Design and Implementation of a Wire Rope Climbing Robot for Sluices

Fang, Guisheng; Cheng, Jinfeng

doi:10.3390/machines10111000

Cited by 5 publications

(6 citation statements)

References 34 publications

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“…Then, the inspection robot is designed to move along the axial and circumferential directions, close to the shaft wall, and the specific structures of the inspection module, moving module and lifting module of the inspection robot are determined according to the overall scheme. Compared to other inspection robots in [6][7][8][9]11,12], the inspection robot designed in this paper has good controllability and stable movement and speed performance. Aiming at the difficulty of long-distance communication in the vertical direction of the shaft, the communication module adopts the communication mode of combining wired communication with wireless communication, which can realize long-distance stable communication in the vertical direction of air shafts.…”

Section: Discussionmentioning

confidence: 99%

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Inspection Robot and Wall Surface Detection Method for Coal Mine Wind Shaft

Tang

Gao

et al. 2023

Applied Sciences

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The coal mine wind shaft is an important ventilation channel in coal mines, and it is of great significance to ensure its long-term safety. At present, the inspection of wind shafts still depends on manual work, which has low reliability and high risk. There are two main problems in the shaft wall detection of ventilation shafts: (1) The humidity and dust concentration in ventilation shafts are high, which makes imaging difficult; (2) the cracks on the shaft wall are long and irregular, so it is impossible to acquire the information of the whole crack from a single photo. Firstly, the mapping analysis between the concentration of water vapor and dust in the wind shaft and the image definition is determined by experiments. Then, the inspection robot is designed to move along the axial and circumferential directions to get close to the shaft wall, and the rack-and-rail drive design is adopted to ensure the real-time position feedback of the robot. Then, through the crack parameter detection method based on depth learning, the movement direction of the robot is controlled according to the crack direction so as to ensure that the complete crack parameters are obtained. Finally, the crack detection algorithm is verified by experiments.

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Section: Discussionmentioning

confidence: 99%

“…For hard wire rope, the climbing performance of the robot will be greatly reduced. Fang, G. [9] developed a pneumatic wire-rope-climbing robot WRR-I, which was used to maintain the sluice wire rope. The robot adopts split structure, which consists of an upper device and lower device.…”

Section: Introductionmentioning

confidence: 99%

Inspection Robot and Wall Surface Detection Method for Coal Mine Wind Shaft

Tang

Gao

et al. 2023

Applied Sciences

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“…The wheels are pressed onto the rope by springs and can adapt to ropes of different diameters. Fang et al [ 43 ] designed a six-wheeled wire rope-climbing robot called WRR-II for the maintenance of sluice wire ropes ( Figure 2 b). The developed climbing robot is composed of separable driving and driven trolleys.…”

Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

“… Rope-climbing robots. ( a ) Robot [Reproduced from [ 41 ] with permission from Guanglin Sun]; ( b ) WRR-II [Reproduced from [ 43 ] with permission from Guisheng Fang]. …”

Section: Figurementioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

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“…The research object of this paper is an overhead cableway wire rope maintenance device, which has certain differences from the maintenance of port wire ropes [1] but is similar to the structure required for climbing robots. This work primarily investigates ropeclimbing robots such as the six-wheeled vertical cable-moving robot [2,3], dual-wheeled vertical rope-climbing robot [4], expandable-wheel horizontal cable obstacle-surmounting robot [5], four-wheeled horizontal cable-moving robot [6], spring-clamping-wheel inclined cable inspection robot [7,8], and pole-climbing robots with designs based on vertical poles Actuators 2023, 12, 392 2 of 16 with significant diameter variations and surface obstacles [9], as well as track-type, poleclimbing robots [10]. Their respective advantages and disadvantages are summarized.…”

Section: Introductionmentioning

confidence: 99%

Motion Analysis of Wire Rope Maintenance Device

Wang,

Yang,

Chen

et al. 2023

Actuators

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This work outlines a design for a wire rope maintenance device that is based on commonly used, low-dropping point lubricating grease for wire rope lubrication and operates along the strand’s twist direction. Unlike similar existing devices, this device scrapes abrasives from the wire rope’s surface along the strand’s twist direction and applies lubricating grease in the same direction. It addresses issues related to the accumulation of old lubricating grease between strands, as well as the problems of a heavy weight, high traction force requirements, complex operation, unstable motion, potential surface damage to the wire rope, and the strong pollution found in existing products. The wheel system of this device was kinematically modeled and subjected to force analysis, and its accuracy was verified through simulations and experiments. Test results show that when this device is used for cleaning and lubricating wire ropes, it requires less than 150 N of traction force, maintains a stable speed of 0.6 m/s, and ensures coaxiality within ±0.1 mm, thus meeting the maintenance requirements of ropeway wire ropes. In future work, the effects of different factors, such as changes in scraper shape and size, lubricating grease application speed, and temperature and pressure inside the grease storage chamber can be studied to understand their influence on the application of grease to wire ropes.

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Design and Implementation of a Wire Rope Climbing Robot for Sluices

Cited by 5 publications

References 34 publications

Inspection Robot and Wall Surface Detection Method for Coal Mine Wind Shaft

Inspection Robot and Wall Surface Detection Method for Coal Mine Wind Shaft

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Motion Analysis of Wire Rope Maintenance Device

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