹紧部分连接上部右侧从动轮部分和下部右侧从动轮部分。
左侧夹紧部分包括支撑杆圆柱转块47、弹簧48、弹簧螺栓连接件49、夹紧长螺栓50和夹紧螺母51。支撑杆圆柱转块47与从动轮支撑杆41通过销轴连接，可以转动，支撑杆圆柱转块47中间设有通孔，电控装置外壳8外侧焊接突出支撑部63，突出支撑部63开设有滑槽，弹簧螺栓连接件49呈圆柱状，弹簧螺栓连接件49穿过突出支撑部63滑槽，弹簧螺栓连接件49可在滑槽内自由滑动，夹紧长螺栓50下端与弹簧螺栓连接件49上端连接，夹紧长螺栓50上端依次穿过支撑杆圆柱转块47的通孔和夹紧螺母51，弹簧48上端与弹簧螺栓连接件49下端连接，弹簧48下端穿过支撑杆圆柱转块47的通孔固定。通过转动夹紧螺母51，可以调节上部左侧从动轮部分的从动尼龙滚轮43的夹紧力。通过弹簧48可以保证下部左侧从动轮部分的从动尼龙滚轮43的夹紧力。
如图9所示，所述搭载机构包括移动小车、本安摄像头52和云台12，云台12呈带缺口的圆环状，云台12两端设有限位开关19，云台12底面焊接短立柱13和长立柱14，短立柱13与上驱动外壳2和下驱动外壳5顶面焊接，长立柱14下端通过连接螺钉15与 电控装置外壳8连接，移动小车设置在云台12上，搭载机构外壳11设置在移动小车上，本安摄像头52设置在搭载机构外壳11上。所述移动小车包括微型直流减速电机53、锥齿轮对56、转轴55、转轴轴承对54、行走齿轮57和行走滚轮58，微型直流减速电机53、锥齿轮对56和转轴55位于搭载机构外壳11内侧，行走齿轮57和行走滚轮58位于搭载机构外壳11外侧，微型直流减速电机53的输出轴通过锥齿轮对56连接转轴55，转轴55设置在转轴轴承对54上，转轴55一端与行走齿轮57连接。云台12外圈设有与行走滚轮58相匹配的V字型轨道，行走滚轮58可沿V字型轨道滚动，云台12内圈设有设有轮齿，轮齿与行走齿轮57相啮合。
如图10和11所示，所述电控装置设置在电控装置外壳8内，电控装置包括蓄电池62、控制器60、电压转换模块61和本安无线通信模块59，其中本安无线通信模块59也可安装在电控装置外壳8顶部。蓄电池62连接电压转换模块61，电压转换模块61分别连接控制器60、本安无线通信模块59、直流无刷电机20、电机驱动器21和微型直流减速电机53，控制器60分别连接电机驱动器21、直流无刷电机20、微型直流减速电机53、本安无线通信模块59和本安摄像头52。
如图1和2所示，为保证煤矿防爆要求，对隔爆外壳电缆引入处做特殊处理，即安装引入装置。所述引入装置包括驱动机构引入装置4、电控装置引入装置7、搭载机构引入装置10。驱动机构引入装置4设置在驱动器外壳9上，电控装置引入装置7设置在电控装置外壳8上，搭载机构引入装置10设置在搭载机构外壳11上，驱动机构引入装置4、电控装置引入装置7、搭载机构引入装置10均包括包括直通节和联通节，直通节从防爆壳体外部焊接，联通节从防爆壳体内部焊接。
本发明爬绳巡检机器人的使用方法：
第一步，安装过程。首先，确定钢丝绳1的直径在爬绳巡检机器人的爬绳直径范围内。在指定起始位置安装该机器人时，松开并拔出封闭螺栓17和连接螺钉15，使电控装置外壳8围绕合页6转动，留出和云台12的缺口上下对齐的开口，将钢丝绳1从开口处套入，固定好两个主动橡胶滚轮36和四个从动尼龙滚轮43，使六个滚轮以钢丝绳1中轴线中心对称，整个机器人围绕钢丝绳1对称分布，将电控装置外壳8回转，并拧紧封闭螺栓17和连接螺钉15，封闭固定整个机器人。
第二步，调试阶段。实现机器人在钢丝绳上正常上爬、悬停、下行，保证机器人平衡，分别在两个夹紧长螺栓50上拧紧夹紧螺母51，利用蜗轮蜗杆减速器的自锁特性使机器人在没有外力的作用下实现自身悬停。在此基础上开始调试，若直流无刷电机20正常转动时，主动橡胶滚轮36在钢丝绳1表面打滑，则需进一步拧紧夹紧螺母51，直到预紧力合适，机器人正常上爬下行。
第三步，正式行走阶段。地面控制中心发送启动及行走命令，由本安无线通信模块 59接收，传送给控制器60，控制器60通过电机驱动器21控制直流无刷电机20的转向及转速，无刷直流电机20通过弹性柱销联轴器23带动蜗杆30，蜗杆30与蜗轮27啮合，带动主动轴35转动，从而带动主动橡胶滚轮36转动，从动尼龙滚轮43也随之动，到达指定位置。控制器60通过RSSI算法实时计算机器人在井筒中的坐标，确定机器人主动滚轮是否在原地打滑，同时使地面控制中心的控制更有目的性。
第四步，巡检阶段。到达指定位置后，控制器60接收到停止信号，控制直流无刷电机20停转，机器人悬停。控制器60接收地面控制中心信号，控制移动小车沿云台12转动，启动微型直流减速电机53，微型直流减速电机53通过锥齿轮对56的啮合带动转轴55转动，转轴55带动行走齿轮57沿与之啮合的云台12的内圈滚动，从而行走滚轮58也被带动沿云台12的外圈滚动，保证移动小车11平稳运行，通过本安摄像头52进行巡检。云台12的缺口两端安装有限位开关19，当移动小车移动到缺口两端位置时，触碰到限位开关19可停止移动，或接受控制器60命令反向移动。
第五步，回程阶段。该爬绳巡检机器人可根据控制命令到不同指定位置执行巡检任务，同时其控制器60会检测蓄电池62的剩余电量，根据其在井筒中的坐标判断在该位置剩余电量能否保证机器人返回到初始安装位置，如果不能，控制器60则会向地面控制中心发出警报，若接收到地面控制中心回程命令，机器人则返回初始安装位置。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：包括防爆外壳、驱动机构、滚轮机构、夹紧机构(16)、搭载机构和电控装置；
    所述隔爆外壳包括上驱动外壳(2)、下驱动外壳(5)、驱动器外壳(9)、电控装置外壳(8)和搭载机构外壳(11)，上驱动外壳(2)和下驱动外壳(5)对称设置在驱动器外壳(9)两端，电控装置外壳(8)一端与下驱动外壳(5)通过合页(6)连接，电控装置外壳(8)另一端与上驱动外壳(2)通过封闭螺栓(17)连接；
    所述驱动机构包括上驱动部分、下驱动部分和驱动器部分，上驱动部分设置在上驱动外壳(2)内，下驱动部分设置在下驱动外壳(5)内，驱动器部分设置在驱动器外壳(9)内，驱动器部分通过分别连接上驱动部分和下驱动部分；
    所述滚轮机构包括上部主动轮部分、上部左侧从动轮部分、上部右侧从动轮部分、下部主动轮部分、下部左侧从动轮部分、下部右侧从动轮部分，上部主动轮部分和下部主动轮部分对称设置在驱动器外壳(9)上下两侧，上部左侧从动轮部分和上部右侧从动轮部分对称设置在电控装置外壳(8)顶部两侧，下部左侧从动轮部分和下部右侧从动轮部分对称设置在电控装置外壳(8)底部两侧，上部主动轮部分连接上驱动部分，下部主动轮部分连接下驱动部分；
    所述夹紧机构(16)包括左侧夹紧部分和右侧夹紧部分，左侧夹紧部分连接上部左侧从动轮部分和下部左侧从动轮部分，右侧夹紧部分连接上部右侧从动轮部分和下部右侧从动轮部分；
    所述搭载机构包括移动小车、本安摄像头(52)和云台(12)，云台(12)呈带缺口的圆环状，云台(12)两端设有限位开关(19)，云台(12)底面焊接短立柱(13)和长立柱(14)，短立柱(13)与上驱动外壳(2)和下驱动外壳(5)顶面焊接，长立柱(14)下端通过连接螺钉(15)与电控装置外壳(8)连接，移动小车设置在云台(12)上，搭载机构外壳(11)设置在移动小车上，本安摄像头(52)设置在搭载机构外壳(11)上；
    所述电控装置设置在电控装置外壳(8)内，电控装置分别连接上驱动部分、下驱动部分、驱动器部分、移动小车机构和本安摄像头(52)。
  2. 根据权利要求1所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述上驱动部分包括直流无刷电机(20)、电机固定板(22)、弹性套柱销联轴器(23)和蜗轮蜗杆减速器，所述的蜗轮蜗杆减速器包括蜗杆(30)、蜗轮(27)、蜗杆轴第一轴承(24)、蜗杆轴第一轴承座(28)、蜗杆轴第二轴承(25)和蜗杆轴第二轴承座(29)，电机固定板(22)上设置直流无刷电机(20)，蜗杆轴第一轴承座(28)上设置蜗杆轴第一轴承(24)，蜗杆轴第二轴承座(29)设置蜗杆轴第二轴承(25)，直流无刷电机 (20)输出轴通过弹性套柱销联轴器(23)与蜗杆(30)连接，蜗杆(30)设置在蜗杆轴第一轴承(24)和蜗杆轴第二轴承(25)上，蜗轮(27)与蜗杆(30)相啮合；下驱动部分结构与上驱动部分相同；驱动器部分包括电机驱动器(21)，电机驱动器(21)分别连接连接上驱动部分和下驱动部分的直流无刷电机(20)。
  3. 根据权利要求2所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述蜗轮蜗杆减速器还包括储油海绵支架(26)，储油海绵支架(26)上设有浸油海绵，浸油海绵与蜗杆(30)接触。
  4. 根据权利要求2所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述上部主动轮部分和下部主动轮部分均包括主动轴(35)、主动橡胶滚轮(36)、主动轴第一轴承(31)、主动轴第一轴承座(33)、主动轴第二轴承(32)、主动轴第二轴承座(34)、主动轴第三轴承(38)和主动轴第三轴承座(39)，主动轴(35)设置在主动轴第一轴承(31)、主动轴第二轴承(32)和主动轴第三轴承(38)上，主动轴第一轴承(31)设置在主动轴第一轴承座(33)上，主动轴第二轴承(32)设置在主动轴第二轴承座(34)上，主动轴第三轴承(38)设置在主动轴第三轴承座(39)上，上部主动轮部分的主动轴第一轴承座(33)和主动轴第二轴承座(34)焊接于上驱动外壳(2)内侧，上部主动轮部分的主动轴第三轴承座(39)焊接于下驱动外壳(5)外侧，下部主动轮部分的主动轴第一轴承座(33)和主动轴第二轴承座(34)焊接于下驱动外壳(5)内侧，下部主动轮部分的主动轴第三轴承座(39)焊接于上驱动外壳(2)外侧，在上部主动轮部分的主动轴(35)上设置主动橡胶滚轮(36)和上驱动部分的蜗轮(27)，在下部主动轮部分的主动轴(35)上设置主动橡胶滚轮(36)和下驱动部分的蜗轮(27)；
    所述上部左侧从动轮部分包括从动尼龙滚轮(43)、从动轮支撑杆(41)、支撑杆连接件(18)、从动轮轴套(44)、从动长螺栓(45)、从动轮轴承对(42)和从动螺母(46)，支撑杆连接件(18)焊接于电控装置隔爆外壳(8)外侧，从动轮支撑杆(41)一端与支撑杆连接件(18)通过销轴连接，从动轮支撑杆(41)另一端设有U型架，从动长螺栓(45)通过从动螺母(46)安装在U型架上，从动长螺栓(45)上设有从动轮轴套(44)，从动轮轴套(44)两端设有从动轮轴承对(42)，从动尼龙滚轮(43)内圈套设在动轮轴套(44)和从动轮轴承对(42)上，上部右侧从动轮部分、下部左侧从动轮部分和下部右侧从动轮部分结构均与上部左侧从动轮部分相同。
  5. 根据权利要求4所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述蜗轮(27)和主动橡胶滚轮(36)均通过键连接径向定位于主动轴(35)上，在蜗轮(27)与主动轴第二轴承(32)之间的主动轴(35)上设置铜轴套(40)，铜轴套(40)和主动轴(35)的结合面宽度等于主动轴(35)在结合面处的直径，在主动橡胶滚轮(36)一侧的主动轴(35)上设置轴肩，在主动橡胶滚轮(36)另一侧的主动轴(35)上设置主动轴轴套(37)。
  6. 根据权利要求4所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述滚轮机构的主动橡胶滚轮(36)和从动尼龙滚轮(43)的圆周面均为内凹曲面。
  7. 根据权利要求4所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述左侧夹紧部分包括支撑杆圆柱转块(47)、弹簧(48)、弹簧螺栓连接件(49)、夹紧长螺栓(50)和夹紧螺母(51)，支撑杆圆柱转块(47)与从动轮支撑杆(41)通过销轴连接，支撑杆圆柱转块(47)中间设有通孔，电控装置外壳(8)外侧焊接突出支撑部(63)，突出支撑部(63)开设有滑槽，弹簧螺栓连接件(49)呈圆柱状，弹簧螺栓连接件(49)穿过突出支撑部(63)滑槽，夹紧长螺栓(50)下端与弹簧螺栓连接件(49)上端连接，夹紧长螺栓(50)上端依次穿过支撑杆圆柱转块(47)的通孔和夹紧螺母(51)，弹簧(48)上端与弹簧螺栓连接件(49)下端连接，弹簧(48)下端穿过支撑杆圆柱转块(47)的通孔固定。
  8. 根据权利要求7所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述移动小车包括微型直流减速电机(53)、锥齿轮对(56)、转轴(55)、转轴轴承对(54)、行走齿轮(57)和行走滚轮(58)，微型直流减速电机(53)、锥齿轮对(56)和转轴(55)位于搭载机构外壳(11)内侧，行走齿轮(57)和行走滚轮(58)位于搭载机构外壳(11)外侧，微型直流减速电机(53)的输出轴通过锥齿轮对(56)连接转轴(55)，转轴(55)设置在转轴轴承对(54)上，转轴(55)一端与行走齿轮(57)连接，云台(12)外圈设有与行走滚轮(58)相匹配的V字型轨道，云台(12)内圈设有轮齿，轮齿与行走齿轮(57)相啮合。
  9. 根据权利要求8所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述电控装置包括蓄电池(62)、控制器(60)、电压转换模块(61)和本安无线通信模块(59)，蓄电池(62)连接电压转换模块(61)，电压转换模块(61)分别连接控制器(60)、本安无线通信模块(59)、直流无刷电机(20)、电机驱动器(21)和微型直流减速电机(53)，控制器(60)分别连接电机驱动器(21)、直流无刷电机(20)、微型直流减速电机(53)、本安无线通信模块(59)和本安摄像头(52)。
  10. 根据权利要求1所述的一种超深立井钢丝绳罐道垂直爬绳巡检机器人，其特征在于：所述巡检机器人还包括引入装置，所述引入装置包括驱动机构引入装置(4)、电控装置引入装置(7)、搭载机构引入装置(10)，驱动机构引入装置(4)设置在驱动器外壳(9)上，电控装置引入装置(7)设置在电控装置外壳(8)上，搭载机构引入装置(10)设置在搭载机构外壳(11)上。
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