A soft cable type inspection system

Abstract

The present invention discloses a soft cable type inspection system, which includes a cableway and an inspection robot. The inspection robot is installed on the cableway and can move forward or backward along the cableway. The cableway includes a number of traction mechanisms arranged in sequence. The traction mechanism includes an annular traction chain and a driving motor. The driving motor drives the traction chain to move. A connecting hook for connecting the traction chain is provided on the inspection robot, and a switching mechanism for switching the connecting hook to the next traction chain is also provided. The inspection robot moves under the drive of the traction chain to perform inspection operations, and can continue to move forward after being connected to the next traction mechanism under the switching of the switching mechanism. Compared with the traditional self-powered inspection robot, this device is lighter and does not require power supply for the inspection robot, so the equipment structure is simpler; compared with the whole-line type traction structure, it is convenient for sectional control and maintenance, saves energy, and has a longer service life.

Description

Technical Field

[0001] The present invention relates to the field of safety detection, and more particularly, to a flexible cable type inspection system. Background Art

[0002] In the processes of coal mining, production, transportation, processing, or iron ore mining, transportation, and steel smelting, the transportation of coal or ore is indispensable. Due to its large transportation volume, strong load-bearing capacity, long transportation distance, etc., the mine belt conveyor has become more and more common in mining production.

[0003] In order to be able to observe the operation of the mine belt conveyor in a timely manner, discover and handle safety problems in a timely manner, it is necessary to regularly conduct inspection operations on it. Due to the harsh working environment and the long length of the mine belt conveyor, traditional manual inspections can no longer meet the normal requirements, and inspection robots have emerged as the times require.

[0004] Most of the existing mine inspection robots are flexible cable type inspection systems, that is, the detection equipment moves cyclically along the cable track to detect the mine belt conveyor for images or thermal imaging, etc. However, the existing mine inspection robots either adopt the method of self-powered and drive systems, or the traction method; the former has a large self-weight of the equipment, large wear and poor stability during use, and because it is self-powered, it is easy to cause safety accidents during operation and is used less; the latter requires a long traction cable chain to be arranged due to the long length of the entire line, and a large-power traction motor is equipped, and it is easy to cause traction motor failures due to large loads during the operation of the entire system; and the long traction cable chain brings many uncertain factors and is not easy to monitor and handle problems.

[0005] Therefore, a new type of flexible cable type inspection system is needed to solve the above problems. Summary of the Invention

[0006] An object of the present invention is to provide a new technical solution for a flexible cable type inspection system.

[0007] According to a first aspect of the present invention, there is provided a flexible cable type inspection system, including a cableway and an inspection robot. The inspection robot is installed on the cableway and can move forward or backward along the cableway. The cableway includes a plurality of traction mechanisms arranged in sequence. The traction mechanism includes an annular traction chain and a drive motor. The drive motor drives the traction chain to move. A connection hook connecting the traction chain is provided on the inspection robot, and a switching mechanism for switching the connection hook to the next traction chain is provided.

[0008] Through this solution, the inspection robot moves for inspection operations driven by the traction chain and can continue to move forward by connecting to the next traction mechanism under the switching of the switching mechanism. Compared with the traditional inspection robot with its own power supply, this device is lighter and does not require power supply for the inspection robot, so the device structure is simpler; compared with the whole-line traction structure, it is convenient for segmented control and maintenance, saves energy, and the load of each motor is smaller, so the service life is longer.

[0009] Preferably, the switching mechanism includes a conveying disc and a switching motor. The switching motor drives the conveying disc to rotate. At least two connecting hooks are arranged on the conveying disc, and the connecting hooks can be sequentially connected to the traction chain driven by the conveying disc.

[0010] Through this solution, the switching motor drives the conveying disc to rotate, thereby driving multiple connecting hooks to be sequentially connected to different traction chains to realize the uninterrupted inspection operation of the inspection robot.

[0011] Preferably, the conveying disc includes two sprockets installed in the housing of the inspection robot and a chain wound around the sprockets. The connecting hook is fixed to the chain, the switching motor drives the sprockets to rotate, and one side of the chain is located on the central axis of the housing.

[0012] Through this solution, the chain can drive the connecting hook to keep the inspection robot balanced at the hanging position on the central axis; if it is necessary to switch the traction chain, the chain drives the connecting hook to the rear of the inspection robot, so that another connecting hook rotates to the front end of the inspection robot to hook to the next traction chain, and the chain continues to rotate until the connecting hook at the rear disengages from the previous traction chain, and another connecting hook reaches the middle position of the inspection robot to achieve balance.

[0013] Preferably, the traction chain includes a chain body and a hook ring. The hook ring is arranged at the bottom of the chain body, and the connecting hook can be inserted into or removed from the hook ring from the side driven by the chain.

[0014] Through this solution, the chain body mainly plays a role in connection and bearing. The hook ring is fixed at the hinge joint between the chain bodies, forming a ring structure below the chain body for the connecting hook to directly hook, avoiding direct friction contact with the chain body and affecting the service life of the traction chain.

[0015] Preferably, the connecting hook includes a hook body, a connecting rod and an anti-detachment mechanism. The anti-detachment mechanism is arranged at the opening of the hook body. One end of the connecting rod is connected to the hook body, and the other end of the connecting rod extends into the housing and is connected to the chain through a limit block.

[0016] With this solution, after the hook body is hooked into the hook ring, the anti-disengagement mechanism can prevent the hook body from becoming unhooked due to external environmental interference, improving the reliability of the device; the limiting block is located in the housing to play a limiting role, preventing the connecting hook from directly pulling the chain and causing excessive complexity and damage to the chain.

[0017] Preferably, a falling prevention plate is provided directly below the traction mechanisms, and the length of the falling prevention plate is not less than twice the length of the inspection robot.

[0018] With this solution, during the process of the inspection robot switching the traction chain, it can slide on the falling prevention plate to prevent the inspection robot from falling and being damaged due to insecure connection, further improving the reliability of the device.

[0019] Preferably, the anti-disengagement mechanism includes an anti-disengagement plate. The middle of the anti-disengagement plate is rotatably connected above the opening of the hook body through a torsion spring. The bottom of the anti-disengagement plate inclines towards the inside of the hook body. The distance between the bottom of the anti-disengagement plate and the bottom of the hook body is not less than the diameter of the cross-section of the hook ring. A lever is provided on the outer side of the top of the anti-disengagement plate, and the lever can be toggled by a toggling mechanism to rotate the anti-disengagement plate to open the hook body.

[0020] With this solution, during normal hooking, the anti-disengagement plate is blocked at the opening of the hook body under the action of the torsion spring, preventing the hook body from sliding laterally and disengaging from the contact with the hook ring; when unhooking is required, the toggling mechanism toggles the lever to rotate the anti-disengagement plate until it reaches a horizontal position, opening the opening of the hook body and enabling the hook body to smoothly disengage from the hook ring; the inclined arrangement of the anti-disengagement plate can play a guiding role during the process of the hook body being inserted into the hook ring, enabling the hook body to directly be inserted into the hook ring when the angle of the anti-disengagement plate is fixed.

[0021] Preferably, the toggling mechanism is fixed to the falling prevention plate. The toggling mechanism includes a vertical rod and a toggle head. The toggle head extends to the lever, and an inclined extrusion surface inclined downward is provided on the side of the toggle head facing the lever.

[0022] With this solution, the extrusion surface of the toggle head can push the lever to rotate the anti-disengagement plate obliquely downward, preventing the lever from being damaged due to excessive force when directly pushed horizontally.

[0023] Preferably, the opening of the hook body is in the shape of a flared mouth; there are two falling prevention plates, which are respectively arranged on both sides below the traction chain.

[0024] With this solution, the flared mouth shape of the hook body can play a guiding role in the hook body being inserted into the hook ring, improving the reliability of hooking; the two falling prevention plates can reserve space for the pan-tilt at the bottom of the inspection robot to pass through.

[0025] Preferably, the traction chain is engaged with gears arranged in a triangular pattern. The gears include a driving gear at the top and two driven gears at the bottom. The diameter of the driven gears is smaller than that of the driving gear, and the driving motor drives the driving gear to rotate.

[0026] With this solution, the diameter of the driven wheel position is smaller, which can minimize the distance between the bottommost parts of the traction mechanism and reduce the span during the switching process of the switching mechanism. This helps ensure that there is sufficient space and time for the connection hook to be switched, improving the reliability of the device.

[0027] According to an embodiment of the present disclosure, the split arrangement of the traction mechanism can greatly shorten the length of the traction chain, significantly reduce the load on the driving motor, and ensure safe and stable operation. Moreover, it is convenient to monitor each section of the traction mechanism separately for targeted maintenance and repair.

[0028] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings incorporated in and forming a part of this specification illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0030] Figure 1 is a schematic structural diagram of the flexible cable type inspection system according to an embodiment of the present invention.

[0031] Figure 2 is Figure 1 a schematic structural diagram of the inspection robot in

[0032] Figure 3 is Figure 1 a schematic structural diagram of the traction chain in

[0033] Figure 4 is Figure 2 a top view structural diagram of the inspection robot in

[0034] Figure 5 is Figure 1 a side view schematic diagram of the connection structure between the inspection robot and the traction chain in

[0035] Figure 6 is Figure 5 a schematic diagram of the connection structure between the connection hook and the chain in

[0036] Figure 7 is Figure 6 a schematic structural diagram of the anti - detachment plate in

[0037] Figure 8 is Figure 5Rear view schematic diagram of the connection structure between the middle plug head and the anti - detachment plate. Detailed implementation manners

[0038] Now, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as a limitation to the present invention and its application or use.

[0040] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be regarded as part of the specification.

[0041] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0043] Embodiment

[0044] As Figures 1 to 8 shown, the flexible cable - type inspection system in this embodiment includes a cableway and an inspection robot 200. The inspection robot 200 is installed on the cableway and can move forward or backward along the cableway. The cableway includes a number of traction mechanisms 100 arranged in sequence. The traction mechanism 100 includes an annular traction chain 110 and a driving motor (not shown in the figure). The driving motor drives the traction chain 110 to move. A connection hook 220 for connecting to the traction chain is provided on the inspection robot 200, and a switching mechanism for switching the connection of the connection hook 220 to the next traction chain 110.

[0045] With the solution of this embodiment, the inspection robot 200 moves for inspection operations driven by the traction chain 110, and can be connected to the next traction mechanism 100 to continue moving forward under the switching of the switching mechanism. Compared with the traditional inspection robot 200 with its own power supply, this device is lighter, does not require power supply for the inspection robot 200, so the equipment structure is simpler, does not cause great pressure on the bearing mechanism, and is safer and more practical; compared with the whole-line traction structure, it is convenient for segmented control and maintenance, only controls the corresponding traction mechanism 100 to work during the traction process, saves more energy, the load of each motor is smaller, and there is no need to use a motor with a large power, and the service life is longer.

[0046] In this embodiment or other embodiments, the switching mechanism includes a conveying disc 230 and a switching motor (not shown in the figure). The switching motor drives the conveying disc 230 to rotate. At least two connecting hooks 220 are arranged on the conveying disc 230. The connecting hooks 220 can be successively connected to the traction chain 110 driven by the conveying disc 230. The switching motor drives the conveying disc 230 to rotate, thereby driving a plurality of connecting hooks 220 to rotate. The connecting hooks 220 can cross the connection part of the traction mechanism 100 driven by the conveying disc 230, realize connection with different traction chains 110, and realize the uninterrupted inspection operation of the inspection robot 200.

[0047] In this embodiment or other embodiments, the conveying disc 230 includes two sprockets 231 installed in the housing 211 of the inspection robot 200 and a chain 232 wound around the sprockets 231. The connecting hook 220 is fixed to the chain 232. The switching motor drives the sprockets 231 to rotate, and one side of the chain 232 is located on the central axis of the housing 211.

[0048] The chain 223 can drive the connecting hook 220 to keep the inspection robot 200 balanced at the hanging position on the central axis; if it is necessary to switch the traction chain 110, the chain 232 drives the connecting hook 220 to the rear of the inspection robot 200, so that another connecting hook 220 rotates to the front end of the inspection robot 200 to be hooked to the next traction chain 110, and the chain 232 continues to rotate until the connecting hook 220 at the rear disengages from the previous traction chain 110, and another connecting hook 220 reaches the middle position of the inspection robot 200 to achieve balance.

[0049] The rotational linear velocity of the chain 223 in this embodiment is the same as the linear velocity of the traction chain 110, which can ensure that the connecting hook 220 can be successfully hooked to the traction chain 110.

[0050] In this embodiment or other embodiments, the traction chain 110 includes a chain body 111 and a hook ring 112. The hook ring 112 is arranged at the bottom of the chain body 111. The connecting hook 220 can be inserted into or removed from the hook ring 112 from the side under the drive of the chain 232. The chain body 111 in this embodiment has the same structure as that of a traditional traction chain and is formed by hinging a plurality of chain plates end to end, mainly playing a role in connection and bearing pressure. The hook ring 112 is a semi-circular structure bent from a steel structure, and its length is not greater than the length of the chain plate. The head and tail ends of the hook ring 112 are hinged to the hinge joint between the chain bodies 111 for the connecting hook 220 to directly hook, so as to avoid direct friction contact with the chain body 111 and affect the service life of the traction chain 110.

[0051] In this embodiment or other embodiments, the connecting hook 220 includes a hook body 222, a connecting rod 221 and an anti-detachment mechanism 240. The anti-detachment mechanism 240 is arranged at the opening of the hook body 222. One end of the connecting rod 221 is connected to the hook body 222, and the other end of the connecting rod 221 extends into the housing 211 and is connected to the chain 232 through a limit block 223.

[0052] After the hook body 222 is hooked into the hook ring 112, the anti-detachment mechanism 240 can prevent the hook body 222 from being detached due to external environmental interference, improving the reliability of the device; the limit block 223 is located in the housing 211 to play a limiting role, avoiding the connecting hook 222 directly pulling the chain 232 and causing the chain 232 to be damaged due to excessive load.

[0053] A waist-shaped through groove for the passage of the connecting rod 221 is provided on the housing 211, and the connecting rod 221 slides in the through groove, which can play a stabilizing role for the connecting rod 221.

[0054] In this embodiment or other embodiments, a fall-prevention plate 300 is arranged directly below the traction mechanisms 100. The length of the fall-prevention plate 300 is not less than twice the length of the inspection robot 200. When the inspection robot 200 switches the traction chain 110, it can slide on the fall-prevention plate 300 for a certain distance to avoid the inspection robot 200 from falling and being damaged due to insecure connection, further improving the reliability of the device. There are two fall-prevention plates 300, which are respectively arranged on both sides below the traction chain 110. The two fall-prevention plates 300 can reserve space for the pan-tilt 212 at the bottom of the inspection robot 200 to pass through.

[0055] In this embodiment or other embodiments, the anti - detachment mechanism 240 includes an anti - detachment plate 241. The middle of the anti - detachment plate 241 is rotationally connected above the opening of the hook body 222 through a torsion spring (not shown in the figure). The bottom of the anti - detachment plate 241 inclines towards the hook body 222. The distance between the bottom of the anti - detachment plate 241 and the bottom of the hook body 222 is not less than the diameter of the cross - section of the hook ring 112. Coupled with the inclined arrangement of the anti - detachment plate 241, it can play a guiding role during the process of the hook body 222 being inserted into the hook ring 112, enabling the hook body 222 to be directly inserted into the hook ring 112 when the angle of the anti - detachment plate 241 is fixed.

[0056] On the outer side of the top of the anti - detachment plate 241, a lever 242 is provided. The lever 242 can be toggled by a toggling mechanism to rotate the anti - detachment plate 241 to open the hook body 222, enabling the hook body 222 to rotate and disengage from the hook ring 112 under the drive of the chain 232.

[0057] During normal hooking, the anti - detachment plate 241 is blocked at the opening of the hook body 222 under the action of the torsion spring, preventing the hook body 222 from sliding laterally and disengaging from the contact with the hook ring 112. When unhooking is required, the toggling mechanism toggles the lever 242 to rotate the anti - detachment plate 241 until it reaches a horizontal position, thus opening the opening of the hook body 222 and enabling the hook body 222 to smoothly disengage from the hook ring 112.

[0058] In this embodiment or other embodiments, the toggling mechanism is fixed to the anti - falling plate 300. The toggling mechanism includes a vertical rod 310 and a toggle head 320. The toggle head 320 extends to the lever 242, and an inclined downward extrusion slope 321 is provided on the side of the toggle head 320 facing the lever 242. The extrusion slope 321 of the toggle head 320 can push the lever 242 to rotate the anti - detachment plate 241 obliquely downward, avoiding excessive force on the lever 242 caused by direct horizontal pushing and thus preventing damage.

[0059] In this embodiment or other embodiments, the opening of the hook body 220 is in the shape of a flared opening; the flared shape of the hook body can play a guiding role in the hook body 222 being inserted into the hook ring 112, improving the reliability of hooking.

[0060] In this embodiment or other embodiments, the traction chain 110 meshes with gears arranged in a triangular pattern. The gears include a driving gear 121 at the top and two driven gears 122 at the bottom. The diameter of the driven gear 122 is smaller than the diameter of the driving gear 121, and the driving motor drives the driving gear 121 to rotate.

[0061] The driven wheel position 122 has a smaller diameter, which can minimize the distance between the bottom of the traction mechanism 110 and reduce the span during the switching process of the switching mechanism, which helps to ensure that the switching structure has enough space and time to switch the connecting hook, thereby improving the reliability of the device.

[0062] During the use of this system, the inspection robot is hooked to the traction chain through the top connection hook, and the traction chain drives the inspection robot to move forward. When it moves to the end of the traction mechanism and is about to switch, the inspection robot moves to the anti-fall plate and slides. At the same time, the conveyor disc rotates, driving the currently connected connection hook (No. 1 connection hook) to move backward, and the other connection hook (No. 2 connection hook) to move forward;

[0063] Due to the movement of the traction chain, the No. 1 connecting hook moves forward to the pull head at the same time, and the pull head squeezes the pull rod to open the anti-drop plate. After opening, the hook body rotates due to the rotation of the conveyor disc until it rotates out of the hook ring;

[0064] At the same time, the No. 2 connecting hook will rotate driven by the conveyor disc and gradually move towards the hook ring on the next traction chain. Under the guidance of the anti-slip plate, it will be inserted into the hook ring from the gap under the anti-slip plate to complete the connection. The conveyor disc continues to rotate until the No. 2 connecting hook reaches the middle position of the inspection robot, completing the replacement of the traction mechanism.

[0065] According to this embodiment, the split arrangement of the traction mechanism can greatly shorten the length of the traction chain, greatly reduce the load of the drive motor, and ensure safe and stable operation; and it is convenient to monitor each section of the traction mechanism separately for targeted repair and maintenance.

[0066] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A flexible cable type inspection system, comprising a cableway and an inspection robot, the inspection robot is installed on the cableway and can move forward or backward along the cableway, characterized in that, The cableway includes a number of traction mechanisms arranged in sequence. The traction mechanism includes an annular traction chain and a driving motor. The driving motor drives the traction chain to move. A connecting hook for connecting to the traction chain and a switching mechanism for switching the connecting hook to the next traction chain are provided on the inspection robot; the switching mechanism includes a conveying disc and a switching motor. The switching motor drives the conveying disc to rotate. At least two connecting hooks are provided on the conveying disc. The connecting hook can be sequentially connected to the traction chain under the drive of the conveying disc; the conveying disc includes two sprockets installed in the housing of the inspection robot and a chain wound around the sprockets. The connecting hook is fixed to the chain. The switching motor drives the sprockets to rotate. One side of the chain is located on the central axis of the housing; the traction chain includes a chain body and a hook ring. The hook ring is arranged at the bottom of the chain body. The connecting hook can be inserted into or removed from the hook ring from the side under the drive of the chain; the connecting hook includes a hook body, a connecting rod and an anti-detachment mechanism. The anti-detachment mechanism is provided at the opening of the hook body. One end of the connecting rod is connected to the hook body. The other end of the connecting rod extends into the housing and is connected to the chain through a limiting block; a safety fall prevention plate is provided directly below between the traction mechanisms.

2. The flexible cable type inspection system according to claim 1, characterized in that, The length of the safety fall prevention plate is not less than twice the length of the inspection robot.

3. The flexible cable type inspection system according to claim 2, characterized in that, The anti-detachment mechanism includes an anti-detachment plate. The middle of the anti-detachment plate is rotatably connected above the opening of the hook body. The bottom of the anti-detachment plate inclines towards the inside of the hook body. The distance between the bottom of the anti-detachment plate and the bottom of the hook body is not less than the diameter of the cross-section of the hook ring. A lever is provided on the outer side of the top of the anti-detachment plate. The lever can be toggled by a toggling mechanism to rotate the anti-detachment plate to open the hook body.

4. The flexible cable type inspection system according to claim 3, characterized in that, The toggling mechanism is fixed to the safety fall prevention plate. The toggling mechanism includes a vertical rod and a toggle head. The toggle head extends to the lever. An inclined downward pressing slope is provided on the side of the toggle head facing the lever.

5. The flexible cable type inspection system according to claim 4, characterized in that, The opening of the hook body is in the shape of a flared mouth; there are two safety fall prevention plates which are respectively arranged on both sides below the traction chain.

6. The flexible cable type inspection system according to any one of claims 1-5, characterized in that, The traction chain meshes with gears arranged in a triangular pattern. The gears include a driving gear at the top and two driven gears at the bottom. The diameter of the driven gear is smaller than the diameter of the driving gear. The driving motor drives the driving gear to rotate.

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