Inspection robot and pipe belt conveyor system

Abstract

The application discloses a kind of inspection robot and pipe belt conveying system, the inspection robot, for pipe belt conveyor, including body, guide rail mechanism, walking mechanism, swing arm mechanism and detection mechanism;The guide rail mechanism extends along the conveying direction of the pipe belt conveyor;The walking mechanism is used to drive the body to walk along the guide rail mechanism;The swing arm mechanism is rotatably connected with the body, and the detection mechanism is slidably installed on the swing arm mechanism;The swing arm mechanism can drive the detection mechanism to rotate in a first plane, and the sliding direction of the detection mechanism relative to the swing arm mechanism is perpendicular to the first plane;The first plane is parallel to the truss side surface of the pipe belt conveyor.The inspection robot is used for pipe belt conveyor, and the overall volume is relatively small by optimizing structure, installation position is more flexible, does not occupy the walkway space of maintenance personnel, and can realize complete inspection to pipe belt machine complete line.

Description

Technical Field

[0001] This application relates to the field of belt conveyor technology, and in particular to an inspection robot and a tubular belt conveyor system. Background Technology

[0002] Monitoring the operational status of tubular belt conveyors typically employs two traditional on-site manual maintenance methods: spot checks and patrol inspections. Patrol personnel observe the conveyor's various operating conditions, such as abnormal noise from idlers and excessively high conveyor belt temperatures. However, as tubular belt conveyors evolve towards long-distance transport, this manual maintenance method becomes increasingly costly and fails to detect equipment malfunctions in a timely manner.

[0003] With the development of intelligent inspection technology, inspection robots are now used to monitor the operation status of conveyor belts. Most of the existing inspection robots are track-suspended robots, which occupy the manual walkways on both sides of the conveyor belt, affecting the normal operation of maintenance personnel. At the same time, due to the limitation of track height, the inspection robot cannot move at its original height when entering the conveyor belt transfer station, thus making it impossible to carry out a complete inspection of the entire conveyor belt line. Summary of the Invention

[0004] The purpose of this application is to provide an inspection robot and a tubular conveyor system. The inspection robot is used for tubular conveyors. Through structural optimization, the overall size is relatively small, the installation position is more flexible, it does not occupy the walkway space of maintenance personnel, and it can realize the complete inspection of the entire tubular conveyor line.

[0005] To address the aforementioned technical problems, this application provides an inspection robot for a tubular conveyor, comprising a body, a guide rail mechanism, a walking mechanism, a swing arm mechanism, and an inspection mechanism.

[0006] The guide rail mechanism extends along the conveying direction of the tubular belt conveyor;

[0007] The walking mechanism is used to drive the machine body to move along the guide rail mechanism;

[0008] The swing arm mechanism is rotatably connected to the machine body, and the detection mechanism is slidably mounted on the swing arm mechanism;

[0009] The swing arm mechanism can drive the detection mechanism to rotate in a first plane, and the sliding direction of the detection mechanism relative to the swing arm mechanism is perpendicular to the first plane; the first plane is parallel to the truss side of the tubular conveyor.

[0010] The inspection robot provided in this application is used for tubular conveyors and can monitor the operating status of the tubular conveyor. The robot's guide rail mechanism extends along the conveying direction of the tubular conveyor. A walking mechanism drives the robot body along the guide rail mechanism. The robot body is rotatably connected to a swing arm mechanism, on which a slidable detection mechanism is mounted. The swing mechanism enables the detection mechanism to rotate in a plane parallel to the side of the truss of the tubular conveyor. The detection mechanism can slide relative to the swing arm mechanism in a direction perpendicular to the first plane. Thus, by rotating the swing arm mechanism and sliding the detection mechanism, the range of motion of the detection mechanism can be changed, expanding its detection range. In confined inspection spaces, the rotation of the swing arm mechanism can lower the detection mechanism to a relatively low height, and the sliding of the detection mechanism relative to the swing arm mechanism reduces the overall size of the inspection robot, preventing it from occupying too much space. This allows the inspection robot to perform complete inspections along the entire tubular conveyor line, and its installation position is more flexible.

[0011] The inspection robot described above includes a mounting frame, a first execution component, a second execution component, and an image acquisition device.

[0012] The first actuating component is used to drive the mounting bracket to rotate about the first axis;

[0013] The second actuating component is mounted on the mounting bracket and is used to drive the image acquisition unit to rotate about the second axis;

[0014] The first axis is parallel to the sliding direction of the detection mechanism relative to the swing arm mechanism;

[0015] The second axis is perpendicular to the first axis.

[0016] As described above, the inspection robot further includes a probe assembly mounted on the mounting frame. The probe assembly includes a third actuator and a probe. The third actuator drives the probe to rotate in a second plane to detect each idler of the tubular conveyor. The second plane is parallel to the cross-section of the truss of the tubular conveyor. The probe is used to measure the working parameters of the idler and conveyor belt of the tubular conveyor.

[0017] As described above, the inspection robot's probe assembly further includes a first power component and a sleeve assembly. The sleeve assembly includes at least two sleeves, which are nested sequentially. In two adjacent sleeves, one can extend or retract relative to the other. The first power component is used to drive the sleeve assembly to extend or retract. One end of the sleeve assembly is connected to the third actuation component, and the probe is installed at the other end.

[0018] As described above, in the inspection robot, the sleeve is an arc-shaped sleeve.

[0019] As described above, the inspection robot has a wireless communication module integrated on its probe.

[0020] As described above, in the inspection robot, a second power component is installed on the swing arm mechanism, and a transmission gear is connected to the output end of the second power component. The detection mechanism is connected to a slide rail, and the slide rail has teeth that mesh with the transmission gear. The teeth extend along the sliding direction of the detection mechanism, and the second power component is used to drive the transmission gear to rotate.

[0021] As described above, the inspection robot includes a swing arm mechanism comprising a first arm and a second arm. One end of the first arm is rotatably connected to the robot body, and the other end of the first arm is fixedly connected to the second arm. The second arm is perpendicular to the first arm. The detection mechanism is slidably mounted on the end of the second arm away from the first arm.

[0022] As described above, in the inspection robot, the first arm is rotatably inserted into the body, and a first gear is provided at one end of the first arm that extends into the body. A third power component is provided in the body, and a second gear is connected to the output end of the third power component. The third power component is used to drive the second gear to rotate, and the second gear meshes with the first gear.

[0023] As described above, the inspection robot includes a guide rail mechanism comprising an upper guide rail and a lower guide rail arranged in parallel; a walking mechanism comprising an upper walking component and a lower walking component, which are connected by a bracket; and a lower walking component comprising a drive component for driving the lower walking component to walk along the lower guide rail.

[0024] As described above, the inspection robot's upper walking assembly includes an upper guide wheel and an adjustment assembly. The upper guide wheel is rotatable around its axis to travel along the upper guide rail, and the adjustment assembly is used to adjust the degree of pressure between the upper guide wheel and the upper guide rail.

[0025] As described above, the inspection robot includes an adjustment component comprising an adjustment wheel, a fixed base, and a first elastic element. The fixed base is fixedly connected to the bracket, and the first elastic element is disposed between the fixed base and the adjustment wheel. The adjustment wheel contacts and rolls with the upper guide rail.

[0026] As described above, the inspection robot includes a drive component and a drive wheel. The output end of the drive component is connected to the drive wheel, and the drive component is used to drive the drive wheel to rotate. A second elastic element is provided between the drive component and the bracket to press the drive component against the lower guide rail, and the drive wheel is pressed into contact with the lower guide rail.

[0027] As described above, in the inspection robot, the lower guide rail is an L-shaped guide rail, and the drive wheel engages with the vertical surface of the L-shaped guide rail; the drive component is located above the drive wheel.

[0028] As described above, the inspection robot's lower walking assembly further includes a lower guide wheel, which is rotatable around its axis and engages with the vertical surface of the L-shaped guide rail.

[0029] As described above, the inspection robot's lower walking assembly also includes a load-bearing wheel that can rotate around its axis and contact the horizontal surface of the L-shaped guide rail.

[0030] This application embodiment also provides a tubular conveyor system, including a tubular conveyor and railings located on both sides of the tubular conveyor, wherein the railings and the truss of the tubular conveyor form a walking passage; characterized in that it further includes an inspection robot as described in any of the above claims, the inspection robot being used to monitor the operating status of the tubular conveyor.

[0031] Since the inspection robot has the aforementioned technical effects, the tubular conveyor system, including the inspection robot, also has the corresponding technical effects, which will not be discussed again here.

[0032] In the tubular conveyor system described above, the inspection robot guide rail mechanism is installed on the outside of the truss or the inside of the railing. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the inspection robot provided in one embodiment of the present application;

[0034] Figure 2 for Figure 1 The diagram shows the structure of the inspection robot installed on the outside of the truss.

[0035] Figure 3 for Figure 1 The diagram shows the structure of the inspection robot installed inside the railing.

[0036] Figure 4 for Figure 1 A schematic diagram of the walking mechanism of the inspection robot;

[0037] Figure 5 for Figure 1 A schematic diagram of the swing arm mechanism and some of the detection mechanisms of the inspection robot;

[0038] Figure 6 for Figure 1 A schematic diagram of the probe assembly of the inspection robot;

[0039] Figure 7A and Figure 7B The diagrams show the working schematics of the swing arm mechanism at two different angles in practical applications.

[0040] Figure 8A and Figure 8B The diagrams show the probe assembly at two different angles in practical applications.

[0041] Figure 9 A schematic diagram of an inspection robot entering a confined space in a specific application;

[0042] Figure 10 for Figure 9 A magnified view of part I in the middle.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100 inspection robots;

[0045] Body 110, guide rail mechanism 120, walking mechanism 130, swing arm mechanism 140, detection mechanism 150, control system 160;

[0046] Upper guide rail 121, lower guide rail 122;

[0047] Upper traveling assembly 131, upper guide wheel 1311, adjusting wheel 1312, fixed seat 1313, first elastic element 1314, lower traveling assembly 132, driving component 1321, driving wheel 1322, second elastic element 1323, lower guide wheel 1324, load-bearing wheel 1325, bracket 133.

[0048] Swing arm 141, first arm 1411, second arm 1412;

[0049] Mounting bracket 151, first actuator 152, second actuator 153, image acquisition unit 154, probe assembly 155, third actuator 1551, probe 1552, first power unit 1553, sleeve 1554, wireless communication module 1555;

[0050] Second power component 171, slide rail 172, connecting frame 173;

[0051] Belt conveyor 200, truss 210, conveyor pipe 220, idler roller 230, guardrail 300. Detailed Implementation

[0052] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] For ease of understanding and concise description, the following text will explain the inspection robot and the tubular conveyor system together, and the beneficial effects will not be discussed again.

[0054] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of the inspection robot provided in one embodiment of this application. Figure 2 and Figure 3 The diagrams show two different installation scenarios for the inspection robot.

[0055] like Figure 2 and Figure 3 As shown, the tubular conveyor system includes a tubular conveyor 200 and railings 300 located on both sides of the tubular conveyor 200. A walking passage is formed between the railings 300 on each side and the tubular conveyor 200. This walking passage allows maintenance personnel to walk, so as to facilitate the inspection and maintenance of the tubular conveyor 200.

[0056] The tubular belt conveyor 200 achieves uninterrupted material transport by winding the conveyor belt 220 into a cylindrical structure and then passing it through a set of forming rollers to maintain the cylindrical shape. The tubular belt conveyor 200 includes a truss 210, on which a bracket is mounted. The forming roller set is installed within the bracket. Typically, the truss 210 has forming roller sets corresponding to the carrying section and forming roller sets corresponding to the return section. The forming roller set consists of multiple rollers 230 forming a circular opening through which the conveyor belt 220 passes. Figure 2 and Figure 3 As shown, the forming roller group above the truss 210 is the forming roller group of the bearing section, and the forming roller group below the truss 210 is the forming roller group of the return section.

[0057] The tubular conveyor system also includes an inspection robot 100 for monitoring the operating status of the tubular conveyor 200. This application focuses on improving the structure of the inspection robot 100 to make its installation location more flexible, such as... Figure 2 As shown, the inspection robot 100 can be mounted on the outside of the truss 210, such as... Figure 3 As shown, the inspection robot 100 can also be installed on the inside of the railing 300. Here, the outside of the truss 210 refers to the side away from the conveyor belt 220, and the inside of the railing 300 refers to the side close to the tubular conveyor 200.

[0058] The tubular conveyor 200 can be implemented based on existing technology and is not the core inventive point of this application, so it will not be described in detail here.

[0059] In this embodiment, the inspection robot 100 includes a body 110, a guide rail mechanism 120, and a walking mechanism 130 (labeled as follows). Figure 4 (Middle), swing arm mechanism 140 and testing mechanism 150.

[0060] The guide rail mechanism 120 extends along the conveying direction of the tubular conveyor 200, i.e., the conveying direction of the conveyor belt 220. The traveling mechanism 130 drives the body 110 to travel along the guide rail mechanism 120. The swing arm mechanism 140 is rotatably connected to the body 110. The detection mechanism 150 is slidably mounted on the swing arm mechanism 140 and configured such that the swing arm mechanism 140 can drive the detection mechanism 150 to rotate in a first plane, and the sliding direction of the detection mechanism 150 relative to the swing arm mechanism 140 is perpendicular to the first plane. The first plane is a plane parallel to the side of the truss 210 of the tubular conveyor 200. Figure 2 and Figure 3 From the perspective shown, the first plane is a plane perpendicular to the paper and parallel to the height direction of the truss 210, and the sliding direction of the detection mechanism 150 is the left and right direction shown in the figure.

[0061] In practical applications, the inspection robot 100 runs along the guide rail mechanism 120 and uses the detection mechanism 150 to detect the operating status of the tubular conveyor 200. The operating status of the tubular conveyor 200 includes the working status of the conveyor belt 220, each idler roller 230, and other components. As the swing arm mechanism 140 rotates, the detection mechanism 150 can detect the upper idler roller 230 and its adjacent components, as well as the lower idler roller 230 and its adjacent components. The detection mechanism 150 slides relative to the swing arm mechanism 140, and can also detect idler rollers 230 near or far from the inspection robot 100 and their adjacent components. Figure 2 As shown, the inspection robot 100 is installed on the outer side of the left side of the truss 210. The detection mechanism 150 can move to the left along the swing arm mechanism 140 to detect the idler roller 230 near the left side, and it can also move to the right along the swing arm mechanism 140 to detect the idler roller 230 near the right side. In this way, the detection range of the detection mechanism 150 is large, and it can detect more comprehensive working information of the tubular conveyor 200.

[0062] Based on the aforementioned configuration of the swing arm mechanism 140 and the detection mechanism 150 of the inspection robot 100, the overall volume of the inspection robot 100 can be relatively small. Detection can be achieved through the rotational or sliding movements of the swing arm mechanism 140 and the detection mechanism 150. During application, the height of the inspection robot 100 can be reduced by rotating the swing arm mechanism 140, and the width of the inspection robot 100 can be reduced by sliding the detection mechanism 150 relative to the swing arm mechanism 140. Figure 2 and Figure 3 The dimensions in the horizontal direction are such that when the inspection space is relatively narrow, the overall size of the inspection robot 100 can be further reduced, avoiding occupying too much space. This provides the conditions for the inspection robot 100 to carry out a complete inspection along the entire line of the tubular conveyor 200. Because the inspection robot 100 is relatively small in size, its installation position is more flexible, avoiding occupying the walking passages on both sides of the tubular conveyor 200 and avoiding conflicts with maintenance personnel.

[0063] In a specific configuration, the swing arm mechanism 140 can rotate 360° within the first plane to give the detection mechanism 150 a larger detection range. Of course, the rotation angle of the swing arm mechanism 140 can also be adjusted to other ranges according to application requirements.

[0064] Please refer to this as well. Figure 4 , Figure 4 for Figure 1 A schematic diagram of the walking mechanism of the inspection robot.

[0065] In this embodiment, the guide rail mechanism 120 of the inspection robot 100 includes an upper guide rail 121 and a lower guide rail 122 arranged in parallel. The walking mechanism 130 includes an upper walking component 131 that cooperates with the upper guide rail 121 and a lower walking component 132 that cooperates with the lower guide rail 122. The upper walking component 131 and the lower walking component 132 are connected by a bracket 133. The lower walking component 132 includes a drive component, which is used to drive the lower walking component 132 to walk along the lower guide rail 122. In this way, the lower walking component 132 acts as a driving walking component, and the upper walking component 131 moves accordingly, which makes the operation of the inspection robot 100 more stable and reliable.

[0066] In other embodiments, if conditions permit, the upper walking component 131 may be used as the driving walking component, and the lower walking component 132 may follow suit; or both the upper walking component 131 and the lower walking component 132 may be used as driving walking components.

[0067] Taking the inspection robot 100 installed on the outside of the truss 210 as an example, in actual installation, the guide rail mechanism 120 can be set close to the middle area of ​​the truss 210. In this way, the swing arm mechanism 140 has a shorter rotation radius, which can drive the detection mechanism 150 to inspect various parts of the tubular conveyor 200 (such as the idler rollers 230 of the carrying section and the idler rollers 230 of the return section), which is conducive to the miniaturization of the swing arm mechanism 140 and the detection mechanism 150.

[0068] In this embodiment, the upper traveling assembly 131 includes an upper guide wheel 1311 and an adjustment assembly. The upper guide wheel 1311 is rotatable around its axis to travel along the upper guide rail 121. The adjustment assembly is used to adjust the degree of pressure between the upper guide wheel 1311 and the upper guide rail 121 to prevent the upper guide wheel 1311 from disengaging from the upper guide rail 121.

[0069] In specific configuration, the upper guide rail 121 can be an L-shaped guide rail, and the upper guide wheel 1311 is specifically matched with the vertical section of the upper guide rail 121. The horizontal section of the upper guide rail 121 is located above the vertical section. In this way, the upper guide wheel 1311 can be limited by the horizontal section of the upper guide rail 121 to prevent the upper guide wheel 1311 from derailing.

[0070] Based on this, the rotation axis of the upper guide wheel 1311 is vertical. The rotation setting of the upper guide wheel 1311 can avoid excessive friction between it and the upper guide rail 1311, which would affect its service life.

[0071] In practical applications, the adjustment assembly includes an adjustment wheel 1312, a fixed base 1313, and a first elastic element 1314. The fixed base 1313 is fixedly connected to the bracket 133, and the first elastic element 1314 is disposed between the fixed base 1313 and the adjustment wheel 1312. The adjustment wheel 1312 contacts and rolls with the upper guide rail 121. By adjusting the elastic force of the first elastic element 1314, the elastic force applied to the adjustment wheel 1312 in the direction of the upper guide rail 121 can be adjusted, thereby adjusting the degree of compression between the upper guide wheel 1311 and the upper guide rail 121, so as to achieve the smoothness of the upper traveling assembly 131 traveling along the upper guide rail 121.

[0072] It should be understood that the adjusting wheel 1312 can also rotate around its axis to achieve rolling engagement with the upper guide rail 121, thereby reducing friction between the two and avoiding wear.

[0073] In the illustrated example, there are two upper guide wheels 1311 and two adjustment components, and the upper guide wheels 1311 and the adjustment components are arranged alternately to make the movement more stable and reliable.

[0074] In this embodiment, the driving component of the lower walking assembly 132 includes a driving component 1321 and a driving wheel 1322. The output end of the driving component 1321 is connected to the driving wheel 1322 and is used to drive the driving wheel 1322 to rotate. A second elastic element 1323 is provided between the driving component and the bracket 133 to press the driving component down the guide rail 122. The driving wheel 1322 is in tight contact with the lower guide rail 122. That is, under the action of the inspection robot 100's own weight and the elastic force of the second elastic element 1323, the driving component can swing in the direction of the lower guide rail 122, so that the driving wheel 1322 can press against the lower guide rail 122. Driven by the driving component 1321, the driving wheel 1322 rotates and presses against the lower guide rail 122, thereby generating frictional thrust in the driving wheel 1322, which forms the power for the inspection robot 100 to walk along the guide rail mechanism 120.

[0075] In a specific configuration, the output end of the drive component 1321 can be directly connected to the drive wheel 1322, with no other transmission components between them, in order to simplify the structure.

[0076] In specific configuration, the lower guide rail 122 can also be an L-shaped guide rail, and the drive wheel 1322 can be fitted with the vertical rail surface of the lower guide rail 122. In this case, the rotation axis of the drive wheel 1322 is in the vertical direction, and the drive component 1322 can be set above the drive wheel 1322 to reduce the size of the inspection robot 100.

[0077] For example, the lower travel assembly 132 also includes a lower guide wheel 1324, which is rotatable about its axis and cooperates with the vertical rail surface of the lower guide rail 122 to ensure the smoothness and reliability of the lower travel assembly 132.

[0078] For example, the lower walking assembly 132 also includes a load-bearing wheel 1325, which is rotatable about its axis and contacts the horizontal rail surface of the lower guide rail 122 to support the weight of the inspection robot 100 and ensure the safety of the inspection robot 100's movement. It should be understood that the rotation axis of the load-bearing wheel 1325 is perpendicular to the rotation axes of the drive wheel 1321 and the lower guide wheel 1324.

[0079] In the illustrated example, the lower walking assembly 132 includes two drive components, two guide wheels 1324, and three load-bearing wheels 1325 to ensure the stability of the lower walking assembly 132's movement. In practical applications, the number and arrangement of the aforementioned structures can be adjusted according to specific requirements.

[0080] For example, the aforementioned first elastic element 1314 and second elastic element 1323 can both be in the form of a spring.

[0081] For example, the aforementioned drive component 1321 may be a motor or the like.

[0082] Please refer to this as well. Figure 5 and Figure 6 , Figure 5 for Figure 1 A schematic diagram of the swing arm mechanism and some of the detection mechanisms of the inspection robot; Figure 6 for Figure 1 A schematic diagram of the probe assembly of the inspection robot.

[0083] In this embodiment, the detection mechanism 150 includes a mounting frame 151, a first execution component 152, a second execution component 153, and an image acquisition device 154.

[0084] The first actuating component 152 drives the mounting bracket 151 to rotate around a first axis; the second actuating component 153 is mounted on the mounting bracket 151 and drives the image acquisition unit 154 to rotate around a second axis; wherein, the first axis is parallel to the sliding direction of the detection mechanism 150 relative to the swing arm mechanism 140, and the second axis is perpendicular to the first axis, so as to... Figure 2 and Figure 3 From the perspective shown, the second axis extends in the vertical direction.

[0085] Combination Figure 7A and Figure 7B With the above settings, the position of the image acquisition device 154 can be changed in a plane parallel to the side of the truss 210 by rotating the swing arm mechanism 140. The distance between the image acquisition device 154 and the tubular conveyor 200 can be changed by the sliding action of the detection mechanism 150 relative to the swing arm mechanism 140. The pitch angle of the image acquisition device 154 can be changed by driving the first execution component 152, and the rotation angle of the image acquisition device 154 in the horizontal plane can be changed by driving the second execution component 153. This is illustrated here with the side of the truss 210 parallel to the vertical plane.

[0086] As can be seen, through the aforementioned structural setup, the image acquisition unit 154 can be adjusted in three-dimensional planes, facilitating the monitoring of various parts of the tubular conveyor 200.

[0087] The image acquisition device 154 can use mature products such as cameras, and its functions can include the detection of visible light and infrared light.

[0088] In this embodiment, the detection mechanism 150 further includes a probe assembly 155 mounted on a mounting bracket 151. The probe assembly 155 includes a third actuating component 1551 and a probe 1552. The third actuating component 1551 is used to drive the probe 1552 to rotate in a second plane to detect various parts of the tubular conveyor 200. Here, the second plane is parallel to the cross-section of the truss 210 of the tubular conveyor 200. Figure 2 and Figure 3The view shown is the cross-sectional view of truss 210, that is... Figure 2 and Figure 3 The direction parallel to the paper surface is the second plane. Here, probe 1552 can be used to measure the working parameters of components such as conveyor belt 220 and idler roller 230.

[0089] After the above settings are configured, the probe 1552 can be used to obtain more working information of the tubular conveyor 200, making the inspection robot 100's detection range larger and more comprehensive.

[0090] Since the probe assembly 155 is mounted on the mounting bracket 151, the position of the probe assembly 155 in the first plane, its distance relative to the tubular conveyor 200, and its pitch angle can be changed by the rotation of the swing arm mechanism 140, the sliding of the detection mechanism 150 as a whole, and the rotation of the mounting bracket 151 driven by the first actuator 152. In addition, the position of the probe 1552 can also be changed in the second plane by the drive of the third actuator 1551. Thus, the probe 1552 has a wider detection range.

[0091] In specific configurations, the aforementioned first actuator 152, second actuator 153, and third actuator 1551 can all be devices such as servos, as long as they can achieve the corresponding functions.

[0092] Generally, the parameters that need to be detected when the tubular belt conveyor 200 is working include the temperature of the conveyor belt 220 and the noise of the idler roller 230. Therefore, according to the actual application requirements, the probe 1552 can be a temperature and noise probe, which can detect both temperature and noise information.

[0093] In other embodiments, if there are other detection requirements, matching probes 1552 can also be set. Depending on the structural configuration and actual needs, more than two probes 1552 can also be set.

[0094] In this embodiment, the probe assembly 155 further includes a first power component 1553 and a sleeve assembly. The sleeve assembly includes at least two sleeves 1554, which are nested in sequence. In two adjacent sleeves 1554, one can extend or retract relative to the other. The first power component 1553 is used to drive the extension and retraction of the sleeve assembly. One end of the sleeve assembly is connected to the third actuation component 1551, and the other end is equipped with the probe 1552.

[0095] As described above, the probe 1552 can change position through the extension and retraction of the sleeve assembly 1554. Combined with the drive of the third actuating component 1551, the rotation radius of the probe 1552 within the second plane is variable, allowing for the detection of more locations. Figure 8A and Figure 8BIt is understood that when the inspection robot 100 is set on one side of the truss 210, the distance between each roller 230 on the truss 210 and the inspection robot 100 is different. By setting the sleeve assembly, the length of the sleeve assembly can be adjusted according to the position of the roller 230 to be inspected, thereby changing the rotation radius of the probe 1552, so that the probe 1552 can reach the vicinity of each roller 230 for inspection, reducing the impact of environmental factors, collecting more accurate data, and at the same time reducing the minimum volume of the inspection robot 100 to avoid occupying too much space.

[0096] In specific settings, the angle at which the third actuator 1551 drives the probe 1552 to rotate on the second plane can be set to 360° to provide a wider detection range.

[0097] In specific settings, the sleeve 1554 is an arc-shaped sleeve, which facilitates more precise control of the detection position of the probe 1552. The dimensions of the arc-shaped sleeve (including radius and length, etc.) can be adjusted according to different tubular conveyors 200.

[0098] For example, Figure 6 The diagram shows a sleeve assembly with three sleeves 1554. In practical applications, the number of sleeves 1554 can be adjusted according to the tubular conveyor 200.

[0099] The extension and retraction of the sleeve assembly can be achieved by installing an air spring between two adjacent sleeves 1554. Inflating the air spring causes the sleeve 1554 to extend outwards, and deflating the air spring causes the sleeve 1554 to retract inwards. In this case, the first power unit 1553 can be an air pump. This method is simple to set up and highly reliable. The extension and retraction of the sleeve assembly can also be achieved using other common telescopic structures, with the first power unit 1553 simply matched accordingly.

[0100] In this embodiment, a wireless communication module 1555 can also be integrated on the probe 1552 to facilitate the feedback of information collected by the probe 1552 to the host computer or other control devices, so that users can monitor the operating status of the tube belt conveyor 200 in real time.

[0101] In this embodiment, the sliding of the detection mechanism 150 relative to the swing arm mechanism 140 can be achieved in the following manner: Figure 5As shown, a second power component 171 is installed on the swing arm mechanism 140. The output end of the second power component 171 is connected to a transmission gear (not shown in the figure). The detection mechanism 150 is connected to a slide rail 172. The slide rail 172 has teeth that mesh with the transmission gear. These teeth extend along the sliding direction of the detection mechanism 150. The slide rail 172 can also be understood as a rack structure. The second power component 171 is used to drive the transmission gear to rotate. Through the transmission engagement between the transmission gear and the slide rail 172, the slide rail 172 slides relative to the swing arm mechanism 140, thereby driving the detection mechanism 150 to slide together.

[0102] Specifically, the first actuating component 151 of the testing mechanism 150 is mounted on the connecting frame 173, which is connected to the slide rail 172.

[0103] For example, the second power component 171 may be a device such as an electric motor.

[0104] In this embodiment, the swing arm mechanism 140 includes a swing arm 141, as referenced. Figure 5 The swing arm 141 includes a first arm 1411 and a second arm 1412. One end of the first arm 1411 is rotatably connected to the machine body 110, and the other end of the first arm 1411 is fixed to the second arm 1412. The second arm 1412 is arranged perpendicular to the first arm 1411. The detection mechanism 150 is slidably mounted on the end of the second arm 1412 away from the first arm 1411. It should be understood that the length of the second arm 1412 is approximately the radius of rotation of the detection mechanism 150 in the first plane, and the length of the second arm 1412 can be set according to different tubular conveyors 200.

[0105] In a specific configuration, the first arm 1411 is rotatably inserted into the body 110. A first gear is provided at one end of the first arm 1411 that extends into the body 110. The first gear can be separately set from the first arm 1411, or it can be set as a single unit when the assembly does not interfere with each other. A third power unit (not shown in the figure) is provided inside the body 110. The output end of the third power unit is connected to a second gear (not shown in the figure). The second gear meshes with the first gear. The third power unit is used to drive the second gear to rotate, thereby driving the first arm 1411 to rotate relative to the body 110 through its meshing transmission with the first gear, and in turn driving the second arm 1412 and the detection unit 150 installed on it to rotate together.

[0106] A bearing can be installed between the first arm 1411 and the body 110 to reduce wear on both and make the rotation of the swing arm 141 more stable and reliable.

[0107] In addition to the driving method described above, the rotation of the swing arm 141 can also be achieved in other ways, such as by directly connecting the third power component inside the body 110 to the first arm 1411 of the swing arm 141.

[0108] In this embodiment, the inspection robot 100 also includes a control system 160, which can be installed inside the body 110. The control system 160 can communicate with the aforementioned actuators, power components, drive components, probes 1552, image acquisition devices 154, etc., to control the electronic actuators. The control system 160 can also communicate with the central control unit or host computer of the conveyor belt 200 to control the actions of each component of the inspection robot 100 based on the information fed back from the central control unit or host computer. The control system 160 can be equipped with a wireless data transmission module to achieve long-distance communication.

[0109] Because the swing arm mechanism 140 and detection mechanism 150 of the inspection robot 100 allow the image acquisition device 154 and probe 1552 to change positions in multiple dimensions to achieve accurate detection of the parts to be inspected, in actual setup, the distance between the upper guide rail 121 and the lower guide rail 122 of the guide rail mechanism 120 can be set to a smaller value, for example, 500mm in one embodiment, to further reduce the overall size of the inspection robot 100 and make it easier for the inspection robot 100 to inspect in confined spaces.

[0110] The motion flow for inspection using the inspection robot 100 provided in this embodiment can be as follows:

[0111] During normal operation of the tubular conveyor 200, the walking mechanism 130 cooperates with the guide rail mechanism 120, and the swing arm mechanism 140 rotates within the plane (first plane) on the side of the truss 210 via the swing arm 141 to adjust the height of the detection component 150 within this plane. Then, the distance between the detection component 150 and the side of the truss 210 is adjusted by the relative movement of the detection component 150 to the swing arm mechanism 140. Furthermore, the angles of the image acquisition unit 154 and the probe 1552 are adjusted by the actions of the first execution unit 152 and the second execution unit 153. After adjusting the state of the inspection robot 100, the drive unit 1321 is activated, driving the walking mechanism 130 to move along the guide rail mechanism 120.

[0112] When the walking mechanism 130 moves to the part to be inspected on the tubular conveyor 200, the probe 1552 and the image acquisition device 154 move in the planes of different dimensions mentioned above, so as to achieve accurate detection of the part to be inspected through multi-dimensional angle and distance adjustment.

[0113] When the traveling mechanism 130 travels to the vicinity of the circular idler rollers in the carrying section and return section of the tubular conveyor 200, there is a height difference between the uppermost and lowermost idler rollers 230. The swing arm mechanism 140 begins to swing on the side of the truss 210 via the swing arm 141, allowing the probe 1552 to detect the idler rollers 230 at different heights and positions. Combined with multi-dimensional angle adjustment, this provides a more comprehensive detection of the operating status of each idler roller 230. Figure 7A and Figure 7B As shown.

[0114] If, during the inspection process, the image acquisition unit 154 detects an abnormality in a certain idler roller 230, the control system 160 within the machine body 110 can issue a command to stop the walking mechanism 130. Simultaneously, by rotating the mounting bracket 151 to adjust its position on the side of the truss 210, the angle and distance of the probe 1552 are adjusted in a multi-dimensional plane. If necessary, the sleeve assembly is extended or retracted to a suitable position, rotating the probe 1552 to the vicinity of the abnormal idler roller 230. Under the premise of minimizing environmental interference, temperature and sound data of the abnormal idler roller 230 are collected and transmitted to a host computer for real-time display and storage. If the detected data exceeds the set value, alarms and other corresponding measures will be activated to ensure the safe operation of the tubular belt conveyor 200. Figure 8A and Figure 8B As shown. After the abnormal idler roller 230 is detected, all components can be reset, and the control system 160 then controls the walking mechanism 130 to continue walking.

[0115] For different running directions of the tubular conveyor 200, the installation directions of the circular idler rollers of the carrying section and the return section on the truss are also different. At this time, the detection direction of the probe 1552 and the image acquisition device 154 can be changed by driving the mounting frame 151 through the first execution component 152, so that the inspection robot 100 can be applied to tubular conveyors 200 for different projects.

[0116] The process of using the inspection robot 100 provided in this embodiment to enter the transfer station for inspection can be as follows: After the tubular conveyor 200 enters a narrow space, the inspection space is greatly limited. The inspection robot 100 provided in this embodiment can set the height between the upper guide rail 121 and the lower guide rail 122 to be smaller to adapt to the narrow space arrangement.

[0117] When the walking mechanism 130 travels into a confined space, such as Figure 9 and Figure 10As shown, the control system 160 inside the body 110 can control the swing arm mechanism 140 to move, causing the detection mechanism 150 to rotate to a height that is basically horizontal with the guide rail mechanism 120 and then stop moving, so as to reduce the overall height of the inspection robot 100; while passing through narrow spaces, the inspection robot 100 can perform inspection work by adjusting the angle of the image acquisition device 154.

[0118] As can be seen from the above workflow, the inspection robot 100 provided in this embodiment can combine the rotational motion of the swing arm mechanism 140 in the first plane, the sliding motion of the detection mechanism 150 relative to the swing arm mechanism 140, the rotational motion of the first execution component 152 and the second execution component 153, and the rotational motion of the probe assembly 155 to achieve information data acquisition of the image acquisition device 154 and the probe 1552 in multiple dimensions. This enhances applicability and expands the detection range, enabling the acquisition of more comprehensive data information. The swing arm 141 can be replaced according to the detection height requirements of different projects to meet different detection height areas.

[0119] The inspection robot and conveyor system provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. An inspection robot for use in a tubular conveyor, characterized in that, This includes the body, guide rail mechanism, walking mechanism, swing arm mechanism, and detection mechanism; The guide rail mechanism extends along the conveying direction of the tubular conveyor; The walking mechanism is used to drive the machine body to move along the guide rail mechanism; The swing arm mechanism is rotatably connected to the machine body, and the detection mechanism is slidably mounted on the swing arm mechanism; The swing arm mechanism can drive the detection mechanism to rotate in a first plane, and the sliding direction of the detection mechanism relative to the swing arm mechanism is perpendicular to the first plane; the first plane is parallel to the truss side of the tubular conveyor. The detection mechanism includes a mounting frame, a first execution component, a second execution component, and an image acquisition device; The first actuating component is used to drive the mounting bracket to rotate about the first axis; The second actuating component is mounted on the mounting bracket and is used to drive the image acquisition unit to rotate about the second axis; The first axis is parallel to the sliding direction of the detection mechanism relative to the swing arm mechanism; The second axis is perpendicular to the first axis; The detection mechanism further includes a probe assembly mounted on the mounting frame. The probe assembly includes a third actuator and a probe. The third actuator is used to drive the probe to rotate in a second plane to detect each idler of the tubular conveyor. The second plane is parallel to the cross-section of the truss of the tubular conveyor. The probe is used to measure the working parameter information of the idler and conveyor belt of the tubular conveyor.

2. The inspection robot according to claim 1, characterized in that, The probe assembly further includes a first power component and a sleeve assembly. The sleeve assembly includes at least two sleeves, which are nested sequentially. In two adjacent sleeves, one sleeve can extend or retract relative to the other sleeve. The first power component is used to drive the sleeve assembly to extend or retract. One end of the sleeve assembly is connected to the third actuating component, and the probe is installed at the other end.

3. The inspection robot according to claim 2, characterized in that, The sleeve is an arc-shaped sleeve.

4. The inspection robot according to claim 1, characterized in that, The probe integrates a wireless communication module.

5. The inspection robot according to claim 1, characterized in that, A second power component is mounted on the swing arm mechanism. The output end of the second power component is connected to a transmission gear. The detection mechanism is connected to a slide rail. The slide rail has teeth that mesh with the transmission gear. The teeth extend along the sliding direction of the detection mechanism. The second power component is used to drive the transmission gear to rotate.

6. The inspection robot according to claim 1, characterized in that, The swing arm mechanism includes a swing arm, which includes a first arm and a second arm. One end of the first arm is rotatably connected to the machine body, and the other end of the first arm is fixed to the second arm. The second arm is arranged perpendicular to the first arm. The detection mechanism is slidably mounted on the end of the second arm away from the first arm.

7. The inspection robot according to claim 6, characterized in that, The first arm is rotatably inserted into the body of the machine. One end of the first arm that extends into the body of the machine is provided with a first gear. The body of the machine is provided with a third power component. The output end of the third power component is connected to a second gear. The third power component is used to drive the second gear to rotate. The second gear meshes with the first gear.

8. The inspection robot according to any one of claims 1-7, characterized in that, The guide rail mechanism includes an upper guide rail and a lower guide rail arranged in parallel; the walking mechanism includes an upper walking component and a lower walking component, which are connected by a bracket; the lower walking component includes a drive component, which is used to drive the lower walking component to walk along the lower guide rail.

9. The inspection robot according to claim 8, characterized in that, The upper traveling assembly includes an upper guide wheel and an adjustment assembly. The upper guide wheel is rotatable about its axis to travel along the upper guide rail. The adjustment assembly is used to adjust the degree of pressure between the upper guide wheel and the upper guide rail.

10. The inspection robot according to claim 9, characterized in that, The adjustment assembly includes an adjustment wheel, a fixed base, and a first elastic element. The fixed base is fixedly connected to the bracket, and the first elastic element is disposed between the fixed base and the adjustment wheel. The adjustment wheel contacts and rolls with the upper guide rail.

11. The inspection robot according to claim 8, characterized in that, The drive assembly includes a drive component and a drive wheel. The output end of the drive component is connected to the drive wheel, and the drive component is used to drive the drive wheel to rotate. A second elastic element is provided between the drive assembly and the bracket to press the drive assembly against the lower guide rail, and the drive wheel is pressed into contact with the lower guide rail.

12. The inspection robot according to claim 11, characterized in that, The lower guide rail is an L-shaped guide rail, and the drive wheel mates with the vertical surface of the L-shaped guide rail; the drive component is located above the drive wheel.

13. The inspection robot according to claim 12, characterized in that, The lower traveling assembly also includes a lower guide wheel, which is rotatable around its axis and engages with the vertical rail surface of the L-shaped guide rail.

14. The inspection robot according to claim 12, characterized in that, The lower traveling assembly also includes a load-bearing wheel, which is capable of rotating around its axis and contacting the horizontal rail surface of the L-shaped guide rail.

15. A tubular conveyor system, comprising a tubular conveyor and railings located on both sides of the tubular conveyor, wherein the railings and the truss of the tubular conveyor form a walking passage; characterized in that, It also includes an inspection robot as described in any one of claims 1-14, the inspection robot being used to monitor the operating status of the tubular conveyor.

16. The tubular belt conveyor system according to claim 15, characterized in that, The guide rail mechanism of the inspection robot is installed on the outside of the truss or the inside of the railing.

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