Research On The Key Technology Of Automatic Cleaning And Maintenance Robot For Gate Steel Wire Rope

More than half of the large and medium-sized sluices used in China’s water conservancy engineering industry use winch hoist.The steel wire rope is one of the most important connecting parts in the winch hoist and plays a crucial role.At present,the regular maintenance requirements of sluice wire rope in China are usually twice a year.Now,the sluyway steel wire rope cleaning is still using the traditional manual cleaning method,which is suspended by hemp rope operators to clean the process of greater personal safety problems.In order to solve this problem,a kind of automatic climbing robot for gate wire rope was designed and equipped with a cleaning and maintenance device for gate wire rope.The main work contents and achievements of this paper are as follows:1)The software Solid Works is used to build a three-dimensional model for the automatic climbing robot of the gate wire rope,and the software ADAMS is used to analyze the kinematics of the automatic climbing robot.The established Solid Works 3D model of the automatic climbing robot was imported into ADAMS software,and certain connections,constraints and driving forces were imposed on the corresponding model.After the parameter setting was completed,the analysis was carried out.From the analysis of the animation diagram and the result diagram,it can be concluded that the designed automatic climbing robot can move according to the set movement steps,and it also verifies the rationality of the design of the robot structure.2)The control system of automatic climbing robot is designed.The PLC control principle is used to control the movement of the automatic climbing robot,and the corresponding control flow chart is drawn through the structure design of the automatic climbing robot and the movement process of the automatic climbing robot.According to the corresponding control flow chart,the automatic climbing robot’s automatic climbing control program and the movement program under manual control are written.3)The advantages and disadvantages of various cleaning methods at present are compared,and a new cleaning method with small pollution,certain cleaning function and no damage to components is selected--laser cleaning.The mechanism of laser cleaning is studied and it is found that laser ablation and thermoelastic vibration are two main mechanisms of laser cleaning.The structure design of the cleaning and maintenance device which can adapt to the ontology climbing robot is carried out,and the kinematics effect of the cleaning and maintenance device on the ontology climbing robot is analyzed.It can be found from the result figure that the ball screw structure in the cleaning and maintenance device can increase the number of times that the cleaning and maintenance device appears on the surface of the gate wire rope,and also increase the probability that the cleaning and maintenance device cleans the surface of the wire rope comprehensively.4)A kind of automatic sluice wire rope climbing robot is developed.The robot is equipped with the sluice wire rope cleaning and maintenance device.The stability of the robot movement and the rationality of the design are verified by experiments.The automatic climbing robot has the advantages of simple design,convenient operation,reliable operation and adaptability to various types of steel wire rope.The successful development of the automatic climbing robot provides a carrier for the online cleaning device,online detection device and online lubrication device of sluice wire rope,which makes a contribution to the "machine replacement" of water conservancy industry in China and has good application and promotion value.