A rope climbing robot device and method based on a steel wire rope spiral structure

Abstract

The application discloses a kind of based on steel wire rope helical structure's rope climbing robot device and method, device includes multiple clamping nut block units, enclosed in steel wire rope periphery, the inner wall of the clamping nut block unit has the same texture structure with the outer wall of the steel wire rope to be able to with the outer wall of the steel wire rope completely adhere;First rotating mechanism, coaxially connected in the outer portion of the steel wire rope and located below the clamping nut block unit, for clamping or loosening between multiple clamping block units and the steel wire rope;Second rotating mechanism, coaxially connected in the outer portion of the steel wire rope and located above the clamping nut block unit, for driving multiple clamping nut block units spiral climb or descend on steel wire rope.The rope climbing robot device of the application can spiral rise, descend on steel wire rope, suitable for different diameter, different placement inclination angle of steel wire rope, overall structure is light.Provide important technical support for steel wire rope detection.

Description

Technical Field

[0001] This invention relates to the field of rope-climbing robots, specifically to a rope-climbing robot based on a steel wire rope spiral structure. Background Technology

[0002] With the development of technology and the progress of society, robots have become increasingly sophisticated in recent years and are widely used in our daily lives. Robots can not only replace people in completing tedious tasks in daily life, but also enter places inaccessible to humans to perform tasks that humans cannot, such as working in deep environments, oxygen-free environments, high and low temperature environments, radioactive environments, and other toxic or polluted environments. In modern life, high-altitude operations are also constantly increasing. Examples include painting, cleaning, and rescue work on high-rise buildings; inspecting and maintaining bridge cables; and inspecting power system cables. When performing climbing operations, workers often lack a working platform and must climb onto scaffolding for support. Maintaining balance is extremely difficult and dangerous; a slight misstep could result in a fall and injury.

[0003] The following types of robots are currently known for use in cable operations: Tracked: Kyeong Ho Cho from Sungkyunkwan University in South Korea proposed a multi-functional tracked cable inspection robot. The robot can move vertically along suspended cables and has obstacle-crossing capabilities. It carries cameras and other instruments to inspect for damage to the wire ropes. The robot has a safety landing device to ensure both robot retrieval and operator safety in emergencies. This tracked cable inspection robot has a total weight of 26.2 kg and high drive energy, making it unsuitable for deep-working environments where energy acquisition is difficult.

[0004] Roller type: Zheng Mingbo from China Jiliang University designed a new type of continuous moving cable robot structure. This robot has six wheels and is driven by three motors, which makes the robot move faster and more stably, even when there are obstacles on the cable. However, the roller type cable robot has a small contact area, poor obstacle crossing ability, and is prone to slippage if the preload is not properly adjusted. In addition, it has many drive motors and a complex structure.

[0005] Wang Penghui from China University of Mining and Technology designed a robot that climbs along the axial direction of a steel wire rope for real-time monitoring of ultra-deep wells. The robot is equipped with six wind power generators, utilizing wind resources inside the well to power it. The robot is powered by two drive wheels, each bearing half of the robot's total load. However, because the steel wire rope strands are exposed to the air, the contact area between the drive wheels and the steel wire rope is small when climbing along the axial direction, resulting in concentrated stress on the rubber surfaces and causing severe wear on the drive wheels, thus shortening the robot's lifespan.

[0006] In summary, existing rope-climbing robots have the following technical problems: First, existing rope-climbing inspection robots are heavy and require high driving energy, making it difficult to perform long-distance work.

[0007] Second, existing rope-climbing inspection robot devices are driven by multiple motors, which places high demands on control.

[0008] Third, existing rope-climbing inspection robot devices have multiple functions and complex structures, making it difficult to simplify the parts.

[0009] Fourth, existing rope-climbing inspection robot devices lack the capability to climb ropes of different diameters and at different placement angles.

[0010] Fifth. Existing rope-climbing inspection robot devices lack the ability to treat the grease on the surface of the wire rope. Summary of the Invention

[0011] This invention addresses the shortcomings of existing technologies by proposing a rope-climbing robot based on a spiral structure of steel wire rope. It can spirally ascend and descend on steel wire ropes, and in the process, it can scrape grease off the surface of the steel wire rope. It is also suitable for steel wire ropes of different diameters and at different tilt angles, and the overall structure is lightweight. This provides important technical support for steel wire rope inspection.

[0012] To achieve the above objectives, the present invention adopts the following technical solution: A rope-climbing robot device based on a steel wire rope helical structure includes: Multiple clamping nut block units surround the outer periphery of the wire rope. The inner wall of the clamping nut block unit has the same texture structure as the outer wall of the wire rope so that it can fit completely against the outer wall of the wire rope. The first rotating mechanism is coaxially sleeved on the outside of the wire rope and located below the clamping nut block unit, and is used to clamp the multiple clamping block units with the wire rope. The second rotating mechanism is coaxially sleeved on the outside of the wire rope and located above the clamping nut block unit, and is used to drive multiple clamping nut block units to spirally climb or descend on the wire rope.

[0013] The first rotating mechanism includes: The first driven gear is coaxially sleeved on the outside of the wire rope and located below the clamping nut block unit. The first driven gear has an arc-shaped groove on its wheel corresponding to each clamping nut block unit. Each clamping nut block unit is slidably connected in the arc-shaped groove through a sliding column to accommodate wire ropes of different diameters. The first rotary drive unit has a drive shaft on which a first driving gear meshes with the first driven gear; The second rotating mechanism includes: The second driven gear is coaxially sleeved on the outside of the wire rope and located above the clamping nut block unit. The wheel of the second driven gear is provided with a strip groove corresponding to each clamping nut block unit. Each clamping nut block unit is slidably connected in the strip groove through a cylindrical protrusion. The second rotary drive unit has a second driving gear that meshes with the second driven gear on its drive shaft.

[0014] It also includes a housing for enclosing the clamping nut block unit, the first rotating mechanism, and the second rotating mechanism. The housing includes: The lower cover plate is coaxially sleeved on the outside of the wire rope and located below the first rotating mechanism; The upper cover plate is coaxially sleeved on the outside of the wire rope and located above the second rotating mechanism; The housing has one end connected to the lower cover plate and the other end connected to the upper cover plate.

[0015] An oil scraper is provided at the center of the upper cover plate, and the inner ring of the oil scraper is completely in contact with the outer wall of the wire rope.

[0016] It also includes an oil cup, which is connected between the scraper plate and the upper cover plate. As the robot device spirals upward around the wire rope, the scraper plate scrapes off the grease on the wire rope, and the scraped grease falls into the oil cup.

[0017] Also includes: A first support, rotatably connected to the wire rope on its inner side and fixedly connected to the housing on its outer side; the first support includes: The first sleeve is coaxially rotatably sleeved on the outside of the wire rope and located below the first gear. Multiple first support arms are evenly arranged on the outer wall of the first sleeve along the circumference of the first sleeve, and the ends of the first support arms are fixedly connected to the housing. The second support, with its inner side rotatably connected to the steel wire rope and its outer end fixedly connected to the housing, comprises: The second sleeve is coaxially rotatably sleeved on the outside of the wire rope and located above the second gear. Multiple second support arms are evenly arranged on the outer wall of the second sleeve along the circumference of the second sleeve, and the ends of the second support arms are fixedly connected to the housing.

[0018] The first rotation drive unit is a first servo motor, and the second rotation drive unit is a second servo motor; The first bracket is provided with a first motor mounting hole, and the first servo motor is mounted on the first motor mounting hole; The second bracket is provided with a second motor mounting hole, and the second servo motor is mounted on the second motor mounting hole; A battery and a DC motor speed controller are fixed on the housing. The battery supplies power to the first servo motor and the second servo motor, and the DC motor speed controller is electrically connected to the first servo motor and the second servo motor.

[0019] This invention further discloses the working method of the rope-climbing robot device based on a steel wire rope helical structure, including the following steps: (a) The first rotating mechanism drives multiple clamping nut block units to retract inward until they clamp the wire rope. After clamping, the first rotating mechanism is closed and stops working. (b) At this time, turn on the switch of the second rotating mechanism, and the second rotating mechanism drives the multiple clamping nut block units to rotate and climb along the wire rope spiral structure; (c) After the climb is completed, turn off the switch of the second rotating mechanism, then turn on the first rotating mechanism to rotate in the opposite direction. The multiple clamping nut block units will stretch outward to the maximum position. Then turn off the first rotating mechanism and take out the wire rope.

[0020] Beneficial effects: First, the device of the present invention is based on a steel wire rope spiral structure, including multiple clamping nut block units surrounding the outer periphery of the steel wire rope. The inner wall of each clamping nut block unit has the same texture structure as the outer wall of the steel wire rope to ensure complete contact with the outer wall of the steel wire rope. A second rotating mechanism is coaxially sleeved on the outside of the steel wire rope and located above the clamping nut block units, driving the multiple clamping nut block units to spirally climb or descend on the steel wire rope. Compared with existing rope-climbing inspection robots, it has the advantages of a larger contact area and more stable climbing. In addition, since the robot and the steel wire rope are in close contact, and the robot uses a steel wire rope spiral structure to achieve spiral climbing, it can adapt to the inspection of steel wire ropes with different tilt angles.

[0021] Second, the present invention is provided with a first rotating mechanism, which is coaxially sleeved on the outside of the wire rope and located below the clamping nut block unit, for clamping or loosening multiple clamping block units with the wire rope, and therefore can be applied to wire ropes of different diameters.

[0022] Third, the clamping device of the present invention uses a servo motor to achieve self-locking after the clamping nut block unit is clamped.

[0023] Fourth, the present invention has an oil scraper on the top of the machine, the inner ring of which is completely in contact with the outer wall of the wire rope, so that the grease on the surface of the wire rope can be scraped off during the climbing process. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the overall structure of the rope-climbing robot device of the present invention; In the diagram: 1. Steel wire rope; 2. Oil scraper; 3. Oil cup; 4-1. Upper cover plate; 4-2. Lower cover plate; 5-1. Second servo motor; 5-2. First servo motor; 6-1. Second drive gear; 6-2. First drive gear; 7-1. First bracket; 7-2. Second bracket; 8. Second driven gear; 9. First driven gear; 10. DC motor speed controller; 11-1. First slide column; 11-2. Second slide column; 12-1. First clamping nut block unit; 12-2. Second clamping nut block unit; 13. Battery; Figure 2 This is a side view of the rope-climbing robot device of the present invention; Among them, 12-3, the third clamping nut block unit; Figure 3 This is a front view of the rope-climbing robot device of the present invention; Figure 4 This is a top view of the rope-climbing robot device of the present invention; Among them, 14. Box body.

[0025] Figure 5 This is a schematic diagram of the clamping nut structure of the present invention; Figure 6 This is a schematic diagram of the structure of the scraper blade of the present invention; Figure 7 This is a schematic diagram of the structure of the first large gear of the present invention; Among them, 9-1 is an arc-shaped groove; Figure 8 This is a schematic diagram of the structure of the second large gear of the present invention; Among them, 8-1 is a strip groove; Figure 9 This is a schematic diagram of the structure of the first support of the present invention; Figure 10 This is a schematic diagram of the sliding column of the present invention; Figure 11 This is a schematic diagram showing the connection relationship between the first bracket and the first driven gear of the present invention. Detailed Implementation

[0026] The present invention will be further explained and described below with reference to specific embodiments.

[0027] like Figure 1 As shown, a rope-climbing robot device based on a steel wire rope spiral structure includes a drive device, a clamping structure, an oil scraping device, etc.

[0028] Based on steel wire ropes of different diameters, corresponding clamping nut block units are selected, and multiple clamping nut block units are arranged around the outer periphery of the steel wire rope. The inner wall of the clamping nut block unit has the same texture structure as the outer wall of the steel wire rope so that it can fit completely against the outer wall of the steel wire rope. The first rotating mechanism is coaxially sleeved on the outside of the wire rope and located below the clamping nut block unit, and is used to clamp the multiple clamping block units with the wire rope. The second rotating mechanism is coaxially sleeved on the outside of the wire rope and located above the clamping nut block unit, and is used to drive multiple clamping nut block units to spirally climb or descend on the wire rope.

[0029] The first rotating mechanism includes: The first driven gear 9 is coaxially sleeved on the outside of the wire rope and located below the clamping nut block unit. The first driven gear 9 has an arc-shaped sliding groove on its wheel corresponding to each clamping nut block unit. Each clamping nut block unit is slidably connected in the arc-shaped sliding groove through a sliding column to accommodate wire ropes of different diameters. The first servo motor 5-2 has a drive shaft that meshes with the first driven gear 9 via a first driving gear 6-2. The second rotating mechanism includes: The second driven gear 8 is coaxially sleeved on the outside of the wire rope and located above the clamping nut block unit. The wheel of the second driven gear 8 is provided with a strip groove corresponding to each clamping nut block unit. Each clamping nut block unit is slidably connected in the strip groove through a cylindrical protrusion. The second servo motor 5-1 has a second driving gear 6-1 mounted on its drive shaft that meshes with the second driven gear 8.

[0030] The second servo motor 5-1 drives the second drive gear 6-2 to rotate. The second drive gear 6-2 meshes with the second driven gear 8, causing the second driven gear 8 to rotate. One end of the sliding column is placed in the slot of the second driven gear 8, and the second driven gear 8 drives the entire robot to climb in a spiral motion.

[0031] The clamping mechanism includes a first servo motor 5-2, which drives the first drive gear 6-2 to rotate. The first drive gear drives the clamping first driven gear 9 to rotate. The slide column slides in the slot in the second bracket 7-2 and slides in the arc groove on the first driven gear 9. The slide column is connected to the clamping nut block unit to realize the clamping nut to hold the wire rope.

[0032] An oil cup and an oil scraper are placed on the top of the box. The oil scraper 2 is placed on the oil cup 3, and the oil cup 3 is placed on the box 4-1. As the robot spirals upward around the steel cable, the oil scraper 2 scrapes off the grease on the steel cable, and the scraped grease falls into the oil cup 3.

[0033] The housing consists of two parts: an upper cover plate 4-1, a lower cover plate 4-2, and a shell not shown on all sides. The device also includes a battery 15 and a circuit board 10.

[0034] The sliding column is based on steel wire ropes of different diameters and slides in the slot in the second bracket 7-2 and in the arc groove on the first driven gear 9. The slot in the second bracket 7-2 and the arc groove on the first driven gear 9 are long enough to accommodate steel wire ropes of different diameters.

[0035] There are three clamping nut block units. The corresponding size of the clamping nut block unit is selected based on the different diameters of the wire rope. Multiple clamping nut block units clamp the wire rope based on the spiral structure characteristics of the wire rope.

[0036] The first drive gear 6-2 and the first servo motor 5-2 are fixed together by bolts. The first servo motor 5-2 drives the first drive gear 6-2 to rotate. The first drive gear 6-2 and the first driven gear 9 mesh together.

[0037] As the first driven gear 9 rotates, it drives the sliding column to slide in the slot in the second bracket 7-2 and the arc-shaped groove on the first driven gear 9. This sliding is unidirectional and irreversible. If reverse sliding occurs, the first driven gear 9 will drive the first driving gear 6-2 to rotate in the opposite direction. However, because the torque of the first servo motor 5-2 is very large, it will not rotate in the opposite direction. At this time, the sliding column is fixed, and the sliding column and the clamping nut block unit are fixed together by the keyway. The clamping nut block unit clamps the wire rope, thus achieving the clamping function.

[0038] The second driving gear 6-2 and the second servo motor 5-1 are fixed by bolts. The second servo motor 5-1 drives the second driving gear 6-2 to rotate. The second driving gear 6-2 and the second driven gear 8 are meshed together by gears. The slide column is placed in the strip groove on the second driven gear 8. The second driving gear 6-2 and the second driven gear 8 mesh together to play a driving role.

[0039] The outer ends of the first and second brackets are each fixed together with the housing by three threaded holes and nuts.

[0040] The oil scraper 2 is selected according to the corresponding size of the wire rope with different diameters; the oil scraper 2 is fixed together by two symmetrical threaded holes through nuts and oil cup 3; the oil cup 3 is fixed together by four threaded holes through nuts and upper cover plate 4-1; it plays the role of scraping the grease on the surface of the wire rope during the climbing process of the robot device.

[0041] The present invention discloses a working method for a rope-climbing robot device based on a steel wire rope helical structure, comprising the following steps: Based on steel wire ropes of different diameters, select clamping nut block units and oil scraper 2 of corresponding sizes, place the sliding column in the slot of the second bracket 7-2 and the outermost arc groove on the first driven gear 9, and then insert the steel wire rope into the robot; b. Set the operating parameters of the first servo motor 5-2, turn on the motor switch, and drive the first drive gear 6-2 to rotate; c. The first driving gear 6-2 drives the first driven gear 8 to rotate. The first driven gear 8 drives the slide column to slide along its internal arc groove. The slide column drives multiple clamping nut block units to retract inward, clamping the wire rope. After clamping, the first servo motor 5-2 is turned off. At this time, turn on the switch of the second servo motor 5-1, and the second servo motor 5-1 drives the second drive gear 6-2 to rotate; The second driving gear 6-2 drives the second driven gear 9 to rotate, and the second driven gear 9 drives the sliding column. The sliding column drives the entire machine to rotate and climb based on the steel wire rope spiral structure through the second bracket 7-2. After the climb is complete, turn off the second servo motor 5-1, then set the operating parameters of the first servo motor 5-2, turn on its motor switch, drive the first drive gear 6-2 to rotate in the reverse direction, expand the slide column to the maximum position, turn off the motor, and take out the wire rope.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0043] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each example can be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rope-climbing robot device based on a steel wire rope helical structure, characterized in that, include: Multiple clamping nut block units surround the outer periphery of the wire rope. The inner wall of the clamping nut block unit has the same texture structure as the outer wall of the wire rope so that it can fit completely against the outer wall of the wire rope. The first rotating mechanism is coaxially sleeved outside the wire rope and located below the clamping nut block unit, and is used to clamp or loosen the multiple clamping nut block units between the wire rope and the wire rope. The second rotating mechanism is coaxially sleeved on the outside of the wire rope and located above the clamping nut block unit, and is used to drive multiple clamping nut block units to spirally climb or descend on the wire rope. The first rotating mechanism includes: The first driven gear is coaxially sleeved on the outside of the wire rope and located below the clamping nut block unit. The first driven gear has an arc-shaped groove on its wheel corresponding to each clamping nut block unit. Each clamping nut block unit is slidably connected in the arc-shaped groove through a sliding column to accommodate wire ropes of different diameters. The first rotary drive unit has a drive shaft on which a first driving gear meshes with the first driven gear; The second rotating mechanism includes: The second driven gear is coaxially sleeved on the outside of the wire rope and located above the clamping nut block unit. The wheel of the second driven gear is provided with a strip groove corresponding to each clamping nut block unit. Each clamping nut block unit is slidably connected in the strip groove through a cylindrical protrusion. The second rotary drive unit has a second driving gear that meshes with the second driven gear on its drive shaft; It also includes a housing for enclosing the clamping nut block unit, the first rotating mechanism, and the second rotating mechanism. The housing includes: The lower cover plate is coaxially sleeved on the outside of the wire rope and located below the first rotating mechanism; The upper cover plate is coaxially sleeved on the outside of the wire rope and located above the second rotating mechanism; The housing has one end connected to the lower cover plate and the other end connected to the upper cover plate; Also includes: A first support, rotatably connected to the wire rope on its inner side and fixedly connected to the housing on its outer side; the first support includes: The first sleeve is coaxially rotatably sleeved on the outside of the wire rope and located below the first driven gear. Multiple first support arms are evenly arranged on the outer wall of the first sleeve along the circumference of the first sleeve, and the ends of the first support arms are fixedly connected to the housing. The second support, with its inner side rotatably connected to the steel wire rope and its outer end fixedly connected to the housing, comprises: The second sleeve is coaxially rotatably sleeved on the outside of the wire rope and located above the second driven gear. Multiple second support arms are evenly arranged on the outer wall of the second sleeve along the circumference of the second sleeve, and the ends of the second support arms are fixedly connected to the housing. The first support arm of the first bracket has a slot extending radially along the housing, and the bottom of the sliding column has a locking block, which is slidably connected to the slot.

2. The rope-climbing robot device based on a steel wire rope spiral structure according to claim 1, characterized in that, An oil scraper is provided at the center of the upper cover plate, and the inner ring of the oil scraper is completely in contact with the outer wall of the wire rope.

3. The rope-climbing robot device based on a steel wire rope helical structure according to claim 2, characterized in that, It also includes an oil cup, which is connected between the scraper plate and the upper cover plate. As the robot device spirals upward around the wire rope, the scraper plate scrapes off the grease on the wire rope, and the scraped grease falls into the oil cup.

4. The rope-climbing robot device based on a steel wire rope spiral structure according to claim 1, characterized in that, The first rotation drive unit is a first servo motor, and the second rotation drive unit is a second servo motor; The first bracket is provided with a first motor mounting hole, and the first servo motor is mounted on the first motor mounting hole; The second bracket is provided with a second motor mounting hole, and the second servo motor is mounted on the second motor mounting hole; A battery and a DC motor speed controller are fixed on the housing. The battery supplies power to the first servo motor and the second servo motor, and the DC motor speed controller is electrically connected to the first servo motor and the second servo motor.

5. The working method of the rope-climbing robot device based on a steel wire rope helical structure as described in any one of claims 1 to 4, characterized in that, Includes the following steps: (a) The first rotating mechanism drives multiple clamping nut block units to retract inward until they clamp the wire rope. After clamping, the first rotating mechanism is closed and stops working. (b) At this time, the switch of the second rotating mechanism is turned on, and the second rotating mechanism drives the multiple clamping nut block units to rotate and climb along the steel wire rope spiral structure; (c) After the climb is completed, turn off the switch of the second rotating mechanism, then turn on the first rotating mechanism to rotate in the opposite direction. The multiple clamping nut block units will stretch outward to the maximum position. Then turn off the first rotating mechanism and take out the wire rope.

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