Auxiliary installation device and method for underground wire rope flaw detection climbing robot

Abstract

The present invention belongs to the technical field of mine hoisting equipment, and in particular, relates to an auxiliary installation device and method for an underground wire rope flaw detection climbing robot. The auxiliary installation device is characterized in that it includes a trolley, a load-bearing column, a winch lifting module and an industrial computer arranged on the trolley, an electric push rod fixed horizontally to the top of the load-bearing column, a camera, a laser ranging module, a clamping module and a guide wheel respectively arranged on the electric push rod, the winch lifting module includes a winch and a winch rope, one end of the winch rope is wound on the winch, and the other end passes through the guide wheel along the axial direction of the electric push rod to suspend the wire rope flaw detection climbing robot, a positioning handle is arranged on one side of the wire rope flaw detection climbing robot, and the camera, the laser ranging module and the clamping module are connected to the industrial computer. The present invention can reliably, safely, quickly and flexibly install the flaw detection climbing robot, shorten the maintenance time, and improve the efficiency of wire rope damage detection, and is particularly suitable for the working condition of multi-rope switching detection.

Description

Technical Field

[0001] The invention belongs to the technical field of mine hoisting equipment, and in particular relates to an auxiliary installation device and method for an underground wire rope flaw detection climbing robot. Background Art

[0002] Mine hoists are widely used in metal mines, coal and other industries. As the core component of load-bearing and counterweight, wire ropes are the "throat" of mine hoists. The reliability of wire rope damage detection is directly related to the safe operation of the hoisting system. Since mine hoists operate continuously day and night, the inspection and maintenance time is very precious, so there is an urgent need to improve the efficiency of wire rope damage detection. The wire rope of a mine hoist is mainly composed of a head rope and a tail rope. For the damage detection of the tail rope, it is necessary to use a flaw detection climbing robot inspection method. In order to improve the detection efficiency of the installation process, a fast and safe auxiliary installation device and method are required.

[0003] When using a flaw detection climbing robot for inspection, the robot needs to climb reliably and stably along the axis of the rope to be tested, and its installation faces the following problems: First, since the robot needs to carry its own detection device to perform climbing detection along the tail rope, it needs to have the functions of sensing and detecting the tail rope, clamping the tail rope, and long-distance climbing, which leads to a large weight and volume of the robot, and when the robot is suspended by a hook, the robot is prone to swing, resulting in the operator being unable to directly hold the installation, and a special auxiliary installation device is required; second, the size of the wellhead of a large mine is large, and the tail rope is in the middle of the wellhead, far away from the edge of the wellhead, requiring the installation device to have a large extension and swing space; third, the tail rope is usually multiple, especially when the tank rope is attached, the detection rope needs to be switched as quickly as possible, and the installation device needs to be able to quickly locate the tested wire rope and judge whether the robot is installed in place, so as to improve the switching efficiency. Therefore, the present invention proposes an auxiliary installation device and method for an underground wire rope flaw detection climbing robot, which is intended to reliably, safely, quickly and flexibly install the flaw detection climbing robot and assist in improving the efficiency of wire rope damage detection. Summary of the invention

[0004] The object of the present invention is to provide an auxiliary installation device and method for an underground wire rope flaw detection climbing robot, which aims to reliably and quickly install the wire rope flaw detection climbing robot, quickly locate the wire rope to be tested, reliably judge whether the wire rope flaw detection climbing robot is installed in place, and suppress the interference of the wire rope flaw detection climbing robot's swing during the suspension process on the installation, thereby improving the damage detection efficiency during multi-rope detection.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The auxiliary installation device of the underground wire rope flaw detection climbing robot of the present invention is characterized in that it includes a trolley, a load-bearing column, a winch lifting module and an industrial computer arranged on the trolley, an electric push rod fixed horizontally to the top of the load-bearing column, a camera, a laser ranging module, a clamping module and a guide wheel respectively arranged on the electric push rod, the winch lifting module includes a winch and a winch rope, the winch is arranged on the trolley, one end of the winch rope is wound on the winch, and the other end passes through the guide wheel along the axial direction of the electric push rod to suspend the wire rope flaw detection climbing robot, a positioning handle is arranged on one side of the wire rope flaw detection climbing robot, and the camera, the laser ranging module and the clamping module are connected to the industrial computer,

[0007] The electric push rod comprises a sleeve and a push rod arranged in the sleeve.

[0008] The camera is fixed on the sleeve of the electric push rod in a horizontal and transverse direction, and the lens of the camera faces the extension and retraction direction of the electric push rod.

[0009] The laser distance measuring module is fixed on the push rod of the electric push rod in a horizontal and transverse direction, and its distance measuring direction is toward the extension and retraction direction of the electric push rod.

[0010] The clamping module includes a support plate, a servo motor arranged below the support plate, and two gripper assemblies arranged above the support plate and located on both sides of the positioning handle.

[0011] Each gripper assembly includes a gear, a parallelogram linkage transmission mechanism connected to the gear, and a gripper connected to the parallelogram linkage transmission mechanism.

[0012] The two gears of the two gripper assemblies are meshed with each other and arranged symmetrically, and one of the gears is arranged coaxially with the servo motor.

[0013] The parallelogram linkage transmission mechanism includes a fixed rod, a linkage a coaxially arranged with the gear and capable of synchronous rotation, a linkage c hinged to the fixed rod, a linkage b hinged to the linkage a, the middle part of the linkage b is hinged to the linkage c, and the end of the linkage b is connected to the gripper.

[0014] The gripper includes a slide rail arranged along a horizontal transverse direction, a force sensor, a spring, an electromagnet b, a slider and an electromagnet a arranged in sequence along the horizontal transverse direction of the slide rail, the electromagnet b is embedded in the slide rail along the horizontal direction, the electromagnet a is arranged at one end of the slider along the horizontal transverse direction, and the electromagnet a is in contact with the positioning handle.

[0015] A method for using an auxiliary installation device of an underground wire rope flaw detection climbing robot, characterized by comprising the following steps:

[0016] (a) Clamping of the wire rope flaw detection climbing robot: One end of the hoisting rope is used to suspend the wire rope flaw detection climbing robot to the designated detection position through the hoist. The positioning handle of the wire rope flaw detection climbing robot faces the clamping module, and the servo motor is started. The servo motor drives the two grippers to push inward in parallel along the horizontal direction through the parallelogram connecting rod transmission mechanism composed of gears and connecting rods a, connecting rods b, connecting rods c and fixed rods, so that the two grippers gradually clamp the positioning handle until the spring detected by the two force sensors reaches the compression threshold, indicating that the electromagnet a of the gripper is tightly fitted to the positioning handle. At this time, the electromagnet b is started, and the slider is fixed on the slide rail. Then, the electromagnet a is started, and the gripper tightly grasps the wire rope flaw detection climbing robot. The wire rope flaw detection climbing robot is fixed by the clamping module, which limits the spin and swing of the wire rope flaw detection climbing robot.

[0017] (b) Positioning of the climbing robot for flaw detection of wire ropes: Start the camera to collect images toward the rope to be tested. Through target detection, the rope to be tested in the field of view is identified. Based on the characteristics of weak illumination, low contrast and high edge positioning accuracy at the wellhead, the canny operator is used to identify the edge of the rope to be tested and determine the axis position of the rope to be tested. Based on the installation position of the camera, the axis position of the electric push rod is marked in the image. The axis position of the electric push rod is compared with the axis position of the rope to be tested. The translation trolley is used to correct the position until the axis position of the rope to be tested coincides with the axis position of the electric push rod. The positioning of the climbing robot for flaw detection of wire ropes is completed.

[0018] (c) The wire rope flaw detection climbing robot is in place: the laser ranging module is started, and the distance between the laser ranging module and the rope to be measured is measured as L2. Based on the distance between the laser ranging module and the edge of the guide wheel as L1, the distance between the rope to be measured and the edge of the guide wheel is obtained by the difference method as L0=L2-L1. The electric push rod is started and the push rod is extended until L0 reaches the preset threshold. The electric push rod is closed. At this time, the distance between the wire rope flaw detection climbing robot and the rope to be measured is suitable for damage detection, thereby completing the wire rope flaw detection climbing robot in place;

[0019] (d) The wire rope flaw detection climbing robot cancels the clamping: turn off the electromagnet a and the electromagnet b, start the servo motor, and the servo motor drives the two grippers to push outward in parallel along the horizontal direction through the parallelogram linkage transmission mechanism composed of gears, connecting rods a, connecting rods b, connecting rods c and fixed rods, so that the two grippers gradually release the positioning handles, and the wire rope flaw detection climbing robot performs flaw detection autonomously;

[0020] (e) Switching of multiple ropes: When it is necessary to switch the rope to be tested, after the climbing robot completes the single rope damage detection and returns to the starting position, it re-executes step (a) to complete the clamping of the climbing robot, starts the electric push rod, pushes the rod back to the starting position, and re-executes steps (b) and (c), positioning and positioning the climbing robot again to complete the damage detection of other ropes.

[0021] Advantages of the present invention:

[0022] (1) The auxiliary installation device and method of the underground wire rope flaw detection climbing robot of the present invention can reliably, safely, quickly and flexibly install the flaw detection climbing robot, shorten the maintenance time, and improve the efficiency of wire rope damage detection, especially suitable for the working conditions of multi-rope switching detection;

[0023] (2) The auxiliary installation device and method of the underground wire rope flaw detection climbing robot of the present invention adopts image processing target edge detection to obtain the relative position of the wire rope and quickly locate the wire rope to be tested. The edge detection algorithm adopts the canny operator to adapt to the characteristics of weak light, low contrast and high edge positioning accuracy at the wellhead. The position is corrected by comparing the position of the wire rope axis with the position of the electric push rod axis. After the correction is completed, the electric push rod propels the direction of the wire rope. It has high accuracy, is convenient and fast, and avoids the defects of repeated adjustment and inaccuracy caused by manual positioning;

[0024] (3) The auxiliary installation device and method of the underground wire rope flaw detection climbing robot of the present invention adopts a laser ranging module to measure the distance between the wire rope flaw detection climbing robot and the wire rope in real time by the difference method, and reliably judges whether the wire rope flaw detection climbing robot is installed in place. When the real-time distance reaches a preset threshold, it means that the wire rope flaw detection climbing robot has been installed in place, and the electric push rod stops advancing, so that there is a clear instruction limit when the electric push rod is extended, with high precision and convenient operation, avoiding the problems of low precision and low efficiency caused by manual observation of the installation;

[0025] (4) The auxiliary installation device and method of the underground wire rope flaw detection climbing robot of the present invention adopts a clamping module to fix the wire rope flaw detection climbing robot, thereby avoiding the swing and rotation of the wire rope flaw detection climbing robot caused by inertia and other factors during the installation process, and ensuring that the clamping direction of the wire rope flaw detection climbing robot is always consistent with the propulsion direction of the electric push rod;

[0026] (5) The auxiliary installation device and method of the underground wire rope flaw detection climbing robot of the present invention adopts a double parallelogram linkage mechanism for the transmission of the clamping module, so that the two grippers grasp inward in parallel. The grippers contain a spring slider mechanism and a force sensor, which not only solves the problem that the two grippers reach the handle of the wire rope flaw detection climbing robot at different times due to small errors, but also ensures that the two grippers fit closely with the handle of the wire rope flaw detection climbing robot according to the data transmitted by the force sensor, thereby achieving reliable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention.

[0028] Figure 2 It is a structural schematic diagram of the clamping module of the present invention.

[0029] Figure 3 This is a schematic diagram of the difference distance measurement of the laser distance measurement module of the present invention.

[0030] Figure 4 It is a schematic diagram of the camera image centering principle of the present invention.

[0031] Figure 5 The figure is a flow chart of the method for using the present invention. DETAILED DESCRIPTION

[0032] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0033] like Figure 1-5 As shown, the auxiliary installation device of the underground wire rope flaw detection climbing robot of the present invention is characterized in that it includes a trolley 2, a load-bearing column 4, a winch lifting module 1 and an industrial computer 3 arranged on the trolley 2, an electric push rod 5 fixed horizontally to the top of the load-bearing column 4, a camera 6, a laser ranging module 7, a clamping module 8 and a guide wheel 10 respectively arranged on the electric push rod 5, the winch lifting module 1 includes a winch 1-a and a winch rope 1-b, the winch 1-a is arranged on the trolley 2, one end of the winch rope 1-b is wound on the winch 1-a, and the other end passes through the guide wheel 10 axially along the electric push rod 5 to suspend the wire rope flaw detection climbing robot 11, a positioning handle 9 is arranged on one side of the wire rope flaw detection climbing robot 11, the camera 6, the laser ranging module 7 and the clamping module 8 are connected to the industrial computer 3,

[0034] The electric push rod 5 includes a sleeve 5-b and a push rod 5-a arranged in the sleeve 5-b.

[0035] The camera 6 is fixed on the sleeve 5 - b of the electric push rod 5 in a horizontal and transverse direction, and its lens faces the extension and retraction direction of the electric push rod 5 .

[0036] The laser distance measuring module 7 is fixed on the push rod 5 - a of the electric push rod 5 in a horizontal and transverse direction, and its distance measuring direction is toward the extension and retraction direction of the electric push rod 5 .

[0037] The clamping module 8 includes a support plate 807, a servo motor 808 disposed below the support plate 807, and two gripper assemblies disposed above the support plate 807 and located on both sides of the positioning handle 9.

[0038] Each gripper assembly includes a gear 806, a parallelogram linkage transmission mechanism connected to the gear 806, and a gripper 805 connected to the parallelogram linkage transmission mechanism.

[0039] The two gears 806 of the two gripper assemblies are meshed with each other and arranged symmetrically, and one of the gears 806 is arranged coaxially with the servo motor 808 .

[0040] The parallelogram linkage transmission mechanism includes a fixed rod 803, a connecting rod a801 which is coaxially arranged with the gear 806 and can rotate synchronously, a connecting rod c804 hinged to the fixed rod 803, a connecting rod b802 hinged to the connecting rod a801, the middle part of the connecting rod b802 is hinged to the connecting rod c804, and the end of the connecting rod b802 is connected to the gripper 805.

[0041] The gripper 805 includes a slide rail 851 arranged horizontally, a force sensor 853, a spring 852, an electromagnet b856, a slider 854 and an electromagnet a855 arranged in sequence horizontally along the slide rail 851, the electromagnet b856 is embedded in the slide rail 851 along the horizontal direction, the electromagnet a855 is arranged at one end of the slider 854 along the horizontal direction, and the electromagnet a855 is in contact with the positioning handle 9.

[0042] The following is a further description of an embodiment of the present invention in conjunction with the accompanying drawings: it is mainly composed of a winch and lifting module 1, a trolley 2, an industrial computer 3, a load-bearing column 4, an electric push rod 5, a camera 6, a laser ranging module 7, a clamping module 8 and a guide wheel 10, wherein the winch and lifting module 1 is mainly composed of a winch 1-a and a winch rope 1-b; the bottom end of the load-bearing column 4 is fixed to the trolley 2 in the vertical direction; the electric push rod 5 is fixed to the top of the load-bearing column 4 in the horizontal direction; the winch 1-a is arranged on the trolley 2, one end of the winch rope 1-b is wound on the winch 1-a, and the other end of the winch rope 1-b is suspended along the axial direction of the electric push rod 5 through the guide wheel 10 A wire rope flaw detection climbing robot 11, a positioning handle 9 is arranged on one side of the wire rope flaw detection climbing robot 11; an industrial computer 3 is arranged on the upper surface of the trolley 2, and a camera 6, a laser ranging module 7 and a clamping module 8 are connected to the industrial computer 3; the camera 6 is fixed on the sleeve 5-b of the electric push rod 5 along the horizontal lateral direction, and its lens faces the telescopic direction of the electric push rod 5; the laser ranging module 7 is fixed on the push rod 5-a of the electric push rod 5 along the horizontal lateral direction, and its ranging direction faces the telescopic direction of the electric push rod 5; the clamping module 8 includes a support plate 807, a connecting rod a801, a connecting rod b802, a connecting rod c804, a fixing rod 803, a gripper 805, gear 806, servo motor 808; one end of the fixed rod 803 is set on the support plate 807 through a pin; the connecting rod a801, the connecting rod b802, the connecting rod c804 and the fixed rod 803 constitute a parallelogram connecting rod transmission mechanism, one end of the connecting rod a801 is coaxially arranged with the gear 806 and can rotate synchronously, and one end of the connecting rod b802 is horizontally arranged with a gripper 805; the two gears 806 are meshed with each other and arranged symmetrically, and one of the gears 806 is coaxially arranged with the servo motor 808; the gripper 805 includes a slide rail 851, a spring 852, a force sensor 853, a slider 854, an electromagnet a855 and an electromagnetic Iron b856, the components are symmetrically arranged, the slide rail 851 is arranged along the horizontal transverse direction, and the force sensor 853, spring 852, electromagnet b856, slider 854 and electromagnet a855 are arranged in sequence along the horizontal transverse direction on the slide rail 851. The electromagnet b856 is embedded in the slide rail 851 along the horizontal direction, and is used to adsorb the slider 854 along the vertical direction. The electromagnet a855 is arranged at one end of the slider 854 along the horizontal transverse direction, and is used to adsorb the positioning handle 9 along the horizontal transverse direction. The force sensor 853 is arranged at one end of the spring 852, and the compression amount of the spring 852 is characterized by pressure detection, which is used to determine whether the electromagnet a855 of the gripper 805 is tightly fitted with the positioning handle 9.

[0043] A method for using an auxiliary installation device of an underground wire rope flaw detection climbing robot, characterized by comprising the following steps:

[0044] (a) Clamping of the wire rope flaw detection climbing robot: One end of the hoisting rope 1-b suspends the wire rope flaw detection climbing robot 11 to the designated detection position through the hoisting machine 1-a. The positioning handle 9 of the wire rope flaw detection climbing robot 11 faces the clamping module 8 and starts the servo motor 808. The servo motor 808 drives the two grippers 805 to push inward in parallel along the horizontal direction through the parallelogram connecting rod transmission mechanism composed of the gear 806 and the connecting rod a801, the connecting rod b802, the connecting rod c804 and the fixed rod 803, so that the two grippers 805 gradually clamps the positioning handle 9 until the spring 852 detected by the two force sensors 853 reaches the compression threshold, indicating that the electromagnet a855 of the gripper 805 is tightly fitted to the positioning handle 9. At this time, the electromagnet b856 is started, and the slider 854 is fixed on the slide rail 851. Then, the electromagnet a855 is started, and the gripper 805 tightly grasps the wire rope flaw detection climbing robot. The wire rope flaw detection climbing robot 11 is fixed by the clamping module 8, which limits the spin and swing of the wire rope flaw detection climbing robot 11.

[0045] (b) Positioning of the climbing robot for flaw detection of wire ropes: Start the camera 6 to collect images toward the rope 12 to be tested, identify the rope 12 to be tested in the field of view through target detection, and use the canny operator to identify the edge of the rope 12 to be tested based on the characteristics of weak illumination, low contrast and high edge positioning accuracy required at the wellhead, and determine the axis position of the rope 12 to be tested. Based on the installation position of the camera 6, mark the axis position of the electric push rod 5 in the image, compare the axis position of the electric push rod 5 with the axis position of the rope 12 to be tested, and perform position correction on the translation trolley 2 until the axis position of the rope 12 to be tested coincides with the axis position of the electric push rod 5, thus completing the positioning of the climbing robot 11 for flaw detection of wire ropes;

[0046] (c) The steel wire rope flaw detection climbing robot is in place: the laser ranging module 7 is started, and the distance between the laser ranging module 7 and the measured rope 12 is measured as L2. Based on the distance between the laser ranging module 7 and the edge of the guide wheel 10 as L1, the distance between the measured rope 12 and the edge of the guide wheel 10 is obtained by the difference method as L0=L2-L1, and the electric push rod 5 is started, and the push rod 5-a is extended until L0 reaches the preset threshold value, and then the electric push rod 5 is closed. At this time, the distance between the steel wire rope flaw detection climbing robot 11 and the measured rope 12 is suitable for damage detection, thereby completing the steel wire rope flaw detection climbing robot 11 in place;

[0047] (d) The wire rope flaw detection climbing robot cancels the clamping: the electromagnet a855 and the electromagnet b856 are turned off, and the servo motor 808 is started. The servo motor 808 drives the two grippers 805 to push outward in parallel along the horizontal lateral direction through the parallelogram connecting rod transmission mechanism formed by the gear 806 and the connecting rods a801, b802, c804 and the fixed rod 803, so that the two grippers 805 gradually release the positioning handles 9, and the wire rope flaw detection climbing robot 11 performs flaw detection autonomously;

[0048] (e) Switching of multiple ropes: When it is necessary to switch the rope 12 to be tested, after the climbing robot 11 completes the single rope damage detection and returns to the starting position, it re-executes step (a) to complete the clamping of the climbing robot 11, starts the electric push rod 5, pushes the rod 5-a back to the starting position, re-executes step (b) and step (c), and positions and puts the climbing robot 11 in place again to complete the damage detection of other ropes.

[0049] The auxiliary installation device and method of the underground wire rope flaw detection climbing robot of the present invention can reliably, safely, quickly and flexibly install the flaw detection climbing robot 11, shorten the maintenance time, and improve the efficiency of wire rope damage detection, especially suitable for the working condition of multi-rope switching detection; the image processing target edge detection is adopted to obtain the relative position of the wire rope, and the tested wire rope 12 is quickly located. The edge detection algorithm adopts the canny operator to adapt to the characteristics of weak light, low contrast and high edge positioning accuracy at the wellhead. The position correction is performed by comparing the axial position of the wire rope with the axial position of the electric push rod 5. After the correction is completed, the propulsion direction of the electric push rod 5 is directly facing the wire rope, which has high accuracy, is convenient and fast, and avoids the defects of repeated adjustment and inaccuracy caused by manual positioning; the laser ranging module 7 is adopted to measure the distance between the wire rope flaw detection climbing robot 11 and the wire rope in real time by the difference method, so as to reliably judge whether the wire rope flaw detection climbing robot 11 is installed in place. When the real-time distance reaches the preset threshold, it means that the wire rope is The rope flaw detection climbing robot 11 has been in place, and the electric push rod 5 stops advancing, so that there is a clear command limit when the electric push rod 5 is extended, with high precision and convenient operation, avoiding the problems of low precision and low efficiency caused by manual observation in place; the clamping module 8 is used to fix the wire rope flaw detection climbing robot 11, avoiding the swing and rotation of the wire rope flaw detection climbing robot 11 caused by inertia and other factors during the installation process, ensuring that the clamping direction of the wire rope flaw detection climbing robot 11 is always consistent with the advancement direction of the electric push rod 5; the clamping module 8 transmission adopts a double parallelogram connecting rod mechanism, so that the two grippers 805 grasp inward in parallel, and the gripper 805 includes a spring slider mechanism and a force sensor 853, which not only solves the problem that the two grippers 805 do not reach the positioning handle 9 of the wire rope flaw detection climbing robot at the same time due to small errors, but also can ensure that the two grippers 805 are closely fitted with the positioning handle 9 of the wire rope flaw detection climbing robot according to the data transmitted by the force sensor 853, so as to achieve reliable clamping.

Claims

1. An auxiliary installation device for an underground wire rope flaw detection climbing robot, characterized in that It includes a trolley, a load-bearing column, a winch lifting module and an industrial computer arranged on the trolley, an electric push rod fixed horizontally on the top of the load-bearing column, a camera, a laser ranging module, a clamping module and a guide wheel respectively arranged on the electric push rod, the winch lifting module includes a winch and a winch rope, the winch is arranged on the trolley, one end of the winch rope is wound on the winch, and the other end passes through the guide wheel along the axial direction of the electric push rod to suspend the wire rope flaw detection climbing robot, a positioning handle is arranged on one side of the wire rope flaw detection climbing robot, the camera, the laser ranging module and the clamping module are connected to the industrial computer, The electric push rod includes a sleeve, a push rod arranged in the sleeve, The camera is fixed horizontally on the sleeve of the electric push rod, with its lens facing the extension direction of the electric push rod. The laser distance measuring module is fixed on the push rod of the electric push rod in a horizontal direction, and its distance measuring direction is toward the extension direction of the electric push rod. The clamping module includes a support plate, a servo motor arranged below the support plate, and two gripper assemblies arranged above the support plate and located on both sides of the positioning handle. Each gripper assembly includes a gear, a parallelogram linkage transmission mechanism connected to the gear, and a gripper connected to the parallelogram linkage transmission mechanism. The two gears of the two gripper assemblies are meshed with each other and arranged symmetrically, and one of the gears is arranged coaxially with the servo motor. The parallelogram linkage transmission mechanism includes a fixed rod, a linkage a coaxially arranged with the gear and capable of synchronous rotation, a linkage c hinged to the fixed rod, a linkage b hinged to the linkage a, the middle part of the linkage b is hinged to the linkage c, and the end of the linkage b is connected to the gripper.

2. The auxiliary installation device of the underground wire rope flaw detection climbing robot according to claim 1 is characterized in that The gripper includes a slide rail arranged along a horizontal transverse direction, a force sensor, a spring, an electromagnet b, a slider and an electromagnet a arranged in sequence along the horizontal transverse direction of the slide rail, the electromagnet b is embedded in the slide rail along the horizontal direction, the electromagnet a is arranged at one end of the slider along the horizontal transverse direction, and the electromagnet a is in contact with the positioning handle.

3. A method for using the auxiliary installation device of the underground wire rope flaw detection climbing robot based on claim 2, characterized in that The steps include: (a) Clamping of the wire rope flaw detection climbing robot: One end of the hoisting rope is used to suspend the wire rope flaw detection climbing robot to the designated detection position through the hoist. The positioning handle of the wire rope flaw detection climbing robot faces the clamping module, and the servo motor is started. The servo motor drives the two grippers to push inward in parallel along the horizontal direction through the parallelogram connecting rod transmission mechanism composed of gears and connecting rods a, connecting rods b, connecting rods c and fixed rods, so that the two grippers gradually clamp the positioning handle until the spring detected by the two force sensors reaches the compression threshold, indicating that the electromagnet a of the gripper is tightly fitted to the positioning handle. At this time, the electromagnet b is started, and the slider is fixed on the slide rail. Then, the electromagnet a is started, and the gripper tightly grasps the wire rope flaw detection climbing robot. The wire rope flaw detection climbing robot is fixed by the clamping module, which limits the spin and swing of the wire rope flaw detection climbing robot. (b) Positioning of the climbing robot for flaw detection of wire ropes: Start the camera to collect images toward the rope to be tested. Through target detection, the rope to be tested in the field of view is identified. Based on the characteristics of weak illumination, low contrast and high edge positioning accuracy at the wellhead, the canny operator is used to identify the edge of the rope to be tested and determine the axis position of the rope to be tested. Based on the installation position of the camera, the axis position of the electric push rod is marked in the image. The axis position of the electric push rod is compared with the axis position of the rope to be tested. The translation trolley is used to correct the position until the axis position of the rope to be tested coincides with the axis position of the electric push rod. The positioning of the climbing robot for flaw detection of wire ropes is completed. (c) The wire rope flaw detection climbing robot is in place: the laser ranging module is started, and the distance between the laser ranging module and the rope to be measured is measured as L2. Based on the distance between the laser ranging module and the edge of the guide wheel as L1, the distance between the rope to be measured and the edge of the guide wheel is obtained by the difference method as L0=L2-L1. The electric push rod is started and the push rod is extended until L0 reaches the preset threshold. The electric push rod is closed. At this time, the distance between the wire rope flaw detection climbing robot and the rope to be measured is suitable for damage detection, thereby completing the wire rope flaw detection climbing robot in place; (d) The wire rope flaw detection climbing robot cancels the clamping: turn off the electromagnet a and the electromagnet b, start the servo motor, and the servo motor drives the two grippers to push outward in parallel along the horizontal direction through the parallelogram linkage transmission mechanism composed of gears, connecting rods a, connecting rods b, connecting rods c and fixed rods, so that the two grippers gradually release the positioning handles, and the wire rope flaw detection climbing robot performs flaw detection autonomously; (e) Switching of multiple ropes: When it is necessary to switch the rope to be tested, after the climbing robot completes the single rope damage detection and returns to the starting position, it re-executes step (a) to complete the clamping of the climbing robot, starts the electric push rod, pushes the rod back to the starting position, and re-executes steps (b) and (c), positioning and positioning the climbing robot again to complete the damage detection of other ropes.

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