Steel wire rope on-line cleaning device

Abstract

The present application relates to a kind of steel wire rope online cleaning device, solve the many adverse problems caused by steel wire rope manual cleaning and offline disassembly cleaning in prior art.The device includes brush washing mechanism, climbing mechanism, laser cleaning mechanism from top to bottom in turn, brush washing mechanism includes the brush roll that is attached to steel wire rope from two sides;The climbing mechanism includes the caterpillar that is attached to the surface of steel wire rope from two sides, the adhesion wheel that caterpillar is pressed and attached to steel wire rope, the drive wheel that drives caterpillar rotation and the drive motor that provides power for drive wheel;The lower side of the climbing mechanism is hung with split gear ring, split gear ring is arranged around steel wire rope, the laser cleaning mechanism is rotationally arranged along split gear ring, laser cleaning mechanism is provided with mechanical arm, and laser cleaning head is clamped below the mechanical arm.The present application adopts the mode of first rolling brush, then laser cleaning, and the cleaning effect is comprehensive and clean;Adopt caterpillar type contact climbing, and the climbing rhythm is continuous and stable uniform speed, and the cleaning effect is uniform and comprehensive.

Description

Technical Field

[0001] This invention belongs to the field of wire rope cleaning equipment, and in particular relates to an online wire rope cleaning device. Background Technology

[0002] Wire rope is a mechanical product with functions such as load bearing, traction, and connection, and is widely used in many fields such as hoisting machinery, elevators, ships, and mining. To reduce friction during operation, a layer of grease is usually coated on the surface of the wire rope. Besides reducing friction, grease also has certain anti-rust and vibration damping effects. However, after prolonged use, grease is prone to oxidation, hardening, and thermal decomposition, leading to loss of its lubricating function. Therefore, it needs to be periodically removed and replaced with new grease.

[0003] Currently, the main method of wire rope maintenance in the aforementioned industries is manual cleaning. This method requires workers to climb to heights using ladders and other tools to clean the wire ropes, which poses a significant risk. Alternatively, the wire ropes can be disassembled for offline cleaning, but this is cumbersome and has significant limitations, especially in fields like cranes and elevators where offline cleaning requires stopping the machine and disassembling the equipment, making this method unsuitable. Given the numerous disadvantages of manual cleaning and offline disassembly cleaning, there is an urgent need for a more efficient, environmentally friendly, safe, and cost-effective wire rope maintenance equipment. Summary of the Invention

[0004] The purpose of this invention is to solve the many disadvantages of manual cleaning and offline disassembly cleaning of wire ropes in the prior art, and to provide an online wire rope cleaning device. The device uses a tracked climbing robot to carry the cleaning equipment to clean the wire rope online. There is no need to disassemble the wire rope during the cleaning process, which effectively improves work efficiency and avoids the dangers of disassembling the wire rope and the tedious work of offline cleaning.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: an online wire rope cleaning device, which is clamped on the outside of the wire rope to be cleaned, and includes, from top to bottom, a brushing mechanism, a climbing mechanism, and a laser cleaning mechanism. The brushing mechanism includes brush rollers that adhere to the wire rope from both sides; the climbing mechanism includes tracks that adhere to the surface of the wire rope from both sides, an adhesion wheel that presses the tracks onto the wire rope, a drive wheel that drives the tracks to rotate, and a drive motor that provides power to the drive wheel; the surface of the adhesion wheel is an arc-shaped wheel surface adapted to the wire rope; a splicing toothed ring is hung below the climbing mechanism, the splicing toothed ring is arranged around the wire rope, the laser cleaning mechanism is arranged to rotate along the splicing toothed ring, the laser cleaning mechanism is provided with a mechanical arm, and a laser cleaning head is clamped below the mechanical arm.

[0006] This device employs a tracked climbing structure, enabling continuous, uniform, and stable climbing of the cleaning unit. Compared to a creeping climbing mechanism, this provides a more even and stable cleaning effect on the wire rope. Furthermore, the large contact area between the track and the wire rope enhances adhesion and reduces slippage. Monitoring the rotational speed of each roller allows for timely detection and adjustment of any potential slippage, ensuring continuous and stable cleaning. To further improve track adhesion, the track surface can be textured with anti-slip protrusions. During the wire rope cleaning process, a brush roller first cleans the surface of the wire rope, followed by laser cleaning with a laser cleaning head, resulting in a comprehensive and thorough cleaning.

[0007] Preferably, the brushing mechanism adopts a left-right splicing structure. Each side of the brushing mechanism includes a base plate with a guide rail perpendicular to the splice seam. A slide is mounted on the guide rail, and a swing arm that can swing and lock is mounted above the slide. A brush roller is fixed to the upper end of the swing arm. A brushing motor is also located on the side of the base plate near the splice seam. The brushing motor and the end of the brush roller are driven by a belt. A dirt-proof cover is also provided on the outer side of the brushing mechanism on the base plate. The sliding adjustment of the slide and the swing adjustment of the swing arm work together to allow the brush roller to conform to the surface of any size wire rope, ensuring the cleaning effect of the brush roller.

[0008] Preferably, the climbing mechanism adopts a left-right splicing structure, with mounting frames on both sides of the climbing mechanism, and the two mounting frames are connected by an adjustable tension rod; the adhesion wheel and drive wheel of the climbing mechanism are both mounted on the mounting frame, with the adhesion wheel located on the inner side near the steel wire rope and the drive wheel located on the outer side, and two adhesion wheels are arranged vertically, with the track between the two adhesion wheels adhering to the surface of the steel wire rope.

[0009] Preferably, two drive wheels are arranged vertically, and the drive motor is located between the two drive wheels. The drive motor and the two drive wheels are connected by synchronous chain transmission.

[0010] Preferably, a tensioning wheel is provided between the drive wheel and the adhesion wheel, and an elongated hole perpendicular to the track at the corresponding position is provided on the mounting frame. An adjusting screw is provided on the mounting frame along the direction of the elongated hole, and a slider is provided on the adjusting screw. The tensioning wheel is provided on the slider.

[0011] Preferably, the mounting frame has a fixing and pressing mechanism between the two adhesion wheels. The fixing and pressing mechanism includes a bracket connected to the mounting frame, and a T-shaped pressure block is provided on the bracket. Several fixing pressure rollers are arranged side-by-side at the inner end of the T-shaped pressure block, and these fixing pressure rollers press the track against the wire rope. One or more sets of fixing and pressing mechanisms can be provided to assist in the adhesion of the track to the wire rope between the two adhesion wheels. The fixing pressure rollers are arranged in two rows, pressing the track from both sides to make the track conform to the wire rope in an arc shape.

[0012] Preferably, the mounting frame has an adjustable clamping mechanism between the two adhesion wheels. The adjustable clamping mechanism includes a fixed block connected to the mounting frame. Two clamp-shaped swing arms are hinged to the inner side of the fixed block facing the wire rope. One or more adjustable pressure wheels that press the track onto the wire rope are respectively provided at the inner ends of the two clamp-shaped swing arms. A telescopic rod is passed through the middle of the fixed block. The inner end of the telescopic rod is connected to the outer end of the two clamp-shaped swing arms. The outer end of the telescopic rod is pushed to extend and retract by a telescopic cylinder. The inner and outer ends of the clamp-shaped swing arms form a lever structure on both sides of the hinge point.

[0013] Preferably, guide wheels are provided above or below the mounting frame. These guide wheels utilize torsion springs to passively roll the wire rope. Each guide wheel is equipped with a first rotary encoder, one drive wheel with a second rotary encoder, and one adhesion wheel with a third rotary encoder. The synchronization of the first and third rotary encoders detects slippage between the track and the wire rope, while the synchronization of the second and third rotary encoders detects slippage between the track and the drive wheel. When there is a speed difference due to slippage between the track and the wire rope, the guide wheels maintain synchronization with the wire rope's linear velocity, while the adhesion wheels maintain synchronization with the track. The difference in linear velocity calculated by the first and third rotary encoders allows for adjustment of the adjustable clamping mechanism. This involves pushing the telescopic rod outward via a telescopic cylinder, which in turn causes the clamp-shaped swing arm to tighten through a lever structure, increasing the pressure and friction between the track and the wire rope, thus mitigating slippage. Similarly, when there is a difference in the linear speed calculated by the second and third rotary encoders, the drive wheel and the track are out of sync and slip. At this time, the tension wheel is adjusted to increase the tension of the track and increase the friction between the drive wheel and the track. The screw adjustment of the tension wheel can also be set to be automatically controlled by a motor. However, since the slippage can usually be detected on the ground, manual adjustment can also be used.

[0014] Preferably, the splicing gear ring includes left and right splicing gear frames. The gear ring is installed on the gear frames in sections using screws. The inner ring of the gear frame is provided with an inner guide rail, and the outer ring of the gear frame is provided with an outer guide rail. The upper end of the robotic arm of the laser cleaning mechanism is provided with a connecting frame. A gear that meshes with the gear ring is provided in the middle of the connecting frame. A rotary motor that drives the gear to rotate is provided on the connecting frame. The connecting frame is provided with inner guide wheels corresponding to the inner guide rail and outer guide wheels corresponding to the outer guide rail. There are one or more inner guide wheels and one or more outer guide wheels, and the total number of inner and outer guide wheels is not less than three. The connecting frame performs planetary motion around the gear ring through the rotation of the gear, rotating around the wire rope to perform 360° laser cleaning on the wire rope. The inner and outer guide wheels are clamped at three or more points, so that the connecting frame rotates around the gear ring at a fixed angle.

[0015] Preferably, the robotic arm has one or more degrees of freedom joints, and a gripper is provided at the lower end of the robotic arm to hold the laser cleaning head.

[0016] This invention employs a method of first using a roller brush and then laser cleaning, resulting in a comprehensive and thorough cleaning effect. It utilizes a tracked climbing system with a continuous, stable, and uniform climbing rhythm, ensuring even and comprehensive cleaning. The rotation of each roller on the tracked system is monitored in real time, allowing for timely detection and adjustment to ensure stable operation in case of slippage. Attached Figure Description

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of a brushing mechanism according to the present invention.

[0020] Figure 3 This is a cross-sectional schematic diagram of a climbing mechanism according to the present invention.

[0021] Figure 4 This is a three-dimensional structural diagram of one side of a climbing mechanism according to the present invention.

[0022] Figure 5 This is a cross-sectional schematic diagram of a fixing and clamping mechanism according to the present invention.

[0023] Figure 6 This is a three-dimensional schematic diagram of an adjustable clamping mechanism according to the present invention.

[0024] Figure 7 This is a cross-sectional schematic diagram of an adjustable clamping mechanism according to the present invention.

[0025] Figure 8 This is a schematic diagram of the drive mechanism of an adjustable clamping mechanism according to the present invention.

[0026] Figure 9 This is a schematic diagram of a laser cleaning mechanism according to the present invention.

[0027] Figure 10 This is a schematic diagram of a laser cleaning head clamping structure according to the present invention.

[0028] Figure 11 This is a schematic diagram of a toothed ring and connecting frame connection structure according to the present invention.

[0029] Figure 12 This is the present invention. Figure 11 A schematic diagram of the connecting frame guide structure.

[0030] In the diagram: 1. Steel wire rope, 2. Brushing mechanism, 3. Climbing mechanism, 4. Alignment gear ring, 5. Robotic arm, 6. Laser cleaning head, 21. Base plate, 22. Anti-fouling cover, 23. Brush roller, 24. Swing arm, 25. Slide, 26. Guide rail, 27. Brushing motor, 28. Belt, 31. Mounting bracket, 32. Drive wheel, 33. Drive motor, 34. Adhesion wheel, 35. Track, 36. Tensioning wheel, 37. Elongated hole, 38. Lead screw, 39. Fixed clamping mechanism, 310. Adjustable clamping mechanism, 311. Guide wheel, 312. Cover, 313. First rotary encoder, 314. Second... Rotary encoder, 315, Third rotary encoder, 316, Control board, 317, Pull rod, 318, Synchronous chain, 319, Slider, 320, Fixed pressure roller, 321, T-shaped pressure block, 322, Fixed block, 323, Telescopic rod, 324, Hinge point, 325, Clamp-shaped swing arm, 326, Adjustable pressure roller, 327, Telescopic cylinder, 41 Gear ring, 42, Outer guide rail, 43, Inner guide rail, 51, Top frame, 52, Multi-degree-of-freedom joint, 53, Chuck, 54, Pulling cylinder body, 55, Connecting frame, 56, Rotary motor, 57, Gear, 58, Outer guide wheel, 59, Inner guide wheel. Detailed Implementation

[0031] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0032] Example: An online cleaning device for steel wire ropes, such as Figure 1 As shown, this device is clamped on the outside of the steel wire rope 1 to be cleaned, and from top to bottom includes a brushing mechanism 2, a climbing mechanism 3, and a laser cleaning mechanism.

[0033] like Figure 2 As shown, the brushing mechanism 2 adopts a left-right splicing structure. One side of the brushing mechanism 2 includes a base plate 21, on which a guide rail 26 perpendicular to the splice seam is mounted. A slide block 25 is mounted on the guide rail, and a swing arm 24 that can swing / lock is mounted above the slide block. A brush roller 23 is fixed to the upper end of the swing arm, and the brush roller has bristles that adhere to the steel wire rope 1 for brushing. A brushing motor 27 is also provided on the side of the base plate 21 near the splice seam. The brushing motor and the end of the brush roller are driven by a belt 28. A dirt-proof cover 22 is also provided on the outer side of the brushing mechanism of the base plate.

[0034] like Figure 3 , 4As shown, the climbing mechanism 3 includes tracks 35 that adhere to the surface of the wire rope from both sides, adhesion wheels 34 that press the tracks 35 against the wire rope, drive wheels 32 that drive the tracks to rotate, and a drive motor 33 that provides power to the drive wheels. The climbing mechanism 3 adopts a left-right splicing structure. Mounting frames 31 are provided on both sides of the climbing mechanism. The two mounting frames 31 are connected by adjustable tension rods 317, with springs fitted on the rods to prevent loose tension in the mechanisms on both sides. A control board 316 can be installed at a suitable position on the mounting frame. A protective cover 312 is provided on the outer side of the climbing mechanism 3. The adhesion wheels 34 and drive wheels 32 of the climbing mechanism are both mounted on the mounting frames 31. The adhesion wheels 34 are located on the inner side near the wire rope. Two adhesion wheels are arranged vertically, with the track between the two adhesion wheels adhering to the surface of the wire rope. The surface of the adhesion wheels 34 is an arc-shaped wheel surface adapted to the wire rope, and the surface of the tracks 35 adhering to the wire rope has anti-slip textures. Two drive wheels 32 are arranged vertically on the outer side, with the drive motor 33 positioned between them. The drive motor and the two drive wheels are connected by synchronous chains 318. Tensioning wheels 36 are provided between the upper drive wheel 34 and the adhesion wheel 32, and between the lower drive wheel and the adhesion wheel. The mounting bracket 31 has elongated holes 37 perpendicular to the corresponding track 35. Figure 4 As shown, the mounting bracket is provided with an adjusting screw 38 along the direction of the elongated hole, and a slider 319 is provided on the adjusting screw. The tensioning wheel 36 is provided on the slider 319.

[0035] The mounting bracket 31 has two fixing and clamping mechanisms 39 disposed between the two adhesion wheels 34. For example... Figure 5 As shown, the fixing and pressing mechanism 39 includes a bracket connected to the mounting frame. The bracket is provided with a T-shaped pressing block 321. Several fixed pressing rollers 320 are arranged side by side at the inner end of the T-shaped pressing block. The fixed pressing rollers press the track onto the wire rope 1.

[0036] An adjustable clamping mechanism 310 is provided between the two fixed clamping mechanisms 39. For example... Figure 6 , 7 As shown in Figure 8, the adjustable clamping mechanism 310 includes a fixed block 322 connected to the mounting frame 31. Two clamp-shaped swing arms 325 are hinged to the inner side of the fixed block facing the wire rope. One or more adjustable pressure rollers 326 are respectively installed at the inner ends of the two clamp-shaped swing arms to press the track onto the wire rope. A telescopic rod 323 passes through the middle of the fixed block 322. The inner end of the telescopic rod 323 is connected to the outer ends of the two clamp-shaped swing arms 325. The outer ends of the telescopic rod are extended and retracted by a telescopic cylinder 327, which can be a pneumatic cylinder or an electric cylinder. The inner and outer ends of the clamp-shaped swing arms 325 form a lever structure on both sides of the hinge point 324.

[0037] like Figure 4As shown, a guide wheel 311 is provided above the mounting frame. The guide wheel 311 is passively rolled by a torsion spring against the steel wire rope 1. The guide wheel 311 is equipped with a first rotary encoder 313, one of the drive wheels 32 is equipped with a second rotary encoder 314, and one of the adhesion wheels 34 is equipped with a third rotary encoder 315. The synchronization of the first rotary encoder and the third rotary encoder is used to detect whether the track slips on the steel wire rope, and the synchronization of the second rotary encoder and the third rotary encoder is used to detect whether the track slips on the drive wheel.

[0038] like Figure 1 , 11 As shown in Figure 12, a splicing toothed ring 4 is suspended below the climbing mechanism 3, and the splicing toothed ring surrounds the steel wire rope 1. The splicing toothed ring 4 includes left and right splicing tooth frames. The toothed ring 41 is installed on the tooth frames in sections by screws. The inner ring of the tooth frame is provided with an inner guide rail 43, and the outer ring of the tooth frame is provided with an outer guide rail 42. Figure 9 As shown, the upper end of the robotic arm 5 of the laser cleaning mechanism is provided with a top frame 51, and a connecting frame 55 is provided above the top frame. A gear 57 that meshes with a gear ring is provided in the middle of the connecting frame 55. A rotary motor 56 that drives the gear to rotate is provided on the connecting frame 55. The connecting frame 55 is provided with an inner guide wheel 59 corresponding to the inner guide rail 43 and an outer guide wheel 58 corresponding to the outer guide rail 42. Two inner guide wheels and two outer guide wheels are provided.

[0039] like Figure 9 , 10 As shown, the robotic arm 5 has three-degree-of-freedom joints 52, and a gripper 53 is provided at the lower end of the robotic arm, which holds the laser cleaning head 6. The gripper adopts a linkage structure and uses a traction cylinder 54 to provide the gripping power.

[0040] The laser cleaning mechanism rotates around the steel wire rope along the splicing toothed ring 4, and the laser cleaning head always faces the steel wire rope.

[0041] This device performs dual cleaning: a downward brush above the climbing mechanism and a surrounding laser cleaning below. The tracked climbing mechanism maintains a stable rhythm and a uniform crawling speed with minimal fluctuations, improving the evenness of cleaning. The track structure is adjustable; when slippage is detected, the clamping force is automatically adjusted to prevent slippage.

Claims

1. A wire rope online cleaning device, which clamps onto the outside of the wire rope to be cleaned, characterized in that: From top to bottom, the system includes a brushing mechanism, a climbing mechanism, and a laser cleaning mechanism. The brushing mechanism includes brush rollers that adhere to the steel wire rope from both sides. The climbing mechanism includes tracks that adhere to the surface of the steel wire rope from both sides, an adhesion wheel that presses the tracks onto the steel wire rope, a drive wheel that drives the tracks to rotate, and a drive motor that provides power to the drive wheel. The surface of the adhesion wheel is an arc-shaped wheel surface adapted to the steel wire rope. A splicing toothed ring is hung below the climbing mechanism and surrounds the steel wire rope. The laser cleaning mechanism is arranged to rotate along the splicing toothed ring and is equipped with a robotic arm. A laser cleaning head is clamped below the robotic arm. The climbing mechanism adopts a left-right splicing structure. Both sides of the climbing mechanism are equipped with mounting frames, and the two mounting frames are connected by adjustable tension rods. The adhesion wheel and drive wheel of the climbing mechanism are both mounted on the mounting frame. The adhesion wheel is located on the inner side of the steel wire rope, and the drive wheel is located on the outer side. Two adhesion wheels are arranged vertically, and the track between the two adhesion wheels is in contact with the surface of the steel wire rope. Guide wheels are provided above or below the mounting frame. The guide wheels are passively rolled by the torsion springs attached to the wire rope. The guide wheels are equipped with a first rotary encoder, one of the drive wheels is equipped with a second rotary encoder, and one of the adhesion wheels is equipped with a third rotary encoder. The synchronization of the first and third rotary encoders is used to detect whether the track slips on the wire rope, and the synchronization of the second and third rotary encoders is used to detect whether the track slips on the drive wheel.

2. The online cleaning device for steel wire rope according to claim 1, characterized in that: The brushing mechanism adopts a left-right splicing structure. The single-side structure of the brushing mechanism includes a base plate, a guide rail perpendicular to the splicing seam is provided on the base plate, a slide is provided on the guide rail, and a swing arm that can swing / lock is provided above the slide. A brush roller is fixed at the upper end of the swing arm. A brushing motor is also provided on the side of the base plate near the splicing seam. The brushing motor and the end of the brush roller are driven by a belt. A dirt-proof cover is also provided on the outside of the brushing mechanism of the base plate.

3. The online cleaning device for steel wire rope according to claim 1, characterized in that: The drive wheels are arranged vertically, and the drive motor is located between the two drive wheels. The drive motor and the two drive wheels are connected by synchronous chain transmission.

4. The online cleaning device for steel wire rope according to claim 1, characterized in that: A tensioning wheel is also provided between the drive wheel and the adhesion wheel. The mounting frame is provided with an elongated hole perpendicular to the track at the corresponding position. An adjusting screw is provided along the direction of the elongated hole on the mounting frame. A slider is provided on the adjusting screw, and the tensioning wheel is provided on the slider.

5. The online cleaning device for steel wire rope according to claim 1, characterized in that: The mounting frame has a fixing and pressing mechanism between two adhesion wheels. The fixing and pressing mechanism includes a bracket connected to the mounting frame. The bracket is provided with a T-shaped pressure block. Several fixing pressure wheels are arranged side by side at the inner end of the T-shaped pressure block. The fixing pressure wheels press the track onto the wire rope.

6. The online cleaning device for steel wire rope according to claim 1, characterized in that: The mounting frame has an adjustable clamping mechanism between two adhesion wheels. The adjustable clamping mechanism includes a fixed block connected to the mounting frame. Two clamp-shaped swing arms are hinged to the inner side of the fixed block facing the wire rope. One or more adjustable pressure wheels that press the track onto the wire rope are respectively provided at the inner ends of the two clamp-shaped swing arms. A telescopic rod is passed through the middle of the fixed block. The inner end of the telescopic rod is connected to the outer end of the two clamp-shaped swing arms. The outer end of the telescopic rod is pushed to extend and retract by a telescopic cylinder. The inner and outer ends of the clamp-shaped swing arms form a lever structure on both sides of the hinge point.

7. The online cleaning device for steel wire rope according to claim 1, characterized in that: The splicing gear ring includes left and right splicing gear frames. The gear ring is installed on the gear frames in sections by screws. The inner ring of the gear frame is provided with an inner guide rail, and the outer ring of the gear frame is provided with an outer guide rail. The upper end of the mechanical arm of the laser cleaning mechanism is provided with a connecting frame. The middle part of the connecting frame is provided with a gear that meshes with the gear ring. The connecting frame is provided with a rotary motor that drives the gear to rotate. The connecting frame is provided with inner guide wheels corresponding to the inner guide rail and outer guide wheels corresponding to the outer guide rail. One or more inner guide wheels and one or more outer guide wheels are provided. The total number of inner guide wheels and outer guide wheels is not less than three.

8. The online cleaning device for steel wire rope according to claim 1, characterized in that: The robotic arm has one or more degrees of freedom joints, and a gripper is provided at the lower end of the robotic arm to hold the laser cleaning head.

Images