Track system of pipe belt machine inspection robot

Abstract

According to the track system of the pipe belt machine inspection robot, the first track or / and the second track in the track system can be connected with the truss body through the connecting mechanism, and the position of the connecting mechanism can be adjusted relative to the truss body in the vertical direction. Therefore, the vertical position of the first track or the second track connected to the truss main body through the connecting mechanism can be adjusted, and the distance between the first track and the second track can be adjusted, so that the first track and the second track can be adjusted to a better distance meeting the installation requirement of the inspection robot according to different types of inspection robots; installation of different types of inspection robots is met, and the use flexibility of the track system is high.

Description

Technical Field

[0001] The present application relates to the technical field of tracks, and particularly relates to a track system for a pipe conveyor inspection robot. Background Art

[0002] At present, pipe conveyors have been widely used in industries such as electric power, metallurgy, and ports. In the relatively harsh production environment of fully mechanized coal mining faces, pipe conveyors often suffer from faults such as idler wear, belt breakage, slipping, deviation, and material accumulation, which greatly restricts the transportation efficiency of pipe conveyors and indirectly affects production capacity. For the faults of pipe conveyors, most of the traditional inspection and maintenance work relies on manual labor for regular inspections and on-site monitoring. However, due to the complex on-site environment, narrow space, and long inspection routes, it causes great obstacles and interference to manual inspections. Moreover, manual inspections are easily affected by personal experience and subjective consciousness, restricted by monitoring means, data recording, and data analysis, and there are also problems of missed inspections and missed reports. At the same time, as the mileage of pipe conveyors continues to increase, manual inspections require more than several kilometers, usually costing a large amount of manpower but unable to obtain effective data results. The inspection efficiency is low, and equipment faults are often not discovered in time, which may lead to serious consequences.

[0003] To solve this problem, domestic and foreign research has begun on automatic inspection robots to replace manual inspections for the above problems. However, for the inspection robot tracks, in the existing technology, new dedicated robot tracks are added, and the dedicated tracks are usually set specifically according to the structure of the inspection robot. Factors such as the flexibility of use and the cost of using dedicated tracks are all issues that need to be considered by technicians in this field when setting up dedicated tracks. Summary of the Utility Model

[0004] The purpose of the present application is to provide a track system for a pipe conveyor inspection robot with relatively high flexibility in use.

[0005] A track system for a pipe conveyor inspection robot, characterized in that the inspection robot includes an upper walking mechanism and a lower walking mechanism; the track system includes:

[0006] A first track, installed on the side of the truss main body of the pipe conveyor and extending along the length direction of the truss main body, the first track is used for walking cooperation with the upper walking mechanism;

[0007] A second track, installed on the truss main body and extending along the length direction of the truss main body, the second track is arranged at an interval in the vertical direction from the first track, and the second track is used for walking cooperation with the lower walking mechanism;

[0008] At least one connecting mechanism, each of the connecting mechanisms being vertically position-adjustable relative to the truss body; the first track is fixedly connected to the truss body through the connecting mechanism, and / or, the second track is fixedly connected to the truss body through the connecting mechanism.

[0009] In an embodiment of the present application, the first track and / or the second track can be connected to the truss body through a connecting mechanism. Since the connecting mechanism is vertically position-adjustable relative to the truss body, the vertical position of the first track or the second track connected to the truss body through the connecting mechanism is also adjustable. Furthermore, the distance between the first track and the second track can be adjusted, so that the first track and the second track can be adjusted to a better distance that satisfies the installation of the inspection robot according to different types of inspection robots, meeting the installation requirements of different types of inspection robots, and the flexibility of use of this track system is relatively high.

[0010] In one example, along the length direction of the truss body, both the first track and the second track include at least two segments, and the opposite ends of adjacent segments are in concave-convex plug-in fit, and there is an expansion gap between adjacent segments.

[0011] In one example, both the first track and the second track include a connected horizontal wall and a vertical wall, the vertical wall is connected to the side of the horizontal wall close to the pipe belt conveyor, the horizontal walls of adjacent segments are in concave-convex plug-in fit, and the vertical walls of adjacent segments are also in concave-convex plug-in fit;

[0012] Or / and, the concave-convex plug-in positions of the first track are arranged staggeredly along the length direction with the concave-convex plug-in positions of the second track.

[0013] In one example, a positioning member is provided on the outer surface of the horizontal wall of one of the adjacent segments. When the adjacent segments are plugged together, the free end of the positioning member extends to the outer surface of the horizontal wall of the other segment and abuts against it.

[0014] In one example, positioning members are provided at the opposite ends of adjacent segments;

[0015] Or / and, a positioning member is also provided on the outer surface of the vertical wall of one of the adjacent segments. When the adjacent segments are plugged together, the free end of the positioning member extends to the outer surface of the vertical wall of the other segment and abuts against it.

[0016] In one example, the positioning member is a cylindrical rod or a flat plate.

[0017] In one example, the first track and the second track are angle steels.

[0018] In one example, the truss body includes a number of vertically arranged railings, the first track and the second track are both fixedly connected to one side of each railing facing the pipe conveyor, and the beam body of the truss body extending along the length direction includes the first track and the second track.

[0019] In one example, the truss body includes a number of vertically arranged railings, the connecting mechanism includes a fixing plate and a connecting plate, the first track or the second track is fixedly connected to the fixing plate, and the fixing plate and the connecting plate can enclose to form a hoop structure that cooperates with the railing for locking, and the fixing plate and the connecting plate are detachably connected by bolts.

[0020] In one example, the fixing plate includes a connected horizontal section and a bent section, the first track or the second track is fixed to the horizontal section, the horizontal section has a notch penetrating through the bent section, the connecting plate includes an arc section and mounting sections extending outward from both ends of the arc section, the notch and the arc section enclose to form the hoop structure, and the mounting section and the bent section are detachably connected by the bolt. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of the pipe conveyor system in the embodiment of the present application;

[0022] Figure 2 is Figure 1 a schematic structural diagram of the track system of the pipe conveyor inspection robot in the structure shown;

[0023] Figure 3 is Figure 2 a schematic view in the A direction of the structure shown, in which the inspection robot is hidden;

[0024] Figure 4 is Figure 2 a schematic diagram of the connection position of two adjacent sections of the first track in the structure shown;

[0025] Figure 5 is Figure 2 a schematic diagram of the connection position of the first track, the connecting mechanism and the vertical railing in, where the arrow in the figure indicates the up and down movement direction of the first track;

[0026] Figure 6 is Figure 2 a schematic diagram of the structure of the fixing plate in;

[0027] Figure 7 is Figure 6 a top view of the fixing plate shown;

[0028] Figure 8 is Figure 2 a schematic diagram of the structure of the connecting plate in.

[0029] 100 First track; 101 Vertical wall; 102 Horizontal wall; 10A First section; 10B Second section;

[0030] 200 Second track; 300 Connecting mechanism; 301 Fixed plate; 3011 Horizontal section; 3012 Bending section; 3013 Through hole; 3014 Notch; 302 Connecting plate; 3021 Arc section; 3022 Mounting section; 3023 Through hole; 401 First positioning member; 402 Second positioning member;

[0031] 1 Pipe belt conveyor; 2 Inspection robot; 3 Truss main body; 31 Rail; 32 Cross beam. Detailed implementation mode

[0032] Regarding the inspection robot track system mentioned in the background art, the inventors of the present application have conducted a large amount of research on the existing inspection robot track system in the prior art and found that: the current inspection robot track system can only be used for a specific model of inspection robot, and there are great limitations for replacing different types of inspection robots.

[0033] Therefore, how to improve the flexibility of use of the inspection robot track system is a technical problem that needs to be solved urgently by those skilled in the art.

[0034] In order to enable those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0036] Please refer to Figures 1 to 8 , Figure 1 which is a schematic structural diagram of the pipe belt conveyor system in the embodiments of the present application; Figure 2 is Figure 1 a schematic structural diagram of the track system of the pipe belt conveyor inspection robot in the structure shown; Figure 3 is Figure 2 a schematic view in the A direction of the structure shown, with the inspection robot hidden; Figure 4 is Figure 2 a schematic diagram of the connection position of two adjacent sections of the first track shown; Figure 5 is Figure 2 a schematic diagram of the connection position of the first track, the connecting mechanism and the vertical railing in ; Figure 6 is Figure 2 a schematic structural diagram of the fixed plate in ; Figure 7 isFigure 6 Top view of the shown fixed plate; Figure 8 is Figure 2 Schematic structural diagram of the middle connecting plate in

[0037] The pipe belt conveyor system of the embodiment of the present application is also called a tubular belt conveyor, which includes a pipe belt conveyor and a truss body. The truss body includes vertical railings on both sides of the pipe belt conveyor. The pipe belt conveyor includes a hollow pipe, a roller group, and a conveyor belt located inside the hollow pipe. The conveyor belt is supported on the roller group and can be driven by the roller group to rotate to realize the transmission of materials inside the hollow pipe.

[0038] The embodiment of the present application also provides an orbital system for a pipe belt conveyor inspection robot. The inspection robot 2 is used to inspect and repair the pipe belt conveyor 1. As shown in the figure, the embodiment of the present application shows a specific structural form of the inspection robot 2. The inspection robot 2 includes a main body. An upper traveling mechanism 21 and a lower traveling mechanism 22 are respectively installed at the upper end and the lower end of the main body. The upper traveling mechanism can be a traveling wheel, and the lower traveling mechanism can also be a traveling wheel. Of course, the upper traveling mechanism 21 and the lower traveling mechanism 22 can be in other forms, such as a slider form. In this article, the upper traveling mechanism and the lower traveling mechanism are both traveling wheels as an example to continue to introduce the technical solutions and technical effects.

[0039] In the embodiment of the present application, the orbital system includes a first track 100, a second track 200, and a connecting mechanism 300. The first track 100 and the second track 200 are arranged parallel to each other up and down, and the two are installed on the truss main body 3 and extend along the length direction of the truss main body 3. The first track 100 and the second track 200 are arranged at a predetermined distance interval in the vertical direction. Among them, the first track 100 and the second track 200 are installed on the truss main body 3 beside the pipe belt conveyor, that is, the two are installed on the side surface of the truss main body 3. The first track 100 is used for walking cooperation with the upper traveling mechanism, and the second track 200 is used for walking cooperation with the lower traveling mechanism. In this way, the upper traveling mechanism of the inspection robot 2 can move along the first track 100, and the lower traveling mechanism can move along the second track 200 to ensure that the inspection robot 2 moves stably between the first track 100 and the second track 200.

[0040] The first track 100 and the second track 200 are installed on one side of the truss main body 3 facing the pipe belt conveyor main body. The first track 100 and the second track 200 can be angle steels. Of course, they can also be channel steels, and the openings of the channel steels are arranged opposite to each other.

[0041] In the embodiments of the present application, at least one of the first track 100 and the second track 200 is fixedly connected to the truss main body 3 through the connecting mechanism 300. That is to say, in one example, one of the first track 100 and the second track 200 is fixedly connected to the truss main body 3 through the connecting mechanism 300, and the other can be directly connected to the truss main body 3 or fixedly connected to the truss main body 3 through other components. Of course, in another embodiment, the first track 100 can be connected to the truss main body 3 through the connecting mechanism 300, and the second track 200 can also be connected to the truss main body 3 through the connecting mechanism 300. In this example, the number of the connecting mechanisms 300 is two, which respectively correspond to the first track 100 and the second track 200 one by one.

[0042] In the embodiments of the present application, the first track 100 or / and the second track 200 can be connected to the truss main body 3 through the connecting mechanism 300. Since the position of the connecting mechanism 300 is adjustable in the vertical direction relative to the truss main body 3, the vertical position of the first track 100 or the second track 200 connected to the truss main body 3 through the connecting mechanism 300 is also adjustable. Furthermore, the distance between the first track 100 and the second track 200 can be adjusted, so that the first track 100 and the second track 200 can be adjusted to a better distance that meets the installation of the inspection robot 2 according to different types of inspection robots 2, satisfying the installation of different types of inspection robots 2, and the use flexibility of this track system is relatively high.

[0043] Generally, the length of the pipe belt conveyor is relatively long, and correspondingly, the lengths of the first track 100 and the second track 200 are also relatively long. In order to reduce the processing difficulty of the first track 100 and the second track 200, the first track 100 and the second track 200 generally include at least two segments, and each segment is assembled together to form an integral structure. The existing structure usually uses welding to fixedly connect adjacent two segments. This connection method usually results in poor coaxiality of the two connected segments due to factors such as welding process or manual operation, causing the inspection robot 2 to have a walking failure at the connection position, and may seriously damage the inspection robot 2 in severe cases. In order to overcome the above defects, the following improvements are also made to the track system in the present application.

[0044] In the track system of the present application, along the length direction of the truss main body 3, both the first track 100 and the second track 200 include at least two segments, and the opposite ends of adjacent two segments are in concave-convex plug-in fit. In this way, during assembly, adjacent two segments can achieve lengthwise alignment and positioning through the concave-convex fit structure at the ends, so that each segment of the first track 100 or the second track 200 is arranged along the same length direction, improving the connection smoothness of the connection position between adjacent segments, ensuring that the inspection robot 2 can smoothly pass through this connection position, and ensuring the normal walking of the inspection robot 2.

[0045] Moreover, in the embodiments of the present application, there is an expansion gap S between two adjacent stages. The expansion gap S can provide expansion space for adjacent segments, preventing the first track 100 from deforming due to expansion and affecting the movement of the inspection robot 2. The expansion gap S can be reasonably set according to the specific environment. The specific value of S is not disclosed herein, which does not affect the understanding and implementation of the technical solution in this field by those skilled in the art.

[0046] In the embodiments of the present application, both the first track 100 and the second track 200 include a connected horizontal wall and a vertical wall. The vertical wall is connected to the side of the horizontal wall close to the pipe conveyor. The horizontal walls of adjacent segments are in concave-convex plug-in fit, and the vertical walls of adjacent segments are also in concave-convex plug-in fit. In this embodiment, through the plug-in between the two horizontal walls and the concave-convex plug-in between the vertical walls, the installation position accuracy of adjacent two segments can be further positioned.

[0047] The shapes of the first track 100 and the second track 200 may be basically the same. Taking the first track 100 as an example, two adjacent segments of the first track 100 are respectively defined as the first segment 10A and the second segment 10B. The horizontal wall 101 of the first segment 10A has a first convex portion 1011. Correspondingly, the horizontal wall 101 of the second segment 10B has a first concave portion 1012, and the first convex portion 1011 and the first concave portion 1012 are in concave-convex plug-in fit. The vertical wall 102 of the second segment 10B has a second convex portion 1013. Correspondingly, the vertical wall 102 of the first segment 10A has a second concave portion 1014, and the second convex portion 1013 and the second concave portion 1014 are in concave-convex plug-in fit. Of course, the structural form of the concave-convex plug-in fit between the first track 100 and the second track 200 is not limited to the description above in this article.

[0048] If the concave-convex fit positions of two adjacent segments of the first track 100 and the second track 200 are in the same vertical plane, once the upper and lower two concave-convex fit positions in the same vertical plane fail, the inspection robot 2 will fall between the first track 100 and the second track 200. To avoid the occurrence of this phenomenon, the following settings are also made in the embodiments of the present application.

[0049] In the embodiments of the present application, the concave-convex plug-in positions in the first track 100 and the concave-convex plug-in positions in the second track 200 are arranged in a staggered manner along the length direction. The staggering distance L can be about 1 m, and of course, it can also be other values. In the embodiments of the present application, the upper and lower adjacent concave-convex plug-in positions are arranged in a staggered manner along the length direction, thus preventing the inspection robot 2 from falling out between the first track 100 and the second track 200 and protecting the inspection robot 2.

[0050] In the embodiments of the present application, a positioning member is provided on the outer surface of the horizontal wall of one of the adjacent segments. When the adjacent segments are inserted and fitted together, the free end of the positioning member extends to the outer surface of the horizontal wall of the other segment and abuts against it. The positioning member can be a cylindrical rod or other forms such as a flat plate. The positioning member contacts the outer wall of the adjacent segment, which can quickly determine the positions of the two segments in the vertical direction and improve the assembly efficiency. Moreover, only one end of the positioning member is fixedly connected to one of the adjacent segments, and the other end is not connected to the other segment, which does not affect the volume change of the two segments during thermal expansion and contraction.

[0051] In a specific embodiment, positioning members are provided at the relative ends of the adjacent segments. As shown in the figure, the first segment 10A may be welded with a first positioning member 401. The free end of the first positioning member 401 extends to the second segment 10B and can abut and cooperate with the horizontal wall of the second segment 10B. The horizontal wall 101 of the second segment 10B is welded with a second positioning member 402. A part of the second positioning member 402 extends to the horizontal wall 101 of the first segment 10A and can abut and cooperate with it.

[0052] Furthermore, a positioning member is also provided on the outer surface of the vertical wall of one of the adjacent segments. When the adjacent segments are inserted and fitted together, the free end of the positioning member extends to the outer surface of the vertical wall of the other segment and abuts against it. The installation method can refer to the setting method of the positioning member on the horizontal wall above. Although not shown in the figure, it does not prevent those skilled in the art from understanding and implementing the technical solution.

[0053] In the embodiments of the present application, the truss main body 3 includes a plurality of vertically arranged railings 31. Both the first track 100 and the second track 200 are connected and fixed to the side of each railing 31 facing the pipe belt conveyor 1. The beam body of the truss main body 3 extending in the length direction includes the first track 100 and the second track 200. That is to say, the first track 100 and the second track 200 both serve the function of forming the longitudinally extending beam body of the truss main body 3, which can reduce the overall weight of the pipe belt conveyor system and save costs.

[0054] Of course, in addition to the beam bodies of the first track 100 and the second track 200 in the length direction, the truss main body 3 may also have other cross beams 32.

[0055] Please refer to Figures 5 to 8, in the embodiment of the present application, the connecting mechanism 300 includes a fixing plate 301 and a connecting plate 302. The first track 100 or the second track 200 is fixedly connected to the fixing plate 301. The fixing plate 301 and the connecting plate 302 can enclose to form a hoop structure that cooperates with the railing 31 for locking, and the fixing plate 301 and the connecting plate 302 are detachably connected by bolts. In this embodiment, the two parts of the connecting mechanism 300 are connected by bolts, with a simple structure and reliable fixation. Moreover, the fixing plate 301 and the connecting plate 302 form a hoop structure that cooperates with the railing 31 for locking, and the locking method has relatively high stability.

[0056] The vertical railing 31 can be tubular, and the hoop structure is circular. Of course, the vertical railing 31 can also be of other shapes.

[0057] , in the embodiment of the present application, the fixing plate 301 in the track system includes a connected horizontal section 3011 and a bent section 3012. The first track 100 or the second track 200 is fixed to the horizontal section 3011. The horizontal section 3011 has a notch 3014 that penetrates the bent section 3012. The connecting plate 302 includes an arc section 3021 and mounting sections 3022 extending outward from both ends of the arc section 3021. The notch 3014 and the arc section 3021 enclose to form a hoop structure, and the mounting sections 3022 and the bent section 3012 are detachably connected by bolts 303. Specifically, through holes 3023 and through holes 3013 are respectively provided on the mounting section 3022 and the bent section 3012, and the threaded end of the bolt 303 passes through the through hole 3023 and the through hole 3013 to connect with a nut. This connection method has a simple structure and a simple processing technology.

[0058] The above is only the preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. The track system of the pipe belt machine inspection robot is characterized by: The inspection robot includes an upper walking mechanism and a lower walking mechanism; the track system includes: A first track is installed on the side of the truss body of the belt conveyor and extends along the length direction of the truss body, and the first track is used to cooperate with the upper walking mechanism; A second track is installed on the truss body and extends along the length direction of the truss body, the second track and the first track are arranged at intervals in the vertical direction, and the second track is used to cooperate with the lower walking mechanism; At least one connecting mechanism, each of the connecting mechanisms and the truss body is adjustable in vertical position; the first track is connected and fixed to the truss body through the connecting mechanism, or / and the second track is connected and fixed to the truss body through the connecting mechanism.

2. The track system of the belt conveyor inspection robot according to claim 1, characterized in that: Along the length direction of the truss body, the first track and the second track each include at least two segments, the opposite ends of two adjacent segments are concave-convex plug-in fit, and there is an expansion gap between the two adjacent segments.

3. The track system of the belt conveyor inspection robot according to claim 2, characterized in that: The first track and the second track both include a horizontal wall and a vertical wall connected to each other, the vertical wall is connected to a side of the horizontal wall close to the belt conveyor, the horizontal walls of adjacent segments are plug-in-fitted in a concave-convex manner, and the vertical walls of adjacent segments are also plug-in-fitted in a concave-convex manner; Alternatively or / and, the concave and convex plugging positions in the first track are staggered with the concave and convex plugging positions in the second track along the length direction.

4. The track system of the belt conveyor inspection robot according to claim 3, characterized in that: The outer surface of the horizontal wall of one of the adjacent segments is provided with a positioning piece. When the adjacent segments are plugged in and matched, the free end of the positioning piece extends to the outer surface of the horizontal wall of the other segment and abuts against it.

5. The track system of the belt conveyor inspection robot according to claim 4, characterized in that: The positioning members are disposed at opposite ends of adjacent segments; Alternatively or / and, the outer surface of the vertical wall of one of the adjacent segments is also provided with the positioning piece, and when the adjacent segments are plugged in and matched, the free end of the positioning piece extends to the outer surface of the vertical wall of the other segment and abuts against it.

6. The track system of the belt conveyor inspection robot according to claim 4 or 5, characterized in that: The positioning member is a cylindrical rod or a flat plate.

7. The track system of the belt conveyor inspection robot according to any one of claims 1 to 5, characterized in that: The first rail and the second rail are angle steels.

8. The track system of the belt conveyor inspection robot according to any one of claims 1 to 5, characterized in that: The truss body includes a plurality of vertically arranged railings, the first track and the second track are both connected and fixed to a side of each of the railings facing the belt conveyor, and the beam body extending along the length direction of the truss body includes the first track and the second track.

9. The track system of the belt conveyor inspection robot according to any one of claims 1 to 5, characterized in that: The truss body includes a plurality of vertically arranged railings, the connecting mechanism includes a fixing plate and a connecting plate, the first track or the second track is fixedly connected to the fixing plate, the fixing plate and the connecting plate can be enclosed to form a clamp structure that cooperates with the railings and is locked, and the fixing plate and the connecting plate are detachably connected by bolts.

10. The track system of the belt conveyor inspection robot according to claim 9, characterized in that: The fixing plate includes a connected horizontal section and a bent section, the first track or the second track is fixed to the horizontal section, the horizontal section has a notch running through the bent section, the connecting plate includes an arc section and mounting sections extending outward from both ends of the arc section, the notch and the arc section enclose the hoop structure, and the mounting section and the bent section are detachably connected by the bolts.

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