Double-round-pipe-track prone-track inspection robot for inspection of belt conveyor

Abstract

The utility model discloses a double-round-pipe-track prone-track inspection robot for inspection of a belt conveyor, and relates to the technical field of inspection robots, the double-round-pipe-track prone-track inspection robot comprises a double-round-pipe-track mechanism and an inspection robot, and the double-round-pipe-track mechanism comprises a plurality of mounting assemblies and a pair of combined round pipe tracks. According to the utility model, the plurality of mounting components and the pair of combined circular tube tracks are adopted to realize mounting, specifically, the pair of combined circular tube tracks are respectively mounted at the bottoms of the plurality of mounting components in a mounting manner to form double circular tube tracks, tracks are provided for the inspection robot, and the belt type conveying equipment does not need to be perforated or welded, so that the mounting is simple and convenient, and the production efficiency is improved. The inspection robot stably operates below a groove-shaped belt of the belt type conveying equipment to inspect the interior of the belt type conveying equipment, a double-circular-pipe-rail mode is adopted, the inspection robot operates on circular pipe rails in a lying posture instead of a hanging posture, the gravity center is located above circular pipes and is close to the circular pipe rails, and operation is more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a double-circular tube track lying inspection robot used for belt conveyor inspection. Background Art

[0002] In order to obtain a better inspection shooting angle, patrol robots in industrial scenes, especially industrial and mining scenes, generally adopt the form of hanging rails for track arrangement. The Chinese utility model patent with publication number CN220145957U discloses a hanging rail patrol robot, including a fuselage, two running wheels for running along the track are arranged on the upper part of the fuselage, a processor is arranged in the fuselage, and obstacle clearing dustpans are arranged on the front and rear ends of the running wheels on the fuselage, the opening of the obstacle clearing dustpan faces the side away from the running wheel part, a proximity sensor is arranged on the side of the obstacle clearing dustpan away from the running wheel part, and a speed sensor is arranged on the fuselage, and the proximity sensor and the speed sensor are connected to the processor information; by arranging obstacle clearing dustpans in front and behind the running wheel part, when debris appears on the track, the obstacle clearing dustpan can push the debris forward or collect the debris into the obstacle clearing dustpan to prevent the debris from entering the running wheel part and causing damage to the running wheel part; by arranging the proximity sensor and the speed sensor, the proximity sensor detects the obstacle and the speed sensor detects that the running speed of the fuselage is rapidly reduced, and transmits the signal to the processor, and the processor controls the running wheel part to stop.

[0003] This type of inspection robot with a hanging rail structure can meet the visual inspection needs when the inspection target is located below the inspection robot. For the inspection of belt conveyors, the inspection of the material loading status above the conveyor belt can be achieved by using a hanging rail inspection robot. However, visual inspection of the back of the conveyor belt is equally important. It can inspect the status of the conveyor belt, such as belt tearing, belt deviation, etc. At this time, it is necessary to arrange an inspection robot below the conveyor belt. In such similar application scenarios, the use of a hanging rail structure cannot meet the inspection needs below the conveyor belt. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a double-tube track lying inspection robot for belt conveyor inspection. The following technical solutions are adopted:

[0005] A double-circular tube track lying inspection robot for inspecting belt conveyors comprises a double-circular tube track mechanism and an inspection robot, wherein the double-circular tube track mechanism comprises a plurality of mounting components and a pair of combined circular tube tracks, the top of the mounting components is connected to the frame of the belt conveyor, and a pair of combined circular tube tracks are respectively mounted on the bottom of the plurality of mounting components to form a double-circular tube track, the inspection robot comprises a double-circular tube track walking mechanism and an inspection robot body, the double-circular tube track walking mechanism is clamped on the pair of combined circular tube tracks, the inspection robot body is installed in the middle of the double-circular tube track walking mechanism, and moves forward and backward along the pair of combined circular tube tracks under the drive of the double-circular tube track walking mechanism.

[0006] By adopting the above technical scheme, for the internal inspection of the belt conveyor equipment, in order to arrange the inspection robot under the trough belt of the belt conveyor, multiple mounting components and a pair of combined circular tube tracks are used to realize the installation. Specifically, the pair of combined circular tube tracks are respectively mounted on the bottom of multiple mounting components to form a double circular tube track, which provides a mobile track for the inspection robot. There is no need to drill holes or weld on the belt conveyor equipment, and the installation is simple and convenient. The inspection robot runs smoothly under the trough belt of the belt conveyor equipment to inspect the inside of the belt conveyor equipment. The double circular tube track mode is adopted. The inspection robot runs on the circular tube track in a prone position instead of a hanging position. The center of gravity is above the circular tube and close to the circular tube track, so the operation will be smoother.

[0007] Optionally, the mounting assembly includes a mounting rod, a connecting plate, a mounting column, a round tube connecting rod and a plug-in pipe sleeve, the mounting rod is mounted on the bottom of the frame of the belt conveyor, the connecting plate is detachably screwed to the bottom of the mounting rod, the mounting column is provided with a plurality of round tube rail mounting holes, the top of the mounting column is detachably mounted on the bottom of the connecting plate, one end of the round tube connecting rod is detachably screwed to the plurality of round tube rail mounting holes, the plug-in pipe sleeve is detachably mounted on the other end of the round tube connecting rod, and both ends of the plug-in pipe sleeve are used for inserting round tubes.

[0008] By adopting the above technical solution, the mounting assembly uses a combination of a hanger rod and a connecting plate to hook the bottom of the frame of the belt conveyor, which can avoid opening holes or welding in the belt conveyor equipment. First, the hanger rod is passed through the bottom of the frame of the belt conveyor, and then fixed by the connecting plate and fasteners. The position and height can also be adjusted conveniently. The multiple round tube track mounting holes on the mounting column can provide installation positions of different heights for the round tube connecting rod, which is convenient for adjusting the height of the double round tube track. The two ends of the plug-in pipe sleeve are convenient for the insertion of the round tube, and the arrangement of the round tube track can be realized after the round tube is inserted.

[0009] Optionally, the combined circular tube track includes multiple track circular tubes, both ends of the track circular tubes are respectively provided with plug-in sections, and the two ends of a single track circular tube are respectively clamped between the plug-in pipe sleeves of two mounting components. After the clamping is completed, the diameter of the track circular tube is consistent with the diameter of the plug-in pipe sleeve.

[0010] By adopting the above technical solution, the plug-in section is obtained by turning at both ends of the round tube. The diameter of the plug-in section matches the inner diameter of the plug-in pipe sleeve. After insertion, the diameter of the track round tube is consistent with the diameter of the plug-in pipe sleeve. After multiple track round tubes are assembled, a double circular tube track is formed, providing a stable and reliable track for the double circular tube track walking mechanism of the inspection robot.

[0011] Optionally, an extended arc plate is provided on the outer half of the plug-in pipe sleeve of one of the multiple mounting assemblies, and the extended arc plate is provided with a locking threaded hole. A half-section is provided on the end of the rail circular tube that is docked with the plug-in pipe sleeve of the extended arc plate, and the half-section is fitted into the opening of the extended arc plate and locked by bolts.

[0012] By adopting the above technical solution, when all the track circular tubes are assembled, multiple mounting components and a pair of combined circular tube tracks are combined to form a double circular tube track. If the track needs to be repaired or replaced, an extended arc plate is provided on the outer half of the plug-in pipe sleeve of one of the mounting components, or the connecting bolts at the half-section of the extended arc plate and the opening of the extended arc plate are removed by spacing, and the track circular tube with the half-section can be removed to realize disassembly for later maintenance.

[0013] Optionally, the double circular tube track walking mechanism includes a pair of active rollers, a pair of drive motors, a pair of driven rollers and multiple bottom tightening roller assemblies, the shells of the pair of drive motors are respectively installed inside the shell of the inspection robot body, and the driving axes pass through the shell symmetrically, a pair of active rollers are respectively connected to the ends of the active shafts of the pair of drive motors, and the wheel rims are pressed on the upper surface of a pair of combined circular tube tracks, and multiple bottom tightening roller assemblies are respectively installed on the outside of the shell of the inspection robot body, and the pair of active rollers are pressed against the upper surface of the pair of combined circular tube tracks based on spring force.

[0014] Optionally, the bottom clamping roller assembly includes a fixed column, a torsion spring shaft, a torsion spring, a clamping wheel seat and a clamping wheel, the fixed column is provided with a torsion spring cavity, both ends of the torsion spring shaft are assembled in the torsion spring cavity, the torsion spring is sleeved outside the torsion spring shaft, the clamping wheel seat is provided with a spring clamping arm, the spring clamping arm is sleeved outside the torsion spring shaft and is used for torsion spring connection, the torsion spring provides an upward clamping force for the clamping wheel seat, the clamping wheel is rotatably mounted on the clamping wheel seat through a wheel axle, and the wheel rim is pressed upward on the lower surface of the combined circular tube track.

[0015] Optionally, it also includes four inner tightening guide roller assemblies, which are respectively installed at the four top corners of the shell of the inspection robot body, and are pressed against the inner side surfaces of a pair of combined circular tube tracks based on spring force. The structure of the inner tightening guide roller assembly is consistent with that of the bottom tightening roller assembly.

[0016] By adopting the above technical scheme, the double circular tube track walking mechanism adopts a driving structure in which a pair of driving motors drive a pair of active rollers, and multiple bottom tightening roller assemblies press a pair of active rollers against the upper surface of a pair of combined circular tube tracks based on spring force, so that the robot guide mechanism and the tightening mechanism adopt torsion springs instead of compression springs, thereby solving the problem that compression springs are prone to getting stuck on the guide rod while torsion springs will not get stuck, and the structure is more compact. In addition, the wearing parts of the active wheel, driven wheel, guide wheel, and tightening wheel are easy to disassemble and replace.

[0017] In summary, the present invention includes at least one of the following beneficial technical effects:

[0018] The utility model can provide a double-circular tube track lying inspection robot for belt conveyor inspection, which adopts multiple mounting components and a pair of combined circular tube tracks to achieve installation. Specifically, the pair of combined circular tube tracks are respectively mounted on the bottom of multiple mounting components to form a double-circular tube track, which provides a track for the inspection robot. There is no need to drill holes or weld on the belt conveyor equipment, and the installation is simple and convenient. The inspection robot runs smoothly under the grooved belt of the belt conveyor equipment to inspect the inside of the belt conveyor equipment. The double-circular tube track mode is adopted. The inspection robot runs in a lying position on the circular tube track instead of a hanging position. The center of gravity is above the circular tube and close to the circular tube track, so the operation will be smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the top view of a double-circular-tube track lying inspection robot for belt conveyor inspection in the utility model;

[0020] Figure 2 This is a side view structural diagram of a double-circular-tube track lying inspection robot for belt conveyor inspection in the utility model;

[0021] Figure 3 This is a schematic diagram of a double-tube track lying inspection robot for belt conveyor inspection with a half-section track tube structure;

[0022] Figure 4 This is a schematic diagram of a plug-in pipe sleeve structure with an extended arc plate of a double-circular tube track lying rail inspection robot for belt conveyor inspection of the utility model;

[0023] Figure 5This is a schematic diagram of the three-dimensional structure of an inspection robot of a double-circular tube track lying inspection robot used for belt conveyor inspection in the utility model;

[0024] Figure 6 This is a schematic diagram of the side view structure of an inspection robot of a double-circular tube track lying inspection robot used for belt conveyor inspection in the utility model;

[0025] Figure 7 yes Figure 6 AA section structure schematic diagram.

[0026] Explanation of the reference numerals in the accompanying drawings: 11. bracket rod; 12. connecting plate; 13. mounting column; 131. circular tube track mounting hole; 14. circular tube connecting rod; 15. plug-in pipe sleeve; 151. extended arc plate; 3. track circular tube; 31. half-section; 41. active roller; 42. driving motor; 43. driven roller; 44. bottom tightening roller assembly; 441. fixing column; 442. torsion spring shaft; 443. torsion spring; 444. clamping wheel seat; 4441. spring clamping arm; 445. clamping wheel; 45. inner tightening guide roller assembly; 101. inspection robot body. DETAILED DESCRIPTION

[0027] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0028] The utility model embodiment discloses a double-circular-tube track lying inspection robot for inspecting a belt conveyor.

[0029] Reference Figure 1-Figure 7 Embodiment 1: A double-circular tube track lying inspection robot for belt conveyor inspection, comprising a double-circular tube track mechanism and an inspection robot. The double-circular tube track mechanism comprises a plurality of mounting components and a pair of combined circular tube tracks. The top of the mounting component is connected to the frame of the belt conveyor. A pair of combined circular tube tracks are respectively mounted on the bottom of the plurality of mounting components to form a double-circular tube track. The inspection robot comprises a double-circular tube track walking mechanism and an inspection robot body 101. The double-circular tube track walking mechanism is clamped on a pair of combined circular tube tracks. The inspection robot body 101 is installed in the middle of the double-circular tube track walking mechanism and moves forward and backward along a pair of combined circular tube tracks under the drive of the double-circular tube track walking mechanism.

[0030] For the internal inspection of belt conveyor equipment, in order to arrange the inspection robot under the trough belt of the belt conveyor, multiple mounting components and a pair of combined circular tube tracks are used to realize the installation. Specifically, a pair of combined circular tube tracks are respectively mounted on the bottom of multiple mounting components to form a double circular tube track, which provides a mobile track for the inspection robot. There is no need to drill holes or weld on the belt conveyor equipment. The installation is simple and convenient. The inspection robot runs smoothly under the trough belt of the belt conveyor equipment to inspect the inside of the belt conveyor equipment. The double circular tube track mode is adopted. The inspection robot runs on the circular tube track in a prone position instead of a hanging position. The center of gravity is above the circular tube and close to the circular tube track, so the operation will be smoother.

[0031] Embodiment 2, the mounting assembly includes a mounting rod 11, a connecting plate 12, a mounting column 13, a round tube connecting rod 14 and a plug-in pipe sleeve 15, the mounting rod 11 is mounted on the bottom of the frame of the belt conveyor, the connecting plate 12 is detachably screwed to the bottom of the mounting rod 11, a plurality of round tube rail mounting holes 131 are provided on the mounting column 13, the top of the mounting column 13 is detachably mounted on the bottom of the connecting plate 12, one end of the round tube connecting rod 14 is detachably screwed to the plurality of round tube rail mounting holes 131, the plug-in pipe sleeve 15 is detachably mounted on the other end of the round tube connecting rod 14, and the two ends of the plug-in pipe sleeve 15 are used for inserting round tubes.

[0032] The mounting assembly uses a combination of a mounting rod 11 and a connecting plate 12 to hook the bottom of the frame of the belt conveyor, which can avoid opening holes or welding in the belt conveyor equipment. First, the mounting rod 11 is passed through the bottom of the frame of the belt conveyor, and then fixed by the connecting plate 12 and fasteners. The position and height can also be adjusted conveniently. The multiple round tube track mounting holes 131 on the mounting column 13 can provide installation positions of different heights for the round tube connecting rod 14, which is convenient for adjusting the height of the double round tube track. The two ends of the plug-in pipe sleeve 15 are convenient for the insertion of the round tube, and the arrangement of the round tube track can be realized after the round tube is inserted.

[0033] Embodiment 3, the combined circular tube track includes multiple track circular tubes 3, and both ends of the track circular tubes 3 are respectively provided with plug-in sections. The two ends of a single track circular tube 3 are respectively clamped between the plug-in pipe sleeves 15 of the two mounting components. After the clamping is completed, the diameter of the track circular tube 3 is consistent with the diameter of the plug-in pipe sleeve 15.

[0034] The plug-in section is obtained by turning at both ends of the round tube. The diameter of the plug-in section matches the inner diameter of the plug-in pipe sleeve 15. After insertion, the diameter of the track round tube 3 is consistent with the diameter of the plug-in pipe sleeve 15. After multiple track round tubes 3 are assembled, a double round tube track is formed, providing a stable and reliable track for the double round tube track walking mechanism of the inspection robot.

[0035] Embodiment 4: an extended arc plate 151 is provided on the outer half of the plug-in pipe sleeve 15 of one of the multiple mounting assemblies; the extended arc plate 151 is provided with a locking threaded hole; a half-section 31 is provided on the end of the track circular tube 3 docked with the plug-in pipe sleeve 15 of the extended arc plate 151; the half-section 31 is fitted at the opening of the extended arc plate 151 and locked by bolts.

[0036] When all the track circular tubes 3 are assembled, multiple mounting components and a pair of combined circular tube tracks are combined to form a double circular tube track. If the track needs to be repaired or replaced, an extended arc plate 151 is provided on the outer half of the plug-in pipe sleeve 15 of one of the mounting components, or the connecting bolts at the opening of the half-section 31 of the extended arc plate 151 and the extended arc plate 151 are removed by spacing, and the track circular tube 3 with the half-section 31 can be removed to achieve disassembly for later maintenance.

[0037] Embodiment 5, the double circular tube track walking mechanism includes a pair of active rollers 41, a pair of driving motors 42, a pair of driven rollers 43 and a plurality of bottom tightening roller assemblies 44, the shells of the pair of driving motors 42 are respectively installed inside the shell of the inspection robot body 101, and the driving axes symmetrically pass through the shells, a pair of active rollers 41 are respectively transmission-connected to the ends of the active shafts of the pair of driving motors 42, and the wheel rims are pressed on the upper surface of a pair of combined circular tube tracks, and a plurality of bottom tightening roller assemblies 44 are respectively installed on the outside of the shell of the inspection robot body 101, and the pair of active rollers 41 are pressed against the upper surface of a pair of combined circular tube tracks based on spring force.

[0038] Embodiment 6, the bottom tensioning roller assembly 44 includes a fixed column 441, a torsion spring shaft 442, a torsion spring 443, a pressure wheel seat 444 and a pressure wheel 445, the interior of the fixed column 441 is provided with a torsion spring cavity, both ends of the torsion spring shaft 442 are assembled in the torsion spring cavity, the torsion spring 443 is sleeved outside the torsion spring shaft 442, the pressure wheel seat 444 is provided with a spring pressure arm 4441, the spring pressure arm 4441 is sleeved outside the torsion spring shaft 442, and is used for connecting the torsion spring 443, the torsion spring 443 provides an upward pressure on the pressure wheel seat 444, the pressure wheel 445 is rotatably mounted on the pressure wheel seat 444 through the wheel axle, and the wheel rim is pressed upward on the lower surface of the combined circular tube track.

[0039] Example 7 also includes four inner tightening guide roller assemblies 45, which are respectively installed at the four top corners of the shell of the inspection robot body 101, and are pressed against the inner side surfaces of a pair of combined circular tube tracks based on spring force. The structure of the inner tightening guide roller assembly 45 is consistent with that of the bottom tightening roller assembly 44.

[0040] The double-circular tube track walking mechanism adopts a driving structure in which a pair of driving motors 42 drive a pair of active rollers 41. Multiple bottom tensioning roller assemblies 44 press the pair of active rollers 41 against the upper surface of a pair of combined circular tube tracks based on spring force, so that the robot guide mechanism and tensioning mechanism adopt torsion springs instead of compression springs, which solves the problem that compression springs are prone to getting stuck on the guide rod while torsion springs will not get stuck. The structure is more compact and the wearing parts of the active wheel, driven wheel, guide wheel, and tensioning wheel are easy to disassemble and replace.

[0041] The above are all preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A double-tube track inspection robot for belt conveyor inspection, characterized in that: The invention comprises a double-circular tube track mechanism and an inspection robot, wherein the double-circular tube track mechanism comprises a plurality of mounting components and a pair of combined circular tube tracks, wherein the top of the mounting components is connected to the frame of a belt conveyor, and the pair of combined circular tube tracks are respectively mounted on the bottom of the plurality of mounting components to form a double-circular tube track, wherein the inspection robot comprises a double-circular tube track walking mechanism and an inspection robot body (101), wherein the double-circular tube track walking mechanism is clamped on the pair of combined circular tube tracks, and the inspection robot body (101) is installed in the middle of the double-circular tube track walking mechanism and moves forward and backward along the pair of combined circular tube tracks under the drive of the double-circular tube track walking mechanism.

2. A double-tube track lying inspection robot for belt conveyor inspection according to claim 1, characterized in that: The mounting assembly comprises a mounting rod (11), a connecting plate (12), a mounting column (13), a round tube connecting rod (14) and a plug-in pipe sleeve (15); the mounting rod (11) is mounted on the bottom of a frame of a belt conveyor; the connecting plate (12) is detachably screwed to the bottom of the mounting rod (11); a plurality of round tube rail mounting holes (131) are provided on the mounting column (13); the top of the mounting column (13) is detachably mounted on the bottom of the connecting plate (12); one end of the round tube connecting rod (14) is detachably screwed to the plurality of round tube rail mounting holes (131); the plug-in pipe sleeve (15) is detachably mounted on the other end of the round tube connecting rod (14); and both ends of the plug-in pipe sleeve (15) are used for inserting round tubes.

3. A double-tube track lying inspection robot for belt conveyor inspection according to claim 2, characterized in that: The combined circular tube track comprises a plurality of track circular tubes (3), both ends of the track circular tubes (3) are respectively provided with plug-in sections, and both ends of a single track circular tube (3) are respectively clamped between the plug-in type pipe sleeves (15) of two mounting components, and after the clamping is completed, the diameter of the track circular tube (3) is consistent with the diameter of the plug-in type pipe sleeve (15).

4. A double-tube track lying inspection robot for belt conveyor inspection according to claim 3, characterized in that: An extended arc plate (151) is provided on the outer half of a plug-in pipe sleeve (15) of one of the multiple mounting assemblies, the extended arc plate (151) is provided with a locking threaded hole, and a half-section (31) is provided on the end of the track circular tube (3) connected to the plug-in pipe sleeve (15) of the extended arc plate (151), and the half-section (31) is fitted on the opening of the extended arc plate (151) and locked by bolts.

5. A double-tube track lying inspection robot for belt conveyor inspection according to claim 4, characterized in that: The double circular tube track walking mechanism comprises a pair of active rollers (41), a pair of drive motors (42), a pair of driven rollers (43) and a plurality of bottom tightening roller assemblies (44); the shells of the pair of drive motors (42) are respectively installed inside the shell of the inspection robot body (101), and the active shafts symmetrically pass through the shell; the pair of active rollers (41) are respectively connected to the ends of the active shafts of the pair of drive motors (42) in a transmission manner, and the wheel rims are pressed on the upper surface of the pair of combined circular tube tracks; the plurality of bottom tightening roller assemblies (44) are respectively installed on the outer side of the shell of the inspection robot body (101), and the pair of active rollers (41) are pressed on the upper surface of the pair of combined circular tube tracks based on spring force.

6. A double-tube track lying inspection robot for belt conveyor inspection according to claim 5, characterized in that: The bottom tensioning roller assembly (44) comprises a fixed column (441), a torsion spring shaft (442), a torsion spring (443), a tensioning wheel seat (444) and a tensioning wheel (445). The interior of the fixed column (441) is provided with a torsion spring cavity. Both ends of the torsion spring shaft (442) are assembled in the torsion spring cavity. The torsion spring (443) is sleeved outside the torsion spring shaft (442). The tensioning wheel seat (444) is provided with a spring tensioning arm (4441). The spring tensioning arm (4441) is sleeved outside the torsion spring shaft (442) and is used for connecting the torsion spring (443). The torsion spring (443) provides an upward tensioning force for the tensioning wheel seat (444). The tensioning wheel (445) is rotatably mounted on the tensioning wheel seat (444) through a wheel shaft, and the wheel rim is pressed upward on the lower surface of the combined circular tube track.

7. A double-tube track lying inspection robot for belt conveyor inspection according to claim 6, characterized in that: It also includes four inner tightening guide roller assemblies (45), which are respectively installed at the four top corners of the shell of the inspection robot body (101) and are pressed against the inner side surfaces of a pair of combined circular tube tracks based on spring force. The structure of the inner tightening guide roller assembly (45) is consistent with that of the bottom tightening roller assembly (44).

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