Steel wire rope full life cycle intelligent maintenance robot

Abstract

This invention relates to the field of intelligent robot technology, specifically disclosing an intelligent maintenance robot for the entire life cycle of steel wire ropes. The robot includes a cleaning device, a detection device, and a grease application device arranged sequentially and coaxially connected along the axial direction of the steel wire rope. The cleaning device, detection device, and grease application device are rigidly connected by at least one bridging rod, forming an integral structure that can move along the axial direction of the steel wire rope. The grease application device includes a front fixing ring, a rear fixing ring, a fixing airbag, multiple connecting block assemblies, leaf springs, and connecting airbags. This invention arranges the cleaning device, detection device, and grease application device sequentially along the axial direction of the steel wire rope and rigidly connects them via bridging rods, forming an integral structure that can move along the axial direction of the steel wire rope. This allows the steel wire rope to complete cleaning, detection, and maintenance sequentially in the same operation, facilitating continuous, full-process maintenance of the steel wire rope.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to an intelligent maintenance robot for the entire life cycle of steel wire ropes. Background Technology

[0002] Steel wire ropes are widely used in hoisting, mining transportation, port loading and unloading, elevators, cableways, bridge cables, and marine engineering. Under long-term load-bearing, bending, impact loads, and complex environmental conditions, they are prone to problems such as external surface wear, wire breakage, corrosion, lubrication failure, and inter-strand wear. The deterioration of steel wire ropes is gradual and insidious. If it is not detected and maintained in time, it may lead to a decrease in load-bearing capacity or even breakage failure, resulting in significant safety risks and economic losses.

[0003] Current wire rope maintenance methods mostly combine manual inspection with periodic maintenance. This involves visual inspection, tactile inspection, or using magnifying glasses, magnetic detection, and ultrasonic methods to assess condition, followed by cleaning and lubrication as needed. However, these methods generally have the following shortcomings: First, manual inspection is easily affected by the working environment, personnel experience, and accessibility, making it difficult to achieve high-frequency, stable, and repeatable inspections in long-distance or high-risk areas. Second, cleaning, inspection, and grease application are often carried out separately, resulting in numerous operational steps and high organizational costs. Surface sludge and impurities before inspection may interfere with condition assessment, and grease application after inspection may disrupt the process. Third, traditional grease application methods cannot guarantee uniform grease coverage in the circumference and axial direction of the wire rope; grease adhesion can lead to device dragging, sticking, or affecting subsequent movement and continuous operation.

[0004] Therefore, there is a need for a device or robot that can move along the wire rope and sequentially complete cleaning, inspection and grease injection maintenance in the same operation to improve the consistency of maintenance and operational reliability of the wire rope throughout its entire life cycle. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent maintenance robot for the entire life cycle of steel wire ropes, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a smart maintenance robot for the entire life cycle of a wire rope, comprising a cleaning device, a detection device, and a grease application device arranged sequentially and coaxially connected along the axial direction of the wire rope; The cleaning device, the detection device and the grease application device are rigidly connected by at least one bridging rod, thereby forming an integral structure that can move along the axial direction of the wire rope. The grease injection and application device includes: a front fixing ring, a rear fixing ring, a fixing airbag, multiple connecting block assemblies, leaf springs, and connecting airbags; the front fixing ring and the rear fixing ring are spaced apart along the axial direction of the wire rope and sleeved on the outside of the wire rope; the fixing airbags are respectively disposed on the inner side of the front fixing ring and the rear fixing ring and fixedly connected to the corresponding fixing ring; multiple connecting block assemblies are spaced apart along the circumference of the wire rope between the front fixing ring and the rear fixing ring, and the two ends of each connecting block assembly are respectively connected to the front fixing ring and the rear fixing ring; multiple connecting block bodies are spaced apart along the axial direction of the wire rope and constitute the connecting block assembly; the leaf springs are disposed along the axial direction of the wire rope, and the two ends of the leaf springs are respectively connected to two adjacent connecting block bodies; the connecting airbags are respectively disposed on the inner side of each connecting block body and fixedly connected to the corresponding connecting block body.

[0007] Preferably, the leaf spring is arc-shaped in its natural state, with its bending direction away from the axis of the wire rope, and the length change of the connecting block assembly in the axial direction is achieved by the elastic deformation of the leaf spring.

[0008] Preferably, the plurality of connecting block assemblies are arranged at equal angular intervals along the circumference of the wire rope.

[0009] Preferably, the inner diameter formed by the expansion of the fixed airbag is smaller than the inner diameter formed by the enclosing of the multiple connecting airbags.

[0010] Preferably, the grease application device further includes a de-adhesion ring, an actuating ring, at least one de-adhesion steel wire, and a second drive motor; the de-adhesion ring is respectively disposed on the opposite end faces of the front fixed ring and the rear fixed ring and is wound around the outside of the steel wire rope; the actuating ring is coaxially disposed with the de-adhesion ring and connected to the de-adhesion steel wire; the de-adhesion steel wire is wound around the outside of the steel wire rope and connected to the actuating ring; the second drive motor is connected to the actuating ring for transmission to drive the actuating ring to rotate around the axis of the steel wire rope.

[0011] Preferably, the debonded steel wire is a flexible steel wire or a metal wire.

[0012] Preferably, both the front fixing ring and the rear fixing ring are provided with a release ring.

[0013] Preferably, the cleaning device includes a cleaning base, a first drive motor, two drive rings, at least two cleaning brackets, a cleaning brush, a drive gear, and a toothed ring. The cleaning base is sleeved on the outside of the wire rope. A toothed ring is arranged on the inner wall of the cleaning base along the circumference of the wire rope. The toothed ring has an internal tooth structure and is fixed to the inner wall of the cleaning base. The two drive rings are rotatably arranged at both ends of the axial direction inside the cleaning base. The first drive motor is fixedly arranged on the cleaning base and is drivenly connected to at least one drive ring. At least two cleaning brackets are connected between the two drive rings. The cleaning brush is arranged in the direction of the cleaning bracket pointing towards the axis of the wire rope. The drive gear is located on the outer end face of the drive ring and is drivenly connected to the end of the cleaning brush. The drive gear and the toothed ring are arranged opposite each other and maintain meshing. When the first drive motor drives the wire rope to rotate, the drive gear rolls along the toothed ring under the constraint of the toothed ring and generates its own rotation, thereby driving the cleaning brush to rotate.

[0014] Preferably, the detection device includes a detection housing, several detection airbags, a detection air pump, a metering chamber, a switching valve, a first pressure sensor, and a second pressure sensor. The detection housing is sleeved on the outside of the steel wire rope. The inner wall of the detection housing is provided with a spiral groove, which extends along the axis of the steel wire rope and is spirally distributed. Several detection airbags are disposed in the spiral groove. Each detection airbag is divided into at least two segments along the axis of the steel wire rope. Each segment of the detection airbag is independently disposed and connected to the metering chamber through the switching valve. The detection air pump is connected to the metering chamber and is used to inflate the metering chamber. The first pressure sensor is disposed in the metering chamber, and the second pressure sensor is disposed between the inlet / outlet of the detection airbag and the switching valve, and is used to collect the gas pressure data of the target detection airbag after inflation.

[0015] Preferably, the metering chamber is connected to the target detection airbag via a switching valve. The switching valve is used to control the connection or disconnection between the metering chamber and the detection airbag, and, when needed, cooperates with the detection air pump to inflate or deflate the detection airbag, so that the detection airbag completes the inflation and deflation process through the same airway interface.

[0016] The present invention proposes an intelligent maintenance robot for the entire life cycle of steel wire ropes, which has the following advantages: 1. The present invention arranges the cleaning device, the testing device and the grease application device sequentially along the axial direction of the wire rope and rigidly connects them through bridging rods to form an integral structure that can move along the axial direction of the wire rope. This allows the wire rope to complete cleaning, testing and maintenance treatment sequentially in the same operation, which is beneficial to realize continuous and full-process maintenance of the wire rope.

[0017] 2. The present invention provides a fixing airbag inside the front and rear fixing rings, which enables the grease application device to stably wrap around the wire rope during operation. At the same time, multiple connecting block assemblies are distributed circumferentially between the front and rear fixing rings, and form a stable grease injection gap on the outer surface of the wire rope through the connecting airbags, which is conducive to the uniform application of grease on the outer surface of the wire rope.

[0018] 3. The overall structure of this invention is arranged around the wire rope, which can complete cleaning, inspection and grease injection operations without disassembling the wire rope. It is suitable for the periodic inspection and maintenance of in-service wire ropes and has good engineering application value. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the cleaning device of the present invention; Figure 3 This is a schematic diagram of the detection device of the present invention; Figure 4 This is an end view of the detection device of the present invention; Figure 5 This is a schematic diagram of the debonding mechanism of the present invention; Figure 6 This is a schematic diagram of the unfolded structure of the connecting block assembly of the present invention; Figure 7 This is a schematic diagram of the end view of the fixed ring semi-ring structure of the present invention.

[0020] In the diagram: 1. Cleaning device; 11. Cleaning base; 12. First drive motor; 13. Drive ring; 14. Cleaning bracket; 15. Cleaning brush; 16. Drive gear; 17. Gear ring; 2. Detection device; 21. Detection housing; 22. Detection airbag; 23. Detection air pump; 24. Metering chamber; 25. Switch valve; 26. First pressure sensor; 27. Second pressure sensor; 3. Grease application device; 301. Front fixing ring; 302. Rear fixing ring; 303. Fixing airbag; 304. Connecting block body; 305. Leaf spring; 306. Connecting airbag; 307. Oil inlet; 308. De-adhesion ring; 309. Action ring; 310. De-adhesion steel wire; 311. Second drive motor; 4. Bridging rod. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figures 1-7 This invention provides a technical solution for intelligent maintenance robot for the entire life cycle of steel wire rope. Its detailed connection method is a well-known technology in the field. The working principle and process are mainly described below. The specific work is as follows.

[0023] This invention relates to an intelligent maintenance robot for the entire life cycle of a wire rope, comprising a cleaning device 1, a detection device 2, and a grease application device 3 arranged sequentially and coaxially connected along the axial direction of the wire rope; the cleaning device 1, the detection device 2, and the grease application device 3 are rigidly connected by at least one bridging rod 4, thereby forming an integral structure that can move along the axial direction of the wire rope.

[0024] More specifically, the base, housing, or ring that circulates with the wire rope in the cleaning device 1, the detection device 2, and the grease application device 3 all adopt two detachable semi-circular structures, with a positioning structure and a locking structure between the two semi-circular structures. The positioning structure is any one or more combinations of positioning pins, stops, or tenons, and the locking structure is any one or more combinations of bolt clamps, buckles, or clamps. Through the above structures, the device can be assembled and disassembled on the existing wire rope.

[0025] More specifically, the cleaning device 1 is installed at the front end of the intelligent maintenance robot for the entire life cycle of the wire rope, and is used to clean the sludge, dust, rust, and attached impurities on the outer surface of the wire rope before inspection and grease injection. The cleaning device 1 includes a cleaning base 11, a first drive motor 12, two drive rings 13, at least two cleaning brackets 14, a cleaning brush 15, a drive gear 16, and a gear ring 17.

[0026] The cleaning base 11 is sleeved on the outside of the wire rope and connected to the subsequent device through the bridging rod 4. The inner wall of the cleaning base 11 is provided with a toothed ring 17 along the circumference of the wire rope. The toothed ring 17 has an internal tooth structure and is fixed to the inner wall of the cleaning base 11. Two drive rings 13 are rotatably disposed at both ends of the axial direction inside the cleaning base 11. The two drive rings 13 are coaxially arranged and rotated around the axis of the wire rope. The first drive motor 12 is fixedly disposed on the cleaning base 11 and is connected to at least one drive ring 13 for driving the ring 13 to rotate around the axis of the wire rope.

[0027] At least two cleaning brackets 14 are connected between two drive rings 13, so that the cleaning brackets 14 span the two drive rings 13 in the axial direction; the cleaning brush 15 is arranged in the direction of the cleaning bracket 14 pointing to the axis of the wire rope, and the cleaning brush 15 is rotatably mounted on the cleaning bracket 14 by a brush shaft. A bearing or bushing is provided between the brush shaft and the cleaning bracket 14 to support the rotation of the brush shaft; the cleaning brush 15 or the cleaning bracket 14 is provided with a radial floating structure or an elastic pre-tightening structure to accommodate the outer diameter tolerance of the wire rope and ensure that the cleaning brush 15 and the outer surface of the wire rope maintain a stable contact pressure.

[0028] The drive gear 16 is located on the outer end face of the drive ring 13. The drive gear 16 is connected to the end of the cleaning brush 15 for synchronous transmission of the rotation of the drive gear 16 to the cleaning brush 15. The drive gear 16 is set opposite to and meshes with the toothed ring 17. When the first drive motor 12 drives the ring 13 to rotate around the wire rope axis, the drive gear 16 rolls along the toothed ring 17 under the constraint of the toothed ring 17 and generates its own rotation, thereby driving the cleaning brush 15 to rotate. The rotation of the drive ring 13 around the wire rope axis and the rotation of the cleaning brush 15 are superimposed to form a compound cleaning motion, so as to improve the cleaning coverage and cleaning efficiency of the circumference and gap area of ​​the wire rope.

[0029] The detection device 2 is installed after the cleaning device 1 and is used to detect the condition of the outer surface of the wire rope. The detection device 2 includes a detection housing 21, several detection airbags 22, a detection air pump 23, a metering chamber 24, a switch valve 25, a first pressure sensor 26, and a second pressure sensor 27.

[0030] The detection housing 21 is fitted onto the outside of the wire rope, and the detection housing 21 is rigidly connected to the adjacent device through the bridging rod 4. The detection housing 21 adopts two detachable semi-circular structures, and a positioning structure and a locking structure are set between the two semi-circular structures to realize the assembly of the existing wire rope.

[0031] The inner wall of the detection housing 21 is provided with a spiral groove, which extends along the axis of the wire rope and is spirally distributed. Several detection airbags 22 are disposed in the spiral groove, so that the detection airbags 22 are in close contact with the outer surface of the wire rope in both the axial and circumferential directions, thereby obtaining a detection coverage that is continuous along the axial direction and uniformly distributed in the circumferential direction during the detection process.

[0032] The detection airbag 22 is divided into at least two segments along the axis of the wire rope. Each segment of the detection airbag 22 is set independently and is connected to the metering chamber 24 through the switch valve 25. By dividing the detection airbag 22 into segments, the continuity of the detection housing 21 and adjacent structures in the axial direction no longer spans the entire detection section, thereby avoiding the weakening of detection sensitivity due to the "bridging" of local external surface defects caused by structural continuity.

[0033] The detection air pump 23 is connected to the metering chamber 24 and is used to inflate the metering chamber 24; the metering chamber 24 is used to form a fixed volume of gas under a set pressure condition; the first pressure sensor 26 is set in the metering chamber 24 and is used to detect the gas pressure in the metering chamber 24 in real time to confirm that the metering chamber 24 has reached the predetermined pressure state during the inflation process, thereby ensuring that the amount of gas released from the metering chamber 24 to the detection airbag 22 remains consistent each time.

[0034] The metering chamber 24 is connected to the target detection airbag 22 through the switching valve 25. The switching valve 25 is used to control the connection or disconnection between the metering chamber 24 and the detection airbag 22, and when necessary, it cooperates with the detection air pump 23 to inflate or de-inflate the detection airbag 22, so that the detection airbag 22 can complete the inflation and deflation process through the same air circuit interface.

[0035] The second pressure sensor 27 is located between the air inlet / outlet of the detection airbag 22 and the switching valve 25, and is used to collect the gas pressure data of the target detection airbag 22 after inflation.

[0036] The detection process includes the following steps: First, the detection air pump 23 is controlled to inflate the metering chamber 24, and the pressure inside the metering chamber 24 reaches the set value under the monitoring of the first pressure sensor 26; then, the switching valve 25 is controlled to connect the metering chamber 24 with the target detection airbag 22, so that a fixed volume of gas in the metering chamber 24 is released into the target detection airbag 22; after the release is completed, the target detection airbag 22 forms a stable gas pressure in a state of contact with the outer surface of the wire rope, and the pressure data is collected by the second pressure sensor 27; in the section where the outer surface of the wire rope is in a smooth and intact state, the above quantitative inflation process is performed on each detection airbag 22, and the corresponding airbag pressure data is recorded as the reference pressure data of the detection airbag 22 under normal conditions.

[0037] During subsequent testing or re-inspection, the testing device 2 is kept in the section to be tested, and the same inflation and deflation process of the metering chamber 24 is repeated for the same testing airbag 22. The pressure data of the corresponding testing airbag 22 is collected and compared with the reference pressure data. When the pressure difference exceeds the preset threshold, it is determined that there is an abnormality on the outer surface of the wire rope at the corresponding position of the testing airbag 22, and an alarm signal is output.

[0038] To improve the accuracy and stability of the test data, the testing device 2 employs one or more of the following testing methods: First, a quantitative inflation pressure measurement method, in which the same volume of gas is input from the metering chamber 24 to the testing airbag 22 in each test, and the change in the outer surface state is judged by the difference between the final stable pressure of the testing airbag 22 and the reference pressure; Second, a constant pressure air supply method, in which the testing air pump 23 is controlled to cooperate with the metering chamber 24 to make the testing airbag 22 reach the set target pressure, and the change in the amount of gas required to maintain the target pressure is recorded, which is used to reflect the change in the outer surface state of the wire rope. The changes in surface compliance; third, the pressure decay method, that is, after the detection airbag 22 is inflated to the set state, the switch valve 25 is closed, the pressure change of the detection airbag 22 over time is recorded, and the change in the contact state between the detection airbag 22 and the outer surface of the wire rope is judged by the pressure decay rate; fourth, the compliance fingerprint or step inflation test method, that is, the same detection airbag 22 is inflated stepwise according to multiple pressure steps or multiple quantitative volumes, and the corresponding pressure response data is recorded to form the compliance response characteristics of the detection position, and compared with the benchmark compliance characteristics.

[0039] Through the above-mentioned detection structure and detection method, the detection device 2 can identify broken wires, bulges, wear or local morphological changes on the outer surface of the wire rope based on changes in gas volume and pressure without relying on complex sensing elements, and provide a reliable basis for the maintenance and replacement decision of the wire rope.

[0040] The grease injection and application device 3 is located after the detection device 2. It is used to form a uniform oil film on the outer surface of the wire rope and to achieve continuous grease injection and maintenance in conjunction with the axial stepping movement of the device. The grease injection and application device 3 has functions such as circumferential fixation, grease injection cavity formation, stepping movement, and debonding and release.

[0041] The grease injection and application device 3 includes a front fixing ring 301, a rear fixing ring 302, a fixing airbag 303, multiple connecting block assemblies, a connecting block body 304, a leaf spring 305, a connecting airbag 306, a grease injection structure, and a debonding structure.

[0042] The front fixing ring 301 and the rear fixing ring 302 are spaced apart along the axial direction of the wire rope and sleeved on the outside of the wire rope. The front fixing ring 301 and the rear fixing ring 302 are rigidly connected to the adjacent device through the bridging rod 4. The front fixing ring 301 and the rear fixing ring 302 both adopt two detachable semi-circular structures to adapt to the assembly requirements of the existing wire rope. The inner side of the front fixing ring 301 and the rear fixing ring 302 are respectively provided with fixing airbags 303, and the fixing airbags 303 are fixedly connected to the corresponding fixing rings.

[0043] During operation, the fixed airbag 303 is inflated and closely adheres to the outer surface of the wire rope, thereby forming an axial fixing point at the corresponding position to restrict the movement of the grease application device 3 in the axial direction; by alternately inflating and deflating the fixed airbag 303 of the front fixing ring 301 and the rear fixing ring 302, the segmented fixing and release of the grease application device 3 is achieved.

[0044] Multiple connecting block assemblies are provided between the front fixed ring 301 and the rear fixed ring 302. The multiple connecting block assemblies are distributed at intervals along the circumference of the wire rope. The two ends of each connecting block assembly are connected to the front fixed ring 301 and the rear fixed ring 302 respectively. The connecting block assemblies together form an annular structure between the front fixed ring 301 and the rear fixed ring 302 in the circumferential direction.

[0045] Each connecting block assembly includes multiple connecting block bodies 304 spaced apart along the axis of the wire rope. Adjacent connecting block bodies 304 are connected by leaf springs 305. The leaf springs 305 are arranged along the axis of the wire rope and are arc-shaped in their natural state, so that the connecting block assembly tends to arch outward in the radial direction when no external force is applied. Through the elastic deformation of the leaf springs 305, the connecting block assembly can change its length in the axial direction.

[0046] Each connecting block body 304 has a connecting airbag 306 on its inner side, and the connecting airbag 306 is fixedly connected to the corresponding connecting block body 304. The connecting airbag 306 is provided with a directional deformation constraint structure, so that the connecting airbag 306 deforms in a predefined cavity direction when inflated, while the deformation in other directions is restricted. Through this directional deformation method, multiple connecting airbags 306 together form a continuous and regular annular inner wall in the circumferential direction.

[0047] The inner diameter formed by the expansion of the fixed airbag 303 is smaller than the inner diameter formed by the encirclement of multiple connecting airbags 306, thereby forming a grease injection gap between the connecting airbag 306 and the outer surface of the wire rope; the grease injection gap is continuously distributed in the axial and circumferential directions, providing a stable space for the uniform spread of grease.

[0048] The grease injection structure includes an oil injection port 307, a circumferential distribution groove, and a circumferentially porous oil outlet structure. The oil injection port 307 is arranged along the axis of the wire rope and communicates with the grease injection gap. The inner end of the oil injection port 307 extends into the grease injection gap and is close to the outer surface of the wire rope. The bottom of the inner end of the oil injection port 307 is set as a hemispherical or equivalent arc-shaped structure to avoid hard pressure or scratches on the outer surface of the wire rope during the grease injection process, and at the same time, it plays the role of controlling the minimum spacing of the grease injection gap.

[0049] The inner end of the oil inlet 307 is provided with a circumferential distribution groove. The circumferential distribution groove extends circumferentially and is connected to multiple circumferentially distributed oil outlet holes. After the grease is injected, it is circumferentially distributed through the circumferential distribution groove and enters the grease injection gap evenly through multiple oil outlet holes, so that the grease is evenly distributed along the circumference of the wire rope and forms a continuous oil film on the outer surface of the wire rope.

[0050] After the grease injection is completed, the connecting airbag 306 contracts by deflating, and the connecting block assembly contracts axially and arches outward radially under the elastic action of the leaf spring 305, thereby reducing the contact pressure between the connecting airbag 306 and the oil film, creating conditions for subsequent debonding and movement.

[0051] The grease application device 3 also includes a de-adhesion ring 308, an actuating ring 309, at least one de-adhesion steel wire 310, and a second drive motor 311. The de-adhesion ring 308 is respectively disposed on the opposing end faces of the front fixed ring 301 and the rear fixed ring 302, and is wound around the outside of the steel wire rope. The actuating ring 309 is coaxially disposed with the de-adhesion ring 308 and connected to the de-adhesion steel wire 310. The de-adhesion steel wire 310 is wound around the outside of the steel wire rope and connected to the actuating ring 309. The second drive motor 311 is drivenly connected to the actuating ring 309 and is used to drive the actuating ring 309 to rotate around the axis of the steel wire rope, so that the de-adhesion steel wire 310 generates relative movement on the outer surface of the steel wire rope, thereby disturbing and releasing the oil film that may adhere, and preventing grease from accumulating or adhering inside the device.

[0052] The stepping operation process of the grease injection and application device 3 is as follows: the front fixing ring 301 fixes the airbag 303 with air to form front-end fixation; the rear fixing ring 302 fixes the airbag 303 with air to form rear-end fixation; the connecting airbag 306 is inflated to form the grease injection gap and complete the grease injection; then the connecting airbag 306 is deflated and the connecting block assembly is axially deformed under the action of the leaf spring 305, while the second drive motor 311 drives the action ring 309 to rotate to complete the detachment; then the rear fixing ring 302 fixes the airbag 303 to remain fixed, the front fixing ring 301 fixes the airbag 303 with air and drives the front fixing ring 301 to move forward; the connecting airbag 306 is inflated again to gradually straighten the connecting block assembly until the front fixing ring 301 and the rear fixing ring 302 return to the predetermined axial distance; the front fixing ring 301 fixes the airbag 303 with air again to complete the fixation and enter the next grease injection cycle.

[0053] Through the combination of the above structure and action, the grease application device 3 can achieve stable stepping along the axial direction of the wire rope without relying on external traction, and complete grease injection, film formation and deadhesion treatment in each working cycle, thereby achieving continuous lubrication and maintenance of the outer surface of the wire rope.

[0054] Working principle: This embodiment takes a section of in-service steel wire rope as the object, with the steel wire rope arranged along the axial direction. The intelligent maintenance robot for the entire life cycle of the steel wire rope of the present invention is assembled with a cleaning device 1, a detection device 2, and a grease application device 3 in sequence along the axial direction of the steel wire rope. The three are rigidly connected coaxially by a bridging rod 4 to form an integral structure that can move along the axial direction of the steel wire rope. The cleaning device 1, the detection device 2, and the grease application device 3 all adopt two detachable semi-circular structures, and are assembled on the existing steel wire rope through a positioning structure and a locking structure.

[0055] Initial state and device positioning: After assembling the device onto the outside of the wire rope, the device is positioned at the beginning of the section to be maintained; at this time, the cleaning device 1, the detection device 2, and the grease injection and application device 3 are all in standby state; the front fixing ring 301 and the rear fixing ring 302 of the grease injection and application device 3 are in the initial position of axial spacing, the fixing airbag 303 and the connecting airbag 306 are in the deflated state, and the debonding structure is in the stopped state.

[0056] Cleaning stage: Start the cleaning device 1; the first drive motor 12 drives at least one drive ring 13 to rotate around the wire rope axis. The rotation of the drive ring 13 drives the drive gear 16 located on the outer end face of the drive ring 13 to revolve around the wire rope axis. At the same time, the drive gear 16 meshes with the toothed ring 17 fixed on the inner wall of the cleaning base 11. As the drive gear 16 rolls relative to the toothed ring 17, the drive gear 16 rotates and drives the cleaning brush 15 to rotate synchronously through the transmission connection with the end of the cleaning brush 15, so that the cleaning brush 15 brushes the outer surface of the wire rope. After cleaning is completed, the cleaning device 1 can continue to rotate or stop rotating, and enter the testing stage.

[0057] Inspection stage: The inspection device 2 performs inspection on the cleaned wire rope surface; the inspection airbag 22 is set in the spiral groove of the inner wall of the inspection housing 21, and the inspection airbag 22 is spirally distributed along the spiral groove and close to the outer surface of the wire rope. During testing, the air pump 23 inflates the metering chamber 24, and the first pressure sensor 26 monitors the pressure inside the metering chamber 24 in real time to ensure that the metering chamber 24 reaches the set pressure. Then, the control valve 25 connects the metering chamber 24 to the target detection airbag 22, and the metering chamber 24 inputs gas into the target detection airbag 22. After the input is completed, the control valve 25 disconnects the metering chamber 24 from the target detection airbag 22, and the second pressure sensor 27 collects the pressure data of the target detection airbag 22 after this quantitative inflation. In the section of the wire rope with intact outer surface, a reference data is established in advance: for each target detection airbag 22, the above process of "inflating the metering chamber 24 to the set pressure - connecting to the target detection airbag 22 - recording the pressure of the target detection airbag 22" is repeated, and its pressure data is recorded as the reference pressure of the corresponding detection airbag 22; during re-inspection or inspection, the same process is repeated in the section to be inspected, and the collected pressure of the target detection airbag 22 is compared with the reference pressure. When the pressure difference exceeds the set threshold, an alarm signal is output, indicating that there is an abnormality on the outer surface of the corresponding position of the detection airbag 22. The detection airbag 22 is divided into at least two segments along the axial direction. Each segment of the detection airbag 22 is subjected to the above-mentioned quantitative inflation pressure measurement and comparison judgment, so that the detection result corresponds to a shorter axial segment, reducing the risk of insensitivity caused by the continuous structure of the detection housing 21 crossing local defects. If the detection result does not trigger an alarm, the grease injection stage is entered. If an alarm is triggered, the position of the segment is recorded and the local re-inspection or maintenance process is entered. The device can still continue to perform cleaning, detection and grease injection maintenance on subsequent segments.

[0058] Grease injection film formation stage: The grease injection and application device 3 performs grease injection and film formation on the section that has passed the test; First, the fixing airbag 303 of the front fixing ring 301 is inflated, so that the front fixing ring 301 is tightly attached to the outer surface of the wire rope at this position to form the front fixing point; then the fixing airbag 303 of the rear fixing ring 302 is inflated, so that the rear fixing ring 302 is tightly attached to the outer surface of the wire rope to form the rear fixing point, thereby making the grease injection and application device 3 stably positioned in the current section; Subsequently, the connecting airbags 306 are inflated. The connecting airbags 306 are located inside the bodies 304 of each connecting block and deform in the direction of the predefined cavity under the constraint of directional deformation, so that multiple connecting airbags 306 together enclose a continuous and regular annular inner wall in the circumferential direction. Since the inner diameter formed by the expansion of the fixed airbag 303 is smaller than the inner diameter formed by the enclosed connecting airbags 306, a grease injection gap is formed between the outer surface of the wire rope and the connecting airbags 306. A certain amount of grease is injected into the grease injection gap through the grease injection port 307. The grease is circumferentially distributed through the circumferential distribution groove at the inner end of the grease injection port 307, and then evenly enters the grease injection gap through multiple oil outlets through the circumferential multi-hole oil outlet structure, so that the grease is evenly spread along the circumference of the wire rope and forms a continuous oil film. The bottom of the inner end of the grease injection port 307 is a hemispherical or equivalent arc-shaped structure, which is close to the outer surface of the wire rope during the grease injection process and limits the minimum spacing of the grease injection gap, so as to avoid hard tops scratching the outer surface of the wire rope and stabilize the conditions for the formation of the gap oil film.

[0059] De-adhesion stage: After grease injection, the connecting airbag 306 deflates and contracts. Under the elastic action of the leaf spring 305, the connecting block assembly undergoes an axial length change and arches radially outward, reducing the contact between the connecting airbag 306 and the oil film. At this time, the second drive motor 311 is activated, which drives the actuating ring 309 to rotate around the wire rope axis. The actuating ring 309 drives the de-adhesion wire 310 to rotate around the outside of the wire rope, forming a de-adhesion treatment section at the opposing end faces of the front fixed ring 301 and the rear fixed ring 302. This disturbs and releases any adhesion that may occur between the oil film and the inside of the device, reducing the impact of grease adhesion on subsequent movement.

[0060] Step-by-step movement and the next cycle: After the debonding is completed, the fixing airbag 303 of the rear fixing ring 302 is kept in an inflated state, so that the rear fixing ring 302 continues to serve as an axial fixing point; the fixing airbag 303 of the front fixing ring 301 is deflated, so that the front fixing ring 301 releases the fixing constraint on the wire rope; then the connecting airbag 306 is inflated again, so that the connecting block assembly gradually straightens and restores its length in the axial direction, thereby pushing the front fixing ring 301 relative to the rear fixing ring 302 to move forward along the wire rope axis to the next working position; After the front fixing ring 301 is moved into place, the fixing airbag 303 of the front fixing ring 301 is inflated again, so that the front fixing ring 301 forms a new front fixing point; then the fixing airbag 303 of the rear fixing ring 302 can be deflated, so that the rear fixing ring 302 is released from fixation and completes one step; then the fixing airbag 303 of the rear fixing ring 302 is inflated again, so that the rear fixing ring 302 forms a rear fixing point in a new position, and enters the next cycle of "inflating the connecting airbag 306 to form a cavity - injecting grease - deflating the connecting airbag 306 - debonding - stepping movement".

[0061] Through the above cycle, the present invention can complete cleaning, inspection, grease injection and film formation and debonding and release segment by segment along the axial direction of the wire rope, and realize the continuous step-by-step operation of the device on the wire rope; the pressure comparison results obtained in the inspection stage are used to indicate the changes in the outer surface condition of the wire rope, and when an abnormal section occurs, an alarm can be output and the position can be recorded, thereby realizing the integrated operation of periodic inspection and maintenance during the operation of the wire rope.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart maintenance robot for the entire life cycle of steel wire ropes, characterized in that, It includes a cleaning device (1), a detection device (2), and a grease application device (3) that are arranged sequentially along the axial direction of the wire rope and coaxially connected. The cleaning device (1), the detection device (2) and the grease application device (3) are rigidly connected by at least one bridging rod (4) to form an integral structure that can move along the axial direction of the wire rope; The grease application device (3) includes: A front fixing ring (301) and a rear fixing ring (302) are provided at intervals along the axial direction of the wire rope and are sleeved on the outside of the wire rope; A fixed airbag (303) is respectively disposed on the inner side of the front fixed ring (301) and the rear fixed ring (302) and fixedly connected to the corresponding fixed ring; Multiple connecting block assemblies are arranged circumferentially between the front fixing ring (301) and the rear fixing ring (302) along the wire rope, and the two ends of each connecting block assembly are connected to the front fixing ring (301) and the rear fixing ring (302) respectively. Multiple connecting block bodies (304) are spaced apart along the axis of the wire rope and constitute the connecting block assembly; Leaf spring (305), the leaf spring (305) is arranged along the axis of the wire rope, and the two ends of the leaf spring (305) are respectively connected to two adjacent connecting block bodies (304). Connecting airbags (306) are respectively disposed on the inner side of each connecting block body (304) and fixedly connected to the corresponding connecting block body (304); The grease application device (3) also includes a de-adhesion ring (308), an action ring (309), at least one de-adhesion steel wire (310), and a second drive motor (311). The debonding rings (308) are respectively disposed on the opposing end faces of the front fixed ring (301) and the rear fixed ring (302) and wound around the outside of the wire rope. The actuating ring (309) is coaxially disposed with the debonding rings (308) and connected to the debonding wire (310). The debonding wire (310) is wound around the outside of the wire rope and connected to the actuating ring (309). The second drive motor (311) is connected to the actuating ring (309) for transmission, so as to drive the actuating ring (309) to rotate around the axis of the wire rope. After the debonding is completed, the fixing airbag (303) of the rear fixing ring (302) is kept in an inflated state, so that the rear fixing ring (302) continues to serve as an axial fixing point; the fixing airbag (303) of the front fixing ring (301) is deflated, so that the front fixing ring (301) releases the fixing constraint on the wire rope; then the connecting airbag (306) is inflated again, so that the connecting block assembly gradually straightens and generates length recovery in the axial direction, thereby pushing the front fixing ring (301) to move forward along the wire rope axis relative to the rear fixing ring (302) to the next working position.

2. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 1, characterized in that: The leaf spring (305) is naturally arranged in an arc shape with its bending direction away from the axis of the wire rope. The length change of the connecting block assembly in the axial direction is achieved by the elastic deformation of the leaf spring (305).

3. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 2, characterized in that: Multiple connecting block assemblies are arranged at equal angular intervals along the circumference of the wire rope.

4. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 3, characterized in that: The inner diameter formed by the expansion of the fixed airbag (303) is smaller than the inner diameter formed by the enclosing of the multiple connecting airbags (306).

5. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 4, characterized in that: The debonded steel wire (310) is a flexible steel wire or a metal wire.

6. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 5, characterized in that: Both the front fixing ring (301) and the rear fixing ring (302) are provided with a release ring (308).

7. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 6, characterized in that: The cleaning device (1) includes a cleaning base (11), a first drive motor (12), two drive rings (13), at least two cleaning brackets (14), a cleaning brush (15), a drive gear (16), and a gear ring (17). The cleaning base (11) is sleeved on the outside of the wire rope. A toothed ring (17) is provided on the inner wall of the cleaning base (11) along the circumference of the wire rope. The toothed ring (17) has an internal tooth structure and is fixed to the inner wall of the cleaning base (11). Two drive rings (13) are rotatably disposed at both axial ends inside the cleaning base (11). The first drive motor (12) is fixedly disposed on the cleaning base (11) and is connected to at least one drive ring (13) in a transmission connection. At least two cleaning brackets (14) are connected between the two drive rings (13). The cleaning brush (15) is positioned in the direction of the cleaning bracket (14) pointing towards the wire rope axis. The drive gear (16) is located on the outer end face of the drive ring (13). The drive gear (16) is connected to the end of the cleaning brush (15). The drive gear (16) is positioned opposite to the toothed ring (17) and maintains meshing. When the first drive motor (12) drives the drive ring (13) to rotate around the wire rope axis, the drive gear (16) rolls along the toothed ring (17) under the constraint of the toothed ring (17) and generates rotation, thereby driving the cleaning brush (15) to rotate.

8. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 7, characterized in that: The detection device (2) includes a detection housing (21), several detection airbags (22), a detection air pump (23), a metering chamber (24), a switching valve (25), a first pressure sensor (26), and a second pressure sensor (27). The detection housing (21) is sleeved on the outside of the wire rope. The inner wall of the detection housing (21) is provided with a spiral groove. The spiral groove extends along the axis of the wire rope and is spirally distributed. Several detection airbags (22) are set in the spiral groove. The detection airbags (22) are divided into at least two segments along the axis of the wire rope. Each segment of the detection airbags (22) is set independently and is connected to the metering chamber (24) through a switch valve (25). The detection air pump (23) is connected to the metering chamber (24) and is used to inflate the metering chamber (24). The first pressure sensor (26) is set in the metering chamber (24). The second pressure sensor (27) is set between the air inlet and outlet of the detection airbag (22) and the switch valve (25) and is used to collect the gas pressure data of the target detection airbag (22) after inflation.

9. The intelligent maintenance robot for the entire life cycle of steel wire rope according to claim 8, characterized in that: The metering chamber (24) is connected to the target detection airbag (22) through the switching valve (25). The switching valve (25) is used to control the connection or disconnection between the metering chamber (24) and the detection airbag (22), and when needed, it cooperates with the detection air pump (23) to inflate or de-inflate the detection airbag (22), so that the detection airbag (22) completes the inflation and deflation process through the same air circuit interface.

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