Abstract: The invention relates to a serpentine inspection robot mechanism for lifting cage guide driven by magnetic wheels, comprising a magnetic wheel drive part and a pitching yawing part, wherein the magnetic wheel drive part comprises a worm and gear transmission mechanism (I) and a magnetic wheel driving mechanism (II), and the pitching yawing part comprises a pitching yawing mechanism (III). Magnetic wheels are driven by the worm and gear transmission mechanism (I) and the magnetic wheel driving mechanism (II), while the pitching and yawing control of the robot are realized by the pitching yawing mechanism (III). The serpentine robot driven by the magnetic wheels (22) resolves the problems that the efficiency of ordinary serpentine robot is low, and it is difficult for the simple-wheel-type robot to span the large gap and to reach some concealed corners, with the cage guide of the lifting machine sucked by the magnetic wheels (22).

Abstract: Disclosed are a wellbore inspection system and method for an ultra-deep vertical shaft. The wellbore inspection system includes a wire rope moving system, inspection robots, a visual image acquisition system, a wireless communication module, a central control system, and an image post-processing system of an upper computer. The wire rope moving system includes a surface wire rope guide rail, an underground wire rope guide rail, a surface wire rope moving device, an underground wire rope moving device, and a wire rope. The visual image acquisition system includes explosion-proof cameras. After image information acquired by the explosion-proof cameras is processed by a lower computer, the processed image is transmitted by a wireless image transmission module to the image post-processing system of the upper computer. The central control system is connected to the inspection robots and the wire rope moving system, and the inspection robots are connected to the central control system.

Abstract: Disclosed in the present invention are a rope climbing robot capable of surmounting an obstacle and an obstacle surmounting method thereof. The rope climbing robot includes a robot body. The robot body includes a shell, a drive module and a guide module. The shell is longitudinally cut into an even number of shell segments, and is laterally cut into a corresponding drive housing segment and a corresponding guide housing segment according to mounting positions of the drive module and the guide module in the shell. There is at least one guide module and at least one guide housing segment, and a shell opening mechanism is further mounted in the shell. The shell opening mechanism includes a first shell opening mechanism configured to open/close the guide housing segment and a second shell opening mechanism configured to open/close the drive housing segment.

Abstract: A movement-synchronized wellbore inspection system and a movement-synchronization control method thereof are disclosed. The wellbore inspection system comprises a rope-climbing robot, a wire rope, a ground wire rope moving device, a ground wire rope moving track, an underground wire rope moving device, an underground wire rope moving track, an inertial sensor and a control device. An upper end of the wire rope is connected to the ground wire rope moving device, and an lower end of the wire rope passes through the rope-climbing robot and is then connected to the underground wire rope moving device. The control device controls the underground and ground wire rope moving devices to move in synchronization, and then the inertial sensor carried on the rope-climbing robot detects posture data of the wire rope and transmits the data to the control device.

Abstract: Disclosed are a synchronous movement apparatus of tracks in a wellbore inspection system and a control method thereof. The synchronous movement apparatus includes an upper moving track, a lower moving track, an upper wire rope moving device, a lower wire rope moving device, and a control device; the upper moving track and the lower moving track are correspondingly embedded into an inner wall of a wellbore, and the upper moving track is located above the lower moving track; the upper wire rope moving device is fitted in the upper moving track, and the lower wire rope moving device is fitted in the lower moving track; the upper moving track and the lower moving track have the same structure and each include a track body. A rolling face is arranged on the track body, and grooves are evenly distributed on the rolling face along the extending direction of the track body.

Abstract: A movement-synchronized wellbore inspection system and a movement-synchronization control method thereof are disclosed. The wellbore inspection system comprises a rope-climbing robot, a wire rope, a ground wire rope moving device, a ground wire rope moving track, an underground wire rope moving device, an underground wire rope moving track, an inertial sensor and a control device. An upper end of the wire rope is connected to the ground wire rope moving device, and an lower end of the wire rope passes through the rope-climbing robot and is then connected to the underground wire rope moving device. The control device controls the underground and ground wire rope moving devices to move in synchronization, and then the inertial sensor carried on the rope-climbing robot detects posture data of the wire rope and transmits the data to the control device.

Abstract: Disclosed in the present invention are a rope climbing robot capable of surmounting an obstacle and an obstacle surmounting method thereof. The rope climbing robot includes a robot body. The robot body includes a shell, a drive module and a guide module. The shell is longitudinally cut into an even number of shell segments, and is laterally cut into a corresponding drive housing segment and a corresponding guide housing segment according to mounting positions of the drive module and the guide module in the shell. There is at least one guide module and at least one guide housing segment, and a shell opening mechanism is further mounted in the shell. The shell opening mechanism includes a first shell opening mechanism configured to open/close the guide housing segment and a second shell opening mechanism configured to open/close the drive housing segment.

Abstract: Disclosed are a synchronous movement apparatus of tracks in a wellbore inspection system and a control method thereof. The synchronous movement apparatus includes an upper moving track, a lower moving track, an upper wire rope moving device, a lower wire rope moving device, and a control device; the upper moving track and the lower moving track are correspondingly embedded into an inner wall of a wellbore, and the upper moving track is located above the lower moving track; the upper wire rope moving device is fitted in the upper moving track, and the lower wire rope moving device is fitted in the lower moving track; the upper moving track and the lower moving track have the same structure and each include a track body. A rolling face is arranged on the track body, and grooves are evenly distributed on the rolling face along the extending direction of the track body.

Abstract: Disclosed are a wellbore inspection system and method for an ultra-deep vertical shaft. The wellbore inspection system includes a wire rope moving system, inspection robots, a visual image acquisition system, a wireless communication module, a central control system, and an image post-processing system of an upper computer. The wire rope moving system includes a surface wire rope guide rail, an underground wire rope guide rail, a surface wire rope moving device, an underground wire rope moving device, and a wire rope. The visual image acquisition system includes explosion-proof cameras. After image information acquired by the explosion-proof cameras is processed by a lower computer, the processed image is transmitted by a wireless image transmission module to the image post-processing system of the upper computer. The central control system is connected to the inspection robots and the wire rope moving system, and the inspection robots are connected to the central control system.

Abstract: The invention relates to a serpentine inspection robot mechanism for lifting cage guide driven by magnetic wheels, comprising a magnetic wheel drive part and a pitching yawing part, wherein the magnetic wheel drive part comprises a worm and gear transmission mechanism (I) and a magnetic wheel driving mechanism (II), and the pitching yawing part comprises a pitching yawing mechanism (III). Magnetic wheels are driven by the worm and gear transmission mechanism (I) and the magnetic wheel driving mechanism (II), while the pitching and yawing control of the robot are realized by the pitching yawing mechanism (III). The serpentine robot driven by the magnetic wheels (22) resolves the problems that the efficiency of ordinary serpentine robot is low, and it is difficult for the simple-wheel-type robot to span the large gap and to reach some concealed corners, with the cage guide of the lifting machine sucked by the magnetic wheels (22).

Abstract: A movable belt breakage prevention and catching system for a belt conveyor includes a detection device, two tracks, a plurality of catching devices, and a control system. The detection device is mounted on the belt conveyor, and is configured to detect whether a belt of the belt conveyor has a crack. The two tracks are symmetrically arranged on both sides of the belt conveyor, and the plurality of catching devices are symmetrically arranged on the two tracks. The control system is configured to control the plurality of catching devices to simultaneously catch the belt firmly when the detection device detects that the belt has a crack; and after firmly catching the belt, each catching device is able to unidirectionally move along with the belt along the track where the catching device is positioned.

Abstract: A movable belt breakage prevention and catching system for a belt conveyor includes a detection device, two tracks, a plurality of catching devices, and a control system. The detection device is mounted on the belt conveyor, and is configured to detect whether a belt of the belt conveyor has a crack. The two tracks are symmetrically arranged on both sides of the belt conveyor, and the plurality of catching devices are symmetrically arranged on the two tracks. The control system is configured to control the plurality of catching devices to simultaneously catch the belt firmly when the detection device detects that the belt has a crack; and after firmly catching the belt, each catching device is able to unidirectionally move along with the belt along the track where the catching device is positioned.

Abstract: A multiple-state health monitoring apparatus for critical components in a hoisting system includes a frame. The frame is a square structure formed by welding a plurality of rectangular steels. A steel wire rope is arranged around a periphery of the square structure. A power system, a friction-and-wear apparatus, a brake-and-wear apparatus, and a tensioning apparatus are sequentially mounted from left to right on a bottom layer of the square structure. A bearing signal collection system, a tension sensor, an excitation apparatus, and a steel-wire-rope image collection system are sequentially mounted from left to right on a top layer of the square structure. The steel wire rope sequentially passes through all the apparatuses or systems and is driven by the power system to perform circling. All the apparatuses or systems are used to monitor an operation status of the steel wire rope.

Abstract: The present invention discloses a wireless sensor node with a hierarchical protection structure, including a node hardware circuit and a node hierarchical protection structure.

Abstract: A multiple-state health monitoring apparatus for critical components in a hoisting system includes a frame. The frame is a square structure formed by welding a plurality of rectangular steels. A steel wire rope is arranged around a periphery of the square structure. A power system, a friction-and-wear apparatus, a brake-and-wear apparatus, and a tensioning apparatus are sequentially mounted from left to right on a bottom layer of the square structure. A bearing signal collection system, a tension sensor, an excitation apparatus, and a steel-wire-rope image collection system are sequentially mounted from left to right on a top layer of the square structure. The steel wire rope sequentially passes through all the apparatuses or systems and is driven by the power system to perform circling. All the apparatuses or systems are used to monitor an operation status of the steel wire rope.

Abstract: A vertical shaft steel wire rope cage guide sliding sleeve wear amount detection device includes flexible printed circuit (FPC) flat cable units, voltage detection circuit units, a control system, and data display equipment. Two end faces of a vertical shaft steel wire rope cage guide sliding sleeve are provided with the FPC flat cable units, the FPC flat cable units being sequentially attached to end portion surfaces of the sliding sleeve along an outer periphery of a rope hole of a steel wire rope to form an enclosure; each FPC flat cable unit is connected to one voltage detection circuit unit; a signal input end of the control system is connected with the voltage detection circuit units, and a signal output end of a control module is connected to a wireless transmission module; and the data display equipment receives data transmitted by the wireless transmission module.

Abstract: The present invention discloses a wireless sensor node with a hierarchical protection structure, including a node hardware circuit and a node hierarchical protection structure.

Abstract: A vertical shaft steel wire rope cage guide sliding sleeve wear amount detection device includes flexible printed circuit (FPC) flat cable units, voltage detection circuit units, a control system, and data display equipment. Two end faces of a vertical shaft steel wire rope cage guide sliding sleeve are provided with the FPC flat cable units, the FPC flat cable units being sequentially attached to end portion surfaces of the sliding sleeve along an outer periphery of a rope hole of a steel wire rope to form an enclosure; each FPC flat cable unit is connected to one voltage detection circuit unit; a signal input end of the control system is connected with the voltage detection circuit units, and a signal output end of a control module is connected to a wireless transmission module; and the data display equipment receives data transmitted by the wireless transmission module.

Abstract: The present invention discloses an apparatus and method for patrol-inspection of a rigid cage channel. The patrol-inspection apparatus comprises a moving member, a transmission member, a driving member, a guide member, and a housing on a main bottom plate.

Abstract: An automatic handle assembly system for a paint brush, including a feeding device, a conveying device, a handle pushing device, a pneumatic system, and a control system. The feeding device is used for transporting a glue-filled paint brush head to an entrance of the conveying device. The conveying device is used for realizing transportation, pressing and precise positioning of the paint brush head. The handle pushing device is used for pushing a paint brush handle to precisely insert into the paint brush head. The feeding device, the conveying device, and the handle pushing device are all connected to the pneumatic system and the control system.