Pipe belt machine inspection robot fault recovery device

Abstract

The utility model discloses a pipe belt machine inspection robot fault recovery device which comprises a rotating guide rail, a rotating mechanism, an inspection robot guide rail and an inspection robot, and the rotating guide rail is fixedly connected with the rotating mechanism. The rotary guide rail is provided with a detection device for positioning the moving position of the inspection robot; a recycling mechanism is arranged on the rotating guide rail, the mounting position of the recycling mechanism deviates from the driving direction of the inspection robot, and the inspection robot is mounted on the inspection robot guide rail and linearly reciprocates in the rail direction; the recycling mechanism is connected with the inspection robot through a rope assembly and used for lowering and recycling the inspection robot. The recovery mechanism and the rope assembly are arranged, the failed inspection robot is recovered to a starting base station through the built-in winch wound with the material rope, the descent control device and the like, manual recovery is replaced, the workload of workers is relieved, meanwhile, the lowering position can be controlled through the inspection robot, the whole device is more flexible to use, and the maintenance cost is reduced. The working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of belt conveyors, in particular to a fault recovery device for a belt conveyor inspection robot. Background Art

[0002] At present, pipe-belt conveyors have been widely used in industries such as electricity, metallurgy, and ports. For pipe-belt conveyors that transport bulk materials for a long time, belt deviation, pipe expansion, and roller damage will have a serious impact on the daily operation of the pipe-belt conveyor. Timely discovery and timely intervention can reduce the incidence of failures and even prevent accidents. Daily inspections are an efficient means to prevent failures of pipe-belt conveyors. Due to the complex on-site environment, small space, and long inspection routes, manual inspections are greatly hindered and interfered with. In addition, manual inspections are easily affected by personal experience and subjective consciousness, and are restricted by monitoring methods, data recording, and data analysis. Usually, a lot of manpower is spent but effective data results cannot be obtained, resulting in low inspection efficiency. Equipment failures are often not discovered in time, which may lead to serious consequences. Although inspection robots can replace manual labor for efficient inspection work, once a fault occurs, it is impossible to replace the inspection personnel in time like manual inspection. The faulty robot can be promptly recovered to the starting base station and lowered from the truss to the ground for inspection, which can shorten the downtime and ensure inspection efficiency. From the current situation, the inspection robot is still in the development stage, and it has problems such as slipping, program failure and insufficient power. It is easy to break down on the inspection road. Once the inspection robot breaks down and the inspection section is up to 30 meters above the ground on the truss, it takes a lot of manpower and time to push the robot back to the charging dock or dismantle the robot for inspection, and then install the repaired robot back to its original position. The time spent will cause the inspection task of this section to be replaced by manual inspection, which reduces the inspection efficiency.

[0003] The patent with application number CN201710270768.4 discloses a recovery device for an overhead high-voltage transmission line inspection robot, including a walking module, an opening and closing module, a balance safety module and a docking module. The walking module includes a walking wheel, a walking motor, a bearing seat and a coupling. The coupling runs through the bearing seat, the walking wheel is fixed on the coupling, and the walking motor drives the walking wheel. The opening and closing module includes a support frame and a screw rod. The support frame is fixed with a light rod on the left and right. The balance safety module includes a U-shaped wheel, a retaining frame and a sleeve. The U-shaped wheel is fixed on the retaining frame, and the sleeve is sleeved on the light rod. The docking module includes a box body, a collision connecting rod is fixed in front of the box body, a screw rod is connected to the support frame worm gear, both ends of the screw rod are fixed on the box body by bearing seats, and the light rod is fixed on the box body; however, this patent uses a recovery device to rescue a stranded robot, which is essentially to rescue the stranded robot by another robot. This method requires installing a rescue robot when the inspection robot fails, which is not only time-consuming and labor-intensive, but also it is difficult to ensure that the buckle can accurately lock the stranded robot by passive fixation.

[0004] The patent with application number CN202110581365.8 discloses a walking clamping mechanism for a high-voltage line inspection robot, including a connecting bracket, a clamping mechanism, and a walking mechanism. The walking wheel axle of the walking mechanism passes through the long slot hole and the walking wheel axle through hole of the clamping mechanism, and is fixedly installed in the walking wheel axle mounting hole of the connecting bracket, and the clamping mechanism can rotate freely around the walking wheel axle, and automatically adapt to the slope changes of the high-voltage line; the upper end of the clamping claw is a hook-shaped structure that can clamp obstacles such as insulator strings and pole towers, and the clamping wheel at the lower end of the clamping claw mechanism can clamp the high-voltage transmission line; however, the patent adds a tightening self-locking mechanism, which to a certain extent ensures that when the robot has an inspection failure, it can stabilize the robot from slipping back and falling, but does not solve the problem of recovering the robot after a failure.

[0005] The patent with application number CN202010297277.0 discloses a petrochemical multi-dimensional perception inspection robot and its power supply system, the power supply system includes a main power supply and a backup power supply, the main power supply is coupled with a transformer board, the backup power supply and the transformer board are coupled to a voltage selection unit, the central control platform and the communication unit are coupled to the voltage selection unit, the detection element, the drive control unit, the laser radar, the GPS navigation system and the distance measuring device are all coupled to the transformer board. By setting a backup power supply, and the central control platform and the communication unit are coupled with the main power supply and the backup power supply through the voltage selection unit, in the event of an emergency, the backup power supply can still power the central control platform and the communication unit, so as to facilitate the sending of the inspection robot fault location to the remote control center and wait for rescue; however, the patent uses a sensor method to determine the fault location of the inspection robot. For the pipe belt machine inspection robot, it has its own navigation system and does not need precise positioning. For the inspection robot of the long-distance pipe belt machine, after a fault occurs, the staff also needs to walk to the fault point, and then disassemble it for inspection.

[0006] In the existing technical solutions for the rescue and recovery of pipe and belt conveyor inspection robots, the rescue method of using rescue robots to recover inspection robots and locate fault points is generally adopted. Relying on other rescue robots or equipment to recover inspection robots is practical to a certain extent for occasions where manual labor is inaccessible, but there are cumbersome procedures for pipe and belt conveyor inspection machines, and its recovery efficiency is not as good as manual recovery. Or through precise positioning and other methods, ensure that the robot does not roll back or move otherwise, so that it is convenient for recovery personnel to recover the robot. It can be practical to a certain extent, but for long-distance pipe and belt conveyors, there is a need for manual recovery, which greatly reduces the working efficiency of the inspection robot.

[0007] Therefore, there is an urgent need for a fault recovery device for a pipe belt machine inspection robot to improve the problems existing in the above situation. Utility Model Content

[0008] In order to solve the above problems existing in the prior art, the utility model provides a fault recovery device for a pipe belt machine inspection robot.

[0009] The technical solution of the utility model is as follows:

[0010] A fault recovery device for a belt conveyor inspection robot comprises a rotating guide rail, a rotating mechanism, an inspection robot guide rail and an inspection robot, wherein the rotating guide rail is fixedly connected to the rotating mechanism; a detection device is provided on the rotating guide rail for locating the moving position of the inspection robot, and the inspection robot is fixed on the rotating guide rail by a self-locking fixing device in the inspection robot so as to realize the synchronous rotation of the inspection robot following the rotating mechanism; a recovery mechanism is provided on the rotating guide rail, and the installation position of the recovery mechanism is away from the driving direction of the inspection robot, the inspection robot is installed on the inspection robot guide rail and performs linear reciprocating motion along the track direction; the recovery mechanism is connected to the inspection robot via a rope assembly for lowering and recovering the inspection robot.

[0011] Preferably, the rotating guide rail includes a guide rail and a detection device, and the detection device adopts a magnetic piece positioner; fixing holes are provided on both sides of the magnetic piece positioner on the guide rail for connecting the inspection robot.

[0012] Preferably, the edge where the guide rail is connected to the guide rail of the inspection robot is in an arc fracture to prevent interference with the guide rail of the inspection robot during rotation.

[0013] Preferably, the rotating mechanism includes a turntable, a motor, a transmission gear, a rotating gear and a support rod, the motor, the rotating gear and the support rod are all fixed on the turntable, and the motor and the rotating gear are fixed on the same side; the transmission gear and the rotating gear are meshed with each other, the transmission gear is connected to the output shaft of the motor, and the support rod is used to connect the rotating guide rail.

[0014] Preferably, the inspection robot is provided with a self-locking fixing device, a pin hole and a spring-retaining push rod, the self-locking fixing device adapts to the fixing hole to complete the positioning work; the spring-retaining push rod abuts against the spring telescopic fixing pin in the rope assembly and completes the action of pressing down the spring telescopic fixing pin; the pin hole adapts to the spring telescopic fixing pin in the rope assembly to complete the fixing work.

[0015] Preferably, the recovery mechanism includes a built-in winch, a recovery motor, a descender and a clockwork spring, and the output end of the recovery motor is connected to the built-in winch; the material rope in the rope assembly is wound around the built-in winch, and after passing through the descender, a spring telescopic fixing pin is fixed at one end and a buckle is fixed at the other end; the spring telescopic fixing pin is used to fix the inspection robot, and the buckle is used to connect the clockwork spring.

[0016] The utility model has the following beneficial effects:

[0017] 1. The utility model is provided with a recovery mechanism and a rope assembly, and the built-in winch of the winding material rope, the descender, etc. are used to recover the faulty inspection robot to the starting base station, replacing manual recovery and reducing the workload of workers;

[0018] 2. The utility model also changes the direction of the guide rail by setting a rotating guide rail. The rotating guide rail drives the inspection robot to rotate to any angle. Under the action of the recovery mechanism, the inspection robot can be lowered from the truss. At the same time, the inspection robot's existing obstacle avoidance sensor can be used to locate the distance from the ground, thereby controlling the lowering position. The overall device is more flexible to use and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the device of the utility model;

[0020] Figure 2 It is a structural schematic diagram of the rotary guide rail of the utility model;

[0021] Figure 3 It is a structural schematic diagram of the rotating mechanism of the utility model;

[0022] Figure 4 It is a side view of the rotating mechanism of the utility model;

[0023] Figure 5 It is a schematic diagram of the connection between the rotating guide rail and the inspection robot guide rail of the utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the inspection robot of the present utility model;

[0025] Figure 7 It is a schematic diagram of the recycling structure of the utility model;

[0026] Figure 8 It is a structural schematic diagram of the rope assembly of the utility model;

[0027] Fig. 9 It is a schematic diagram of the process of lowering the inspection robot from position A to position B by the recovery mechanism of the utility model;

[0028] The reference numerals in the figure represent:

[0029] 100, rotating guide rail; 101, guide rail; 102, fixing hole; 103, magnetic disc locator; 200, rotating mechanism; 201, turntable; 202, motor; 203, transmission gear; 204, rotating gear; 205, support rod; 300, inspection robot guide rail; 400, inspection robot; 401, self-locking fixing device; 402, pin hole; 403, spring push rod; 500, recovery mechanism; 501, built-in winch; 502, recovery motor; 503, descender; 504, clockwork spring; 600, rope assembly; 601, material rope; 602, spring telescopic fixing pin; 603, buckle. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figures 1 to 9 A fault recovery device for a belt conveyor inspection robot comprises a rotating guide rail 100, a rotating mechanism 200, an inspection robot guide rail 300 and an inspection robot 400, wherein the rotating guide rail 100 is fixedly connected to the rotating mechanism 200; a detection device is provided on the rotating guide rail 100 for locating the moving position of the inspection robot 400, and the inspection robot 400 is fixed on the rotating guide rail 100 by a self-locking fixing device 401 in the inspection robot 400 for realizing the synchronous rotation of the inspection robot 400 following the rotating mechanism 200; a recovery mechanism 500 is provided on the rotating guide rail 100, and the installation position of the recovery mechanism 500 is away from the driving direction of the inspection robot 400, and the inspection robot 400 is installed on the inspection robot guide rail 300 and performs a linear reciprocating motion along the track direction; the recovery mechanism 500 is connected to the inspection robot 400 through a rope assembly 600 for lowering and recovering the inspection robot 400.

[0032] See also Figure 1 and Figure 2 The rotating guide rail 100 includes a guide rail 101 and a detection device, wherein the detection device uses a magnetic plate positioner 103; fixing holes 102 are provided on both sides of the magnetic plate positioner 103 on the guide rail 101 for connecting the inspection robot 400. ; See Figure 5 The edge where the guide rail 101 connects to the inspection robot guide rail 300 is an arc fracture to prevent interference with the inspection robot guide rail 300 during rotation; at the same time, the guide rail 101 is supported and fixed by the rotating mechanism 200. In the initial state, the rotating guide rail 200 overlaps the inspection robot guide rail 300.

[0033] The rotating mechanism 200 is connected and fixed to the rotating guide rail 100, and the rotating guide rail 200 can be rotated at any angle. The inspection robot 400 runs on the guide rail 101 and is connected to the recovery mechanism 500 through the rope assembly 600; the recovery mechanism 500 is fixed on the rotating guide rail 100. When the inspection robot 400 is stranded, the built-in winch 501 can recover the inspection robot 400 through the material rope 601 under the action of the recovery motor 502. If the inspection robot 400 has hardware damage and other faults that need to be returned to the factory for repair, after the inspection robot 400 is recovered to the rotating guide rail 100, the magnetic piece positioner on the rotating guide rail 100 After the inspection robot 400 is in place, the self-locking fixing device 401 will fix the inspection robot 400 on the rotating guide rail 100, and then the inspection robot 400 will release the self-locking after adjusting the rotating guide rail 100 to a suitable angle. The descender 503 in the recovery mechanism 500 will slowly lower the inspection robot 400 to the ground, and the maintenance personnel will recover it and return it to the factory for inspection and repair. After the maintenance is completed, the inspection robot 400 and the rope assembly 600 will be fixed again, and the recovery mechanism 500 will lift the inspection robot 400 to the rotating guide rail 100 again. Finally, the rotating guide rail 100 will be rotated again to connect the inspection robot guide rail 300 to complete the recovery task. If the inspection robot 400 is in normal inspection work, when the recovery mechanism 500 is stuck with the material rope 601 and cannot be pulled out, the inspection robot 400 can automatically release the buckle 603 through the spring push rod 403 to release the material rope 601, so as to ensure the operation of the inspection robot 400.

[0034] See also Figure 3 The rotating mechanism 200 includes a turntable 201, a motor 202, a transmission gear 203, a rotating gear 204 and a support rod 205. The motor 202, the rotating gear 204 and the support rod 205 are all fixed on the turntable 201, and the motor 202 and the rotating gear 204 are fixed on the same side; the transmission gear 203 and the rotating gear 204 are meshed with each other, the transmission gear 203 is connected to the output shaft of the motor 202, and the support rod 205 is used to connect the rotating guide rail 100.

[0035] At the same time, the interface where the inspection robot guide rail 300 is connected to the rotating guide rail 100 is arc-shaped, and a certain margin is left at the interface to prevent the guide rail 101 from thermal expansion and contraction. The size of the interface margin does not affect the movement of the inspection robot 400.

[0036] See also Figure 6The inspection robot 400 is provided with a self-locking fixing device 401, a pin hole 402 and a spring push rod 403. The self-locking fixing device 401 adapts to the fixing hole 102 to complete the positioning work; the spring push rod 403 abuts against the spring telescopic fixing pin 602 in the rope assembly 6 and completes the action of pressing down the spring telescopic fixing pin 602; the pin hole 402 adapts to the spring telescopic fixing pin 602 in the rope assembly 6 to complete the fixing work.

[0037] See also Figure 7 The recovery mechanism 500 includes a built-in winch 501, a recovery motor 502, a descender 503 and a clockwork spring 504. The output end of the recovery motor 502 is connected to the built-in winch 501; the material rope 601 in the rope assembly 6 is wound around the built-in winch 501, and after passing through the descender 503, one end is fixed with a spring telescopic fixing pin 602, and the other end is fixed with a buckle 603; the spring telescopic fixing pin 602 is used to fix the inspection robot 400, and the buckle 603 is used to connect the clockwork spring 504.

[0038] Meanwhile, the material rope 601 is made of high-strength fiber material and is more durable.

[0039] The working principle of this utility model:

[0040] In the present invention, the motor 202 drives the turntable 201 and the rotating guide rail 100 to rotate to the required working angle, and then releases the self-locking fixing device 401, and starts to slowly lower the inspection robot 400 from the initial position A to the position B under the joint action of the recovery motor 502 and the descender 503. Fig. 9 The decentralization process described.

[0041] Before the inspection robot 400 starts working, the buckle 603 is first pressed into the clockwork spring 504, and the rope assembly 600 is locked and connected to the recovery mechanism 500; the inspection robot 400 starts patrolling, and the material rope 601 is pulled out from the built-in winch 501 by the inspection robot 400, and is in a straightened state under the action of the clockwork spring 504; when the inspection robot 400 encounters a malfunction and breaks down, the recovery motor 502 will drive the built-in winch 501 to pull the material rope 601 together with the inspection robot 400 back to the starting base station. If the inspection robot 400 has hardware damage or other faults that require return to the factory for repair, after the inspection robot 400 is recovered, the magnetic disc positioner 103 on the rotating guide rail 100 detects that the inspection robot 400 is recovered to the correct position, and the spring push rod 403 will push the self-locking fixing device 401 through the fixing hole 102 to complete the fixation. The motor 202 drives the turntable 201 and the rotating guide rail 100 to rotate to the required working angle, releases the self-locking fixing device 401, and starts to slowly lower the inspection robot 400 from the initial position at A to the position at B under the joint action of the recovery motor 502 and the descender 503. Fig. 9The lowering process. After reaching position B, the spring push rod 403 presses the spring telescopic fixing pin 602 down to the unlocked position, and the maintenance personnel remove the faulty inspection robot 400 and send it for inspection and maintenance. After the maintenance is completed, the spring telescopic fixing pin 602 is pressed into the pin hole 402 again to complete the fixation of the inspection robot 400 and the rope assembly 600, and the recovery motor 502 lifts it to the rotating guide rail 100. After the magnetic plate positioner 103 detects that the inspection robot 400 has reached the specified position, the inspection robot 400 is locked by the self-locking fixing device 401, and the rotating guide rail 100 rotates back to the initial position, completing the full set of overall actions of fault recovery-descent-maintenance-lifting back to the initial position-restarting the inspection task process.

[0042] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A belt conveyor inspection robot fault recovery device, comprising a rotating guide rail (100), a rotating mechanism (200), an inspection robot guide rail (300) and an inspection robot (400), characterized in that: The rotating guide rail (100) is fixedly connected to the rotating mechanism (200); a detection device is provided on the rotating guide rail (100) for locating the moving position of the inspection robot (400), and the inspection robot (400) is fixed on the rotating guide rail (100) through a self-locking fixing device (401) in the inspection robot (400) so as to realize the synchronous rotation of the inspection robot (400) following the rotating mechanism (200); a recovery mechanism (500) is provided on the rotating guide rail (100), and the installation position of the recovery mechanism (500) is away from the driving direction of the inspection robot (400), and the inspection robot (400) is installed on the inspection robot guide rail (300) and performs linear reciprocating motion along the track direction; the recovery mechanism (500) is connected to the inspection robot (400) through a rope assembly (600) for lowering and recovering the inspection robot (400).

2. According to claim 1, a fault recovery device for a belt conveyor inspection robot is characterized in that: The rotating guide rail (100) comprises a guide rail (101) and a detection device, wherein the detection device adopts a magnetic plate positioner (103); fixing holes (102) are provided on both sides of the magnetic plate positioner (103) on the guide rail (101) for connecting with an inspection robot (400).

3. A fault recovery device for a belt conveyor inspection robot according to claim 2, characterized in that: The edge of the guide rail (101) connected to the inspection robot guide rail (300) is in the form of an arc fracture to prevent interference with the inspection robot guide rail (300) during rotation.

4. The fault recovery device for a belt conveyor inspection robot according to claim 1, characterized in that: The rotating mechanism (200) comprises a rotating disk (201), a motor (202), a transmission gear (203), a rotating gear (204) and a support rod (205); the motor (202), the rotating gear (204) and the support rod (205) are all fixed on the rotating disk (201), and the motor (202) and the rotating gear (204) are fixed on the same side; the transmission gear (203) and the rotating gear (204) are meshed with each other, the transmission gear (203) is connected to the output shaft of the motor (202), and the support rod (205) is used to connect the rotating guide rail (100).

5. The fault recovery device for a belt conveyor inspection robot according to claim 1, characterized in that: The inspection robot (400) is provided with a self-locking fixing device (401), a pin hole (402) and a spring push rod (403); the self-locking fixing device (401) is adapted to the fixing hole (102) to complete the positioning work; the spring push rod (403) abuts against the spring telescopic fixing pin (602) in the rope assembly (600) and completes the action of pressing down the spring telescopic fixing pin (602); the pin hole (402) is adapted to the spring telescopic fixing pin (602) in the rope assembly (600) to complete the fixing work.

6. The fault recovery device for a belt conveyor inspection robot according to claim 1, characterized in that: The recovery mechanism (500) comprises a built-in winch (501), a recovery motor (502), a descender (503) and a spring spring (504); the output end of the recovery motor (502) is connected to the built-in winch (501); the material rope (601) in the rope assembly (600) is wound around the built-in winch (501), and after passing through the descender (503), one end is fixed to a spring telescopic fixing pin (602), and the other end is fixed to a buckle (603); the spring telescopic fixing pin (602) is used to fix the inspection robot (400), and the buckle (603) is used to connect the spring spring (504).

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