Inspection Robot Belt Detection Device and Its Detection System

Abstract

The present invention discloses a belt detection device and a detection system for a patrol robot, belonging to the technical field of belt detection. The present invention includes an operation track, a detector, and an annular track. The operation track has a charging section; the annular track has an opening, and a rail-changing device is arranged at the opening. The rail-changing device includes a first arc-shaped rail-changing part and a second arc-shaped rail-changing part. The first arc-shaped rail-changing part is rotatably installed at the end of the operation track, and the second arc-shaped rail-changing part has two parts respectively rotatably installed at the opening ends of the annular track; the detector has a pair of clamping wheels, and the runner wheels of the clamping wheels are attached to the chute grooves of the operation track and the annular track. The annular track has a curved rail section. The present invention installs a patrol robot in the mine tunnel to monitor the conveying device, so as to timely discover existing potential hazards.

Description

Technical Field

[0001] The invention belongs to the technical field of belt detection, and particularly relates to a belt detection device for an inspection robot and its detection system. Background Art

[0002] Belt conveyor has the characteristics of high efficiency, simplicity, low cost, etc., so it has been widely used in the transportation in coal mines, especially in the transportation from underground coal mines to the ground after mining. The conveyor belt for transporting coal is generally relatively long, and belt conveyor has the disadvantages of easy deviation, tearing, slipping, etc. Especially for the conveyor belt transporting coal, due to the relatively large density of coal, once there is a coal pile-up, it will cause the belt to slip, resulting in excessive wear or even fire of the belt. Since the length of the conveyor belt used for transporting coal underground is at least several hundred meters, and some even reach more than 1 kilometer, it is very necessary to monitor it. Through monitoring, problems such as deviation, slipping, tearing, fire, high temperature, etc. of the conveyor belt can be found in time, so as to take measures in time to avoid the expansion of faults or eliminate faults.

[0003] At present, for the detection of underground mine tunnels, AI fixed-point detection is mostly used to continuously detect a certain point on the coal conveyor belt, mainly for detecting foreign objects on the conveyor belt, and the monitoring ability of the entire belt transmission capacity becomes weak accordingly. Summary of the Invention

[0004] The purpose of the invention is to provide a belt detection device for an inspection robot and its detection system, which monitors the conveying device by installing an inspection robot in the mine tunnel, so as to timely discover existing hidden dangers.

[0005] To solve the above technical problems, the invention is realized through the following technical solutions:

[0006] The invention is a belt detection device for an inspection robot and its detection system, including an operation track, a detector and an annular track. The operation track has a charging section;

[0007] The annular track has an opening, and a rail changing device is arranged at the opening. The rail changing device includes a first arc-shaped rail and a second arc-shaped rail. The first arc-shaped rail is rotatably installed at the end of the operation track, and the second arc-shaped rail has two parts which are respectively rotatably installed at the opening end of the annular track;

[0008] The detector has a pair of clamping wheels, and the rotating wheels of the clamping wheels are attached to the chutes of the operation track and the annular track.

[0009] Furthermore, the annular track has a curved rail section;

[0010] The detector includes a box body, the box body has a top cover, an installation hole is opened on the top cover, a bearing is arranged in the installation hole, a clamping wheel is fixed at the end of a transmission shaft, the transmission shaft is fitted in the bearing, the end of the transmission shaft passes through the bearing and extends into the box of the detector, and a motor is installed in the box;

[0011] A vertical rod is installed on the box, a pair of pressure rods are installed on the vertical rod, the pressure rod includes a telescopic cylinder and a limit block, support rods are arranged on both sides of the limit block, a rolling ball head is installed at the end of the support rod, the rolling ball head abuts against the side surface of the chute, one end of the limit block is arranged at the end of the telescopic cylinder, a first connecting ring is arranged at the other end of the telescopic cylinder, and the first connecting ring is sleeved on the vertical rod;

[0012] It also includes a reset device, the reset device includes a second connecting ring and a third connecting ring, the second connecting ring and the third connecting ring are connected by a first reset spring, the second connecting ring is sleeved on the transmission shaft, and the third connecting ring is sleeved on the support rod.

[0013] Further, a driving shaft and a power transmission shaft are installed on the top cover, the driving shaft is connected to the motor, the driving shaft is respectively connected to the power transmission shaft and a transmission shaft through belts, and the power transmission shaft is connected to the other transmission shaft;

[0014] The power transmission shaft includes a stepped ring composed of a limit ring and a compression ring, a top ring is arranged at the port of the limit ring, and a bottom ring is arranged at the open end of the compression ring;

[0015] The power transmission shaft also includes a frustum cylinder composed of a circular ring and a conical cylinder, a second reset spring is arranged on the bottom surface of the circular ring, and the second reset spring abuts against the bottom ring; a vertical rod is arranged on the inner surface of the top ring, a top rod is installed at the end of the vertical rod, a spring is arranged on the top rod, and the end of the vertical rod is connected to the middle of the spring; a circle of arc-shaped protrusions is arranged on the inner surface of the limit ring, and the end of the top rod is provided with an inclined surface and abuts against the surface of the conical cylinder;

[0016] A circle of clamping strips is arranged on the circumferential surface of the circular ring, a guide groove corresponding to the clamping strips is arranged on the inner surface of the compression ring, the compression ring is installed on the top cover through a bearing, and a charging shaft is installed in the frustum cylinder.

[0017] Further, a power supply is installed in the box, and the charging end of the power supply is connected to the end of the charging shaft through a wire.

[0018] Further, it also includes a connecting rod, one end of the connecting rod is connected to the vertical rod, and a ring sleeve is arranged at the other end of the connecting rod, and the ring sleeve is slidably fitted on the concave ring opened on the transmission shaft.

[0019] Further, it also includes a tapping track, and both ends of the tapping track are respectively connected to a running track and a first arc-shaped track-changing track;

[0020] The first arc-shaped track-changing track and the tapping track are connected by a driver.

[0021] Furthermore, a notch is provided at the end of the tapping track. A driving hole is provided on the bottom surface of the notch. A vertical groove is provided on the side surface of the driving hole. A transmission hole communicating with the driving hole is provided on the end surface of the tapping track. A limiting hole is provided at one end of the first arc-shaped track-changing part. The driver includes a gear and a limiting post. The limiting post is fitted in the limiting hole. The gear extends into the driving hole. A pin is installed in the driving hole. The pin has a straight rack and a clamping plate. The straight rack meshes with the gear. The clamping plate is fitted in the vertical groove.

[0022] Furthermore, the end structures of the second arc-shaped track-changing part and the first arc-shaped track-changing part are the same.

[0023] Furthermore, an infrared thermal imager and a camera are installed on the detector.

[0024] The inspection robot belt detection system performs cyclic detection through the above-mentioned inspection robot belt detection device.

[0025] The present invention has the following beneficial effects:

[0026] In the present invention, an inspection robot is installed in the mine tunnel to monitor the conveying device, so as to timely discover existing potential hazards. There are a running track and a circular track. The circular track is arranged at both ends of the running track. Through the circular track, the detector can travel unidirectionally on the track and can perform cyclic detection. The arc-shaped track-changing part is also driven by a hydraulic device to complete the docking of the tracks and control the detector to perform targeted detection. An infrared thermal imager and a camera are installed on the detector. During the inspection, the camera is used to collect images, so that it is convenient for the manager to observe the conveyor belt images collected by the inspection robot in real time from the main control machine end, so as to facilitate manual analysis of whether there are faults on the conveyor belt. The temperature information of the corresponding monitoring unit is detected through infrared thermal imaging technology, mainly the temperature information at the conveyor belt, so as to judge whether there is a high-temperature danger. The detector is equipped with an independent rechargeable power supply. The running track has a charging section. When the detector docks at the charging section, the independent power supply is automatically charged.

[0027] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a schematic structural diagram of the track and the detector;

[0030] Figure 2Schematic diagram of the running track and the detector;

[0031] Figure 3 Schematic diagram of the tapping track;

[0032] Figure 4 Schematic diagram of the first arc-shaped track change;

[0033] Figure 5 Schematic diagram of the bolt;

[0034] Figure 6 Schematic diagram of the driver;

[0035] Figure 7 Schematic diagram of the detector;

[0036] Figure 8 Schematic diagram of the box;

[0037] Figure 9 Schematic diagram of the distribution of the drive shaft, transmission shaft and power transmission shaft in the box;

[0038] Figure 10 Schematic diagram of the pressure bar;

[0039] Figure 11 Schematic diagram of the resetter;

[0040] Figure 12 Schematic diagram of the detection head;

[0041] Figure 13 Schematic diagram of the power transmission shaft;

[0042] Figure 14 Schematic diagram of the power transmission shaft;

[0043] Figure 15 Schematic diagram of the power transmission shaft;

[0044] Figure 16 Schematic diagram of the power transmission shaft;

[0045] Figure 17 Internal schematic diagram of the power transmission shaft;

[0046] In the attached drawings, the list of components represented by each label is as follows:

[0047] 1. Running track; 2. Tap-off track; 3. First arc-shaped track change; 4. Second arc-shaped track change; 5. Ring track; 6. Detector; 7. Slide groove; 8. Bolt; 9. Driver; 10. Vertical rod; 11. Clamping wheel; 12. Pressing rod; 13. Resetter; 14. Link; 15. Box body; 16. Camera; 17. Drive shaft; 18. Power transmission shaft; 19. Transmission shaft; 101. Connecting flange; 102. Charging section; 103. Curved track section; 201. Notch; 202. Vertical groove; 203. Drive hole; 204. Transmission hole; 301. Limit hole; 801. Blind hole; 802. Card plate; 803. Straight rack; 901. Gear; 902. Connecting rod; 903. Limit post; 1201. First connecting ring; 1202. Telescopic cylinder; 1203. Limit block; 1204. Support rod; 1205. Rolling ball head; 1301. Second connecting ring; 1302. First return spring; 1303. Third connecting ring; 1501. Bearing; 1502. Top cover; 1503. Box; 1801. Limit ring; 1802. Compression ring; 1803. Guide groove; 1804. Bottom ring; 1805. Arc-shaped protrusion; 1806. Top ring; 1807. Conical cylinder; 1808. Second return spring; 1809. Ring; 1810. Card strip; 1811. Top rod; 1812. Charging shaft; 1813. Upright rod. Detailed implementation manner

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0049] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery", etc. indicating the orientation or position relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0050] Please refer to Figure 1-17 As shown, the present invention is a belt detection device for an inspection robot, including a running track 1 and a ring track 5. Connecting flanges 101 are provided on both the running track 1 and the ring track 5. Among them, only the open part of the ring track 5 is shown in the figure. The ring track 5 is provided at both ends of the running track 1, so that the detector 6 can perform cyclic detection on the track. In addition, a belt flaw detector is installed under the conveyor frame to detect hidden dangers inside the belt.

[0051] Specifically, the annular track 5 has an opening, and a rail-changing device is arranged at the opening. The rail-changing device includes a first arc-shaped rail 3 and a second arc-shaped rail 4. Among them, there are two second arc-shaped rails 4, which are respectively arranged at both ends of an annular track 5. By rotating the first arc-shaped rail 3 to dock with one of the openings on the annular track 5, the docking of the tracks is completed.

[0052] Specifically,

[0053] The first arc-shaped rail 3 is rotatably installed at the end of the running track 1, and there are two second arc-shaped rails 4, which are respectively rotatably installed at the opening ends of the annular track 5;

[0054] Among them, preferably, a tapping track 2 is further included, and both ends of the tapping track 2 are respectively connected to the running track 1 and the first arc-shaped rail 3.

[0055] Specifically, the first arc-shaped rail 3, the second arc-shaped rail 4 and the tapping track 2 all have sliding grooves 7.

[0056] Among them, the first arc-shaped rail 3 and the tapping track 2 are connected by a driver 9.

[0057] A notch 201 is opened at the end of the tapping track 2. A driving hole 203 is arranged at the bottom surface of the notch 201. A vertical groove 202 is opened on the side surface of the driving hole 203. A transmission hole 204 communicating with the driving hole 203 is arranged on the end surface of the tapping track 2. A limiting hole 301 is arranged at one end of the first arc-shaped rail 3. The driver 9 includes a gear 901 and a limiting post 903. Among them, the gear 901 and the limiting post 903 are connected by a connecting rod 902. The limiting post 903 is fitted in the limiting hole 301. The gear 901 extends into the driving hole 203. A pin 8 is installed in the driving hole 203. The pin 8 has a straight rack 803 and a clamping plate 802. The straight rack 803 meshes with the gear 901. The clamping plate 802 is fitted in the vertical groove 202. Correspondingly, a blind hole is arranged at the top of the pin 8 for installing the push rod of the hydraulic driver. By hydraulic driving to push the pin 8, then the pin 8 drives the gear 901 to rotate, and the first arc-shaped rail 3 rotates by a certain angle accordingly.

[0058] Further, the end structures of the second arc-shaped rail 4 and the first arc-shaped rail 3 are the same. Correspondingly, the structural design of the opening end of the annular track 5 is the same as the structural design of the end of the tapping track 2 with a notch. The second arc-shaped rail 4 is also driven by hydraulic pressure.

[0059] Further, an infrared thermal imager and a camera 16 are installed on the detector 6. During the inspection tour, the camera 16 is used to collect images, facilitating the manager to observe in real time the conveyor belt images collected by the inspection robot from the main control unit, so as to facilitate manual analysis of whether there are faults in the conveyor belt. The temperature information of its corresponding monitoring unit is detected through infrared thermal imaging technology, mainly the temperature information at the conveyor belt, so as to judge whether there is a high-temperature danger.

[0060] Both the circular track 5 and the circular track 5 have curved track sections 103 to cope with the curved terrain of the tunnel. The detector 6 has a pair of clamping wheels 11, and the rotating wheels of the clamping wheels 11 are attached to the sliding grooves 7 of the running track 1 and the circular track 5.

[0061] In order to cope with the turning of the detector 6 when passing through the curved track section 103, a pressing and reset mechanism is provided on the detector 6.

[0062] The detector 6 includes a box body 15. The box body 15 has a top cover 1502. Installation holes are provided on the top cover 1502, and bearings 1501 are arranged in the installation holes. There are two installation holes, that is, two clamping wheels 11 are provided on the detector 6 to form a clamping wheel group.

[0063] The clamping wheel 11 is fixed at the end of the transmission shaft 19. The transmission shaft 19 is fitted in the bearing 1501. The end of the transmission shaft 19 passes through the bearing 1501 and extends into the box 1503 of the detector 6. A motor is installed in the box 1503, and the power source of its rotating shaft 19 is provided by the motor;

[0064] A vertical rod 10 is installed on the box 1503. A pair of pressure rods 12 are installed on the vertical rod 10. The two pressure rods 12 are in a "V" shape for rotatable pressing on both sides. The pressure rod 12 includes a telescopic cylinder 1202 and a limit block 1203. Support rods 1204 are provided on both sides of the limit block 1203. The end of the support rod 1204 is installed with a rolling ball head 1205. The rolling ball head 1205 abuts against the side of the sliding groove 7, and the clamping wheel 11 is lifted by the rolling ball head 1205 abutting against the sliding groove 7.

[0065] Among them, a connecting rod 14 is further included. One end of the connecting rod 14 is connected to the vertical rod 10, and a ring sleeve is provided at the other end of the connecting rod 14. The ring sleeve is slidably fitted on the concave ring provided on the transmission shaft 19. The transmission shaft 19 is supported by the connecting rod 14, avoiding the weight of the detector 6 being supported by the connected bearing 1501, and ensuring the stability of the detector 6.

[0066] One end of the limit block 1203 is arranged at the end of the telescopic cylinder 1202, and a first connecting ring 1201 is arranged at the other end of the telescopic cylinder 1202. The first connecting ring 1201 is sleeved on the vertical rod 10. Preferably, a return spring is also installed in the telescopic cylinder 1202. When passing through the curved rail section 103, the pressure rod 12 makes an adaptive contact through the return spring and the reset device 13.

[0067] Specifically, the reset device 13 includes a second connecting ring 1301 and a third connecting ring 1303. The second connecting ring 1301 and the third connecting ring 1303 are connected by a first return spring 1302. The second connecting ring 1301 is sleeved on the transmission shaft 19, and the third connecting ring 1303 is sleeved on the support rod 1204. One reset device 13 corresponds to one pressure rod 12.

[0068] In addition, the detector 6 is equipped with an independent rechargeable power supply. The running track 1 has a charging section 102. When the detector 6 docks at the charging section 102, the independent power supply is charged. A charging slot is provided on the bottom surface of the charging section 102.

[0069] A drive shaft 17 and a power transmission shaft 18 are installed on the top cover 1502. The drive shaft 17 is connected to the motor. The drive shaft 17 is respectively connected to the power transmission shaft 18 and a transmission shaft 19 through belts, and the power transmission shaft 18 is connected to the other transmission shaft 19. When the motor drives the drive shaft 17, the two clamping wheels 11 rotate in opposite directions, causing the detector 6 to move forward.

[0070] Specifically,

[0071] The power transmission shaft 18 includes a stepped ring composed of a limit ring 1801 and a compression ring 1802. A top ring 1806 is arranged at the port of the limit ring 1801, and a bottom ring 1804 is arranged at the open end of the compression ring 1802.

[0072] The power transmission shaft 18 further includes a frustum cylinder composed of a ring 1809 and a conical cylinder 1807. A second return spring 1808 is arranged on the bottom surface of the ring 1809, and the second return spring 1808 abuts against the bottom ring 1804. A vertical rod 1813 is arranged on the inner surface of the top ring 1806, and a top rod 1811 is installed at the end of the vertical rod 1813. A spring is arranged on the top rod 1811, and the middle part of the spring is connected to the end of the vertical rod 1813. A circle of arc-shaped protrusions 1805 is arranged on the inner surface of the limit ring 1801. The end of the top rod 1811 is provided with an inclined surface and abuts against the surface of the conical cylinder 1807. Preferably, a transverse groove is opened on the top rod 1811, and the spring is installed in the transverse groove.

[0073] A circle of clamping strips 1810 is provided on the circumferential surface of the circular ring 1809, and a guide groove 1803 corresponding to the clamping strip 1810 is provided on the inner surface of the compression ring 1802. The compression ring 1802 is installed on the top cover 1502 through the bearing 1501, the belt is wound around the limit ring 1801, and a charging shaft 1812 is installed in the conical cylinder.

[0074] Furthermore, a power source is installed in the box 1503, and the charging end of the power source is connected to the end of the charging shaft 1812 through a wire.

[0075] Furthermore, when the detector 6 is docked at the charging section 102, the motor stops, the second return spring 1808 is extended from a compressed state, and the conical cylinder 1807 is lifted, so that the push rod 1811 is pushed back to the recessed portion between the two adjacent arc-shaped protrusions 1805, so that the charging shaft 1812 rises and is inserted into the charging slot for independent power supply charging. In the process of rotation of the motor, a circle of arc-shaped protrusions 1805 rotates again to form a rotating annular surface, which resists the push rod 1811 to press down the conical cylinder 1807, and the second return spring 1808 is in a compressed state, that is, there is a gap between the end of the charging shaft 1812 and the charging section 102.

[0076] The inspection robot belt detection system performs cyclic detection through the above-mentioned inspection robot belt detection device, and accordingly,

[0077] The test system includes:

[0078] The wireless transmission module communicates with the router, so that the data collected by the patrol robot can be transmitted to the main control machine, and the main control machine can send control instructions to the patrol robot;

[0079] The control module is used to control the start and stop of the motor, the start and stop of the hydraulic drive, and the start and stop of the infrared thermal imager and the camera 16.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0081] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. Belt detection device for inspection robot, Characterized in that, Comprising: Running track (1), the running track (1) having a charging section (102); a circular track (5), the circular track (5) having an opening, the opening being provided with a rail-changing device, the rail-changing device including a first arc-shaped rail changer (3) and a second arc-shaped rail changer (4), the first arc-shaped rail changer (3) being rotatably mounted at the end of the running track (1), the second arc-shaped rail changer (4) having two ends respectively rotatably mounted at the open end of the circular track (5); a detector (6), the detector (6) having a pair of clamping wheels (11), the runner of the clamping wheels (11) being attached to the chute (7) of the running track (1) and the circular track (5); the circular track (5) having a curved rail section (103); the detector (6) including a box body (15), the box body (15) having a top cover (1502) and a box (1503), the top cover (1502) being provided with a mounting hole, a bearing (1501) being provided in the mounting hole, the clamping wheels (11) being fixed to the end of a transmission shaft (19), the transmission shaft (19) being fitted in the bearing (1501), the end of the transmission shaft (19) passing through the bearing (1501) and extending into the box (1503) of the detector (6), a motor being mounted in the box (1503); a vertical rod (10) being mounted on the box (1503), a pair of pressure rods (12) being mounted on the vertical rod (10), the pressure rods (12) including a telescopic cylinder (1202) and a limit block (1203), support rods (1204) being provided on both sides of the limit block (1203), a rolling ball head (1205) being mounted at the end of the support rods (1204), the rolling ball head (1205) abutting against the side of the chute (7), one end of the limit block (1203) being provided at the end of the telescopic cylinder (1202), the other end of the telescopic cylinder (1202) being provided with a first connecting ring (1201), the first connecting ring (1201) being sleeved on the vertical rod (10); further including a reset device (13), the reset device (13) including a second connecting ring (1301) and a third connecting ring (1303), the second connecting ring (1301) and the third connecting ring (1303) being connected by a first reset spring (1302), the second connecting ring (1301) being sleeved on the transmission shaft (19), the third connecting ring (1303) being sleeved on the support rod (1204); a drive shaft (17) and a power transmission shaft (18) being mounted on the top cover (1502), the drive shaft (17) being connected to the motor, the drive shaft (17) being connected to the power transmission shaft (18) and a transmission shaft (19) respectively by belts, the power transmission shaft (18) being connected to the other transmission shaft (19); the power transmission shaft (18) including a stepped ring formed by a limit ring (1801) and a compression ring (1802), a top ring (1806) being provided at the port of the limit ring (1801), a bottom ring (1804) being provided at the open end of the compression ring (1802);The transmission shaft (18) further includes a frustum cylinder formed by a ring (1809) and a conical cylinder (1807). A second return spring (1808) is provided on the bottom surface of the ring (1809), and the second return spring (1808) abuts against the bottom ring (1804); a vertical rod (1813) is provided on the inner surface of the top ring (1806), a top rod (1811) is installed at the end of the vertical rod (1813), a spring is provided on the top rod (1811), and the end of the vertical rod (1813) is connected to the middle of the spring; a circle of arc-shaped protrusions (1805) is provided on the inner surface of the limit ring (1801), and the end of the top rod (1811) is provided with an inclined surface and abuts against the surface of the conical cylinder (1807); a circle of clamping strips (1810) is provided on the circumferential surface of the ring (1809), a guide groove (1803) corresponding to the clamping strips (1810) is provided on the inner surface of the compression ring (1802), the compression ring (1802) is installed on the top cover (1502) through a bearing (1501), and a charging shaft (1812) is installed inside the frustum cylinder.

2. The belt detection device for inspection robot according to claim 1, Characterized in that, A power supply is installed in the box (1503), and the charging end of the power supply is connected to the end of the charging shaft (1812) through a wire.

3. The belt detection device for inspection robot according to any one of claim 2, Characterized in that, It further includes a connecting rod (14), one end of the connecting rod (14) is connected to the vertical rod (10), and the other end of the connecting rod (14) is provided with a ring sleeve, and the ring sleeve is slidably fitted on the concave ring provided on the transmission shaft (19).

4. The belt detection device for inspection robot according to claim 3, Characterized in that, It further includes a connecting track (2), and both ends of the connecting track (2) are respectively connected to the running track (1) and the first arc-shaped track-changing (3); the first arc-shaped track-changing (3) and the connecting track (2) are connected through a driver (9).

5. The belt detection device for inspection robot according to claim 4, Characterized in that, A notch (201) is opened at the end of the connecting track (2), a driving hole (203) is provided on the bottom surface of the notch (201), a vertical groove (202) is opened on the side surface of the driving hole (203), a transmission hole (204) communicating with the driving hole (203) is provided on the end surface of the connecting track (2), a limiting hole (301) is provided at one end of the first arc-shaped track-changing (3), the driver (9) includes a gear (901) and a limiting post (903), the limiting post (903) is fitted in the limiting hole (301), the gear (901) extends into the driving hole (203), a plug pin (8) is installed in the driving hole (203), the plug pin (8) has a straight rack (803) and a clamping plate (802), the straight rack (803) meshes with the gear (901), and the clamping plate (802) cooperates with the vertical groove (202).

6. The belt detection device for inspection robot according to claim 5, Characterized in that, The end structures of the second arc-shaped track-changing (4) and the first arc-shaped track-changing (3) are the same.

7. The belt detection device for inspection robot according to claim 1, Characterized in that, An infrared thermal imager and a camera (16) are installed on the detector (6).

8. An inspection robot belt detection system performs cyclic detection through the inspection robot belt detection device according to any one of claims 6-7.

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