An inspection robot applicable to safety protection inspections under harsh working conditions

Abstract

The present invention relates to the technical field of inspection robots, in particular to an inspection robot suitable for safety protection inspection under harsh working conditions, including two oppositely arranged end power mechanisms. Both of the end power mechanisms are located below the conveyor belt. The ends of each end power mechanism are fixedly arranged on a fixed axis. A steel rope track group is arranged between the two end power mechanisms. Both ends of the steel rope track group are wound and fixed on the corresponding end power mechanism. An inspection machine is installed on the steel rope track group, and the surface state of the bottom of the conveyor belt is detected during the movement of the inspection machine. By arranging a steel rope track group driven by an end power mechanism below the conveyor belt, the present invention enables the inspection machine to reciprocate along the steel rope to complete the inspection of the bottom of the belt, without the need for manual climbing or contact with high-risk areas, significantly improving the safety of port inspection operations, and utilizing the characteristic that debris is not easily accumulated on the surface of the steel rope to avoid the problem of blockage of traditional rail grooves.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an inspection robot suitable for safety protection inspection under harsh working conditions. Background Art

[0002] Port ship unloader and transfer conveyor belts need to operate under harsh working conditions for a long time. Therefore, it is generally necessary to inspect the operation safety of multiple conveyor belts, and generally, two methods of manual inspection or robot inspection are used. Due to the advantages of high efficiency in robot inspection, it has been widely used at present.

[0003] In actual operating conditions, when port ship unloader and transfer conveyor belts transport materials with high humidity, it is easy for sediment and gravel to spill. Since most traditional robots require trough-shaped tracks to support their operation, the following problems will exist in actual operation:

[0004] First, when materials accumulate on the robot track, it is easy to cause the robot to get stuck and unable to operate.

[0005] Second, especially when icing occurs in winter, the resistance to the operation of the robot is greater after the track is blocked, and it is difficult to manually clean the sundries inside the track.

[0006] Therefore, it is necessary to design an inspection robot that can effectively achieve safety protection inspection under harsh working conditions.

[0007] Based on this, the present invention designs a structure of an inspection robot that can operate safely and stably under harsh working conditions to better solve the problems existing in the prior art. Summary of the Invention

[0008] To solve one of the above technical problems, the technical solution adopted by the present invention is: an inspection robot suitable for safety protection inspection under harsh working conditions, including two end power mechanisms arranged opposite to each other. Both of the end power mechanisms are located below the conveyor belt to be detected. The ends of each end power mechanism are fixedly arranged on a shaft. A steel rope track group is arranged between the two end power mechanisms. Both ends of the steel rope track group are wound and fixed on the corresponding end power mechanisms. An inspection machine is installed on the steel rope track group. The inspection machine reciprocates along the direction of the conveyor belt under the action of the two end power mechanisms, and the surface state of the bottom of the conveyor belt is detected during the movement of the inspection machine.

[0009] In any of the above schemes, it is preferred that the steel rope rail group includes four traction steel ropes distributed in a rectangular array, and both ends of each traction steel rope are wound around the corresponding end power mechanism and kept in a tensioned state. The two traction steel ropes located on the upper layer are relatively fixedly connected to the inspection machine, and the two traction steel ropes located on the lower layer are movably plugged into the inspection machine. When the two traction steel ropes on the upper layer are shifted, they can drive the inspection machine to move horizontally in the front and rear directions.

[0010] In any of the above schemes, it is preferred that the end power mechanism includes a horizontally arranged hanging tube beam, the hanging tube beam is fixed relative to the ground, and two synchronous winches are arranged at intervals at the bottom of the hanging tube beam along the width direction of the conveyor belt to be detected, and the two synchronous winches are in a synchronous operation state when moving; the end of each traction steel rope is wound around and fitted on the drum of the synchronous winch at its corresponding position, and when the synchronous winch operates with a fixed axis, it drives the two traction steel ropes wound thereon to move, one of the traction steel ropes is in a rope-collecting state, and the other traction steel rope is in a rope-releasing state, and the rope-collecting speed is the same as the rope-releasing speed.

[0011] In any of the above schemes, it is preferred that the inspection machine includes a horizontally arranged chassis frame, both ends of the chassis frame are connected to the outer side walls of the traction steel rope on the corresponding sides through the lower shaft hole gap-type movable sleeves arranged thereon, and synchronous shift frames are symmetrically installed on both sides above the chassis frame, and the corners of the two synchronous shift frames are fixed on the traction steel rope above their corresponding positions, and a control cylinder is connected between each of the synchronous shift frames and the chassis frame, and an inspection and repair integrated machine is installed in the space between the two synchronous shift frames, and both sides of the middle part of the inspection and repair integrated machine are cooperated and installed in the rotating holes of the synchronous shift frames on the corresponding sides, and a driving member is fixedly installed in the inner frame of one of the synchronous shift frames, and the output end of the driving member is fixedly connected to the corresponding end in the middle of the inspection and repair integrated machine.

[0012] In any of the above schemes, it is preferred that the inspection and repair integrated machine includes a flip seat, both ends of the central axis of the flip seat are fitted and inserted in the rotating holes of the synchronous shift frame on the corresponding sides thereof, one end of the central axis is coaxially fixedly connected to the output shaft of the driving member, a protective patrol device is installed on the top of the flip seat, and a remote-controlled point damage repairer is fixedly installed on the bottom of the flip seat, and the point damage repairer is used to repair the point damaged area of the conveyor belt detected by the protective patrol device as needed.

[0013] In any of the above schemes, it is preferred that a lateral anti-mud cover is fixedly installed on the outer side of each of the synchronous shift frames, and the tops of the two lateral anti-mud covers are arranged close to the middle.

[0014] Preferably, in any of the above solutions, the point damage repairer includes a remotely controlled operating manipulator fixedly installed at the bottom of the flipping seat. A conveyor belt repair system is cooperatively installed at the working end of the operating manipulator. Driven by the operating manipulator, the conveyor belt repair system is used to repair the point damage area of the conveyor belt detected by the protective inspection device as required.

[0015] Among them, the conveyor belt repair system adopts the existing technology. For example, the conveyor belt repair system disclosed in the patent application number CN201911302044.9 can be used, but it is not limited to this one system.

[0016] When installing and connecting the operating manipulator and the conveyor belt repair system, the shell of the feeding drive mechanism of the conveyor belt repair system can be directly fixed to the working end of the operating manipulator. When the operating manipulator moves, it drives the fixedly installed conveyor belt repair system on it to adjust the position and control the glue outlet head of the conveyor belt repair system to face the damaged point of the conveyor belt to be repaired as required.

[0017] Preferably, in any of the above solutions, the protective inspection device includes cameras fixedly installed at the four corners of the top of the flipping seat. Each camera is vertically arranged and faces the bottom of the conveyor belt. A high-pressure vortex air pump is fixedly installed at the center of the top of the flipping seat. A spherical chamber is installed at the outlet end of the high-pressure vortex air pump. A main air nozzle is fixedly installed at the center of the top of the spherical chamber. A circumferential upper spraying group and a circumferential lower spraying group are respectively arranged on the outer side wall of the spherical chamber of the high-pressure vortex air pump from top to bottom. When the high-pressure vortex air pump works, it drives the spherical chamber to rotate around a fixed axis.

[0018] Preferably, in any of the above solutions, during the process of the circumferential upper spraying group rotating around a fixed axis at high speed following the spherical chamber, an air layer protection is formed in a circle above each camera.

[0019] Preferably, in any of the above solutions, the circumferential upper spraying group cooperates with the main air nozzle to realize pneumatic cleaning of the bottom of the conveyor belt above it.

[0020] Preferably, in any of the above solutions, during the process of the circumferential lower spraying group rotating around a fixed axis at high speed following the spherical chamber, it is used to complete pneumatic cleaning of the surface of each camera.

[0021] Preferably, in any of the above solutions, the circumferential upper spraying group includes a plurality of upper air nozzles evenly spaced along the circumferential outer side wall of the spherical chamber. The outlet end of each upper air nozzle is inclined upward, and the inside of each upper air nozzle is connected to the inside of the spherical chamber.

[0022] Preferably, in any of the above solutions, the lower circumferential injection group includes a plurality of lower nozzles uniformly spaced along the outer circumferential wall of the spherical bin. The outlet ends of the lower nozzles are all inclined downward, and the interiors of the lower nozzles are all communicated with the interior of the spherical bin.

[0023] Preferably, in any of the above solutions, a jitter type tensioner is installed inside each of the synchronous winches. The two tensioners cooperate to tension the two traction steel ropes on the upper layer; the tensioner includes two tensioning rollers horizontally spaced apart. A support wheel frame is provided below the two tensioning rollers. Both ends of the central shafts of the two tensioning rollers are movably inserted into the corresponding mounting holes of the support wheel frame. Cantilever seats are spaced at the bottom of the support wheel frame. The outer end bottom of the cantilever seat is fixed to the bottom of the frame of the synchronous winch. Two synchronously lifted tensioning cylinders are fixedly installed at intervals between the cantilever seat and the bottom of the support wheel frame. The top of each tensioning cylinder is fixed to the bottom of the support wheel frame, and the bottom of each tensioning cylinder is fixed to the top of the cantilever seat. Each traction steel rope bypasses the bottom of the outer tensioning roller and extends horizontally inward from the top of the inner tensioning roller after passing through the gap between the two tensioning rollers.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. By arranging a steel rope track group driven by an end power mechanism under the conveyor belt, the inspection machine reciprocates along the steel rope to complete the inspection of the bottom of the belt. There is no need for manual climbing or contact with high-risk areas, which significantly improves the safety of port inspection operations. At the same time, using the characteristic that debris is not easily accumulated on the surface of the steel rope, the problem of blockage of traditional rail grooves is avoided.

[0026] 2. The present invention uses four traction steel ropes distributed in a rectangular array as the support track. The upper steel rope is fixedly connected to the inspection machine, and the lower steel rope is movably inserted, forming a rigid-flexible combined support structure. It can not only disperse the equipment load and improve the anti-overturning ability, but also adapt to the change of steel rope tension through the fine adjustment of the lower steel rope, reducing the risk of structural damage caused by rigid connection.

[0027] 3. The end power mechanism of the present invention cooperates with the synchronous winch and the tensioner to realize the synchronous winding and unwinding and dynamic tensioning of the two traction steel ropes. At the same time, the high-frequency jitter function of the tensioner is used to automatically remove debris on the surface of the steel rope, eliminating the need for manual cleaning. And in case of sudden overload, the tension can be quickly released to effectively prevent the steel rope from breaking.

[0028] 4. The integrated inspection and repair machine of the present invention integrates a protective inspection device and a remote control point loss repair device, and realizes a rapid switching of the "detection - repair" mode through the rotation of the flipping seat, improving the efficiency compared with the traditional manual process; cooperating with the multi - axis movement of the operating manipulator, it can accurately repair complex positions such as the edge and fold of the belt.

[0029] 5. The protective inspection device of the present invention drives the spherical chamber to rotate through a high - pressure vortex air pump, and uses the circumferential injection group on the upper part and the main air nozzle to form a three - dimensional airflow field. It can not only form an air layer protection above the inspection camera, but also perform pneumatic cleaning on the bottom of the belt, removing the adhered debris, improving the clarity of the detection image. At the same time, the airflow blowing can reduce the surface temperature of the belt, delay the aging of the belt, and extend the service life by about. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or components are generally identified by similar reference numerals. In the drawings, the elements or components are not necessarily drawn to scale.

[0031] Figure 1 It is a front - view structural schematic diagram of the installation state of the present invention.

[0032] Figure 2 It is a three - dimensional structural schematic diagram of the first perspective of the present invention.

[0033] Figure 3 It is a top - view structural schematic diagram of the present invention.

[0034] Figure 4 It is a three - dimensional structural schematic diagram of the second perspective of the present invention.

[0035] Figure 5 It is a three - dimensional structural schematic diagram of the inspection machine of the present invention.

[0036] Figure 6 For Figure 5 the side - view structural schematic diagram.

[0037] Figure 7 It is a front - view structural schematic diagram of the integrated inspection and repair machine of the present invention.

[0038] Figure 8 It is a three - dimensional structural schematic diagram of the integrated inspection and repair machine of the present invention.

[0039] In the figure, 1 is a conveyor belt; 2 is an inspection machine; 3 is a synchronous winch; 4 is a hanging pipe beam; 5 is a towing steel rope; 6 is a chassis frame; 7 is a synchronous displacement frame; 8 is a driving member; 9 is a turning seat; 10 is a lateral mud guard; 11 is an operating manipulator; 12 is a conveyor belt repair system; 13 is a camera; 14 is a high-pressure vortex air pump; 15 is a spherical bin; 16 is a main air nozzle; 17 is an upper air nozzle; 18 is a lower air nozzle; 19 is a tensioning roller; 20 is a support wheel frame; 21 is a cantilever seat; 22 is a tensioning lifting cylinder; 23 is a position control cylinder. Detailed implementation mode

[0040] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and therefore are only examples and cannot be used to limit the protection scope of the present invention. The specific structure of the present invention is as Figures 1-8 shown in the figure.

[0041] Embodiment 1: An inspection robot suitable for safety protection inspection under harsh working conditions includes two oppositely arranged end power mechanisms. Both of the end power mechanisms are located below the conveyor belt 1 to be detected. The ends of each end power mechanism are fixedly arranged on a shaft. A steel rope rail group is arranged between the two end power mechanisms. Both ends of the steel rope rail group are wound and fixed on the corresponding end power mechanisms. An inspection machine 2 is installed on the steel rope rail group. The inspection machine 2 reciprocates along the direction of the conveyor belt 1 under the action of the two end power mechanisms, and the surface state of the bottom of the conveyor belt 1 is detected during the movement of the inspection machine 2.

[0042] When installing the inspection robot in the present invention, it is directly installed in the space below the upper conveyor belt 1 of the existing conveyor belt conveyor for port ship unloading and transfer. Before installation, the installation cooperation between the inspection machine 2 and the corresponding steel rope rail group is completed first, and then both ends of each steel rope rail group are fixed and wound around the drum of the synchronous winch 3 of the corresponding end power mechanism according to the required winding direction; after the pre-installation is completed, the tops of the two end power mechanisms at both ends are fixedly installed on the corresponding frame of the conveyor belt conveyor so that the end power mechanisms are fixedly arranged relative to the ground to ensure the stability of the entire structure.

[0043] After the above initial installation is completed, the tensioners at the corresponding two ends are installed. During installation, the tension of the steel rope rail group is controlled by adjusting the initial position of the tensioning lifting cylinders 22 at the corresponding two ends, so as to facilitate controlling the stability of the support of the inspection machine 2 installed on the entire steel rope rail group.

[0044] After the overall installation is completed, the respective end power mechanisms at both ends are remotely controlled to operate as needed. During the operation process, the inspection machine 2 currently installed on it is pulled by the synchronous traction of the two upper traction steel ropes 5, so as to ensure that the inspection machine 2 moves in the direction opposite to the conveyor belt 1. Keeping the relative movement direction of the inspection machine 2 and the conveyor belt 1 can improve the inspection efficiency, reduce the output of the conveyor power of the end power mechanisms at both ends, and reduce energy consumption.

[0045] In addition, since the four traction steel ropes 5 in a tensioned state are used as the support tracks for the entire inspection machine 2 in the present invention, and debris is not likely to accumulate on the surface of the traction steel ropes 5, there will be no situation of debris accumulation and blockage like that of traditional guide rails, ensuring the smoothness and cleaning convenience during the inspection process.

[0046] Even when the conveyor belt conveyor operates in the working environment of unloading ships and transshipping at the port for a long time, and sediment and gravel spill, the steel ropes will not be blocked. Therefore, the smoothness of the entire track can be ensured, and there will be no problem of blockage and jamming like that of traditional trough-shaped tracks.

[0047] In any of the above solutions, preferably, the steel rope rail group includes four traction steel ropes 5 distributed in a rectangular array. Both ends of each traction steel rope 5 are cooperatively wound around the corresponding end power mechanism and kept in a tensioned state. The two upper traction steel ropes 5 are fixedly connected to the inspection machine 2, and the two lower traction steel ropes 5 are movably inserted and cooperated with the inspection machine 2. When the two upper traction steel ropes 5 are displaced, the inspection machine 2 can be driven to move horizontally in the front-rear direction.

[0048] When the end power mechanism drives the two upper traction steel ropes 5 to be displaced, the inspection machine 2 is driven to move horizontally in the front-rear direction through the fixed connection relationship. The lower traction steel ropes 5 provide support and guidance for the inspection machine 2 through the movable insertion structure, and at the same time allow a certain degree of relative displacement to adapt to the force change during the movement process.

[0049] In addition, in the layout design, a stable track support structure is formed through the rectangular array layout of the four traction steel ropes 5. The upper steel ropes undertake the function of traction power transmission and directly drive the inspection machine 2 to move; the lower steel ropes provide bottom support and lateral limit through the movable insertion and cooperation, ensuring that the inspection machine 2 maintains balance during the horizontal movement process, avoiding rollover or deviation, and providing structural guarantee for the smooth operation and accurate detection of the inspection machine 2.

[0050] It has the following advantages: Strong structural stability: The four steel ropes are distributed in a rectangular array, forming a "frame-type" support structure. Compared with a single or two steel ropes, it can effectively disperse the weight of the inspection machine 2 and the load during the movement process, reduce the stress concentration on a single steel rope, and improve the anti-overturning ability of the overall structure.

[0051] High movement accuracy: The cooperation mode of fixed connection of the upper-layer steel ropes and movable insertion of the lower-layer steel ropes not only ensures the effective transmission of power, but also restricts the vertical displacement and lateral swing of the inspection machine 2 through the limiting effect of the lower-layer steel ropes, enabling the inspection machine 2 to move horizontally strictly along the direction of the conveyor belt 1 (front-back direction), and improving the accuracy of the inspection path.

[0052] Flexible adaptability: The movable insertion structure of the lower-layer steel ropes and the inspection machine 2 allows fine-tuning within a certain range, which can relieve local stress caused by changes in steel rope tension, installation errors or movement inertia, avoid structural damage that may be caused by rigid connection, and enhance the adaptability of the equipment under complex working conditions.

[0053] Impact resistance and buffering effect: The layout of the four steel ropes in a rectangular array forms an elastic support system. When the inspection machine 2 is accidentally impacted by gravel falling from the upper conveyor belt 1, the lower-layer movable insertion steel ropes can absorb part of the impact energy through small displacements, reducing the direct damage of the impact force to the precision detection components inside the inspection machine 2 and enhancing the impact resistance performance of the equipment.

[0054] Dynamic balance adjustment ability: During the high-speed movement of the inspection machine 2, if there is a situation of local relaxation or uneven force of the steel ropes, the lower-layer movable insertion structure can automatically adjust the posture of the inspection machine 2, and dynamically balance the forces of the steel ropes through the relative sliding or rotation of the steel ropes and the insertion parts, avoiding the risk of fracture caused by overload of a single steel rope, and ensuring the continuity and safety of the inspection process.

[0055] Concealed foreign object filtering function: The rectangular gaps between the four steel ropes can form a "filtering" effect on foreign objects of larger sizes (such as blocky gravel). When foreign objects fall from below the conveyor belt 1, if the size exceeds the steel rope spacing, they may be blocked by the steel ropes and cannot directly impact the inspection machine 2; if the size is smaller, they can fall through the gaps, reducing the possibility of foreign objects jamming the inspection machine 2 and further enhancing the operation reliability under harsh working conditions.

[0056] Preferably, in any of the above solutions, the end power mechanism includes a horizontally arranged hanging pipe beam 4, which is fixedly arranged relative to the ground. Two synchronous winches 3 are arranged at intervals along the width direction of the conveyor belt 1 to be detected at the bottom of the hanging pipe beam 4. The two synchronous winches 3 are in a synchronous operation state when moving; the ends of each traction steel rope 5 are wound and fitted on the drum of the synchronous winch 3 at its corresponding position. When the synchronous winch 3 rotates around a fixed axis, it drives the two traction steel ropes 5 wound on it to move. One traction steel rope 5 is in a rope-taking-in state, and the other traction steel rope 5 is in a rope-releasing state, and the rope-taking-in speed is the same as the rope-releasing speed.

[0057] The end power mechanism supports two synchronous winches 3 arranged at intervals along the width direction of the conveyor belt 1 through the horizontally fixed hanging pipe beam 4, and the two synchronous winches 3 operate synchronously. The ends of each traction steel rope 5 are wound around the drum of the corresponding synchronous winch 3. When the synchronous winch 3 rotates around a fixed axis, the synchronous winding and unwinding of the two traction steel ropes 5 are realized through the rotation of the drum. When one steel rope takes in rope, the other releases rope at the same speed. The traction force generated by the change in the length of the steel rope is used to drive the inspection machine 2 to reciprocate along the direction of the conveyor belt 1.

[0058] The winches at both ends cooperate relatively to realize the synchronous rope-taking-in and rope-releasing of the two ends of the same traction steel rope 5.

[0059] It should be noted that it has the following functions:

[0060] Power transmission function: The synchronous winch 3 provides power for the inspection machine 2 by taking in and releasing the traction steel rope 5, so that the inspection machine 2 can move along a predetermined direction and complete the inspection operation on the bottom of the conveyor belt 1.

[0061] Synchronous control function: The synchronous operation of the two synchronous winches 3 ensures that the taking-in and releasing speeds of the two traction steel ropes 5 are the same, avoiding the deviation or jamming of the inspection machine 2 caused by uneven force and ensuring the smoothness and coordination of the movement.

[0062] Structure fixing function: The hanging pipe beam 4 is fixed to the ground or the frame of the conveyor belt conveyor, providing a rigid support for the synchronous winch 3, ensuring the stability of the entire power mechanism, and avoiding affecting the power transmission accuracy due to vibration or external force.

[0063] High synchronism: The synchronous winch 3 structure is adopted, and the operating speeds and directions of the two winches are forcibly constrained mechanically or electronically to ensure the synchronous height of the taking-in and releasing of the traction steel rope 5, effectively improving the linearity and positioning accuracy of the movement of the inspection machine 2, and avoiding problems such as steel rope slack or uneven tension that may occur in traditional single-winch drive.

[0064] Balanced force: The two traction steel ropes 5 are retracted and released synchronously and at the same speed, making the forces on both sides of the inspection machine 2 symmetrical, reducing structural distortion or steel rope wear caused by excessive unilateral traction force, and extending the service life of the equipment.

[0065] Convenient installation and maintenance: The horizontal fixing method of the hanging pipe beam 4 facilitates quick installation under the existing conveyor belt conveyor frame, and the synchronous winches 3 are arranged at intervals along the width direction of the conveyor belt 1, and the spacing can be flexibly adjusted according to the width of the conveyor belt 1 to adapt to different specifications of conveying equipment; the drum type structure facilitates the winding and replacement of the traction steel rope 5, reducing the maintenance difficulty.

[0066] When the conveyor belt 1 undergoes local torsion or vibration due to uneven load, the two traction steel ropes 5 driven by the synchronous winches 3 can form an anti-torsion moment through symmetrical force, offsetting part of the influence of the vibration of the conveyor belt 1 on the inspection machine 2, ensuring the stability of the detection data (traditional single winch drive may not be able to effectively suppress vibration due to unilateral force).

[0067] Emergency braking: The fixed-axis operation characteristic of the synchronous winch 3 can, in case of sudden power failure or control system failure, quickly fix the traction steel rope 5 by using the mechanical locking function of the drum, making the inspection machine 2 stop urgently at the current position, and avoiding the out-of-control of the inspection machine 2 caused by the free sliding of the steel rope (traditional drive methods may lack this mechanical braking redundancy).

[0068] Foreign object interference warning function: If foreign objects (such as iron chains, ropes) dropped under the conveyor belt 1 entangle a certain traction steel rope 5, the synchronous operation of the synchronous winch 3 will break the speed consistency due to abnormal load, and the control system can trigger a warning in time by monitoring the speed difference of the winches, prompting the staff to clean the foreign objects, avoiding the breakage of the steel rope or the jamming of the inspection machine 2 caused by foreign object entanglement, which is difficult to directly identify the fault through speed difference in traditional single drive structures.

[0069] In any of the above solutions, preferably, the inspection machine 2 includes a horizontally arranged chassis frame 6. Both ends of the chassis frame 6 are movably sleeved on the outer sidewalls of the corresponding traction steel ropes 5 in a clearance manner through the lower shaft holes provided thereon. Synchronous displacement frames 7 are symmetrically installed on both sides above the chassis frame 6. The corners of the two synchronous displacement frames 7 are fixed on the traction steel ropes 5 above their corresponding positions. Control cylinders 23 for synchronous lifting are connected between each synchronous displacement frame 7 and the chassis frame 6. An inspection and repair integrated machine is installed in the space between the two synchronous displacement frames 7. Both sides of the middle part of the inspection and repair integrated machine are fitted and installed in the rotating holes of the corresponding synchronous displacement frames 7. A driving member 8 is fixedly installed in the inner frame of one of the synchronous displacement frames 7. The output end of the driving member 8 is fixedly connected to the corresponding end of the middle part of the inspection and repair integrated machine.

[0070] The chassis frame 6 of the inspection machine 2 is sleeved on the outer sidewalls of the two lower traction steel ropes 5 through the clearance of the lower shaft holes at both ends, forming a movable support; the corners of the synchronous displacement frames 7 on both sides above are fixed to the two upper traction steel ropes 5, and the chassis frame 6 is driven to move horizontally as the steel ropes shift. The integrated inspection and repair machine is rotationally connected to the synchronous displacement frame 7 through the rotation holes on both sides in the middle. The driving member 8 in one of the synchronous displacement frames 7 drives the integrated machine to rotate around the rotation hole, realizing the adjustment of the detection or repair posture.

[0071] When the upper traction steel rope 5 is driven to shift by the end power mechanism, the synchronous displacement frame 7 drives the chassis frame 6 and the integrated machine to move along the direction of the steel rope. At the same time, the driving member 8 can control the integrated machine to rotate between the two synchronous displacement frames 7, completing the multi-angle detection and repair operations on the bottom of the conveyor belt 1.

[0072] The driving member 8 adopts a driving motor; the driving motor is used as the power source, and its output shaft is fixedly connected to the corresponding end in the middle of the integrated inspection and repair machine. The rotational motion of the motor rotor is converted into the rotational power of the integrated machine. When the driving motor is powered on and operates, it drives the integrated machine to rotate around the rotation hole of the synchronous displacement frame 7, realizing the angle adjustment of the detection or repair module (such as changing from the horizontal detection posture to the inclined repair posture); the forward and reverse rotation control of the motor can make the integrated machine rotate reciprocally within the range of 0 - 360°, and cooperate with the horizontal movement of the inspection machine 2 to complete the full-angle scanning and repair operations on the bottom of the conveyor belt 1.

[0073] It has the following functions: the clearance socket connection between the chassis frame 6 and the lower steel rope provides bottom support and lateral limit, allowing a certain degree of vertical floating to adapt to the minor deformation of the steel rope; the synchronous displacement frame 7 above is fixedly connected to the upper steel rope, ensuring the effective transmission of the horizontal traction force.

[0074] The driving member 8 drives the integrated inspection and repair machine to rotate through the rotation hole, enabling it to adjust the working positions of the protective inspection device and the point damage repair device to alternate above during the movement.

[0075] In any of the above solutions, preferably, the integrated inspection and repair machine includes a flipping seat 9. Both ends of the central axis of the flipping seat 9 are fitted and inserted into the rotation holes of the corresponding synchronous displacement frames 7 on its corresponding sides. One end of the central axis is coaxially and fixedly connected to the output shaft of the driving member 8. A protective inspection device is installed on the top of the flipping seat 9, and a remote-controlled point damage repair device is fixedly installed on the bottom of the flipping seat 9. The point damage repair device is used to repair the dot-shaped damaged areas of the conveyor belt detected by the protective inspection device as required.

[0076] The flipping base 9 is inserted into the rotating holes of the synchronous shifting frame 7 through both ends of the central axis, forming a rotatable hinged structure. The driving motor drives the central axis to rotate, causing the flipping base 9 to rotate around the axis of the rotating hole, realizing the attitude switching between the top protective inspection device and the bottom remote-controlled point loss repair device. When the inspection machine 2 moves horizontally along the traction steel rope 5, the protective inspection device conducts real-time detection on the bottom of the conveyor belt 1 to identify the punctate damage areas (such as holes and wear points); the detection data is transmitted to the point loss repair device through an external control system, and the latter adjusts its position according to the instructions and precisely repairs the damaged area by means of spraying, welding or patching. The rotation function of the flipping base 9 enables the same device to quickly switch between the detection and repair modes without the intervention of additional mechanical structures; the following functions are realized:

[0077] Integrated detection and repair: Integrate the protective inspection device and the point loss repair device on the flipping base 9 to realize the full-process automation of "detection - positioning - repair", reducing the disadvantages of the traditional manual inspection that requires separate shutdown for repair and reducing the equipment idling time.

[0078] Attitude dynamic switching: By rotating the flipping base 9 (such as flipping from 0° to 180°), the detection element and the repair tool are respectively aligned with the bottom surface of the conveyor belt 1, ensuring that the two functions do not interfere with each other and are efficiently connected (for example, when detecting, the top sensor is close to the conveyor belt 1, and when repairing, the bottom tool contacts the damaged point).

[0079] Remotely controllable repair: The point loss repair device supports remote control operation. When complex damage is detected, manual intervention can be used to adjust the repair plan (such as selecting repair materials of different materials), combining with automated detection to improve the operation flexibility.

[0080] High space utilization rate: The inspection device and the repair device are arranged in upper and lower layers, without the need to horizontally expand the equipment volume, adapting to the installation in the narrow space below the conveyor belt 1, especially suitable for the inspection needs of the dense conveyor belt conveyor group in the port.

[0081] Timely repair response: The detection and repair functions are integrated into the same mobile unit, and the machine can be stopped for repair immediately after detecting punctate damage (the stop distance error ≤ 10 cm), avoiding the expansion of damage (the traditional process requires waiting for the end of the inspection to uniformly dispatch the repair equipment).

[0082] Low maintenance cost: The modular design of the flipping base 9 is convenient for overall disassembly, and the protective inspection device and the point loss repair device can be independently replaced or upgraded (such as updating to a more advanced visual detection algorithm or intelligent welding equipment), reducing the system iteration cost.

[0083] Preferably, in any of the above solutions, lateral anti-mud covers 10 are fixedly installed on the outer sides of each of the synchronous shifting frames 7, and the tops of the two lateral anti-mud covers 10 are arranged to approach each other in the middle.

[0084] When sundries such as sediment and gravel are scattered during the operation of the conveyor belt 1, the lateral mud guard 10 physically blocks part of the sundries from directly hitting the synchronous displacement frame 7, the driving member 8 and the traction steel rope 5; the shape design of the top close to each other can guide the scattered objects to slide down along the surface of the cover body to the two sides or downwards, reducing the accumulation of sundries at the connection part of the synchronous displacement frame 7 and the traction steel rope 5.

[0085] In any of the above solutions, preferably, the point damage repairer includes a remotely controlled operation manipulator 11 fixedly installed at the bottom of the flipping seat 9. A conveyor belt repair system 12 is cooperatively installed at the working end of the operation manipulator 11. Driven by the operation manipulator 11, the conveyor belt repair system 12 is used to repair the point damage area of the conveyor belt detected by the protective inspection device as required.

[0086] Among them, the conveyor belt repair system 12 adopts the prior art; for example, the conveyor belt repair system disclosed in the patent application number CN201911302044.9 can be used, but it is not limited to this one system.

[0087] When the operation manipulator 11 and the conveyor belt repair system 12 are installed and connected, the shell of the feed driving mechanism of the conveyor belt repair system 12 can be directly fixedly connected to the working end of the operation manipulator 11. When the operation manipulator 11 moves, the fixedly installed conveyor belt repair system 12 thereon follows the adjustment of the position and can control the glue outlet head of the conveyor belt repair system 12 to face the damaged point of the conveyor belt 1 to be repaired as required.

[0088] The point damage repairer is fixedly connected to the conveyor belt repair system 12 of the prior art (such as the system disclosed in CN201911302044.9) through the remotely controlled operation manipulator 11. The multi-degree-of-freedom movement (such as translation, rotation, pitching) of the operation manipulator 11 drives the repair system to adjust the spatial position and posture.

[0089] Specifically, the shell of the feed driving mechanism of the repair system is rigidly connected to the working end of the manipulator. When the manipulator receives the instruction of the control system, the glue outlet head (or other execution components) of the repair system is accurately aligned with the point damage point marked by the protective inspection device (the positioning error ≤ 2 mm) through the joint movement.

[0090] At this time, the control system synchronously triggers the feed driving mechanism of the repair system (such as gear pump, motor lead screw), so that the glue, solder or patch material is output through the glue outlet head to the damaged area to complete the repair actions such as filling, welding or pasting. The whole process realizes the automated operation through the serial logic of "detection and positioning - manipulator position adjustment - repair execution".

[0091] Before the spot damage repairer performs the repair operation, first start the high-pressure vortex air pump 14 of the protective patrol device and the rotation of the spherical bin 15, and achieve the cleaning of the bottom of the conveyor belt 1 through the following path:

[0092] Last week's circumferential jet cleaning: The last week's circumferential jet group on the outer wall of the spherical bin 15 generates a spiral upward airflow (flow velocity ≥ 15 m / s) with rotation. The airflow direction is opposite to the running direction of the conveyor belt 1. Using the principle of aerodynamics, sundries such as sediment and dust (particle size ≥ 0.1 mm) adhered to the bottom surface of the conveyor belt 1 are peeled off;

[0093] Main air nozzle 16 for auxiliary cleaning: The high-pressure vortex air pump 14 jets vertical airflow (pressure ≥ 0.2 MPa) upward through the main air nozzle 16 at the top of the spherical bin 15 to form an air curtain barrier to prevent the dust raised during the cleaning process from falling back to the cleaned area;

[0094] Foreign object falling guidance: The sundries generated by the blowing fall to the ground supporting dust collection system through the gravity of the space below the conveyor belt 1, or are guided to the preset impurity discharge channel through the external airflow.

[0095] The entire cleaning process is automatically triggered before the repair operation, and the duration is dynamically adjusted according to the dust concentration (10 - 60 seconds) to ensure that the surface cleanliness of the repair area meets the process requirements (such as roughness Ra ≤ 12.5 μm).

[0096] The oil stains, dust and loose particles on the surface of the damaged area are removed by air blowing, so that the repair materials (such as rubber compounds and fluxes) are in full contact with the belt body, and the adhesion is increased by 30% - 50% (tested according to the GB / T1348 - 2009 standard);

[0097] After cleaning, the bottom surface of the belt has less debris obstruction, enabling the camera 13 of the protective patrol device to more clearly identify the damaged boundary and avoiding detection misjudgment caused by impurity interference;

[0098] In addition, regularly starting the blowing function (such as after the daily operation) can remove the corrosive dust (such as sulfur-containing ore powder) accumulated on the bottom surface of the belt for a long time, reduce the chemical corrosion of the belt material, and extend the service life of the belt;

[0099] During the high-temperature period in summer (ambient temperature ≥ 35 °C), the cleaning airflow can additionally reduce the temperature of the bottom surface of the belt (the temperature reduction range is 3 - 5 °C), alleviating the problem of accelerated aging of the belt caused by high temperature;

[0100] The dust generated by the blowing is treated by an external negative pressure collection system (such as a bag filter), so that its emission concentration ≤ 10 mg / m³, meeting the GB12348 - 2008 Industrial Enterprises' Factory Boundary Environmental Noise Emission Standard, and helping the port to pass the environmental protection acceptance.

[0101] Preferably, in any of the above solutions, the protective inspection device includes cameras 13 fixedly installed at the four corners of the top of the flipping seat 9. Each of the cameras 13 is vertically arranged and faces the bottom of the conveyor belt 1. A high-pressure vortex air pump 14 is fixedly installed at the center of the top of the flipping seat 9. A spherical chamber 15 is installed at the outlet end of the high-pressure vortex air pump 14. A main air nozzle 16 is fixedly installed at the center of the top of the spherical chamber 15. An upper circumferential jet group and a lower circumferential jet group are respectively arranged on the outer side wall of the spherical chamber 15 of the high-pressure vortex air pump 14 from top to bottom. When the high-pressure vortex air pump 14 operates, it drives the spherical chamber 15 to rotate around a fixed axis.

[0102] The protective inspection device uses the vertical cameras 13 at the four corners of the top of the flipping seat 9 to collect images of the bottom of the conveyor belt 1 in real time. The viewing angle of the cameras 13 is perpendicular to the surface of the conveyor belt 1 to ensure detection without dead angles.

[0103] The high-pressure vortex air pump 14 drives the spherical chamber 15 to rotate around a fixed axis. The air flow at its outlet end is ejected upward through the main air nozzle 16 to form a vertical air curtain to blow and dust the surface of the camera 13 lens. At the same time, the upper circumferential jet group and the lower circumferential jet group on the outer side wall of the spherical chamber 15 generate circumferential air flows during rotation, respectively performing spiral cleaning on the bottom surface of the conveyor belt 1 and the top area of the flipping seat 9 to remove sundries such as sediment and dust.

[0104] The air flow generated by the air pump realizes multiple functions of "cleaning the detection area - protecting the lens - blowing debris" through the pressure difference, ensuring the clarity of the inspection images.

[0105] Combining the vertical camera 13 matrix with the rotating air flow cleaning forms a "detection - protection - cleaning" collaborative working mechanism, overcoming the defect that visual detection in the prior art is vulnerable to dust interference.

[0106] Embodiment 2: Compared with Embodiment 1, the difference in this embodiment is that it further includes the following technical features:

[0107] Preferably, in any of the above solutions, the upper circumferential jet group includes a plurality of upper air nozzles 17 evenly spaced along the circumferential outer side wall of the spherical chamber 15. The outlet ends of the upper air nozzles 17 are all inclined upward, and the interiors of the upper air nozzles 17 are all connected to the interior of the spherical chamber 15.

[0108] Preferably, in any of the above solutions, the lower circumferential jet group includes a plurality of lower air nozzles 18 evenly spaced along the circumferential outer side wall of the spherical chamber 15. The outlet ends of the lower air nozzles 18 are all inclined downward, and the interiors of the lower air nozzles 18 are all connected to the interior of the spherical chamber 15.

[0109] Preferably, in any of the above solutions, during the process of the upper circumferential injection group following the spherical bin 15 to rotate at a high speed around a fixed axis, an air layer protection is formed in a circle above each of the cameras 13.

[0110] Preferably, in any of the above solutions, the upper circumferential injection group cooperates with the main air nozzle 16 to realize pneumatic cleaning of the bottom of the conveying belt 1 above it.

[0111] Preferably, in any of the above solutions, the lower circumferential injection group is used to complete pneumatic cleaning of the surfaces of each of the cameras 13 during the process of following the spherical bin 15 to rotate at a high speed around a fixed axis.

[0112] When high-pressure gas enters the spherical bin 15, it is ejected through the upper air nozzle 17 at an inclined upward angle. Similarly, the outlet end of the lower air nozzle 18 of the lower circumferential injection group is inclined downward, and the gas is also ejected from the lower air nozzle 18.

[0113] During the rotation process of the upper circumferential injection group, due to the arrangement of its upper air nozzle 17 and the gas injection direction, an air layer protection is formed in a circle above each of the cameras 13. This air layer can block some sundries, dust, etc. falling from the bottom of the conveying belt 1 from directly falling on the cameras 13, playing a certain degree of protective role.

[0114] The upper circumferential injection group cooperates with the main air nozzle 16. The main air nozzle 16 jets air vertically upward, and the upper air nozzle 17 jets air inclined upward. The airflows of the two cooperate with each other to perform pneumatic cleaning on the bottom of the conveying belt 1. The airflow impacts the bottom of the belt, blowing off the attached sediment, dust and other sundries.

[0115] When the lower circumferential injection group rotates, the airflow ejected obliquely downward by the lower air nozzle 18 directly acts on the surfaces of each of the cameras 13, blowing away the dust and other sundries attached to the cameras 13, realizing pneumatic cleaning of the surfaces of the cameras 13.

[0116] The air layer protection formed by the upper circumferential injection group provides a physical barrier for the cameras 13, reduces the damage of sundries and dust to the cameras 13, reduces the probability of the cameras 13 malfunctioning due to contamination, and ensures the normal operation of the cameras 13 and the clarity of image acquisition.

[0117] The cleaning function of the lower circumferential injection group on the surfaces of the cameras 13 can timely remove the dust and the like on the cameras 13, further improving the quality of the images collected by the cameras 13, thereby contributing to more accurately detecting the damage condition of the conveying belt 1.

[0118] The high-speed rotation of the spherical bin 15 around a fixed axis makes the spraying range of the air nozzles wider and the airflow distribution more uniform. The upper circumferential injection group and the lower circumferential injection group can cover a larger area during the rotation process, enhancing the effects of air layer protection and cleaning.

[0119] In the scenarios of unloading ships and transferring goods at the port, the environment around the conveyor belt 1 is complex, with a lot of dust, sediment, etc. This design of air layer protection and pneumatic cleaning can better adapt to such harsh environments and ensure the normal operation of the protective inspection device and the point loss repair device. At the same time, the automatic pneumatic cleaning function reduces the frequency and workload of manual cleaning and maintenance of the camera 13 and the bottom of the conveyor belt 1, reduces the labor cost and labor intensity, and improves the reliability and stability of the equipment.

[0120] Preferably, in any of the above solutions, a jitter type tensioner is installed inside each of the synchronous winches 3, and the two tensioners cooperate to achieve the tensioning of the two traction steel ropes 5 on the upper layer; the tensioner includes two tensioning rollers 19 arranged horizontally at intervals, and a support wheel frame 20 is provided below the two tensioning rollers 19. Both ends of the central axes of the two tensioning rollers 19 are movably inserted into the corresponding mounting holes of the support wheel frame 20. Cantilever seats 21 are arranged at intervals at the bottom of the support wheel frame 20, and the outer ends of the bottom of the cantilever seats 21 are fixed to the bottom of the frame of the synchronous winch 3. Two synchronously lifting tensioning cylinders 22 are fixedly installed at intervals between the bottom of the cantilever seats 21 and the bottom of the support wheel frame 20. The tops of the tensioning cylinders 22 are fixed to the bottom of the support wheel frame 20, and the bottoms of the tensioning cylinders 22 are fixed to the tops of the cantilever seats 21. Each traction steel rope 5 bypasses the bottom of the outer tensioning roller 19 and extends horizontally inward from the top of the inner tensioning roller 19 after passing through the gap between the two tensioning rollers 19.

[0121] The tensioner forms an "s-shaped" winding path with the traction steel rope 5 through the two horizontally spaced tensioning rollers 19 (the steel rope first bypasses the bottom of the outer tensioning roller 19 and then extends horizontally from the top of the inner tensioning roller 19 through the gap between the two rollers). The synchronous lifting of the tensioning cylinders 22 is used to drive the support wheel frame 20 to move up and down, changing the distance between the two tensioning rollers 19 and the winding angle of the steel rope, so as to adjust the tension of the traction steel rope 5.

[0122] In addition, when necessary: the tensioning cylinders 22 are controlled by pulses (such as small amplitude lifting and lowering 1-2 times per second), so that the tensioning rollers 19 generate high-frequency micro-amplitude vibrations, driving the steel rope to shake, and shaking off sundries such as sediment and dust adhered to the surface of the steel rope (particle size ≥ 0.5 mm), avoiding the accumulation of sundries affecting the service life of the steel rope or the tensioning accuracy.

[0123] The rolling contact between the tensioning rollers 19 and the steel rope and the hydraulic buffering of the lifting cylinders can absorb the impact load during the movement of the steel rope (such as the inertial force when the inspection machine 2 starts and stops), reducing the impact peak value and extending the service life of the steel rope and the end power mechanism.

[0124] When the inspection machine 2 suddenly overloads the steel rope due to foreign object jamming, the tensioning lifting cylinder 22 can automatically switch to the "overload protection mode", and the piston rod quickly contracts to release the tension (response time ≤ 50 ms), avoiding derailment accidents caused by the steel rope breaking due to overload.

[0125] When the temperature at the port is below 0°C in winter, the high-frequency jitter of the tensioner can break the ice on the surface of the steel rope (ice layer thickness ≤ 2 mm), prevent the steel rope from freezing and jamming with the tensioning roller 19, and ensure the continuity of winter inspection operations (traditional fixed tensioning devices are prone to failure due to icing).

[0126] The specific working process is as follows: Installation and commissioning stage: In the space below the upper conveyor belt 1 of the port belt conveyor, fix the two opposite end power mechanisms to the bottom of the belt rack through the hanging pipe beam 4 to ensure fixed-axis setting and horizontal alignment.

[0127] Fix the two ends of the four traction steel ropes 5 (two upper and two lower in a rectangular array distribution) to the drums of the synchronous winches 3 of the end power mechanisms according to the winding direction to form a steel rope track group. The upper steel rope is fixedly connected to the synchronous displacement frame 7, and the lower steel rope is movably sleeved with the chassis frame 6 of the inspection machine 2 through the lower shaft hole.

[0128] Install the tensioner at intervals inside the synchronous winch 3, adjust the steel rope tension to the design value through the tensioning lifting cylinder 22, and achieve the required jitter of the steel rope through pulse control to remove surface debris.

[0129] Electrical components such as the drive motor, high-pressure vortex air pump 14, and operating manipulator 11 of the inspection machine 2 are connected to the external control system (PLC or industrial computer) through waterproof cables and are connected to the port wireless communication network (such as 5G).

[0130] Detection elements such as the camera 13, tension sensor, and dust concentration sensor of the protective inspection device complete parameter calibration to ensure detection accuracy.

[0131] No-load trial operation: Remotely start the end power mechanism, test the reciprocating movement of the inspection machine 2 along the steel rope track group (speed 5 - 10 m / min), check the synchronism of the synchronous winch 3 (speed difference ≤ 1 r / min) and the jitter function of the tensioner (amplitude 1 - 2 mm).

[0132] Cleaning function test: Start the high-pressure vortex air pump 14 and observe the rotation speed of the spherical bin 15 and the air flow blowing effect of the upper circumferential injection group and the lower circumferential injection group (wind speed ≥ 15 m / s).

[0133] Repair function test: Operate the manipulator 11 to drive the conveyor belt repair system 12 (such as the hot vulcanization repair device in CN201911302044.9) to simulate positioning repair, and verify the positioning accuracy of the glue outlet head (error ≤ 2 mm) and the stability of the glue output (flow rate fluctuation ≤ 5%).

[0134] Automatic inspection stage:

[0135] Clean the bottom of the belt. After the inspection machine 2 moves to the starting position, first start the high-pressure vortex air pump 14. The spherical bin 15 rotates at high speed, and the upper air nozzles 17 of the upper circumferential injection group spray air streams obliquely upward (pressure 0.2 - 0.3 MPa), cooperating with the vertical air curtain of the main air nozzle 16, to pneumatically clean the bottom of the conveyor belt 1 and peel off the adhered sediment and dust.

[0136] The lower air nozzles 18 of the lower circumferential injection group spray air streams obliquely downward to synchronously clean the surface of the camera 13 to ensure that the lens is unobstructed (dust removal efficiency ≥ 95%).

[0137] Defect detection:

[0138] The end power mechanism drives the upper traction steel rope 5 to move, driving the inspection machine 2 to move along the length direction of the belt (the speed is opposite to the running direction of the belt, and the relative speed is 10 - 15 m / min).

[0139] The cameras 13 at the four corners of the top of the flip seat 9 collect images of the bottom of the belt in real time, mark the coordinates of the defect positions and then upload them.

[0140] The high-pressure vortex air pump 14 runs continuously to form an air layer protection above the camera 13 to block the dust raised during the cleaning process (dust concentration ≤ 10 mg / m³).

[0141] The detection data is transmitted to the existing port operation and maintenance center in real time through wireless communication. The control system generates a repair task list according to the defect type (such as holes with a diameter > 5 mm need to be repaired first) and plans the optimal repair path.

[0142] For suspected defects (such as blurred image areas), the inspection machine 2 automatically returns to this area, and the drive motor controls the flip seat 9 to rotate to adjust the angle of the camera 13 for secondary detection to reduce the misjudgment rate (misjudgment rate ≤ 5%).

[0143] Detection and repair stage:

[0144] Repair positioning and posture adjustment. The manipulator 11 receives the defect coordinate instruction and aligns the glue outlet head of the conveyor belt repair system 12 with the damaged point through 4-axis movement (X / Y / Z translation + rotation), and the positioning error ≤ 2 mm.

[0145] The drive motor controls the flipping seat 9 to rotate 180°, switching the spot damage repairer from the initial position to the working posture, with the glue outlet head vertically facing the bottom surface of the belt.

[0146] Repair operation execution:

[0147] Select the repair mode according to the defect type: Hole repair: Operate the manipulator 11 to drive the patch tool head to paste a patch (such as a rubber patch) matching the belt material, and fix it by hot vulcanization welding (temperature 140 - 150 °C, pressure 1.5 - 2 MPa).

[0148] Crack repair: The glue outlet head sprays cold adhesive (surface drying time ≤ 5 min), fills and compacts along the crack direction, and the adhesive bonding strength ≥ 5 N / mm.

[0149] During the repair process, the high-pressure vortex air pump 14 switches to the "local purging" mode, and the main air nozzle 16 continuously supplies air to the repair area to accelerate the curing of the adhesive or the cooling of the welding (the curing time is shortened by 30%).

[0150] After the repair is completed, the inspection machine 2 returns to the repair area, and the camera 13 is used to recheck the repair effect.

[0151] The built-in sensor of the manipulator 11 records data such as the consumption of repair materials and the operation time, and uploads it to the port Internet of Things platform to form a belt health file (the data storage accuracy reaches the millisecond level).

[0152] Steel rope rail group maintenance:

[0153] The tensioner automatically runs the jitter cleaning function every day (5 - 10 minutes each time) to remove debris on the surface of the steel rope; the steel rope tension is adjusted through the tensioning lifting cylinder 22 every week to ensure that the tension difference ≤ 5%.

[0154] Check the wear condition of the steel rope every month (such as the number of broken wires ≤ 3 per strand), and predict the steel rope life through the vibration monitoring data of the tensioner to replace the aging steel rope in advance.

[0155] The manipulator 11 is lubricated and maintained every quarter (lithium-based grease is filled in the joint bearings), and the motion accuracy is tested (the repeat positioning error ≤ 0.5 mm); the conveyor belt repair system 12 cleans the bin every month and replaces the expired adhesive.

[0156] The high-pressure vortex air pump 14 checks the wear of the impeller every year (wear amount ≤ 0.5 mm), cleans the accumulated dust inside the spherical bin 15, and ensures that the air flow efficiency is maintained above 90% of the design value.

[0157] 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 foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention; for those skilled in the art of this technology, any alternative improvements or transformations made to the embodiments of the present invention fall within the protection scope of the present invention.

[0158] Where the present invention is not described in detail, it is all well-known technology to those skilled in the art of this technology.

Claims

1. An inspection robot applicable to safety protection inspection under harsh working conditions, characterized in that: It includes two oppositely arranged end power mechanisms, both of the two end power mechanisms are located below the conveyor belt to be detected, the ends of each end power mechanism are arranged on a fixed axis, a steel rope track group is arranged between the two end power mechanisms, both ends of the steel rope track group are wound and fixed on the corresponding end power mechanism, an inspection machine is installed on the steel rope track group, and the inspection machine reciprocates along the direction of the conveyor belt under the action of the two end power mechanisms, and the surface state of the bottom of the conveyor belt is detected during the movement of the inspection machine; The inspection machine includes a horizontally arranged chassis frame, and synchronous displacement frames are symmetrically installed on both sides above the chassis frame, and an inspection and repair integrated machine is installed in the space between the two synchronous displacement frames; The inspection and repair integrated machine includes a flipping seat, both ends of the central axis of the flipping seat are inserted and matched in the rotating holes of the corresponding synchronous displacement frames on its corresponding sides, a protective inspection device is installed on the top of the flipping seat, and a point damage repair device is fixedly installed on the bottom of the flipping seat; The point damage repair device includes an operating manipulator fixed to the bottom of the flipping seat, and a conveyor belt repair system is installed in a matching manner at the working end of the operating manipulator; The protective inspection device includes cameras fixed at the four corners of the top of the flipping seat, each camera is vertically arranged and faces the bottom of the conveyor belt, a high-pressure vortex air pump is fixed at the center of the top of the flipping seat, a spherical chamber is installed at the outlet end of the high-pressure vortex air pump, a main air nozzle is fixedly installed at the center of the top of the spherical chamber, and an upper circumferential spraying group and a lower circumferential spraying group are respectively arranged on the outer side wall of the spherical chamber of the high-pressure vortex air pump from top to bottom. When the high-pressure vortex air pump works, it drives the spherical chamber to rotate on a fixed axis.

2. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 1, characterized in that: The steel rope track group includes four traction steel ropes arranged in a rectangular array, both ends of each traction steel rope are wound and matched on the corresponding end power mechanism and kept in a tensioned state, the two traction steel ropes located on the upper layer are fixedly connected to the inspection machine relatively, and the two traction steel ropes located on the lower layer are movably inserted and matched with the inspection machine. When the two traction steel ropes on the upper layer are displaced, the inspection machine can be driven to move horizontally in the front-rear direction.

3. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 2, wherein: The end power mechanism includes a horizontally arranged hanging pipe beam, the hanging pipe beam is fixedly arranged relative to the ground, two synchronous winches are arranged at intervals along the width direction of the conveyor belt to be detected at the bottom of the hanging pipe beam, and the two synchronous winches are in a synchronous running state during movement; both ends of each traction steel rope are wound and matched on the drums of the synchronous winches at their corresponding positions. When the synchronous winches rotate on a fixed axis, the two traction steel ropes wound on them are driven to move, one traction steel rope is in a rope-winding state, the other traction steel rope is in a rope-releasing state, and the rope-winding speed is the same as the rope-releasing speed.

4. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 3, wherein: Both ends of the chassis frame are movably sleeved on the outer sidewall of the corresponding traction steel cable in a clearance manner through the lower shaft holes provided thereon. The corners of the two synchronous displacement frames are fixed on the traction steel cable above their corresponding positions. A position control cylinder is connected between each synchronous displacement frame and the chassis frame. Both sides of the middle part of the inspection and repair integrated machine are fitted and installed in the rotation holes of the corresponding synchronous displacement frames. A driving member is fixedly installed in the inner frame of one of the synchronous displacement frames, and the output end of the driving member is fixedly connected to the corresponding end of the middle part of the inspection and repair integrated machine.

5. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 4, characterized in that: One end of the central shaft is coaxially fixedly connected to the output shaft of the driving member. The point damage repairer is used to repair the point damage area of the conveyor belt detected by the protective inspection device as required.

6. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 5, characterized in that: Lateral mud guards are fixedly installed on the outer sides of the synchronous displacement frames. The tops of the two lateral mud guards are arranged to approach each other towards the middle.

7. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 6, characterized in that: Driven by the operating manipulator, the conveyor belt repair system is used to repair the point damage area of the conveyor belt detected by the protective inspection device as required.

8. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 7, wherein: The upper circumferential injection group includes a plurality of upper nozzles uniformly spaced along the circumferential outer sidewall of the spherical bin. The outlet ends of the upper nozzles are all inclined upwards, and the interiors of the upper nozzles are all connected to the interior of the spherical bin.

9. The inspection robot applicable to safety protection inspection under harsh working conditions according to claim 8, wherein: The lower circumferential injection group includes a plurality of lower nozzles uniformly spaced along the circumferential outer sidewall of the spherical bin. The outlet ends of the lower nozzles are all inclined downwards, and the interiors of the lower nozzles are all connected to the interior of the spherical bin.

Images