Rail type inspection robot for long-distance belt conveyor

Abstract

The utility model relates to the technical field of operation and maintenance systems of belt type conveying machinery, and particularly discloses a rail type inspection robot for a long-distance belt type conveyor. Comprising a protective cover, a driving module, a driven module and a positioning wheel, wherein the interior of the protective cover is an operation adjusting space; the driving module and the driven module are mounted and connected to the inner top surface of the protective cover through slewing bearings in a self-adaptive track turning adjusting manner; the positioning wheel is erected and connected to the protective cover and is connected with an encoder through a rotating shaft; the multi-dimensional moving module is installed on the side face of the protective cover, the inspection visual device is arranged on the multi-dimensional moving module, the positioning wheels roll on the surface of the track, and the inspection visual device is driven by the multi-dimensional moving module to adjust the direction relative to the long-distance belt conveyor. The protective cover is provided with a door opening for the detection track to penetrate through the interior to be matched with the driving module and the driven module, the automatic inspection device can replace manual operation to run on the inspection track arranged on the low-position track, effective and reliable automatic inspection is carried out, the detection range can be adjusted according to needs, and detection is more sufficient.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to the field of track-type inspection robots. Background Art

[0002] Long-distance belt conveyor is a kind of material conveying equipment widely used in the power, construction, metallurgy and other industries. It is mainly composed of conveyor belts and drive motors as well as supporting equipment, control and protection devices. Usually, a complete conveying system is formed by several belt conveyors crossing each other. Long-distance belt conveyors have the characteristics of large transportation volume, continuous operation and long transportation distance. Due to the harsh working environment, long-distance belt conveyors are prone to belt scratches, overloads, belt deviations, belt tears and other problems during use. If such problems are not discovered and handled in time, the equipment will be damaged at the least, and the production line will be shut down for a long time, resulting in casualties. The operating status of long-distance belt conveyors is directly related to the safety of conveying equipment and personnel in the production process and the economic benefits of the enterprise. The traditional inspection method of long-distance belt conveyors is usually to set up on-duty personnel for a single belt conveyor, and the on-duty personnel will patrol and monitor the operating status of the belt conveyor. This method is inefficient, affected by the level and status of the inspectors themselves, easy to miss or misjudge, and there are safety risks and occupational health problems. Some existing rail-mounted inspection robots are mostly hanging inspection robots, which cannot achieve low-level inspection and are not suitable for the inspection of internal components of long-distance belt conveyors. Some non-hanging inspection robots are unable to get closer to the internal components of long-distance belt conveyors for inspection under safety requirements. Therefore, the existing inspection robots cannot be directly applied to the multi-directional inspection of long-distance belt conveyors. Utility Model Content

[0003] The utility model aims to provide a long-distance belt conveyor track inspection robot, which can replace manual operation on the inspection track set on the low-position track, perform effective and reliable automatic inspection, and can adjust the detection range as needed to ensure more comprehensive inspection.

[0004] To achieve the above object, the technical solution of the utility model is: a long-distance belt conveyor track type inspection robot, which includes a protective cover with an internal operation adjustment space, a driving module and a driven module that are respectively installed and connected to the inner top surface of the protective cover through a slewing bearing and can adaptively adjust to the track turning, a positioning wheel installed and connected to the protective cover and rotatably connected with an encoder, a multi-dimensional moving module installed on the side surface of the protective cover, and an inspection vision device arranged on the multi-dimensional moving module. The inspection robot runs stably clamped on the track through the driving module and the driven module. The positioning wheel rolls on the surface of the track. The inspection vision device is driven by the multi-dimensional moving module to adjust its orientation relative to the long-distance belt conveyor. A door opening is provided on the protective cover for the detection track to pass through the interior and cooperate with the driving module and the driven module.

[0005] The driving module includes a door frame type main frame, driving wheels with two wheel shafts respectively perpendicular to the side panels of the main frame and symmetrically spaced and supported on the inner sides of the two side panels of the main frame, main vertical guiding wheels with two wheel shafts respectively perpendicular to the side panels of the main frame and symmetrically spaced and installed and connected on the inner sides of the two side panels of the main frame through a height adjustment structure, main horizontal guiding wheels with two wheel shafts respectively vertically installed and connected on the inner sides of the two side panels of the main frame through mounting seats and symmetrically spaced, and a driving transmission mechanism installed and connected to the end parts of the wheel shafts of the main frame and the two driving wheels. The wheel shaft of the main horizontal guiding wheel is a wheel shaft with an eccentric section structure.

[0006] The driven module includes a door frame type secondary frame, driven wheels with two wheel shafts respectively perpendicular to the side panels of the secondary frame and symmetrically spaced and supported on the inner sides of the two side panels of the secondary frame, secondary vertical guides with two wheel shafts respectively perpendicular to the side panels of the secondary frame and symmetrically spaced and installed and connected on the inner sides of the two side panels of the secondary frame through a height adjustment structure, and secondary horizontal guiding wheels with two wheel shafts respectively vertically installed and connected on the inner sides of the two side panels of the secondary frame through mounting seats and symmetrically spaced. The wheel shaft of the secondary horizontal guiding wheel is a wheel shaft with an eccentric section structure.

[0007] The wheel shafts of the main horizontal guiding wheel and the secondary horizontal guiding wheel are structured such that the upper and lower sections have different axes, and the end part of the lower section is locked on the mounting seat in a rotatable and adjustable manner, and / or, the end parts of the wheel shafts of the main vertical guiding wheel and the main horizontal guiding wheel are locked on vertically elongated adjustment holes provided on the side panels of the main frame in a height-adjustable manner.

[0008] The positioning wheel is installed on the side edge of the protective cover through a support arm with an elastic pulling structure.

[0009] The multi-dimensional moving module includes a vertical module fixedly installed on the protective cover with a vertically sliding slider, and a horizontal module fixedly installed on the slider of the vertical module. The inspection vision device is fixedly installed on the slider of the horizontal module.

[0010] By adopting the above technical solutions, the beneficial effects of the present utility model are as follows: The above inspection robot is applied to the inspection of long-distance belt conveyors. Its track can be arranged and erected at a low position. The inspection robot is installed on the track as required, and it can automatically inspect the long-distance belt conveyor along the track at the side position. It can mainly perform inspections such as the detection of the lower rollers of the belt of the long-distance belt conveyor and the detection of foreign objects under the belt. The inspection robot of the present utility model has multiple module units, which can expand the detection range of the inspection vision device; in addition, the inspection robot can be arranged at a low position, can detect the internal state of the belt conveyor, and the detection is more comprehensive; furthermore, its structure is set firmly, can prevent dust and provide protection, the installation and clamping operation on the track can reach a relatively stable state, and its structure can adapt to the curvature of the track and adjust flexibly to pass through bends, so as to achieve the above-mentioned purpose of the present utility model, and it also has better improvement in the all-round intelligent detection and operation and maintenance of long-distance belt conveyors, can effectively solve the problems existing in the above-mentioned prior art, can ensure the safe use of long-distance belt conveyors, comprehensively improve the operation efficiency of transportation equipment, and effectively reduce problems and accidents of conveyor belts, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic structural diagram of an orbital inspection robot for a long-distance belt conveyor according to the present utility model

[0012] Figure 2 is a schematic structural diagram of an orbital inspection robot for a long-distance belt conveyor according to the present utility model from different angles;

[0013] Figure 3 is a schematic structural diagram of the active module in an orbital inspection robot for a long-distance belt conveyor according to the present utility model;

[0014] Figure 4 is a schematic structural diagram of the driven module in an orbital inspection robot for a long-distance belt conveyor according to the present utility model;

[0015] Figure 5 is a schematic structural diagram of the main horizontal guide wheel in an orbital inspection robot for a long-distance belt conveyor according to the present utility model;

[0016] Figure 6 is a schematic structural diagram of the application state of an orbital inspection robot for a long-distance belt conveyor according to the present utility model.

[0017] In the figure:

[0018] Long-distance belt conveyor 1; Roller drive mechanism 11; Belt 12;

[0019] Inspection track 2; Web 21; Upper wing plate 22; Lower wing plate 23;

[0020] Patrol robot 3; protective cover 31; operation adjustment space 311; door opening 312;

[0021] Slewing bearing 32; active module 33; main frame 331; drive wheel 332; main vertical guide wheel 333;

[0022] Main horizontal guide wheel 334; drive transmission mechanism 335;

[0023] Driven module 34; secondary frame 341; driven wheel 342; secondary vertical guide 343; secondary horizontal guide wheel 344; positioning wheel 35; encoder 351; multi-dimensional moving module 36; patrol vision device 37. Specific embodiments

[0024] In order to further explain the technical solution of the present invention, the present invention will be described in detail below through specific embodiments.

[0025] A long-distance belt conveyor track-type patrol robot disclosed in this embodiment can be applied to the intelligent operation and maintenance system of a long-distance belt conveyor for comprehensive intelligent detection. The long-distance belt conveyor 1 is as Figure 6 shown, and generally includes a roller drive mechanism 11 stably installed on a machine base and a belt 12 wound around the roller drive mechanism 11. The specific structural settings and position connection relationships of each part of the detection hardware device will be described in detail below with reference to the accompanying drawings.

[0026] The patrol track 2, as Figure 6 shown, is arranged along the outer side of the long-distance belt conveyor 1. In this embodiment, the patrol track 2 has an I-shaped cross-section structure, and the middle arm of the I-shape is the web 21 arranged vertically. The upper and lower cross arms of the I-shape are the upper wing plate 22 and the lower wing plate 23 respectively. Its fixed installation is realized by a plurality of bracket connectors arranged at intervals below on the lower surface of the lower wing plate 22, without affecting the normal operation of the patrol robot 3.

[0027] The patrol robot 3, as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown in the figure, during the inspection work, it runs on the inspection track 2 and inspects the long-distance belt conveyor from the side direction. In this embodiment, the inspection work is mainly carried out visually, and other sensor devices can be set according to the actual inspection items. The inspection robot 3 in this embodiment includes a protective cover 31 with an internal operation adjustment space 311, a driving module 33 and a driven module 34 respectively installed and connected to the inner top surface of the protective cover 31 through a slewing bearing 32 and capable of adaptively detecting the turning adjustment of the track 2, a positioning wheel 35 erected and connected to the protective cover 31 and rotationally connected with an encoder 351, a multi-dimensional movement module 36 installed on the side surface of the protective cover 31, and an inspection vision device 37 arranged on the multi-dimensional movement module 36. The inspection robot 3 runs stably clamped on the inspection track 2 through the driving module 33 and the driven module 34. It can be seen from the above that the driving module 33 and the driven module 34 respectively have the slewing function and are two independently adjustable parts, and the operation adjustment space 311 in the protective cover 31 is sufficient for adjustment and movement. Therefore, the inspection robot 3 can achieve flexible turning operation. The positioning wheel 35 rolls on the surface of the inspection track, and the encoder 351 thereon can encode through the rotation of the wheel. The system can achieve the running positioning of the inspection robot 3 through this information. The inspection vision device 37 is driven by the multi-dimensional movement module 36 to adjust its orientation in the height direction and the relative depth direction relative to the long-distance belt conveyor 1, so as to visually detect different positions inside the long-distance belt conveyor. A door opening 312 is provided on the protective cover 31 for the inspection track 2 to pass through the inside and cooperate with the driving module 33 and the driven module 34. The protective cover 31 can play a role in dust prevention and protection. Its lower surface is an open port to avoid the installation bracket of the inspection track 1. The width of the door opening 312 is set to be able to pass through the turning arc of the inspection track 1.

[0028] As shown in the figure in this embodiment, the active module 33 includes a doorframe-shaped main frame 331, active wheels 332 whose two wheel shafts are perpendicular to the side panels of the main frame 331 and are symmetrically spaced and supported on the inner sides of the two side panels of the main frame 331 respectively, main vertical guide wheels 333 whose two wheel shafts are perpendicular to the side panels of the main frame 331 and are symmetrically spaced and installed and connected to the inner sides of the two side panels of the main frame 331 through height adjustment structures respectively, main horizontal guide wheels 334 whose two wheel shafts are vertically installed and connected to the inner sides of the two side panels of the main frame 331 through mounting seats and are symmetrically spaced, and a drive transmission mechanism 335 installed and connected to the ends of the wheel shafts of the main frame 331 and the two active wheels 332. As shown in the figure, the drive transmission mechanism 335 includes a drive motor fixedly installed on the main frame 331, a drive gear fixedly arranged on the output shaft of the drive motor, main drive gears respectively fixedly arranged on the ends of the wheel shafts of the two active wheels 332, and a transmission gear pair installed on the main frame 331 and having two transmission gear pairs respectively meshing with the two main drive gears. One transmission gear at one end of the transmission gear pair meshes with the drive gear. In this way, when the drive motor works, the two active wheels 332 can be driven to rotate synchronously through the transmission gear pair. As shown in the figure, the height adjustment structure of the main vertical guide wheel 333 is that vertical strip-shaped adjustment holes are formed on the side panels of the main frame 331. By adjusting the locked height position of the end of the wheel shaft of the main vertical guide wheel 333 in the adjustment holes, the height of the main vertical guide wheel 333 can be changed, so as to ensure that the inspection robot 3 walks along the inspection track 2 in the vertical direction. The wheel shaft of the main horizontal guide wheel 334 is a wheel shaft with an eccentric section structure. As shown in the figure, its upper section and lower section are not coaxial, and its lower end is locked on the mounting seat. In this way, by rotating the lower section locked on the mounting seat, the axis of its upper section will deflect at an angle, so as to ensure that the inspection robot 3 walks along the inspection track 2 in the horizontal direction, realize the required deflection position and spacing distance of the two main horizontal guide wheels 334, and also realize a better guiding effect. Through the above structural settings, the active module 33 and the driven module 34 are more adaptable to the rapid adjustment of operation and assembly. The assembly and operation cooperation relationship of the active module 33 on the inspection track 1 is as follows: the two active wheels 332 respectively roll on the upper surfaces of the lower wing plates 23 on both sides of the web 21, the two main vertical guide wheels 333 respectively roll on the lower surfaces of the upper wing plates 22 on both sides of the web 21, and the two main horizontal guide wheels 334 respectively roll on the two side surfaces of the web 21.

[0029] As shown in the figure in this embodiment, the driven module 34 includes a doorframe-shaped driven frame 341, driven wheels 342 whose two wheel axles are perpendicular to the side panels of the driven frame 341 and are symmetrically spaced and supported on the inner sides of the two side panels of the driven frame through bearings, vertical driven guides 343 whose two wheel axles are perpendicular to the side panels of the driven frame 341 and are symmetrically spaced and installed and connected to the inner sides of the two side panels of the driven frame 341 through height adjustment structures, and horizontal driven guide wheels 344 whose two wheel axles are vertically installed and connected to the inner sides of the two side panels of the driven frame 341 through mounting seats and are symmetrically spaced. The wheel axles of the horizontal driven guide wheels 344 are wheel axles with an eccentric section structure. The two driven wheels 342 respectively roll on the upper surfaces of the lower wing plates 22 on both sides of the web 21. The two vertical driven guides 343 respectively roll on the lower surfaces of the upper wing plates 22 on both sides of the web 21. The two horizontal driven guide wheels 344 respectively roll on the two side surfaces of the web 21. The assembly and running cooperation relationship of the driven module 34 on the inspection track 1 can refer to the positional relationship between the active module 34 and the inspection track 1 above, which will not be elaborated here. Through the respective assembly and running cooperation of the active module 33 and the driven module 34, the inspection robot 3 as a whole can be stably set and run on the inspection track 1 without bouncing up and down or swaying left and right.

[0030] As shown in the figure in this embodiment, the positioning wheel 35 is installed on the side edge of the protective cover 31 through a support arm with an elastic pulling structure. As shown in the figure, the support arm is in an L-shaped structure. One arm of the L-shaped structure is rotatable relative to the other arm for installing the positioning wheel 35 and the encoder 351. The other arm is a circular rod clamped on a locking block. The elastic pulling structure is used to elastically pull the arm for installing the positioning wheel 35 and the encoder 351, so as to adapt to rolling on the upper surface of the upper wing plate 23 during actual assembly and use.

[0031] As shown in the figure in this embodiment, the multi-dimensional movement module 36 includes a vertical module fixedly installed on the protective cover 31 with its sliding block sliding vertically and a horizontal module fixedly installed on the sliding block of the vertical module. The inspection vision device 37 is fixedly installed on the sliding block of the horizontal module with its lens facing the direction of the long-distance belt conveyor 1. Thus, the height of the inspection vision device 37 is adjusted through the vertical module, and the depth of the inspection vision device 37 is adjusted through the horizontal module to realize visual inspection and adjustment of different orientations inside the long-distance belt conveyor 1.

[0032] The inspection robot 3 with the above structure has the following advantages: (1) The inspection robot is equipped with multiple module modules, which can expand the detection range of the inspection camera; (2) The inspection robot is arranged at a low position, which can detect the internal state of the belt conveyor more fully; (3) The inspection robot adopts an eccentric shaft structure to adjust the tension of the horizontal guiding module horizontally, with a simple structure and convenient adjustment; (4) The inspection robot adopts a vertical strip-shaped adjustment hole structure to adjust the tension of the vertical guiding module vertically, with a simple structure and convenient adjustment.

[0033] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by those of ordinary skill in the art shall be regarded as not departing from the patent scope of the present invention.

Claims

1. A long-distance belt conveyor track-type inspection robot, characterized in that, It includes a protective cover with an internal operation adjustment space, an active module and a driven module that are respectively installed and connected to the inner top surface of the protective cover through a slewing bearing and can adaptively adjust to the track turning, a positioning wheel installed and connected to the protective cover and rotatably connected with an encoder, a multi-dimensional moving module installed on the side surface of the protective cover, and an inspection vision device arranged on the multi-dimensional moving module. The inspection robot runs stably clamped on the track through the active module and the driven module. The positioning wheel rolls on the surface of the track. The inspection vision device is driven by the multi-dimensional moving module to adjust its orientation relative to the long-distance belt conveyor. A door opening is provided on the protective cover for the detection track to pass through the interior and cooperate with the active module and the driven module.

2. The orbital inspection robot for a long-distance belt conveyor according to claim 1, characterized in that, The active module includes a doorframe-shaped main frame, active wheels whose two wheel shafts are respectively perpendicular to the side panels of the main frame and are symmetrically spaced and supported on the inner sides of the two side panels of the main frame, main vertical guide wheels whose two wheel shafts are respectively perpendicular to the side panels of the main frame and are symmetrically spaced and installed and connected to the inner sides of the two side panels of the main frame through a height adjustment structure, main horizontal guide wheels whose two wheel shafts are respectively vertically installed and connected to the inner sides of the two side panels of the main frame through mounting seats and are symmetrically spaced, and a drive transmission mechanism installed and connected to the ends of the wheel shafts of the main frame and the two active wheels. The wheel shaft of the main horizontal guide wheel is a wheel shaft with an eccentric section structure.

3. The orbital inspection robot for a long-distance belt conveyor according to claim 2, wherein The driven module includes a doorframe-shaped secondary frame, driven wheels whose two wheel shafts are respectively perpendicular to the side panels of the secondary frame and are symmetrically spaced and supported on the inner sides of the two side panels of the secondary frame, secondary vertical guides whose two wheel shafts are respectively perpendicular to the side panels of the secondary frame and are symmetrically spaced and installed and connected to the inner sides of the two side panels of the secondary frame through a height adjustment structure, and secondary horizontal guide wheels whose two wheel shafts are respectively vertically installed and connected to the inner sides of the two side panels of the secondary frame through mounting seats and are symmetrically spaced. The wheel shaft of the secondary horizontal guide wheel is a wheel shaft with an eccentric section structure.

4. The orbital inspection robot for a long-distance belt conveyor according to claim 3, wherein, The wheel shafts of the main horizontal guide wheel and the secondary horizontal guide wheel are structured such that the upper and lower segments have different axes, and the end of its lower segment can be locked and rotated adjustably on the mounting seat, and / or, the ends of the wheel shafts of the main vertical guide wheel and the main horizontal guide wheel can be locked at adjustable heights on the vertically elongated adjustment holes provided on the side panels of the main frame.

5. A long-distance belt conveyor track-type inspection robot according to claim 1, 2, 3 or 4, characterized in that, The positioning wheel is installed on the side edge of the protective cover through a support arm with an elastic pulling structure.

6. A long-distance belt conveyor track-type inspection robot according to claim 1, 2, 3 or 4, characterized in that The multi-dimensional moving module includes a vertical module fixedly installed on the protective cover with a vertically sliding slider and a horizontal module fixedly installed on the slider of the vertical module. The inspection vision device is fixedly installed on the slider of the horizontal module.

7. The orbital inspection robot for a long-distance belt conveyor according to claim 5, wherein, The multi-dimensional moving module includes a vertical module fixedly installed on the protective cover with a vertically sliding slider and a horizontal module fixedly installed on the slider of the vertical module. The inspection vision device is fixedly installed on the slider of the horizontal module.

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