Unpowered inspection robot based on belt driving

Abstract

According to the unpowered inspection robot based on belt driving, the belt serves as a power source, and the robot is matched with a power generator to complete an inspection task; comprising a robot body, the robot body is movably arranged on a robot track, the robot body can reciprocate along the robot track, the robot track is fixedly arranged on a belt frame in the belt conveying direction, and the robot track is located between the upper surface of a belt and the lower surface of the belt; the lower end of the robot body is movably arranged on the upper side of the lower surface of the belt through a power collection wheel set, the robot body is driven to move back and forth along the robot track through friction movable rotating power generated between the movement of the lower surface of the belt and the power collection wheel set, and inspection equipment is arranged on the robot body; the device can be widely applied to the field of conveying belt inspection.

Description

Technical Field

[0001] The invention relates to a belt-driven unpowered inspection robot, belonging to the technical field of conveyor belt inspection. Background Art

[0002] Currently, the conveyor belt inspection robots on the market cannot be installed between the upper and lower belts of the conveyor belt because of limited space. If the size is reduced, the power supply of the inspection robot will also be a big problem. Adding batteries will increase the size of the robot and its battery life will be limited. If the robot has a built-in battery, the battery has the risk of spontaneous combustion and is not suitable for many usage environments. Summary of the invention

[0003] The present invention overcomes the shortcomings of the prior art and provides a belt-driven unpowered inspection robot, which uses the belt as a power source and cooperates with a generator to enable the robot to complete inspection tasks.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a belt-driven unpowered inspection robot, comprising a robot body, the robot body is movably arranged on a robot track, and the robot body can reciprocate along the robot track, the robot track is fixedly arranged on a belt frame along the belt transportation direction, and the robot track is located between the upper surface of the belt and the lower surface of the belt; The lower end of the robot body is movably arranged on the upper side of the lower surface of the belt through a power collection wheel group. The friction force generated between the movement of the lower surface of the belt and the power collection wheel group is used to rotate the power, driving the robot body to move back and forth along the robot track. Inspection equipment is arranged on the robot body.

[0005] Further, the structure of the power collection wheel group is as follows: it includes a friction wheel, a first synchronous pulley, a second synchronous pulley and a connecting plate, one end of the two parallel connecting plates is penetrated by a first transmission shaft, and the other end of the connecting plate is penetrated by a second transmission shaft, one end of the second transmission shaft is connected to the power input end of the robot body, the second transmission shaft is located above the first transmission shaft, and the second transmission shaft is movably connected to the first transmission shaft. Under the action of gravity, the connecting plate tilts downward toward the first transmission shaft, and a first synchronous pulley is fixedly arranged on the first transmission shaft. The first synchronous pulley is located between the two connecting plates, and friction wheels are arranged on the outer sides of the two connecting plates. The friction wheels are fixedly arranged on the first transmission shaft, and the two friction wheels are pressed on the upper side of the lower surface of the belt by gravity, and the first synchronous pulley is driven to rotate by the friction force between the lower surface of the belt. The second synchronous pulley is arranged on the second transmission shaft, and the second synchronous pulley is located between the two connecting plates. A synchronous belt is arranged between the first synchronous pulley and the second synchronous pulley, and the power is transmitted to the second synchronous pulley through the synchronous belt, and then the power is output to the power input end of the robot body.

[0006] Furthermore, the structure of the robot body is as follows: it includes a power input shaft, a first transmission gear, a second transmission gear, a reversing bevel gear, a reversing gear, a sliding reversing gear, a third transmission gear, a fourth transmission gear, a driving gear and a track rack; the power input shaft is power-connected to the second transmission shaft or is coaxially arranged as a whole, the first transmission gear is fixedly arranged on the power input shaft, the second transmission gear is meshed with the first transmission gear, the reversing gear maintains power transmission with the second transmission gear through the reversing bevel gear, the rotation direction of the reversing gear is opposite to that of the second transmission gear, the sliding reversing gear can mesh with the second transmission gear or the reversing gear under external force drive, the sliding reversing gear is coaxially arranged with the third transmission gear, the fourth transmission gear is meshed with the third transmission gear, the driving gear is coaxially arranged with the fourth transmission gear, the track rack is arranged on the lower side of the robot track, and the driving gear is meshed with the track rack.

[0007] Furthermore, the sliding reversing gear and the third transmission gear are both arranged on the first sliding rod, wherein the third transmission gear is fixedly arranged on the first sliding rod, the sliding reversing gear is slidably arranged on the first sliding rod, and the sliding reversing gear is movably connected with a second sliding rod, and the sliding reversing gear can be pushed to slide back and forth on the first sliding rod through the second sliding rod, so that the sliding reversing gear can engage with the second transmission gear or the reversing gear.

[0008] Furthermore, a brake wheel is fixedly provided on the power input shaft, and a brake mechanism is provided on the brake wheel. The brake mechanism is controlled to clamp the brake wheel, so that the power input shaft is controlled to stop rotating.

[0009] Furthermore, a generator gear is meshed with the second transmission gear, and the generator gear is coaxially arranged with a power output shaft of the generator, and the generator provides power for the robot body and the inspection equipment.

[0010] Furthermore, the inspection equipment includes a main control box and a camera, and the main control box is electrically connected to each controlled component.

[0011] Compared with the prior art, the present invention has the following beneficial effects: the inspection robot can automatically inspect along the C-shaped steel track. The robot itself has no power, and the power is provided by the conveyor belt through the friction wheel. The present invention uses the conveyor belt to drive the power collection wheel group of the robot to rotate, and transmits the power to the automatic transmission of the robot via the synchronous belt. Among them, the push rod can push the sliding reversing gear to slide on the first slide bar. The sliding reversing gear is controlled to mesh with the second transmission gear and the reversing gear respectively, and the second transmission gear and the reversing gear are simultaneously meshed with the reversing bevel gear, so the second transmission gear and the reversing gear have opposite directions, which can realize the positive and negative rotation of the sliding reversing gear. In the present invention, the generator gear is connected to the generator wheel to realize the power generation function, and the brake wheel is coaxially connected to the first transmission gear to realize the braking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below in conjunction with the accompanying drawings.

[0013] Figure 1 It is a structural schematic diagram of the present invention.

[0014] Figure 2 for Figure 1 A partial enlarged schematic diagram of area A in the middle.

[0015] Figure 3 The structure of the robot body in the present invention is shown in FIG. Figure 1 .

[0016] Figure 4 It is a partial enlarged schematic diagram of area B in the present invention.

[0017] Figure 5 The structure of the robot body in the present invention is shown in FIG. Figure 2 .

[0018] Figure 6 It is a partial enlarged schematic diagram of the C area in the present invention.

[0019] In the figure: 1 is a robot body, 11 is a power input shaft, 12 is a first transmission gear, 13 is a second transmission gear, 14 is a reversing bevel gear, 15 is a reversing gear, 16 is a sliding reversing gear, 17 is a third transmission gear, 18 is a fourth transmission gear, 19 is a driving gear, 110 is a track rack, 111 is a first slide bar, 112 is a second slide bar, 113 is a brake wheel, 114 is a brake mechanism, 115 is a generator gear, 116 is a generator, 2 is a robot track, 3 is a belt frame, 4 is an upper surface of the belt, 5 is a lower surface of the belt, 6 is a power collection wheel group, 61 is a friction wheel, 62 is a first synchronous pulley, 63 is a second synchronous pulley, 64 is a connecting plate, 65 is a first transmission shaft, 66 is a second transmission shaft, 67 is a synchronous belt, and 7 is an inspection device. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with specific embodiments.

[0021] like Figure 1 to Figure 6 As shown, the present invention is a belt-driven unpowered inspection robot, comprising a robot body 1, wherein the robot body 1 is movably arranged on a robot track 2, and the robot body 1 can reciprocate along the robot track 2, and the robot track 2 is fixedly arranged on a belt frame 3 along the belt transport direction, and the robot track 2 is located between the upper surface 4 of the belt and the lower surface 5 of the belt; The lower end of the robot body 1 is movably arranged on the upper side of the lower surface 5 of the belt through a power collection wheel group 6. The friction force generated between the movement of the lower surface of the belt 5 and the power collection wheel group 6 is used to rotate the power, thereby driving the robot body 1 to reciprocate along the robot track 2. The robot body 1 is provided with an inspection device 7, which includes a main control box and a camera. The main control box is electrically connected to each controlled component.

[0022] The structure of the power collection wheel group 6 is as follows: it includes a friction wheel 61, a first synchronous pulley 62, a second synchronous pulley 63 and a connecting plate 64, one end of the two parallel connecting plates 64 is penetrated by a first transmission shaft 65, the other end of the connecting plate 64 is penetrated by a second transmission shaft 66, one end of the second transmission shaft 66 is connected to the power input end of the robot body 1, the second transmission shaft 66 is located above the first transmission shaft 65, the second transmission shaft 66 is movably connected to the first transmission shaft 65, the connecting plate 64 is tilted downward toward the first transmission shaft 65 under the action of gravity, the first transmission shaft 65 is fixedly provided with a first synchronous pulley 62, and the first synchronous pulley The wheel 62 is located between the two connecting plates 64, and the outer sides of the two connecting plates 64 are provided with friction wheels 61, and the friction wheels 61 are fixedly set on the first transmission shaft 65. The two friction wheels 61 are pressed against the upper side of the lower surface 5 of the belt by gravity, and the first synchronous pulley 62 is driven to rotate by the friction force between the lower surface 5 of the belt. The second synchronous pulley 63 is set on the second transmission shaft 66, and the second synchronous pulley 63 is located between the two connecting plates 64. A synchronous belt 67 is set between the first synchronous pulley 62 and the second synchronous pulley 63, and power is transmitted to the second synchronous pulley 63 through the synchronous belt 67, and then the power is output to the power input end of the robot body 1.

[0023] The structure of the robot body 1 is as follows: it includes a power input shaft 11, a first transmission gear 12, a second transmission gear 13, a reversing bevel gear 14, a reversing gear 15, a sliding reversing gear 16, a third transmission gear 17, a fourth transmission gear 18, a driving gear 19 and a track rack 110; the power input shaft 11 is connected to the second transmission shaft 66 by power or is arranged coaxially as a whole, the first transmission gear 12 is fixedly arranged on the power input shaft 11, and the second transmission gear 13 is meshed with the first transmission gear 12. The reversing gear 15 maintains power transmission with the second transmission gear 13 through the reversing bevel gear 14. The rotation direction of the reversing gear 15 is opposite to that of the second transmission gear 13. The sliding reversing gear 16 can mesh with the second transmission gear 13 or the reversing gear 15 under external force driving. The sliding reversing gear 16 is coaxially provided with a third transmission gear 17. The fourth transmission gear 18 is meshed with the third transmission gear 17. The driving gear 19 is coaxially provided with the fourth transmission gear 18. The track rack 110 is provided on the machine On the lower side of the pedestrian track 2, the driving gear 19 is meshed with the track rack 110; the sliding reversing gear 16 and the third transmission gear 17 are both arranged on the first slide bar 111, wherein the third transmission gear 17 is fixedly arranged on the first slide bar 111, the sliding reversing gear 16 is slidably arranged on the first slide bar 111, and the sliding reversing gear 16 is movably connected with the second slide bar 112, and the sliding reversing gear 16 can be pushed to slide back and forth on the first slide bar 111 through the second slide bar 112, so that the sliding reversing gear The wheel 16 can mesh with the second transmission gear 13 or the reversing gear 15; a brake wheel 113 is fixedly provided on the power input shaft 11, and a brake mechanism 114 is provided on the brake wheel 113. The brake mechanism 14 is controlled to clamp the brake wheel 113 to control the power input shaft 11 to stop rotating; a generator gear 115 is meshed on the second transmission gear 13, and the generator gear 115 is coaxially arranged with the power output shaft of the generator 116. The generator 116 provides power for the robot body 1 and the inspection equipment 7.

[0024] This inspection robot can perform automatic inspection along the C-shaped steel track. The robot itself has no power, and the power is provided by the conveyor belt through the friction wheel. The present invention uses the conveyor belt to drive the power collection wheel group of the robot to rotate, and transmits the power to the automatic transmission of the robot via the synchronous belt; wherein, the push rod can push the sliding reversing gear to slide on the first slide bar. The sliding reversing gear is controlled to mesh with the second transmission gear and the reversing gear respectively, and the second transmission gear and the reversing gear are simultaneously meshed with the reversing bevel gear, so the second transmission gear and the reversing gear have opposite directions of rotation, which can realize the positive and negative rotation of the sliding reversing gear. In the present invention, the generator gear is connected to the generator wheel to realize the power generation function, and the brake wheel is coaxially connected to the first transmission gear to realize the braking function.

[0025] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A belt-driven unpowered inspection robot, characterized in that: The robot body (1) comprises a robot body (1), the robot body (1) being movably arranged on a robot track (2), and the robot body (1) being capable of reciprocating along the robot track (2), the robot track (2) being fixedly arranged on a belt frame (3) along a belt transport direction, and the robot track (2) being located between an upper belt surface (4) and a lower belt surface (5); The lower end of the robot body (1) is movably arranged on the upper side of the lower surface (5) of the belt via a power collection wheel set (6), and the friction force generated between the movement of the lower surface (5) of the belt and the power collection wheel set (6) is used to generate rotational power, thereby driving the robot body (1) to reciprocate along the robot track (2). The robot body (1) is provided with an inspection device (7).

2. The belt-driven unpowered inspection robot according to claim 1, characterized in that: The structure of the power collection wheel group (6) is as follows: it comprises a friction wheel (61), a first synchronous belt pulley (62), a second synchronous belt pulley (63) and a connecting plate (64); one end of the two parallel connecting plates (64) is penetrated by a first transmission shaft (65); the other end of the connecting plate (64) is penetrated by a second transmission shaft (66); one end of the second transmission shaft (66) is connected to the power input end of the robot body (1); the second transmission shaft (66) is located above the first transmission shaft (65); the second transmission shaft (66) is movably connected to the first transmission shaft (65); under the action of gravity, the connecting plate (64) tilts downward toward the first transmission shaft (65); the first transmission shaft (65) is fixedly provided with a first synchronous belt pulley (62); the first synchronous belt pulley (62) is located between the two connecting plates (64), and the outer sides of the two connecting plates (64) are both provided with friction wheels (61), and the friction wheels (61) are both fixedly arranged on the first transmission shaft (65). The two friction wheels (61) are pressed against the upper side of the lower surface (5) of the belt by gravity, and the first synchronous pulley (62) is driven to rotate by the friction force between the lower surface (5) of the belt, and the second synchronous pulley (63) is arranged on the second transmission shaft (66), and the second synchronous pulley (63) is located between the two connecting plates (64). A synchronous belt (67) is arranged between the first synchronous pulley (62) and the second synchronous pulley (63), and power is transmitted to the second synchronous pulley (63) through the synchronous belt (67), and the power is output to the power input end of the robot body (1).

3. The belt-driven unpowered inspection robot according to claim 2 is characterized in that: The robot body (1) has a structure comprising a power input shaft (11), a first transmission gear (12), a second transmission gear (13), a reversing bevel gear (14), a reversing gear (15), a sliding reversing gear (16), a third transmission gear (17), a fourth transmission gear (18), a driving gear (19) and a track rack (110); the power input shaft (11) is power-connected to the second transmission shaft (66) or is integrally coaxially arranged; the first transmission gear (12) is fixedly arranged on the power input shaft (11); the second transmission gear (13) is meshed with the first transmission gear (12); the reversing gear (15) is connected to the second transmission shaft (66) by the reversing bevel gear. The wheel (14) and the second transmission gear (13) maintain power transmission, the rotation direction of the reversing gear (15) is opposite to that of the second transmission gear (13), the sliding reversing gear (16) can mesh with the second transmission gear (13) or the reversing gear (15) under external force driving, the sliding reversing gear (16) is coaxially provided with a third transmission gear (17), the fourth transmission gear (18) meshes with the third transmission gear (17), the driving gear (19) is coaxially provided with the fourth transmission gear (18), the track rack (110) is provided on the lower side of the robot track (2), and the driving gear (19) meshes with the track rack (110).

4. The belt-driven unpowered inspection robot according to claim 3 is characterized in that: The sliding reversing gear (16) and the third transmission gear (17) are both arranged on the first slide bar (111), wherein the third transmission gear (17) is fixedly arranged on the first slide bar (111), the sliding reversing gear (16) is slidably arranged on the first slide bar (111), and the sliding reversing gear (16) is movably connected to a second slide bar (112), and the sliding reversing gear (16) can be pushed by the second slide bar (112) to slide back and forth on the first slide bar (111), so that the sliding reversing gear (16) can mesh with the second transmission gear (13) or the reversing gear (15).

5. The belt-driven unpowered inspection robot according to claim 4, characterized in that: A brake wheel (113) is fixedly arranged on the power input shaft (11), and a brake mechanism (114) is arranged on the brake wheel (113). The brake mechanism (14) is controlled to clamp the brake wheel (113), thereby controlling the power input shaft (111) to stop rotating.

6. The belt-driven unpowered inspection robot according to claim 5, characterized in that: A generator gear (115) is meshed with the second transmission gear (13); the generator gear (115) is coaxially arranged with a power output shaft of a generator (116); and the generator (116) provides power for the robot body (1) and the inspection equipment (7).

7. The belt-driven unpowered inspection robot according to claim 1, characterized in that: The inspection device (7) comprises a main control box and a camera, and the main control box is electrically connected to each controlled component.

Images