A remote control inspection robot for mining belt conveyors

Abstract

The present invention relates to the technical field related to inspection machinery, and discloses a remote-controlled inspection robot for a mining belt conveyor, comprising a frame and a guide rail, wherein the surface of the frame is provided with a conveyor belt for conveying materials, and the surface of the frame is fixedly provided with a guide rail located outside the conveyor belt, the cross section of the guide rail is circular, the side wall of the guide rail is provided with a driving housing, and the inner wall of the driving housing is provided with an anti-slip wheel and a fixed wheel, the anti-slip wheel and the fixed wheel are clamped on both sides of the guide rail so that the driving housing slides on the guide rail. The present invention allows the driving housing to be half-stuck on the guide rail through the driving wheel and the fixed wheel, and a guide block is provided at the front end of the driving housing, so that when the driving housing encounters an obstacle during the inspection, the guide block pushes against the obstacle, prompting the driving housing to autonomously deflect on the guide rail, thereby changing the card and position on the guide rail, and then crossing the obstacle, and finally achieving the purpose of automatic obstacle avoidance.

Description

Technical Field

[0001] The present invention relates to the technical field related to inspection machinery, and in particular to a remote-controlled inspection robot for a mining belt conveyor. Background Art

[0002] Belt conveyors, also known as belt conveyors, are the most common equipment in mine transportation systems. During the transportation process of the conveyor, rollers and belts are prone to damage. Due to the harsh environment in the mine, inspection robots are needed instead of manual inspections to ensure that the conveyor can move normally and be repaired in a timely manner.

[0003] The existing inspection robots mainly install track frames on both sides of the conveyor belt, and arrange inspection robots on the tracks, so that the conveyor belt and conveyor rollers can be inspected and checked by the inspection robots. However, in actual use, the ore on the conveyor belt will slide onto the track, and the inspection robot only runs on a fixed track. Therefore, when an obstacle appears on the moving track, the inspection robot cannot move forward normally during the movement, so the staff needs to clean it up, which affects the efficiency of the inspection. Summary of the invention

[0004] In view of the shortcomings of the existing inspection robots for belt conveyors mentioned in the background technology during use, the present invention provides a remote-controlled inspection robot for mining belt conveyors, which has the advantage of automatic obstacle avoidance and solves the technical problems raised in the above background technology.

[0005] The present invention provides the following technical solution: a remote-controlled inspection robot for a mining belt conveyor, comprising a frame and a guide rail, wherein a conveyor belt for conveying materials is arranged on the surface of the frame, and a guide rail located outside the conveyor belt is fixedly installed on the surface of the frame, wherein the cross section of the guide rail is circular, a driving housing is arranged on the side wall of the guide rail, and an anti-slip wheel and a fixed wheel are installed on the inner wall of the driving housing, wherein the anti-slip wheel and the fixed wheel are clamped on both sides of the guide rail so that the driving housing slides on the guide rail, the anti-slip wheel and the fixed wheel realize that the driving housing is clamped on the guide rail, and a fixed wheel for realizing The fixed wheel is now adjusted for tightness, a detection mechanism for detecting the conveyor belt is fixedly installed on one side of the drive housing, and a driving wheel for driving through a guide rail is fixedly installed on the inner wall of the drive housing, a guide block is provided at one end of the drive housing, and the drive housing is a "concave" structure that wraps the guide rail, the anti-slip wheel, the fixed wheel and the driving wheel are located in the concave structure, and the guide rail is clamped, and the driving housing is enabled to slide on the guide rail through the driving wheel, the end face of the guide block is the same shape as the drive housing, and one end of the guide block is provided with a protruding middle portion and low angles on both sides.

[0006] Preferably, a driving motor is fixed to the inner wall of the driving housing, a driving gear is fixedly installed on the output shaft of the driving motor, a transmission gear for meshing with the outer teeth of the driving gear is movably installed on the inner wall of the driving housing, and a driving bevel gear is fixedly installed on the rotating shaft of the transmission gear, and a transmission bevel gear meshing with the driving bevel gear is fixedly installed on the rotating shaft of the driving wheel.

[0007] Preferably, a reversing gear is movably mounted on the inner wall of the driving housing, a main push gear for driving the housing 6 to rotate on the guide rail 3 is movably mounted on the inner wall of the driving housing, and a return spring is fixedly mounted on the outer side of the main push gear, one end of the return spring is fixedly mounted on the inner wall of the driving housing, a secondary reversing rod is movably mounted on one end of the main push gear, and one end of the secondary reversing rod passes through the driving housing and is connected to the guide block.

[0008] Preferably, a secondary push gear for realizing the connection and disconnection of the driving gear and the reversing gear is movably installed on the inner wall of the driving housing, and an auxiliary spring is fixedly installed on the outer side of the secondary push gear, one end of the auxiliary spring is fixedly installed on the driving housing, and a main reversing rod is movably installed on the other end of the auxiliary spring, and one end of the main reversing rod passes through the driving housing and is ball-connected with the guide block, the guide block is ball-connected with the main reversing rod, and the secondary reversing rod and the main reversing rod are symmetrical on both sides of the guide rail.

[0009] Preferably, the inner wall of the driving housing is provided with a movable groove for realizing the movement of the reversing gear, and the outer diameter of the auxiliary thrust gear is twice the outer diameter of the main thrust gear.

[0010] Preferably, one end of the main thrust gear and the auxiliary thrust gear is provided with a conical gear block.

[0011] The present invention has the following beneficial effects:

[0012] 1. The present invention enables the driving housing to be half-stuck on the guide rail by means of the driving wheel and the fixed wheel, and a guide block is provided at the front end of the driving housing. Therefore, when the driving housing encounters an obstacle during inspection, the guide block pushes against the obstacle, prompting the driving housing to autonomously deflect on the guide rail, thereby changing the stuck position on the guide rail and then crossing the obstacle, thereby achieving the purpose of automatic obstacle avoidance.

[0013] 2. The present invention provides a main push gear in the driving housing and makes the reversing gear contact with the guide rail, so that when reversing, the main push gear intervenes to realize the rotation of the reversing gear on the guide rail, thereby forcing the driving housing to further rotate on the guide rail, thereby achieving the purpose of enhancing the obstacle avoidance sensitivity of the driving housing.

[0014] 3. The present invention is provided with an auxiliary reversing rod and a main reversing rod, and both the auxiliary reversing rod and the main reversing rod are ball-connected with the guide block. Therefore, in the process of avoiding obstacles, the obstacle is pushed against by one side of the guide block, so that the auxiliary reversing rod and the main reversing rod are pressed to cause the drive housing to rotate in different directions, thereby avoiding obstacles more efficiently. Since both the auxiliary reversing rod and the main reversing rod are ball-connected with the guide block, the guide block will deflect in the process of avoiding obstacles, and the guide block will rotate with the drive housing, so that the deflected guide block is placed on one side of the obstacle and the obstacle is pushed out from the guide rail, ultimately achieving the purpose of efficient avoidance and self-clearing of obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the appearance structure of the drive housing of the present invention;

[0017] Figure 3 This is a schematic diagram of the guide block structure of the present invention;

[0018] Figure 4 This is a schematic diagram of the inner wall driving structure of the driving housing of the present invention;

[0019] Figure 5 It is a schematic diagram of the reversing gear drive structure of the present invention.

[0020] In the figure: 1. frame; 2. conveyor belt; 3. guide rail; 4. detection mechanism; 5. anti-slip wheel; 6. driving housing; 60. movable slot; 7. driving wheel; 8. fixed wheel; 80. adjustment frame; 9. main reversing rod; 90. auxiliary reversing rod; 10. guide block; 11. transmission bevel gear; 12. driving bevel gear; 13. transmission gear; 14. driving motor; 15. driving gear; 16. reset spring; 17. main push gear; 18. auxiliary spring; 19. auxiliary push gear; 20. reversing gear. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1 , Figure 2 and Figure 4, a remote-controlled inspection robot for a mining belt conveyor, comprising a frame 1 and a guide rail 3. At the same time, a conveyor belt 2 for conveying materials is arranged on the surface of the frame 1. At the same time, a guide rail 3 located outside the conveyor belt 2 is fixedly installed on the surface of the frame 1. The cross-section of the guide rail 3 is circular, and a driving housing 6 is arranged on the side wall of the guide rail 3, and an anti-slip wheel 5 and a fixed wheel 8 are installed on the inner wall of the driving housing 6. The anti-slip wheel 5 and the fixed wheel 8 are clamped on both sides of the guide rail 3 so that the driving housing 6 slides on the guide rail 3, and the driving housing 6 is half-stuck on the guide rail 3 through the anti-slip wheel 5 and the fixed wheel 8, and an adjustment frame 80 for tightening the fixed wheel 8 is fixedly installed on one side of the fixed wheel 8 to ensure that in actual use, the fixed wheel 8 can be retracted and released by adjusting the adjustment frame 80, so that the driving housing 6 can be installed and disassembled on the guide rail 3, and a device for tightening the conveyor belt 2 is fixedly installed on one side of the driving housing 6 The detection mechanism 4 is provided, and a driving wheel 7 for driving through the guide rail 3 is fixedly installed on the inner wall of the driving housing 6, and a guide block 10 is arranged at one end of the driving housing 6, and the driving housing 6 is a "concave" structure wrapping the guide rail 3, the anti-slip wheel 5, the fixed wheel 8 and the driving wheel 7 are located in the concave structure, and clamp the guide rail 3, and the driving housing 6 is slid on the guide rail 3 through the driving wheel 7, the end face of the guide block 10 is the same shape as the driving housing 6, and a middle protruding and low bevel on both sides is arranged at one end of the guide block 10, thereby ensuring that during the detection, the guide block 10 is pushed forward continuously by the driving housing 6, and after the guide block 10 is blocked by an obstacle, the bevel will cause the driving housing 6 to rotate along the guide rail 3, and because the driving housing 6 is half-stuck on the guide rail 3 through the anti-slip wheel 5 and the fixed wheel 8, the driving housing 6 passes through the obstacle at a position where it is not fixed to the guide rail 3, thereby achieving the purpose of obstacle avoidance.

[0023] See also Figure 2 and Figure 4 In order to drive the driving wheel 7, a driving motor 14 is fixed to the middle of the inner wall of the driving housing 6, and a driving gear 15 is fixedly installed on the output shaft of the driving motor 14. A transmission gear 13 meshing with the driving gear 15 is movably installed on the inner wall of the driving housing 6, and a driving bevel gear 12 is fixedly installed on the rotating shaft of the transmission gear 13, and a transmission bevel gear 11 meshing with the driving bevel gear 12 is fixedly installed on the rotating shaft of the driving wheel 7. Therefore, it is ensured that during the working process, the driving motor 14 will be rotated through the driving gear 15, the transmission gear 13, the driving bevel gear 12, and the transmission bevel gear 11 to the driving wheel 7, so that the driving housing 6 is pushed forward as a whole through the rotation of the driving wheel 7 on the side wall of the guide rail 3.

[0024] See also Figure 4In order to enhance the deflection strength of the driving housing 6 when it is obstructed, a reversing gear 20 is movably mounted on the inner wall of the driving housing 6, and the reversing gear 20 contacts the inner wall of the guide rail 3 to realize the reversal of the driving housing 6 on the guide rail 3, and a main push gear 17 for realizing the separation and connection between the transmission gear 13 and the reversing gear 20 is movably mounted on the inner wall of the driving housing 6, and a return spring 16 is fixedly mounted on the outer side of the main push gear 17, one end of the return spring 16 is fixedly mounted on the inner wall of the driving housing 6, and a secondary reversing rod 90 is movably mounted through one end of the main push gear 17, the secondary One end of the reversing rod 90 passes through the driving housing 6 and is connected to the guide block 10. Therefore, during use, due to the elasticity of the reset spring 16, the main push gear 17 is disengaged from the transmission gear 13 and the reversing gear 20, and the guide block 10 is pushed out by the auxiliary reversing rod 90. When the guide block 10 is blocked, the main push gear 17 is pressed in synchronously, so that the transmission gear 13 and the reversing gear 20 are transmitted after the intervention of the main push gear 17, and are pressed on the guide rail 3 through the reversing gear 20, forcing the driving housing 6 to rotate on the guide rail 3, thereby enhancing the reversing strength of the driving housing 6.

[0025] See also Figure 3-Figure 5 In order to enable the guide block 10 to avoid obstacles by rotating in different directions when encountering obstacles, thereby increasing the sensitivity of avoidance, an auxiliary push gear 19 for realizing the switching of the driving gear 15 and the reversing gear 20 is movably installed on the inner wall of the driving housing 6, and an auxiliary spring 18 is fixedly installed on the outer side of the auxiliary push gear 19, one end of the auxiliary spring 18 is fixedly installed on the driving housing 6, and a main reversing rod 9 is movably installed through the other end of the auxiliary spring 18, and one end of the main reversing rod 9 passes through the driving housing 6 and is ball-connected with the guide block 10, the guide block 10 is ball-connected with the main reversing rod 9, and the auxiliary reversing rod 90 and the main reversing rod 9 are located on both sides of one end of the guide block 10, thereby ensuring that in the process of the guide block 10 being compressed, the guide block 10 is obstructed and tilted and deflected, prompting the driving housing 6 to reverse. At the same time, the deflection of the guide block 10 when it is compressed on one side and the rotation of the driving housing 6 on the guide rail 3 also makes the obstacle be pushed out, thereby achieving the purpose of clearing the obstacle.

[0026] See also Figure 4 and Figure 5In order to prevent the two sides of the guide block 10 from being pressed at the same time, causing the main thrust gear 17 and the auxiliary thrust gear 19 to be synchronously connected with the reversing gear 20 and causing mutual interference, an active groove 60 is opened on the inner wall of the driving housing 6 for realizing the movement of the reversing gear 20, and the outer diameter value of the auxiliary thrust gear 19 is twice the outer diameter value of the main thrust gear 17. Therefore, during the operation, the reversing gear 20, the main thrust gear 17, the transmission gear 13 and the guide rail 3 are transmitted through the intervention of the main thrust gear 17. When the auxiliary thrust gear 19 intervenes, the reversing gear 20 will move along the active groove 60, thereby prompting the reversing gear 20 to disengage from the main thrust gear 17, and then transmit the transmission through the driving gear 15, the auxiliary thrust gear 19, the reversing gear 20 and the guide rail 3, thereby ensuring the smoothness of the reversing.

[0027] See also Figure 4 In order to make it easy for the main push gear 17 and the auxiliary push gear 19 to be connected to the reversing gear 20, a conical tooth block is provided at one end of the main push gear 17 and the auxiliary push gear 19, thereby ensuring that the main push gear 17 and the auxiliary push gear 19 can be easily connected to the reversing gear 20 through the guidance of the tooth block during the insertion process.

[0028] The working principle of the present invention is as follows: when in use, by clamping the drive housing 6 onto the guide rail 3, and by locking the adjustment frame 80, the fixed wheel 8 and the anti-slip wheel 5 are prompted to half-clamp the drive housing 6 onto the side wall of the guide rail 3. Secondly, the detection mechanism 4 controls the rotation of the drive motor 14, so that the drive gear 15 and the transmission gear 13 rotate synchronously, and the transmission gear 13 drives the coaxial drive bevel gear 12 to rotate. The drive bevel gear 12 will prompt the transmission bevel gear 11 to rotate synchronously. The rotation of the transmission bevel gear 11 drives the drive wheel 7 to rotate synchronously. As the drive wheel 7 rotates on the guide rail 3, the drive housing 6 is prompted to advance along the guide rail 3 in the direction of the guide block 10.

[0029] When the guide block 10 moves forward, it is blocked by the ore and will first hit the obstacle. When one side of the guide block 10 contacts the obstacle, the guide block 10 will deflect. Figure 2After the left side of the middle guide block 10 hits the obstacle, it will first squeeze the main reversing rod 9, thereby forcing the main reversing rod 9 to push the secondary push gear 19 and squeeze the auxiliary spring 18. The secondary push gear 19 is placed between the reversing gear 20 and the driving gear 15 under the thrust, forcing the reversing gear 20 to contact and rotate relative to the guide rail 3, thereby rotating the reversing gear 20 and causing the driving housing 6 to deflect, so that the compressed side of the guide block 10 gradually moves away from the obstacle; similarly, when the right side of the guide block 10 deflects, the right guide block 10 will squeeze the secondary reversing rod 90, forcing the main push gear 17 to be pushed between the transmission gear 13 and the reversing gear 20. The transmission gear 13 rotates the reversing gear 20 through the main push gear 17, and similarly causes the reversing gear 20 to drive the driving housing 6 to move the right side of the guide block 10 away from the obstacle.

[0030] By attaching Figure 1 When the obstacle is lifted up, the guide block 10 is forced to move forward and the ore is prevented from being lifted up by the guide block 10.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A remote-controlled inspection robot for a mining belt conveyor, comprising a frame (1), a guide rail (3) and a drive housing (6), characterized in that: The surface of the frame (1) is provided with a conveyor belt (2) for conveying materials, and a guide rail (3) located outside the conveyor belt (2) is fixedly installed on the surface of the frame (1), a drive housing (6) is provided on the side wall of the guide rail (3), and an anti-slip wheel (5) and a fixed wheel (8) are installed on the inner wall of the drive housing (6), the anti-slip wheel (5) and the fixed wheel (8) are clamped on both sides of the guide rail (3) so that the drive housing (6) slides on the guide rail (3), the anti-slip wheel (5) and the fixed wheel (8) realize the drive housing (6) being clamped on the guide rail (3), and an adjustment frame for realizing the tightening and loosening of the fixed wheel (8) is fixedly installed on one side of the fixed wheel (8). (80), a detection mechanism (4) for detecting the conveyor belt (2) is fixedly mounted on one side of the drive housing (6), and a driving wheel (7) for driving via the guide rail (3) is fixedly mounted on the inner wall of the drive housing (6), a guide block (10) is provided at one end of the drive housing (6), and the drive housing (6) is a "concave" structure that wraps around the guide rail (3), the anti-slip wheel (5), the fixed wheel (8) and the driving wheel (7) are located in the concave structure and clamp the guide rail (3), and the drive housing (6) is slidable on the guide rail (3) via the driving wheel (7), and the end surface of the guide block (10) has the same shape as that of the drive housing (6); A drive motor (14) is fixed to the inner wall of the drive housing (6), a drive gear (15) is fixedly mounted on the output shaft of the drive motor (14), a transmission gear (13) meshing with the drive gear (15) is movably mounted on the inner wall of the drive housing (6), a drive bevel gear (12) is fixedly mounted on the rotating shaft of the transmission gear (13), and a transmission bevel gear (11) meshing with the drive bevel gear (12) is fixedly mounted on the rotating shaft of the drive wheel (7); A reversing gear (20) for rotating the driving housing (6) on the guide rail (3) is movably mounted on the inner wall of the driving housing (6); a main push gear (17) is movably mounted on the inner wall of the driving housing (6); a return spring (16) is fixedly mounted on the outer side of the main push gear (17); one end of the return spring (16) is fixedly mounted on the inner wall of the driving housing (6); a secondary reversing rod (90) is movably mounted on one end of the main push gear (17); one end of the secondary reversing rod (90) passes through the driving housing (6) and is connected to the guide block (10); An auxiliary push gear (19) for realizing the switching between the driving gear (15) and the reversing gear (20) is movably mounted on the inner wall of the driving housing (6), and an auxiliary spring (18) is fixedly mounted on the outer side of the auxiliary push gear (19). One end of the auxiliary spring (18) is fixedly mounted on the driving housing (6), and a main reversing rod (9) is movably mounted on the other end of the auxiliary spring (18). One end of the main reversing rod (9) passes through the driving housing (6) and is ball-connected with a guide block (10). The guide block (10) is ball-connected with the main reversing rod (9). The auxiliary reversing rod (90) and the main reversing rod (9) are symmetrical to the two sides of the guide rail (3). The inner wall of the driving housing (6) is provided with a movable groove (60) for realizing the movement of the reversing gear (20); the outer diameter of the auxiliary thrust gear (19) is twice the outer diameter of the main thrust gear (17); One end of the guide block (10) is provided with an oblique angle with a protruding middle portion and lower two sides.

2. A remote-controlled inspection robot for a mining belt conveyor according to claim 1, characterized in that: One end of the main thrust gear (17) and the auxiliary thrust gear (19) is provided with a conical gear block.

3. A remote-controlled inspection robot for a mining belt conveyor according to claim 1, characterized in that: The cross section of the guide rail (3) is circular.

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