A rail-hanging lifting inspection robot for coal preparation plant unit equipment

Abstract

The present invention discloses a rail-hanging lifting inspection robot for coal preparation plant unit equipment, which belongs to the technical field of inspection robots. It solves the problem that when the roller of a traditional inspection robot moves forward, although it can press the lubricating oil and play a certain lubricating role, when returning, due to the uneven distribution of the lubricating oil and the change of the movement direction of the roller, the roller is often unable to press the lubricating oil again, resulting in poor lubrication effect. The lubrication head in the present invention can reciprocate with the rotation of the load-bearing pulley and apply the lubricating oil to the load-bearing pulley in real time. At the same time, the gathering rod gathers the lubricating oil that may have been diffused by rotating to contact the hanging rail, forming a more concentrated lubrication area, and achieving the effect of secondary lubrication. This dual lubrication mechanism not only improves the uniformity and continuity of lubrication, but also significantly enhances the lubrication effect and reduces the friction and wear between the roller and the I-shaped hanging rail.

Description

Technical Field

[0001] The invention provides a rail-hanging lifting inspection robot for unit equipment in a coal preparation plant, belonging to the technical field of inspection robots. Background Art

[0002] In modern industrial production, inspection robots, as important equipment maintenance tools, are widely used in various industrial scenarios, especially in places with complex environments and dense equipment such as coal preparation plants. The main task of the inspection robot is to move on a predetermined track and conduct real-time monitoring and inspection of the unit equipment to ensure the normal operation of the production line. However, existing inspection robots face the problem of insufficient roller lubrication during movement, especially in long-term and high-frequency inspection tasks.

[0003] Specifically, when the rollers of traditional inspection robots move along the hanging rails, the friction between the rollers and the hanging rails will generate a large amount of heat and wear, which requires the rollers to be continuously and evenly lubricated to reduce friction and wear; however, existing lubrication systems often cannot meet this requirement well; when the rollers move forward, although they can press the lubricating oil and play a certain lubricating role, when returning, due to the uneven distribution of the lubricating oil and the change in the movement direction of the rollers, the rollers often cannot press the lubricating oil again, resulting in poor lubrication effect.

[0004] In addition, there is usually a large amount of dust and coal dust in industrial environments such as coal preparation plants. These dusts easily adhere to the rollers and hanging rails, further aggravating the friction and wear between the rollers and the hanging rails. If the rollers cannot be well lubricated, it will not only reduce the operating efficiency of the inspection robot, but also increase the maintenance cost of the equipment, and may even cause equipment failure, affecting the normal operation of the production line.

[0005] Therefore, it is necessary to provide a new rail-hanging lifting inspection robot for coal preparation plant unit equipment to solve the above technical problems. Summary of the invention

[0006] In order to solve the above technical problems, the present invention proposes a rail-hanging lifting inspection robot for coal preparation plant unit equipment.

[0007] The technical solution adopted by the present invention is: a rail-hanging lifting inspection robot for coal preparation plant unit equipment, comprising a robot body, a bracket matched with an I-shaped hanging rail fixedly connected to the top of the robot body, and a lifting camera installed at the bottom of the robot body;

[0008] The top of the inner side of the bracket is symmetrically installed with load-bearing pulleys, and the middle of the inner side of the bracket is symmetrically installed with auxiliary pulleys. The two sets of load-bearing pulleys and the two sets of auxiliary pulleys are installed in conjunction with the I-shaped hanging rails;

[0009] The top of the bracket is symmetrically fixedly connected with a lubrication box, the interior of the lubrication box is divided into an air filling chamber and an oil storage chamber, and the bottom of the oil storage chamber of the lubrication box is equipped with a lubrication head that can reciprocate along the axial direction of the load-bearing pulley;

[0010] Gathering rods are symmetrically installed inside the bracket, and the gathering rods are installed in coordination with the load-bearing pulleys;

[0011] A vertical rod is symmetrically fixedly connected to the inner side of the bracket, and both ends of the vertical rod are respectively installed in cooperation with the load-bearing pulley and the auxiliary pulley. A driving rod is fixedly connected to the axis of the load-bearing pulley, and one end of the driving rod is fixedly connected to a driving gear. The top of the vertical rod is rotatably connected to a conical friction wheel, and one end of the conical friction wheel is fixedly connected to a one-way gear. The driving gear is meshed with the one-way gear. The top of the vertical rod is rotatably connected to one end of a gathering rod on a side close to the load-bearing pulley, and a gathering groove is provided at the end of the gathering rod away from the vertical rod. A volute spring is installed at the connection between the gathering rod and the vertical rod, and the end of the gathering rod close to the volute spring is fixedly connected to a friction block matching the conical friction wheel.

[0012] Furthermore, a transmission shaft is rotatably connected to the inner side of the bracket, a driven gear is fixedly connected to the middle part of the transmission shaft, the driving gear is meshed with the driven gear, a reciprocating thread is provided in the middle part of the transmission shaft, a sliding rod matching the reciprocating thread is slidably connected to the outer wall of the reciprocating thread, and one side of the sliding rod is fixedly connected to the lubrication head.

[0013] Furthermore, the top end of the lubrication head is communicated with the oil storage tank of the lubrication box through a hose.

[0014] Furthermore, a sealing plate is slidably connected to the inner wall of the lubrication box, and a tension spring is symmetrically fixedly connected to one side of the sealing plate close to the air charging chamber. An air cylinder is fixedly connected to the bottom end of the lubrication box, and a piston is slidably connected to the inner wall of the air cylinder. A piston rod is fixedly connected to the middle of the piston, and the piston rod is fixedly connected to the other side of the sliding rod. The air cylinder and the air charging chamber of the lubrication box are connected by a pipeline, and one-way valves are installed both inside the piston and on the inner wall of the pipeline.

[0015] Furthermore, the interior of the lubrication head is hollow in design, a ball is rotatably connected to the hollow portion of the lubrication head, and a guide groove is provided on the inner wall of the lubrication head above the ball.

[0016] Furthermore, one end of the gathering rod close to the spiral spring is fixedly connected to a limiting block, and the limiting block is in contact with one end of the vertical rod.

[0017] Furthermore, the transmission directions of the two one-way gears located on one side of the I-shaped hanging rail are different, one is for forward transmission and the other is for reverse transmission.

[0018] Furthermore, one end of the gathering rod away from the spiral spring is designed to be trapezoidal, and when the gathering rod is in a working state, the trapezoidal inclined surface contacts the I-shaped hanging rail.

[0019] The beneficial effects of the present invention compared with the prior art are as follows:

[0020] 1) Real-time lubrication and secondary lubrication after gathering significantly improve the lubrication effect:

[0021] The lubrication head of the present invention is exquisitely designed and can reciprocate with the rotation of the load-bearing pulley, and apply lubricating oil to the load-bearing pulley in real time. At the same time, the gathering rod contacts the I-shaped hanging rail by rotation, gathering the lubricating oil that may have been diffused, forming a more concentrated lubrication area. When the load-bearing pulley passes by, the gathered lubricating oil will lubricate the pulley again, achieving the effect of secondary lubrication. This dual lubrication mechanism not only improves the uniformity and continuity of lubrication, but also significantly enhances the lubrication effect and reduces the friction and wear between the roller and the I-shaped hanging rail.

[0022] 2) Improve inspection efficiency and accuracy:

[0023] The optimization of the lubrication system not only improves the operational stability of the equipment, but also provides strong support for the inspection process. Due to the reduction of friction and wear, the inspection robot can move more smoothly along the I-shaped hanging rail, improving the efficiency and accuracy of the inspection. At the same time, real-time lubrication also ensures the clarity and stability of monitoring components such as cameras, providing strong support for real-time monitoring and inspection of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings:

[0025] Figure 1 A schematic diagram of the structure of a rail-hanging lifting inspection robot for coal preparation plant unit equipment provided by the present invention;

[0026] Figure 2 for Figure 1 The schematic diagram of the structure shown in FIG. 1 is a diagram of a structure in which the I-shaped hanging rail is removed;

[0027] Figure 3 It is a structural schematic diagram of the driving gear;

[0028] Figure 4 is a structural schematic diagram of a gathering rod;

[0029] Figure 5 is a schematic diagram of the structure of the ball;

[0030] Figure 6 for Figure 1 Schematic diagram of the structure inside the lubrication box.

[0031] Numbers in the figure: 1. Robot body; 2. Bracket; 3. Lifting camera; 4. I-shaped hanging rail; 5. Load-bearing pulley; 6. Auxiliary pulley; 7. Lubrication box; 8. Lubrication head; 9. Gathering rod; 10. Vertical rod; 11. Driving rod; 12. Active gear; 13. Conical friction wheel; 14. One-way gear; 15. Gathering groove; 16. Volute spring; 17. Friction block; 18. Transmission shaft; 19. Driven gear; 20. Reciprocating thread; 21. Sliding rod; 22. Ball; 23. Sealing plate; 24. Tension spring; 25. Air cylinder; 26. Piston; 27. Piston rod; 28. Limit block. DETAILED DESCRIPTION

[0032] like Figures 1 to 6 As shown, the present invention provides a rail-hanging lifting inspection robot for coal preparation plant unit equipment, comprising: a robot body 1, an I-shaped hanging rail 4, a load-bearing pulley 5, a lubrication box 7 and a gathering rod 9, the top of the robot body 1 is fixedly connected to a bracket 2, and the bracket 2 is installed in conjunction with the I-shaped hanging rail 4; a lifting camera 3 is installed at the bottom of the robot body 1; load-bearing pulleys 5 are symmetrically installed at the top of the inner side of the bracket 2, and auxiliary pulleys 6 are symmetrically installed at the middle part of the inner side of the bracket 2, and two groups of load-bearing pulleys 5 and two groups of auxiliary pulleys 6 are installed in conjunction with the I-shaped hanging rail 4; the bracket 2 The top of the bracket 2 is symmetrically fixedly connected with a lubrication box 7, the interior of the lubrication box 7 is divided into an air filling chamber and an oil storage chamber, the oil storage chamber is filled with butter, and the bottom of the oil storage chamber of the lubrication box 7 is equipped with a lubrication head 8 that can reciprocate along the axial direction of the load-bearing pulley 5, and the top of the lubrication head 8 is connected with the oil storage chamber of the lubrication box 7 through a hose, the interior of the lubrication head 8 is hollow in design, and the hollow part of the lubrication head 8 is rotatably connected with a ball 22, and a guide groove is provided on the inner wall of the lubrication head 8 above the ball 22; gathering rods 9 are symmetrically installed inside the bracket 2, and the gathering rods 9 are installed in coordination with the load-bearing pulley 5.

[0033] See also Figure 2-5, the inner side of the bracket 2 is symmetrically fixedly connected with a vertical rod 10, and the two ends of the vertical rod 10 are respectively installed with the load-bearing pulley 5 and the auxiliary pulley 6. The axis of the load-bearing pulley 5 is fixedly connected with a driving rod 11, and one end of the driving rod 11 is fixedly connected with a driving gear 12. The top of the vertical rod 10 is rotatably connected with a conical friction wheel 13, and one end of the conical friction wheel 13 is fixedly connected with a one-way gear 14. The driving gear 12 is meshed with the one-way gear 14, and the two one-way gears 14 are one forward transmission and the other reverse transmission, that is, the robot itself When the robot body 1 moves forward along the I-shaped hanging rail 4, the two load-bearing pulleys 5 rotate synchronously in the forward direction, driving the corresponding driving gear 12 to rotate synchronously. At this time, the one-way gear 14 of the forward transmission rotates synchronously under the drive of the driving gear 12, and drives the corresponding connected conical friction wheel 13 to rotate; when the robot body 1 moves backward along the I-shaped hanging rail 4, the two load-bearing pulleys 5 rotate synchronously in the reverse direction, driving the corresponding driving gear 12 to rotate synchronously. At this time, the one-way gear 14 of the reverse transmission rotates synchronously under the drive of the driving gear 12 The top of the vertical rod 10 is rotatably connected to one end of the gathering rod 9 on one side close to the load-bearing pulley 5, and a gathering groove 15 is provided on the end of the gathering rod 9 away from the vertical rod 10. A volute spring 16 is installed at the connection between the gathering rod 9 and the vertical rod 10. The end of the gathering rod 9 close to the volute spring 16 is fixedly connected to a friction block 17 matched with the conical friction wheel 13. The end of the gathering rod 9 close to the volute spring 16 is also fixedly connected to a limit block 28, and the limit block 28 is connected to the vertical rod 10. One end of the rod 10 is in contact connection, and the end of the gathering rod 9 away from the spiral spring 16 is trapezoidal in design. When the gathering rod 9 is in working state, its inclined surface contacts the I-shaped hanging rail 4; the inner side of the bracket 2 is rotatably connected with a transmission shaft 18, and the middle part of the transmission shaft 18 is fixedly connected with a driven gear 19, and the driving gear 12 is meshed and connected with the driven gear 19; a reciprocating thread 20 is provided in the middle part of the transmission shaft 18, and the outer wall of the reciprocating thread 20 is slidably connected with a sliding rod 21 matching therewith, and one end of the sliding rod 21 is fixedly connected to the lubrication head 8.

[0034] See also Figure 5-6 A sealing plate 23 is slidably connected to the inner wall of the lubrication box 7, and a tension spring 24 is symmetrically fixedly connected to the side of the sealing plate 23 close to the air charging chamber. An air cylinder 25 is fixedly connected to the bottom end of the lubrication box 7, and a piston 26 is slidably connected to the inner wall of the air cylinder 25. A piston rod 27 is fixedly connected to the middle of the piston 26, and the piston rod 27 is fixedly connected to the other end of the sliding rod 21. The air cylinder 25 is connected to the air charging chamber of the lubrication box 7 through a pipeline, and a one-way valve is installed inside the piston 26 and on the inner wall of the pipeline.

[0035] The working principle of the rail-hanging lifting inspection robot for coal preparation plant equipment provided by the present invention is as follows:

[0036] Movement of the load-bearing pulley 5 and rotation of the gathering rod 9:

[0037] When the inspection robot moves forward along the I-shaped hanging rail 4, the load-bearing pulley 5, as the main supporting and driving component, will roll along the I-shaped hanging rail 4. At this time, the rotation of the load-bearing pulley 5 will drive the driving rod 11 and the driving gear 12 connected thereto to rotate together. The positive transmission one-way gear 14 meshing with the driving gear 12 will rotate accordingly.

[0038] It is important that the gathering rod 9 in this design is not movable, but can rotate around the vertical rod 10. A friction block 17 is designed at one end of the gathering rod 9. When the one-way gear 14 rotates, it drives the conical friction wheel 13 to rotate, and then through the friction between the friction block 17 and the conical friction wheel 13, one end of the gathering rod 9 (the end with the friction block 17) rotates and contacts the I-shaped hanging rail 4. This contact changes the gap between the gathering rod 9 and the I-shaped hanging rail 4, thereby achieving the effect of "gathering" the lubricating oil, so that the lubricating oil is more concentrated in the area where the load-bearing pulley 5 is about to pass.

[0039] When the inspection robot has finished moving forward and is ready to move backward, the load-bearing pulley 5 will rotate in the opposite direction. At this time, due to the action of the one-way gear 14, the conical friction wheel 13 connected to the one-way gear 14 of the positive transmission no longer rotates, so the gathering rod 9 on this side is no longer subjected to the force of rotation, but returns to the initial position under the action of the spiral spring 16, ready for the next lubricating oil gathering. At the same time, the one-way gear 14 of the reverse transmission will rotate synchronously, driving the conical friction wheel 13 connected thereto to rotate, so that the gathering rod 9 on this side contacts the I-shaped hanging rail 4.

[0040] Reciprocating motion of lubricating head 8 and application of lubricating oil:

[0041] At the same time, the rotation of the load-bearing pulley 5 will also drive the slide bar 21 to reciprocate through the transmission shaft 18 and the driven gear 19. The reciprocating motion of the slide bar 21 will further drive the lubrication head 8 to reciprocate along the axial direction of the load-bearing pulley 5. The interior of the lubrication head 8 is hollow and equipped with a ball 22, so that the lubricating oil can smoothly pass through the lubrication head 8 and be coated on the load-bearing pulley 5.

[0042] The top of the lubricating head 8 is connected to the oil storage tank of the lubricating box 7 through a hose, so when the lubricating head 8 moves, the air chamber will squeeze out the lubricating oil in the oil storage tank and apply it to the load-bearing pulley 5. Since the reciprocating motion of the lubricating head 8 is synchronized with the rotation of the load-bearing pulley 5, the lubricating oil can be evenly applied to the surface of the load-bearing pulley 5, achieving real-time lubrication.

[0043] Inflation of the lubrication box 7 and replenishment of lubricating oil:

[0044] In addition, the present invention also designs a mechanism for filling the lubricating box 7 and replenishing the lubricating oil. When the slide rod 21 reciprocates, it drives the piston 26 to slide in the air cylinder 25 through the piston rod 27. The sliding of the piston 26 changes the air pressure in the air cylinder 25 and presses the gas into the air filling chamber of the lubricating box 7 through the one-way valve. In this way, the air pressure in the air filling chamber will gradually increase, providing power for the extrusion of the lubricating oil.

[0045] At the same time, since the lubricating head 8 will continuously consume lubricating oil during the movement, the oil storage tank of the lubricating box 7 needs to be continuously replenished with lubricating oil. This can be achieved by regularly adding lubricating oil to the lubricating box 7. When the lubricating oil in the oil storage tank is reduced, new lubricating oil can be injected into the oil storage tank through a hose to ensure the continuous operation of the lubricating head 8.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rail-hanging lifting inspection robot for coal preparation plant equipment, characterized in that: The robot body (1) comprises a robot body, the top of which is fixedly connected to a bracket (2) that cooperates with an I-shaped hanging rail (4), and the bottom of which is mounted a lifting camera (3); A load-bearing pulley (5) is symmetrically mounted on the top inner side of the bracket (2), and an auxiliary pulley (6) is symmetrically mounted on the middle inner side of the bracket (2). The two sets of load-bearing pulleys (5) and the two sets of auxiliary pulleys (6) are both mounted in cooperation with the I-shaped hanging rail (4); A lubrication box (7) is symmetrically fixedly connected to the top of the bracket (2), the interior of the lubrication box (7) is divided into an air filling chamber and an oil storage chamber, and a lubrication head (8) capable of reciprocating along the axial direction of the load-bearing pulley (5) is installed at the bottom of the oil storage chamber of the lubrication box (7); A gathering rod (9) is symmetrically installed inside the bracket (2), and the gathering rod (9) is installed in coordination with the load-bearing pulley (5); A vertical rod (10) is symmetrically fixedly connected to the inner side of the bracket (2), and the two ends of the vertical rod (10) are respectively mounted in cooperation with the load-bearing pulley (5) and the auxiliary pulley (6). A driving rod (11) is fixedly connected to the axis of the load-bearing pulley (5), and one end of the driving rod (11) is fixedly connected to a driving gear (12). The top end of the vertical rod (10) is rotatably connected to a conical friction wheel (13), and one end of the conical friction wheel (13) is fixedly connected to a one-way gear (14). The driving gear (12) is meshed and connected with the one-way gear (14), the top end of the vertical rod (10) close to the side of the load-bearing pulley (5) is rotatably connected to one end of the gathering rod (9), the end of the gathering rod (9) away from the vertical rod (10) is provided with a gathering groove (15), a spiral spring (16) is installed at the connection between the gathering rod (9) and the vertical rod (10), and the end of the gathering rod (9) close to the spiral spring (16) is fixedly connected to a friction block (17) matched with the conical friction wheel (13); The inner side of the bracket (2) is rotatably connected to a transmission shaft (18), a driven gear (19) is fixedly connected to the middle of the transmission shaft (18), the driving gear (12) is meshingly connected to the driven gear (19), a reciprocating thread (20) is provided in the middle of the transmission shaft (18), a sliding rod (21) matching the reciprocating thread (20) is slidably connected to the outer wall of the reciprocating thread (20), and one side of the sliding rod (21) is fixedly connected to the lubrication head (8); The inner wall of the lubrication box (7) is slidably connected to a sealing plate (23), and a tension spring (24) is symmetrically fixedly connected to one side of the sealing plate (23) close to the air filling chamber. The bottom end of the lubrication box (7) is fixedly connected to an air cylinder (25), and the inner wall of the air cylinder (25) is slidably connected to a piston (26). The middle of the piston (26) is fixedly connected to a piston rod (27), and the piston rod (27) is fixedly connected to the other side of the sliding rod (21). The air cylinder (25) and the air filling chamber of the lubrication box (7) are connected via a pipeline, and a one-way valve is installed inside the piston (26) and on the inner wall of the pipeline. One end of the gathering rod (9) close to the scroll spring (16) is fixedly connected to a limit block (28), and the limit block (28) is in contact with one end of the vertical rod (10); The two one-way gears (14) located on one side of the I-shaped hanging rail (4) have different transmission directions, one for forward transmission and the other for reverse transmission; One end of the gathering rod (9) away from the spiral spring (16) is designed to be trapezoidal, and when the gathering rod (9) is in a working state, the trapezoidal inclined surface contacts the I-shaped hanging rail (4).

2. The rail-hanging lifting inspection robot for coal preparation plant equipment according to claim 1 is characterized in that: The top end of the lubrication head (8) is communicated with the oil storage tank of the lubrication box (7) through a hose.

3. The rail-hanging lifting inspection robot for coal preparation plant equipment according to claim 1 is characterized in that: The interior of the lubricating head (8) is hollow in design, a ball (22) is rotatably connected to the hollow portion of the lubricating head (8), and a guide groove is provided on the inner wall of the lubricating head (8) above the ball (22).

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