Obstacle crossing type elevator steel wire rope detection robot and obstacle crossing method

Abstract

The invention belongs to the technical field of nondestructive testing of steel wire ropes of mine hoisting equipment, and particularly relates to an obstacle crossing type hoister steel wire rope detection robot and an obstacle crossing method.The obstacle crossing type hoister steel wire rope detection robot is characterized by comprising an upper rack, a lower rack and a steel wire rope penetrating through the middle of the upper rack and the middle of the lower rack; the steel wire rope magnetizer is arranged on the upper rack, the steel wire rope flaw detector is arranged on the lower rack, and the visual module, the obstacle crossing device, the electromagnetic lock device, the rack, the connecting bolt and the adjusting tensioning device are arranged on the upper rack and the lower rack respectively. The flaw detection climbing robot can cross obstacles such as a cage guide beam and a steel beam, the problem that rope sections with obstacles are difficult to detect is effectively solved, and people can comprehensively and systematically detect the whole steel wire rope; the upper rack and the lower rack are used for alternately clamping the steel wire rope, the swing mechanism is used for posture correction, and the hub motor drives the machine body to achieve efficient and reliable obstacle crossing.

Description

technical field [0001] The invention belongs to the technical field of non-destructive testing of wire ropes for mine hoisting equipment, in particular to an obstacle-crossing type hoist wire rope detection robot and an obstacle-crossing method. Background technique [0002] As the core component of bearing and counterweight, the steel wire rope is the "throat" of the mine hoist. In the long-term operation process, damage such as wire breakage and abrasion are prone to occur. The reliability of wire rope damage detection is directly related to the safe operation of the hoisting system, so regular inspection and maintenance are required. Existing wire rope inspection robots include machine vision-based inspection methods, magnetic inspection-based inspection methods, etc. For example, the robot based on machine vision inspection method with the patent authorization number of CN201510381205.3 realizes the stable crawling of the robot on the wire rope through the driving mecha...

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Problems solved by technology

[0003] However, the above-mentioned steel wire rope detection robot faces the following problems during inspection: First, in some mines, some steel wire ropes to be tested pass through tank beams, steel beams and other components, making it difficult for climbing robots to pass directly. The wire rope detection robot lacks the ability to overcome obstacles, resulting in the neglect of detection of the rope section with obstacles in the shaft, making it difficult to conduct a comprehensive and systematic inspection of the entire root, resulting in potential safety hazards; second, due to the different mining conditions of each mine, the tested wire rope Including tail ropes and tank ropes of different diameters, the climbing robot needs to adapt to the climbing of steel wire ropes of different diameters; third, with the accumulation of years of service, the steel wire ropes under test are prone to working conditions such as broken wires and protrusions, which interfere with the stability of the robot. Climbing inspections may even cause the robot to get stuck, making it difficult to continue climbing

Fourth, the internal damage of the wire rope cannot be detected by the machine vision inspection method, and due to the influence of oil on the outer surface of the wire rope, the detection accuracy is not high

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