Patrol robot for pneumatic conveying pipeline

Abstract

The invention relates to the technical field of pipeline detection, in particular to an inspection robot for a pneumatic conveying pipeline. Comprising a base, and a mounting rod is mounted at the upper end of the base; a connecting hole is formed in the surface of the mounting rod; the surface of the mounting rod is sleeved with a ring sleeve; through the arrangement of the clamping plates and the transmission belt, the clamping plates clamped on the pneumatic conveying pipeline can drive the transmission belt to be tightly attached to the outer wall of the pneumatic conveying pipeline through the mounting shell, so that the transmission belt attached to the pneumatic conveying pipeline can drive the mounting shell to move along the pneumatic conveying pipeline; the electromagnetic ultrasonic flaw detector mounted on the clamping plate can detect flaws of the pneumatic conveying pipeline in real time; therefore, an inspector does not need to use inspection equipment to uninterruptedly inspect the pneumatic conveying pipeline in the coal mine tunnel, the working safety of the inspector is ensured, meanwhile, the problem of omission or detection errors caused by fatigue or negligence of the inspector is avoided, and the detection accuracy of the pneumatic conveying pipeline is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, in particular to an inspection robot for pneumatic conveying pipelines. Background Art

[0002] In 2023, my country's raw coal output will be 4.7 billion tons, and the gangue content will be about 900 million tons. A large amount of gangue has been piled up on the ground to form more than 1,600 gangue mountains, which not only occupies land resources and causes geological pollution, but also has the risk of spontaneous combustion. If the gangue is returned, it can be used as tunnel support and goaf filling material, which will have significant economic and social benefits. The transportation of raw coal from underground to the ground consumes 20% of the underground transportation and shaft lifting capacity. However, the existing tunnel space is small, and it is difficult to use a belt conveyor system to return it to the goaf. Pneumatic pipeline transportation technology is a material transportation technology that uses the power and pressure of gas to transport materials from one place to another through a pipeline. It has the advantages of occupying small tunnel space, dust-free, energy-saving, environmentally friendly, and able to achieve long-distance, automated, intelligent, and efficient transportation. Therefore, pneumatic pipeline systems are often used for transportation in smaller tunnel spaces. The raw coal mined from the existing coal mining face is first pre-crushed and then transported to the coal bunker in the mining area by belt conveyor. A drum screen is set in the coal bunker in the mining area, and the raw coal with a particle size of less than 50 mm is directly transported to the main shaft coal bunker by belt conveyor and lifted to the ground from the main shaft coal bunker. The raw coal with a particle size of more than 50 mm on the screen enters the X-ray intelligent gangue separator, and the clean coal after selection is transported to the main shaft coal bunker together with the raw coal with a particle size of less than 50 mm under the screen. The gangue after selection enters the gangue bin, and is taken out from the gangue bin by a rake bucket machine and sent to the third-stage crusher for crushing through the feeding conveyor belt. The final crushing particle size is guaranteed to be less than 5 mm. The ground fly ash is sent to the underground bunker through vertical material transportation, and is sent from the underground bunker to the filling station for measurement together with the gangue material below 5 mm, and then transported by pneumatic pipeline to the transfer station (the distance between the transfer stations is 1200 m), after passing through multiple transfer stations, the materials are collected in the receiving bin, metered and slurried at the filling station, and then pumped; at the same time, the ground cement and high-strength nano-powder are transported to the underground silo, transported to the receiving bin through pneumatic pipelines, and pumped after metered and slurried at the filling station; the two pumping pipelines are mixed and sprayed into the goaf to complete the filling operation; Since coal mine tunnels are usually humid, dusty and other harsh environmental conditions, the outer wall of the pipeline will be corroded to a certain extent. Long-term accumulation will cause cracks or even breakage on the outer wall of the pipeline. Therefore, inspection personnel are required to use inspection equipment to continuously inspect the pneumatic conveying pipeline. However, in dangerous environments such as coal mine tunnels, the safety risks of manual inspection personnel are relatively high. In addition, manual inspections are often limited by work shifts and human resources, and the continuity and consistency of inspections cannot be guaranteed. Not only is the inspection efficiency low, but inspection personnel may also miss or detect errors due to fatigue or negligence. In view of this, in order to overcome the above technical problems, the present invention proposes an inspection robot for pneumatic conveying pipelines, which solves the above technical problems. Summary of the invention

[0003] In order to make up for the deficiencies of the prior art, the present invention proposes an inspection robot for pneumatic conveying pipelines. The present invention arranges a clamping plate and a transmission belt so that the clamping plate clamped on the pneumatic conveying pipeline can drive the transmission belt to be tightly attached to the outer wall of the pneumatic conveying pipeline through the mounting shell, so that the transmission belt attached to the pneumatic conveying pipeline can drive the mounting shell to move along the pneumatic conveying pipeline, so that the electromagnetic ultrasonic flaw detector installed on the clamping plate can perform flaw detection on the pneumatic conveying pipeline in real time; thereby, there is no need for inspection personnel to use inspection equipment to continuously inspect the pneumatic conveying pipelines in the coal mine tunnels, thereby ensuring the work safety of the inspection personnel and avoiding the problem of omissions or detection errors due to fatigue or negligence of the inspection personnel, thereby improving the accuracy of pneumatic conveying pipeline detection.

[0004] The technical solution adopted by the present invention to solve the technical problem is: the inspection robot for pneumatic conveying pipelines described in the present invention comprises: The base has a mounting rod installed on the upper end of the base; a connecting hole is provided on the surface of the mounting rod; a ring sleeve is provided on the surface of the mounting rod; a positioning hole matching the connecting hole is provided on the surface of the ring sleeve; two mutually perpendicular hinged rods are fixedly connected to the outer wall of the ring sleeve, A mounting shell, wherein two mounting shells are provided, and the two mounting shells are rotatably connected to two hinged rods respectively through torsion springs; two rotating columns are rotatably connected in the mounting shell; a transmission belt is wound around the two rotating columns; a driving motor is fixedly installed on the upper end of the mounting shell; the driving motor is used to drive the rotating column to rotate; The splints are provided with two in number; a mounting plate is fixedly connected to one side of the mounting shell; the two splints are rotationally connected to the mounting plate via a torsion spring; the two splints are distributed up and down; a rubber strip is fixedly connected to the mutually adjacent sides of the two splints; an electromagnetic ultrasonic flaw detector is fixedly installed on the outer wall of the splint; a transmission unit connected to the splint is installed on one side of the mounting shell; the drive motor drives the splint to rotate via the transmission unit.

[0005] Preferably, the transmission unit comprises: A bevel gear rod, a circular groove is provided on one side of the mounting shell; the bevel gear rod is slidably connected in the circular groove; a magnet is embedded in one end of the bevel gear rod close to the bottom of the circular groove; an electromagnetic sheet is embedded in the bottom of the circular groove; the output shaft of the drive motor and the bevel gear rod are connected by a belt drive; A bevel gear shaft, a groove is provided on one side of the mounting plate close to the circular groove; the bevel gear shaft is rotatably connected in the groove; the bevel gear rod is meshed with the bevel gear shaft for transmission; two steel wire ropes are fixedly connected to the surface of the bevel gear shaft; the ends of the two steel wire ropes away from the bevel gear shaft are respectively fixedly connected to two clamping plates distributed above and below.

[0006] Preferably, a protective shell is fixedly installed on one side of the mounting shell; the driving motor and the bevel gear rod are both located in the protective shell; the bevel gear shaft is rotatably connected to the protective shell; an inclined rod is fixedly connected to the side of the mounting shell away from the mounting rod; and a roller is rotatably connected to one end of the inclined rod away from the mounting shell.

[0007] Preferably, the cross-sectional shape of the base is set to be T-shaped; a cylindrical groove is opened at the upper end of the base; a bolt hole penetrating the cylindrical groove is opened on the surface of the base; the mounting rod is slidably connected in the cylindrical groove; and track wheels are installed on both sides of the base.

[0008] Preferably, an engagement strip is fixedly connected to the inner ring wall of the transmission belt; and an engagement groove is provided on the outer wall of the rotating column.

[0009] Preferably, the cross-sectional shape of the transmission belt is set to be an arc; the outer ring wall of the transmission belt is fixedly connected with a convex strip; the shape of the convex strip is set to be V-shaped.

[0010] Preferably, bristles are fixedly connected to a side of the splint away from the electromagnetic ultrasonic flaw detector; the bristles are made of rubber material; a bellows is fixedly connected between the splint and the mounting shell; an air inlet is provided on the surface of the bellows; air holes are provided on the sides of the two splints close to each other; one-way valves are fixedly installed in the air inlet and the air hole; one end of the air hole faces the bristles, and the other end is connected to the bellows.

[0011] Preferably, a slot is provided at one end of the mounting rod close to the bottom of the cylindrical groove; a hydraulic push rod is installed in the cylindrical groove; one end of the hydraulic push rod is fixedly connected to the bottom of the cylindrical groove, and the other end is fixedly connected to the bottom of the slot.

[0012] The beneficial effects of the present invention are as follows: 1. The present invention arranges the clamping plate and the transmission belt so that the clamping plate clamped on the pneumatic conveying pipeline can drive the transmission belt to be in close contact with the outer wall of the pneumatic conveying pipeline through the installation shell, so that the transmission belt attached to the pneumatic conveying pipeline can drive the installation shell to move along the pneumatic conveying pipeline, so that the electromagnetic ultrasonic flaw detector installed on the clamping plate can perform flaw detection on the pneumatic conveying pipeline in real time; thereby, there is no need for the inspection personnel to use the inspection equipment to continuously inspect the pneumatic conveying pipeline in the coal mine lane, which ensures the work safety of the inspection personnel, and at the same time avoids the problem of omission or detection error caused by fatigue or negligence of the inspection personnel, thereby improving the detection accuracy of the pneumatic conveying pipeline.

[0013] 2. The present invention fixes bristles on a side of the clamping plate away from the electromagnetic ultrasonic flaw detector. When the mounting shell drives the two clamping plates clamped on the surface of the pneumatic conveying pipe to move through the transmission belt, the two adjacent clamping plates will use the bristles on the sides close to each other to clean the outer wall of the pneumatic conveying pipe through which the probe of the electromagnetic ultrasonic flaw detector will pass during the movement, thereby preventing dust from adhering to the probe surface of the electromagnetic ultrasonic flaw detector, thereby ensuring the stability of signal transmission and reception of the probe of the electromagnetic ultrasonic flaw detector, and thereby improving the accuracy and stability of the electromagnetic ultrasonic flaw detector in flaw detection of the outer wall of the pneumatic conveying pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described below in conjunction with the accompanying drawings and implementation modes.

[0015] Figure 1 is a stereogram of the present invention; Figure 2 is a three-dimensional diagram of the installation shell without the protective shell in the present invention; Figure 3 It is a partial structural schematic diagram of the installation shell without the protective shell in the present invention; Figure 4 yes Figure 3 The enlarged view of point A in the middle; Figure 5 It is a partial structural schematic diagram of the splint used in the present invention; Figure 6 It is a partial structural schematic diagram of the base used in the present invention; Figure 7 It is a transmission schematic diagram of the present invention; In the figure: 1, base; 11, mounting rod; 111, connecting hole; 12, ring sleeve; 121, positioning hole; 122, hinge rod; 13, cylindrical groove; 131, bolt hole; 14, track wheel; 15, hydraulic push rod; 16, slot; 2, mounting shell; 21, rotating column; 211, transmission belt; 212, mounting plate; 213, bevel gear shaft; 214, groove; 215, meshing strip; 216, meshing groove; 2 17. convex strip; 22. driving motor; 221. belt; 23. splint; 231. rubber strip; 232. electromagnetic ultrasonic flaw detector; 233. wire rope; 234. air hole; 24. bevel gear rod; 241. circular groove; 242. magnet; 243. electromagnetic sheet; 25. protective shell; 26. inclined rod; 261. roller; 27. bristles; 28. bellows; 281. air inlet; 282. one-way valve. DETAILED DESCRIPTION

[0016] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0017] like Figures 1 to 7 As shown, the inspection robot for pneumatic conveying pipelines of the present invention comprises: A base 1, wherein a mounting rod 11 is mounted on the upper end of the base 1; a connecting hole 111 is formed on the surface of the mounting rod 11; a ring sleeve 12 is sleeved on the surface of the mounting rod 11; a positioning hole 121 matching the connecting hole 111 is formed on the surface of the ring sleeve 12; two mutually perpendicular hinged rods 122 are fixedly connected to the outer wall of the ring sleeve 12, The mounting shell 2 is provided with two mounting shells 2, and the two mounting shells 2 are respectively connected to the two hinge rods 122 by torsion springs; two rotating posts 21 are connected to the mounting shell 2 by rotation; a transmission belt 211 is wound around the two rotating posts 21; a driving motor 22 is fixedly installed on the upper end of the mounting shell 2; the driving motor 22 is used to drive the rotating posts 21 to rotate; The clamping plate 23, the number of which is set to two; a mounting plate 212 is fixedly connected to one side of the mounting shell 2; the two clamping plates 23 are rotationally connected to the mounting plate 212 through a torsion spring; the two clamping plates 23 are distributed up and down; a rubber strip 231 is fixedly connected to the side of the two clamping plates 23 close to each other; an electromagnetic ultrasonic flaw detector 232 is fixedly installed on the outer wall of the clamping plate 23; a transmission unit connected to the clamping plate 23 is installed on one side of the mounting shell 2; the driving motor 22 drives the clamping plate 23 to rotate through the transmission unit.

[0018] As an implementation mode of the present invention, the transmission unit includes: A bevel gear rod 24, a circular groove 241 is provided on one side of the mounting shell 2; the bevel gear rod 24 is slidably connected in the circular groove 241; a magnet 242 is embedded in one end of the bevel gear rod 24 close to the bottom of the circular groove 241; an electromagnetic sheet 243 is embedded in the bottom of the circular groove 241; the output shaft of the drive motor 22 is connected to the bevel gear rod 24 by a belt 221; Bevel gear shaft 213, a groove 214 is provided on one side of the mounting plate 212 close to the circular groove 241; the bevel gear shaft 213 is rotatably connected in the groove 214; the bevel gear rod 24 is meshed with the bevel gear shaft 213 for transmission; two steel wire ropes 233 are fixedly connected to the surface of the bevel gear shaft 213; the ends of the two steel wire ropes 233 away from the bevel gear shaft 213 are respectively fixedly connected to two clamping plates 23 distributed above and below.

[0019] As an embodiment of the present invention, a protective shell 25 is fixedly installed on one side of the mounting shell 2; the driving motor 22 and the bevel gear rod 24 are both located in the protective shell 25; the bevel gear shaft 213 is rotatably connected to the protective shell 25; a diagonal rod 26 is fixedly connected to the side of the mounting shell 2 away from the mounting rod 11; and a roller 261 is rotatably connected to one end of the diagonal rod 26 away from the mounting shell 2.

[0020] As an embodiment of the present invention, the cross-sectional shape of the base 1 is set to be T-shaped; a cylindrical groove 13 is opened at the upper end of the base 1; a bolt hole 131 penetrating the cylindrical groove 13 is opened on the surface of the base 1; the mounting rod 11 is slidably connected in the cylindrical groove 13; track wheels 14 are installed on both sides of the base 1; During operation, the coal mine tunnels are usually humid, dusty and other harsh environmental conditions, which will cause corrosion to the outer wall of the pipeline to a certain extent. Long-term accumulation will cause cracks or even fractures on the outer wall of the pipeline. Therefore, inspection personnel are required to use inspection equipment to continuously inspect the pneumatic conveying pipelines. However, in dangerous environments such as coal mine tunnels, the safety risks of manual inspection personnel are relatively high. In addition, manual inspections are often limited by work shifts and human resources, and the continuity and consistency of inspections cannot be guaranteed. Not only is the inspection efficiency low, but inspection personnel may also miss or detect errors due to fatigue or negligence. In this regard, the present invention arranges the clamping plate 23 and the transmission belt 211 so that the clamping plate 23 clamped on the pneumatic conveying pipeline can drive the transmission belt 211 to be close to the outer wall of the pneumatic conveying pipeline through the installation shell 2, so that the transmission belt 211 attached to the pneumatic conveying pipeline can drive the installation shell 2 to move along the pneumatic conveying pipeline, so that the electromagnetic ultrasonic flaw detector 232 installed on the clamping plate 23 can perform flaw detection on the pneumatic conveying pipeline in real time; thus, there is no need for the inspection personnel to use the inspection equipment to continuously inspect the pneumatic conveying pipeline in the coal mine tunnel, which ensures the work safety of the inspection personnel, and at the same time avoids the problem of omission or detection error caused by fatigue or negligence of the inspection personnel, thereby improving the detection accuracy of the pneumatic conveying pipeline; In the initial state, the electromagnetic ultrasonic flaw detector 232 and the driving motor 22 and other electrical appliances are explosion-proof, the probe of the electromagnetic ultrasonic flaw detector 232 is fixedly mounted on the clamping plate 23, and the electromagnetic ultrasonic flaw detector 232 body is fixedly mounted on the upper end of the base 1, and the electromagnetic ultrasonic flaw detector 232 body and the probe are connected by a line; and the electromagnetic ultrasonic flaw detector 232 directly acts on the surface of the material through electromagnetic force, so as to achieve the excitation and reception of ultrasonic signals with extremely high precision; since the physical contact and the use of coupling agent in traditional ultrasonic flaw detection are reduced, it can provide more accurate and highly repeatable detection results; in addition, compared with traditional flaw detectors, the electromagnetic ultrasonic flaw detector 232 usually does not need to perform circular rotation around the pipeline when detecting flaws in pneumatic conveying pipelines; this is because the electromagnetic ultrasonic flaw detector 232 uses the principle of electromagnetic induction, and generates a high-frequency electromagnetic field on the surface of the pipeline, so that defects on the surface and near the surface of the pipeline produce eddy current effects, thereby detecting defects; this flaw detection method does not require circular rotation around the pipeline, and can be detected by a probe at a fixed position; Since the space in the coal mine tunnel is limited, and necessary facilities such as power lines, ventilation ducts, communication lines, etc. are usually installed in the coal mine tunnel, the existing pneumatic conveying pipelines are mostly installed on the inner wall of the coal mine tunnel, which can not only effectively utilize the space in the coal mine tunnel and reduce the occupation of the ground space, but also the pneumatic conveying pipeline is installed on the inner wall of the coal mine tunnel, which makes it easier for the staff to perform inspection and maintenance operations. Since the installation heights of the pneumatic conveying pipelines in different coal mine tunnels are different, the present invention provides a cylindrical groove 13 at the upper end of the base 1, so that the mounting rod 11 can be slidably connected in the cylindrical groove 13. When the mounting rod 11 is installed, the mounting rod 11 is pulled to slide up and down in the cylindrical groove 13, so that the mounting rod 11 can drive the mounting shell 2 installed on the ring sleeve 12 at the upper end to rise and fall, thereby increasing the height of the mounting shell 2, ensuring that the mounting shell 2 can face the pneumatic conveying pipeline, and then ensuring that the mounting shell 2 drives the probe of the electromagnetic ultrasonic flaw detector 232 on the clamping plate 23 to stably detect the outer wall of the pneumatic conveying pipeline. At the entrance of the coal mine tunnel, the user first inserts the mounting rod 11 into the cylindrical groove 13 at the upper end of the base 1, so that the upper end of the mounting rod 11 can be higher than the axial height of the pneumatic conveying pipeline, and then uses a bolt to insert it into the bolt hole 131 on the surface of the base 1, so that the bolt inserted into the bolt hole 131 can enter the cylindrical groove 13 through the connecting hole 111 on the surface of the mounting rod 11, and finally passes through the connecting hole 111 and the bolt hole 131 at the other end, and tightens the bolt with a nut. At this time, the mounting rod 11 is fixedly connected to the base 1; then the ring sleeve 12 connected to the mounting shell 2 is put on the surface of the mounting rod 11, and at the same time, the two upper and lower distributed clamps 23 installed on the same mounting shell 2 are pulled to rotate in a direction away from each other, so that the clamps 23 are opened, and then the mounting shell 2 is pushed close to the pneumatic conveying pipeline until the mounting shell 2 drives the transmission belt 211 to contact the pneumatic conveying pipeline. The pneumatic conveying pipeline is in contact with each other, and the clamping plate 23 is released at this time, so that the clamping plate 23 rotates towards each other under the action of the restoring force of the torsion spring, so that the two clamping plates 23 clamp the pneumatic conveying pipeline. Since the rubber strip 231 is fixedly connected to the side of the two clamping plates 23 that is close to each other, the clamping plate 23 contacts the pneumatic conveying pipeline through the rubber strip 231; then the driving motor 22 is controlled to operate, so that the driving motor 22 can drive the transmission belt 211 to rotate around the two rotating columns 21 through the rotating column 21 connected thereto, so that the transmission belt 211 attached to the surface of the pneumatic conveying pipeline is affected by the static friction between itself and the pneumatic conveying pipeline, and moves along the axial direction of the pneumatic conveying pipeline; at this time, the electromagnetic ultrasonic flaw detector 232 is in operation, so that the electromagnetic ultrasonic flaw detector 232 installed on the clamping plate 23 can perform flaw detection on the pneumatic conveying pipeline; Although the mounting shell 2 is clamped on the surface of the pneumatic conveying pipeline by the clamping plate 23, the center of gravity of the mounting shell 2 is mainly concentrated on the side of the pneumatic conveying pipeline close to the mounting rod 11. Although the ring sleeve 12 can be fixedly connected to the mounting rod 11 by using bolts to achieve support and stability for the mounting shell 2, the roadbed of the underground laneway in the coal mine is generally not very flat; when the movable mounting shell 2 drives the base 1 to move to the slope through the mounting rod 11 connected thereto, the base 1 is caused to deviate in the direction away from the pneumatic conveying pipeline, so that the base 1 will pull the mounting shell 2 to deviate through the mounting rod 11, so that the mounting shell 2 drives the clamping plate 23 to move away from the pneumatic conveying pipeline. At this time, the clamping plate 23 will slide relative to the pneumatic conveying pipeline under the action of the pulling force, so that the clamping plate 23 will drive the electromagnetic ultrasonic flaw detector 232 probe to move, thereby causing the ultrasonic emission position and angle to change, which will affect the accuracy of positioning the flaw detection part of the pneumatic conveying pipeline; In this regard, the present invention sets a rubber strip 231 so that the clamping plate 23 can contact the pneumatic conveying pipe through the rubber strip 231. Since the straight line direction of the rubber strip 231 is the same as the axial direction of the pneumatic conveying pipe, that is, the rubber strip 231 and the pneumatic conveying pipe are both transverse; this makes the rubber strip 231 and the pneumatic conveying pipe only provide a few narrow contact lines in the transverse direction, thereby reducing the contact area between the rubber strip 231 and the pneumatic conveying pipe and reducing the friction; so that the mounting shell 2 drives the rubber strip 231 to slide along the outer wall of the pneumatic conveying pipe through the clamping plate 23; and when the base 1 is tilted, the mounting shell 2 drives the clamping plate 23 to move along the cross section of the pneumatic conveying pipe in a direction away from the pneumatic conveying pipe; so that the moving direction of the rubber strip 231 driven by the clamping plate 23 is consistent with the length of the rubber strip 231 The rubber strip 231 slides along the circumference of the pneumatic conveying pipe in a vertical direction. At this time, the rubber strip 231 will be blocked by the outer wall of the pneumatic conveying pipe. At this time, the long side of the rubber strip 231 is more in line with the outer wall of the pneumatic conveying pipe, thereby increasing the contact area between the rubber strip 231 and the pneumatic conveying pipe, and improving the friction between the rubber strip 231 and the pneumatic conveying pipe. At the same time, the rubber strip 231 can also improve the continuous gripping surface between the clamping plate 23 and the pneumatic conveying pipe; so that the clamping stability of the pneumatic conveying pipe by the clamping plate 23 is improved; thereby preventing the clamping plate 23 from sliding between the pneumatic conveying pipes and preventing the clamping plate 23 from driving the probe of the electromagnetic ultrasonic flaw detector 232 to move, thereby ensuring that the emission position and angle of the electromagnetic wave remain stable, and improving the accuracy of positioning the flaw detection part of the pneumatic conveying pipe; Coal mine roadways include not only straight roadways but also curved roadways, and the pneumatic conveying pipelines installed in the roadways also need bent parts to adapt to the curved roadways; corresponding brackets are often installed at the bent parts to fix the pneumatic conveying pipelines; when the installation shell 2 moves to the bent part, the clamping plate 23 will be blocked by the bracket. For this, the present invention sets a bevel gear set. In the initial state, the electromagnetic sheet 243 is powered off, so that the bevel gear rod 24 slides to the bottom of the circular groove 241 under the adsorption force of the magnet 242. At this time, the bevel gear shaft 213 and the bevel gear rod 24 are in a separated state; before the clamping plate 23 contacts the bracket, first control the electromagnetic sheet 243 to be powered on, so that the electromagnetic sheet 243 generates the same magnetic pole as the magnet 242, so that the magnet 242 drives the bevel gear rod 24 to extend out of the circular groove 241 and move towards the bevel gear shaft 213 under the magnetic repulsive force until the bevel gear rod 24 contacts and meshes with the bevel gear shaft 213. Since the driving motor 22 is still running at this time, the driving motor 22 can drive the bevel gear rod 24 to rotate through the belt 221, so that the bevel gear rod 24 drives the bevel gear shaft 213 meshed with it to rotate. During the rotation of the bevel gear shaft 213, the two steel wire ropes 233 fixedly connected to it are wound on its surface, so that the two steel wire ropes 233 wound on the surface of the bevel gear shaft 213 pull the two clamping plates 23 connected to the other end to rotate towards each other, so that the two clamping plates 23 open, so that the bracket no longer blocks the clamping plate 23 until the installation shell 2 drives the clamping plate 23 to cross the bracket; and during the process of the clamping plate 23 opening and continuously approaching the bracket, the installation shell 2 will drive the roller 261 to first contact the bent and turning part of the pneumatic conveying pipeline. For example, if the pneumatic conveying pipeline is bent by 90°, the roller 261 will contact the part where the pneumatic conveying pipeline is bent to be perpendicular; so that the roller 261 can be blocked by the pneumatic conveying pipeline; since the roller 261 is connected to the installation shell 2 through the inclined rod 26, the driving force applied by the pneumatic conveying pipeline on the inclined rod 26 through the roller 261 is perpendicular to the inclined rod 26, so that the inclined rod 26 drives the installation shell 2 to rotate relative to the hinge rod 122 under the action of the blocking force of the pneumatic conveying pipeline, so that the installation shell 2 rotates towards the installation rod 11 against the torsion of the torsion spring; so that the installation shell 2 is separated from the pneumatic conveying pipeline. At this time, control the driving motor 22 on the installation shell 2 separated from the pneumatic conveying pipeline to stop rotating. At this time, the installation shell 2 located behind still pushes the installation rod 11 through the transmission belt 211 to drive the installation shell 2 in front to move forward; so that the installation shell 2 in front drives the clamping plate 23 to cross the bracket; since the two hinge rods 122 are both fixedly connected to the ring sleeve 12 and the two hinge rods 122 are perpendicular, when the previous installation shell 2 and the connected hinge rod 122 rotate to the vertical state, the installation shell 2 will push the ring sleeve 12 to drive the installation rod 11 to rotate, so that the next installation shell 2 and the connected hinge rod 122 rotate until the installation shell 2 contacts the part where the pneumatic conveying pipeline is bent to the vertical state. At this time, the two installation shells 2 are in a vertical state;Moreover, the two mounting shells 2 and the hinge rod 122 are both in a twisted vertical state; Then control the stopped driving motor 22 to run, and control the electromagnetic sheet 243 to cut off the power, so that the bevel gear rod 24 enters the circular groove 241 driven by the adsorption force of the magnet 242, so that the bevel gear rod 24 is separated from the bevel gear shaft 213. At this time, the two clamping plates 23 rotate in the direction of approaching each other under the driving force of the torsion spring restoring force, so that the clamping plates 23 rotated to the reset position can clamp the pneumatic conveying pipe again; similarly, when the rear mounting shell 2 approaches the bracket, the two clamping plates 23 are controlled to move away from each other. At this time, the front mounting shell 2 drives the rear mounting shell 2 away from the pneumatic conveying pipe through the mounting rod 11, so that the rear mounting shell 2 rotates toward the bent part of the pneumatic conveying pipe under the driving force of the torsion spring restoring force, until the rear mounting shell 2 passes over the bracket and is connected with the bent part of the pneumatic conveying pipe, and then control the electromagnetic sheet 243 to cut off the power, so that the clamping plate 23 on the rear mounting shell 2 clamps and detects the bent part of the pneumatic conveying pipe; the reason for setting two mounting shells 2 is that when the transmission belt 211 drives the mounting shell 2 and drives the electromagnetic sheet 243 to cut off the power, the clamping plate 23 on the rear mounting shell 2 clamps and detects the bent part of the pneumatic conveying pipe. After the magnetic ultrasonic flaw detector 232 reaches the other end of the coal mine tunnel, the drive motor 22 is controlled to rotate in the opposite direction, so that the two mounting shells 2 can return along the pneumatic conveying pipeline, thereby realizing the function of the present invention to perform reciprocating inspection on the pneumatic conveying pipeline; the practical application effect of the present invention is further improved; the reason why the protective shell 25 is fixedly installed on one side of the mounting shell 2, and the drive motor 22, the bevel gear rod 24 and the bevel gear shaft 213 are all located in the protective shell 25; is because the protective shell 25 can protect the drive motor 22, the bevel gear rod 24 and the bevel gear shaft 213; on the one hand, it prevents dust from adhering to the radiator of the drive motor 22, causing the heat dissipation performance of the drive motor 22 to decrease, thereby causing the motor to overheat; avoiding long-term overheating will accelerate the aging of the motor insulation material to ensure the service life of the motor; on the other hand, it prevents dust from falling on the meshing end of the bevel gear rod 24 and the bevel gear shaft 213, reducing the meshing friction between the bevel gear rod 24 and the bevel gear shaft 213, thereby increasing the service life of the bevel gear rod 24 and the bevel gear shaft 213.

[0021] As an implementation mode of the present invention, an engagement strip 215 is fixedly connected to the inner ring wall of the transmission belt 211 ; and an engagement groove 216 is formed on the outer wall of the rotating column 21 .

[0022] As an embodiment of the present invention, the cross-sectional shape of the transmission belt 211 is set to be an arc; the outer ring wall of the transmission belt 211 is fixedly connected with a convex strip 217; the shape of the convex strip 217 is set to be V-shaped; During operation, since the outer wall of the rotating column 21 is provided with an engagement groove 216 and the inner ring wall of the transmission belt 211 is fixedly connected with an engagement strip 215, when the driving motor 22 drives the rotating column 21 to rotate, the rotating column 21 can push the engagement strip 215 to rotate synchronously through the groove wall of the engagement groove 216, so that the engagement strip 215 can drive the transmission belt 211 to perform a belt transmission connection; through the cooperation of the engagement groove 216 and the engagement strip 215, the transmission belt 211 can be effectively prevented from slipping during operation, which helps to maintain the synchronous operation between the rotating column 21 and the transmission belt 211, thereby improving the transmission efficiency of the transmission belt 211; and by arranging a V-shaped convex strip 217 on the outer wall of the transmission belt 211, the transmission belt 211 can contact the outer wall of the pneumatic conveying pipe through the V-shaped convex strip 217. Although the V-shaped convex strip 217 reduces the transmission at a macroscopic level, it can effectively prevent the transmission belt 211 from slipping. The contact area between the driving belt 211 and the outer wall of the pneumatic conveying pipe is small, but at the microscopic level, they increase the contact points between the driving belt 211 and the outer wall of the pneumatic conveying pipe through different directions and angles; these additional contact points can generate additional friction under pressure, improve the adhesion of the driving belt 211, and prevent the driving belt 211 from slipping against the outer wall of the pneumatic conveying pipe; in addition, the driving belt 211 itself is elastic, and the V-shaped ridges 217 are also made of fluororubber material. The ridges 217 made of fluororubber material are not only wear-resistant, but also have good elasticity, so that the V-shaped ridges 217 will deform when contacting the outer wall of the pneumatic conveying pipe; this deformation increases the contact area between the ridges 217 and the outer wall of the pneumatic conveying pipe, thereby increasing the friction and further preventing the driving belt 211 from slipping against the outer wall of the pneumatic conveying pipe.

[0023] As an embodiment of the present invention, a side of the splint 23 away from the electromagnetic ultrasonic flaw detector 232 is fixedly connected with bristles 27; the bristles 27 are made of rubber material; a bellows 28 is fixedly connected between the splint 23 and the mounting shell 2; an air inlet 281 is provided on the surface of the bellows 28; an air hole 234 is provided on the side where the two splints 23 are close to each other; a one-way valve 282 is fixedly installed in the air inlet 281 and the air hole 234; one end of the air hole 234 faces the bristles 27, and the other end is connected to the bellows 28.

[0024] During operation, coal mining usually involves a large amount of drilling, excavation and transportation activities, all of which will result in the generation of a large amount of coal dust (coal particles); and the ventilation conditions in the coal mine tunnels are limited, and the coal dust is not easy to be discharged, making the coal mine tunnels in a dusty environment; and the dust will adhere to and accumulate on the surface of the pneumatic conveying pipeline. When the clamping plate 23 drives the electromagnetic ultrasonic flaw detector 232 to move along the pneumatic conveying pipeline, the dust attached to the surface of the pneumatic conveying pipeline will inevitably adhere to the probe of the electromagnetic ultrasonic flaw detector 232, thereby causing the signal transmission or reception to be blocked, thereby affecting the accuracy and stability of the detection; To this end, the present invention fixes the brush 27 on the side of the clamping plate 23 away from the electromagnetic ultrasonic flaw detector 232. When the mounting shell 2 drives the two clamping plates 23 clamped on the surface of the pneumatic conveying pipe to move through the transmission belt 211, the two adjacent clamping plates 23 will drive the brush 27 to clean the area where the probe of the electromagnetic ultrasonic flaw detector 232 will pass during the movement, thereby preventing dust from adhering to the probe surface of the electromagnetic ultrasonic flaw detector 232, thereby ensuring the stability of signal transmission and reception of the probe of the electromagnetic ultrasonic flaw detector 232, and thereby improving the accuracy and stability of the electromagnetic ultrasonic flaw detector 232 in flaw detection of the outer wall of the pneumatic conveying pipe; in order to ensure the firm connection between the pneumatic conveying pipe and the inner wall of the coal mine lane, a fixed bracket is installed at a certain distance on the inner wall of the coal mine lane to fix the pneumatic conveying pipe. Through the setting of the bellows 28, when the clamping plate 23 passes through the connecting bracket between the pneumatic conveying pipe and the coal mine lane, the driving motor 22 drives the bevel gear shaft 213 to rotate, so that The bevel gear shaft 213 pulls the two clamps 23 to open through the wire rope 233. At this time, the clamp 23 pulls the bellows 28 between it and the mounting shell 2 to stretch, so that the outside air will enter the bellows 28 through the air inlet 281 of the bellows 28, and the filter cloth is fixedly installed at the air inlet 281 of the bellows 28, so that the filter cloth can filter the outside air containing coal powder to reduce the dust content of the air entering the bellows 28; after the clamp 23 passes over the bracket, the two clamps 23 will be under the action of the torsion spring restoring force. The bellows 28 are rotated in the direction of approaching each other, so that the bellows 28 is squeezed by the clamping plate 23; since a one-way valve 282 is installed in the air inlet 281, the gas in the squeezed bellows 28 can only be sprayed toward the bristles 27 through the air holes 234, so that the coal powder adhered between the bristles 27 will be blown away from the bristles 27 by the air flow and fall away from the clamping plate 23, so that the surface of the bristles 27 is cleaned, thereby improving the cleaning effect of the bristles 27 on the coal powder on the outer wall of the pneumatic conveying pipeline; so that the practicability of the present invention is effectively improved; In the initial state, the crawler of the track wheel 14 is made of fluororubber material, and a double-headed motor is installed inside the base 1; the double-headed motor is used to drive the track wheel 14 to rotate; during coal mining, the original stratum structure will be destroyed. In areas with complex geological structures and developed fault fracture zones, groundwater can easily penetrate into the tunnel surrounding rock through faults, cracks and other channels, resulting in the surface of the pneumatic conveying pipeline installed on the tunnel surrounding rock being wet, which can easily lead to a decrease in the friction coefficient between the transmission belt 211 and the surface of the pneumatic conveying pipeline, and easily lead to slippage between the transmission belt 211 and the outer wall of the pneumatic conveying pipeline; for this purpose, the present invention arranges the track wheel 14 so that the track wheel 14 can drive the base: 1 to move stably on the roadbed of the coal mine tunnel; and then when the slippage problem occurs between the transmission belt 211 and the outer wall of the pneumatic conveying pipeline, the track wheel 14 can still drive the splint 23 and the electromagnetic ultrasonic flaw detector 232 to move stably along the pneumatic conveying pipeline through the base: 1, ensuring that the track wheel 14 can drive the electromagnetic ultrasonic flaw detector 232 to move stably along the pneumatic conveying pipeline, thereby ... The flaw detector 232 can detect flaws on the outer wall of the pneumatic conveying pipeline smoothly; by setting the crawler of the crawler wheel 14 to be made of fluororubber material, the crawler wheel not only has good wear resistance, but also has a certain elasticity, that is, if the roadbed of the coal mine tunnel is in an uneven state, the crawler wheel with a certain elasticity will be deformed under the extrusion of the gravity of the base: 1, so that the contact area between the crawler wheel and the roadbed of the coal mine tunnel is increased, which helps to absorb and disperse the impact of the uneven roadbed on the crawler wheel, thereby reducing the stability of the crawler movement and ensuring that the base: 1 can stably move repeatedly in the uneven coal mine tunnel; since the crawler wheel made of fluororubber material has a large friction coefficient, the friction between the crawler wheel and the roadbed surface will increase, thereby avoiding the problem of the crawler wheel 14 slipping due to the damp roadbed of the coal mine tunnel, further ensuring that the crawler wheel 14 can drive the electromagnetic ultrasonic flaw detector 232 to smoothly detect flaws on the outer wall of the pneumatic conveying pipeline, thereby effectively improving the practical application effect of the present invention.

[0025] As an embodiment of the present invention, a slot 16 is provided at one end of the mounting rod 11 close to the bottom of the cylindrical slot 13; a hydraulic push rod 15 is installed in the cylindrical slot 13; one end of the hydraulic push rod 15 is fixedly connected to the bottom of the cylindrical slot 13, and the other end is fixedly connected to the bottom of the slot 16; When working, in the initial state, the lower end of the base 1 is inlaid with an infrared distance sensor, and the telescopic end and the fixed end of the hydraulic push rod 15 are both provided with mounting holes 16. The mounting hole 16 on the telescopic rod of the hydraulic push rod 15 matches with the connecting hole 111, and the lower end of the hydraulic push rod 15 is provided with a bolt hole 131 to match with the bolt hole 131. After the user puts the hydraulic push rod 15 into the cylindrical groove 13, the user can use a bolt to pass through the bolt hole 131 and insert it into the mounting hole 16 of the fixed end of the hydraulic push rod 15, thereby fixing the hydraulic push rod 15. The telescopic end of the hydraulic push rod 15 is inserted into the slot 16 at the lower end of the mounting rod 11, and then a bolt is inserted into the connecting hole 111 and into the mounting hole 16 of the telescopic end of the hydraulic push rod 15, so that the telescopic end of the hydraulic push rod 15 is fixedly connected to the mounting rod 11; when a large pit appears on the ground of the coal mine tunnel, in order to ensure that the base 1 can move on the ground with a large pit, the base 1 can stably support the mounting shell 2; by setting the hydraulic push rod 15, in the infrared distance sensor When the device senses that there is a larger pit at the lower end of the base 1, the infrared distance sensor transmits an electrical signal to the hydraulic push rod 15, so that the hydraulic push rod 15 extends, so that the extended hydraulic push rod 15 can push the mounting rod 11 out of the cylindrical groove 13, so that the total height of the base 1 and the mounting rod 11 increases, and the distance between the mounting shell 2 and the ground increases, so that the base 1 can be inserted into the larger pit, so that the base 1 in contact with the bottom of the pit can effectively support the mounting shell 2 through the mounting rod 11. Similarly, when the base 1 moves upward along the slope of the pit, the infrared distance sensor senses that the distance between the base 1 and the pit wall decreases. At this time, the infrared distance sensor transmits an electrical signal to the hydraulic push rod 15, so that the hydraulic push rod 15 contracts, so that the total height of the mounting rod 11 and the base 1 is reduced, so that the base 1 can move upward along the slope of the pit, so that the present invention can automatically adjust the total height of the mounting rod 11 and the base 1 on the ground of the coal mine tunnel with a larger pit, so that the practicality of the present invention is further improved.

[0026] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A patrol robot for pneumatic conveying pipelines, comprising: A base (1), wherein a mounting rod (11) is mounted on the upper end of the base (1); a connecting hole (111) is formed on the surface of the mounting rod (11); a ring sleeve (12) is sleeved on the surface of the mounting rod (11); a positioning hole (121) matching the connecting hole (111) is formed on the surface of the ring sleeve (12); two mutually perpendicular hinge rods (122) are fixedly connected to the outer wall of the ring sleeve (12), characterized in that: A mounting shell (2), wherein two mounting shells (2) are provided, and the two mounting shells (2) are rotatably connected to two hinged rods (122) respectively via torsion springs; two rotating columns (21) are rotatably connected inside the mounting shell (2); a transmission belt (211) is wound around the two rotating columns (21); a driving motor (22) is fixedly mounted on the upper end of the mounting shell (2); the driving motor (22) is used to drive the rotating column (21) to rotate; A clamping plate (23), wherein the number of the clamping plates (23) is two; a mounting plate (212) is fixedly connected to one side of the mounting shell (2); the two clamping plates (23) are rotationally connected to the mounting plate (212) via a torsion spring; the two clamping plates (23) are distributed up and down; a rubber strip (231) is fixedly connected to the mutually adjacent sides of the two clamping plates (23); an electromagnetic ultrasonic flaw detector (232) is fixedly installed on the outer wall of the clamping plate (23); a transmission unit connected to the clamping plate (23) is installed on one side of the mounting shell (2); and the driving motor (22) drives the clamping plate (23) to rotate via the transmission unit.

2. The inspection robot for pneumatic conveying pipeline according to claim 1, characterized in that: The transmission unit comprises: A bevel gear rod (24), a circular groove (241) is provided on one side of the mounting shell (2); the bevel gear rod (24) is slidably connected in the circular groove (241); a magnet (242) is embedded at one end of the bevel gear rod (24) close to the bottom of the circular groove (241); an electromagnetic sheet (243) is embedded at the bottom of the circular groove (241); the output shaft of the drive motor (22) and the bevel gear rod (24) are connected by belt transmission via a belt (221); A bevel gear shaft (213), a groove (214) is provided on one side of the mounting plate (212) close to the circular groove (241); the bevel gear shaft (213) is rotatably connected in the groove (214); the bevel gear rod (24) is meshed with the bevel gear shaft (213) for transmission; two steel wire ropes (233) are fixedly connected to the surface of the bevel gear shaft (213); the ends of the two steel wire ropes (233) away from the bevel gear shaft (213) are respectively fixedly connected to two clamping plates (23) distributed above and below.

3. The inspection robot for pneumatic conveying pipeline according to claim 2, characterized in that: A protective shell (25) is fixedly mounted on one side of the mounting shell (2); the drive motor (22) and the bevel gear rod (24) are both located in the protective shell (25); the bevel gear shaft (213) is rotatably connected to the protective shell (25); a slanted rod (26) is fixedly connected to the side of the mounting shell (2) away from the mounting rod (11); and a roller (261) is rotatably connected to one end of the slanted rod (26) away from the mounting shell (2).

4. The inspection robot for pneumatic conveying pipeline according to claim 3, characterized in that: The cross-sectional shape of the base (1) is set to be T-shaped; a cylindrical groove (13) is provided at the upper end of the base (1); a bolt hole (131) penetrating the cylindrical groove (13) is provided on the surface of the base (1); the mounting rod (11) is slidably connected in the cylindrical groove (13); and track wheels (14) are installed on both sides of the base (1).

5. The inspection robot for pneumatic conveying pipeline according to claim 4, characterized in that: An engagement strip (215) is fixedly connected to the inner ring wall of the transmission belt (211); and an engagement groove (216) is provided on the outer wall of the rotating column (21).

6. The inspection robot for pneumatic conveying pipeline according to claim 5, characterized in that: The cross-sectional shape of the transmission belt (211) is set to be an arc; the outer ring wall of the transmission belt (211) is fixedly connected with a convex strip (217); the shape of the convex strip (217) is set to be V-shaped.

7. The inspection robot for pneumatic conveying pipeline according to claim 6, characterized in that: The side of the clamping plate (23) away from the electromagnetic ultrasonic flaw detector (232) is fixedly connected with bristles (27); the bristles (27) are made of rubber material; a bellows (28) is fixedly connected between the clamping plate (23) and the mounting shell (2); an air inlet (281) is provided on the surface of the bellows (28); a pore (234) is provided on the side of the two clamping plates (23) close to each other; a one-way valve (282) is fixedly installed in each of the air inlet (281) and the pore (234); one end of the pore (234) faces the bristles (27), and the other end is connected to the bellows (28).

8. The inspection robot for pneumatic conveying pipelines according to claim 7, characterized in that: A slot (16) is provided at one end of the mounting rod (11) close to the bottom of the cylindrical groove (13); a hydraulic push rod (15) is installed in the cylindrical groove (13); one end of the hydraulic push rod (15) is fixedly connected to the bottom of the cylindrical groove (13), and the other end is fixedly connected to the bottom of the slot (16).

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