Belt conveyor fault inspection vehicle and control system and control method thereof

Abstract

The present invention provides a belt conveyor fault inspection vehicle and its control system and control method, which relate to the technical field of inspection vehicles. The belt conveyor fault inspection vehicle provided by the present invention includes an inspection body, a guide mechanism and an anti-skid device connected to the guide mechanism. The inspection body is used to move along the inspection track. The guide mechanism is connected to the inspection body and the guide mechanism is used to abut against the track. When the guide wheel in the guide mechanism rotates along the first direction, the anti-skid device does not press the track. When the guide wheel in the guide mechanism rotates along the second direction, the anti-skid device presses the track. The belt conveyor fault inspection vehicle provided by the present invention can ensure the quality of data collection and reduce the vehicle failure rate. And the belt conveyor fault inspection vehicle control system and method provided by the present invention can stably control the inspection vehicle, and corresponding to different modes, the speed of the inspection vehicle can be controlled within a certain range. It is easy to use and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection vehicles, and in particular to a belt conveyor fault inspection vehicle and a control system and a control method thereof. Background Art

[0002] At home and abroad, inspections of long-distance equipment such as coal chemical raw material belt transportation lines and urban underground pipe corridors are mostly using inspection robots instead of manual labor to collect fault information, quickly discover and determine the type of fault. These inspection devices have similar structural components, including inspection tracks, power structure modules, fault diagnosis modules and automatic charging modules. The inspection tracks are used to support the movement of the inspection devices; the power structure modules are used to drive the power of the inspection devices; the fault diagnosis modules are used to carry fault diagnosis sensors to collect information; and the automatic charging modules are used to supplement the power of the inspection devices.

[0003] For example, the invention patent "A Track-type Inspection Robot", application number: 201510919244.4, application date December 10, 2015, includes a robot body, a main control unit, an energy module detection component and a wireless communication module. The robot body includes at least two body units, each of which includes a motion drive module and a pulley block; the motion drive module drives the pulley block to roll on the track; two adjacent body units are connected by a flexible joint and can rotate relative to each other in the horizontal and / or vertical directions, and the robot can run on a turning and / or climbing track. The robot can detect the equipment and environment near the track in real time, and transmit the information to the remote control center. The staff can understand the detected information in real time and send control instructions to the robot.

[0004] However, when traditional inspection vehicles are running on a sloped track section, there may be an overall slippage phenomenon, which affects the quality of vehicle data collection and increases the vehicle operation failure rate. In addition, traditional vehicles cannot effectively control the various modes of the vehicle, resulting in unstable vehicle operation and affecting the quality of data collection. Summary of the invention

[0005] The object of the present invention is to provide a belt conveyor fault inspection vehicle and its control system and control method, which can effectively prevent the vehicle from slipping as a whole when running on a sloped track section, ensure the quality of data collection, and reduce the vehicle failure rate.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In the first aspect, the present invention provides a belt conveyor fault inspection vehicle, comprising an inspection body, a guide mechanism and an anti-skid device connected to the guide mechanism, the inspection body being used to move along an inspection track, the guide mechanism being connected to the inspection body and being used to abut against the inspection track, when the guide wheel in the guide mechanism rotates along a first direction, the anti-skid device does not press the inspection track, and when the guide wheel in the guide mechanism rotates along a second direction, the anti-skid device presses the inspection track.

[0008] Furthermore, the guide mechanism includes a plurality of guide wheels for clamping the inspection track, and the anti-skid device includes an anti-skid mechanism connected to at least one group of the guide wheels.

[0009] Furthermore, the anti-skid mechanism includes a bracket, a brake head assembly, a first connecting rod and a first transmission assembly, wherein:

[0010] The bracket is connected to the inspection body;

[0011] The brake head assembly is slidably configured on the bracket;

[0012] One end of the first connecting rod is connected to the guide wheel, and the other end passes through the bracket and is connected to the first transmission assembly;

[0013] The first transmission component is in transmission connection with the brake head group, and the first transmission component drives the brake head group to approach the inspection track under the drive of the guide wheel.

[0014] Furthermore, the first transmission assembly includes a first gear, a ratchet, a second connecting rod and a second gear, the first gear is connected to the first connecting rod, the ratchet is meshed with the first gear, the two ends of the second connecting rod are respectively connected to the ratchet and the second gear, and the brake head group is provided with a rack meshed with the second gear.

[0015] Furthermore, the anti-slip mechanism also includes a second transmission assembly transmission-connected to the first transmission assembly and a claw assembly transmission-connected to the second transmission assembly, the claw assembly is connected to the first transmission assembly, and the second transmission assembly drives the claw assembly to clamp or release the brake head assembly under the drive of the first transmission assembly.

[0016] Furthermore, the second transmission assembly includes a third gear and a threaded rod connected to the third gear, the third gear is meshed with the first transmission assembly, and the threaded rod is threadedly connected to the claw assembly.

[0017] Furthermore, the claw assembly includes a pull rod, a claw and a third connecting rod. The pull rod is threadedly connected to the threaded rod. A slot is provided on the claw along the extension direction of the claw. The end of the pull rod away from the threaded rod is slidably connected to the slot to drive the claw to clamp or open. The two ends of the third connecting rod are respectively connected to the claw and the first transmission assembly.

[0018] Furthermore, the inspection body includes a support frame, a driving mechanism and a shock absorbing mechanism, wherein:

[0019] The support frame is connected to the guide mechanism, and forms a passage for the inspection guide rail to pass through between the support frame, the guide mechanism and the drive mechanism;

[0020] The driving mechanism is connected to the supporting frame through the shock absorbing mechanism.

[0021] In a second aspect, the present invention further provides a belt conveyor fault inspection vehicle control system, comprising a controller, a driver, a speed sensor, a Bluetooth module and the belt conveyor fault inspection vehicle described in the above scheme, wherein:

[0022] The Bluetooth module is connected to the controller, and the Bluetooth module is also used to connect to the mobile terminal;

[0023] The speed sensor is arranged in the inspection body, and is used to detect the speed information of the inspection body and send the speed information to the controller;

[0024] The controller is connected to the driver, and the driver is connected to the inspection body.

[0025] In a third aspect, the present invention further provides a belt conveyor fault inspection vehicle control method using the above-mentioned belt conveyor fault inspection vehicle control system, comprising:

[0026] The controller adjusts the armature voltage of the driving device in the inspection body to gradually change from 0% to 70% in the form of an equal percentage curve, and the total time period is 8 to 12 seconds;

[0027] The wireless network workstation controls the belt conveyor fault inspection vehicle to switch between multiple inspection speed modes through the controller;

[0028] When in the fast search mode, the armature voltage of the driving device in the inspection body is 70% of the allowable limit value, and the running speed of the inspection body is 0.8-1.2 m / s;

[0029] When in the fine search mode, the armature voltage of the driving device in the inspection body is 50% of the allowable limit value, and the running speed of the inspection body is 0.4-0.6m / s;

[0030] When in the creeping mode, the armature voltage of the driving device in the inspection body is 30% of the allowable limit value, and the running speed of the inspection body is 0.2-0.3 m / s;

[0031] The controller adjusts the armature voltage of the driving device in the inspection body to gradually change from 70% to 0% in the form of an equal percentage curve, and the total time period T is 8 to 12s.

[0032] The belt conveyor fault inspection vehicle and its control system and control method provided by the present invention can produce the following beneficial effects:

[0033] When the inspection body moves forward, the guide wheel in the guide wheel mechanism rotates in a first direction, the anti-skid device does not press the inspection track, and the inspection body operates normally; when the inspection body runs to a sloped track, if the inspection body slips, since the guide wheel mechanism is against the track, the guide wheel in the guide wheel mechanism rotates along the second direction with the inspection body, and the anti-skid device presses the track to limit the position of the inspection body relative to the inspection track, preventing the inspection body from continuing to slide down.

[0034] Compared with the prior art, when the belt conveyor fault inspection vehicle provided by the first aspect of the present invention runs backward, the anti-skid device can press the track tightly, which can effectively prevent the vehicle from slipping as a whole when it runs to a sloped track section, thereby ensuring the quality of data collection and reducing the vehicle failure rate.

[0035] Compared with the prior art, the belt conveyor fault inspection vehicle control system provided in the second aspect of the present invention can control the speed of the inspection vehicle within a certain range, and specifically can control the speed of the inspection vehicle at each stage, and is easy and reliable to use.

[0036] Compared with the prior art, the belt conveyor fault inspection vehicle control method provided in the third aspect of the present invention can control the armature voltage of the driving device in the inspection body to gradually change in the form of an equal percentage curve within a certain range, thereby ensuring stable operation of the inspection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic diagram of the three-dimensional structure of a belt conveyor fault inspection vehicle provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the three-dimensional structure of the guide wheel mechanism and the anti-slip device provided in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the three-dimensional structure of the anti-slip device (without a bracket) provided in an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of the three-dimensional structure of the driving mechanism and the shock absorbing mechanism provided in the embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the three-dimensional structure of a belt conveyor fault inspection vehicle provided by an embodiment of the present invention when it is arranged on an inspection track;

[0043] Figure 6 A schematic diagram of the principle of a belt conveyor fault inspection vehicle control system provided by an embodiment of the present invention;

[0044] Figure 7 A schematic diagram of a control method for a patrol vehicle control system provided in an embodiment of the present invention.

[0045] Icons: 1-inspection body; 11-support frame; 111-U-shaped frame; 112-connecting rod group; 113-guide fixing seat; 114-mounting box; 12-driving mechanism; 121-wheel hub motor; 13-shock absorption mechanism; 131-spring assembly; 132-base; 2-guide mechanism; 21-guide wheel; 3-anti-slip mechanism; 31-bracket; 311-F-shaped bracket; 312-sleeve; 32-brake head group; 321-thrust rod; 322-brake pad; 323-elastic member; 324-first limit retaining ring; 325-second limit retaining ring; 33-first connecting rod; 34-first transmission assembly; 341-first gear; 342-ratchet; 343-second connecting rod; 344-second gear; 35-second transmission assembly; 351-third gear; 352-threaded rod; 36-claw assembly; 361-pull rod; 362-claw; 363-third connecting rod; 4-clearing shovel; 5-controller; 6-driver. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0050] Figure 1 A schematic diagram of the three-dimensional structure of a belt conveyor fault inspection vehicle provided by an embodiment of the present invention; Figure 2 A schematic diagram of the three-dimensional structure of the guide wheel mechanism and the anti-slip device provided in an embodiment of the present invention; Figure 3 A schematic diagram of the three-dimensional structure of the anti-slip device (without a bracket) provided in an embodiment of the present invention; Figure 4 A schematic diagram of the three-dimensional structure of the driving mechanism and the shock absorbing mechanism provided in the embodiment of the present invention; Figure 5 A schematic diagram of the three-dimensional structure of a belt conveyor fault inspection vehicle provided by an embodiment of the present invention when it is arranged on an inspection track; Figure 6 A schematic diagram of the principle of a belt conveyor fault inspection vehicle control system provided by an embodiment of the present invention; Figure 7 A schematic diagram of a control method for a patrol vehicle control system provided in an embodiment of the present invention.

[0051] The first aspect of the present invention provides a belt conveyor fault inspection vehicle, such as Figure 1As shown, it includes an inspection body 1, a guide mechanism 2 and an anti-skid device connected to the guide mechanism 2. The inspection body 1 is used to move along the inspection track. The guide mechanism 2 is connected to the inspection body 1 and the guide mechanism 2 is used to abut against the inspection track. When the guide wheel 21 in the guide mechanism 2 rotates along the first direction, the anti-skid device does not press the inspection track. When the guide wheel 21 in the guide mechanism 2 rotates along the second direction, the anti-skid device presses the inspection track.

[0052] When the inspection body moves forward, the guide wheel 21 in the guide mechanism 2 rotates in the first direction, the anti-skid device does not press the inspection track, and the inspection body 1 operates normally; when the inspection body 1 runs to a sloping track, if the inspection body slips, since the guide mechanism 2 is against the inspection track, the guide wheel 21 in the guide mechanism 2 rotates along the second direction with the inspection body, and the anti-skid device presses the inspection track, limiting the position of the inspection body relative to the inspection track to prevent the inspection body from continuing to slide down.

[0053] Compared with the prior art, the anti-skid device of the embodiment of the first aspect of the present invention can press the inspection track when the belt conveyor fault inspection vehicle runs backward, which can effectively prevent the vehicle from slipping as a whole when it runs to a sloped track section, thereby ensuring the quality of data collection and reducing the vehicle failure rate.

[0054] It should be noted that when the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise.

[0055] In some embodiments, Figure 1 As shown, the guide mechanism 2 includes multiple groups of guide wheels 21 for clamping the inspection track, and channels for the inspection track to pass through are formed between the multiple groups of guide wheels 21. The anti-skid device includes an anti-skid mechanism 3 connected to at least one group of guide wheels 21.

[0056] Each set of guide wheels 21 includes two guide wheels, which are arranged at a relative interval, and the inspection track passes through the gap between the two guide wheels 21. Specifically, the guide mechanism 2 may include two, three, four or more sets of guide wheels 21. Figure 1 Taking an example for specific description, the guide mechanism 2 includes two sets of guide wheels 21, and each guide wheel 21 is connected to an anti-skid mechanism 3. When the inspection body 1 moves backward, the guide wheels 21 rotate counterclockwise, and the anti-skid mechanisms 3 in each set of guide wheels 21 clamp the inspection track together to prevent the inspection body 1 from moving backward further.

[0057] It should be noted that any structure that can convert the rotational motion of the guide wheel 21 into linear motion can be the anti-slip mechanism 3 mentioned in the above embodiment.

[0058] In some embodiments, Figure 2 As shown, the anti-skid mechanism 3 includes a bracket 31, a brake head group 32, a first connecting rod 33 and a first transmission assembly 34, wherein: the bracket 31 is connected to the inspection body 1; the brake head group 32 is slidably configured on the bracket 31; one end of the first connecting rod 33 is connected to the guide wheel 21, and the other end passes through the bracket 31 and is connected to the first transmission assembly 34; the first transmission assembly 34 is transmission-connected to the brake head group 32, and the first transmission assembly 34 drives the brake head group 32 to approach the inspection track under the drive of the guide wheel 21.

[0059] When the inspection body 1 moves forward, that is, the guide wheel 21 rotates in the first direction, the brake head group 32 does not press the inspection track, and the inspection body 1 works normally; when the inspection body 1 moves backward, that is, the guide wheel 21 rotates in the second direction, the first transmission assembly 34 drives the brake head group 32 to move toward the direction close to the inspection track until the brake head group 32 presses the inspection track and the inspection body 1 stops on the inspection track.

[0060] The bracket 31 includes an F-shaped bracket 311 and a sleeve 312 disposed on the F-shaped bracket 311. The F-shaped bracket 311 includes a transverse connection portion and two longitudinal connection portions connected to the transverse connection portion, and the two longitudinal connection portions are arranged at intervals. The first longitudinal connection portion is fixedly connected to the inspection body 1, the guide wheel 21 is disposed above the transverse connection portion, one end of the sleeve 312 is connected to the first longitudinal connection portion, and the other end passes through the second longitudinal connection portion, and a through groove is provided on the sleeve 312.

[0061] Specifically, one end of the first connecting rod 33 is fixedly connected to the guide wheel 21 , and the other end passes through the transverse connecting portion and is fixedly connected to the first transmission assembly 34 .

[0062] Based on the above embodiments, Figure 3 As shown, the first transmission assembly 34 includes a first gear 341, a ratchet 342, a second connecting rod 343 and a second gear 344. The first gear 341 is connected to the first connecting rod 33, the ratchet 342 is meshed with the first gear 341, and the two ends of the second connecting rod 343 are respectively connected to the ratchet 342 and the second gear 344. The brake head assembly 32 is provided with a rack meshed with the second gear 344.

[0063] When the guide wheel 21 rotates along the first direction, the first gear 341 rotates along the guide wheel 21 along the first direction, and the ratchet 342 rotates along the second direction. Since the ratchet 342 is configured as a ratchet, the ratchet 342 does not drive the second connecting rod 343 to rotate, the second gear 344 does not rotate, and the brake head group 32 does not move; when the guide wheel 21 rotates along the second direction, the first gear 341 rotates along the guide wheel 21 along the second direction, and the ratchet 342 rotates along the first direction. At this time, the ratchet 342 drives the second gear 344 to rotate along the first direction through the second connecting rod 343. Since the second gear 344 is engaged with the rack on the brake head group 32, the brake head group 32 is driven by the first transmission assembly 34 to move in the direction close to the inspection track until the brake head group 32 presses the inspection track.

[0064] In some embodiments, Figure 3 As shown, the brake head assembly 32 includes a push rod 321, a brake pad 322 and an elastic member 323. The brake pad 322 is rotatably connected to one end of the push rod 321, and the elastic member 323 is connected to the other end of the push rod 321. The push rod 321 is provided with a rack meshing with the second gear 344.

[0065] The brake pad 322 is a triangular prism structure, that is, the cross section of the brake pad 322 is triangular, and its first side is hinged to the top rod 321, so that the brake pad 322 can rotate a certain angle relative to the top rod 321, and the area of ​​its second side is smaller than the area of ​​the third side, that is, along the circumference of the brake pad 322, the length of the second side is smaller than the length of the third side. When the inspection body 1 slips, the third side of the brake pad 322 presses against the vertical surface of the inspection track, which plays a role in holding the track and preventing the vehicle from slipping.

[0066] When the bracket 31 includes an F-shaped bracket 311 and a sleeve 312 , the push rod 321 and the elastic member 323 are disposed in the sleeve 312 .

[0067] When the inspection vehicle switches from the sliding state to the forward state, the guide wheel 21 resumes to rotate in the first direction, and the ratchet 342 rotates in the second direction. The ratchet 342 no longer forces the second gear 344 to drive the brake head assembly 32 to press the inspection track. At this time, under the pulling force of the elastic member 323, the push rod 321 moves in the direction away from the inspection track without pressing the inspection track.

[0068] The elastic member 323 may be a coil spring or a rubber strip.

[0069] In some embodiments, Figure 3As shown, in order to make the anti-skid mechanism 3 hold the rail more stably, the anti-skid mechanism 3 also includes a second transmission assembly 35 transmission connected to the first transmission assembly 34 and a claw assembly 36 transmission connected to the second transmission assembly 35, the claw assembly 36 is connected to the first transmission assembly 34, and the second transmission assembly 35, driven by the first transmission assembly 34, drives the claw assembly 36 to clamp or release the brake head assembly 32 to prevent the brake head assembly 32 from rotating relative to the bracket 31.

[0070] Specifically, the second transmission assembly 35 is in transmission connection with the first gear 341 . Driven by the first gear 341 , the second transmission assembly 35 drives the claw assembly 36 to clamp or release the ejector rod 321 .

[0071] When the bracket 31 includes an F-shaped bracket 311 and a sleeve 312 , the claw assembly 36 passes through a through slot on the sleeve 312 to clamp or release the ejector rod 321 .

[0072] In some embodiments, Figure 3 As shown, the second transmission assembly 35 includes a third gear 351 and a threaded rod 352 connected to the third gear 351 . The third gear 351 is meshed with the first transmission assembly 34 , and the threaded rod 352 is threadedly connected to the claw assembly 36 .

[0073] The third gear 351 is in transmission connection with the first gear 341. When the first gear 341 rotates along the first direction, the third gear 351 rotates along the second direction, the threaded rod 352 rotates synchronously with the third gear 351, and the threaded rod 352 drives the claw assembly 36 to release the brake head group 32; when the first gear 341 rotates along the second direction, the third gear 351 rotates along the first direction, the threaded rod 352 rotates synchronously with the third gear 351, and the threaded rod 352 drives the claw assembly 36 to clamp the brake head group 32.

[0074] In some embodiments, Figure 3 As shown, in order to make the structure of the claw assembly 36 simpler, the claw assembly 36 includes a pull rod 361, a claw 362 and a third connecting rod 363. The pull rod 361 is threadedly connected to the threaded rod 352. A groove is provided on the claw 362 along the extension direction of the claw 362. The end of the pull rod 361 away from the threaded rod 352 is slidably connected to the groove to drive the claw 362 to clamp or open. The two ends of the third connecting rod 363 are respectively connected to the claw 362 and the first transmission assembly 34.

[0075] For Figure 1When the threaded rod 352 rotates along the second direction, since the pull rod 361 is threadedly connected to the threaded rod 352, the pull rod 361 moves upward along the threaded rod 352, and the end of the pull rod 361 away from the threaded rod 352 drives the claw 362 to open, thereby releasing the push rod 321; when the threaded rod 352 rotates along the first direction, since the pull rod 361 is threadedly connected to the threaded rod 352, the pull rod 361 moves downward along the threaded rod 352, and the end of the pull rod 361 away from the threaded rod 352 drives the claw 362 to buckle, thereby clamping the push rod 321.

[0076] It should be noted that if Figure 3 As shown, along the extension direction of the threaded rod 352, only a certain section of the threaded rod 352 has threads, that is, when the inspection body 1 moves forward, the pull rod 361 will not be threadedly connected with the threaded rod 352 after rising to a certain height, but will be loosely sleeved on the threaded rod 352, so as to prevent the pull rod 361 from always having a tendency to move upward during the forward movement of the inspection body 1. When the inspection body 1 slips, the third gear 351 drives the threaded rod 352 to rotate in the opposite direction, and the threads of the threaded rod 352 and the pull rod 361 resume the matching relationship, driving the pull rod 361 to move downward.

[0077] In at least one embodiment, in order to enable the thread of the threaded rod 352 and the pull rod 361 to quickly restore the matching relationship when the vehicle slides, such as Figure 3 As shown, a spring is provided between the pull rod 361 and the third gear 351. When the inspection body 1 is always in the forward stage, the setting of the spring can make the pull rod 361 always abut against the top of the threaded section on the threaded rod 352, and once the vehicle slips, the thread of the threaded rod 352 can quickly restore the matching relationship with the pull rod 361.

[0078] Specifically, one end of the third connecting rod 363 is sleeved on the second connecting rod 343 , and the other end is connected to the claw 362 .

[0079] A first limit ring 324 and a second limit ring 325 are provided on the push rod 321 , and the claw 362 is located between the first limit ring 324 and the second limit ring 325 to limit excessive displacement of the push rod.

[0080] The claw 362 includes a first claw body and a second claw body hinged to the first claw body. Figure 3 As shown, the first claw body includes a first extension portion and a first bending portion, the second claw body includes a second extension portion and a second bending portion, the first extension portion is hinged to the second extension portion, and both the first extension portion and the second extension portion are provided with a slot, and the first bending portion and the second bending portion are bent toward the direction of the push rod.

[0081] Among them, Figure 3As shown, the pull rod 361 is in a U-shaped structure, one end of the pull rod 361 is slidably connected to the slot on the first extension part, and the other end of the pull rod 361 is slidably connected to the slot on the second extension part. The middle part of the pull rod 361 is threadedly connected to the threaded rod 352.

[0082] In some embodiments, in order to enable the inspection body 1 to operate stably, Figure 1 and Figure 4 As shown, the inspection body 1 includes a support frame 11, a driving mechanism 12 and a shock absorbing mechanism 13, wherein: the support frame 11 is connected to the guide mechanism 2, and a channel for the inspection guide rail to pass through is formed between the guide mechanism 2 and the driving mechanism 12; the driving mechanism 12 is connected to the support frame 11 through the shock absorbing mechanism 13.

[0083] In actual operation, there may be tiny materials on the inspection rail surface, and the inspection vehicle may vibrate greatly when encountering debris. The drive mechanism 12 is connected to the support frame 11 through the shock absorbing mechanism 13 to avoid large vibrations of the inspection body 1 during operation, thereby ensuring the quality of data collection.

[0084] In some embodiments, Figure 4 As shown, the shock absorbing mechanism 13 includes a spring assembly 131 and a base 132, the base 132 is connected to the driving mechanism 12, and the base 132 and the support frame 11 are respectively connected to the spring assembly 131. When the driving mechanism 12 encounters debris, the spring assembly 131 can buffer the vibration of the driving mechanism 12, ensuring a more stable operation of the driving mechanism 12.

[0085] Specifically, the spring assembly 131 includes a plurality of springs, such as Figure 4 As shown, the spring assembly 131 may include four springs.

[0086] Specifically, one end of the spring is connected to the support frame 11 through a connecting seat, and the other end of the spring is connected to the base 132. The base 132 includes a connecting plate and a connecting block connected to the connecting plate, the spring and the connecting plate are both connected to the connecting block, and the connecting plate is connected to the driving mechanism 12.

[0087] The support frame 11 includes a U-shaped frame 111, a connecting rod group 112, a guide fixing seat 113 and a mounting box 114. One end of the connecting rod in the connecting rod group 112 is connected to the U-shaped frame 111, and the other end is connected to the guide fixing seat 113. The mounting box 114 is arranged at the bottom of the guide fixing seat 113.

[0088] In some embodiments, the driving mechanism 12 includes multiple hub motors 121. Compared with the traditional use of ordinary motors, the use of hub motors 121 for driving can make the structure of the driving mechanism simpler, simpler to manufacture and maintain, and occupy less space, which overall reduces the weight and energy consumption of the vehicle, and has low noise and high rotation efficiency.

[0089] In at least one embodiment, Figure 1 As shown, the drive mechanism 12 includes two hub motors 121. During operation, the hub motor 121 is located above the inspection track. The above-mentioned belt conveyor fault inspection vehicle adopts a vertical drive wheel, using the vehicle's own gravity to provide friction reaction force, solving the problem of horizontal drive relying on regular pre-tightening springs to provide constant friction reaction force, and using the track as the bearing surface. The track is flat and easy to connect, effectively ensuring the contact friction area between the drive wheel and the track surface.

[0090] In some embodiments, in order to make the above-mentioned belt conveyor fault inspection vehicle run more stably, an obstacle clearing shovel 4 is provided at the front end of the inspection body 1 and / or an obstacle clearing shovel 4 is provided at the rear end of the inspection body 1 along the moving direction of the inspection body 1 to remove stains and debris on the track surface in front of the inspection vehicle, thereby ensuring the smooth operation of the inspection vehicle and reducing the vehicle failure rate.

[0091] In at least one embodiment, Figure 5 As shown, the front end and the rear end of the inspection body 1 are both provided with an obstacle removal shovel 4 .

[0092] The obstacle-clearing shovel 4 is fixedly connected to the vertical end plate through an obstacle-clearing connector, and the vertical end plate is connected to the U-shaped frame 111 .

[0093] The second aspect of the present invention provides a belt conveyor fault inspection vehicle control system, such as Figure 6 As shown, the belt conveyor fault inspection vehicle control system provided by the embodiment of the second aspect of the present invention includes a controller 5, a driver 6, a speed sensor, a Bluetooth module and the above-mentioned belt conveyor fault inspection vehicle, wherein:

[0094] The Bluetooth module is connected to the controller 5, and the Bluetooth module is also used to connect to the mobile terminal;

[0095] The speed sensor is disposed in the inspection body 1, specifically in the wheel hub motor of the driving mechanism 12, and is used to detect the speed information of the inspection body 1, that is, the wheel hub motor, and send the speed information to the controller 5;

[0096] The controller 5 is connected to the driver 6 , and the driver is connected to the inspection body 1 . Specifically, the driver is connected to the hub motor of the driving mechanism 12 .

[0097] Compared with the prior art, the belt conveyor fault inspection vehicle control system provided by the embodiment of the second aspect of the present invention can control the speed of the inspection vehicle within a certain range, specifically can control the speed of the inspection vehicle at each stage, and is easy and reliable to use.

[0098] Among them, the mobile terminal can be a smart phone, computer, iPad and other devices.

[0099] Taking the mobile terminal as a smart phone as an example for specific description, when the driving mechanism 12 includes multiple hub motors, the smart phone sends a start command to the controller 5 through the Bluetooth module, and the controller 5 adjusts the armature voltage of the hub motor from 0% to 70% in the form of an equal percentage curve to start according to the PWM duty cycle change law set by the program; in order to adapt to different working conditions during the inspection, the controller 5 adjusts the armature voltage according to the set PWM duty cycle change program to adjust the speed of the hub motor, thereby realizing a variety of inspection speed modes such as fast search, fine search, and crawling; when running to the end of the track, the controller 5 adjusts the armature voltage of the hub motor from 70% to 0% in the form of an equal percentage curve to gradually change to close the vehicle according to the PWM duty cycle change law set by the program. In the above process, the speed sensor is used as a hub motor state detector to monitor the hub motor speed in real time and feed back the monitored information to the controller 5. The main control tasks include hub motor speed control in the vehicle starting stage, hub motor speed control in different inspection speed modes in the forward stage, and hub motor speed control in the closing stage.

[0100] In some embodiments, the above-mentioned belt conveyor fault inspection vehicle control system also includes a power supply and a power monitoring module. The power supply is arranged in the middle of the mounting box 114 and is connected to the driving mechanism to maintain the force balance of the movement. The power monitoring module is on the inner wall of the mounting box 114 facing the inspection track and is connected to the power supply. The remaining power of the power supply can be monitored through the power monitoring module.

[0101] The embodiment of the third aspect of the present invention provides a belt conveyor fault inspection vehicle control method. The belt conveyor fault inspection vehicle control method provided by the embodiment of the third aspect of the present invention adopts the above-mentioned inspection vehicle control system, including:

[0102] Step S101: the controller 5 adjusts the armature voltage of the driving device in the inspection body 1 to gradually change from 0% to 70% in the form of an equal percentage curve, with a total time period of 8 to 12 seconds;

[0103] Step S: 201: The wireless network workstation controls the belt conveyor fault inspection vehicle to switch between multiple inspection speed modes through the controller 5;

[0104] When in the fast search mode, the armature voltage of the driving device in the inspection body 1 is 70% of the allowable limit value, and the running speed of the inspection body 1 is 0.8-1.2m / s;

[0105] When in the fine search mode, the armature voltage of the drive device in the inspection body 1 is 50% of the allowable limit value, and the running speed of the inspection body 1 is 0.4-0.6m / s;

[0106] When in the creeping mode, the armature voltage of the driving device in the inspection body 1 is 30% of the allowable limit value, and the running speed of the inspection body 1 is 0.2-0.3m / s;

[0107] Step S301: the controller adjusts the armature voltage of the driving device in the inspection body 1 to gradually change from 70% to 0% in the form of an equal percentage curve, and the total time period T is 8-12s.

[0108] Compared with the prior art, the belt conveyor fault inspection vehicle control method provided in the embodiment of the third aspect of the present invention can control the armature voltage of the driving device in the inspection body to gradually change in the form of an equal percentage curve within a certain range, thereby ensuring stable operation of the inspection vehicle.

[0109] The specific implementation process of the above inspection vehicle control system control method is as follows:

[0110] (1) Initial stage:

[0111] After the inspection vehicle is powered on and the self-inspection is completed and everything is normal, if there is sufficient battery power remaining, the operator can start the vehicle, otherwise the vehicle needs to be charged first. When the vehicle starting requirements are met, the controller 5 is powered on and the switch is closed, the Bluetooth module connected to the controller 5 is connected to the smart phone, the operator clicks the APP button inside the smart phone, and the smart phone sends a departure command to the inspection vehicle through the Bluetooth module. The controller 5 determines whether the communication interface S=0 jumps to 1. If S=0 does not jump to 1, a fault alarm message is sent to the wireless network workstation. If S=0 jumps to 1, the armature voltage of the hub motor is adjusted from 0% to 70% in the form of an equal percentage curve according to the PWM duty cycle change law set by the program, and after amplification processing by the driver 6, the armature voltage of the hub motor is gradually changed from 0% to 70% in the form of an equal percentage curve, and the total time period T is 10 seconds. At the same time, it is determined whether the armature voltage proportion of the hub motor fed back to the controller 5 reaches 70% of the maximum allowable value. If it does not reach 70%, the controller 5 continues to execute the set PWM duty cycle change program until the armature voltage proportion of the hub motor reaches 70% of the maximum allowable value. If it reaches 70%, the hub motor is received; the pin T=0 of the speed information jumps to 1, the controller 5 stops executing the set PWM duty cycle change program, and the vehicle runs smoothly and enters the forward stage.

[0112] (2) Advancement stage:

[0113] When the vehicle completes the starting phase, the controller 5 adjusts the PWM duty cycle to change the armature voltage to adjust the wheel hub motor speed according to the speed requirements in different inspection modes. During the movement of the inspection vehicle, it is in the fast search mode by default, and the running speed of the inspection vehicle is 0.8-1.2m / s, which can be specifically set to 1m / s. When a section of the belt conveyor is found to have a sign of failure, the wireless network workstation sends a detailed search instruction to the controller 5. The controller 5 determines whether the communication interface S=0 jumps to 1. If S=0 does not jump to 1, a fault alarm message is sent to the wireless network workstation. If S=0 jumps to 1, the armature voltage of the hub motor is adjusted to 50% of the maximum allowable value after amplification by the driver 6 according to the PWM duty cycle change rule set in the program. At the same time, it is determined whether the armature voltage of the hub motor fed back to the controller 5 reaches 50% of the maximum allowable value. If it does not reach 50%, the set PWM duty cycle change program is continued to be executed. If it reaches 50%, the pin T=0 for receiving the hub motor speed information jumps to 1, the controller 5 stops executing the set PWM duty cycle change program, and the vehicle enters the detailed search mode. The running speed of the patrol vehicle detailed search mode is 0.4-0.6m / s, which can be specifically set to 0.5m / s.

[0114] After the detailed search of the faulty section is completed and the fault-free section is reached, the wireless network workstation sends a quick search instruction to the controller 5. The controller 5 determines whether the communication interface S=0 jumps to 1. If S=0 does not jump to 1, a fault alarm message is sent to the wireless network workstation. If S=0 jumps to 1, the armature voltage of the hub motor is adjusted to 70% of the maximum allowable value after amplification by the driver 6 according to the PWM duty cycle change rule set in the program. At the same time, it is determined whether the armature voltage proportion of the hub motor fed back to the controller 5 reaches 70% of the maximum allowable value. If it does not reach 70%, the set PWM duty cycle change program continues to be executed. If it reaches 70%, the hub motor is received; the pin T=0 of the speed information jumps to 1, the controller 5 stops executing the set PWM duty cycle change program, and the vehicle operation state switches back to the quick search mode.

[0115] When running to the sloped track section, the inspection vehicle runs at a speed of 0.2-0.3m / s, which can be specifically set to 0.3m / s. The wireless network workstation sends a creeping instruction to the controller 5, and the controller 5 determines whether the communication interface S=0 jumps to 1. If S=0 does not jump to 1, a fault alarm message is sent to the wireless network workstation. If S=0 jumps to 1, the armature voltage of the hub motor is adjusted to 30% of the maximum allowable value after amplification by the driver 6 according to the PWM duty cycle change rule set in the program. At the same time, it is determined whether the armature voltage of the hub motor fed back to the controller 5 reaches 30% of the maximum allowable value. If it does not reach 30%, the set PWM duty cycle change program is continued to be executed. If it reaches 30%, the pin T=0 that receives the hub motor speed information jumps to 1, and the controller 5 stops executing the set PWM duty cycle change program, and the vehicle enters the creeping mode.

[0116] After completing the sloped track section, the wireless network workstation sends a quick search instruction to the controller 5. The controller 5 determines whether the communication interface S=0 jumps to 1. If S=0 does not jump to 1, a fault alarm message is sent to the wireless network workstation. If S=0 jumps to 1, the armature voltage of the hub motor is adjusted to 70% of the maximum allowable value after amplification by the driver 6 according to the PWM duty cycle change rule set in the program. At the same time, it is determined whether the armature voltage of the hub motor fed back to the controller 5 reaches 70% of the maximum allowable value. If it does not reach 70%, the set PWM duty cycle change program continues to be executed. If it reaches 70%, the hub motor is received; the pin T=0 of the speed information jumps to 1, the controller 5 stops executing the set PWM duty cycle change program, and the vehicle operation state switches back to the quick search mode.

[0117] (3) Car collection stage:

[0118] When the vehicle runs to the end of the track, when the light signal S=0 of the photoelectric sensor installed at the end of the track jumps to 1, the wireless network workstation sends a vehicle collection instruction to the controller 5. The controller 5 determines whether the communication interface S=0 jumps to 1. If S=0 does not jump to 1, a fault alarm message is sent to the wireless network workstation. If S=0 jumps to 1, the armature voltage of the hub motor is adjusted from 70%-0% to gradually change in the form of an equal percentage curve according to the PWM duty cycle change rule set by the program, after amplification processing by the driver 6, the total time period T is 10 seconds. At the same time, it is determined whether the armature voltage ratio of the hub motor fed back to the controller 5 is zero. If it is not zero, the controller 5 continues to execute the set PWM duty cycle change program. If it is zero, the pin T=0 for receiving the hub motor speed information jumps to 1, the controller 5 stops executing the set PWM duty cycle change program, and the vehicle is successfully collected.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A belt conveyor fault inspection vehicle, characterized in that: The invention comprises an inspection body (1), a guide mechanism (2) and an anti-skid device connected to the guide mechanism (2), wherein the inspection body (1) is used to move along an inspection track, the guide mechanism (2) is connected to the inspection body (1) and the guide mechanism (2) is used to abut against the inspection track, when the guide wheel (21) in the guide mechanism (2) rotates in a first direction, the anti-skid device does not press the inspection track, and when the guide wheel (21) in the guide mechanism (2) rotates in a second direction, the anti-skid device presses the inspection track; The guide mechanism (2) comprises a plurality of guide wheels (21) for clamping the inspection track, and the anti-skid device comprises an anti-skid mechanism (3) connected to at least one set of the guide wheels (21); The anti-skid mechanism (3) comprises a bracket (31), a brake head assembly (32), a first connecting rod (33) and a first transmission assembly (34), wherein: The bracket (31) is connected to the inspection body (1); The brake head assembly (32) is slidably disposed on the bracket (31); One end of the first connecting rod (33) is connected to the guide wheel (21), and the other end passes through the bracket (31) and is connected to the first transmission assembly (34); The first transmission component (34) is in transmission connection with the brake head group (32), and the first transmission component (34) drives the brake head group (32) to approach the inspection track under the drive of the guide wheel (21); The first transmission assembly (34) comprises a first gear (341), a ratchet (342), a second connecting rod (343) and a second gear (344); the first gear (341) is connected to the first connecting rod (33); the ratchet (342) is meshed with the first gear (341); two ends of the second connecting rod (343) are respectively connected to the ratchet (342) and the second gear (344); and a rack meshed with the second gear (344) is provided on the brake head assembly (32); The anti-slip mechanism (3) further comprises a second transmission assembly (35) transmission-connected to the first transmission assembly (34) and a claw assembly (36) transmission-connected to the second transmission assembly (35); the claw assembly (36) is connected to the first transmission assembly (34); and the second transmission assembly (35) is driven by the first transmission assembly (34) to drive the claw assembly (36) to clamp or release the brake head assembly (32).

2. The belt conveyor fault inspection vehicle according to claim 1, characterized in that: The second transmission assembly (35) comprises a third gear (351) and a threaded rod (352) connected to the third gear (351); the third gear (351) is meshed with the first transmission assembly (34); and the threaded rod (352) is threadedly connected to the claw assembly (36).

3. The belt conveyor fault inspection vehicle according to claim 2, characterized in that: The claw assembly (36) includes a pull rod (361), a claw (362) and a third connecting rod (363); the pull rod (361) is threadedly connected to the threaded rod (352); a groove is provided on the claw (362) along the extension direction of the claw (362); the end of the pull rod (361) away from the threaded rod (352) is slidably connected to the groove to drive the claw (362) to clamp or open; the two ends of the third connecting rod (363) are respectively connected to the claw (362) and the first transmission assembly (34).

4. The belt conveyor fault inspection vehicle according to claim 1, characterized in that: The inspection body (1) comprises a support frame (11), a driving mechanism (12) and a shock absorbing mechanism (13), wherein: The support frame (11) is connected to the guide mechanism (2), and forms a passage for the inspection track to pass through between the support frame (11) and the guide mechanism (2) and the drive mechanism (12); The driving mechanism (12) is connected to the supporting frame (11) via the shock absorbing mechanism (13).

5. A belt conveyor fault inspection vehicle control system, characterized in that: The invention comprises a controller (5), a driver (6), a speed sensor, a Bluetooth module and a belt conveyor fault inspection vehicle as claimed in any one of claims 1 to 4, wherein: The Bluetooth module is connected to the controller (5), and the Bluetooth module is also used to connect to a mobile terminal; The speed sensor is arranged in the inspection body (1) and is used to detect speed information of the inspection body (1) and send the speed information to the controller (5); The controller (5) is connected to the driver (6), and the driver is connected to the inspection body (1).

6. A belt conveyor fault inspection vehicle control method using the belt conveyor fault inspection vehicle control system as claimed in claim 5, characterized in that: include: The controller (5) adjusts the armature voltage of the driving device in the inspection body (1) to gradually change from 0% to 70% in the form of an equal percentage curve, with a total time period of 8 to 12 seconds; The wireless network workstation controls the belt conveyor fault inspection vehicle to switch between a plurality of inspection speed modes through the controller (5); When in the fast search mode, the armature voltage of the driving device in the inspection body (1) is 70% of the allowable limit value, and the running speed of the inspection body (1) is 0.8-1.2 m / s; When in the fine search mode, the armature voltage of the driving device in the inspection body (1) is 50% of the allowable limit value, and the running speed of the inspection body (1) is 0.4-0.6 m / s; When in the creeping mode, the armature voltage of the driving device in the inspection body (1) is 30% of the allowable limit value, and the running speed of the inspection body (1) is 0.2-0.3 m / s; The controller adjusts the armature voltage of the driving device in the inspection body (1) to gradually change from 70% to 0% in the form of an equal percentage curve, and the total time period T is 8 to 12 seconds.

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