Obstacle-crossing hoist wire rope detection robot and obstacle-crossing method

Abstract

The present invention belongs to the technical field of non-destructive testing of wire ropes of mine hoisting equipment, and in particular, relates to an obstacle-crossing hoist wire rope testing robot and an obstacle-crossing method, wherein the obstacle-crossing hoist wire rope testing robot is characterized by comprising an upper frame, a lower frame, a wire rope running through the middle of the upper frame and the lower frame, a wire rope magnetizer arranged on the upper frame, a wire rope flaw detector arranged on the lower frame, a visual module, an obstacle-crossing device, an electromagnetic locking device, a frame, a connecting bolt and an adjusting tensioning device respectively arranged on the upper frame and the lower frame. The present invention enables the flaw detection climbing robot to cross obstacles such as tank beams and steel beams, effectively solves the problem that the rope segments with obstacles are difficult to detect, and is conducive to comprehensive and systematic detection of the entire wire rope; the upper frame and the lower frame are used to alternately clamp the wire rope, a slewing mechanism is used for posture correction, and the hub motor drives the body to achieve efficient and reliable obstacle crossing.

Description

Technical Field

[0001] The invention belongs to the technical field of nondestructive detection of steel wire ropes for mine hoisting equipment, and in particular relates to an obstacle-crossing hoist steel wire rope detection robot and an obstacle-crossing method. Background Art

[0002] As the core component of load-bearing and counterweight, the wire rope is the "throat" of the mine hoist. In the long-term operation process, wire breakage, wear and other damages 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 detection robots include those based on machine vision detection methods, magnetic detection, etc., such as the robot based on machine vision detection method with patent authorization number CN201510381205.3, which realizes the stable crawling of the robot on the wire rope through the driving mechanism and the clamping mechanism, and realizes the full-angle image acquisition of wire rope damage by carrying a mobile trolley, an intrinsically safe camera and a pan-tilt head. For example, the wheeled wire rope detection robot with patent authorization number CN202994776U realizes the stable crawling of the robot on the wire rope through the roller walking mechanism and the tensioning mechanism, and realizes the damage detection of the wire rope by carrying a sensor. For example, the magnetic adsorption track detection robot with patent application number CN202110249464.6 realizes the stable crawling of the robot on the wire rope and the magnetization of the wire rope through a magnetic track mechanism and tensioning mechanism, and is equipped with a leakage magnetic detection sensor to detect wire rope damage.

[0003] However, the above-mentioned wire rope detection robots face the following problems during inspections: First, in some mines, some of the tested wire ropes pass through components such as tankway beams and steel beams, making it difficult for climbing robots to pass directly, and the existing wire rope detection robots lack the ability to overcome obstacles, resulting in the lack of detection of rope segments with obstacles in the shaft, making it difficult to conduct comprehensive and systematic inspections of the entire rope, causing safety hazards; Second, due to the different mining conditions of each mine, the tested wire ropes include tail ropes and tankway ropes of different diameters, resulting in the need for climbing robots to adapt to climbing wire ropes of different diameters; Third, with the accumulation of years of service, the tested wire ropes are prone to broken wires and protrusions, interfering with the robot's stable climbing inspection, and even causing the robot to get stuck and difficult to continue climbing. Fourth, the machine vision detection method cannot detect internal damage to the wire rope, and due to the influence of oil stains on the outer surface of the wire rope, the detection accuracy is not high. Therefore, the present invention proposes an obstacle-crossing hoist wire rope inspection robot and an obstacle-crossing method, aiming to enable the flaw detection climbing robot to have a certain obstacle-crossing capability, to be able to climb steadily and reliably along the axial direction of the wire rope being tested and to realize non-destructive inspection of the inside and outside of the wire rope. Summary of the invention

[0004] The purpose of the present invention is to propose an obstacle-crossing hoist wire rope inspection robot and an obstacle-crossing method, so that the flaw detection climbing robot has a certain obstacle-crossing ability, can autonomously identify and cross obstacles, adapt to climbing wire ropes of different diameters, and can smoothly cross broken wire protrusions, thereby efficiently, accurately, comprehensively and systematically detecting the entire wire rope.

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

[0006] The obstacle-crossing hoist wire rope inspection robot of the present invention is characterized in that it includes an upper frame, a lower frame connected to the upper frame by a connecting rod, a wire rope running through the middle of the upper frame and the lower frame, a wire rope magnetizer arranged on the upper frame, a wire rope flaw detector arranged on the lower frame, a visual module, an obstacle-crossing device, an electromagnetic locking device, a connecting bolt and an adjusting tensioning device respectively arranged on the upper frame and the lower frame,

[0007] The upper frame and the lower frame are opened and closed by an electromagnetic lock device, the left half and the right half of the upper frame are respectively fixedly connected to the left half and the right half of the wire rope magnetizer sleeve by connecting bolts, and the left half and the right half of the lower frame are respectively fixedly connected to the left half and the right half of the wire rope flaw detector sleeve by connecting bolts.

[0008] The obstacle crossing device includes a rotating motor fixed to the upper frame and the lower frame end cover by bolts, a rotating gear connected to the output shaft of the rotating motor, a hollow rotating platform whose internal gear meshes with the rotating gear, a hollow rotating platform track fixed to the upper frame and the lower frame end cover, a moving motor and a moving platform track arranged on the hollow rotating platform, a ball screw device connected to the moving motor through a bearing seat, and a moving platform connected to the ball screw device.

[0009] The hollow rotating platform rotates along the hollow rotating platform track.

[0010] The mobile platform slides along the mobile platform track.

[0011] The adjusting and tensioning device comprises an adjusting and tensioning motor, an adjusting and tensioning gear connected to the adjusting and tensioning motor, an adjusting device piston chamber fixedly connected to the upper frame and the lower frame, an adjusting device arranged in the adjusting device piston chamber and slidably connected to the adjusting device piston chamber, a rack and a tensioning device piston chamber fixedly connected to the adjusting device, a tensioning device at one end arranged in the tensioning device piston chamber and slidably connected to the tensioning device piston chamber, a tensioning spring arranged between the tensioning device piston chamber and the tensioning device, a roller shaft and a roller device arranged at the other end of the tensioning device,

[0012] The adjusting and tensioning gear is meshed with the rack.

[0013] There are six connecting rods.

[0014] The upper frame and the lower frame are provided with a tensioning motor carrying platform, a battery carrying platform and a wireless communication carrying platform.

[0015] The roller shaft is connected to the hub motor.

[0016] An obstacle-crossing method based on an obstacle-crossing hoist wire rope detection robot is characterized in that the specific steps include:

[0017] (1) Inspection without obstacles: When there are no obstacles in the direction of the robot's movement, the robot can hold the steel wire ropes of different diameters by adjusting the adjustment device and the tensioning device in the tensioning device. The hub motor provides power to achieve stable crawling of the robot on the steel wire rope. The steel wire rope magnetizer is used to magnetize the steel wire rope, and the steel wire rope flaw detector is used to detect damage to the steel wire rope.

[0018] (2) Obstacle recognition: When the vision module detects an obstacle in front of the crawler, the wheel hub motor is stopped, and the narrowest and widest spanning distances of the obstacle are visually detected. By comparing with the preset maximum spanning distance, if the preset maximum spanning distance is smaller than the narrowest spanning distance, it is determined that the obstacle cannot be crossed, and the wheel hub motor rotates and returns along the original path; if the preset maximum spanning distance is between the narrowest spanning distance and the widest spanning distance, it is determined to be an obstacle adjustment, and the posture correction is performed first to adjust to the appropriate spanning path, and then the obstacle is crossed; if the preset maximum spanning distance is larger than the widest spanning distance, the obstacle is crossed;

[0019] (3) Posture correction: When it is determined to be an obstacle crossing adjustment, posture correction is performed first. The adjustment and tensioning motor of the lower frame is started, so that the roller device of the adjustment and tensioning device extends forward, and the pre-tensioning of the roller device and the wire rope is increased. The electromagnetic lock device of the upper frame is opened, and the moving motor of the lower frame is started to make the moving platform of the lower frame move outward along the moving platform track, and the left and right halves of the upper frame are driven to move outward through the connecting rod; the rotation motor of the lower frame is started to rotate the moving platform of the lower frame to a suitable crossing angle; the moving motor of the lower frame is started to make the moving platform of the lower frame move inward along the moving platform track, and the left and right halves of the upper frame are driven to move inward through the connecting rod, and the electromagnetic lock device of the upper frame is closed. The adjustment and tensioning motor of the upper frame is started to increase the pre-tensioning of the roller device and the wire rope, and the opening and closing line of the upper frame is adjusted. The lower frame is then moved to a suitable spanning angle; the rotating motor of the lower frame is started to rotate the moving platform of the lower frame to an initial state; the adjusting and tensioning motor of the lower frame is started to reduce the pre-tensioning of the roller device and the steel wire rope, the electromagnetic locking device of the lower frame is opened, and the moving motor of the upper frame is started to move the moving platform of the upper frame outward along the moving platform track, and the left and right halves of the lower frame are driven to move outward through the connecting rod; the rotating motor of the upper frame is started to rotate the moving platform of the upper frame to a suitable spanning angle; the moving motor of the upper frame is started to move the moving platform of the upper frame inward along the moving platform track, the electromagnetic locking device of the lower frame is closed, and the adjusting and tensioning motor of the lower frame is started to increase the pre-tensioning of the roller device and the steel wire rope, so that the opening and closing line of the lower frame is adjusted to a suitable spanning angle, and the posture correction of the upper and lower frames is completed;

[0020] (4) Obstacle crossing: When the robot completes posture correction, or the preset maximum crossing distance is greater than the widest crossing distance, it starts to cross obstacles; start the adjustment and tensioning motor of the upper frame, reduce the pre-tensioning of the roller device and the wire rope, open the electromagnetic lock device of the upper frame, start the moving motor of the lower frame, and make the moving platform of the lower frame move outward along the moving platform track, and drive the left and right halves of the upper frame to move outward through six connecting rods; start the hub motor of the lower frame, start the climbing wire rope of the lower frame, and make the upper frame cross the obstacle; after the upper frame crosses the obstacle, stop the hub motor of the lower frame, start the moving motor of the lower frame, and make the moving platform of the lower frame move inward along the moving platform track. The electromagnetic lock device of the upper frame is closed, and the adjustment and tensioning motor of the upper frame is started to rotate forward, increase the roller device and the pre-tensioning of the wire rope; start the adjusting and tensioning motor of the lower frame, reduce the pre-tensioning of the roller device and the wire rope, open the electromagnetic locking device of the lower frame, start the moving motor of the upper frame, make the moving platform of the upper frame move outward along the moving platform track, drive the left and right halves of the lower frame to move outward through the six connecting rods, start the hub motor of the upper frame, and make the lower frame cross the obstacle; after the lower frame crosses the obstacle, stop the hub motor of the upper frame, start the moving motor of the upper frame, make the moving platform of the upper frame move inward along the moving platform track, drive the left and right halves of the lower frame to move inward through the six connecting rods, close the electromagnetic locking device of the lower frame, start the adjusting and tensioning motor of the lower frame, increase the pre-tensioning of the roller device and the wire rope, the obstacle crossing is completed, and the flaw detection climbing robot continues to crawl normally.

[0021] Advantages of the present invention:

[0022] (1) The obstacle-crossing hoist wire rope inspection robot and obstacle-crossing method of the present invention can enable the flaw detection climbing robot to cross obstacles such as tankway beams and steel beams, effectively solving the problem of difficult inspection of rope segments with obstacles, and facilitating comprehensive and systematic inspection of the entire wire rope;

[0023] (2) The obstacle-crossing hoist wire rope inspection robot and obstacle-crossing method of the present invention adopts a split layout, uses the upper frame and the lower frame to alternately clamp the wire rope, uses a rotary mechanism to correct the posture, and drives the body through the hub motor to achieve efficient and reliable obstacle crossing;

[0024] (3) The present invention provides an obstacle-crossing hoist wire rope inspection robot and obstacle-crossing method. The tensioning adjustment device enables the climbing robot to adapt to wire ropes of different diameters by means of multi-axis synchronous centripetal clamping, making the robot more versatile. The flexible expansion and contraction of the tensioning spring enables the robot to have a certain ability to overcome obstacles caused by broken wires and protrusions of the wire rope.

[0025] (4) The obstacle-crossing hoist wire rope inspection robot and obstacle-crossing method of the present invention use machine vision to determine whether there is an obstacle ahead, whether the obstacle can be crossed, and select the optimal crossing path according to the cross-sectional shape of the obstacle. It can autonomously rotate to adjust the obstacle crossing and direct obstacle crossing, effectively helping the flaw detection climbing robot to detect the situation of the obstacle ahead and make a decision;

[0026] (5) The obstacle-crossing hoist wire rope inspection robot and obstacle-crossing method of the present invention adopts a hub motor in the roller device, which saves the internal space of the climbing robot, thereby reducing the volume of the entire robot and improving the crawling adaptability of the robot in narrow underground space;

[0027] (6) The obstacle-crossing hoist wire rope inspection robot and obstacle-crossing method of the present invention are based on the weak magnetic principle detection, which can not only detect damage to the wire rope inside and outside the wire rope, but also greatly reduce the overall mass of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention.

[0029] Figure 2 It is a layout diagram of the adjusting tensioning device of the present invention.

[0030] Figure 3 It is a schematic structural diagram of the obstacle crossing device of the present invention.

[0031] Figure 4 It is a schematic structural diagram of the adjusting tensioning device of the present invention.

[0032] Figure 5 For the present invention Figure 4 sectional view of .

[0033] Figure 6-Figure 17 Schematic diagram of different obstacle crossing processes according to an embodiment of the present invention.

[0034] Fig.18 It is the obstacle surmounting flow chart of the present invention. DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0036] like Figure 1-18As shown, the obstacle-crossing hoist wire rope detection robot of the present invention is characterized in that it includes an upper frame 4, a lower frame 16 connected to the upper frame 4 through a connecting rod 8, a wire rope 7 running through the middle of the upper frame 4 and the lower frame 16, a wire rope magnetizer 5 arranged on the upper frame 4, a wire rope flaw detector 10 arranged on the lower frame 16, a visual module 1, an obstacle-crossing device 2, an electromagnetic locking device 3, a connecting bolt 6 and an adjusting tensioning device 9 respectively arranged on the upper frame 4 and the lower frame 16,

[0037] The upper frame 4 and the lower frame 16 are opened and closed by an electromagnetic lock device 3. The left half and the right half of the upper frame 4 are respectively fixedly connected to the left half and the right half of the sleeve of the wire rope magnetizer 5 by connecting bolts 6, and the left half and the right half of the lower frame 16 are respectively fixedly connected to the left half and the right half of the sleeve of the wire rope flaw detector 10 by connecting bolts 6.

[0038] The obstacle crossing device 2 includes a rotating motor 204 fixed to the end covers of the upper frame 4 and the lower frame 16 by bolts, a rotating gear 205 connected to the output shaft of the rotating motor 204, a hollow rotating platform 202 whose internal gear meshes with the rotating gear 205, a hollow rotating platform track 206 fixed to the end covers of the upper frame 4 and the lower frame 16, a moving motor 203 and a moving platform track 207 arranged on the hollow rotating platform 202, a ball screw device 209 connected to the moving motor 203 through a bearing seat 208, and a moving platform 201 connected to the ball screw device 209.

[0039] The hollow rotating platform 202 rotates along the hollow rotating platform track 206.

[0040] The mobile platform 201 slides along the mobile platform track 207.

[0041] The adjusting and tensioning device 9 includes an adjusting and tensioning motor 14, an adjusting and tensioning gear 13 connected to the adjusting and tensioning motor 14, an adjusting device piston chamber 901 fixedly connected to the upper frame 4 and the lower frame 16, an adjusting device 905 arranged in the adjusting device piston chamber 901 and slidably connected to the adjusting device piston chamber 901, a rack 902 and a tensioning device piston chamber 906 fixedly connected to the adjusting device 905, a tensioning device 904 with one end arranged in the tensioning device piston chamber 906 and slidably connected to the tensioning device piston chamber 906, a tensioning spring 903 arranged between the tensioning device piston chamber 906 and the tensioning device 904, a roller shaft 908 and a roller device 907 arranged at the other end of the tensioning device 904,

[0042] The adjusting and tensioning gear 13 is meshed with the rack 902 .

[0043] There are six connecting rods 8 .

[0044] The upper frame 4 and the lower frame 16 are provided with a tensioning motor carrying platform 11 , a battery carrying platform 12 and a wireless communication carrying platform 15 .

[0045] The roller shaft 908 is connected to the hub motor 909 .

[0046] An obstacle-crossing method based on an obstacle-crossing hoist wire rope detection robot is characterized in that the specific steps include:

[0047] (1) Inspection without obstacles: When there are no obstacles in the direction of the robot's movement, the adjusting device 905 and the tensioning device 904 in the tensioning device 9 are adjusted to hold the steel wire ropes 7 of different diameters tightly. The hub motor 909 provides power to achieve stable crawling of the robot on the steel wire rope 7. The steel wire rope magnetizer 5 is used to magnetize the steel wire rope 7. The steel wire rope flaw detector 10 is used to detect damage to the steel wire rope 7.

[0048] (2) Obstacle recognition: When the visual module 1 detects an obstacle in front of the crawling, the wheel hub motor 909 is stopped, and the narrowest and widest spanning distances of the obstacle are visually detected. By comparing with the preset maximum spanning distance, if the preset maximum spanning distance is smaller than the narrowest spanning distance, it is determined that the obstacle cannot be crossed, and the wheel hub motor 909 rotates and returns along the original path; if the preset maximum spanning distance is between the narrowest spanning distance and the widest spanning distance, it is determined that the obstacle is adjusted, and the posture correction is performed first to adjust to the appropriate spanning path, and then the obstacle is crossed; if the preset maximum spanning distance is larger than the widest spanning distance, the obstacle is crossed;

[0049] (3) Posture correction: When it is determined that the adjustment is overcoming the obstacle, the posture correction is performed first. The adjustment tensioning motor 14 of the lower frame 16 is started, so that the roller device 907 of the adjustment tensioning device 9 extends forward, increasing the pre-tightening of the roller device 907 and the wire rope 7. The electromagnetic lock device 3 of the upper frame 4 is opened, and the moving motor 203 of the lower frame 16 is started, so that the moving platform 201 of the lower frame 16 moves outward along the moving platform track 207, and the left and right halves of the upper frame 4 are driven to move outward through the connecting rod 8; the lower frame is started. The rotating motor 204 of the lower frame 16 rotates the mobile platform 201 of the lower frame 16 to a suitable spanning angle; the mobile motor 203 of the lower frame 16 is started to move the mobile platform 201 of the lower frame 16 inward along the mobile platform track 207, and the left and right halves of the upper frame 4 are driven to move inward through the connecting rod 8, the electromagnetic lock device 3 of the upper frame 4 is closed, and the adjustment tensioning motor 14 of the upper frame 4 is started to increase the pre-tightening of the roller device 907 and the wire rope 7, and the opening and closing line of the upper frame 4 is adjusted to a suitable The rotation motor 204 of the lower frame 16 is started to rotate the mobile platform 201 of the lower frame 16 to the initial state; the adjustment tensioning motor 14 of the lower frame 16 is started to reduce the pre-tightening of the roller device 907 and the wire rope 7, open the electromagnetic lock device 3 of the lower frame 16, start the mobile motor 203 of the upper frame 4, and move the mobile platform 201 of the upper frame 4 outward along the mobile platform track 207, and drive the left and right halves of the lower frame 16 to move outward through the connecting rod 8; start the upper frame The rotating motor 204 of 4 rotates the mobile platform 201 of the upper frame 4 to a suitable spanning angle; the mobile motor 203 of the upper frame 4 is started to move the mobile platform 201 of the upper frame 4 inward along the mobile platform track 207, the electromagnetic lock device 3 of the lower frame 16 is closed, and the adjustment tensioning motor 14 of the lower frame 16 is started to increase the pre-tightening of the roller device 907 and the wire rope 7, so that the opening and closing line of the lower frame 16 is adjusted to a suitable spanning angle, and the posture correction of the upper frame 4 and the lower frame 16 is completed;

[0050] (4) Obstacle crossing: When the robot completes posture correction, or the preset maximum span distance is greater than the widest span distance, it starts to cross obstacles; the adjustment tension motor 14 of the upper frame 4 is started to reduce the pre-tensioning of the roller device 907 and the wire rope 7, the electromagnetic lock device 3 of the upper frame 4 is opened, and the moving motor 203 of the lower frame 16 is started to make the moving platform 201 of the lower frame 16 move outward along the moving platform track 207, and the left and right halves of the upper frame 4 are driven by the six connecting rods 8. The upper frame 4 moves outward; the wheel hub motor 909 of the lower frame 16 is started, and the climbing wire rope 7 of the lower frame 16 is started to make the upper frame 4 cross the obstacle; when the upper frame 4 crosses the obstacle, the wheel hub motor 909 of the lower frame is stopped, and the mobile motor 203 of the lower frame 16 is started to make the mobile platform 201 of the lower frame 16 move inward along the mobile platform track 207, and the electromagnetic lock device 3 of the upper frame 4 is closed, and the adjustment tensioning motor 14 of the upper frame 4 is started to rotate forward, increasing the roller device 907 and the wire rope The pre-tightening of the rope 7; starting the adjusting tensioning motor 14 of the lower frame 16, reducing the pre-tightening of the roller device 907 and the wire rope 7, opening the electromagnetic lock device 3 of the lower frame 16, starting the moving motor 203 of the upper frame 4, making the moving platform 201 of the upper frame 4 move outward along the moving platform track 207, driving the left and right halves of the lower frame 16 to move outward through the six connecting rods 8, starting the hub motor 909 of the upper frame 4, making the lower frame 16 cross the obstacle; when the lower frame 16 crosses After crossing the obstacle, the hub motor 909 of the upper frame 4 is stopped, and the moving motor 203 of the upper frame 4 is started to make the moving platform 201 of the upper frame 4 move inward along the moving platform track 207, and the left and right halves of the lower frame 16 are driven to move inward through the six connecting rods 8, and the electromagnetic lock device 3 of the lower frame 16 is closed, and the adjustment and tensioning motor 14 of the lower frame 16 is started to increase the pre-tensioning of the roller device 907 and the wire rope 7. The obstacle crossing is completed, and the flaw detection climbing robot continues to crawl normally.

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] like Figures 1 to 18As shown, the present invention discloses an obstacle-crossing hoist wire rope detection robot, comprising an upper frame 4, a lower frame 16 and a connecting rod 8; the upper frame 4 and the lower frame 16 are arranged along the axial direction of the wire rope 7, and are connected and fixed by six connecting rods 8; the upper frame 4 and the lower frame 16 have similar structures, including a visual module 1, an obstacle-crossing device 2, an electromagnetic locking device 3, a connecting bolt 6, an adjusting tensioning device 9, a tensioning motor carrying platform 11, a battery carrying platform 12, an adjusting tensioning gear 13, an adjusting tensioning motor 14 and a wireless communication carrying platform 15, wherein the obstacle-crossing device 2, the adjusting tensioning gear 13, the adjusting tensioning motor 14 and the wireless communication carrying platform 15 The device 9 and the electromagnetic lock device 3 are arranged in sequence along the axial direction of the wire rope 7. The tensioning motor carrying platform 11, the battery carrying platform 12 and the wireless communication carrying platform 15 are fixed to the upper frame 4 and the lower frame 16. The adjusting tensioning device 9 is fixed to the tensioning motor carrying platform 11 by adjusting the tensioning gear 13 and the adjusting tensioning motor 14. The adjusting tensioning device 9 clamps the wire rope 7 in the radial direction; the visual module 1 is arranged on the upper surface of the upper frame 4 and the lower surface of the lower frame 16, and is used to detect whether there are obstacles in the direction of travel, and obtain the narrowest span distance and the widest span distance of the obstacle through image edge detection.

[0053] The apparatus comprises an upper frame 4 and a lower frame 16, which are opened and closed by an electromagnetic lock device 3, the left and right halves of the upper frame 4 are respectively connected and fixed to the left and right halves of the sleeve of the wire rope magnetizer 5 by connecting bolts 6, and the left and right halves of the lower frame 16 are respectively connected and fixed to the left and right halves of the sleeve of the wire rope flaw detector 10 by connecting bolts 6.

[0054] The obstacle crossing device 2 includes a mobile platform 201, a hollow rotating platform 202, a mobile motor 203, a rotating motor 204, a rotating gear 205, a hollow rotating platform track 206, a mobile platform track 207, a bearing seat 208 and a ball screw device 209; the hollow rotating platform track 206 and the rotating motor 204 are fixed to the end covers of the upper frame 4 and the lower frame 16, the rotating gear 205 is coaxially arranged at the end of the rotating motor 204, the hollow rotating platform 202 and the hollow rotating platform track 206 are coaxially arranged, the hollow rotating platform 202 is arranged on the hollow rotating platform track 206, the rotating gear 205 is meshed with the internal gear of the hollow rotating platform 202, and when the rotating motor 204 is driven The rotating gear 205 drives the hollow rotating platform 202 to rotate around the wire rope 7 as the axis, so as to select the most superior obstacle path according to the cross-sectional shape of the obstacle; the mobile motor 203, the mobile platform track 207, and the bearing seat 208 are fixed on the hollow rotating platform 202, the mobile platform 201 is set on the mobile platform track 207, and the connecting rod 8 is set on the outer edge of the mobile platform 201. The ball screw device 209 is coaxially arranged with the mobile motor 203 and the bearing seat 208, and the other end of the ball screw device 209 is connected to the mobile platform 201. When the mobile motor 203 is driven, the ball screw device 209 drives the mobile platform 201 to perform translational motion along the mobile platform track 207, thereby achieving smooth crossing of obstacles.

[0055] The adjusting and tensioning device 9 comprises an adjusting device piston chamber 901, a rack 902, a tensioning spring 903, a tensioning device 904, an adjusting device 905, a tensioning device piston chamber 906, a roller device 907, a roller shaft 908 and a hub motor 909; the adjusting device piston chamber 901 is fixed to the upper frame 4 and the lower frame 16, the piston chamber 901, the adjusting device 905, the tensioning device piston chamber 906, the tensioning spring 903 and the tensioning device 904 are coaxially installed in the adjusting device piston chamber 901 in sequence, and the roller device 907, the roller shaft 908 and the hub motor 909 are coaxially installed on the top of the tensioning device 904. Machine 909, roller device 907 adopts high wear-resistant resin material, and the hub motor 909 can drive the roller shaft 908 to rotate; a rack 902 is arranged on the outside of the adjusting device 905, and the rack 902 is meshed with the adjusting tensioning gear 13 for transmission, and the adjusting tensioning gear 13 is coaxially installed with the adjusting tensioning motor 14. The adjusting tensioning motor 14 drives the adjusting device 905 to reciprocate by adjusting the tensioning gear 13 and the rack 902, which can meet the tensioning of steel wire ropes 7 with different diameters. Under the elastic expansion and contraction of the tensioning spring 903, the roller shaft 908 has a certain ability to cross the broken wire protrusion while pressing the steel wire rope 7. Example

[0056] The following will be combined Figure 6-Figure 18A specific embodiment of the present invention is described in detail; taking the tank beam obstacle as an example, the narrowest span distance of the tank beam is less than the preset maximum span distance, and the relative positions of the left and right half opening and closing lines and the tank beam are as follows: Figure 6 As shown in the figure (the relative position of the opening and closing lines of the left and right halves and the tankway beam can be arbitrary), the specific movement process steps are as follows:

[0057] (1) When the vision module 1 detects an obstacle in front of the crawling vehicle, the wheel hub motor 909 is stopped and the narrowest and widest spanning distances of the obstacle are visually detected. Since the preset maximum spanning distance is between the narrowest and widest spanning distances, it is determined to be an obstacle crossing adjustment. The motion state is shown in FIG6 .

[0058] (2) The lower frame 16 further adjusts the tensioning motor 14 to rotate forward to increase the preload; then the electromagnetic lock device 3 of the upper frame 4 is opened; finally, the moving motor 203 of the lower frame 16 rotates forward to make the left (right) obstacle crossing device 2 of the lower frame 16 move outward relative to the lower frame 16, and the left (right) frame of the upper frame 4 moves outward through the six connecting rods 8. The motion state is as follows: Figure 7 .

[0059] (3) The rotating motor 204 of the lower frame 16 further rotates forward, causing the left (right) obstacle crossing device 2 of the lower frame 16 to rotate to a suitable crossing angle, and the left (right) frame of the upper frame 4 is driven to rotate to a suitable crossing angle through the six connecting rods 6. The motion state is as follows: Figure 8 .

[0060] (4) The moving motor 204 of the lower frame 16 is further reversed, so that the left (right) obstacle crossing device 2 of the lower frame 16 moves inward relative to the lower frame 16, and the left (right) frame of the upper frame 4 is driven to move inward through the six connecting rods 8; then the electromagnetic lock device 3 of the upper frame 4 is closed, and the upper frame 4 adjusts the tensioning motor 14 to rotate forward to increase the preload; the opening and closing lines of the left and right halves of the upper frame 4 are adjusted to a suitable spanning angle, and the movement state is as follows: Fig. 9 .

[0061] (5) The rotating motor 204 of the lower frame 16 is further reversed, so that the left (right) obstacle crossing device 2 of the lower frame 16 rotates to the initial state. The motion state is as follows: Fig.10 .

[0062] (6) The lower frame 16 further adjusts the tensioning motor 14 to reverse and reduce the preload; then the electromagnetic lock device 3 of the lower frame 16 is opened; finally, the moving motor 203 of the upper frame 4 rotates forward, so that the left (right) obstacle crossing device 2 of the upper frame 4 moves outward relative to the upper frame 4, and the left (right) frame of the lower frame 16 is driven to move outward through the six connecting rods 8. The motion state is as follows: Fig.11 .

[0063] (7) The rotating motor 204 of the upper frame 4 further rotates forward, so that the left (right) obstacle crossing device 2 of the upper frame 4 rotates to a suitable crossing angle, and the left (right) frame of the lower frame 16 is driven to rotate to a suitable crossing angle through the six connecting rods 8. The motion state is as follows: Fig.12 .

[0064] (8) The moving motor 203 of the upper frame 4 is further reversed, so that the left (right) obstacle crossing device 2 of the upper frame 4 moves inward relative to the upper frame 4, and the left (right) frame of the lower frame 16 is driven to move inward through the six connecting rods 8; then the electromagnetic lock device 3 of the lower frame 16 is closed, and the tensioning motor 14 of the lower frame 16 is adjusted to rotate forward to increase the preload; the opening and closing lines of the left and right halves of the lower frame 16 are adjusted to a suitable spanning angle, and the movement state is as follows: Fig.13 .

[0065] (9) The upper frame 4 further adjusts the tensioning motor 14 to reverse and reduce the preload; then the electromagnetic lock device 3 of the upper frame 4 is opened; then the moving motor 203 of the lower frame 16 rotates forward, so that the left (right) obstacle crossing device 2 of the lower frame 16 moves outward relative to the lower frame 16, and the left (right) frame of the upper frame 4 is driven to move outward through the six connecting rods 8; finally, the lower frame 16 is driven by the hub motor 909 to make the upper frame 4 cross the obstacle, and the movement state is as follows: Fig.14 .

[0066] (10) After the upper frame 4 crosses the obstacle, the wheel hub motor 909 of the lower frame 16 is stopped; then the moving motor 203 of the lower frame 16 is reversed, so that the left (right) obstacle crossing device 2 of the lower frame 16 moves inward relative to the lower frame 16, and the left (right) frame of the upper frame 4 is driven to move inward through the six connecting rods 8; finally, the electromagnetic lock device 3 of the upper frame 4 is closed, and the upper frame 4 adjusts the tensioning motor 14 to rotate forward to increase the preload. The motion state is as follows: Fig.15 .

[0067] (11) The lower frame 16 further adjusts the tensioning motor 14 to reverse and reduce the preload; then the electromagnetic lock device 3 of the lower frame 16 is opened; then the moving motor 203 of the upper frame 4 rotates forward, so that the left (right) obstacle crossing device 2 of the upper frame 4 moves outward relative to the upper frame 4, and the left (right) frame of the lower frame 16 is driven to move outward through the six connecting rods 8; finally, the upper frame 4 is driven by the hub motor 909 to make the lower frame 16 cross the obstacle, and the movement state is as follows: Fig.16 .

[0068] (12) After the lower frame 16 crosses the obstacle, the wheel hub motor 909 of the upper frame 4 is stopped; then the moving motor 203 of the upper frame 4 is reversed, so that the left (right) obstacle crossing device 2 of the upper frame 4 moves inward relative to the upper frame 4, and the left (right) frame of the lower frame 16 is driven to move inward through the six connecting rods 8; finally, the electromagnetic lock device 3 of the lower frame 16 is closed, and the tensioning motor 14 of the lower frame 16 is adjusted to rotate forward to increase the preload; the entire obstacle crossing process ends. The motion state is as follows Fig.17 .

[0069] (13) After the entire obstacle crossing process is completed, normal crawling and detection continue through the hub motor 909.

[0070] The process of going down to overcome the obstacle is the same as the above steps.

[0071] The above is only the basic principle of the patent of the present invention, and does not impose any limitation on the patent of the present invention. Any equivalent changes and modifications made to the patent of the present invention are within the scope of the technical protection scheme of this patent.

[0072] The obstacle-crossing hoist wire rope detection robot and obstacle-crossing method of the present invention can enable the flaw detection climbing robot to cross obstacles such as tankway beams and steel beams, effectively solving the problem that rope segments with obstacles are difficult to detect, and is conducive to comprehensive and systematic detection of the entire wire rope; a split arrangement is adopted, the upper frame 4 and the lower frame 16 are used to alternately clamp the wire rope 7, a rotary mechanism is used for posture correction, and the body is driven by a hub motor to achieve efficient and reliable obstacle crossing; the tensioning adjustment device enables the climbing robot to adapt to wire ropes 7 of different diameters through a multi-axis synchronous centripetal clamping method, making the robot more versatile, and utilizing the tensioning spring to adjust the position of the wire rope 7. Flexible telescopic, can make the robot have a certain ability to overcome obstacles such as broken wires and protrusions of wire rope 7; use machine vision to determine whether there is an obstacle ahead, whether the obstacle can be crossed, and select the optimal crossing path through the cross-sectional shape of the obstacle, autonomously rotate to adjust the obstacle crossing and direct obstacle crossing, effectively help the flaw detection climbing robot detect the situation of the obstacle ahead and make a decision; the present invention's obstacle-crossing hoist wire rope detection robot and obstacle-crossing method, the roller device 907 uses a hub motor 909, saving the internal space of the climbing robot, thereby reducing the volume of the entire robot, and improving the crawling adaptability of the robot in narrow underground space. The present invention's obstacle-crossing hoist wire rope detection robot and obstacle-crossing method, based on weak magnetic principle detection, can not only detect damage to the wire rope inside and outside the wire rope, but also greatly reduce the overall quality of the robot.

Claims

1. An obstacle-crossing hoist wire rope detection robot, characterized in that The machine comprises an upper frame, a lower frame connected to the upper frame by a connecting rod, a steel wire rope passing through the middle of the upper frame and the lower frame, a steel wire rope magnetizer arranged on the upper frame, a steel wire rope flaw detector arranged on the lower frame, a visual module, an obstacle crossing device, an electromagnetic locking device, a connecting bolt and an adjusting tensioning device respectively arranged on the upper frame and the lower frame, The upper frame and the lower frame are opened and closed by an electromagnetic lock device. The left half and the right half of the upper frame are respectively fixedly connected to the left half and the right half of the sleeve of the wire rope magnetizer by connecting bolts. The left half and the right half of the lower frame are respectively fixedly connected to the left half and the right half of the sleeve of the wire rope flaw detector by connecting bolts. The obstacle crossing device includes a rotating motor fixed to the upper frame and the lower frame end cover by bolts, a rotating gear connected to the output shaft of the rotating motor, a hollow rotating platform whose internal gear meshes with the rotating gear, a hollow rotating platform track fixed to the upper frame and the lower frame end cover, a moving motor and a moving platform track arranged on the hollow rotating platform, a ball screw device connected to the moving motor through a bearing seat, and a moving platform connected to the ball screw device. The rotating gear drives the hollow rotating platform to rotate with the wire rope as the axis, thereby selecting the most superior obstacle path according to the cross-sectional shape of the obstacle. The left and right halves of the upper and lower racks are both provided with obstacle crossing devices. The hollow rotating platform rotates along the hollow rotating platform track. The mobile platform slides along the mobile platform track. The adjusting and tensioning device comprises an adjusting and tensioning motor, an adjusting and tensioning gear connected to the adjusting and tensioning motor, an adjusting device piston chamber fixedly connected to the upper frame and the lower frame, an adjusting device arranged in the adjusting device piston chamber and slidably connected to the adjusting device piston chamber, a rack and a tensioning device piston chamber fixedly connected to the adjusting device, a tensioning device at one end arranged in the tensioning device piston chamber and slidably connected to the tensioning device piston chamber, a tensioning spring arranged between the tensioning device piston chamber and the tensioning device, a roller shaft and a roller device arranged at the other end of the tensioning device, The adjusting tensioning gear is meshed with the rack. The roller shaft is used to compress the wire rope. The adjusting and tensioning device clamps the steel wire rope in radial direction.

2. The obstacle-crossing hoist wire rope detection robot according to claim 1 is characterized in that There are six connecting rods.

3. The obstacle-crossing hoist wire rope detection robot according to claim 1 is characterized in that The upper frame and the lower frame are provided with a tensioning motor carrying platform, a battery carrying platform and a wireless communication carrying platform.

4. The obstacle-crossing hoist wire rope detection robot according to claim 1 is characterized in that The roller shaft is connected to the hub motor.

5. An obstacle-crossing method for an obstacle-crossing hoist wire rope detection robot according to any one of claims 1 to 4, characterized in that: The specific steps include: (1) Inspection without obstacles: When there are no obstacles in the direction of the robot's movement, the adjusting device 905 and the tensioning device 904 in the tensioning device 9 are adjusted to hold the steel wire ropes 7 of different diameters tightly. The hub motor 909 provides power to achieve stable crawling of the robot on the steel wire rope 7. The steel wire rope magnetizer 5 is used to magnetize the steel wire rope 7. The steel wire rope flaw detector 10 is used to detect damage to the steel wire rope 7. (2) Obstacle recognition: When the vision module detects an obstacle in front of the crawler, the wheel hub motor is stopped, and the narrowest and widest spanning distances of the obstacle are visually detected. By comparing with the preset maximum spanning distance, if the preset maximum spanning distance is smaller than the narrowest spanning distance, it is determined that the obstacle cannot be crossed, and the wheel hub motor rotates and returns along the original path; if the preset maximum spanning distance is between the narrowest spanning distance and the widest spanning distance, it is determined to be an obstacle adjustment, and the posture correction is performed first to adjust to the appropriate spanning path, and then the obstacle is crossed; if the preset maximum spanning distance is larger than the widest spanning distance, the obstacle is crossed; (3) Posture correction: When it is determined to be an obstacle crossing adjustment, posture correction is performed first. The adjustment and tensioning motor of the lower frame is started, so that the roller device of the adjustment and tensioning device extends forward, and the pre-tensioning of the roller device and the wire rope is increased. The electromagnetic lock device of the upper frame is opened, and the moving motor of the lower frame is started to make the moving platform of the lower frame move outward along the moving platform track, and the left and right halves of the upper frame are driven to move outward through the connecting rod; the rotation motor of the lower frame is started to rotate the moving platform of the lower frame to a suitable crossing angle; the moving motor of the lower frame is started to make the moving platform of the lower frame move inward along the moving platform track, and the left and right halves of the upper frame are driven to move inward through the connecting rod, and the electromagnetic lock device of the upper frame is closed. The adjustment and tensioning motor of the upper frame is started to increase the pre-tensioning of the roller device and the wire rope, and the opening and closing line of the upper frame is adjusted. The lower frame is then moved to a suitable spanning angle; the rotating motor of the lower frame is started to rotate the moving platform of the lower frame to an initial state; the adjusting and tensioning motor of the lower frame is started to reduce the pre-tensioning of the roller device and the steel wire rope, the electromagnetic locking device of the lower frame is opened, and the moving motor of the upper frame is started to move the moving platform of the upper frame outward along the moving platform track, and the left and right halves of the lower frame are driven to move outward through the connecting rod; the rotating motor of the upper frame is started to rotate the moving platform of the upper frame to a suitable spanning angle; the moving motor of the upper frame is started to move the moving platform of the upper frame inward along the moving platform track, the electromagnetic locking device of the lower frame is closed, and the adjusting and tensioning motor of the lower frame is started to increase the pre-tensioning of the roller device and the steel wire rope, so that the opening and closing line of the lower frame is adjusted to a suitable spanning angle, and the posture correction of the upper and lower frames is completed; (4) Obstacle crossing: When the robot completes posture correction, or the preset maximum crossing distance is greater than the widest crossing distance, it starts to cross obstacles; start the adjustment and tensioning motor of the upper frame, reduce the pre-tensioning of the roller device and the wire rope, open the electromagnetic lock device of the upper frame, start the moving motor of the lower frame, and make the moving platform of the lower frame move outward along the moving platform track, and drive the left and right halves of the upper frame to move outward through six connecting rods; start the hub motor of the lower frame, start the climbing wire rope of the lower frame, and make the upper frame cross the obstacle; after the upper frame crosses the obstacle, stop the hub motor of the lower frame, start the moving motor of the lower frame, and make the moving platform of the lower frame move inward along the moving platform track. The electromagnetic lock device of the upper frame is closed, and the adjustment and tensioning motor of the upper frame is started to rotate forward, increase the roller device and the pre-tensioning of the wire rope; start the adjusting and tensioning motor of the lower frame, reduce the pre-tensioning of the roller device and the wire rope, open the electromagnetic locking device of the lower frame, start the moving motor of the upper frame, make the moving platform of the upper frame move outward along the moving platform track, drive the left and right halves of the lower frame to move outward through the six connecting rods, start the hub motor of the upper frame, and make the lower frame cross the obstacle; after the lower frame crosses the obstacle, stop the hub motor of the upper frame, start the moving motor of the upper frame, make the moving platform of the upper frame move inward along the moving platform track, drive the left and right halves of the lower frame to move inward through the six connecting rods, close the electromagnetic locking device of the lower frame, start the adjusting and tensioning motor of the lower frame, increase the pre-tensioning of the roller device and the wire rope, the obstacle crossing is completed, and the flaw detection climbing robot continues to crawl normally.

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