VERTICAL ROPE CLIMBING INSPECTION ROBOT FOR ULTRA-DEEP VERTICAL SHAFT STEEL-ROPE GUIDE

摘要

Disclosed is a vertical rope climbing inspection robot for an ultra-deep vertical shaft steel-rope guide. The vertical rope climbing inspection robot comprises an explosion-proof shell, a driving mechanism, a wheel mechanism, a clamping mechanism, a carrying mechanism and an electric control device. The explosion-proof shell comprises an upper driving shell (2), a lower driving shell (5), a driver shell (9), an electric control device shell (8) and a carrying mechanism shell (11). The driving mechanism comprises an upper driving part, a lower driving part and an electric motor driver (21). The wheel mechanism comprises an upper driving wheel part, an upper left side driven wheel part, an upper right side driven wheel part, a lower driving wheel part, a lower left side driven wheel part and a lower right side driven wheel part. The clamping mechanism (16) comprises a left side clamping part and a right side clamping part. The carrying mechanism comprises a movable trolley (11), an intrinsic safety camera (52) and a cradle head (12). The rope climbing inspection robot can meet the explosion-proof requirements of a coal mine, can climb on the ultra-deep vertical shaft steel-rope guide and can monitor the strain of the shaft wall and the structural situation of the derrick in real-time.