Steel wire rope flaw detection climbing robot

Abstract

The invention relates to the technical field of steel wire rope detection, and provides a steel wire rope flaw detection climbing robot which comprises two racks, a telescopic frame, clamping wheels and a lifting cylinder. The telescopic frames are fixedly arranged on the racks, and at least three telescopic frames are arranged on each rack; the clamping wheels are fixedly or rotationally arranged at the output end of the telescopic frame and correspond to the output end of the telescopic frame one to one. The lifting cylinder is fixedly arranged on one rack, and the output end of the lifting cylinder is fixedly connected with the other rack. According to the robot, the two racks are arranged, the lifting cylinder is arranged between the two racks, the multiple telescopic frames and the multiple clamping wheels are arranged on each rack, and the situation that the robot moves in the circumferential direction of the steel wire rope in the climbing process can be avoided by means of alternate fixing of the clamping wheels on the two racks and the steel wire rope and telescopic movement of the lifting cylinder; therefore, the accuracy of steel wire rope detection results is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire rope detection, and particularly to a wire rope flaw detection climbing robot. Background Art

[0002] In industrial production and special equipment maintenance, as a key load-bearing and transmission component, the safety performance of wire ropes is directly related to the stable operation of the entire system and personnel safety. However, with the increase in service time and the complexity and variability of the working environment, various damages will inevitably occur to wire ropes. Among them, broken wires, as one of the most common damage forms, pose a serious threat to the load-bearing capacity and service life of wire ropes. Therefore, developing efficient and accurate wire rope broken wire damage detection technologies and equipment is of great significance for ensuring production safety and preventing accidents.

[0003] The invention with the publication number CN113463511A discloses a cable climbing robot, including a frame, a clamping assembly, and a plurality of driving pre-tightening assemblies. The clamping assembly is arranged on the frame and is used for clamping the cable. All the driving pre-tightening assemblies surround the frame and are respectively arranged at the upper and lower ends of the frame; the driving pre-tightening assembly includes: a base arranged on the frame; a support frame, one end of which is rotatably arranged on the base, and the other end is provided with a roller; an adjusting rod, both ends of which are respectively connected to the base and the support frame, and by adjusting the length of the adjusting rod, the angle of the support frame relative to the base is adjusted; a roller, on which a driving motor is installed, and by adjusting the angle of the support frame relative to the base, the roller is made to fit the cable and move on the cable. This cable climbing robot can not only cross the spiral line on the outer surface of the cable but also travel at high speed on the cable.

[0004] In the above technical solution, in order to enable the robot to climb on the wire rope, rollers are arranged on the frame, and the movement of the frame is driven by the rolling cooperation between the rollers and the wire rope. However, a wire rope is composed of multiple spiral single-strand wire ropes, and its surface is in a twist shape. During the movement of the rollers, the outer wall of the wire rope will change the movement direction of the rollers, resulting in the detection robot displacing circumferentially along the wire rope during the climbing process, affecting the detection result of the wire rope. Summary of the Invention

[0005] In view of this, the present invention proposes a wire rope flaw detection climbing robot, which can avoid the robot displacing circumferentially along the wire rope during the climbing process and improve the accuracy of the wire rope detection result.

[0006] The technical solution of the present invention is realized as follows: The present invention provides a wire rope flaw detection climbing robot, including a frame, a telescopic frame, clamping wheels, and lifting cylinders, wherein,

[0007] Two frames are provided and are both sleeved on the wire rope;

[0008] The telescopic frame is fixedly arranged on the frame. At least three telescopic frames are arranged on each frame, and a plurality of telescopic frames on each frame are arranged in a circumferential array around the axis of the wire rope.

[0009] The clamping wheel is fixedly or rotatably arranged on the output end of the telescopic frame and corresponds to it one by one.

[0010] The lifting cylinder is fixedly arranged on one of the frames, and its output end is fixedly connected to the other frame.

[0011] On the basis of the above technical solutions, preferably, a connecting rod and a supporting wheel are further included. Among them,

[0012] Both ends of the connecting rod are respectively rotatably arranged on the frame and the output end of the telescopic frame, and one connecting rod is arranged on each frame.

[0013] The supporting wheel is fixedly arranged on the connecting rod.

[0014] When the clamping wheel on the frame abuts and fixes against the wire rope, the corresponding supporting wheel abuts against the circumferential side of the wire rope; when the clamping wheel on the frame is in rolling connection with or spaced from the wire rope, the corresponding supporting wheel is spaced from the circumferential side of the wire rope.

[0015] More preferably, the number of clamping wheels on each frame is a divisor of the number of strands of the wire rope.

[0016] The distance along the axial direction of the wire rope between the axis of the supporting wheel and the axis of the corresponding clamping wheel is a multiple of the quotient of the lay length of the wire rope and the number of strands.

[0017] More preferably, the frame includes a frame body and a telescopic rod. One end of the telescopic rod is fixedly arranged on the frame body, and the other end is rotatably connected to the end of the connecting rod away from the telescopic frame.

[0018] More preferably, the telescopic rod includes two screw rods and a double-threaded sleeve. Among them,

[0019] One end of one screw rod is fixedly arranged on the frame body, one end of the other screw rod is rotatably arranged on the end of the connecting rod away from the telescopic frame, and the two screw rods are coaxially arranged.

[0020] Both ends of the double-threaded sleeve are respectively connected to the two screw rods through thread fit.

[0021] On the basis of the above technical solutions, preferably, the telescopic frame includes a fixed seat, a telescopic cylinder and a swing arm. Among them,

[0022] The fixed seat is fixedly arranged on the frame;

[0023] The telescopic cylinder is rotatably arranged on the fixed seat;

[0024] One end of the swing arm is rotatably arranged on the fixed seat, the other end is connected to the clamping wheel, and the swing arm is rotatably connected to the output end of the telescopic cylinder.

[0025] More preferably, the fixed seat includes a base, a top seat and a spring. Among them,

[0026] The base is fixedly arranged on the frame;

[0027] The top seat is slidably arranged on the base and is connected to the telescopic cylinder and the swing arm;

[0028] The spring is fixedly arranged on the base, and one end of the spring abuts against the side of the top seat away from the wire rope.

[0029] Based on the above technical solutions, preferably, the clamping wheel includes a wheel frame, a middle part and two side parts. Among them,

[0030] The wheel frame is fixedly arranged on the output end of the telescopic frame;

[0031] The middle part is fixedly arranged in the middle of the circumference of the wheel frame;

[0032] The side parts are rotatably arranged on the circumference of the wheel frame. The two side parts are respectively arranged on both sides of the middle part. The elasticity of the side parts is greater than that of the middle part, and the outer diameter of the side parts is greater than the outer diameter of the middle part.

[0033] Based on the above technical solutions, preferably, the frame includes two frame bodies and a buckle. The buckle is fixedly arranged on the frame body, and the two frame bodies in the same frame are fixedly connected through the buckle.

[0034] Based on the above technical solutions, preferably, it further includes a limiting shaft. The limiting shaft is fixedly arranged on one of the frames and is slidably connected to the other frame.

[0035] A wire rope flaw detection climbing robot of the present invention has the following beneficial effects compared with the prior art:

[0036] (1) By arranging two frames, arranging a lifting cylinder between the two frames, and arranging a plurality of telescopic frames and a plurality of clamping wheels on each frame, the alternating fixation of the clamping wheels on the two frames with the wire rope and the telescopic movement of the lifting cylinder can prevent the robot from displacing circumferentially along the wire rope during the climbing process, thereby improving the accuracy of the wire rope detection result;

[0037] (2) By setting the connecting rod and the abutting wheel, and utilizing the abutting of the abutting wheel on one frame against the steel wire rope, the pressure between the clamping wheel and the steel wire rope on the other frame can be reduced, thereby reducing the wear between the clamping wheel and the steel wire rope;

[0038] (3) By making the number of clamping wheels correspond to the number of strands of the steel wire rope, the working conditions of each clamping wheel on the side wall of the steel wire rope can be the same. By making the distance between the abutting wheel and the clamping wheel correspond to the lay length and the number of strands of the steel wire rope, the working conditions of the abutting wheel and the clamping wheel on the same frame on the side wall of the steel wire rope can be the same, thus ensuring the adjustment consistency of the telescopic frame. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a perspective view of a steel wire rope flaw detection climbing robot of the present invention;

[0041] Figure 2 It is a schematic diagram of the climbing process of a steel wire rope flaw detection climbing robot of the present invention;

[0042] Figure 3 It is a top view of a steel wire rope flaw detection climbing robot of the present invention;

[0043] Figure 4 It is a cross-sectional view of the steel wire rope in a steel wire rope flaw detection climbing robot of the present invention;

[0044] Figure 5 It is a cross-sectional view of a steel wire rope flaw detection climbing robot of the present invention arranged on an inclined steel wire rope;

[0045] Figure 6 It is a perspective view of a steel wire rope flaw detection climbing robot of the present invention arranged on a vertical steel wire rope;

[0046] Figure 7 It is a cross-sectional view of the telescopic rod in a steel wire rope flaw detection climbing robot of the present invention;

[0047] Figure 8 It is a perspective view of the telescopic frame in a steel wire rope flaw detection climbing robot of the present invention;

[0048] Figure 9 It is a perspective view of the fixed seat in a steel wire rope flaw detection climbing robot of the present invention;

[0049] Figure 10 This is a cross-sectional view of the clamping wheel in a wire rope flaw detection climbing robot of the present invention;

[0050] Figure 11 This is a contour map of the friction stress distribution of the clamping wheel on the wire rope in the prior art.

[0051] Wherein: 1. Frame; 11. Frame body; 12. Telescopic rod; 121. Screw rod; 122. Bidirectional threaded sleeve; 13. Buckle; 2. Telescopic frame; 21. Fixed seat; 211. Base; 212. Top seat; 213. Spring; 22. Telescopic cylinder; 23. Swing arm; 3. Clamping wheel; 31. Wheel frame; 32. Middle part; 33. Side part; 4. Lifting cylinder; 5. Connecting rod; 6. Supporting wheel; 7. Limiting shaft. Specific embodiments

[0052] Next, in combination with the specific embodiments of the present invention, the technical solutions in the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] The complex strand structure and harsh working environment of wire ropes make them prone to wear, corrosion, fatigue, broken wires and other damages during use, resulting in a decrease in their strength and posing potential safety hazards. Therefore, it is very important to conduct safety evaluation on in-service wire ropes. The non-destructive testing methods of wire ropes include magnetic flux leakage testing method, acoustic method, mechanical measurement method, ray measurement method, current detection method, optical measurement method, eddy current detection method, ultrasonic detection method, vibration detection method and acoustic emission detection method, etc. Considering from aspects such as detection principle, economic practicality, etc., the magnetic flux leakage detection method is the best method, which has the advantages of low cost and easy implementation. In addition, from the development of wire rope detection technology, magnetic flux leakage detection is currently recognized as a relatively reliable non-destructive testing method for wire ropes.

[0054] Wire ropes are strong magnetic conductors, and their magnetic permeability is more than 100 times that of air. The basic principle of magnetic flux leakage detection is based on such characteristics. First, a certain excitation device is used to magnetize the wire rope to be detected along its axial direction. When there are damages in the wire rope, due to the local decrease in magnetic permeability at the damaged part, the magnetic resistance at that part increases, and a leakage magnetic field leaking outside the surface of the wire rope will be generated at the damaged part. The intensity and distribution characteristics of this leakage magnetic field reflect the damage characteristics of the wire rope. The leakage magnetic field is detected by a magnetic flux leakage detection module, and the detected magnetic flux leakage signals are analyzed and processed to quantitatively detect the damage condition of the wire rope.

[0055] Such as Figures 1-11As shown in the figure, a wire rope flaw detection climbing robot of the present invention includes a frame 1, a telescopic frame 2, a plurality of clamping wheels 3, a lifting cylinder 4, a connecting rod 5, a supporting wheel 6 and a limiting shaft 7. The wire rope is nondestructively detected by using the principle of magnetic flux leakage detection and the axial movement of the magnetic flux leakage detection module driven by the robot on the wire rope.

[0056] There are two frames 1. Both of the two frames 1 are sleeved on the wire rope and can slide relative to the frame 1. The lifting cylinder 4 is fixedly arranged on one of the frames 1, and the output end of the lifting cylinder 4 is fixedly connected to the other frame 1. The two frames 1 can be separated and brought closer on the wire rope by the expansion and contraction of the lifting cylinder 4.

[0057] A plurality of telescopic frames 2 are fixedly arranged on each frame 1. The clamping wheels 3 are arranged at the output ends of the telescopic frames 2, and the plurality of clamping wheels 3 correspond to the plurality of telescopic frames 2 one by one. The telescopic frames 2 can perform telescopic movement, so as to drive the clamping wheels 3 to approach or move away from the wire rope.

[0058] The climbing principle of this climbing robot is as shown in a→c in Figure 2 . First, use the elongation of the telescopic frame 2 to make all the clamping wheels 3 abut and fix against the side wall of the wire rope. Then, contract the telescopic frame 2 on the upper frame 1 so that the plurality of clamping wheels 3 on the upper frame 1 do not abut and fix against the wire rope. Next, extend the lifting cylinder 4 to make the upper frame 1 move upward by a certain distance. Then, extend the telescopic frame 2 on the upper frame 1 and contract the telescopic frame 2 on the lower frame 1, so that the clamping wheels 3 on the upper frame 1 abut and fix against the wire rope, and the clamping wheels 3 on the lower frame 1 do not abut and fix against the wire rope. Finally, contract the lifting cylinder 4 to drive the lower frame 1 to move upward, so that the two frames 1 approach each other again; repeat the above steps to realize the movement of this climbing robot on the wire rope.

[0059] During the above climbing process, the plurality of clamping wheels 3 on at least one frame 1 abut and fix against the wire rope. Therefore, this climbing robot always moves along the axial direction of the wire rope and will not be displaced circumferentially along the wire rope due to the influence of the spiral side wall of the wire rope, which helps to improve the accuracy of the detection results of this robot; at the same time, the clamping wheels 3 on the frame 1 during the movement process may not be in contact with the side wall of the wire rope. Therefore, the clamping wheels 3 can also avoid the defect protrusions on the surface of the wire rope, thus realizing a good obstacle avoidance effect.

[0060] The clamping wheel 3 can be rotatably arranged at the output end of the telescopic frame 2. When the telescopic frame 2 extends and applies a relatively large pressure to the clamping wheel 3, the frictional force between the axle of the clamping wheel 3 and the telescopic frame 2 will be greater than the gravity of the device, so that the clamping wheel 3 abuts and fixes against the steel wire rope. When the telescopic frame 2 is contracted, the frictional force between the axle of the clamping wheel 3 and the telescopic frame 2 decreases, and then the clamping wheel 3 can roll on the outer wall of the steel wire rope. Of course, the clamping wheel 3 can also be fixedly arranged at the output end of the telescopic frame 2. When the telescopic frame 2 extends, the clamping wheel 3 can be abutted and fixed against the outer wall of the steel wire rope. When the telescopic frame 2 is contracted, the clamping wheel 3 can be slidably arranged on the outer wall of the steel wire rope or the clamping wheel 3 can be separated from the outer wall of the steel wire rope.

[0061] In order to make the clamping wheel 3 abut and fix against the steel wire rope, at least three telescopic frames 2 are arranged on each frame 1, and the multiple telescopic frames 2 on each frame 1 are arranged in a circumferential array around the axis of the steel wire rope, and the multiple clamping wheels 3 are evenly distributed on the periphery of the steel wire rope.

[0062] The steel wire rope has a complex structure and a wide variety of types, and its application fields are also very extensive, such as elevator traction ropes, cable-stayed ropes of bridges, etc. When the steel wire rope is used in a horizontal or inclined state, as Figure 11 shown, the frictional force on the top side of the steel wire rope is relatively large, which not only causes wear of the steel wire rope during the detection process, but also affects the detection accuracy to a certain extent.

[0063] A connecting rod 5 and a supporting wheel 6 are arranged on each frame 1. The two ends of the connecting rod 5 are respectively rotatably arranged on the frame 1 and the output end of the telescopic frame 2, and one connecting rod 5 is arranged on each frame 1. The supporting wheel 6 is fixedly arranged on the connecting rod 5, and the supporting wheel 6 is located at the middle position of the connecting rod 5. When the clamping wheel 3 on the frame 1 abuts and fixes against the steel wire rope, the supporting wheel 6 corresponding to the clamping wheel 3 abuts against the periphery of the steel wire rope. When the clamping wheel 3 on the frame 1 is in rolling connection with or spaced from the steel wire rope, the supporting wheel 6 corresponding to the clamping wheel 3 is spaced from the periphery of the steel wire rope. As Figure 5 shown, when the clamping wheel 3 and the supporting wheel 6 on the lower frame 1 both abut and fix against the side wall of the steel wire rope, by using the support of the supporting wheel 6 on the lower frame 1 for the side wall of the steel wire rope, the clamping wheel 3 and the supporting wheel 6 on the upper frame 1 can be spaced from the side wall of the steel wire rope, or the supporting wheel 6 on the upper frame 1 can be spaced from the side wall of the steel wire rope, and the clamping wheel 3 on the upper frame 1 is in rolling connection with the side wall of the steel wire rope, so as to convert the full-course friction between the original clamping wheel 3 and the top side of the steel wire rope into the partial abutment of the supporting wheel 6 against the side wall of the steel wire rope, which is beneficial to alleviating the wear of the steel wire rope and ensuring the accuracy of the detection result of the steel wire rope.

[0064] The wire rope is formed by twisting multiple single-strand wire ropes together. It includes a core located in the middle of the wire rope and multiple single-strand wire ropes surrounding the outside of the core. The periphery of the wire rope is in a twisted shape, and the concave and convex properties of its periphery are related to the number of strands and the lay length of the wire rope. Among them, the number of strands represents the number of single-strand wire ropes outside the core, and the lay length represents the straight-line distance between the starting and ending points when a single-strand wire rope rotates around the core for one week.

[0065] Since the periphery of the wire rope is in a twisted shape, some of the clamping wheels 3 on the same rack 1 may be clamped at the middle position of the periphery of a single-strand wire rope, and some may be clamped at the middle position between two adjacent single-strand wire ropes. As a result, the distances between the multiple clamping wheels 3 on the same rack 1 and the periphery of the wire rope are different. When making the clamping wheels 3 abut against the wire rope, the control distances of the multiple telescopic frames 2 connected to the multiple clamping wheels 3 are also different, making the control of each telescopic frame 2 relatively complex and cumbersome. To solve this problem, the number of clamping wheels 3 on each rack 1 is a divisor of the number of strands of the wire rope. Assuming the number of strands of the wire rope is N and the number of clamping wheels 3 on each rack 1 is M, then N = n·M, where n is a natural number and M≥3. As Figure 3 shown, when N = 8, M can be 4 or 8. Since the multiple clamping wheels 3 on the same rack 1 are arranged in a circular array around the wire rope, the positions where the multiple clamping wheels 3 on the same rack 1 contact each single-strand wire rope are the same, that is, the distances from the multiple clamping wheels 3 on the same rack 1 to the periphery of the wire rope are the same, which is beneficial to maintaining the adjustment consistency of the multiple telescopic frames 2 on the same rack 1.

[0066] The clamping wheels 3 and the abutting wheels 6 on the same rack 1 are driven by the same telescopic frame 2. To avoid different distances between the clamping wheels 3 and the abutting wheels 6 on the same rack 1 and the periphery of the wire rope, when the clamping wheels 3 and the abutting wheels 6 on the same rack 1 are both abutted and fixed to the periphery of the wire rope, the distance along the axial direction of the wire rope between the axis of the abutting wheel 6 and the axis of the corresponding clamping wheel 3 is equal to a multiple of the quotient of the lay length of the wire rope and the number of strands. Assuming the distance along the axial direction of the wire rope between the axis of the abutting wheel 6 and the axis of the corresponding clamping wheel 3 is X, the number of strands of the wire rope is N, and the lay length of the wire rope is Y, then the distance β between two adjacent single-strand wire ropes along the axial direction of the wire rope = Y / N, and X = m·Y / N = m·β, where m is a natural number. As Figure 5 shown, when X is a multiple of β, the positions where the clamping wheels 3 and the abutting wheels 6 on the same rack 1 abut against the single-strand wire ropes are the same. Therefore, the clamping wheels 3 and the abutting wheels 6 on the same rack 1 can abut against the side wall of the wire rope simultaneously to realize the control of the telescopic frame 2 over the two of them.

[0067] As Figure 5 and Figure 6As shown in the figure, the frame 1 includes a frame body 11, a telescopic rod 12, and a buckle 13. The frame body 11 is used to carry other components. One end of the telescopic rod 12 is fixedly arranged on the frame body 11, and the other end is rotatably connected to the end of the connecting rod 5 away from the telescopic frame 2. The telescopic rod 12 can perform telescopic movement. By using its telescopic movement, the connecting rod 5 and the abutting wheel 6 on the connecting rod 5 can be rotated, so as to adjust the position of the abutting wheel 6 and make the robot adapt to wire ropes of different specifications.

[0068] There are two frame bodies 11. The buckle 13 is fixedly arranged on the frame body 11. The two frame bodies 11 in the same frame 1 are fixedly connected through the buckle 13, so as to facilitate the disassembly and assembly of the frame body 11 to realize the connection and separation between the frame body 11 and the wire rope. Of course, one end of the two frame bodies 11 in the same frame 1 can also be hinged, and the other end is fixedly connected by the buckle 13. Among them, the buckle 13 is preferably a mother-child connection buckle for easy operation.

[0069] As Figure 7 shown, the telescopic rod 12 includes two screw rods 121 and a double-threaded sleeve 122. As Figure 5 shown, one end of a screw rod 121 is fixedly arranged on the frame body 11, and one end of the other screw rod 121 is rotatably arranged on the end of the connecting rod 5 away from the telescopic frame 2. The two screw rods 121 are coaxially arranged. The two ends of the double-threaded sleeve 122 are respectively connected to the two screw rods 121 through thread fit. The thread directions on the circumferences of the two screw rods 121 are the same, while the thread directions at the two ends inside the double-threaded sleeve 122 are opposite. As Figure 7 shown, when the double-threaded sleeve 122 is rotated, the two screw rods 121 can be moved closer or farther away, so as to realize the effect of adjusting the length of the telescopic rod 12 and drive the connecting rod 5 and the abutting wheel 6 to move.

[0070] As Figure 8 shown, the telescopic frame 2 includes a fixed seat 21, a telescopic cylinder 22, and a swing arm 23. The fixed seat 21 is fixedly arranged on the frame 1. The telescopic cylinder 22 is rotatably arranged on the fixed seat 21. One end of the swing arm 23 is rotatably arranged on the fixed seat 21, and the other end is connected to the clamping wheel 3 and the connecting rod 5, and the swing arm 23 is rotatably connected to the output end of the telescopic cylinder 22. The swing arm 23 is the output end of the telescopic frame 2. When the telescopic cylinder 22 contracts, the telescopic frame 2 can be driven to rotate, so as to drive the clamping wheel 3 and the connecting rod 5 to move.

[0071] When the telescopic cylinder 22 extends too much, it may cause problems such as bending or breaking of related components. In order to protect the device, the fixed seat 21 is provided with a buffering function. As Figure 9As shown in the figure, the fixed seat 21 includes a base 211, a top seat 212 and a spring 213. The base 211 is fixedly arranged on the frame 1. The top seat 212 is slidably arranged on the base 211 and is connected to the telescopic cylinder 22 and the swing arm 23. The spring 213 is fixedly arranged on the base 211, and one end of the spring abuts against the side of the top seat 212 away from the steel wire rope, so that the top seat 212 approaches the steel wire rope in the natural state. When the telescopic cylinder 22 extends and drives the clamping wheel 3 to abut against the side wall of the steel wire rope, the spring 213 will contract, so that the top seat 212 moves a certain distance in the direction away from the steel wire rope for buffering, and protects the relevant components to a certain extent.

[0072] As Figure 1 shown in the figure, in order to enable the two frames 1 to move only along the axial direction of the steel wire rope, a limiting shaft 7 is arranged between the two frames 1. The limiting shaft 7 is fixedly arranged on one of the frames 1 and is slidably connected to the other frame 1. Preferably, a plurality of limiting shafts 7 are arranged and are symmetric about the axis of the steel wire rope, so as to effectively prevent the two frames 1 from twisting during the movement, which not only helps to improve the accuracy of the detection result, but also greatly protects the lifting cylinder 4 and prolongs the service life of the device.

[0073] The connection mode between the clamping wheel 3 and the telescopic frame 2 includes a rotational connection and a fixed connection. When the two are rotationally connected, if it is necessary to make the clamping wheel 3 abut and fix against the side wall of the steel wire rope, a relatively large pressure needs to be applied to the clamping wheel 3 so that the friction between the wheel shaft of the clamping wheel 3 and the telescopic frame 2 is sufficient to offset the gravity of the device, which will damage the clamping wheel 3. When the two are fixedly connected, the clamping wheel 3 cannot be rotatably connected to the steel wire rope, which will cause the climbing of the device to be unstable or there will be a problem of sliding friction between the clamping wheel 3 and the steel wire rope. For this reason, a special clamping wheel 3 is provided. As Figure 10 shown in the figure, the clamping wheel 3 includes a wheel frame 31, a middle part 32 and two side parts 33. The wheel frame 31 is fixedly arranged at the output end of the telescopic frame 2. The middle part 32 is fixedly arranged in the middle of the circumference of the wheel frame 31. The side parts 33 are rotatably arranged on the circumference of the wheel frame 31. The two side parts 33 are respectively arranged on both sides of the middle part 32. The circumference of the middle part 32 is rough. The elasticity of the side parts 33 is greater than that of the middle part 32, and the outer diameter of the side parts 33 is greater than the outer diameter of the middle part 32. When the clamping wheel 3 abuts against the side wall of the steel wire rope, the two side parts 33 contract, so that the middle part 32 abuts and fixes against the side wall of the steel wire rope. When the middle part 32 is away from the side wall of the steel wire rope, the side parts 33 can be rotatably connected to the surface of the steel wire rope, which is beneficial to maintaining the moving stability of the robot.

[0074] The using method of a steel wire rope flaw detection climbing robot of the present invention is as follows:

[0075] S1, use the disassembly and assembly of the buckle 13 to sleeved the two frames 1 on the steel wire rope to be detected.

[0076] S2. Rotate the frame 1 so that multiple clamping wheels 3 on the lower frame 1 are all located at the middle positions on the periphery of the single-strand wire rope.

[0077] S3. Extend all telescopic cylinders 22 so that all clamping wheels 3 are abutted and fixed against the side wall of the wire rope, and fix this robot on the wire rope.

[0078] S4. Retract the telescopic cylinders 22 on the upper frame 1 and extend the lifting cylinders 4 to move the upper frame 1 upward.

[0079] S5. Extend the telescopic cylinders 22 on the upper frame 1, retract the telescopic cylinders 22 and the lifting cylinders 4 on the lower frame 1 to move the lower frame 1 upward.

[0080] S6. Repeat S3 - S5 to enable this robot to climb on the wire rope, and use the magnetic flux leakage detection module inside the frame 1 to detect the wire rope.

[0081] During this period, the telescopic length of the lifting cylinder 4 is preferably equal to the pitch of the wire rope, so that the working conditions of multiple clamping wheels 3 when abutting against the wire rope are consistent, which is beneficial to maintaining the operation consistency of this device and improving the accuracy of the detection results.

[0082] A wire rope flaw detection climbing robot of the present invention has the following beneficial effects compared with the prior art: By setting two frames, a lifting cylinder is arranged between the two frames, and multiple telescopic frames and multiple clamping wheels are arranged on each frame. By alternately fixing the clamping wheels on the two frames with the wire rope and the telescopic movement of the lifting cylinder, it is possible to prevent this robot from displacing circumferentially along the wire rope during the climbing process, thereby improving the accuracy of the wire rope detection results; By setting a connecting rod and a abutting wheel, and using the abutting wheel on one frame to abut against the wire rope, the pressure between the clamping wheel on the other frame and the wire rope can be reduced, thereby reducing the wear between the clamping wheel and the wire rope; By making the number of clamping wheels correspond to the number of strands of the wire rope, the working conditions of each clamping wheel on the side wall of the wire rope can be the same. By making the distance between the abutting wheel and the clamping wheel correspond to the pitch and the number of strands of the wire rope, the working conditions of the abutting wheel and the clamping wheel on the same frame on the side wall of the wire rope can be the same, thus ensuring the adjustment consistency of the telescopic frame.

[0083] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wire rope flaw detection climbing robot, characterized in that: It comprises a frame (1), a telescopic frame (2), a clamping wheel (3) and a lifting cylinder (4), wherein: The racks (1) are provided with two and are both mounted on the steel wire rope; The telescopic frame (2) is fixedly arranged on the frame (1), each frame (1) is provided with at least three telescopic frames (2), and the plurality of telescopic frames (2) on each frame (1) are arranged in a circular array around the axis of the steel wire rope; The clamping wheel (3) is fixedly or rotatably arranged on the output end of the telescopic frame (2) and corresponds one to one therewith; The lifting cylinder (4) is fixedly arranged on one of the frames (1), and its output end is fixedly connected to the other frame (1).

2. A wire rope flaw detection climbing robot as claimed in claim 1, characterized in that: It also includes a connecting rod (5) and a supporting wheel (6), wherein: The two ends of the connecting rod (5) are rotatably arranged on the frame (1) and the output end of the telescopic frame (2), respectively, and one connecting rod (5) is arranged on each frame (1); The abutting wheel (6) is fixedly arranged on the connecting rod (5); When the clamping wheel (3) on the frame (1) is fixedly abutted against the steel wire rope, the corresponding abutting wheel (6) abuts against the circumference of the steel wire rope; when the clamping wheel (3) on the frame (1) is rollingly connected to or spaced apart from the steel wire rope, the corresponding abutting wheel (6) is spaced apart from the circumference of the steel wire rope.

3. A wire rope flaw detection climbing robot as claimed in claim 2, characterized in that: The number of the clamping wheels (3) on each of the frames (1) is a multiple of the number of strands of the steel wire rope; The distance between the axis of the abutting wheel (6) and the axis of the corresponding clamping wheel (3) along the axial direction of the steel wire rope is equal to a multiple of the quotient of the lay length of the steel wire rope and the number of strands.

4. A wire rope flaw detection climbing robot as claimed in claim 2, characterized in that: The frame (1) comprises a frame body (11) and a telescopic rod (12); one end of the telescopic rod (12) is fixedly arranged on the frame body (11), and the other end is rotatably connected to an end of the connecting rod (5) away from the telescopic frame (2).

5. A wire rope flaw detection climbing robot as claimed in claim 4, characterized in that: The telescopic rod (12) comprises two screw rods (121) and a bidirectional threaded sleeve (122), wherein: One end of one of the screw rods (121) is fixedly arranged on the frame body (11), and one end of the other screw rod (121) is rotatably arranged on an end of the connecting rod (5) away from the telescopic frame (2), and the two screw rods (121) are coaxially arranged; Both ends of the bidirectional threaded sleeve (122) are respectively connected to the two screw rods (121) through threaded engagement.

6. A wire rope flaw detection climbing robot as claimed in claim 1, characterized in that: The telescopic frame (2) comprises a fixed seat (21), a telescopic cylinder (22) and a swing arm (23), wherein: The fixing seat (21) is fixedly arranged on the frame (1); The telescopic cylinder (22) is rotatably arranged on the fixed seat (21); One end of the swing arm (23) is rotatably disposed on the fixed seat (21), and the other end is connected to the clamping wheel (3), and the swing arm (23) is rotatably connected to the output end of the telescopic cylinder (22).

7. A wire rope flaw detection climbing robot as claimed in claim 6, characterized in that: The fixing seat (21) comprises a base (211), a top seat (212) and a spring (213), wherein: The base (211) is fixedly arranged on the frame (1); The top seat (212) is slidably disposed on the base (211) and is connected to the telescopic cylinder (22) and the swing arm (23); The spring (213) is fixedly arranged on the base (211), and one end of the spring (213) abuts against a side of the top seat (212) away from the steel wire rope.

8. A wire rope flaw detection climbing robot as claimed in claim 1, characterized in that: The clamping wheel (3) comprises a wheel frame (31), a middle part (32) and two side parts (33), wherein: The wheel frame (31) is fixedly arranged on the output end of the telescopic frame (2); The middle portion (32) is fixedly arranged in the middle of the circumference of the wheel frame (31); The side portion (33) is rotatably arranged on the circumferential side of the wheel frame (31), and the two side portions (33) are respectively arranged on both sides of the middle portion (32), the elasticity of the side portion (33) is greater than the elasticity of the middle portion (32), and the outer diameter of the side portion (33) is greater than the outer diameter of the middle portion (32).

9. A wire rope flaw detection climbing robot as claimed in claim 1, characterized in that: The frame (1) comprises two frame bodies (11) and a buckle (13); the buckle (13) is fixedly arranged on the frame body (11); and the two frame bodies (11) in the same frame (1) are fixedly connected via the buckle (13).

10. The wire rope flaw detection climbing robot according to claim 1, characterized in that: It also comprises a limiting shaft (7), wherein the limiting shaft (7) is fixedly arranged on one of the frames (1) and is slidably connected to the other frame (1).

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