Flexible power generation trolley, belt type conveying system and inspection method

Abstract

The invention belongs to the technical field of belt conveyor equipment detection, and discloses a flexible power generation trolley, a belt conveying system and an inspection method. The flexible power generation trolley comprises a hoisting assembly, a self-power-generation assembly and a flexible hoisting assembly, the hoisting assembly is movably arranged along the inspection track, the self-power-generation assembly comprises a power generator and a power generation wheel, the power generation wheel is in transmission connection with the power generator, and the power generator is electrically connected with an energy storage battery of the inspection robot. The flexible hoisting assembly is used for changing the distance between the power generation wheel and the hoisting assembly in the vertical direction. Through the flexible hoisting assembly, when an abnormal state occurs, the power generation wheel and the conveying belt are separated, friction and collision between the power generation wheel and the conveying belt or between the power generation wheel and foreign matter can be avoided, the conveying belt and the power generation wheel are protected, damage is prevented from affecting the service life of the conveying belt and the power generation wheel, safety risks such as detonation can be reduced, and the service life of the power generation wheel is prolonged. And power can be continuously supplied to the inspection robot in a normal state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of belt conveyor equipment detection, and in particular to a flexible power generation trolley, a belt conveying system and a patrol method. BACKGROUND

[0002] Traditional patrol robots are mostly powered by built-in batteries, and are limited by battery capacity, with short single-patrol distances and frequent charging, which cannot meet the needs of long-distance belt machine "uninterrupted patrol". To solve this problem, the existing related technology is to set up an independent power generation trolley on the patrol robot body, install at least 2 sets of power generation hubs (hub integrated generator assembly, which can convert mechanical energy into electrical energy) at the bottom of the power generation trolley, and fix and electrically connect the power generation trolley and the patrol robot. When the belt conveyor is running normally, the power generation hubs of the power generation trolley are in contact with the surface of the lower belt, and the movement driving force of the lower belt drives the power generation hubs to rotate, thereby driving the generator assembly to generate electricity; the generated electricity is transmitted to the energy storage module of the patrol robot in real time, providing continuous power for the patrol function (such as temperature detection, sound collection, image shooting, etc.) of the robot.

[0003] However, for coal mine and other operation scenes, foreign matter is easy to exist on the surface of the lower belt, which causes the power generation trolley to be easily stuck by foreign matter, which not only further causes the aggravation of belt wear, but also causes the generation of sparks that can easily cause deflagration and other dangerous factors.

[0004] Therefore, a flexible power generation trolley, a belt conveying system and a patrol method are needed to solve the above technical problems. SUMMARY

[0005] The first object of the present application is to provide a flexible power generation trolley that can supply power to a patrol robot, reduce charging frequency, and avoid use risks and safety risks such as belt wear.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The flexible power generation trolley comprises:

[0008] The hoisting assembly is arranged to move along the patrol track, and one end of the hoisting assembly is provided with a robot connecting structure for connecting the patrol robot;

[0009] The self-power generation assembly comprises a trolley body, a generator and a power generation wheel, one end of the trolley body is connected with the hoisting assembly, the generator is connected to the trolley body, the power generation wheel is drivingly connected to the generator, the power generation wheel can roll and rub between the transmission belt to drive the generator to generate electricity, and the generator can be electrically connected with the patrol robot;

[0010] A flexible lifting assembly is connected between the other end of the lifting assembly and the other end of the vehicle body, and is used to change the distance between the power generation wheel and the lifting assembly in the vertical direction.

[0011] Preferably, the lifting assembly comprises a lifting structure, a first rolling wheel and a second rolling wheel, the first rolling wheel and the second rolling wheel are both rotatably installed on the lifting structure, the first rolling wheel abuts against the inspection track in the vertical direction to support the lifting assembly, and the second rolling wheel abuts against the inspection track in the horizontal direction to constrain the lifting assembly from moving along the extension direction of the inspection track.

[0012] Preferably, one end of the lifting structure is connected with the robot connecting structure along the movement direction of the flexible power generation trolley, the robot connecting structure comprises a first connecting piece, one end of the first connecting piece is rotatably connected with the lifting structure, and the other end of the first connecting piece is rotatably connected with the inspection robot.

[0013] Preferably, one end of the vehicle body is directly connected with the lifting assembly, or

[0014] one end of the vehicle body is directly connected with the inspection robot.

[0015] Preferably, the flexible lifting assembly comprises a driving piece and a lifting rope, the driving piece is fixedly connected with the lifting assembly, one end of the lifting rope is fixedly connected with the output end of the driving piece, and the other end of the lifting rope is fixedly connected with the vehicle body.

[0016] Preferably, the flexible lifting assembly further comprises a lifting wheel, the lifting wheel is rotatably connected with the lifting assembly, the part of the lifting rope between the two ends is arranged around the outer circumferential surface of the lifting wheel, and the driving piece drives the lifting rope to move along the movement direction of the flexible power generation trolley.

[0017] Preferably, the self-power generation assembly comprises a jamming sensor, the jamming sensor is used to detect whether the power generation wheel is jammed, and the jamming sensor is signal connected with the flexible lifting assembly, so that the flexible lifting assembly can move the power generation wheel in the direction close to the lifting assembly when the power generation wheel is jammed.

[0018] The second object of the present application is to provide a belt conveying system which has higher self-inspection ability and endurance, and has higher service life and lower safety risk.

[0019] To achieve the above object, the present application adopts the following technical scheme:

[0020] A belt conveying system comprises an inspection track, a conveying belt, an inspection robot and the flexible power generation trolley, the flexible power generation trolley and the inspection robot are fixedly connected and electrically connected, and the flexible power generation trolley and the inspection robot are slidably arranged along the inspection track, part of the conveying belt is located below the inspection track, and the upper surface of the flexible power generation trolley and the conveying belt located below the inspection track is in rolling abutment to generate power and provide power for the inspection robot.

[0021] A third object of the present application is to provide an inspection method that can avoid use risks and safety risks such as belt wear.

[0022] To achieve this object, the present application adopts the following technical solutions:

[0023] An inspection method is applied to the belt conveying system, and the inspection method comprises the following steps:

[0024] When the flexible power generation trolley is stuck or has a risk of being stuck, the self-power generation assembly of the flexible power generation trolley is lifted by the flexible lifting assembly of the flexible power generation trolley to be separated from the surface of the conveying belt.

[0025] Preferably, the inspection method comprises the following steps:

[0026] The motion data of the inspection robot and the rotation speed of the self-power generation assembly are obtained, when the motion data of the inspection robot indicates that the inspection robot is in a motion state and the rotation speed of the self-power generation assembly is 0, it is determined that the flexible power generation trolley is stuck; and / or,

[0027] The motion distance of the inspection robot and the motion distance of the flexible power generation trolley are obtained, when the motion distance of the inspection robot and the motion distance of the flexible power generation trolley are not equal, it is determined that the flexible power generation trolley is stuck; and / or,

[0028] The surface of the conveying belt located in front of the path of the flexible power generation trolley is detected by the inspection robot, when an abnormal protrusion or an abnormal depression is detected, it is determined that the flexible power generation trolley has a risk of being stuck.

[0029] The present application has the following beneficial effects:

[0030] The flexible power generation trolley is used for supplying power for the inspection robot, which can reduce the dependence on the built-in battery, greatly prolong the single inspection distance and continuous working time of the inspection robot, adapt to the inspection demand of long distance transmission belt, and reduce the operation and maintenance cost caused by frequent charging. In addition, the flexible lifting assembly changes the distance between the power generation assembly and the transmission belt according to the running state, so that the power generation wheel and the transmission belt are separated when an abnormal state occurs, the friction and collision between the power generation wheel and the transmission belt or foreign matters can be avoided, the transmission belt and the power generation wheel are protected, the service life of the transmission belt and the power generation wheel is prevented from being affected, and the safety risk such as explosion is reduced. Meanwhile, when it is detected that the flexible power generation trolley is stuck or has a risk of being stuck, the power generation path is lifted and separated from the surface of the transmission belt, so that the continuous sliding friction between the power generation wheel and the surface of the transmission belt is actively avoided, the transmission belt and the power generation wheel are protected, the service life of the transmission belt and the power generation wheel is prevented from being affected, and the safety risk such as explosion is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a side view of a belt conveyor system in an embodiment of the present application;

[0032] Figure 2 is an axonometric view of a belt conveyor system in an embodiment of the present application;

[0033] Figure 3 is a position schematic view of a self-power generation assembly when it is not actively lifted in an embodiment of the present application;

[0034] Figure 4 is a position schematic view of a self-power generation assembly when it is actively lifted in an embodiment of the present application;

[0035] Figure 5 is an axonometric view of a flexible power generation trolley in an embodiment of the present application;

[0036] Figure 6 is a structure view of a lifting assembly and a flexible lifting assembly in an embodiment of the present application;

[0037] Figure 7 is a rear view of a flexible power generation trolley in an embodiment of the present application.

[0038] In the drawings:

[0039] 100, transmission belt; 1001, lower belt; 1002, upper belt; 101, supporting roller;

[0040] 1, inspection robot;

[0041] 2, inspection track;

[0042] 3, flexible power generation trolley; 31, hoisting assembly; 311, robot connecting structure; 3111, first connecting piece; 3112, connecting shaft; 3113, connecting shaft mounting seat; 3114, second connecting piece; 312, hoisting structural piece; 313, first rolling wheel; 314, second rolling wheel; 315, rolling wheel mounting seat;

[0043] 32, self-power generation assembly; 321, trolley body; 322, power generator; 323, power generation wheel; 324, mechanical buckle;

[0044] 33, flexible hoisting assembly; 331, driving piece; 332, hoisting rope; 333, hoisting wheel. DETAILED DESCRIPTION

[0045] The application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings, not all the structures.

[0046] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed", "abutted" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0047] In the application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0048] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0049] The following is based on Figures 1 to 7 The present invention describes the flexible power generation trolley 3, the belt conveyor system, and the inspection method provided in the embodiments of the present invention.

[0050] like Figures 1 to 3 As shown, in this embodiment, the belt conveyor system mainly includes a conveyor belt 100, an inspection track 2, an inspection robot 1, and a flexible power generation vehicle 3. The conveyor belt 100 is wound around a pulley and can rotate under the action of the pulley, thereby conveying materials. Figure 1 As shown, when the conveyor belt 100 is wound around the conveyor belt 100 pulley, the portion of the conveyor belt 100 above the pulley is generally referred to as the upper belt 1002, and the portion below the pulley is generally referred to as the lower belt 1001. Materials are generally placed on the upper belt 1002 and transported by the friction between the upper surface of the upper belt 1002 and the materials. The lower belt 1001 is generally unused, but due to possible turning or rotation during material transport, materials may fall onto the upper surface of the lower belt 1001. Preferably, a support roller 101 is also provided below the upper belt 1002. The support roller 101 is formed in a V-shape, U-shape, arc shape, etc., and can support the upper belt 1002 from bottom to top and constrain its shape, thereby reducing the phenomenon of materials falling off the upper belt 1002.

[0051] Inspection track 2, inspection robot 1, and flexible power generation vehicle 3 are positioned between upper belt 1002 and lower belt 1001. Inspection track 2 is constructed from tubing, sheet metal, etc., and has an internal storage space. Inspection robot 1 has a drive wheel, which is positioned within the storage space and abuts against a portion of the inner wall of the space from top to bottom, thus supporting inspection robot 1. Inspection robot 1 is also equipped with an energy storage battery, a drive motor, and various inspection sensors. The energy storage battery is electrically connected to the drive motor and inspection sensors to supply power. The drive motor is drive-driven to the drive wheel, enabling it to rotate and thus move inspection robot 1 along inspection track 2. The inspection sensors include temperature sensors, sound sensors, vision sensors, etc., capable of detecting upper belt 1002, lower belt 1001, and the surrounding environment. Since inspection track 2 and inspection robot 1 are widely disclosed in related technologies, they will not be described in detail here.

[0052] The flexible power generation vehicle 3 includes a hoisting assembly 31, a self-generating assembly 32, and a flexible lifting assembly 33. The hoisting assembly 31 is movable along the inspection track 2, and one end of the hoisting assembly 31 is equipped with a robot connection structure 311 for connecting to the inspection robot 1. The self-generating assembly 32 includes a vehicle body 321, a generator 322, and a generator wheel 323, with one end of the vehicle body 321 connected to the hoisting assembly 31. The generator 322 is connected to the vehicle body 321, and the generator wheel 323 is drivenly connected to the generator 322. The generator 322 is electrically connected to the energy storage battery of the inspection robot 1. The flexible lifting assembly 33 is connected between the other end of the hoisting assembly 31 and the other end of the vehicle body 321, and is used to vertically change the distance between the generator wheel 323 and the hoisting assembly 31.

[0053] When using it, for example, such as Figure 3 As shown, when the flexible power generation vehicle 3 is in normal power generation mode, the flexible lifting assembly 33 moves the power generation wheel 323 away from the lifting assembly 31. Under gravity, the power generation wheel 323 descends to contact the upper surface of the lower belt 1001. When the conveyor belt 100 rotates, rolling friction occurs between the power generation wheel 323 and the lower belt 1001, causing the power generation wheel 323 to roll and drive the generator 322 to generate electricity. The generator 322 is electrically connected to the energy storage battery, enabling the generated electrical energy to be input into the energy storage battery, thereby powering the inspection robot 1.

[0054] However, when the flexible power generation trolley 3 is in an abnormal state, such as when the power generation wheel 323 is stuck, such as... Figure 4As shown, the generator wheel 323 is moved in a direction close to the lifting assembly 31 by the flexible lifting assembly 33. At this time, the generator wheel 323 will separate from the lower belt 1001, thereby avoiding the continuous sliding friction between the generator wheel 323 and the conveyor belt 100. This continuous sliding friction will not only cause local friction damage to the conveyor belt 100, but also lead to a continuous increase in temperature at the friction point. In some coal mine conveying scenarios, sparks generated by the mutual friction between coal powder may even cause a deflagration risk.

[0055] Therefore, by using the flexible lifting assembly 33 to change the distance between the self-generating assembly 32 and the conveyor belt 100 according to the operating status, the generator wheel 323 and the conveyor belt 100 can be separated in the event of an abnormal state. This can prevent friction and collision between the generator wheel 323 and the conveyor belt 100 or foreign objects, thereby protecting both the conveyor belt 100 and the generator wheel 323, preventing damage from affecting the service life of the conveyor belt 100 and the generator wheel 323, and reducing safety risks such as deflagration.

[0056] like Figure 5 , Figure 6 As shown, in this embodiment, the hoisting assembly 31 includes a hoisting structure 312, a first rolling wheel 313, and a second rolling wheel 314. All three components are disposed within the accommodating space of the inspection track 2. The first rolling wheel 313 and the second rolling wheel 314 are rotatably mounted on the hoisting structure 312. The first rolling wheel 313 abuts against the inner wall of the accommodating space in a vertical direction, thereby supporting the hoisting structure 312 from bottom to top. The second rolling wheel 314 abuts against the inner wall of the accommodating space in a horizontal direction, thereby constraining the movement direction of the hoisting structure 312, causing it to move along the extension direction of the inspection track 2.

[0057] Preferably, such as Figure 6As shown, the hoisting structure 312 is connected to four first rolling wheels 313 and four second rolling wheels 314. Taking the direction of movement of the hoisting structure 312 as a boundary, two first rolling wheels 313 and two second rolling wheels 314 are provided on one side of the hoisting structure 312, and another two first rolling wheels 313 and two more second rolling wheels 314 are provided on the other side. Furthermore, two of the first rolling wheels 313 and two of the second rolling wheels 314 are located at the end of the hoisting structure 312 where the robot connection structure 311 is located, while the other two first rolling wheels 313 and two more second rolling wheels 314 are located at the end of the hoisting structure 312 away from the robot connection structure 311. This arrangement improves the stability and smoothness of the hoisting assembly 31 during movement, thereby reducing vibration and jamming, which is beneficial for optimizing power generation efficiency and reducing operating resistance. Optionally, in this embodiment, the hoisting structure 312 is fixedly connected to a roller mounting seat 315, and the first roller 313 and the second roller 314 are respectively rotatably connected to the corresponding roller mounting seat 315.

[0058] Specifically, in this embodiment, the robot connection structure 311 includes a first connector 3111, a second connector 3114, and a connecting shaft 3112. Each end of the first connector 3111 is provided with a connecting shaft 3112, and the connecting shafts 3112 are rotatably connected to the hoisting structure 312 and the inspection robot 1, respectively. Figure 6 As shown, one end of the hoisting structure 312 is provided with a connecting shaft mounting seat 3113. One connecting shaft 3112 passes through the connecting shaft mounting seat 3113 and is connected to one end of the first connecting member 3111, thereby rotatably connecting the first connecting member 3111 and the hoisting structure 312. The other end of the first connecting member 3111 is connected to another connecting shaft 3112, and a second connecting member 3114 is rotatably connected through this connecting shaft 3112. The second connecting member 3114 can be fixedly connected to the inspection robot 1 by bolts or other fasteners, thereby rotatably connecting the first connecting member 3111 and the inspection robot 1. Therefore, by reasonably setting the axial direction of the two connecting shafts 3112, the connection flexibility between the hoisting structure 312 and the inspection robot 1 can be increased, thereby avoiding the possibility of the flexible power generation vehicle 3 and the inspection robot 1 getting stuck in turning scenarios after connection.

[0059] For example, in this embodiment, the axes of the two connecting shafts 3112 are arranged parallel to each other and both parallel to the width direction of the conveyor belt 100. This allows the inspection robot 1 and the flexible power generation vehicle 3 to change their connection angle around the direction of the connecting shafts 3112 when they need to turn upwards or downwards, thus avoiding jamming. Optionally, in some embodiments, one connecting shaft 3112 can be arranged parallel to the width direction of the conveyor belt 100, and the other connecting shaft 3112 can be arranged parallel to the thickness direction of the conveyor belt 100. This further prevents jamming when turning left or right. Of course, in some other embodiments, the first rolling wheel 313 and the second rolling wheel 314 can also be arranged in a clearance fit within the accommodating space, with a reserved allowance, which can also achieve the effect of preventing jamming. Therefore, the axial direction of the connecting shafts 3112 is not specifically limited in this invention, as long as it can achieve the effect of rotational connection.

[0060] It should be noted that in this embodiment, the robot connection structure 311 connects the lifting structure 312 and the inspection robot 1, and then the vehicle body 321 of the self-generating component 32 is also connected to the inspection robot 1, thereby achieving the aforementioned distance between the power generation wheel 323 and the lifting component 31. In some other embodiments, the vehicle body 321 of the self-generating component 32 and the lifting structure 312 can also be rotatably connected, which also allows the distance between the power generation wheel 323 and the lifting component 31 to be changed by the flexible lifting component 33. Therefore, whether one end of the vehicle body 321 is directly connected to the lifting component 31 or one end of the vehicle body 321 is directly connected to the inspection robot 1, both fall within the scope of protection of this invention.

[0061] Continue to refer to Figure 6 , Figure 7 As shown, in this embodiment, the flexible lifting assembly 33 includes a drive member 331 and a lifting rope 332. The drive member 331 is fixedly connected to the lifting assembly 31, one end of the lifting rope 332 is fixedly connected to the output end of the drive member 331, and the other end of the lifting rope 332 is fixedly connected to the vehicle body 321. The drive member 331 can drive the lifting rope 332 to move, thereby causing the vehicle body 321 to rotate around the connection point with the inspection robot 1 (or around the connection point with the lifting structure 312), thereby changing the distance between the generator wheel 323 and the lifting assembly 31 (lower belt 1001).

[0062] Preferably, the flexible lifting assembly 33 further includes a sheave 333, which is rotatably connected to the lifting assembly 31. The portion between the two ends of the lifting rope 332 is wound around and abuts against the outer circumferential surface of the sheave 333, and the drive member 331 drives the lifting rope 332 to move along the movement direction of the flexible power generation trolley 3. The sheave 333 can change the extension direction of the lifting rope 332, allowing the drive member 331 to be installed within the accommodating space with a low protrusion from the lifting structure 312. This avoids the drive member 331 colliding with the inner wall of the accommodating space and getting stuck. It also facilitates the use of a linear drive member 331 with a larger profile to drive the lifting rope 332, thereby reducing structural costs.

[0063] Optionally, the vehicle body 321 is equipped with connecting components such as electromagnetic chucks and mechanical buckles 324 to connect the lifting ropes 332. Preferably, the drive unit 331 is connected to two lifting ropes 332, and both lifting ropes 332 are connected to the vehicle body 321, thereby enabling the vehicle body 321 to be lifted in a balanced manner and avoiding uneven force distribution between the two generator wheels 323 and the lower belt 1001, which could lead to abnormal wear in certain areas.

[0064] It should be noted that in this embodiment, the generator 322 and the generator wheel 323 are integrated into a generator hub, and one generator hub is provided on each side of the vehicle body 321. Therefore, uneven force can lead to inconsistent power generation between the two generator hubs, which can negatively impact the power supply. Therefore, a charging control integrated circuit is connected between the generator 322 and the energy storage battery to regulate the current and voltage, achieving a stable and reliable charging process.

[0065] Preferably, in this embodiment, the self-generating component 32 includes a jamming sensor, which is used to detect whether the generator wheel 323 is jammed. The jamming sensor is signal-connected to the flexible lifting component 33, so that the flexible lifting component 33 can move the generator wheel 323 in a direction close to the lifting component 31 when the generator wheel 323 is jammed. Specifically, the jamming sensor can be a speed sensor, a current sensor, etc. For example, the speed sensor can be used to detect whether the generator wheel 323 is rotating normally, and the current sensor can be used to detect whether the generator 322 is working normally to determine the rotation state of the generator wheel 323, etc. Therefore, the specific type of jamming sensor is not limited in this invention, as long as it can be used to determine whether the generator wheel 323 is in a jammed state.

[0066] This invention also provides a belt conveyor system, including a conveyor belt 100, an inspection track 2, an inspection robot 1, and the aforementioned flexible power generation vehicle 3. The flexible power generation vehicle 3 and the inspection robot 1 are fixedly connected and electrically connected, and both the flexible power generation vehicle 3 and the inspection robot 1 are slidably arranged along the inspection track 2. A portion of the conveyor belt 100 is located below the inspection track 2, and the flexible power generation vehicle 3 rolls against the upper surface of the conveyor belt 100 located below the inspection track 2 to generate electricity and power the inspection robot 1.

[0067] By powering the inspection robot 1 with the flexible power generation vehicle 3, reliance on the built-in battery can be reduced, significantly extending the single inspection distance and continuous working time of the inspection robot 1, adapting to the inspection needs of long-distance conveyor belts 100, and reducing maintenance costs caused by frequent charging. Furthermore, the flexible lifting component 33 changes the distance between the self-generating component 32 and the conveyor belt 100 according to the operating status, thereby separating the power generation wheel 323 from the conveyor belt 100 in case of abnormal conditions. This avoids friction and collision between the power generation wheel 323 and the conveyor belt 100 or foreign objects, thus protecting both the conveyor belt 100 and the power generation wheel 323, preventing damage that could affect their service life, and reducing safety risks such as explosions.

[0068] The present invention also provides an inspection method applicable to the above-mentioned belt conveyor system, comprising:

[0069] When the flexible power generation trolley 3 gets stuck or is at risk of getting stuck, the self-generating component 32 of the flexible power generation trolley 3 is lifted off the surface of the conveyor belt 100 by the flexible lifting component 33 of the flexible power generation trolley 3.

[0070] In this method, when the flexible power generation trolley 3 is detected to be stuck or there is a risk of it being stuck, by lifting it and detaching the power generation circuit from the surface of the conveyor belt 100, the continuous sliding friction between the power generation wheel 323 and the surface of the conveyor belt 100 can be actively avoided. This protects both the conveyor belt 100 and the power generation wheel 323, prevents damage from affecting their service life, and reduces safety risks such as deflagration.

[0071] Specifically, in this embodiment, various data can be obtained through the detection of multiple sensors to determine whether a jamming phenomenon has occurred or whether there is a risk of jamming.

[0072] For example, in this embodiment, the motion data of the inspection robot 1 and the rotational speed of the generator wheel 323 are obtained and compared to make a judgment. For example, the data detected by the inspection robot 1's vision sensor, speed sensor, position sensor and other sensors can be used to indicate whether the inspection robot 1 is in motion. When the inspection robot 1 is in motion, but the rotational speed of the generator wheel 323 is detected as 0 by the rotational speed sensor, it means that the generator wheel 323 is stuck and needs to be lifted to detach from the surface of the conveyor belt 100.

[0073] For example, in some embodiments, the length of the movement path of the inspection robot 1 can be detected, and the number of rotations of the power generation wheel 323 within the same time period can be detected. The length of the movement path of the flexible power generation vehicle 3 can be obtained by multiplying the number of rotations by the circumference. When the difference between the two movement path lengths is too large, it indicates that there is a jamming phenomenon.

[0074] For example, in some embodiments, the length of the movement path of the flexible power generation vehicle 3 can be obtained by detecting the power generation. Therefore, current and voltage sensors can be set, or detection can be performed through a charging control integrated circuit, etc. This invention does not specifically limit this.

[0075] Of course, in some embodiments, the presence of jamming or jamming risk can also be detected by the sensors of the inspection robot 1 itself. For example, a vision sensor can be used to directly detect the generator wheel 323, or a sound sensor can be used to detect the rotation sound of the generator wheel 323, etc.

[0076] Preferably, in some embodiments, a visual sensor can also be used to detect whether there are obstruction areas such as foreign object accumulation, water accumulation, or broken or hollowed-out areas on the surface of the conveyor belt 100. When the visual sensor detects such an obstruction area, it can be determined that there is a risk of jamming. At this time, by lifting the generator wheel 323 to prevent the generator wheel 323 from colliding with foreign objects or coming into contact with water, and then lowering the flexible generator trolley 3 after passing the obstruction area, the phenomenon of the flexible generator trolley 3 jamming can also be reduced, ensuring the passage safety and service life of the flexible generator trolley 3.

[0077] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A flexible power generation vehicle, characterized in that, include: A hoisting assembly (31) is provided, which is movable along the inspection track (2). One end of the hoisting assembly (31) is provided with a robot connection structure (311), which is used to connect the inspection robot (1). The self-generating component (32) includes a vehicle body (321), a generator (322) and a generator wheel (323). One end of the vehicle body (321) is connected to the hoisting component (31). The generator (322) is connected to the vehicle body (321). The generator wheel (323) is connected to the generator (322) in a driving connection. The generator wheel (323) can roll and rub against the conveyor belt (100) to drive the generator (322) to generate electricity. The generator (322) can be electrically connected to the inspection robot (1). A flexible lifting assembly (33) is connected between the other end of the lifting assembly (31) and the other end of the vehicle body (321). The flexible lifting assembly (33) is used to change the distance between the generator wheel (323) and the lifting assembly (31) in the vertical direction.

2. The flexible power generation vehicle according to claim 1, characterized in that, The hoisting assembly (31) includes a hoisting structure (312), a first roller (313), and a second roller (314). The first roller (313) and the second roller (314) are rotatably mounted on the hoisting structure (312). The first roller (313) abuts against the inspection track (2) in the vertical direction to support the hoisting assembly (31), and the second roller (314) abuts against the inspection track (2) in the horizontal direction to constrain the hoisting assembly (31) to move along the extension direction of the inspection track (2).

3. The flexible power generation vehicle according to claim 2, characterized in that, Along the direction of movement of the flexible power generation vehicle (3), one end of the hoisting structure (312) is connected to the robot connection structure (311). The robot connection structure (311) includes a first connector (3111). One end of the first connector (3111) is rotatably connected to the hoisting structure (312), and the other end of the first connector (3111) is rotatably connected to the inspection robot (1).

4. The flexible power generation vehicle according to claim 1, characterized in that, One end of the vehicle body (321) is directly connected to the hoisting assembly (31); or, One end of the vehicle body (321) is directly connected to the inspection robot (1).

5. The flexible power generation vehicle according to claim 1, characterized in that, The flexible lifting assembly (33) includes a drive unit (331) and a lifting rope (332). The drive unit (331) is fixedly connected to the lifting assembly (31). One end of the lifting rope (332) is fixedly connected to the output end of the drive unit (331), and the other end of the lifting rope (332) is fixedly connected to the vehicle body (321).

6. The flexible power generation vehicle according to claim 5, characterized in that, The flexible lifting assembly (33) also includes a wheel (333), which is rotatably connected to the lifting assembly (31). The portion between the two ends of the lifting rope (332) is wrapped around and abuts against the outer circumferential surface of the wheel (333), and the driving member (331) drives the lifting rope (332) to move along the movement direction of the flexible power generation trolley (3).

7. The flexible power generation vehicle according to any one of claims 1-6, characterized in that, The self-generating component (32) includes a jamming sensor for detecting whether the generator wheel (323) is jammed. The jamming sensor is signal-connected to the flexible lifting component (33) so that the flexible lifting component (33) can move the generator wheel (323) in a direction close to the lifting component (31) when the generator wheel (323) is jammed.

8. A belt conveyor system, characterized in that, The system includes an inspection track (2), a conveyor belt (100), an inspection robot (1), and a flexible power generation vehicle (3) as described in any one of claims 1-7. The flexible power generation vehicle (3) and the inspection robot (1) are fixedly connected and electrically connected. Both the flexible power generation vehicle (3) and the inspection robot (1) are slidably arranged along the inspection track (2). A portion of the conveyor belt (100) is located below the inspection track (2). The upper surface of the flexible power generation vehicle (3) and the upper surface of the conveyor belt (100) located below the inspection track (2) roll and abut against each other to generate electricity and power the inspection robot (1).

9. An inspection method, characterized in that, The inspection method, applied to the belt conveyor system as described in claim 8, includes: When the flexible power generation trolley (3) gets stuck or is at risk of getting stuck, the self-generating component (32) of the flexible power generation trolley (3) is lifted off the surface of the conveyor belt (100) by the flexible lifting component (33) of the flexible power generation trolley (3).

10. The inspection method according to claim 9, characterized in that, The inspection method includes: Obtain the motion data of the inspection robot (1) and the rotational speed of the self-generating component (32). When the motion data of the inspection robot (1) indicates that the inspection robot (1) is in motion and the rotational speed of the self-generating component (32) is 0, it is determined that the flexible power generation vehicle (3) is stuck; and / or, The movement distances of the inspection robot (1) and the flexible power generation vehicle (3) are obtained. When the movement distances of the inspection robot (1) and the flexible power generation vehicle (3) are not equal, it is determined that the flexible power generation vehicle (3) is stuck; and / or, The inspection robot (1) inspects the surface of the conveyor belt (100) located in front of the path of the flexible power generation vehicle (3). When an abnormal protrusion or abnormal depression is detected, it is determined that the flexible power generation vehicle (3) is at risk of jamming.

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