Steel wire rope detection robot

Abstract

The utility model provides a steel wire rope detection robot which comprises a first box body, a second box body, a detection device and an oil coating device, the first box body and the second box body are oppositely arranged and detachably connected through a fastening assembly, a walking mechanism is arranged on the first box body, and an oil storage device is arranged in the second box body and connected with the oil coating device; the detection device comprises a first camera and a second camera; the oiling device comprises a shell of an annular structure, the periphery of the steel wire rope is sleeved with the shell, the shell is connected with the first box body and the second box body, a plurality of oil spraying assemblies are arranged on the inner ring surface of the shell in the circumferential direction, the shell is sleeved with an arc-shaped moving block, the arc-shaped moving block is slidably connected with the shell, and an oil balancing assembly is arranged on the arc-shaped moving block. The device detects the state of the steel wire rope, completes oil coating and balancing operation, and realizes automatic maintenance and inspection operation.

Description

TECHNICAL FIELD

[0001] The utility model belongs to transportation safety monitoring technical field relates to a steel wire rope detection robot. BACKGROUND

[0002] Steel wire rope is by multilayer steel wire according to certain rule to twist together helical steel wire bundle, with the rope core as the center, the surface is coated with lubricating grease. Steel wire rope is used for material handling, lifting, traction, tension and load operation, especially in the coal mine field shoulders the personnel and material lifting transportation work of mine production, plays an important role. The safety performance of steel wire rope is reliable or not, seriously affects the safety of coal mine lifting transportation personnel and equipment, and lifting transportation efficiency.

[0003] Steel wire rope in the long-term friction operation process, is affected by harmful gas, water erosion and temperature change and other adverse environment in the operation environment and rust, prone to broken wire, outer layer loose deformation, and internal rust and other problems. If the steel wire rope cage way is lifted under this condition for a long time, will cause great threat to the safety of transportation and personal safety.

[0004] At present, the detection and maintenance of steel wire rope is mainly through artificial, due to the limitation of working environment and working state and other factors, cannot guarantee the comprehensive detection and oil anticorrosion of steel wire rope, and brings great safety hidden danger to the life safety of operation and maintenance staff and the safety production of coal mine, at the same time, the detection workload is large, the labor intensity is high, and the human resources are wasted.

[0005] Therefore, through the advanced detection device to replace the on-site operation personnel, improve and solve the problem in the maintenance and inspection of steel wire rope, it is particularly important to improve the safety reliability of mine lifting system, protect the safety of life and property. UTILITY MODEL CONTENTS

[0006] In view of the deficiencies existing in the prior art, the utility model aims at providing a steel wire rope detection robot, which can move along the steel wire rope, detect the state of the steel wire rope, complete the oiling operation, and realize automatic maintenance and inspection operation.

[0007] In order to achieve this purpose, the utility model adopts the following technical scheme:

[0008] The utility model provides a kind of steel wire rope detection robot, including first box, second box, detection device and oiling device, the first box is oppositely arranged with second box, the first box is detachably connected with the second box by fastening assembly, walking mechanism is provided on the first box, the walking mechanism is used to drive the first box moves along steel wire rope surface, oil storage device is provided in the second box, the oil storage device connects the oiling device;The detection device includes first camera and second camera respectively arranged on the first box and second box;The oiling device is arranged in the rear end of the first box along the moving direction of first box, the oiling device includes annular structure's casing, the casing is sleeved on the outer periphery of steel wire rope, the casing is connected with the first box and second box respectively, the inner ring surface of the casing is provided with a plurality of oil injection components along the circumference, arc-shaped moving block is sleeved on the casing, the arc-shaped moving block is slidably connected with the casing, equal oil component is provided on the arc-shaped moving block.

[0009] The robot can climb along the outer surface of the steel wire rope, monitor the video of the outer surface of the steel wire rope, and complete automatic oiling and equal oiling of the steel wire rope, thereby reducing the dangerous operation personnel and improving the maintenance and inspection efficiency and quality.

[0010] As an optimal technical scheme of the utility model, the inside of the casing is provided with an annular oil distribution pipe, the annular oil distribution pipe is connected with a plurality of oil injection components respectively, and the annular oil distribution pipe is connected with the oil storage device.

[0011] The utility model utilizes the oil injection component to automatically spray oil on the outer surface of the steel wire rope in full angle, improves the maintenance and inspection quality, and does not need manual operation, thereby ensuring the personal safety of the operation and maintenance personnel.

[0012] As an optimal technical scheme of the utility model, the oil storage device includes an oil storage tank, an oil supply driving component and an oil delivery pipe, the oil supply driving component is connected with the oil storage tank and the oil delivery pipe respectively, is used to send the oil in the oil storage tank into the oil delivery pipe, and the oil delivery pipe is connected with the annular oil distribution pipe.

[0013] As an optimal technical scheme of the utility model, the oil storage tank is provided with an oil level detection component.

[0014] The utility model realizes the monitoring of the oil level information in the oil storage tank, so as to timely supplement the oil when the oil is insufficient or less, and ensure the efficient operation of the maintenance and inspection work.

[0015] As an optimal technical scheme of the utility model, gear drive assembly is arranged on the arc-shaped moving block, the gear drive assembly includes support, moving gear and driving motor, the support is fixed at one end of the arc-shaped moving block, the moving gear is rotatably connected with the support, the driving motor is fixed on the support and is drivingly connected with the moving gear for driving the moving gear to rotate, the surface of the shell is provided with rack groove, and the moving gear and the rack groove are mutually engaged.

[0016] The arc-shaped moving block can move on the surface of the shell to perform oil equalizing operation along the circumference of the steel wire rope, so that the oil quality is evenly spread on the surface of the steel wire rope at full angle, and the maintenance and inspection quality is improved.

[0017] As an optimal technical scheme of the utility model, the bottom of the shell is provided with first support and second support, the first support is bolted to the top outer wall of the first box body, and the second support is bolted to the top outer wall of the second box body.

[0018] The shell of the oiling device is detachable, and the oil spraying assembly and the oil equalizing assembly can be conveniently replaced and maintained.

[0019] As an optimal technical scheme of the utility model, the walking mechanism includes walking driving assembly, two positioning wheels and at least two stabilizing assemblies, the walking driving assembly is fixed in the first box body, the positioning wheels are partially located in the first box body, one end of the positioning wheels extending out of the first box body is attached to the outer surface of the steel wire rope, the walking driving assembly is drivingly connected with the positioning wheels for driving the positioning wheels to rotate, and the stabilizing assembly includes connecting plate and stabilizing wheel, one end of the connecting plate is connected with the first box body, the other end of the connecting plate extends to one side of the second box body and is rotatably connected with the stabilizing wheel, and the stabilizing wheel is also attached to the outer surface of the steel wire rope.

[0020] The robot is stable in movement, has high safety and reliability, and is favorable for improving the maintenance and inspection efficiency.

[0021] As an optimal technical scheme of the utility model, first adjusting frame and second adjusting frame are respectively arranged on the side outer walls of the first box body and the second box body, the first camera is rotatably connected with the first adjusting frame, and the second camera is rotatably connected with the second adjusting frame.

[0022] The shooting angles of the first camera and the second camera can be adjusted to adapt to different working environments and detection requirements.

[0023] As an optimal technical scheme of the utility model, the detection device further comprises a vibration acceleration sensor and an inclination sensor, the vibration acceleration sensor is fixed to the inner cavity wall of the first box body, and the inclination sensor is fixed to the outer wall of the first box body.

[0024] The utility model can detect the vibration state of the steel wire rope in operation, capture fault information in time, realize the safety monitoring of multiple modes, guarantee the safety of the steel wire rope operation, and simultaneously monitor the deflection degree during the movement of the robot, which is favorable for improving the climbing stability of the robot.

[0025] As an optimal technical scheme of the utility model, the fastening assembly comprises at least two connecting pieces, the connecting piece comprises a first fixed block, a second fixed block, a locking portion and a push rod, the first fixed block is arranged on the outer wall of the first box body, the second fixed block is arranged on the outer wall of the second box body, the locking portion is arranged on the first fixed block, one end of the push rod is rotationally connected with the second fixed block, and the other end of the push rod is movably connected with the locking portion.

[0026] Compared with the prior art, the utility model has the beneficial effects that:

[0027] The steel wire rope detection robot provided by the utility model can walk along the outer surface of the steel wire rope, realizes the multi-mode and all-around monitoring of the running state of the steel wire rope, completes the full-angle oiling and oil equalizing operation, does not need manual maintenance and inspection, and greatly improves the operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The structure schematic view of the steel wire rope detection robot provided for one specific embodiment of the utility model is shown in the figure;

[0029] Figure 2 The structure schematic view of the oiling device provided for one specific embodiment of the utility model is shown in the figure;

[0030] Figure 3 The internal structure schematic view of the first box body provided for one specific embodiment of the utility model is shown in the figure;

[0031] Figure 4 The internal structure schematic view of the second box body provided for one specific embodiment of the utility model is shown in the figure.

[0032] 100-steel wire rope; 20-first box body; 30-second box body; 40-oil coating device; 401-housing; 402-oil spraying assembly; 403-arc-shaped moving block; 404-oil equalizing assembly; 405-ring-shaped oil distribution pipe; 1-connector; 101-first fixed block; 102-second fixed block; 103-latching portion; 104-push rod; 2-first camera; 201-first adjusting bracket; 3-second camera; 301-second adjusting bracket; 4-first support column; 5-second support column; 6-oil storage tank; 601-oil supply driving assembly; 602-oil delivery pipe; 603-oil level detection assembly; 7-rack groove; 701-bracket; 702-moving gear; 703-driving motor; 8-traveling driving assembly; 801-positioning wheel; 802-connection plate; 803-stabilizing wheel; 9-vibration acceleration sensor; 10-inclination sensor. DETAILED DESCRIPTION

[0033] It should be understood that, in the description of the present application, the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality of" means two or more, unless otherwise specified.

[0034] It should be noted that, in the description of the present application, unless otherwise specified and limited, the terms "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] The technical solutions of the present application will be further illustrated below in conjunction with the drawings and through specific embodiments.

[0036] In one specific embodiment, the present application provides a steel wire rope detection robot, which comprises a first box body 20, a second box body 30, a detection device and an oil coating device 40. As shown inFigure 1 As shown in the drawings, the first box 20 is arranged opposite to the second box 30, the first box 20 is detachably connected to the second box 30 through a fastening assembly, the first box 20 is provided with a walking mechanism, the walking mechanism is used to drive the first box 20 to move along the surface of the steel wire rope 100, thereby driving the second box 30 to move with the steel wire rope 100. The second box 30 is provided with an oil storage device, the oil storage device is connected to the oiling device 40, and the oil required for maintenance and inspection can be provided. The detection device includes a first camera 2 and a second camera 3 arranged on the first box 20 and the second box 30 respectively, and the shooting range covers the outer surface of the steel wire rope 100, which is used to collect image video data. The oiling device 40 is arranged at the rear end of the first box 20 along the moving direction of the first box 20, as shown in the drawings, Figure 2 As shown in the drawings, the oiling device 40 includes a shell 401 in a ring structure, the shell 401 is sleeved on the outer periphery of the steel wire rope 100, and the shell 401 is connected to the first box 20 and the second box 30 respectively. The inner ring surface of the shell 401 is provided with a plurality of oil injection assemblies 402 in the circumferential direction, so as to perform 360° full-angle oil injection operation on the outer surface of the steel wire rope 100. The shell 401 is sleeved with an arc-shaped moving block 403, the arc-shaped moving block 403 is slidably connected to the shell 401, and the arc-shaped moving block 403 is provided with an oil uniformizing assembly 404, so that the oil on the surface of the steel wire rope 100 is uniform, which greatly improves the maintenance and inspection quality.

[0037] As shown in the drawings, Figure 1 The first box 20 and the second box 30 are connected through the fastening assembly to realize synchronous movement. The fastening assembly includes at least two connecting pieces 1, in order to improve the connection strength, four connecting pieces 1 can be arranged on the upper and lower ends of the opposite sides of the first box 20 and the second box 30. Specifically, the connecting piece 1 includes a first fixed block 101, a second fixed block 102, a locking part 103 and a push rod 104, the first fixed block 101 is arranged on the outer wall of the first box 20, the second fixed block 102 is arranged on the outer wall of the second box 30, the locking part 103 is arranged on the first fixed block 101, one end of the push rod 104 is rotatably connected to the second fixed block 102, and the other end is movably connected to the locking part 103. Further, a rotating column can be arranged in the second fixed block 102, one end of the push rod 104 is rotatably arranged on the rotating column, and the other end extends into the locking part 103. The movable connection can be achieved by bolt connection, buckle connection, mortise and tenon connection or plug-in connection, which is well known to those skilled in the art, so as to lock the first box 20 and the second box 30, and unlock after completing the inspection work. In the process of use, the robot can be sent into the detection area by using the lifting device and the traction device commonly used in the art.

[0038] This utility model does not specifically limit the shape and size of the first box 20 and the second box 30. They can be columnar, cylindrical, etc. At the same time, those skilled in the art can adjust the size of the first box 20 and the second box 30 according to the actual diameter of the wire rope 100, the space of the detection area, the amount of oil required, etc.

[0039] It should be noted that the oiling device 40 described in this utility model is located at the rear end of the first box 20 along the moving direction of the first box 20, which means that the first box 20 and the second box 30 reach the target position simultaneously first, and the oiling device 40 reaches the target position afterward.

[0040] Specifically, the bottom of the housing 401 is provided with a first support column 4 and a second support column 5. The first support column 4 is bolted to the top outer wall of the first housing 20, and the second support column 5 is bolted to the top outer wall of the second housing 30.

[0041] In some implementations, such as Figure 2 and Figure 4 As shown, an annular oil distribution pipe 405 is provided inside the housing 401. The annular oil distribution pipe 405 is connected to several oil spraying components 402, and the openings of the oil spraying components 402 face the wire rope 100. The annular oil distribution pipe 405 is connected to the oil storage device, and oil is delivered into the annular oil distribution pipe 405. Then, each oil spraying component 402 sprays oil evenly onto the wire rope 100. Specifically, the oil spraying components 402 can be oil nozzles.

[0042] like Figure 4 As shown, the oil storage device includes an oil storage tank 6, an oil supply drive assembly 601, and an oil delivery pipe 602. The oil supply drive assembly 601 is connected to both the oil storage tank 6 and the oil delivery pipe 602, and is used to deliver oil from the oil storage tank 6 into the oil delivery pipe 602. The oil delivery pipe 602 is connected to the annular oil distribution pipe 405. An oil inlet can be provided at the top of the second tank 30 for adding oil to the oil storage tank 6. The oil can be mineral oil-based cylinder oil, as is well known to those skilled in the art. To ensure the oil temperature, an insulation layer can be wrapped around the outer surface of the oil storage tank 6. The oil supply drive assembly 601 can include a geared motor and a screw pump commonly used in the art. During use, the geared motor is started to drive the screw pump, which delivers the oil from the oil storage tank 6 to the oil delivery pipe 602, and then into the annular oil distribution pipe 405, where it is evenly distributed into the injection assembly 402. The top of the second housing 30 is also provided with a connection hole, one end of the oil delivery pipe 602 extends out of the connection hole and is connected to the annular oil distribution pipe 405.

[0043] The oiling device 40 in the utility model can also be remotely controlled through software and hardware and electromechanical control technology. In addition, the oil storage device also necessarily includes necessary pipelines, conventional valves and general pump equipment for realizing complete process, but the above content is not the main improvement point of the utility model, and the person skilled in the art can add layout by himself based on process flow and equipment structure selection, and the utility model does not specially require and specifically limit this.

[0044] Further, the oil level detection assembly 603 is arranged in the oil storage tank 6 and is used for monitoring oil level information in the oil storage tank 6, so that oil quality can be supplemented in time when oil is lacking or insufficient.

[0045] In some embodiments, as shown in Figure 2 The gear driving assembly is arranged on the arc-shaped moving block 403, and the arc-shaped moving block 403 is moved circumferentially along the surface of the shell 401 through the gear driving assembly, and the oil equalizing assembly 404 is driven to move circumferentially along the outer surface of the steel wire rope 100, so that oil equalizing operation is performed. The oil equalizing assembly 404 can adopt an oil equalizing brush. Specifically, the gear driving assembly comprises a support 701, a moving gear 702 and a driving motor 703. The support 701 is fixed to one end of the arc-shaped moving block 403. The moving gear 702 is rotatably connected to the support 701. The driving motor 703 is fixed to one end of the support 701 and is drivingly connected to the moving gear 702. The surface of the shell 401 is provided with a rack groove 7. The moving gear 702 and the rack groove 7 are in meshing connection. During use, the driving motor 703 drives the moving gear 702 to rotate. The moving gear 702 and the rack groove 7 are in meshing connection, so that the arc-shaped moving block 403 is moved circumferentially along the surface of the shell 401. The driving motor 703 in the utility model can also be remotely controlled through software and hardware and electromechanical control technology, so that the arc-shaped moving block 403 is automatically walked.

[0046] In some embodiments, as shown in Figure 3As shown, the walking mechanism comprises a walking driving assembly 8, two positioning wheels 801 and at least two stabilizing assemblies. The walking driving assembly 8 is fixed in the first box 20, the positioning wheels 801 are partially located in the first box 20, one end of the positioning wheels 801 extending out of the first box 20 is attached to the outer surface of the steel wire rope 100, the walking driving assembly 8 is drivingly connected to the positioning wheels 801 for driving the positioning wheels 801 to rotate. The stabilizing assembly comprises a connecting plate 802 and a stabilizing wheel 803, one end of the connecting plate 802 is connected to the first box 20, the other end extends to one side of the second box 30 and is rotatably connected to the stabilizing wheel 803, and the stabilizing wheel 803 is also attached to the outer surface of the steel wire rope 100. The structure of the walking driving assembly 8 is not specifically limited, and any driving assembly capable of driving the positioning wheels 801 to move along the surface of the steel wire rope 100 can be applied in the utility model. The walking driving assembly 8 can comprise a motor and a main shaft, the main shaft is rotatably arranged in the first box 20 and connected to the two positioning wheels 801, and the motor is drivingly connected to the main shaft to drive the main shaft to rotate and in turn drive the two positioning wheels 801 to synchronously rotate.

[0047] In some embodiments, as shown in Figure 1 As shown, the first box 20 and the second box 30 are respectively provided with a first adjusting frame 201 and a second adjusting frame 301 on the side outer wall close to each other; the first camera 2 is rotatably connected to the first adjusting frame 201; and the second camera 3 is rotatably connected to the second adjusting frame 301, so that the shooting angle of the first camera 2 and the second camera 3 can be adjusted to adapt to different working environments and detection requirements.

[0048] In some embodiments, the detection device further comprises a vibration acceleration sensor 9 fixed to the inner cavity wall of the first box 20 for detecting the vibration state of the running steel wire rope 100 and timely capturing fault information.

[0049] In some embodiments, the detection device further comprises an inclination sensor 10 fixed to the outer wall of the first box 20 for monitoring the degree of deflection of the robot during movement, which is beneficial to improve the climbing stability of the robot.

[0050] The applicant declares that the above description is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, and the skilled person in the art should understand that any change or replacement within the technical range disclosed by the utility model can be easily thought of by any person skilled in the art in the technical field, which falls within the protection scope and disclosure range of the utility model.

Claims

1. A steel wire rope inspection robot, characterized by, Including first box, second box, detection device and oiling device, first box and second box are opposite, first box is detachable connection second box through fastening assembly, first box is provided with walking mechanism, walking mechanism is used for driving first box moves along the surface of steel wire rope, second box is provided with oil storage device, oil storage device connects oiling device; The detection device includes a first camera and a second camera respectively arranged on the first box and the second box; the oiling device is arranged at the rear end of the first box along the moving direction of the first box, the oiling device includes a shell with an annular structure, the shell is sleeved on the outer circumference of the steel wire rope, the shell is connected with the first box and the second box respectively, the inner ring surface of the shell is provided with a plurality of oil injection assemblies along the circumference, an arc-shaped moving block is sleeved on the shell, the arc-shaped moving block is slidably connected with the shell, and an oil equalizing assembly is arranged on the arc-shaped moving block.

2. The steel wire rope inspection robot of claim 1, wherein, The inside of the shell is provided with an annular oil distribution pipe, the annular oil distribution pipe is communicated with a plurality of oil injection assemblies respectively, and the annular oil distribution pipe is connected with the oil storage device.

3. The steel wire rope inspection robot of claim 2, wherein, The oil storage device includes an oil storage tank, an oil supply driving assembly and an oil delivery pipe, the oil supply driving assembly is connected with the oil storage tank and the oil delivery pipe respectively, which is used for sending the oil in the oil storage tank into the oil delivery pipe, and the oil delivery pipe is connected with the annular oil distribution pipe.

4. The steel wire rope inspection robot of claim 3, wherein, The oil level detection assembly is arranged in the oil storage tank.

5. The steel wire rope inspection robot of claim 1, wherein, The arc-shaped moving block is provided with a gear drive assembly, the gear drive assembly includes a bracket, a moving gear and a driving motor, the bracket is fixed to one end of the arc-shaped moving block, the moving gear is rotatably connected to the bracket, the driving motor is fixed to the bracket and is drivingly connected to the moving gear, and the driving motor is used for driving the moving gear to rotate; The surface of the shell is provided with a rack groove, and the moving gear and the rack groove are engaged with each other.

6. The steel wire rope inspection robot of claim 1, wherein, The bottom of the shell is provided with a first support and a second support, the first support is bolted to the top outer wall of the first box, and the second support is bolted to the top outer wall of the second box.

7. The steel wire rope inspection robot of claim 1, wherein, The walking mechanism includes a walking driving assembly, two positioning wheels and at least two stabilizing assemblies; The walking driving assembly is fixed in the first box, the positioning wheels are partially located in the first box, one end of the positioning wheels extending out of the first box abuts the outer surface of the steel wire rope, and the walking driving assembly is drivingly connected with the positioning wheels for driving the positioning wheels to rotate; The stabilizing assembly includes a connecting plate and a stabilizing wheel, one end of the connecting plate is connected with the first box, the other end extends to one side of the second box and is rotatably connected with the stabilizing wheel, and the stabilizing wheel also abuts the outer surface of the steel wire rope.

8. The steel wire rope inspection robot of claim 1, wherein, First adjusting frame and second adjusting frame are respectively arranged on the outer walls of the first box and the second box which are close to each other; The first camera is rotatably connected with the first adjusting frame; The second camera is rotatably connected with the second adjusting frame.

9. The steel wire rope inspection robot of claim 8, wherein, The detection device further comprises a vibration acceleration sensor and an inclination sensor, the vibration acceleration sensor is fixed on the inner cavity wall of the first box body, and the inclination sensor is fixed on the outer wall of the first box body.

10. The steel wire rope inspection robot of claim 1, wherein, The fastening assembly comprises at least two connecting pieces, the connecting pieces comprise a first fixed block, a second fixed block, a locking part and a push rod; the first fixed block is arranged on the outer wall of the first box body, the second fixed block is arranged on the outer wall of the second box body, the locking part is arranged on the first fixed block, one end of the push rod is rotationally connected with the second fixed block, and the other end of the push rod is movably connected with the locking part.

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