Belt conveyor inspection device

Abstract

The utility model relates to a belt conveyor inspection device, which belongs to a belt conveyor inspection robot device, can realize inspection of a plurality of belt conveyors by one double-track inspection robot through arranging a rail switching device of the belt conveyor inspection robot, and greatly reduces the operation cost of places applying the double-track inspection robot. The device can replace a belt conveyor inspection worker to complete the inspection work of the belt conveyor, realizes real-time monitoring which cannot be achieved by the belt conveyor inspection worker, reduces the labor intensity of the inspection worker, improves the inspection efficiency and the inspection accuracy, and guarantees the safe and reliable operation of the belt conveyor. And stable operation of the inspection robot under various working conditions is realized by arranging the inspection robot wheel diameter control structure.

Description

Technical Field

[0001] The utility model relates to a belt conveyor inspection device, belonging to the technical field of belt conveyor inspection robot devices. Background Art

[0002] As the main equipment of professional coal ports, belt conveyors are widely used in ports. Belt conveyors have the characteristics of long lines and wide layout. At present, the inspection method of belt conveyors is still mainly manual inspection. Inspectors regularly inspect belt conveyor equipment. The inspection methods are mainly visual and auditory. The methods are single and extensive. This inspection method has a bad working environment, high labor intensity, low work efficiency, blind spots, and is easily missed due to personal experience and subjective consciousness.

[0003] In recent years, with the development of artificial intelligence technology and robotics technology, inspection robots have gradually been used in substations, urban integrated pipeline corridors, coal mines, ports, transportation and logistics, etc., replacing or assisting workers in performing various boring, repetitive, time-consuming and labor-intensive inspection tasks.

[0004] At present, inspection robots are divided into two categories according to the track form: single-track and double-track. Due to its large size, single-track inspection robots can only be arranged on the side of the belt conveyor and can only complete the inspection of equipment such as rollers and steel structures on one side of the belt conveyor. Double-track inspection robots can be arranged between the belt bearing surface and the belt return surface of the belt conveyor, and can complete the inspection of equipment such as rollers and steel structures on both sides of the belt conveyor. Double-track inspection robots are more suitable for belt conveyor inspection. At present, a double-track inspection robot can only complete the inspection task of one belt conveyor, but there are many belt conveyors in ports, and it is costly to install double-track inspection robots on all belt conveyors.

[0005] Based on this, it is necessary to design a belt conveyor inspection device suitable for the inspection of multiple belt conveyors, so that one dual-track inspection robot can inspect multiple belt conveyors, greatly reducing the operating costs of the places where the dual-track inspection robots are used.

[0006] In addition, as the track is used over time, grooves or bumps will appear, and ice and snow will also affect the smooth operation of the track robot. Utility Model Content

[0007] The technical problem to be solved by the utility model is to provide a belt conveyor inspection device, which can enable a double-track inspection robot to inspect multiple belt conveyors, greatly reducing the operating costs of the sites where the double-track inspection robots are used. In addition, an inspection robot is provided that can achieve smooth operation on tracks of various working conditions.

[0008] The technical solution to solve the above technical problems is:

[0009] A belt conveyor inspection device comprises an inspection robot and a track changing device for the belt conveyor inspection robot, wherein the track changing device for the belt conveyor inspection robot comprises a docking track, a lifting platform, a rotating platform, a sensor and an RFID tag, wherein the docking track is installed on the lifting platform, and the lifting platform lifts or lowers the docking track, and the lifting track is installed on the rotating platform, and the rotating platform is rotatable, and the lifting platform and the docking track can be rotated 90 degrees as a whole, and two sensors and one RFID tag are installed on the rotating platform, wherein the sensors are used to sense the inspection robot entering and leaving the docking track, and the RFID tag is used to locate the inspection robot, and the docking track is made of stainless steel, and the material of the rotating platform is also stainless steel.

[0010] Preferably, the track includes a connecting track and an inspection track. The connecting track and the inspection track are arranged vertically. There is a disconnection between the connecting track and the inspection track. After the disconnection is matched with the docking track, a complete track can be formed. The docking track, the connecting track and the inspection track all include a horizontal track portion and a vertical track portion.

[0011] Preferably, the inspection robot includes a left front wheel group, a right front wheel group, a left rear wheel group and a right rear wheel group, and the structures of the left front wheel group, the right front wheel group, the left rear wheel group and the right rear wheel group are all the same, wherein the left front wheel group includes an upper left front wheel located at the horizontal part of the track and a lower left front wheel located at the horizontal part of the track, and the wheel diameter of the upper left front wheel and the lower left front wheel are adjusted by a wheel diameter control structure.

[0012] Preferably, the wheel diameter control structure includes an air pump, a controller, a controllable valve, and a detection device, wherein the upper left front wheel and the lower left front wheel are connected to the air pump through an intake pipe, the air pump is connected to the controller, and the upper left front wheel and the lower left front wheel are provided with controllable valves, which are connected to the controller.

[0013] Preferably, the detection device includes a detection rod rotatably connected to the front side of the inspection robot, a detection head is arranged at the front end of the detection rod, a tension spring is arranged between the detection rod and the inspection robot, so that the detection head can always be in contact with the horizontal part of the track, and an angle sensor is arranged on the detection rod, and the angle sensor is connected to the controller.

[0014] Preferably, the detection rod angle and the amount of gas in the tire have the following functional relationship, and the controller can control the amount of gas in the tire according to the functional formula:

[0015] QQ TRUE =K*γ*[A5*(θ-θ TRUE ) 5 +A4*(θ-θ TRUE ) 4 +…+A1*

[0016] (θ-θ TRUE )1 +A0]

[0017] Where Q is the amount of gas in the tire, Q TRUE is the amount of gas in the tire of the inspection robot on a flat track, K is the adjustment coefficient, γ is the tire material parameter, θ is the angle between the detection rod and the horizontal plane, and θ TRUE It is the angle between the inspection robot's detection rod and the horizontal plane on a flat track. A5, A4, A3, A2, A1, and A0 are simulation parameters.

[0018] Preferably, the inspection robot further comprises a threshold control structure, which enables the wheel diameter control structure to be triggered only when the detection rod exceeds a deviation threshold.

[0019] Preferably, the threshold control structure includes a delay circuit and a trigger circuit, the controller is connected to the delay circuit, the delay circuit is connected to the trigger circuit, the trigger circuit is arranged on the trigger circuit device, and two sheet-shaped elastic trigger points are arranged on the trigger circuit device. The trigger point close to the horizontal part of the track is trigger point B, and the trigger point far from the horizontal part of the track is trigger point A. The end of the detection rod is fixedly connected to a trigger rod, and the trigger rod is arranged between trigger point A and trigger point B.

[0020] Preferably, the trigger circuit device further comprises a lifting device, and the two sheet-shaped elastic trigger points are connected to the trigger circuit device via the lifting device, and the distance between the trigger point and the trigger rod is adjusted via the lifting device.

[0021] Preferably, the inspection robot further comprises a jam-releasing mechanism, and the jam-releasing mechanism is arranged at the front side of the inspection robot.

[0022] Preferably, the unjamming mechanism includes a rotating wheel and a toggle rod, the toggle rod is vertically arranged on the surface of the rotating wheel, the rotating wheel is arranged on the front side of the inspection robot, the motor is connected to the rotating wheel, and the rotating wheel is driven to rotate by clicking, thereby driving the toggle rod 17 to toggle the detection rod 13, thereby preventing the detection rod 13 from being stuck all the time.

[0023] Preferably, the inspection robot also includes an anti-skid device, which is arranged on the inner side of the wheel and can rotate synchronously with the wheel. The anti-skid device includes a disc A, a disc B, and anti-skid spikes. Spline grooves are provided in the center of disc A and disc B, and the spline grooves cooperate with the splines on the axle to realize the synchronous rotation of the anti-skid device and the wheel. Disc A includes a plurality of radial grooves, and disc B includes a plurality of arc grooves. The anti-skid spikes include a spike portion and a cylindrical limiting protrusion arranged on the spike portion, wherein the spike portion is arranged in the radial groove, the tip of the spike portion is radially outward, and the limiting protrusion is arranged in the arc groove.

[0024] Preferably, the inspection robot also includes a control unit, which includes a driving fork and a moving unit. The moving unit can drive the driving fork to move to the anti-slip device and drive the driving fork to move axially along the axle direction. The driving fork drives the anti-slip device to move along the axle. When disk A is located at the optical axis and disk B is located on the spline, the axle can rotate to drive the spike part to move radially. After reaching the required extension length, the driving fork drives the anti-slip device back to the keyway position and axially limits the anti-slip device.

[0025] Preferably, the working method of the belt conveyor inspection device is that the inspection robot 1 walks from the inspection track 12 of the No. 1 belt conveyor 7 to the docking track 2 of the No. 1 track changing device 9, and the sensor 5 on the No. 1 track changing device 9 senses that the inspection robot 1 has entered and sends the entry signal to the PLC. The inspection robot 1 transmits the arrival signal to the PLC by sensing the RFID tag 6 on the No. 1 track changing device 9. After receiving the arrival signal of the inspection robot 1, the PLC issues a stop walking command to the inspection robot 1, and the inspection robot 1 stops walking. The No. 1 track changing device 9 uses the lifting platform 3 to raise the inspection robot 1 to the height of the connecting track 11 installed between the two belt conveyors, and at the same time, the No. 2 track changing device 10 on the No. 2 belt conveyor 8 uses the lifting platform 3 to raise the docking track 2 to the height of the connecting track 11. Then the No. 1 track-changing device 9 uses the rotating platform 4 to rotate the inspection robot 1 horizontally by 90 degrees. After the rotating platform 4 rotates to the right position, the PLC sends a walking command to the inspection robot 1. The inspection robot 1 walks to the docking track 2 on the track-changing device 10 of the No. 2 belt conveyor 8 through the connecting track 11. The sensor 5 on the No. 2 track-changing device 10 senses that the inspection robot 1 has entered and sends an entry signal to the PLC. The inspection robot 1 transmits the arrival signal to the PLC by sensing the RFID tag 6 on the No. 2 track-changing device 10. After receiving the arrival signal of the inspection robot 1, the PLC sends a stop walking command to the inspection robot 1, and the inspection robot 1 stops walking. The No. 2 track-changing device 10 uses the lifting platform 3 to lower the inspection robot 1 from the height of the connecting track 11 to the height of the inspection track 12, and then the No. 2 track-changing device 10 uses the rotating platform 4 to rotate the inspection robot 1 horizontally 90 degrees. After the rotating platform 4 rotates into place, the PLC sends a walking command to the inspection robot 1, and the inspection robot 1 starts to walk on the inspection track 12 of the No. 2 belt conveyor 8 to complete the inspection work of the No. 2 belt conveyor 8. This cycle continues, and one inspection robot can complete the inspection work of multiple belt conveyors.

[0026] The beneficial effects of the utility model are:

[0027] The utility model of the belt conveyor inspection robot track changing device can realize a double-track inspection robot to inspect multiple belt conveyors, greatly reducing the operating cost of the site where the double-track inspection robot is used. It can replace the belt conveyor inspection workers to complete the belt conveyor inspection work, realize the real-time monitoring that the belt conveyor inspection workers cannot achieve, reduce the labor intensity of the inspection workers, improve the inspection efficiency and inspection accuracy, and ensure the safe and reliable operation of the belt conveyor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0029] Figure 2 It is a schematic diagram of the position of the utility model when multiple belt conveyors are running;

[0030] Figure 3 This is a schematic diagram of the cooperation between the inspection robot and the track of the utility model;

[0031] Figure 4 This is a schematic diagram of the threshold control structure of the inspection robot of the utility model;

[0032] Figure 5 This is a schematic diagram of the card release mechanism of the inspection robot of the utility model;

[0033] Figure 6 This is a schematic diagram of the anti-skid device of the inspection robot of the utility model;

[0034] Figure 7 This is a schematic diagram of the driving fork of the inspection robot of the utility model;

[0035] The markings in the figure are as follows: inspection robot 1, docking track 2, lifting platform 3, rotating platform 4, sensor 5 and RFID tag 6, No. 1 belt conveyor 7, No. 2 belt conveyor 8, No. 1 track changing device 9, No. 2 track changing device 10, connecting track 111, inspection track 112, wheel 11, tension spring 12, detection rod 13, detection head 14, track horizontal part 15, rotating wheel 16, toggle rod 17, disc A 21, anti-slip spikes 22, disc B 23, arc groove 24, limit protrusion 25, driving fork 26. DETAILED DESCRIPTION

[0036] Embodiment 1

[0037] The utility model includes an inspection robot and a belt conveyor inspection robot track changing device. The belt conveyor inspection robot track changing device includes a docking track 2, a lifting platform 3, a rotating platform 4, a sensor 5 and an RFID tag 6. The docking track 2 is installed on the lifting platform 3. The lifting platform 3 can lift or lower the docking track. The lifting track 3 is installed on the rotating platform 4. The rotating platform 4 can rotate, and the lifting platform 3 and the docking track 2 can be rotated 90 degrees as a whole. Two sensors 5 and an RFID tag 6 are installed on the rotating platform 4. The sensor 5 is used to sense the inspection robot entering and leaving the docking track 2. The RFID tag 6 is used to locate the inspection robot. The inspection robot is positioned, and a belt conveyor inspection robot track changing device is installed on multiple adjacent and parallel belt conveyor double-track inspection robot tracks. Multiple track changing devices are on the same horizontal line. The track includes a connecting track 111 and an inspection track 112. The connecting track 111 and the inspection track 112 are vertically arranged. There is a disconnection between the connecting track 111 and the inspection track 112. After the disconnection is matched with the docking track 2, a complete track can be formed. The docking track, the connecting track and the inspection track all include a horizontal track portion and a vertical track portion. The inspection robot 1 walks from the inspection track 112 of the No. 1 belt conveyor 7 to the docking track 2 of the No. 1 track changing device 9. The sensor 5 on the track-changing device 9 senses that the inspection robot 1 has entered and sends an entry signal to the PLC. The inspection robot 1 transmits the arrival signal to the PLC by sensing the RFID tag 6 on the No. 1 track-changing device 9. After receiving the arrival signal of the inspection robot 1, the PLC issues a stop command to the inspection robot 1. The inspection robot 1 stops walking. The No. 1 track-changing device 9 uses the lifting platform 3 to raise the inspection robot 1 to the height of the connecting track 111 installed between the two belt conveyors. At the same time, the No. 2 track-changing device 10 on the No. 2 belt conveyor 8 uses the lifting platform 3 to raise the docking track 2 to the height of the connecting track 11, and then the No. 1 track-changing device Device 9 uses the rotating platform 4 to rotate the inspection robot 1 horizontally by 90 degrees. After the rotating platform 4 is rotated into place, the PLC sends a walking command to the inspection robot 1. The inspection robot 1 walks to the docking track 2 on the track changing device 10 of the No. 2 belt conveyor 8 through the connecting track 11. The sensor 5 on the No. 2 track changing device 10 senses the entry of the inspection robot 1 and sends an entry signal to the PLC. The inspection robot 1 transmits the arrival signal to the PLC by sensing the RFID tag 6 on the No. 2 track changing device 10. After receiving the arrival signal of the inspection robot 1, the PLC sends a stop walking command to the inspection robot 1, and the inspection robot 1 stops walking.The No. 2 track-changing device 10 uses the lifting platform 3 to lower the inspection robot 1 from the height of the connecting track 111 to the height of the inspection track 112, and then the No. 2 track-changing device 10 uses the rotating platform 4 to rotate the inspection robot 1 horizontally 90 degrees. After the rotating platform 4 rotates into place, the PLC sends a walking command to the inspection robot 1, and the inspection robot 1 starts to walk on the inspection track 12 of the No. 2 belt conveyor 8 to complete the inspection work of the No. 2 belt conveyor 8. This cycle continues, and one inspection robot can complete the inspection work of multiple belt conveyors.

[0038] When the utility model is working, one dual-track inspection robot can inspect multiple belt conveyors, greatly reducing the operating cost of the place where the dual-track inspection robot is used. It can replace the belt conveyor inspection workers to complete the belt conveyor inspection work, realize the real-time monitoring that the belt conveyor inspection workers cannot achieve, reduce the labor intensity of the inspection workers, improve the inspection efficiency and inspection accuracy, and ensure the safe and reliable operation of the belt conveyor.

[0039] Embodiment 2:

[0040] like Figure 3 and Figure 4As shown, on the basis of the first embodiment, the running track of the inspection robot includes a horizontal track portion 15 and a vertical track portion (not shown). After long-term use, the horizontal track portion will inevitably be worn, resulting in pits or protrusions, which will cause the camera to shake and become unstable during the inspection process of the track robot. In order to make the track robot adapt to the above-mentioned application scenarios, the track robot also includes a left front wheel group, a right front wheel group, a left rear wheel group and a right rear wheel group. The left front wheel group, the right front wheel group, the left rear wheel group and the right rear wheel group are all the same. The left front wheel group is now taken as an example for explanation, wherein the left front wheel group includes an upper left front wheel 11 located on the horizontal track portion 15 and a lower left front wheel 11 located on the horizontal track portion 15, wherein the upper left front wheel 11 and the lower left front wheel 11 are both connected to an air pump through an air intake pipe, and the air pump is connected to a controller, and the controller can control whether the air pump inflates the tire, and the upper left front wheel 11 and the lower left front wheel 11 are both provided with a controllable The controllable valve is connected to the controller, and the controller can control the opening of the controllable valve to exhaust the tire to the outside. A detection device is also arranged on the front side of the vehicle body, and the detection device is used to detect the working condition of the horizontal part 15 of the track, wherein the detection device comprises a detection rod 13 rotatably connected to the front side of the inspection robot 1, and a detection head 14 is arranged at the front end of the detection rod 13, and a tension spring 12 is arranged between the detection rod 13 and the inspection robot 1, so that the detection head 14 can always contact with the horizontal part 15 of the track, so as to detect the working condition of the track. The controller obtains the rotation angle of the detection rod 13, so as to control the inflation time of the air pump or the exhaust time of the controllable valve, so as to control the size of the tire. When facing a pothole, the controller first controls the air pump to inflate the tire, and then controls the controllable valve to deflate the tire, so that the vehicle body remains horizontal and slowly passes through the pothole. When facing a bulge, the process is the same, and the tire first contracts and then expands.

[0041] Embodiment three:

[0042] Based on the above embodiments, we know that there may be tiny protrusions or grooves on the horizontal portion 15 of the track. In this case, the inspection robot 1 can be stably operated without the adaptive deformation of the tire. Figure 4As shown, a threshold value method is used to control the opening of the air pump and the controllable valve. The inspection robot also includes a threshold value control structure, wherein each wheel corresponds to a threshold value control structure, the threshold value control structure includes a delay circuit and a trigger circuit, the controller is connected to the delay circuit, the delay circuit is connected to the trigger circuit, the trigger circuit is arranged on the trigger circuit device, and two sheet elastic trigger points are arranged on the trigger circuit device, the trigger point close to the horizontal part 15 of the track is the trigger point B, and the trigger point far from the horizontal part 15 of the track is the trigger point A, and the end of the detection rod is fixedly connected with a trigger rod. When the trigger rod contacts the trigger point B or the trigger point A, the controller will control the opening or closing of the air pump and the opening or closing of the controllable valve, and the amount of gas in the tire has a functional correspondence with the rotation angle of the trigger rod. Only when the trigger rod contacts the trigger point B or the trigger point A, the controller will execute the above function, and when the trigger rod does not contact the trigger point B or the trigger point A, the tire returns to the initial state. Among them, the trigger circuit device also includes a lifting device, and the two sheet-shaped elastic trigger points are connected to the trigger circuit device through the lifting device. The distance between the trigger point and the trigger rod is adjusted through the lifting device, so that the operator can adjust the threshold of the trigger circuit according to the working conditions and the inspection accuracy requirements of the inspection robot, so that the inspection robot can be applied to more scenarios.

[0043] Embodiment 4:

[0044] On the basis of the above-mentioned embodiment scheme, in order to prevent the detection rod 13 from being stuck in the groove or other positions of the horizontal part 15 of the track, or the detection rod 13 from being frozen in the horizontal part 15 of the track due to rain, snow and ice in winter, the inspection robot also includes a release mechanism, which is arranged on the front side of the inspection robot. The release mechanism includes a rotating wheel 16 and a toggle rod 17. The toggle rod 17 is vertically arranged on the surface of the rotating wheel 16. The rotating wheel is arranged on the front side of the inspection robot 1. The motor is connected to the rotating wheel 16, and the rotating wheel 16 is driven to rotate by clicking, thereby driving the toggle rod 17 to toggle the detection rod 13, thereby preventing the detection rod 13 from being stuck.

[0045] Embodiment five:

[0046] On the basis of the above-mentioned embodiment, in order to prevent the inspection robot from slipping when the horizontal portion 15 of the track is walking on ice and snow, Figure 6As shown, the inspection robot also includes an anti-skid device, which is arranged on the inner side of the wheel and can rotate synchronously with the wheel. The anti-skid device includes a disk A21, a disk B23, and an anti-skid spike 22. Spline grooves are arranged in the center of disk A21 and disk B23, and the spline grooves cooperate with the splines on the axle to realize the synchronous rotation of the anti-skid device and the wheel. Disk A21 includes a plurality of radial grooves, and disk B23 includes a plurality of arc grooves 24. The anti-skid spike 22 includes a spike portion and a cylindrical limiting protrusion 25 arranged on the spike portion, wherein the spike portion is arranged in the radial groove, the tip of the spike portion is radially outward, and the limiting protrusion is arranged in the arc groove. The relative rotation of disk A21 and disk B23 causes the spike portion to move radially under the limiting drive of the arc groove. The inspection robot also includes a control unit, which includes a driving fork 26 and a moving unit. The moving unit can drive the driving fork to move to the anti-skid device and drive the driving fork 26 to move axially along the axle direction. The driving fork 26 drives the anti-skid device to move along the axle. When the disk A21 is located at the optical axis and the disk B23 is located on the spline, the axle can be rotated to drive the spike part to move radially. The extension length of the spike is controlled according to the thickness of the ice or snow. After the extension length is reached, the driving fork 26 drives the anti-skid device back to the keyway position and axially limits the anti-skid device. The specific axial limiting structure is not limited in this application, and any structure in the prior art can be adopted.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A belt conveyor inspection device, comprising an inspection robot and a belt conveyor inspection robot track changing device, characterized in that: The belt conveyor inspection robot track changing device comprises a docking track (2), a lifting platform (3), a rotating platform (4), a sensor (5) and an RFID tag (6); the docking track (2) is mounted on the lifting platform (3); the lifting platform (3) lifts or lowers the docking track; the lifting platform (3) is mounted on the rotating platform (4); the rotating platform (4) is rotatable and can rotate the lifting platform (3) and the docking track (2) as a whole by 90 degrees; two sensors (5) and one RFID tag (6) are mounted on the rotating platform (4); the sensor (5) is used to sense the inspection robot entering and leaving the docking track (2); the RFID tag (6) is used to locate the inspection robot; the docking track is made of stainless steel; and the rotating platform is made of stainless steel.

2. A belt conveyor inspection device according to claim 1, characterized in that: The track comprises a connecting track (111) and an inspection track (112); the connecting track (111) and the inspection track (112) are arranged vertically; there is a disconnection between the connecting track (111) and the inspection track (112); after the disconnection is matched with the docking track (2), a complete track can be formed; the docking track (2), the connecting track (111) and the inspection track (112) all comprise a track horizontal portion (15) and a track vertical portion.

3. A belt conveyor inspection device according to claim 2, characterized in that: The inspection robot comprises a left front wheel group, a right front wheel group, a left rear wheel group and a right rear wheel group, and the structures of the left front wheel group, the right front wheel group, the left rear wheel group and the right rear wheel group are all the same, wherein the left front wheel group comprises an upper left front wheel located at the horizontal part (15) of the track and a lower left front wheel located at the horizontal part (15) of the track, and the wheel diameters of the upper left front wheel and the lower left front wheel are adjusted by a wheel diameter control structure.

4. A belt conveyor inspection device according to claim 3, characterized in that: The wheel diameter control structure includes an air pump, a controller, a controllable valve, and a detection device, wherein the upper left front wheel and the lower left front wheel are connected to the air pump through an intake pipe, the air pump is connected to the controller, and the upper left front wheel and the lower left front wheel are provided with controllable valves, which are connected to the controller.

5. A belt conveyor inspection device according to claim 4, characterized in that: The detection device comprises a detection rod (13) rotatably connected to the front side of the inspection robot (1); a detection head (14) is arranged at the front end of the detection rod (13); a tension spring (12) is arranged between the detection rod (13) and the inspection robot (1), so that the detection head (14) can always contact with the horizontal part (15) of the track; an angle sensor is arranged on the detection rod (13), and the angle sensor is connected to a controller.

6. A belt conveyor inspection device according to claim 5, characterized in that: The inspection robot also includes a threshold control structure, which enables the wheel diameter control structure to be triggered only when the detection rod (13) exceeds the deviation threshold.

7. A belt conveyor inspection device according to claim 6, characterized in that: The threshold control structure comprises a delay circuit and a trigger circuit, the controller is connected to the delay circuit, the delay circuit is connected to the trigger circuit, the trigger circuit is arranged on a trigger circuit device, two sheet-shaped elastic trigger points are arranged on the trigger circuit device, the trigger point close to the track horizontal part (15) is a trigger point B, and the trigger point far from the track horizontal part (15) is a trigger point A, and the end of the detection rod is fixedly connected to a trigger rod, and the trigger rod is arranged between the trigger point A and the trigger point B.

8. A belt conveyor inspection device according to claim 7, characterized in that: The trigger circuit device also includes a lifting device, and the two sheet-shaped elastic trigger points are connected to the trigger circuit device through the lifting device, and the distance between the trigger point and the trigger rod is adjusted by the lifting device.

9. A belt conveyor inspection device according to claim 8, characterized in that: The inspection robot also includes a card releasing mechanism, which is arranged at the front side of the inspection robot.

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