Pipe belt machine inspection track and inspection robot

Abstract

The utility model discloses a pipe belt machine inspection track and an inspection robot. The pipe belt conveyor inspection track is used for carrying an inspection robot to inspect a pipe belt conveyor and comprises a plurality of track sections which are sequentially arranged in the first direction, at least one track section is arranged on a truss of the pipe belt conveyor, and each track section comprises a first track plate and a second track plate which are arranged at an angle; in two track sections in butt joint of two adjacent trusses, the first track plate and the second track plate of one track section are provided with at least one tooth part on the end face of the butt joint end, and the first track plate and the second track plate of the other track section are provided with groove parts in one-to-one correspondence with the tooth parts on the end face of the butt joint end; the tooth part is inserted into the groove part, the tooth end face of the tooth part and the groove bottom face of the groove part are provided with first rail gaps, the tooth side face of the tooth part and the groove side face of the groove part are provided with second rail gaps, and one second rail gap corresponding to the first rail plate corresponds to a walking wheel of the inspection robot. When the pipe belt conveyor inspection track is applied, an inspection robot is not prone to vibration at the track butt joint position between trusses and is not prone to being clamped in a track seam or falling off.

Description

Technical Field

[0001] This application relates to the technical field of conveyor belt inspection, and specifically relates to an inspection track for a pipe belt conveyor and an inspection robot. Background Art

[0002] A pipe belt conveyor (hereinafter referred to as "pipe belt machine") is a belt conveyor whose conveyor belt is curled into a tube shape. Its conveyor belt is surrounded by idlers and curled into a tube shape, and the tubular enclosure is achieved by overlapping and lapping the conveyor belt, which can ensure that the materials on the conveying line will not spill, and is not easily affected by external harsh environments such as wind and rain, and has outstanding environmental protection performance and a small turning radius, and is widely used in the conveying of bulk and powdered materials. Since the conveyor belt in the pipe belt machine is in a wound form and has a long length, there is a risk that the overlapping position deviates from the normal position during operation, and the entire line needs to be inspected to ensure the normal operation of the pipe belt machine.

[0003] With the development of intelligent technologies, more and more pipe belt machines use inspection robots for inspection work. The inspection robot generally walks along the track set on the pipe belt machine truss, and uses the internal detection module to inspect the pipe belt machine. Since the conveyor belt is long, the inspection track is correspondingly long, making it difficult for the inspection track to be integrally formed, and often multiple sections of the track are butt-jointed end to end to form the entire track. Specifically, the pipe belt machine is provided with multiple sections of trusses, each section of the truss is provided with several sections of the track, the several sections of the track inside the truss are connected end to end, and the tracks of adjacent trusses are butt-jointed to each other. During the actual working process, the temperature of the environment where the pipe belt machine is located will change, causing the track to expand and contract due to heat, and coupled with the tight butt-joint of the tracks of adjacent trusses, it is easy to cause the track to deform.

[0004] In the related art, in order to avoid the track deformation caused by the above temperature difference, a flat and aligned rail gap is usually set at the butt-joint position of the tracks of adjacent trusses. However, the existence of this rail gap makes it easy for the inspection robot to generate vibrations when passing through the track butt-joint position, and even get stuck in the rail gap and fall.

[0005] Therefore, how to provide a solution to overcome or alleviate the above defects is still a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Utility Model

[0006] The purpose of this application is to provide an inspection track for a pipe belt machine, which can make it difficult for the inspection robot to generate vibrations at the butt-joint position of the tracks between the trusses, and is not easily stuck in the rail gap and fall. Another purpose of this application is to provide an inspection robot.

[0007] To solve the above technical problems, this application provides an inspection track for a pipe belt machine, which is used to carry an inspection robot to inspect the pipe belt machine, and the inspection track for the pipe belt machine includes a plurality of track segments;

[0008] A plurality of the track segments are arranged in sequence along a first direction, at least one of the track segments is provided on a truss of the pipe belt conveyor, and the track segment includes a first track plate and a second track plate arranged at an angle.

[0009] Among two adjacent track segments of two trusses that are butted against each other, at least one tooth portion is provided on end faces of the butting ends of both the first track plate and the second track plate of one of them, and groove portions corresponding to the tooth portions one by one are provided on end faces of the butting ends of both the first track plate and the second track plate of the other.

[0010] The tooth portion is inserted into the groove portion, a first rail gap exists between a tooth end face of the tooth portion and a groove bottom face of the groove portion, a second rail gap exists between a tooth side face of the tooth portion and a groove side face of the groove portion, and one of the second rail gaps corresponding to the first track plate corresponds to a traveling wheel of the inspection robot.

[0011] Optionally, the pipe belt conveyor inspection track further includes a plurality of limiting components.

[0012] The limiting component has a first limiting face and a second limiting face, the first track plate has a traveling face and a first pressing face opposite to each other, and the second track plate has a second pressing face connected to the first pressing face.

[0013] Two adjacent track segments of two trusses that are butted against each other are connected by the limiting component, the limiting component can move relative to at least one of the track segments along the first direction, the two first pressing faces of the two track segments respectively partially abut against the first limiting face, and the two second pressing faces respectively partially abut against the second limiting face.

[0014] Optionally, the limiting component includes a first limiting plate and a second limiting plate connected to each other.

[0015] The first limiting plate forms the first limiting face, and the second limiting plate forms the second limiting face.

[0016] Among two adjacent track segments of two trusses that are butted against each other, end portions of the butting ends of the two second track plates are respectively connected to two end portions of the second limiting plate by a first bolt and a first nut, and at least one of the holes for connecting the first bolt is a long hole extending along the first direction.

[0017] Optionally, the angle is 90 degrees, and the material of the track segment is low-carbon angle steel.

[0018] Optionally, there is one tooth portion corresponding to the first track plate. Among two tooth side faces of the tooth portion corresponding to the first track plate, one is flush with a first rail side face of the first track plate, and the other contacts the groove side face of the groove portion; and / or,

[0019] The corresponding tooth part of the second track plate has one, and two tooth side surfaces of the corresponding tooth part of the second track plate are respectively in contact with two groove side surfaces of the groove part.

[0020] Optionally, the center line of the running surface of the first track plate extending along the first direction and one tooth side surface of the corresponding tooth part are coplanar; and / or,

[0021] Among the tooth parts corresponding to the second track plate, the distance from the tooth side surface closest to the second track side surface of the second track plate to the second track side surface is less than 1 / 3 of the width of the second track plate.

[0022] Optionally, the pipe belt conveyor inspection track further includes a plurality of mounting components;

[0023] The mounting component includes a connecting piece and a supporting piece connected to each other, and the supporting piece has a first supporting surface and a second supporting surface;

[0024] The first track plate has a running surface and a first pressing surface facing away from each other, the second track plate has a second pressing surface connected to the first pressing surface, the first pressing surface and the second pressing surface respectively partially abut against the first supporting surface and the second supporting surface of at least one of the mounting components, the supporting piece is connected to the track section, and the connecting piece is connected to the truss.

[0025] The present application further provides an inspection robot, and the inspection robot includes a robot body and a traveling mechanism;

[0026] The traveling mechanism is mounted on the pipe belt conveyor inspection track, the traveling mechanism includes at least one traveling wheel, and the wheel surface of the traveling wheel can move along the first direction on the running surface of the first track plate and can drive the robot body to move.

[0027] Optionally, the traveling mechanism further includes at least one first pressing wheel, the first track plate has a first pressing surface facing away from the running surface, the wheel surface of the first pressing wheel abuts against the first pressing surface and can move along the first direction; and / or,

[0028] The traveling mechanism further includes at least one limiting wheel, the wheel surface of the limiting wheel abuts against the first track side surface of the first track plate and can move along the first direction; and / or,

[0029] The traveling mechanism further includes at least one guiding wheel and at least one second pressing wheel. The second track plate has a guiding surface connected to the traveling surface, and the second track plate has a second pressing surface opposite to the guiding surface. The wheel surface of the guiding wheel abuts against the guiding surface and can move along the first direction, and the wheel surface of the second pressing wheel abuts against the second pressing surface and can move along the first direction.

[0030] Optionally, the number of the first pressing wheels is the same as that of the traveling wheels and they correspond to each other one by one. The central circumferential line of the traveling wheels and the central circumferential line of the first pressing wheels are both coplanar with the center line extending along the first direction of a second rail gap corresponding to the first track plate; and / or,

[0031] The central circumferential line of the limiting wheel is coplanar with the center line extending along the first direction of the first rail side surface; and / or,

[0032] In the second rail gap corresponding to the second track plate, the center line extending along the first direction of the second rail gap farthest from the first track plate is coplanar with the central circumferential line of the guiding wheel and the central circumferential line of the second pressing wheel.

[0033] The pipe belt conveyor inspection track provided by the present application is provided with a plurality of track sections arranged in sequence along the first direction. The track sections include a first track plate and a second track plate arranged at an angle. Tooth parts and groove parts are respectively arranged on the butting end faces of two track sections of two adjacent trusses. The tooth parts are inserted into the groove parts. There is a first rail gap between the tooth end face of the tooth part and the groove bottom surface of the groove part, and there is a second rail gap between the tooth side surface of the tooth part and the groove side surface of the groove part. When in use, when the temperature of the environment where the pipe belt conveyor is located changes and each track section expands and contracts thermally, the first rail gap allows the two track sections of two adjacent trusses in butt joint to expand and contract along the first direction with the corresponding trusses, so that the track section is not easily deformed. At the same time, one of the second rail gaps can correspond to the traveling wheels of the inspection robot. When the traveling wheels pass through the butting position of two track sections, they can fall above the second rail gap, so that at least part of the wheel surface of the traveling wheels can be supported by the edge of the groove part or the edge of the tooth part, so that the inspection robot is not easily vibrated at the track butting position, nor is it easily stuck in the rail gap and fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic structural diagram of the butting position of two track sections between trusses in the pipe belt conveyor inspection track of the embodiment provided by the present application;

[0035] Figure 2 is Figure 1 The connection structural diagram of two track sections between the shown trusses from another perspective;

[0036] Figure 3 isFigure 2 Schematic structural diagram of the shown limiting component;

[0037] Figure 4 is Figure 1 Schematic structural diagram of one track section shown;

[0038] Figure 5 Schematic structural diagram of the installation component in the pipe belt conveyor inspection track of the embodiment provided by the present application;

[0039] Figure 6 Schematic structural diagram of the connection between the installation component and the track section in the pipe belt conveyor inspection track of the embodiment provided by the present application;

[0040] Figure 7 Schematic structural diagram of the installation of the pipe belt conveyor inspection track of the embodiment provided by the present application on the pipe belt conveyor;

[0041] Figure 8 is Figure 7 Partial enlarged view at A;

[0042] Figure 9 Schematic structural diagram of the inspection robot of the embodiment provided by the present application;

[0043] Figure 10 is Figure 9 Partial schematic structural diagram of the traveling mechanism in the shown inspection robot;

[0044] Figure 11 Schematic diagram of the inspection robot carried on the pipe belt conveyor inspection track of the embodiment provided by the present application;

[0045] Figure 12 is Figure 11 Schematic diagram of the inspection robot shown when it moves to the docking position of the track section between trusses from the first perspective;

[0046] Figure 13 is Figure 11 Schematic diagram of the inspection robot shown when it moves to the docking position of the track section between trusses from the second perspective.

[0047] The reference numerals in the above-mentioned drawings are explained as follows:

[0048] 1 - Track section, 11 - First track plate, 11a - Walking surface, 11b - First pressing surface, 11c - First rail side surface, 12 - Second track plate, 12a - Guide surface, 12b - Second pressing surface, 12c - Second rail side surface, 12d - First mounting hole, 12e - Second mounting hole, 12f - Sixth mounting hole, 13 - Tooth part, 13a - Tooth end surface, 13b - Tooth side surface, 14 - Groove part, 14a - Groove bottom surface, 14b - Groove side surface;

[0049] 2 - Limiting component, 21 - First limiting plate, 21a - First limiting surface, 22 - Second limiting plate, 22a - Second limiting surface, 22b - Third mounting hole, 22c - Fourth mounting hole;

[0050] 3 - Mounting component, 31 - Connecting piece, 311 - First connecting plate, 312 - Second connecting plate, 32 - Supporting piece, 32a - First supporting surface, 32b - Second supporting surface, 32c - Fifth mounting hole, 321 - First supporting plate, 322 - Second supporting plate;

[0051] 4 - Pipe belt conveyor, 41 - Truss;

[0052] 5 - Inspection robot, 51 - Robot body, 52 - Traveling mechanism, 521 - Traveling wheel, 522 - First pressing wheel, 523 - Limiting wheel, 524 - Guide wheel, 525 - Second pressing wheel, 526 - First adjustment mechanism, 5261 - First shock absorber, 5262 - First connecting rod, 527 - Second adjustment mechanism, 5271 - Second shock absorber, 5272 - Second connecting rod, 528 - Support;

[0053] 61 - First bolt, 62 - Second bolt;

[0054] 71 - First nut, 72 - Second nut;

[0055] 8 - Support component, 81 - First support rod, 82 - Second support rod;

[0056] a - First rail gap, b - Second rail gap. Detailed implementation mode

[0057] In order to enable those skilled in the art of the present technology to better understand the solution of this application, the following further detailed description of this application will be given in conjunction with the accompanying drawings and specific implementation modes.

[0058] It should be specifically noted that: in this application, the first direction is the layout direction of the track section 1, which is also the extension direction of the track section 1 and the length direction of the pipe belt conveyor 4. The second direction is the horizontal direction perpendicular to the first direction, which is also the width direction of the pipe belt conveyor 4 and the width direction of the first track slab 11. Specifically, please refer to the direction indicated by the arrow in Figures 1 to 13 In addition, "up" and "down" are two directions in the height direction of the pipe belt conveyor 4, specifically, they can be the "up" and "down" directions in Figure 1 respectively. The width direction of the second track slab 12 is the direction perpendicular to the first direction and parallel to the guide surface 12a, and is the up-down direction in Figure 1 respectively.

[0059] In this application, the terms "first", "second", etc. are only used to facilitate the description of two or more structures or components with the same or similar structures and / or functions, and do not represent a special limitation on the order and / or importance.

[0060] In this application, the term "a number of" refers to an indefinite number of multiple, usually more than two; and when "a number of" is used to indicate the quantity of several components, it does not represent the mutual relationship of these components in terms of quantity.

[0061] In this application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a communication connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meaning of the above terms in this application can be understood according to specific circumstances.

[0062] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of the docking position between two track segments of the truss in the inspection track of the pipe belt conveyor provided in the embodiment of this application.

[0063] In the embodiment provided in this application, the inspection track of the pipe belt conveyor is used to carry the inspection robot 5 to inspect the pipe belt conveyor 4. The inspection track of the pipe belt conveyor includes a number of track segments 1; the number of track segments 1 are arranged in sequence along the first direction, and at least one track segment 1 is provided on the truss 41 of the pipe belt conveyor 4. The track segment 1 includes a first track plate 11 and a second track plate 12 arranged at an angle; among the two track segments 1 where two adjacent trusses 41 are docked, at least one tooth portion 13 is provided on the end face of the docking end of both the first track plate 11 and the second track plate 12 of one of them, and a groove portion 14 corresponding to the tooth portion 13 one by one is provided on the end face of the docking end of both the first track plate 11 and the second track plate 12 of the other; the tooth portion 13 is inserted into the groove portion 14. There is a first rail gap a between the tooth end face 13a of the tooth portion 13 and the groove bottom face 14a of the groove portion 14, and there is a second rail gap b between the tooth side face 13b of the tooth portion 13 and the groove side face 14b of the groove portion 14. One of the second rail gaps b corresponding to the first track plate 11 corresponds to the traveling wheel 521 of the inspection robot 5.

[0064] It is not difficult to understand that the pipe belt conveyor 4 has a plurality of trusses 41, and the trusses 41 are arranged in sequence along the first direction and are used to carry the conveyor belt. At least one track section 1 is provided on each truss 41. Among two adjacent trusses 41, one truss 41 has a track section 1 at the docking position and the track section 1 at the docking position of the other truss 41 is docked. These two track sections 1 are the two track sections 1 where two adjacent trusses 41 are docked. The track sections 1 of each truss 41 are butt-jointed end to end in sequence to form the entire inspection track of the pipe belt conveyor. The inspection robot 5 is carried on the inspection track of the pipe belt conveyor and can walk along the first direction on the inspection track of the pipe belt conveyor to inspect the pipe belt conveyor 4.

[0065] Among them, the first track plate 11 has a walking surface 11a and a first pressing surface 11b facing away from each other. The walking surface 11a is specifically arranged upward in Figure 1 and is used for the walking wheels 521 of the inspection robot 5 to walk. The first pressing surface 11b is specifically arranged downward in Figure 1 . The second track plate 12 has a guiding surface 12a connected to the walking surface 11a and a second pressing surface 12b facing away from the guiding surface 12a. The second pressing surface 12b is connected to the first pressing surface 11b. It is defined that the side where the guiding surface 12a is located in the second direction is the front side, and the side where the second pressing surface 12b is located is the rear side.

[0066] It should be noted that: among the two track sections 1 where two adjacent trusses 41 are docked, the first track plate 11 and the second track plate 12 of one of them are both provided with tooth portions 13, and the first track plate 11 and the second track plate 12 of the other are both provided with groove portions 14. The tooth end surface 13a of the tooth portion 13 is the end surface away from the corresponding track plate, the groove bottom surface 14a of the groove portion 14 is the groove wall surface close to the corresponding track plate, the tooth side surface 13b of the tooth portion 13 and the groove side surface 14b of the groove portion 14 are the side surfaces facing the width direction of the corresponding track plate. The first rail gap a formed between the tooth end surface 13a of the tooth portion 13 and the groove bottom surface 14a of the corresponding groove portion 14 can extend substantially along the width direction of the corresponding track plate. The second rail gap b formed between the tooth side surface 13b of the tooth portion 13 and the groove side surface 14b of the groove portion 14 can extend substantially along the first direction. The walking surface 11a of the first track plate 11 can be flush with the upper surface of the corresponding tooth portion 13, the first pressing surface 11b of the first track plate 11 can be flush with the lower surface of the corresponding tooth portion 13, the guiding surface 12a of the second track plate 12 can be flush with the front surface of the corresponding tooth portion 13, and the second pressing surface 12b of the second track plate 12 can be flush with the rear surface of the corresponding tooth portion 13.

[0067] The correspondence between a second rail gap b corresponding to the first track plate 11 of the present application and the walking wheels 521 of the inspection robot 5 means that when the walking wheels 521 move to the position of the second rail gap b, part of the wheel surface can be on the second rail gap b, and the extending direction of the second rail gap b is generally consistent with the rolling direction of the walking wheels 521.

[0068] Compared with the related art where the rail joints of two adjacent trusses are set with straight and aligned rail joints at the docking position, that is, a rail joint extending in the width direction of the rail section is formed at the docking position, and the rail joint spans the entire width of the rail section, when the inspection robot passes through this rail joint, it is easy to generate vibrations, and even get stuck in the rail joint or even fall. In the above embodiments of the present application, in the two rail sections 1 where two adjacent trusses 41 are docked, one is provided with a tooth part 13 and the other is provided with a groove part 14, and the tooth part 13 is inserted into the groove part 14, forming a first rail joint a extending in the width direction of the corresponding rail plate and a second rail joint b extending in the length direction of the rail section 1 between the tooth part 13 and the groove part 14. During use, when the temperature of the environment where the pipe belt conveyor 4 is located changes, causing thermal expansion and contraction of each rail section 1, the first rail joint a allows the two rail sections 1 where two adjacent trusses 41 are docked to expand and contract along the first direction with the corresponding trusses 41, so that the rail section 1 is not easily deformed. At the same time, one of the second rail joints b corresponding to the first rail plate 11 corresponds to the traveling wheels 521 of the inspection robot 5. When the traveling wheels 521 pass through the docking position of the two rail sections 1, part of the wheel surface can fall on the second rail joint b, and the rest of the wheel surface can be supported by the edge of the tooth part 13 on one side of the second rail joint b and / or supported by the edge of the groove part 14 on the other side of the second rail joint b. Under the action of this supporting force, the inspection robot 5 can pass through the rail docking position smoothly and is not easily vibrated at the docking position, so it is not easily stuck in the rail joint and fall.

[0069] It should be noted that the width of the first rail joint a, that is, the dimension along the first direction, should be greater than 0 to provide space for the elongation of the two docked rail sections 1, and the specific dimension is not limited; the width of the second rail joint b, that is, the dimension along the width direction of the corresponding rail plate, can be greater than 0 or equal to 0, and the specific is not restricted.

[0070] Please refer to Figures 2 to 3 , Figure 2 for Figure 1 the schematic diagram of the connection structure of the two rail sections between the trusses shown in another perspective, Figure 3 and Figure 2 the schematic diagram of the structure of the limiting component shown.

[0071] In the embodiments provided by the present application, the inspection track of the pipe belt conveyor further includes a plurality of limiting members 2; the limiting member 2 has a first limiting surface 21a and a second limiting surface 22a, the first track plate 11 has a walking surface 11a and a first pressing surface 11b on the opposite sides, and the second track plate 12 has a second pressing surface 12b connected to the first pressing surface 11b; two adjacent track sections 1 where two trusses 41 are butt-jointed are connected by the limiting member 2, the limiting member 2 can move relative to at least one track section 1 in the first direction, and the two first pressing surfaces 11b of the two track sections 1 respectively partially abut against the first limiting surface 21a, and the two second pressing surfaces 12b respectively partially abut against the second limiting surface 22a.

[0072] In the related art, two adjacent track sections where two trusses are butt-jointed are directly fixedly connected at both ends of a steel plate to position the two track sections, so as to ensure the flatness of the two track sections and reduce the vibration generated when the inspection robot 5 passes through the track butt-joint position. However, this method will cause a height difference between the steel plate and the track. When the inspection robot 5 passes through the butt-joint position of the two track sections, this height difference will cause the vibration of the inspection robot 5 and is also likely to cause the inspection robot 5 to get stuck or even fall.

[0073] Compared with the inspection robot 5 in the related art that is prone to vibration due to the height difference between the steel plate and the track when directly connecting two track sections by the above steel plate, the inspection track of the pipe belt conveyor provided by the above embodiments of the present application is provided with the limiting member 2, and the limiting member 2 is arranged on the side opposite to the walking surface 11a, and the limiting member 2 is set to be able to move relative to at least one track section 1 in the first direction. In use, on the one hand, the limiting member 2 can be used to connect the two butt-jointed track sections 1 and limit the two first track plates 11 and the two second track plates 12 that are butt-jointed. Specifically, the first limiting surface 21a can ensure that the first pressing surfaces 11b of the two butt-jointed first track plates 11 are flush, and the second limiting surface 22a can ensure that the second pressing surfaces 12b of the two butt-jointed second track plates 12 are flush, so as to ensure that the walking surfaces 11a of the two butt-jointed first track plates 11 are located on the same plane, and the guiding surfaces 12a of the two butt-jointed second track plates 12 are located on the same plane. When the walking wheels 521 of the inspection robot 5 pass through the track butt-joint position, not only can the limiting member 2 be avoided, so that vibration is not easily generated, but also the inspection robot 5 can walk more stably to pass through the track butt-joint position more smoothly. On the other hand, when the two track sections 1 move relative to each other in the first direction due to thermal expansion and contraction, the limiting member 2 allows this relative movement, so as to form a telescopic limiting structure with the above-mentioned tooth portions 13 and groove portions 14, and the relative movement between the two track sections 1 can be carried out smoothly.

[0074] Specifically, the structure for the limiting member 2 to move relative to the track section 1 is not limited.

[0075] Please understand in combination with Figure 2 and Figure 3 that the limiting member 2 includes a first limiting plate 21 and a second limiting plate 22 which are connected to each other; the first limiting plate 21 forms a first limiting surface 21a, and the second limiting plate 22 forms a second limiting surface 22a; the two rail segments 1 where two adjacent trusses 41 are butted can be connected to the two end parts of the limiting member 2 at the butting end parts respectively through a first bolt 61 and a first nut 71, and in the holes for connecting the first bolt 61, at least one of them is a long hole extending along the first direction. In this way, the long hole allows the limiting member 2 to move relative to the rail segment 1 and makes this relative movement more stable, so as to ensure the stable exertion of the telescopic function of the above telescopic limiting structure, and the structure is simple and easy to manufacture.

[0076] When specifically setting, holes can be opened in the first limiting plate 21 and the first rail plate 11 to realize the connection between the rail segment 1 and the limiting member 2, or as Figure 2 shown, holes can be opened in the second limiting plate 22 and the second rail plate 12 to realize the connection between the rail segment 1 and the limiting member 2, and the present application does not limit this.

[0077] Please understand in combination with Figure 2 and Figure 3 that in the embodiment of the present application, in the two rail segments 1 where two adjacent trusses 41 are butted, at least one first mounting hole 12d is provided at the butting end part of the second rail plate 12 of one of them, and at least one second mounting hole 12e is provided at the butting end part of the second rail plate 12 of the other; at least one third mounting hole 22b and at least one fourth mounting hole 22c are respectively provided at the two end parts of the second limiting plate 22; the number of the first mounting holes 12d and the third mounting holes 22b is the same and they correspond one by one, and the corresponding first bolt 61 can be fastened with a first nut 71 after passing through the corresponding first mounting hole 12d and third mounting hole 22b from one side, the number of the second mounting holes 12e and the fourth mounting holes 22c is the same and they correspond one by one, and the corresponding first bolt 61 can be fastened with a first nut 71 after passing through the corresponding second mounting hole 12e and fourth mounting hole 22c from one side, the fourth mounting hole 22c is a long hole, and the rest of the mounting holes are circular bolt holes. When the two butted rail segments 1 move relative to each other due to thermal expansion and contraction, the fourth mounting hole 22c allows this relative movement.

[0078] It should be noted that the fourth mounting hole 22c is a long hole in the above embodiment of the present application. In fact, the first mounting hole 12d, the second mounting hole 12e, and the third mounting hole 22b can also be long holes, and there is no specific limitation. Of course, when the long hole is opened on the limiting member 2, it is easier to process.

[0079] In addition, the number of the first mounting holes 12d, the second mounting holes 12e, the third mounting holes 22b, and the fourth mounting holes 22c may be one respectively, or two respectively, or more than three respectively.

[0080] As an alternative solution, as Figures 1 to 3 shown, the first mounting holes 12d, the second mounting holes 12e, the third mounting holes 22b, and the fourth mounting holes 22c may be respectively arranged in two rows, with two mounting holes in each row, so as to realize a more stable connection between the limiting member 2 and the track section 1, and make the relative movement process of the two track sections 1 due to thermal expansion and contraction more stable, and it is not easy to affect the walking of the inspection robot 5.

[0081] In actual setting, the included angle between the first track plate 11 and the second track plate 12 in the track section 1 is not limited, and the material of the track section 1 is not limited either.

[0082] In the embodiment provided by the present application, the included angle between the first track plate 11 and the second track plate 12 is a right angle, and the material of the track section 1 is low-carbon angle steel. Specifically, the first track plate 11 may be horizontally arranged to be a horizontal plate, and the second track plate 12 is perpendicular to the first track plate 11 to be a vertical plate.

[0083] In the related art, in order to reduce the weight of the inspection track of the pipe belt conveyor, aluminum materials are generally used to manufacture each section of the track, and the shape of each section of the track is set as an I-shaped, which makes the manufacturing cost of the track relatively high and the manufacturing cycle relatively long. At the same time, each truss often uses steel materials. Due to the difference in the thermal expansion coefficients of aluminum materials and steel materials, in an environment with a slightly larger temperature difference, each section of the track and the truss are likely to generate a length difference due to thermal expansion and contraction, which is likely to cause deformation of each section of the track, not only reducing the working safety of the inspection robot, but also easily shortening the service life of the inspection track.

[0084] Compared with the above-mentioned use of aluminum materials to prepare each section of the track in the related art, which results in high manufacturing costs, long manufacturing cycles, and easy deformation of each section of the track and the truss due to different thermal expansion coefficients when the temperature difference is slightly larger, the pipe belt conveyor inspection track provided by the above-mentioned embodiment of the present application, due to setting the material of the track section 1 as low-carbon angle steel, can not only reduce the manufacturing cost of the inspection track and shorten the manufacturing cycle of the inspection track, but also make the thermal expansion coefficient of the track section 1 close to or even the same as that of the corresponding truss 41. Therefore, when the temperature difference appears in the working environment, the track section 1 and the corresponding truss 41 can expand or contract synchronously, and the track section 1 is not easy to deform, which can improve the working safety of the inspection robot 5 and extend the service life of the track section 1. Moreover, the track section 1 is set in the form of an angle steel with the first track plate 11 and the second track plate 12 perpendicular to each other. Compared with the I-shaped track form in the related art, it can relatively save the area of the track plate, so that the weight of the track section 1 is still relatively light when using low-carbon angle steel material.

[0085] In actual setting, the structural forms of the tooth part 13 and the groove part 14 are not limited.

[0086] In the embodiments provided by the present application, please combine Figure 1 to understand that the tooth part 13 can be a protrusion extending along the first direction on the butt end face of the corresponding track slab. The protrusion can be rectangular. The groove part 14 can be a notch extending along the first direction on the butt end face of the corresponding track slab. The notch can be rectangular and cooperate with the corresponding protrusion. Specifically, it can penetrate the first track slab 11 from top to bottom or penetrate the second track slab 12 from front to back. In this way, the structures of the tooth part 13 and the groove part 14 are relatively simple and easy to manufacture.

[0087] In actual setting, the number of the tooth parts 13 or the groove parts 14 provided on the first track slab 11 and the second track slab 12 is not limited.

[0088] Please combine Figure 1 to understand that in the embodiments of the present application, in the track section 1 provided with the tooth part 13, there is one tooth part 13 corresponding to the first track slab 11. Among the two tooth side faces 13b of the tooth part 13 corresponding to the first track slab 11, one is flush with the first track side face 11c of the first track slab 11, and the other is in contact with the groove side face 14b of the groove part 14, that is, the width of the second rail gap b here is 0. In this way, in the two relatively butted track sections 1, only one tooth part 13 needs to be provided on the first track slab 11 of one, and only one groove part 14 needs to be provided on the first track slab 11 of the other. Not only is the structure simple and easy to manufacture, but also the second rail gap b formed here corresponds to the traveling wheels 521 of the inspection robot 5, so that the inspection robot 5 can pass through the track butt position more stably.

[0089] In the embodiments of the present application, as Figure 1 shown, in the track section 1 provided with the tooth part 13, there is one tooth part 13 corresponding to the second track slab 12. The two tooth side faces 13b of the tooth part 13 corresponding to the second track slab 12 are respectively in contact with the two groove side faces 14b of the groove part 14, that is, two second rail gaps b are formed here, and the width of the second rail gap b is 0. In this way, the relative movement between the two second track slabs 12 in the two relatively butted track sections 1 is more stable.

[0090] In actual setting, the position of the above-mentioned second rail gap b on the corresponding first track slab 11 or second track slab 12 is not limited.

[0091] Please combine Figure 1It is understood that in the embodiments of the present application, the center line of the walking surface 11a of the first track slab 11 extending in the first direction and one tooth side surface 13b of the corresponding tooth portion 13 are coplanar, that is, a second rail gap b formed by two adjacent first track slabs 11 is located at the middle position of the first track slab 11. In this way, the walking of the walking wheel 521 when passing through the second rail gap b is more stable.

[0092] In the embodiments of the present application, as Figure 1 shown, among the tooth portions 13 corresponding to the second track slab 12, the distance from the tooth side surface 13b closest to the second rail side surface 12c of the second track slab 12 to the second rail side surface 12c is less than 1 / 3 of the width of the second track slab 12, that is, the uppermost second rail gap b in the second track slab 12 is as close as possible to the edge of the second track slab 12, so that the second pressing wheel 525 and the guiding wheel 524 of the inspection robot 5 mentioned below can generate a larger pressing moment on the second track slab 12, making the walking of the inspection robot 5 more stable at the track docking position.

[0093] It should be noted that in the above embodiments of the present application, two adjacent track sections 1 of two adjacent trusses 41 are docked through the telescopic limit structure formed by the above-mentioned tooth portion 13, groove portion 14 and limit member 2. When the lengths of the track sections 1 are different, the number of track sections 1 provided in each truss 41 is different. When multiple track sections 1 are provided, two adjacent track sections 1 in the truss 41 can be directly welded at the docking position, or can be set as the above-mentioned telescopic limit structure. The width of the first rail gap a in the telescopic limit structure here can be set to 0. Since the materials of the respective track sections 1 and the corresponding trusses 41 are similar or the same, the respective track sections 1 and the corresponding trusses 41 can expand and contract together during thermal expansion and contraction and are not easily deformed.

[0094] Please refer to Figures 4 to 6 together Figure 4 for Figure 1 the structural schematic diagram of one track section shown, Figure 5 which is the structural schematic diagram of the installation component in the pipe belt conveyor inspection track provided by the embodiments of the present application, Figure 6 and which is the structural schematic diagram of the connection between the installation component and the track section in the pipe belt conveyor inspection track provided by the embodiments of the present application.

[0095] In the embodiments provided in this application, the inspection track of the pipe belt conveyor further includes a plurality of mounting components 3; the mounting component 3 includes a connecting piece 31 and a supporting piece 32 that are connected to each other, and the supporting piece 32 has a first supporting surface 32a and a second supporting surface 32b; the first track plate 11 has a walking surface 11a and a first pressing surface 11b that face away from each other, the second track plate 12 has a second pressing surface 12b connected to the first pressing surface 11b, and the first pressing surface 11b and the second pressing surface 12b respectively partially abut against the first supporting surface 32a and the second supporting surface 32b of at least one mounting component 3. The supporting piece 32 is connected to the track section 1, and the connecting piece 31 is connected to the truss 41.

[0096] It can be understood that the track section 1 can be connected to the corresponding truss 41 through at least one mounting component 3. During installation, the first supporting surface 32a and the second supporting surface 32b of the supporting piece 32 respectively abut against the first pressing surface 11b of the first track plate 11 and the second pressing surface 12b of the second track plate 12, which can position the installation of the track section 1 on the truss 41, making the installation of the track section 1 more stable, so that the inspection robot 5 walks more stably along the track section 1.

[0097] In actual settings, the specific structures of the connecting piece 31 and the supporting piece 32 in the mounting component 3 are not limited, and the connection method between the supporting piece 32 and the track section 1 is also not limited.

[0098] Please combine Figure 5 Understand that in the embodiments of this application, the connecting piece 31 includes a first connecting plate 311 and a second connecting plate 312 arranged at an angle, and the supporting piece 32 includes a first supporting plate 321 and a second supporting plate 322 arranged at an angle. The angle here is the same as the angle between the first track plate 11 and the second track plate 12, specifically 90 degrees. One end of the first supporting plate 321 is connected to the first connecting plate 311, the second supporting plate 322 is arranged on the upper surface of the first connecting plate 311 and is connected to the second connecting plate 312 at the side. The upper surface of the first supporting plate 321 forms the first supporting surface 32a, and the side surface of the second supporting plate 322 close to the first supporting plate 321 forms the second supporting surface 32b. The second supporting plate 322 is provided with at least one fifth mounting hole 32c, and the second track plate 12 is provided with a sixth mounting hole 12f corresponding to the fifth mounting hole 32c. The second supporting plate 322 and the second track plate 12 are connected by a second bolt 62 and a second nut 72, that is, the second bolt 62 can sequentially pass through the fifth mounting hole 32c on the second supporting plate 322 and the sixth mounting hole 12f on the second track plate 12 and be fastened with the second nut 72. Among them, at least one of the fifth mounting hole 32c and the sixth mounting hole 12f is a long hole extending in the first direction; at least one of the first connecting plate 311 and the second connecting plate 312 is connected to the truss 41.

[0099] During use, the sixth mounting hole 12f on the second track plate 12 can be set as a long hole extending in the first direction, so that the mounting position of the track section 1 on the truss 41 can be flexibly adjusted, realizing the design of the track section 1 according to the situation of the truss 41 and improving the applicability of the inspection track of the pipe belt conveyor.

[0100] In the embodiment of the present application, as Figure 5 shown, the supporting member 32 can specifically be an angle steel, and a part of the second connecting plate 312 can be cut off at one end of the supporting member 32. The part where the first connecting plate 311 extends out of the second connecting plate 312 can form the first supporting plate 321, and the cut-off part can be used as the second supporting plate 322 and vertically fixed on the upper surface of the first connecting plate 311 and connected to the second connecting plate 312 on one side. In this way, the structure of the mounting member 3 is relatively simple, the cost is low, and it is easy to manufacture.

[0101] Please refer to Figures 7 to 8 , Figure 7 which is a schematic structural diagram of the inspection track of the pipe belt conveyor provided by the embodiment of the present application installed on the pipe belt conveyor. Figure 8 is Figure 7 a partial enlarged view at A.

[0102] In actual setting, the connection method between the connecting member 31 and the truss 41 is not limited.

[0103] In the embodiment provided by the present application, as Figure 7 shown, the mounting member 3 is specifically connected to the truss 41 through the supporting member 8. Specifically, the supporting member 8 includes a first support rod 81 and a second support rod 82. The first support rod 81 can be vertically arranged on the outer side surface of the truss 41, the second support rod 82 can be obliquely arranged, one end of the second support rod 82 can be connected to the end of the second connecting plate 312 close to the second supporting plate 322, the other end can be connected to the first support rod 81, and the end of the second connecting plate 312 far from the second supporting plate 322 can be connected to the first support rod 81. Among them, between the second support rod 82 and the second connecting plate 312, and between the second connecting plate 312 and the first support rod 81 can be connected by bolts, and the connection holes for bolt connection can be long holes extending in the second direction. For example, long holes can be opened on the second connecting plate 312, so that the distance between the track section 1 and the outer side surface of the truss 41 is adjustable. Therefore, the adaptability of the inspection track of the pipe belt conveyor provided by the embodiment of the present application is higher.

[0104] It should be noted that in the above embodiment of the present application, the mounting member 3 is in a straight shape. In fact, the mounting member 3 can also be set to other shapes according to the height of the truss 41. For example, an L shape. Specifically, the connecting member 31 can be set to an L shape. In this way, the applicability is higher and the use is more flexible.

[0105] Please refer toFigures 9 to 11 , Figure 9 is a schematic structural diagram of the inspection robot provided by this application. Figure 10 is Figure 9 a partial structural diagram of the traveling mechanism in the inspection robot shown. Figure 11 is a schematic diagram of the inspection robot provided by this application mounted on the pipe conveyor inspection track.

[0106] In the embodiment provided by this application, an inspection robot is also provided. The inspection robot 5 includes a robot body 51 and a traveling mechanism 52; the traveling mechanism 52 is mounted on the pipe conveyor inspection track in all the above embodiments. The traveling mechanism 52 includes at least one traveling wheel 521. The wheel surface of the traveling wheel 521 can move along the traveling surface 11a of the first track plate 11 in the first direction and can drive the robot body 51 to move.

[0107] It is not difficult to understand that the traveling wheel 521 is the power source of the inspection robot 5, and it is used to drive the rest of the inspection robot 5 to move. Since the inspection robot 5 provided by the embodiment of this application is mounted on the pipe conveyor inspection track in all the above embodiments, it can stably pass through each track docking position, is not likely to generate vibrations at the docking position, is not likely to get stuck in the rail gap, and is even less likely to fall.

[0108] Please refer to Figure 12 and Figure 13 , Figure 12 is Figure 11 a schematic diagram of the inspection robot shown when it moves to the docking position of the truss-interval track section from the first perspective. Figure 13 is Figure 11 a schematic diagram of the inspection robot shown when it moves to the docking position of the truss-interval track section from the second perspective.

[0109] In actual setting, the specific structure of the traveling mechanism 52 is not limited.

[0110] Please understand in combination with Figure 10 and Figure 12 that the traveling mechanism 52 may further include at least one first pressing wheel 522. The first track plate 11 has a first pressing surface 11b opposite to the traveling surface 11a. The wheel surface of the first pressing wheel 522 abuts against the first pressing surface 11b and can move along the first direction.

[0111] In this way, the traveling wheels 521 of the traveling mechanism 52 travel on the upper surface of the first track plate 11, that is, the traveling surface 11a, and the first pressing wheel 522 presses against the first track plate 11 from the lower surface of the first track plate 11, that is, the first pressing surface 11b. The wheel surfaces of the traveling wheels 521 and the first pressing wheels 522 are at least partially opposite up and down, so as to further ensure the stable traveling of the traveling wheels 521 on the first track plate 11, less likely to generate vibrations, and can pass through the track docking position more smoothly.

[0112] As Figures 10 to 12 shown, in the embodiment of the present application, the traveling mechanism 52 further includes at least one limiting wheel 523. The wheel surface of the limiting wheel 523 abuts against the first rail side surface 11c of the first track plate 11 and can move along the first direction. <000X

[0113] In this way, the limiting wheel 523 can always abut against the first rail side surface 11c of the first track plate 11 during the traveling process, so as to limit the inspection robot 5, so that the inspection robot 5 always travels along the first direction on the inspection track of the pipe belt conveyor, and is not easy to deviate, so as to further ensure the stability of the inspection robot 5 during the traveling process.

[0114] As Figures 10 to 13 shown, the traveling mechanism 52 further includes at least one guiding wheel 524 and at least one second pressing wheel 525. The second track plate 12 has a guiding surface 12a connected to the traveling surface 11a, and the second track plate 12 has a second pressing surface 12b opposite to the guiding surface 12a. The wheel surface of the guiding wheel 524 abuts against the guiding surface 12a and can move along the first direction, and the wheel surface of the second pressing wheel 525 abuts against the second pressing surface 12b and can move along the first direction.

[0115] In this way, the guiding wheel 524 can always abut against the guiding surface 12a of the second track plate 12 during the traveling process to provide guidance for the traveling of the inspection robot 5, and can further ensure that the inspection robot 5 always travels along the first direction on the inspection track of the pipe belt conveyor, and is less likely to deviate, so as to further ensure the stability of the inspection robot 5 during the traveling process. At the same time, the second pressing wheel 525 can always abut against the second pressing surface 12b of the second track plate 12 during the traveling process. The wheel surface of the second pressing wheel 525 and the wheel surface of the guiding wheel 524 are at least partially at the same height, so that the second track plate 12 can be pressed from the rear side and the front side by the guiding wheel 524 and the second pressing wheel 525 respectively, making the traveling process of the inspection robot 5 more stable and can pass through the track docking position more smoothly.

[0116] In actual setting, the specific positions of the traveling wheels 521, the first pressing wheels 522, the limiting wheels 523, the guiding wheels 524 and the second pressing wheels 525 in the traveling mechanism 52 relative to the inspection track of the pipe belt conveyor are not limited.

[0117] Please combine Figure 12Understand that in the embodiments provided in the present application, the number of the first pressing wheels 522 and the traveling wheels 521 is the same and they correspond one by one. The central circumferential lines of the traveling wheels 521 and the first pressing wheels 522 are coplanar with the center line extending along the first direction of a second rail gap b corresponding to the first track plate 11. Specifically, Figure 12 If only one second rail gap b is formed in the first track plate 11 and the width of the second rail gap b is 0, the central circumferential lines of the traveling wheels 521 and the first pressing wheels 522 can be coplanar with the tooth side surface 13b corresponding to the second rail gap b. In other words, the center of the gear train formed by the traveling wheels 521 and the first pressing wheels 522 can fall above the second rail gap b.

[0118] In this way, when the inspection robot 5 passes through the first rail gap a, half of the wheel surface of the traveling wheel 521 is supported by the first track plate 11, and half of the wheel surface of the first pressing wheel 522 also abuts against the first track plate 11. When the inspection robot 5 passes through the second rail gap b, the wheel surfaces of the traveling wheels 521 are evenly distributed on both sides of the second rail gap b. Thus, the downward pressure of the traveling wheels 521 on the first track plate 11 is also evenly distributed on both sides of the second rail gap b. Similarly, the upward pressing force of the first pressing wheels 522 on the first track plate 11 is also evenly distributed on both sides of the second rail gap b, enabling the inspection robot 5 to pass through the track docking position more smoothly.

[0119] In the above embodiments of the present application, the second rail gap b of the first track plate 11 of the pipe belt conveyor inspection track is located at the middle position of the first track plate 11 in the second direction. Thus, the pressure of the inspection robot 5 on the first track plate 11 is closer to the center of gravity of the first track plate 11, making the traveling of the inspection robot 5 at the track docking position smoother.

[0120] As Figure 12 shown, in the embodiments of the present application, the central circumferential line of the limiting wheel 523 is coplanar with the center line extending along the first direction of the first rail side surface 11c. In this way, during the traveling process, the center of the limiting wheel 523 always aligns with the center line of the first rail side surface 11c, enabling the limiting wheel 523 to move more smoothly along the first direction on the first rail side surface 11c. Thus, its limiting function can be more stably exerted, making the inspection robot 5 less likely to deviate.

[0121] As Figure 12 and Figure 13 shown, in the second rail gap b corresponding to the second track plate 12, the center line extending along the first direction of the second rail gap b farthest from the first track plate 11 is coplanar with the central circumferential lines of the guiding wheel 524 and the second pressing wheel 525. Specifically, Figure 13In the second track slab 12, two second rail gaps b are formed, and the width of the second rail gap b is 0. Then, the central circumferential line of the guide wheel 524, the central circumferential line of the second pressing wheel 525, and the tooth flank 13b corresponding to the uppermost second rail gap b are coplanar. In other words, the center of the gear train formed by the guide wheel 524 and the second pressing wheel 525 can be aligned with the uppermost second rail gap b. Thus, when the inspection robot 5 passes through the first rail gap a, half of the wheel surfaces of both the guide wheel 524 and the second pressing wheel 525 are in contact with the second track slab 12. When the inspection robot 5 passes through the second rail gap b, the wheel surfaces of the guide wheel 524 can be evenly distributed on both sides of the second rail gap b. As a result, the backward pressure of the guide wheel 524 on the second track slab 12 can be evenly distributed on both sides of the second rail gap b. Similarly, the forward pressing force of the second pressing wheel 525 on the second track slab 12 can also be evenly distributed on both sides of the second rail gap b, enabling the inspection robot 5 to pass through the track docking position more smoothly.

[0122] In the above embodiment of the present application, the distance from the uppermost second rail gap b in the second track slab 12 to the second rail side surface 12c is less than 1 / 3 of the width of the second track slab 12. This enables the guide wheel 524 and the second pressing wheel 525 to generate a relatively large pressing torque on the second track slab 12 when passing through the second rail gap b, thereby making the inspection robot 5 walk more stably at the track docking position.

[0123] It should be noted that the wheel diameter and wheel width of the traveling wheel 521 can be larger than those of other wheels to provide more stable power, thereby improving the stability of the inspection robot 5 during the walking process.

[0124] In actual setting, the number and the arrangement form of the traveling wheel 521, the first pressing wheel 522, the limiting wheel 523, the guide wheel 524, and the second pressing wheel 525 in the traveling mechanism 52 are not limited.

[0125] As Figure 9 shown, in the embodiment of the present application, the traveling mechanism 52 may include a plurality of traveling components. For example, two traveling components are arranged in sequence along the first direction. Each traveling component may include a support 528 and a set of wheels rotatably provided on the support 528. The set of wheels may include a traveling wheel 521, a first pressing wheel 522, two limiting wheels 523, two guide wheels 524, and a second pressing wheel 525. The traveling wheel 521 and the pressing wheel 522 are arranged vertically opposite to each other. The two limiting wheels 523 may be respectively provided on both sides of the traveling wheel 521. The second pressing wheel 525 may be arranged vertically opposite to the traveling wheel 521 in the front and back. The two guide wheels 524 may be located on both sides of the second pressing wheel 525. Thus, each traveling component can walk more stably on the inspection track of the pipe belt conveyor, enabling the entire traveling mechanism 52 to drive the robot body 51 to walk more stably.

[0126] It can be understood that the robot body 51 is the core component of the entire inspection robot 5, which may include existing components such as sensing elements, measuring elements, and controllers. The structure of the robot body 51 is not limited in this application as long as it can cooperate with the traveling mechanism 52 to achieve automatic inspection of the pipe belt conveyor 4. In the embodiments of this application, as Figure 9 shown, two traveling components are provided on the top of the robot body 51 to drive the robot body 51 to stably travel in the first direction for stable inspection.

[0127] In the embodiments provided in this application, as Figure 10 shown, the traveling mechanism 52 further includes a first adjustment mechanism 526. The first pressing wheel 522 is connected to the support 528 through the first adjustment mechanism 526, and the first adjustment mechanism 526 is used to adjust the pressing force of the first pressing wheel 522 on the first pressing surface 11b. The traveling mechanism 52 further includes a second adjustment mechanism 527. The second pressing wheel 525 is connected to the support 528 through the second adjustment mechanism 527, and the second adjustment mechanism 527 is used to adjust the pressing force of the second pressing wheel 525 on the second pressing surface 12b. In this way, the pressing force of the first pressing wheel 522 on the first track plate 11 and the pressing force of the second pressing wheel 525 on the second track plate 12 are adjustable, making the use more flexible and conducive to further ensuring the stability of the inspection robot 5 during the traveling process.

[0128] In actual setting, the specific structures of the first adjustment mechanism 526 and the second adjustment mechanism 527 are not limited.

[0129] As Figure 10 shown, in the embodiments of this application, the first adjustment mechanism 526 includes a first shock absorber 5261 and a first connecting rod 5262. The first shock absorber 5261 is provided on the support 528, and the rotating shaft of the first pressing wheel 522 is connected to the first shock absorber 5261 through the first connecting rod 5262. The pressure of the first shock absorber 5261 is adjustable, so that the pressing force of the first pressing wheel 522 on the first track plate 11 can be adjusted by adjusting the pressure of the first shock absorber 5261. The second adjustment mechanism 527 includes a second shock absorber 5271 and a second connecting rod 5272. The second shock absorber 5271 is provided on the support 528, and the second pressing wheel 525 is connected to the second shock absorber 5271 through the second connecting rod 5272. The pressure of the second shock absorber 5271 is adjustable, so that the pressing force of the second pressing wheel 525 on the second track plate 12 can be adjusted by adjusting the pressure of the second shock absorber 5271.

[0130] In fact, the first pressing wheel 522 can also be replaced with an encoder wheel to measure the traveling distance of the inspection robot 5, and the specific details are not limited.

[0131] The working principle of the pipe belt conveyor inspection track provided in the embodiments of this application is described below with reference to the accompanying drawings:

[0132] When the temperature of the environment in which the pipe conveyor inspection track is located increases, the trusses 41 and the corresponding track segments 1 expand and extend synchronously, and the two track segments 1 connected to each other by two adjacent trusses 41 move along the fourth mounting holes 22c in the form of elongated holes, that is, move along the first direction, and approach each other, and the first track gap a shrinks; when the temperature of the environment in which the pipe conveyor inspection track is located decreases, the trusses 41 and the corresponding track segments 1 shrink and shorten synchronously, and the two track segments 1 connected to each other by two adjacent trusses 41 move along the elongated holes and move away from each other, and the first track gap a becomes larger.

[0133] During the above process, the truss 41 and the corresponding track segment 1 extend or shorten synchronously, and the telescopic limiting structure formed by the tooth portion 13, the groove portion 14 and the limiting component 2 makes it difficult for the two adjacent track segments 1 to be deformed due to mutual squeezing due to thermal expansion and contraction. It also makes it possible for the moving direction of the track segment 1 to always be along the first direction, that is, the walking direction of the inspection robot 5, when the ambient temperature changes, and the walking surfaces 11a of the two adjacent track segments 1 always remain in the same plane, so that the walking of the inspection robot 5 is not easily affected by changes in ambient temperature.

[0134] The working principle of the inspection robot 5 provided in the embodiment of the present application is described below with reference to the accompanying drawings:

[0135] When the inspection robot 5 passes through the track docking position, since the central circumference line of the walking wheel 521 and the central circumference line of the first clamping wheel 522 are both coplanar with the second track gap b corresponding to the first track plate 11, the walking surfaces 11a of the two connected track sections 1 are located in the same plane, and the wheel surfaces of the walking wheel 521 and the first clamping wheel 522 always have at least half of the wheel width in contact with the first track plate 11. In addition, the limiting wheel 523 provides a clamping force limit, and the guide wheel 524 and the second clamping wheel 525 apply a larger clamping force distance to the second track plate 12 for guidance and limitation, which can ensure that the inspection robot 5 walks stably, is not prone to vibration, and can smoothly pass through the track docking position.

[0136] It can be seen that in the above process, the structure of the entire walking mechanism 52 matches the structure of the pipe conveyor inspection track provided in the above embodiment of the present application, making the walking process of the entire inspection robot 5 more stable, and can smoothly pass through the docking position of the two track sections 1 where the two adjacent trusses 41 are connected.

[0137] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only intended to help understand the device and its core concept of this application. It should be noted that for those skilled in the art, without departing from the principles of this application, various improvements and modifications can be made to this application, and such improvements and modifications also fall within the scope of protection of the claims of this application.

Claims

1. A pipe conveyor inspection track is used to carry an inspection robot (5) to inspect a pipe conveyor (4), and is characterized in that The inspection track of the pipe belt conveyor comprises a plurality of track sections (1); The plurality of track sections (1) are arranged in sequence along a first direction, and at least one of the track sections (1) is arranged on a truss (41) of the pipe belt conveyor (4). The track section (1) comprises a first track plate (11) and a second track plate (12) arranged at an angle; Among two adjacent track sections (1) butt-jointed by two adjacent trusses (41), at least one tooth part (13) is arranged on the end face of the butt-joint of both the first track plate (11) and the second track plate (12) of one of them, and a groove part (14) corresponding to the tooth part (13) one by one is arranged on the end face of the butt-joint of both the first track plate (11) and the second track plate (12) of the other; The tooth part (13) is inserted into the groove part (14). A first rail gap (a) exists between the tooth end face (13a) of the tooth part (13) and the groove bottom face (14a) of the groove part (14), and a second rail gap (b) exists between the tooth side face (13b) of the tooth part (13) and the groove side face (14b) of the groove part (14). One of the second rail gaps (b) corresponding to the first track plate (11) corresponds to a running wheel (521) of the inspection robot (5).

2. The inspection track of the pipe belt conveyor according to claim 1, wherein, The inspection track of the pipe belt conveyor further comprises a plurality of limiting components (2); The limiting component (2) has a first limiting face (21a) and a second limiting face (22a). The first track plate (11) has a running face (11a) and a first pressing face (11b) opposite to each other. The second track plate (12) has a second pressing face (12b) connected to the first pressing face (11b); Two adjacent track sections (1) butt-jointed by two adjacent trusses (41) are connected by the limiting component (2). The limiting component (2) can move along the first direction relative to at least one track section (1). The two first pressing faces (11b) of the two track sections (1) respectively partially abut against the first limiting face (21a), and the two second pressing faces (12b) respectively partially abut against the second limiting face (22a).

3. The inspection track of the pipe conveyor according to claim 2, characterized in that, The limiting component (2) comprises a first limiting plate (21) and a second limiting plate (22) connected to each other; The first limiting plate (21) forms the first limiting face (21a), and the second limiting plate (22) forms the second limiting face (22a); Among two adjacent track sections (1) butt-jointed by two adjacent trusses (41), the butt-joint end parts of the two second track plates (12) are respectively connected to the two end parts of the second limiting plate (22) through a first bolt (61) and a first nut (71). Among the holes for connecting the first bolt (61), at least one is a long hole extending along the first direction.

4. The inspection track of the pipe belt conveyor according to any one of claims 1 to 3, characterized in that The angle is 90 degrees, and the material of the track section (1) is low-carbon angle steel.

5. The inspection track of the pipe belt conveyor according to any one of claims 1 to 3, characterized in that, The tooth part (13) corresponding to the first track plate (11) has one. Among the two tooth side surfaces (13b) of the tooth part (13) corresponding to the first track plate (11), one is flush with the first track side surface (11c) of the first track plate (11), and the other is in contact with the groove side surface (14b) of the groove part (14); and / or, The tooth part (13) corresponding to the second track plate (12) has one. The two tooth side surfaces (13b) of the tooth part (13) corresponding to the second track plate (12) are respectively in contact with the two groove side surfaces (14b) of the groove part (14).

6. The inspection track of the pipe belt conveyor according to claim 5, characterized in that, The center line along the first direction of the running surface (11a) of the first track plate (11) is coplanar with one tooth side surface (13b) of the corresponding tooth part (13); and / or, Among the tooth parts (13) corresponding to the second track plate (12), the distance from the tooth side surface (13b) closest to the second track side surface (12c) of the second track plate (12) to the second track side surface (12c) is less than 1 / 3 of the width of the second track plate (12).

7. The inspection track of the pipe conveyor according to any one of claims 1 to 3, characterized in that The inspection track of the pipe belt conveyor further includes a plurality of installation components (3); The installation component (3) includes a connecting piece (31) and a supporting piece (32) connected to each other. The supporting piece (32) has a first supporting surface (32a) and a second supporting surface (32b); The first track plate (11) has a running surface (11a) and a first pressing surface (11b) facing away from each other. The second track plate (12) has a second pressing surface (12b) connected to the first pressing surface (11b). The first pressing surface (11b) and the second pressing surface (12b) respectively partially abut against the first supporting surface (32a) and the second supporting surface (32b) of at least one of the installation components (3). The supporting piece (32) is connected to the track section (1), and the connecting piece (31) is connected to the truss (41).

8. An inspection robot, characterized in that, The inspection robot (5) includes a robot body (51) and a traveling mechanism (52); The traveling mechanism (52) is mounted on the inspection track of the pipe belt conveyor according to any one of claims 1 to 7. The traveling mechanism (52) includes at least one traveling wheel (521). The wheel surface of the traveling wheel (521) can move along the first direction on the running surface (11a) of the first track plate (11) and can drive the robot body (51) to move.

9. The inspection robot according to claim 8, characterized in that The traveling mechanism (52) further includes at least one first pressing wheel (522). The first track plate (11) has a first pressing surface (11b) opposite to the running surface (11a). The wheel surface of the first pressing wheel (522) abuts against the first pressing surface (11b) and can move along the first direction; and / or, The traveling mechanism (52) further includes at least one limiting wheel (523). The wheel surface of the limiting wheel (523) abuts against the first track side surface (11c) of the first track plate (11) and can move along the first direction; and / or, The traveling mechanism (52) further includes at least one guide wheel (524) and at least one second pressing wheel (525). The second track plate (12) has a guide surface (12a) connected to the traveling surface (11a), and the second track plate (12) has a second pressing surface (12b) opposite to the guide surface (12a). The wheel surface of the guide wheel (524) abuts against the guide surface (12a) and can move along the first direction, and the wheel surface of the second pressing wheel (525) abuts against the second pressing surface (12b) and can move along the first direction.

10. The inspection robot according to claim 9, wherein, The number of the first pressing wheels (522) is the same as that of the traveling wheels (521) and they correspond to each other one by one. The central circumferential lines of the traveling wheels (521) and the central circumferential lines of the first pressing wheels (522) are coplanar with the center line extending along the first direction of a corresponding second rail gap (b) of the first track plate (11); and / or, The central circumferential line of the limiting wheel (523) is coplanar with the center line extending along the first direction of the first rail side surface (11c); and / or, In the second rail gap (b) corresponding to the second track plate (12), the center line extending along the first direction of the second rail gap (b) that is farthest from the first track plate (11) is coplanar with the central circumferential lines of the guide wheel (524) and the second pressing wheel (525).

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