An orbital belt conveyor automatic inspection robot

Abstract

An orbital belt conveyor automatic inspection robot belongs to the technical field of mine inspection robots, including a left housing and a right housing. A traveling mechanism is installed between the left housing and the right housing. One end of the left housing and the right housing is installed with a power generation module through a support arm and bolts. Friction wheels are symmetrically installed at both ends of the power generation module. A supplementary light and an anti-collision block are installed on the end faces of the other ends of the left housing and the right housing. A low-temperature proximity switch, a first low-temperature dual-light camera and an audible and visual alarm are installed on the outer wall of the left housing. A second low-temperature dual-light camera, a speaker, a low-temperature waterproof microphone and a wireless charging module are successively installed on the outer wall of the right housing. The first low-temperature dual-light camera and the second low-temperature dual-light camera are close to one end of the anti-collision block. A wireless communication antenna is installed on the end face of the right housing. The present invention conducts inspections in the low-temperature and multi-dusty coal mine underground environment and can autonomously charge in an extremely narrow working space.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine inspection robots, and particularly relates to an orbital belt conveyor automatic inspection robot. Background Art

[0002] The orbital inspection robot is one of the important equipment for coal mine intelligentization. The inspection robot walks on the track and detects through the dual-light cameras and multi-functional sensors carried by the robot, and then gives the on-site information to the upper computer through the network for image recognition, so as to realize the inspection. The basic requirements of the existing belt conveyor inspection robots are: having functions of automatic walking, autonomous positioning, belt operation parameter detection, temperature and smoke sensing, coal flow monitoring, environmental parameter detection and warning, and replacing the inspection workers for intelligent monitoring.

[0003] First, the existing technical field already has the working environment adapted to the coal mine underground:

[0004] For example, Fang Chongquan. Research on Key Technologies of Coal Mine Belt Conveyor Inspection Robot [J]. Coal Science and Technology 2021-08-05, in which an inspection robot was proposed, realizing the environmental adaptability of the coal mine underground, autonomous fast and safe charging, and belt inspection technology based on audio and video analysis and recognition.

[0005] Second, the existing technology already can carry out the charging forms in the coal mine underground:

[0006] The publication number is CN109768608A, and the name is: An Explosion-proof Automatic Charging Device and Zhang Junnan. Research on Wireless Power Supply Belt Conveyor Inspection Robot [D]. Xi'an University of Science and Technology. 2019.

[0007] In view of the situation of the existing technical field, there are many limitations and functional deficiencies in the types and functions of the existing orbital inspection robots:

[0008] 1. The existing orbital robots cannot be applied to the complex on-site environment around the existing belt conveyors. The robots and the tracks are relatively large in volume, and the track layout is extremely difficult. They cannot inspect the environment with a relatively narrow position and have poor adaptability to the extremely narrow working environment in the coal mine underground.

[0009] 2. The existing orbital robots cannot carry out inspections in environments with low temperature (-40°C) and large dust.

[0010] 3. At present, the underground charging method of the inspection robot adopts an explosion-proof charging device or wireless charging. Both of these two methods have certain limitations and requirements and restrictions on the charging location. There is no modular form to adapt to the charging methods in various special environments. Summary of the Invention

[0011] The object of the present invention is to provide an automatic inspection robot for a track - type belt conveyor, which can realize automatic inspection in an extremely narrow working space, at extremely low temperature (-40 °C), with dust prevention, autonomous charging, a modular charging system, and intelligent identification of abnormal working conditions of the belt conveyor based on audio - video analysis.

[0012] To achieve the above object, the present invention adopts the following technical solutions:

[0013] An automatic inspection robot for a track - type belt conveyor includes a left housing and a right housing. A traveling mechanism is installed between the left housing and the right housing. At one end of the left housing and the right housing, a power generation module is installed through a support arm and bolts. Friction wheels are symmetrically installed at both ends of the power generation module. The power generation module can move relative to the lower belt to charge the robot, and different power generation modules can also be replaced according to the actual belt conditions. At the other end face of the left housing and the right housing, a supplementary light and a collision - proof block are installed, and the collision - proof block is arranged below the supplementary light. A low - temperature proximity switch, a first low - temperature dual - light camera, and an audible and visual alarm are installed on the outer side wall of the left housing. A second low - temperature dual - light camera, a speaker, a low - temperature waterproof microphone, and a wireless charging module are successively installed on the outer side wall of the right housing. The first low - temperature dual - light camera and the second low - temperature dual - light camera are close to one end of the collision - proof block. A wireless communication antenna is installed on the end face of the right housing and is arranged close to one end of the power generation module.

[0014] The traveling mechanism includes a motor mounting plate, which is installed between the left housing and the right housing. At the front and rear ends of the top of the motor mounting plate, low - temperature servo motors are symmetrically installed. The output end of the low - temperature servo motor is connected to the input end of a low - temperature speed reducer. Polyurethane traveling wheels are installed at both ends of the low - temperature speed reducer. Side retaining wheels are installed at both ends of the motor mounting plate through wheel brackets. The side retaining wheels are arranged on the left and right sides of the motor mounting plate at the output end of the low - temperature servo motor. There are two side retaining wheels on each side and they are symmetrically arranged. Scrapers are respectively installed at the front and rear ends of the motor mounting plate through bolts. A low - temperature driven encoder is installed on the scraper at the front end through a support arm. Adjustable pressing wheels are installed on the motor mounting plate on the left and right sides of the scraper through wheel brackets.

[0015] The main body of the inspection robot is installed between the upper belt support and the lower belt of the belt conveyor. A C - shaped steel track is installed on the lower surface of the channel steel of the belt conveyor, and the main body of the inspection robot is installed on the C - shaped steel track. An upper idler is installed on the upper belt support, and an upper belt is installed on the upper idler. The upper belt support is installed on the lower belt support through channel steel. A lower idler is installed on the lower belt support, and a lower belt is installed on the lower idler.

[0016] The output ends of the first low-temperature dual-light camera, the second low-temperature dual-light camera, the low-temperature driven encoder, the low-temperature waterproof microphone, and the low-temperature proximity switch are all connected to the low-temperature programmable logic controller. The low-temperature programmable logic controller is bi-directionally electrically connected to the upper computer through a wireless communication antenna. The output ends of the low-temperature programmable logic controller are respectively connected to a low-temperature servo motor, an audible and visual alarm, a loudspeaker, and a supplementary light. The supplementary light, the first low-temperature dual-light camera, the second low-temperature dual-light camera, the low-temperature driven encoder, the low-temperature waterproof microphone, the low-temperature proximity switch, the low-temperature programmable logic controller, the low-temperature servo motor, the audible and visual alarm, and the loudspeaker are respectively powered by a low-temperature battery. The low-temperature battery is charged through a power generation module and a wireless charging module.

[0017] The technical effects of the present invention are as follows:

[0018] The belt conveyor inspection robot of the present invention conducts inspections in a low-temperature environment (-40°C) and in a coal mine underground environment with a lot of dust, and can also conduct inspections in an extremely narrow working space; and has an autonomous charging and modular charging system, and intelligent identification of abnormal working conditions of the belt conveyor based on audio and video analysis.

[0019] The present invention is applicable to the Shenhua Beidian 301 belt conveyor, and is a belt conveyor automatic inspection robot that can perform low-temperature (-40°C), dust-proof, autonomous charging, modular charging system, and intelligent identification of abnormal working conditions of the belt conveyor based on audio and video analysis. Description of the Drawings

[0020] Figure 1 Schematic diagram of the first perspective of the rail-type belt conveyor automatic inspection robot of the present invention;

[0021] Figure 2 Schematic diagram of the second perspective of the rail-type belt conveyor automatic inspection robot of the present invention;

[0022] Figure 3 Schematic diagram of the walking mechanism of the rail-type belt conveyor automatic inspection robot of the present invention;

[0023] Figure 4 Construction layout drawing of the rail-type belt conveyor automatic inspection robot of the invention;

[0024] Figure 5 Control principle diagram of the rail-type belt conveyor automatic inspection robot of the present invention;

[0025] 1 - Upper belt support, 2 - C-shaped steel track, 3 - Robot main body, 4 - Channel steel, 5 - Lower belt, 6 - Lower idler, 7 - Power generation module, 8 - Anti-collision block, 9 - Supplementary light, 10 - Travel mechanism, 11 - Acoustic-optic alarm, 12 - First low-temperature dual-light camera, 13 - Low-temperature proximity switch, 14 - Wireless communication antenna, 15 - Left housing, 16 - Right housing, 17 - Wireless charging module, 18 - Low-temperature waterproof microphone, 19 - Speaker, 20 - Second low-temperature dual-light camera, 21 - Low-temperature driven encoder, 22 - Adjustable pressing wheel, 23 - Low-temperature reducer, 24 - Low-temperature servo motor, 25 - Side retaining wheel, 26 - Scraper, 27 - Polyurethane travel wheel, 28 - Motor mounting plate. Detailed implementation mode

[0026] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0027] As Figures 1 to 4 shown, an automatic inspection robot for an orbital belt conveyor includes a left housing 15 and a right housing 16. A travel mechanism 10 is installed between the left housing 15 and the right housing 16. One end of the left housing 15 and the right housing 16 is installed with a power generation module 7 through a support arm and bolts. Friction wheels are symmetrically installed at both ends of the power generation module 7. The power generation module 7 can move relative to the lower belt 5 to charge the robot. At the same time, different power generation modules 7 can be replaced according to the actual belt conditions. Supplementary lights 9 and anti-collision blocks 8 are installed on the end faces of the other ends of the left housing 15 and the right housing 16, and the anti-collision block 8 is arranged below the supplementary light 9. The anti-collision block 8 can prevent coal blocks from damaging the inspection robot, and the supplementary light 9 can illuminate the darker environment of the belt conveyor. A low-temperature proximity switch 13, a first low-temperature dual-light camera 12 and an acoustic-optic alarm 11 are installed on the outer side wall of the left housing 15. The low-temperature proximity switch 13 controls the limit of the inspection robot, and the acoustic-optic alarm light can alarm when a belt fault is found. A second low-temperature dual-light camera 20, a speaker 19, a low-temperature waterproof microphone 18 and a wireless charging module 17 are successively installed on the outer side wall of the right housing 16. The first low-temperature dual-light camera 12 and the second low-temperature dual-light camera 20 are close to one end of the anti-collision block 8 and are symmetrically arranged for video acquisition. A wireless communication antenna 14 is installed on the end face of the right housing 16, and the wireless communication antenna 14 is arranged close to one end of the power generation module 7. The wireless communication antenna 14 transmits audio and video to the upper computer through a 5G network. When the robot's battery is low, the robot can automatically walk to the wireless charging position for charging. The low-temperature waterproof microphone 18 and the speaker 19 can perform voice interaction and audio acquisition, and the low-temperature dual-light camera performs video acquisition.

[0028] The power speed provided by the traveling mechanism 10 can reach 0.3 m / s, and the climbing angle ≤ 15°. It includes a motor mounting plate 28, which is installed between the left housing 15 and the right housing 16. At the front and rear ends of the top of the motor mounting plate 28, low-temperature servo motors 24 are symmetrically installed. The output end of the low-temperature servo motor 24 is connected to the input end of the low-temperature reducer 23. Polyurethane traveling wheels 27 are installed at both ends of the low-temperature reducer 23. Side retaining wheels 25 are installed at both ends of the motor mounting plate 28 through wheel brackets. The side retaining wheels 25 are arranged on the left and right sides of the motor mounting plate 28 at the output end of the low-temperature servo motor 24. There are two side retaining wheels 25 on each side and they are symmetrically arranged. Scrapers 26 are respectively installed at the front and rear ends of the motor mounting plate 28 through bolts. A low-temperature driven encoder 21 is installed on the scraper 26 at the front end through a support arm. Adjustable pressing wheels 22 are installed on the motor mounting plate 28 on the left and right sides of the scraper 26 through wheel brackets. The low-temperature driven encoder 21 determines the position of the robot. The adjustable pressing wheels 22 increase the friction of the polyurethane traveling wheels 27 to reduce the slipping of the robot. The low-temperature servo motor 24 drives the polyurethane traveling wheels 27 through the low-temperature reducer 23 to make the robot move on the C-shaped steel track 2. The side retaining wheels 25 guide the two sides of the robot. The scrapers 26 clean the dust and coal cinder inside the C-shaped steel track 2.

[0029] The inspection robot main body 3 is installed between the upper belt support 1 and the lower belt 5 of the belt conveyor. The C-shaped steel track 2 is installed on the lower surface of the channel steel 4 of the belt conveyor. The inspection robot main body 3 is installed on the C-shaped steel track 2. The robot main body 3 moves back and forth for inspection inside the C-shaped steel track 2. This track layout can be applied to any belt conveyor and will not be affected by the surrounding environment of the belt conveyor and the conditions of the coal mine roadway, thus affecting the installation and inspection position and inspection situation of the track robot. And power can be generated through the relative motion relationship between the power generation module 7 of the robot and the lower belt 5 of the belt conveyor to charge the robot battery at any time. The upper belt support 1 of the belt conveyor is installed with upper idlers, and upper belts are installed on the upper idlers. The upper belt support 1 is installed on the lower belt support through the channel steel 4. The lower belt support is installed with lower idlers 6, and lower belts 5 are installed on the lower idlers 6.

[0030] The weight of the inspection robot vehicle body is 60 kg, the vehicle body size is 566×396×200, the traveling speed is 0 - 0.3 m / s, the climbing angle ≤ 15°, the positioning accuracy in the traveling direction is ±10 mm, the vertical turning radius ≥ 8000 mm, the size of the C-shaped steel track 2 is 180×80×30×4, and it is powered by wireless charging and self-power generation forms.

[0031] As Figure 5As shown, the first low-temperature dual-light camera 12, the second low-temperature dual-light camera 20, the low-temperature driven encoder 21, the low-temperature waterproof microphone 18 and the low-temperature proximity switch 13 collect relevant audio information, video information and position information and transmit them to the low-temperature programmable logic controller installed on the motor mating plate. The low-temperature programmable logic controller transmits the relevant information to the host computer through the wireless communication antenna. After the host computer processes it, it transmits the control information to the low-temperature programmable logic controller through the wireless communication antenna. The low-temperature programmable logic controller controls the rotation of the low-temperature servo motor 24, and the low-temperature servo motor 24 drives the low-temperature speed reducer 23, thereby driving the polyurethane walking wheel 27 to move. At the same time, when a problem is found, the low-temperature programmable logic controller will sound the audible and visual alarm 11 and transmit the sound to the speaker of the loudspeaker 19 for broadcasting. The low-temperature battery is charged through the power generation module 7 and the wireless charging module 17. The low-temperature battery also supplies power to the fill light 9, the first low-temperature dual-light camera 12, the second low-temperature dual-light camera 20, the low-temperature driven encoder 21, the low-temperature waterproof microphone 18, the low-temperature proximity switch 13, the low-temperature programmable logic controller, the low-temperature servo motor 24, the audible and visual alarm 11 and the speaker of the loudspeaker 19.

[0032] The working principle of an orbital belt conveyor automatic inspection robot is as follows:

[0033] Through the first low-temperature dual-light camera 12, the second low-temperature dual-light camera 20, the low-temperature waterproof microphone 18, the low-temperature driven encoder 21 and the low-temperature proximity switch 13 on the robot, the relevant audio information, video information and position information are transmitted to the low-temperature programmable logic controller through the wireless communication antenna. The low-temperature programmable logic controller transmits the acquired information to the host computer through the wireless communication antenna. After the host computer analyzes and processes the collected information, it feeds back to the low-temperature programmable logic controller through the wireless communication antenna to control the movement and alarm of the robot, thereby completing the inspection work on the upper belt, the lower belt 5 and the along-the-line supports of the belt conveyor near the robot's track route.

[0034] Working principle of the power generation module: During the operation of the belt, the lower belt 5 of the belt conveyor moves linearly, and the power generation module 7 of the robot comes into contact with the lower belt 5, thereby generating relative movement, causing the friction wheel of the power generation module 7 to rotate, cutting the magnetic induction lines to generate current, thereby charging the robot.

[0035] Charging principle of the wireless charging module: When the robot runs near the wireless charging module, the wireless charging transmitter generates a magnetic field, and an electromagnetic induction phenomenon occurs with the wireless charging receiver, thereby charging the robot.

Claims

1. An automatic inspection robot for an orbital belt conveyor, characterized in that, It includes a left housing and a right housing. A traveling mechanism is installed between the left housing and the right housing. At one end of the left housing and the right housing, a power generation module is installed through a support arm and bolts. Friction wheels are symmetrically installed at both ends of the power generation module. The power generation module can move relative to the lower belt to charge the robot. At the same time, different power generation modules can be replaced according to the actual belt situation. At the other end face of the left housing and the right housing, a supplementary light and an anti-collision block are installed, and the anti-collision block is arranged below the supplementary light. A low-temperature proximity switch, a first low-temperature dual-light camera, and an audible and visual alarm are installed on the outer side wall of the left housing. A second low-temperature dual-light camera, a speaker, a low-temperature waterproof microphone, and a wireless charging module are successively installed on the outer side wall of the right housing. The first low-temperature dual-light camera and the second low-temperature dual-light camera are close to one end of the anti-collision block. A wireless communication antenna is installed on the end face of the right housing, and the wireless communication antenna is arranged close to one end of the power generation module; The traveling mechanism includes a motor mounting plate, which is installed between the left housing and the right housing. At the front and rear ends of the top of the motor mounting plate, low-temperature servo motors are symmetrically installed. The output end of the low-temperature servo motor is connected to the input end of the low-temperature reducer. Polyurethane traveling wheels are installed at both ends of the low-temperature reducer. Side retaining wheels are installed at both ends of the motor mounting plate through wheel brackets. The side retaining wheels are arranged on the left and right sides of the motor mounting plate at the output end of the low-temperature servo motor. There are two side retaining wheels on each side and they are symmetrically arranged. Scrapers are respectively installed at the front and rear ends of the motor mounting plate through bolts. A low-temperature driven encoder is installed on the scraper at the front end through a support arm. Adjustable pressing wheels are installed on the motor mounting plate on the left and right sides of the scraper through wheel brackets; The inspection robot main body is installed between the upper belt support of the belt conveyor and the lower belt. A C-shaped steel track is installed on the lower surface of the channel steel of the belt conveyor, and the inspection robot main body is installed on the C-shaped steel track. An upper idler is installed on the upper belt support of the belt conveyor, and an upper belt is installed on the upper idler. The upper belt support is installed on the lower belt support through channel steel. A lower idler is installed on the lower belt support, and a lower belt is installed on the lower idler.

2. The automatic inspection robot for an orbital belt conveyor according to claim 1, characterized in that: The output ends of the first low-temperature dual-light camera, the second low-temperature dual-light camera, the low-temperature driven encoder, the low-temperature waterproof microphone, and the low-temperature proximity switch are all connected to a low-temperature programmable controller. The low-temperature programmable controller is bidirectionally electrically connected to the upper computer through the wireless communication antenna. The output end of the low-temperature programmable controller is respectively connected to the low-temperature servo motor, the audible and visual alarm, the speaker, and the supplementary light. The supplementary light, the first low-temperature dual-light camera, the second low-temperature dual-light camera, the low-temperature driven encoder, the low-temperature waterproof microphone, the low-temperature proximity switch, the low-temperature programmable controller, the low-temperature servo motor, the audible and visual alarm, and the speaker are respectively powered by a low-temperature battery. The low-temperature battery is charged through the power generation module and the wireless charging module.

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