Anti-spin device for downhole rope climbing robot based on laser positioning and use method thereof

Abstract

The present application belongs to the technical field of mine hoisting equipment, and particularly relates to an anti-spin device of an underground rope-climbing robot based on laser positioning and a use method thereof. The anti-spin device of the underground rope-climbing robot based on laser positioning comprises a measured steel wire rope clamped by a rope-climbing robot, and is characterized in that a rotating module is arranged at the top end of the rope-climbing robot, a mechanical arm and a positioning module are arranged on the rotating module, and the mechanical arm clamps the measured steel wire rope through a clamping mechanism arranged at the end of the mechanical arm. The present application designs a rotating platform with an opening, so that the measured steel wire rope can conveniently enter the inside of the rope-climbing robot. The rotating platform uses the mechanism that laser is reflected when encountering an obstacle to quickly identify and position the surrounding steel wire rope. The two sets of mechanical arms of the parallelogram linkage mechanism always reliably clamp the steel wire rope along the radial direction, effectively inhibiting the spin and swing of the rope-climbing robot. The V-shaped clamping mechanism is adopted to adapt to the anti-spin of steel wire ropes with different diameters.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mine hoisting equipment, and particularly relates to an anti-spin device of an underground rope-climbing robot based on laser positioning and a use method. BACKGROUND

[0002] Mine hoists are widely used in metal mines, coal and other industries. Steel wire rope, as the core component of load bearing and counterweight, is the "throat" of the mine hoist. The damage detection reliability of the steel wire rope is directly related to the safe operation of the hoisting system. Since the mine hoist operates continuously day and night, the maintenance time is very valuable, so it is urgent to improve the detection efficiency of the damage of the steel wire rope. The steel wire rope of the mine hoist is mainly composed of a head rope and a tail rope, wherein the tail rope plays a key role in counterweight. For damage detection of the head rope, a detection device is usually installed at a fixed position at the wellhead. For the tail rope, since it is freely suspended at the bottom of the hoisting container and serves in the shaft for a long time, and is lifted or lowered with the hoisting container, it brings great difficulty to the damage detection of the tail rope, which makes it difficult to solve the problems of detection accuracy, detection efficiency and worker operation safety by using a handheld steel wire rope flaw detector, so it is necessary to use a rope-climbing robot for inspection.

[0003] When the rope-climbing robot is used for inspection, the robot needs to reliably and stably climb along the measured rope axis. During the climbing process, the following problems are faced: first, in order to ensure the safety of the detection process and the robot body, during the vertical deep well inspection, the steel wire rope hoisting method can be used to avoid falling problems, however, the tail rope is freely suspended at the bottom of the hoisting container, and there is no external force to limit the spinning and swinging of the tail rope, so that the robot may spin during the inspection process, and the robot may rotate along the tail rope axis, which causes the hoisting steel wire rope and the tail rope to be wound together, resulting in detection failure; second, the tail rope is a cylindrical structure, and when the robot climbs along the tail rope axis, it is difficult to find a force support point from the single tail rope body, so it is difficult to limit the rotation of the robot around the tail rope axis; third, the relative rotation between the robot and the tail rope also makes the detection sensor fail easily during the inspection process, reducing the reliability of the detection result. SUMMARY

[0004] The purpose of the present application is to provide an anti-spin device of an underground rope-climbing robot based on laser positioning and a use method, which can quickly identify and locate the surrounding supporting steel wire rope, control the mechanical arm to accurately clamp the supporting steel wire rope, and can adapt to different diameters of the supporting steel wire rope, so as to avoid detection failure caused by spinning and swinging of the tail rope, and ensure the stability of the climbing process of the rope-climbing robot.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] The laser positioning based anti-spin device of the downhole rope climbing robot is characterized in that a rotating module is arranged at the top end of the rope climbing robot, a mechanical arm and a positioning module are arranged on the rotating module, and the mechanical arm clamps the steel wire rope through a clamping mechanism arranged at the end of the mechanical arm.

[0007] The rotating module comprises a base fixed to the upper end of the rope climbing robot, a rotating platform in rotation connection with the base, and a stepping motor for driving the rotating platform.

[0008] The rotating platform comprises an open gear base in sliding connection with the base through an annular guide rail, a bottom limiting open ring arranged at the bottom of the open gear base, an open gear fixedly connected with the open gear base, a mechanical arm base fixedly connected with the open gear, and a straight gear A, a straight gear B and a straight gear C arranged on one side of the same plane of the open gear,

[0009] The straight gear A and the straight gear C are in meshing connection with the open gear, the straight gear B is in meshing connection with the straight gear A and the straight gear C respectively, and the straight gear B is connected with the stepping motor.

[0010] The bottom opening ring of the base, the bottom limiting open ring, the open gear base, the open gear and the bottom opening ring of the mechanical arm base are coaxially arranged.

[0011] The mechanical arm comprises a servo motor, a connecting rod mechanism connected with the servo motor, and a clamping mechanism connected with the connecting rod mechanism,

[0012] The connecting mechanism comprises a first parallelogram connecting rod mechanism arranged on the mechanical arm base, a second parallelogram connecting rod mechanism hingedly connected with the first parallelogram connecting rod mechanism, and an auxiliary arm having one end hingedly connected with the mechanical arm base and the other end hingedly connected with the second parallelogram connecting rod mechanism,

[0013] The first parallelogram connecting rod mechanism comprises a rear auxiliary arm, a rear main arm and a short rod, one end of the rear auxiliary arm and the rear main arm is hingedly connected with the mechanical arm base, and the other end is hingedly connected with the short rod, and the servo motor and one end of the rear auxiliary arm are coaxially arranged,

[0014] The second parallelogram connecting rod mechanism comprises a front main arm, a front auxiliary arm, a short rod and a clamping mechanism, the clamping mechanism is arranged at the end of the front main arm and the front auxiliary arm, and the front main arm, the front auxiliary arm and the short rod are hingedly connected with each other,

[0015] The two ends of the auxiliary arm are respectively connected with the mechanical arm base and the front main arm.

[0016] The positioning module comprises a laser range finder, which is arranged on the mechanical arm base and located directly below the mechanical arm.

[0017] A method for using a laser positioning-based anti-spin device of a downhole rope climbing robot, characterized by the following steps:

[0018] a) Device installation: install the base on the top of the rope climbing robot, start the stepper motor, and make the bottom ring opening of the mechanical arm base coincide with the opening of the base, so that the measured steel wire rope enters the central axis position of the anti-spin device;

[0019] b) Scanning positioning: start the laser range finder, then start the stepper motor, and drive the rotating platform to rotate 360 degrees through the gear transmission, so as to obtain the distance between the surrounding obstacles and the axis of the measured steel wire rope; based on the mechanism that laser is reflected when encountering obstacles, when the laser sweeps the supporting steel wire rope, the distance measured by the laser range finder will change in value, so as to obtain the position and distance of the supporting steel wire rope closest to the measured steel wire rope;

[0020] c) Clamping anti-spin: according to the obtained position of the supporting steel wire rope closest to the measured steel wire rope, start the stepper motor again to rotate the rotating platform to the specified position, turn off the stepper motor, start the servo motor, and make the mechanical arm start to stretch through the first and second parallelogram link mechanisms, so that the clamping mechanism remains horizontally stretched; according to the obtained distance of the supporting steel wire rope closest to the measured steel wire rope, whether the supporting steel wire rope can be reliably clamped by the roller of the clamping mechanism, when the rope climbing robot climbs along the measured steel wire rope, even if the measured steel wire rope is about to spin, under the reaction force of the mechanical arm and the supporting steel wire rope, the spinning and swinging of the rope climbing robot can be effectively inhibited, so as to realize the anti-spin of the downhole rope climbing robot.

[0021] Advantages of the present application:

[0022] (1) The laser positioning-based anti-spin device of a downhole rope climbing robot and the use method thereof, which designs a rotating platform with an opening, so that the measured steel wire rope can conveniently enter the inside of the rope climbing robot without interfering with the normal damage detection of the rope climbing robot, and the rotating platform can rotate 360 degrees, which is convenient for obtaining the distance between the surrounding obstacles and the axis of the measured steel wire rope; by using the mechanism that laser is reflected when encountering obstacles, based on the value jump, the surrounding supporting steel wire rope can be quickly identified and positioned, and the position and distance of the supporting steel wire rope closest to the measured steel wire rope can be obtained;

[0023] (2) The laser positioning-based anti-spin device and method of use of the underground rope-climbing robot of the present invention are designed with two sets of parallelogram linkage mechanism mechanical arms, so that when the servo motor is started, the clamping frame of the mechanical arm can always reliably clamp the supporting wire rope along the radial direction, and can accurately control the clamping mechanism to clamp the supporting wire rope. Under the reaction force of the mechanical arm and the supporting wire rope, the self-spin and swing of the rope-climbing robot can be effectively suppressed, thereby realizing the anti-spin of the underground rope-climbing robot;

[0024] (3) The laser positioning-based anti-spin device and method for using the underground rope-climbing robot of the present invention adopts a V-shaped clamping mechanism so that the supporting wire rope can be clamped in the middle of the two rollers, so that the anti-spin device can adapt to the anti-spin of wire ropes of different diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention.

[0026] Figure 2 This is a schematic structural diagram of the rotary module and the robotic arm of the present invention.

[0027] Figure 3 It is a structural schematic diagram of the rotating platform of the present invention.

[0028] Figure 4 Schematic diagram of the structure of the connecting rod mechanism of the present invention.

[0029] Figure 5 Schematic diagram of the installation process of the present invention.

[0030] Figure 6 Schematic diagram of the scanning and positioning process of the present invention.

[0031] Figure 7 It is a schematic diagram of the clamping and fixing process of the present invention. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention are further described below with reference to the accompanying drawings.

[0033] like Figures 1-7 As shown, the rope-climbing robot 5 clamps the measured wire rope 4 and the supporting wire rope 6. The anti-spin device of the underground rope-climbing robot based on laser positioning of the present invention is characterized in that a rotating module 1 is provided at the top of the rope-climbing robot 5, and a mechanical arm 2 and a positioning module 3 are provided on the rotating module 1. The mechanical arm 2 clamps the supporting wire rope 6 through a clamping mechanism 230 arranged at the end of the mechanical arm 2.

[0034] The rotating module 1 comprises a base 110 fixed to the upper end of the rope climbing robot 5, a rotating platform 120 connected with the base 110, a stepping motor 130 driving the rotating platform 120, the rotating platform 120 comprises an open gear base 122 connected with the base 110 through an annular guide rail, a bottom limiting open ring 121 arranged at the bottom of the open gear base 122, an open gear 123 fixedly connected with the open gear base 122, a mechanical arm base 127 fixedly connected with the open gear 123, a straight gear A 124, a straight gear B 125 and a straight gear C 126 arranged on the same plane of the open gear 123,

[0035] The straight gear A 124 and the straight gear C 126 are engaged with the open gear 123, the straight gear B 125 is engaged with the straight gear A 124 and the straight gear C 126 respectively, and the straight gear B 125 is connected with the stepping motor 130.

[0036] The open ring of the base 110, the bottom limiting open ring 121, the open gear base 122, the open gear 123 and the bottom open ring of the mechanical arm base 127 are coaxially arranged.

[0037] The mechanical arm 2 comprises a servo motor 210, a connecting rod mechanism 220 connected with the servo motor 210, and a clamping mechanism 230 connected with the connecting rod mechanism 220,

[0038] The connecting mechanism 220 comprises a first parallelogram connecting rod mechanism arranged on the mechanical arm base 127, a second parallelogram connecting rod mechanism hinged with the first parallelogram connecting rod mechanism, and an auxiliary arm 223 hinged at one end with the mechanical arm base 127 and at the other end with the second parallelogram connecting rod mechanism,

[0039] The first parallelogram connecting rod mechanism comprises a rear auxiliary arm 221, a rear main arm 222 and a short rod 224, one end of the rear auxiliary arm 221 and the rear main arm 222 is hinged on the mechanical arm base 127, and the other end is hinged on the short rod 224, and the servo motor 210 and one end of the rear auxiliary arm 221 are coaxially arranged,

[0040] The second parallelogram connecting rod mechanism comprises a front main arm 226, a front auxiliary arm 225, a short rod 224 and a clamping mechanism 230, the clamping mechanism 230 is arranged at the end of the front main arm 226 and the front auxiliary arm 225, and the front main arm 226, the front auxiliary arm 225 and the short rod 224 are hinged with each other,

[0041] Both ends of the auxiliary arm 223 are connected with the mechanical arm base 127 and the front main arm 226 respectively.

[0042] The clamping mechanism 230 includes a roller frame 231 and rollers 232 . The roller frame 231 is symmetrically arranged in a V shape, and the rollers 232 are arranged in grooves of the roller frame 231 .

[0043] The positioning module 3 includes a laser rangefinder 301 , which is disposed on the robotic arm base 127 and directly below the robotic arm 2 .

[0044] The present invention describes an anti-spin device for an underground rope-climbing robot based on laser positioning, comprising a rotation module 1, a robotic arm 2 and a positioning module 3; the rope-climbing robot 5 clamps the measured wire rope 4, and a rotation module 1 is provided on its top, and a robotic arm 2 and a positioning module 3 are provided on the upper part of the rotation module 1, and a clamping mechanism 230 is provided at the other end of the robotic arm 2 for clamping the supporting wire rope 6.

[0045] The rotating module 1 includes a base 110, a rotating platform 120 and a stepping motor 130, wherein the rotating platform 120 includes a bottom limiting open ring 121, an open gear seat 122, an open gear 123, a spur gear A124, a spur gear B125, a spur gear C126 and a robotic arm seat 127; the base 110 is fixed to the upper end of the rope climbing robot 5, and the open ring of the base 110, the bottom limiting open ring 121, the open gear seat 122, the open gear 123, and the bottom open ring of the robotic arm seat 127 are coaxially arranged, and a ring guide rail is provided between the base 110 and the open gear seat 122. The bottom limit open ring 121, the open gear seat 122, the open gear 123 and the robotic arm seat 127 are fixed to each other and can rotate as a whole; on the side of the open gear 123 in the same plane are provided with a spur gear A124, a spur gear B125 and a spur gear C126, the spur gear A124 and the spur gear C126 are engaged with the open gear 123, the spur gear B125 is engaged with the spur gear A124 and the spur gear C126, and the spur gear B125 is coaxially provided with a stepping motor 130, so that when the stepping motor 130 is driven, the open gear 123 can be driven to rotate a full circle through the gear transmission chain.

[0046] The mechanical arm 2 comprises a servo motor 210, a connecting rod mechanism 220 and a clamping mechanism 230, wherein the connecting rod mechanism 220 comprises a rear auxiliary arm 221, a rear main arm 222, an auxiliary arm 223, a short rod 224, a front auxiliary arm 225 and a front main arm 226, the clamping mechanism 230 comprises a roller holder 231 and a roller 232, the clamping mechanism 230 comprises the roller holder 231 and the roller 232; one end of the rear auxiliary arm 221 and the rear main arm 222 is installed on the mechanical arm seat 127, the other end of the rear auxiliary arm 221 and the rear main arm 222 is connected with the short rod 224, forming a first parallelogram connecting rod mechanism, the servo motor 210 and one end of the rear auxiliary arm 221 are coaxially arranged, the servo motor 210 can drive the rear auxiliary arm 221 to rotate, thereby extending and contracting the first parallelogram connecting rod mechanism, at this time the short rod 224 is always vertical; the auxiliary arm 223 is connected with the mechanical arm seat 127 and the front main arm 226 at both ends, so that the driving force generated by the servo motor 210 can be transmitted to the front main arm 226; the front main arm 226, the front auxiliary arm 225, the short rod 224 and the clamping mechanism 230 jointly form a second parallelogram connecting rod mechanism, so that the support mechanism 230 always remains horizontal when the mechanical arm 2 extends and contracts; the roller holder 231 is symmetrically arranged in a V shape, the roller 232 is arranged in the groove of the roller holder 231, and is used for clamping the supporting steel wire rope 6.

[0047] The positioning module 3 mainly comprises a laser range finder 301, and the laser range finder 301 is arranged on the mechanical arm seat 127 and located directly below the mechanical arm 2, emits a laser beam towards the extension direction of the mechanical arm 2, can measure the distance between the obstacle and the range finder, and is used for identifying and positioning the supporting steel wire rope 6.

[0048] A use method of a laser positioning-based anti-spin device of a downhole rope climbing robot, characterized by comprising the following steps:

[0049] a) Device installation: install the base 110 on the top of the rope climbing robot 5, start the stepping motor 130, make the bottom ring opening of the mechanical arm seat 127 coincide with the opening of the base 110, so that the measured steel wire rope 4 enters the central axis position of the anti-spin device;

[0050] b) Scanning and positioning: start the laser range finder 301, then start the stepping motor 130, the stepping motor 130 drives the rotating platform 120 to rotate 360° through gear transmission, so as to obtain the distance between the surrounding obstacles and the axis of the measured steel wire rope 4, based on the mechanism that the laser is reflected when encountering obstacles, when the laser sweeps the supporting steel wire rope 6, the distance measured by the laser range finder 301 will have a numerical jump, so as to obtain the position and distance of the supporting steel wire rope 6 closest to the measured steel wire rope 4;

[0051] c) Anti-spinning clamping: according to the obtained distance of the closest supporting steel wire rope 6 to the measured steel wire rope 4, the step motor 130 is started again to rotate the rotating platform 120 to the specified position, the step motor 130 is turned off, the servo motor 210 is started, the mechanical arm 2 starts to stretch through the first and second parallelogram link mechanisms, and the clamping mechanism 230 keeps stretching horizontally, according to the obtained distance of the closest supporting steel wire rope 6 to the measured steel wire rope 4, until the supporting steel wire rope 6 can be reliably clamped by the roller 232 of the clamping mechanism 230, at this time, when the rope climbing robot 5 climbs along the measured steel wire rope 4, even if the measured steel wire rope 4 is about to spin, the spinning and swinging of the rope climbing robot 5 can be effectively inhibited under the reaction force of the mechanical arm 2 and the supporting steel wire rope 6, so as to realize the anti-spinning of the underground rope climbing robot.

[0052] The laser positioning-based anti-spinning device and use method of the underground rope climbing robot of the present application design a rotating platform 120 with an opening, so that the measured steel wire rope 4 can conveniently enter the inside of the rope climbing robot 5 without interfering with the normal damage detection of the rope climbing robot 5, and the rotating platform can rotate 360°, which is convenient for obtaining the distance between the surrounding obstacles and the axis of the measured steel wire rope 4, and using the mechanism that laser is reflected when encountering obstacles, based on numerical jump, the surrounding supporting steel wire rope 6 can be quickly identified and positioned, and the position and distance of the closest supporting steel wire rope 6 to the measured steel wire rope 4 can be obtained; the present application designs a mechanical arm 2 with two sets of parallelogram link mechanisms, so that when the servo motor 210 is started, the clamping mechanism 230 of the mechanical arm 2 can always reliably clamp the supporting steel wire rope 6 along the radial direction, and the clamping mechanism 230 can accurately control the clamping of the supporting steel wire rope 6, under the reaction force of the mechanical arm 2 and the supporting steel wire rope 6, the spinning and swinging of the rope climbing robot 5 can be effectively inhibited, so as to realize the anti-spinning of the underground rope climbing robot 5; the V-shaped clamping mechanism 230 is adopted, so that the supporting steel wire rope 6 can be clamped in the middle of the two rollers 232, and the anti-spinning device can adapt to the anti-spinning of steel wire ropes with different diameters.

Claims

1. An anti-spin device for an underground rope climbing robot based on laser positioning, characterized in that A rotating module is provided at the top of the rope climbing robot, and a mechanical arm and a positioning module are provided on the rotating module. The mechanical arm clamps the supporting wire rope through a clamping mechanism provided at the end of the mechanical arm. The rotating module includes a base fixed to the upper end of the rope climbing robot, a rotating platform rotatably connected to the base, a stepper motor driving the rotating platform, the rotating platform including an open gear seat slidably connected to the base through an annular guide rail, a bottom limiting open ring arranged at the bottom of the open gear seat, an open gear fixedly connected to the open gear seat, a mechanical arm seat fixedly connected to the open gear, and spur gears A, B and C arranged on the same plane as the open gear. The spur gear A and the spur gear C are both engaged with the open gear, the spur gear B is respectively engaged with the spur gear A and the spur gear C, and the spur gear B is connected to the stepper motor. The mechanical arm includes a servo motor, a connecting rod mechanism connected to the servo motor, and a clamping mechanism connected to the connecting rod mechanism. The linkage mechanism includes a first parallelogram linkage mechanism provided on the mechanical arm base, a second parallelogram linkage mechanism hinged to the first parallelogram linkage mechanism, an auxiliary arm hinged to the mechanical arm base at one end and hinged to the second parallelogram linkage mechanism at the other end, The first parallelogram linkage mechanism includes a rear auxiliary arm, a rear main arm and a short rod. One end of the rear auxiliary arm and the rear main arm is hinged to the mechanical arm base, and the other end is hinged to the short rod. The servo motor and one end of the rear auxiliary arm are coaxially arranged. The second parallelogram linkage mechanism includes a front main arm, a front auxiliary arm, a short rod and a clamping mechanism, wherein the clamping mechanism is arranged at the ends of the front main arm and the front auxiliary arm, and the front main arm, the front auxiliary arm and the short rod are hinged to each other. The two ends of the auxiliary arm are respectively connected to the mechanical arm base and the front main arm.

2. The anti-spin device for underground rope-climbing robots based on laser positioning according to claim 1 is characterized in that The open circular ring of the base, the bottom limiting open ring, the open gear seat, the open gear and the bottom open circular ring of the mechanical arm seat are coaxially arranged.

3. The anti-spin device for underground rope-climbing robots based on laser positioning according to claim 1 is characterized in that The clamping mechanism comprises a roller frame and rollers. The roller frame is symmetrically arranged in a V shape, and the rollers are arranged in the grooves of the roller frame.

4. The anti-spin device for underground rope-climbing robots based on laser positioning according to claim 1 is characterized in that The positioning module includes a laser rangefinder, which is arranged on the mechanical arm seat and is located directly below the mechanical arm.

5. A method for using a laser positioning-based anti-spin device for an underground rope-climbing robot, the method comprising: referring to the laser positioning-based anti-spin device for an underground rope-climbing robot according to any one of claims 1 to 4; Its characteristics include the following steps: a) Device installation: Install the base on the top of the rope climbing robot, start the stepper motor, and make the bottom ring opening of the robot arm base coincide with the opening of the base, so that the wire rope to be tested enters the center axis position of the anti-spin device; b) Scanning and positioning: Start the laser rangefinder and then the stepper motor. The stepper motor drives the rotating platform to rotate 360 ​​degrees through the gear transmission to obtain the distance between the surrounding obstacles and the axis of the measured wire rope. Based on the mechanism of laser reflection when encountering obstacles, when the laser scans the supporting wire rope, the distance measured by the laser rangefinder will jump, thereby obtaining the direction and distance of the supporting wire rope closest to the measured wire rope; c) Clamping to prevent spin: Based on the obtained position of the supporting wire rope closest to the measured wire rope, start the stepper motor again, rotate the rotating platform to the specified position, turn off the stepper motor, start the servo motor, and through the first parallelogram linkage mechanism and the second parallelogram linkage mechanism, make the robotic arm begin to extend, and the clamping mechanism maintains horizontal extension. Based on the obtained distance of the supporting wire rope closest to the measured wire rope, whether the supporting wire rope can be reliably clamped by the roller of the clamping mechanism, when the rope climbing robot climbs along the measured wire rope, even if the measured wire rope is about to spin, the reaction force of the robotic arm and the supporting wire rope can effectively suppress the spin and swing of the rope climbing robot, thereby realizing the anti-spin of the underground rope climbing robot.

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