Perpendicular rope climbing patrolling robot in ultra-deep vertical shaft steel-rope guide

A technology of steel wire rope tank road and inspection robot, which is applied in the field of inspection robot, can solve the problems of vertical, circumferential and radial deformation of the wellbore, and achieve the effect of comprehensive control, increasing the scope of application, and increasing friction

Active Publication Date: 2015-11-11
陕西延长石油矿业有限责任公司 +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the ultra-deep shaft hoisting system, complex geological conditions, time-varying operating environment and other factors may lead to longitudinal, circumferential and radial deformation of the wellbore

Method used

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  • Perpendicular rope climbing patrolling robot in ultra-deep vertical shaft steel-rope guide
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  • Perpendicular rope climbing patrolling robot in ultra-deep vertical shaft steel-rope guide

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Embodiment Construction

[0035] The present invention will be further explained below in conjunction with the accompanying drawings.

[0036] Such as figure 1 and 2 As shown, the ultra-deep shaft steel wire rope tank road roller type rope climbing inspection robot of the present invention includes an explosion-proof casing, a driving mechanism, a roller mechanism, a clamping mechanism 16, a carrying mechanism, an electric control device and an introduction device.

[0037] The flameproof enclosure includes an upper drive enclosure 2 , a lower drive enclosure 5 , a driver enclosure 9 , an electrical control device enclosure 8 and a carrying mechanism enclosure 11 . The upper drive shell 2 and the lower drive shell 5 are arranged symmetrically at both ends of the drive shell 9, and the drive shell 9 is connected to the upper drive shell 2 and the lower drive shell 5 through an explosion-proof flange 3, and one end of the electric control device shell 8 is connected to the lower drive shell 5 Connected...

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Abstract

The invention discloses a perpendicular rope climbing patrolling robot in ultra-deep vertical shaft steel-rope guide. The perpendicular rope climbing patrolling robot comprises an explosion-proof shell, a driving mechanism, a wheel mechanism, a clamping mechanism, a carrying mechanism and an electric control device. The explosion-proof shell comprises an upper driving shell body, a lower driving shell body, a driver shell body, an electric control device shell body and a carrying mechanism shell body. The driving mechanism comprises an upper driving part, a lower driving part and a motor driver. The wheel mechanism comprises an upper driving wheel part, an upper left side driven wheel part, an upper right side driven wheel part, a lower driving wheel part, a lower left side driven wheel part and a lower right side driven wheel part. The clamping mechanism comprises a left side clamping part and a right side clamping part. The carrying mechanism comprises a movable trolley, an intrinsic safety camera and a cloud deck. The rope climbing patrolling robot can meet the explosion-proof requirement of a coal mine, can climb on the ultra-deep vertical shaft steel-rope guide and can monitor the strain of the shaft wall and the derrick structure situation.

Description

technical field [0001] The invention belongs to the technical field of special robots, and in particular relates to an inspection robot that can vertically crawl along a steel wire rope tank path in an ultra-deep vertical shaft. Background technique [0002] In the field of coal mines, robot research mainly focuses on monitoring and rescue, and is mostly used in underground roadways and working faces. However, in the ultra-deep shaft hoisting system, factors such as complex geological conditions and time-varying operating environment may cause longitudinal, circumferential and radial deformations of the wellbore. Therefore, the rope-climbing inspection robot is lowered in the hoisting shaft to detect potential faults and defects in the hoisting system of the ultra-deep shaft early, change the current situation of low efficiency of human inspection and maintenance during the hoisting system maintenance, and finally realize the real-time monitoring of the health status of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCF16H1/16H02K11/38B61B7/06B61C3/00F16H1/14H02K5/04H02K7/081H02K7/116
Inventor 周公博王朋辉朱真才吴承祥曹国华李伟彭玉兴
Owner 陕西延长石油矿业有限责任公司
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