Steel wire rope clamping mechanism for flaw detection robot

Abstract

The utility model relates to the technical field of steel wire rope detection, and provides a steel wire rope clamping mechanism for a flaw detection robot, which comprises a rack, wheel carriers, clamping wheels and a plurality of elastic pieces, the wheel carriers are respectively arranged at two ends of the rack in a sliding manner, and each end of the rack is provided with a plurality of wheel carriers; the clamping wheel comprises a rotating frame and a rolling wheel, and the middle position of the rotating frame is rotationally arranged on the wheel frame; the rollers are rotationally arranged at the two ends of the rotating frame respectively; the elastic piece is arranged on the rack and elastically abuts against the side, away from the steel wire rope, of the wheel carrier. By arranging the elastic piece, the wheel frame can move in the direction away from the steel wire rope so that the clamping wheel can avoid a protruding obstacle on the surface of the steel wire rope, by arranging the rotating frame and arranging the idler wheels at the two ends of the rotating frame, when one idler wheel on the wheel frame avoids the protruding obstacle, the other idler wheel can still abut against the steel wire rope, and therefore the steel wire rope can be clamped conveniently. Therefore, the normal operation of the flaw detection robot is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to steel wire rope detection technical field especially relates to a steel wire rope clamping mechanism for flaw detection robot. BACKGROUND

[0002] In industrial production and special equipment maintenance, as a key bearing and transmission component, the safety performance of steel wire rope is directly related to the stable operation of the whole system and personnel safety. However, with the increase of use time and the complexity of working environment, the steel wire rope will inevitably have various damages, and broken wire as one of the most common damage forms poses a serious threat to the carrying capacity and service life of the steel wire rope. Therefore, developing efficient and accurate steel wire rope broken wire damage detection technology and equipment is of great significance to ensure production safety and prevent accidents.

[0003] The application with publication number CN113463511A discloses a cable climbing robot, which comprises a rack, a holding assembly and a plurality of driving pre-tightening assemblies. The holding assembly is arranged on the rack and is used for holding the cable. All the driving pre-tightening assemblies are arranged around the rack and are respectively arranged at the upper and lower ends of the rack. Each driving pre-tightening assembly comprises a base arranged on the rack, a support frame rotatably arranged at one end of the base and provided with a roller at the other end, and an adjusting rod connected to the base and the support frame at two ends. The angle of the support frame relative to the base is adjusted by adjusting the length of the adjusting rod. The roller is provided with a driving motor. The angle of the support frame relative to the base is adjusted to make the roller adhere to the cable and walk on the cable. The cable climbing robot can not only cross the spiral line on the surface of the cable, but also can run at high speed on the cable.

[0004] In the above technical solution, in order to let the flaw detection robot climb on the steel wire rope, a roller is arranged on the rack to clamp the side wall of the steel wire rope. However, when the side wall of the steel wire rope has a bulge defect, the movement of the roller will be blocked by the bulge obstacle. At this time, if the roller is moved away from the bulge obstacle, the resisting effect of the flaw detection robot on the steel wire rope will be weakened, so that the flaw detection robot cannot climb stably, affecting the normal operation of the flaw detection robot. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model provides a steel wire rope clamping mechanism for flaw detection robot, which can stably cross the bulge obstacle on the surface of the steel wire rope and ensure the normal operation of the flaw detection robot.

[0006] The technical scheme of the utility model is as follows: the utility model provides a steel wire rope clamping mechanism for flaw detection robot, which comprises a rack, a wheel frame, a clamping wheel and a plurality of elastic members, wherein,

[0007] The wheel frames are respectively slidably arranged at two ends of the frame, and a plurality of the wheel frames are arranged at each end of the frame;

[0008] The clamping wheels comprise a rotating frame and a roller, the rotating frame is rotatably arranged at the middle of the wheel frame, and the roller is rotatably arranged at two ends of the rotating frame;

[0009] The elastic members are arranged on the frame and elastically abut against the side of the wheel frame away from the steel wire rope, and the plurality of wheel frames, the plurality of rotating frames and the plurality of elastic members correspond one by one.

[0010] On the basis of the above technical scheme, preferably, the wheel frame comprises a seat plate, a swing arm and a telescopic cylinder, wherein,

[0011] The seat plate is slidably arranged on the frame and abuts against the elastic member;

[0012] One end of the swing arm is rotatably arranged on the seat plate, and the other end is rotatably arranged on the rotating frame;

[0013] The telescopic cylinder is rotatably arranged on the seat plate, and the output end is rotatably connected with the swing arm.

[0014] Further preferably, the rotating frame and the output end of the telescopic cylinder are arranged between the two swing arms.

[0015] Further preferably, the swing arm comprises a first plate body, a second plate body and a third plate body, wherein,

[0016] The first plate body is rotatably arranged on the seat plate;

[0017] The second plate body is rotatably arranged on the rotating frame and arranged in parallel with the first plate body, the distance between the two second plate bodies connected with the same rotating frame is greater than the distance between the two first plate bodies corresponding thereto;

[0018] The third plate body is fixedly arranged between the first plate body and the second plate body.

[0019] On the basis of the above technical scheme, preferably, the frame comprises a machine body, a first limiting plate and a sliding shaft, wherein,

[0020] The first limiting plate is fixedly arranged on the machine body, and the elastic member is abutted and arranged between the first limiting plate and the wheel frame;

[0021] The sliding shaft is fixedly arranged on the first limiting plate, the wheel frame is slidably arranged on the sliding shaft, and the sliding shaft and the first limiting plate are provided with a plurality of sliding shafts and a plurality of wheel frames, and correspond one by one to the plurality of wheel frames.

[0022] Further preferably, the frame further comprises a plurality of second limiting plates, the second limiting plates are fixedly arranged on the machine body and capable of abutting against the side of the wheel carrier away from the elastic member, and the plurality of second limiting plates correspond to the plurality of wheel carriers one by one.

[0023] Further preferably, the elastic member is a compression spring, and the elastic member is sleeved on the sliding shaft.

[0024] On the basis of the above technical scheme, preferably, each end of the frame is provided with at least three wheel carriers, and the plurality of wheel carriers located at the same end of the frame are arranged in a circular array around the axis of the steel wire rope.

[0025] Further preferably, the number of the wheel carriers located at the two ends of the frame is the same, and the positions of the wheel carriers correspond to each other one by one.

[0026] Further preferably, the machine body comprises two parts and a connecting buckle, wherein,

[0027] The wheel carrier and the elastic member are arranged on the part;

[0028] The connecting buckle is fixedly arranged on the part, and the two parts are detachably fixedly connected through the connecting buckle.

[0029] The steel wire rope clamping mechanism of the flaw detection robot has the following advantages

[0030] Beneficial effects:

[0031] (1) By arranging the elastic member, the wheel carrier can move away from the steel wire rope, so as to avoid the protruding obstacle on the surface of the steel wire rope, by arranging the rotating carrier and arranging the rollers at the two ends of the rotating carrier, when one roller on the wheel carrier avoids the protruding obstacle, the other roller can still abut against the steel wire rope, so that the clamping wheel and the steel wire rope can maintain good abutting effect, thereby ensuring the normal operation of the flaw detection robot;

[0032] (2) By arranging the first plate body, the second plate body and the third plate body, and arranging the interval between the adjacent two first plate bodies to be smaller than the interval between the two corresponding second plate bodies, the occupied space of the swing arm can be reduced, and interference and collision between the swing arm and other components during movement can be avoided;

[0033] (3) By arranging a plurality of clamping wheels at each end of the frame, and arranging the number and position of the clamping wheels at the two ends of the frame to correspond to each other one by one, the climbing stability of the flaw detection robot on the steel wire rope can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the premise of the drawings.

[0035] Figure 1 It is a front view of the steel wire rope clamping mechanism for the flaw detection robot when climbing on the steel wire rope.

[0036] Figure 2 It is a front view of the wheel support of the steel wire rope clamping mechanism for the flaw detection robot.

[0037] Figure 3 It is a front view of the elastic member of the steel wire rope clamping mechanism for the flaw detection robot.

[0038] Figure 4 It is a perspective view of the wheel support and the clamping wheel of the steel wire rope clamping mechanism for the flaw detection robot.

[0039] Figure 5 It is a perspective view of the steel wire rope clamping mechanism for the flaw detection robot.

[0040] Wherein: 1, rack; 11, machine body; 111, split body; 112, connecting buckle; 12, first limiting plate; 13, sliding shaft; 14, second limiting plate; 2, wheel support; 21, seat plate; 22, swing arm; 221, first plate body; 222, second plate body; 223, third plate body; 23, telescopic cylinder; 3, clamping wheel; 31, rotating support; 32, roller; 4, elastic member. DETAILED DESCRIPTION

[0041] The technical solutions in the present application will be described clearly and completely in combination with the specific embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] As shown in the drawings, Figures 1-5 The steel wire rope clamping mechanism for the flaw detection robot of the present application comprises a rack 1, a wheel support 2, a plurality of clamping wheels 3 and a plurality of elastic members 4, which is used to carry the magnetic flux leakage detection module to climb on the steel wire rope to detect the flaw of the steel wire rope.

[0043] The frame 1 is mounted on the wire rope. Multiple wheel frames 2 are slidably mounted at both ends of the frame 1. Clamping wheels 3 are rotatably mounted on the wheel frames 2, and the multiple clamping wheels 3 correspond one-to-one with the multiple wheel frames 2. By using the multiple clamping wheels 3 to hold the wire rope, the frame 1 can be attached to the wire rope. Then, by using the drive motor to drive the clamping wheels 3, the flaw detection robot can climb and move on the wire rope, so that the magnetic flux leakage detection module on the flaw detection robot can perform defect detection on the wire rope.

[0044] Raised defects are one of the common defects in wire ropes. When the height of the raised obstacle is large, it will hinder the movement of the clamping wheel 3. To address this, the elastic element 4 is placed on the frame 1, and the elastic element 4 and the wheel frame 2 are elastically supported on the side away from the wire rope. When the clamping wheel 3 moves to the position of the raised obstacle, the contraction of the elastic element 4 can cause the wheel frame 2 and the clamping wheel 3 to move away from the wire rope, so that the clamping wheel 3 can avoid the raised obstacle and ensure the normal climbing and movement of the flaw detection robot on the wire rope.

[0045] During the aforementioned movement, the clamping wheel 3 at the raised obstacle location moves away from the wire rope, causing the clamping effect of the flaw detection robot on the wire rope to be unstable, which can easily lead to the flaw detection robot tilting. Therefore, the clamping wheel 3 is configured to include a rotating frame 31 and rollers 32. The middle position of the rotating frame 31 is rotatably mounted on the wheel frame 2. Multiple rotating frames 31, multiple wheel frames 2, and multiple elastic elements 4 correspond one-to-one. Rollers 32 are rotatably mounted at both ends of the rotating frame 31. Figure 2 As shown, when the lower roller 32 moves to the position of the raised obstacle, the contraction of the elastic element 4 causes the wheel frame 2 to move to the left by a certain distance. At the same time, the rotating frame 31 also rotates, allowing the lower roller 32 to flip over onto the raised obstacle, while the upper roller 32 remains against the side wall of the wire rope. This not only realizes the obstacle avoidance function of this flaw detection robot, but also ensures the stability of this flaw detection robot on the wire rope. After the roller 32 flips over the raised obstacle, the elastic force of the elastic element 4 can also allow the lower roller 32 to move back to its original position, so that the robot can climb normally.

[0046] Wheel frame 2 includes a seat plate 21, a swing arm 22, and a telescopic cylinder 23. The seat plate 21 is slidably mounted on the frame 1 and abuts against the elastic element 4. One end of the swing arm 22 is rotatably mounted on the seat plate 21, and the other end is rotatably mounted on the rotating frame 31. The telescopic cylinder 23 is rotatably mounted on the seat plate 21, and the output end of the telescopic cylinder 23 is rotatably connected to the swing arm 22. Figure 2 As shown, when the output end of the telescopic cylinder 23 extends or retracts, it can drive the swing arm 22 to rotate, thereby driving the clamping wheel 3 to move closer to or away from the wire rope, so as to adjust the initial pressure between the roller 32 and the wire rope.

[0047] like Figure 4As shown, the swing arm 22 comprises a first plate body 221, a second plate body 222 and a third plate body 223, the first plate body 221 is rotationally arranged on the seat plate 21, the second plate body 222 is rotationally arranged on the rotating frame 31, and the third plate body 223 is fixedly arranged between the first plate body 221 and the second plate body 222, the second plate body 222 is arranged in parallel with the first plate body 221, and the interval between the two second plate bodies 222 connected with the same rotating frame 31 is greater than the interval between the two first plate bodies 221 corresponding thereto, thereby reducing the occupied space of the end of the swing arm 22 close to the seat plate 21, and avoiding interference and collision between the swing arm 22 and other components during movement.

[0048] As shown in the drawings, Figure 4 The cross section of the rotating frame 31 is H-shaped, and the output end of the telescopic cylinder 23 is arranged between the two swing arms 22, so that the connection between the rotating frame 31 and the telescopic cylinder 23 and the swing arm 22 is more stable, and the structural strength of the related components is improved.

[0049] The rack 1 comprises a machine body 11, a first limiting plate 12, a sliding shaft 13 and a second limiting plate 14, the first limiting plate 12 is fixedly arranged on the machine body 11, the elastic member 4 is abuttingly arranged between the first limiting plate 12 and the wheel frame 2, the sliding shaft 13 is fixedly arranged on the first limiting plate 12, the wheel frame 2 is slidingly arranged on the sliding shaft 13, and the second limiting plate 14 is fixedly arranged on the machine body 11. In the natural state, the second limiting plate 14 abuts against the side of the wheel frame 2 away from the elastic member 4, as shown in the drawings, Figure 3 In the natural state, the elastic member 4 abuts against the seat plate 21 to move to the right, so that the seat plate 21 abuts against the second limiting plate 14, and the clamping wheel 3 is close to or abuts against the side wall of the steel wire rope. When the clamping wheel 3 contacts the protruding obstacle on the surface of the steel wire rope, the contraction of the elastic member 4 will make the seat plate 21 move to the left, so that the clamping wheel 3 can climb over the protruding obstacle on the surface of the steel wire rope.

[0050] Since the wheel frame 2 is provided with a plurality of sliding shafts 13, second limiting plates 14 and first limiting plates 12, and the plurality of second limiting plates 14 and the plurality of first limiting plates 12 are one-to-one corresponding to the plurality of wheel frames 2; in order to improve the sliding stability of the seat plate 21 and the sliding shaft 13, a sliding shaft 13 with a non-circular cross section can be used, and the plurality of sliding shafts 13 are also one-to-one corresponding to the plurality of wheel frames 2, or two sliding shafts 13 arranged side by side can be arranged on each first limiting plate 12, and the cross section of the sliding shaft 13 can be circular at this time.

[0051] The elastic member 4 is preferably a compression spring, and in order to improve the fixing firmness of the elastic member 4, the elastic member 4 is preferably sleeved on the sliding shaft 13.

[0052] As shown in the drawings, Figure 5As shown, the body 11 comprises two parts 111 and a connecting buckle 112, the wheel frame 2 and the elastic member 4 are arranged on the part 111, the connecting buckle 112 is fixedly arranged on the part 111, and the two parts 111 are detachably fixedly connected through the connecting buckle 112, so that the body 11 can be conveniently sleeved on the steel wire rope, wherein the connecting buckle 112 preferably uses a primary and secondary connecting lock buckle, so as to improve the disassembly convenience of the two parts 111.

[0053] At least three wheel frames 2 are arranged at each end of the rack 1, and the plurality of wheel frames 2 at the same end of the rack 1 are arranged in a circumferential array around the axis of the steel wire rope, so that the rack 1 can be firmly fixed on the steel wire rope.

[0054] In order to guarantee the balance of the flaw detection robot, preferably, the number of the wheel frames 2 at both ends of the rack 1 is the same, and the positions of the wheel frames 2 at both ends of the rack 1 are one-to-one corresponding.

[0055] In order to make the structures on the two parts 111 the same and improve the processing convenience of the flaw detection robot, preferably, four wheel frames 2 are arranged at each end of the rack 1, so that two wheel frames 2 are arranged at each end of each part 111.

[0056] The use method of the steel wire rope clamping mechanism of the flaw detection robot is as follows:

[0057] First, the two parts 111 are sleeved on the steel wire rope to be measured by disassembling the connecting buckle 112, then the pressing force of the roller 32 on the side wall of the steel wire rope is adjusted by controlling the telescopic cylinder 23, and finally the roller 32 is driven to rotate by the motor, so that the flaw detection robot moves on the steel wire rope, and the magnetic flux leakage detection module in the flaw detection robot detects the flaw of the steel wire rope; during the period, the contraction of the elastic member 4 and the rotation of the rotating frame 31 can make the roller 32 easily climb over the raised obstacle, so as to guarantee the normal operation of the flaw detection robot.

[0058] The above only describes the preferred embodiments of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A wire rope clamping mechanism for a flaw detection robot, characterized by: The utility model relates to a steel wire rope tensioning device, including frame (1), wheel frame (2), clamping wheel (3) and a plurality of elastic parts (4), wherein, The wheel frame (2) is slidably arranged at both ends of the frame (1) respectively, and a plurality of the wheel frames (2) are arranged at each end of the frame (1); The clamping wheel (3) comprises a rotating frame (31) and a roller (32), the rotating frame (31) is rotatably arranged at the middle position of the wheel frame (2); the roller (32) is rotatably arranged at both ends of the rotating frame (31) respectively; The elastic part (4) is arranged on the frame (1) and elastically abuts against the side of the wheel frame (2) away from the steel wire rope, and the plurality of wheel frames (2), the plurality of rotating frames (31) and the plurality of elastic parts (4) correspond one by one.

2. The wire rope clamping mechanism for a flaw detection robot according to claim 1, characterized in that: The wheel frame (2) comprises a seat plate (21), a swing arm (22) and a telescopic cylinder (23), wherein, The seat plate (21) is slidably arranged on the frame (1) and abuts against the elastic part (4); One end of the swing arm (22) is rotatably arranged on the seat plate (21), and the other end is rotatably arranged on the rotating frame (31); The telescopic cylinder (23) is rotatably arranged on the seat plate (21), and the output end is rotatably connected with the swing arm (22).

3. The wire rope clamping mechanism for a flaw detection robot according to claim 2, characterized in that: The output ends of the rotating frame (31) and the telescopic cylinder (23) are arranged between the two swing arms (22).

4. The wire rope clamping mechanism for a flaw detection robot according to claim 3, characterized in that: The swing arm (22) comprises a first plate body (221), a second plate body (222) and a third plate body (223), wherein, The first plate body (221) is rotatably arranged on the seat plate (21); The second plate body (222) is rotatably arranged on the rotating frame (31) and arranged in parallel with the first plate body (221), the distance between the two second plate bodies (222) connected with the same rotating frame (31) is greater than the distance between the two first plate bodies (221) corresponding thereto; The third plate body (223) is fixedly arranged between the first plate body (221) and the second plate body (222).

5. The wire rope clamping mechanism for a flaw detection robot according to claim 1, wherein: The frame (1) comprises a machine body (11), a first limiting plate (12) and a sliding shaft (13), wherein, The first limiting plate (12) is fixedly arranged on the machine body (11), and the elastic part (4) is abuttingly arranged between the first limiting plate (12) and the wheel frame (2); The sliding shaft (13) is fixedly arranged on the first limiting plate (12), and the wheel frame (2) is slidably arranged on the sliding shaft (13), and the sliding shaft (13) and the first limiting plate (12) are provided with a plurality of and correspond one by one with a plurality of the wheel frames (2).

6. A wire rope clamping mechanism for a flaw detection robot according to claim 5, characterized in that: The frame (1) further comprises a plurality of second limiting plates (14), the second limiting plates (14) are fixedly arranged on the machine body (11) and can abut against the side of the wheel frame (2) away from the elastic part (4), and a plurality of the second limiting plates (14) correspond one by one with a plurality of the wheel frames (2).

7. The wire rope clamping mechanism for a flaw detection robot according to claim 5, wherein: The elastic part (4) is a compression spring, and the elastic part (4) is sleeved on the sliding shaft (13).

8. The wire rope clamping mechanism for a flaw detection robot according to claim 1, wherein: At least three wheel frames (2) are arranged at each end of the rack (1), and the wheel frames (2) at the same end of the rack (1) are arranged in a circumferential array around the axis of the steel wire rope.

9. A wire rope clamping mechanism for a flaw detection robot according to claim 8, characterized in that: The number of the wheel frames (2) at the two ends of the rack (1) is the same, and the positions of the wheel frames (2) at the two ends of the rack (1) correspond to each other.

10. The wire rope clamping mechanism for a flaw detection robot according to claim 5, wherein: The machine body (11) comprises two parts (111) and a connecting buckle (112), wherein, The wheel frame (2) and the elastic member (4) are arranged on the part (111). The connecting buckle (112) is fixedly arranged on the part (111), and the two parts (111) are detachably fixedly connected through the connecting buckle (112).

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