Conveying device of inspection robot and robot inspection system

Abstract

The utility model discloses a transmission device of inspection robot and robot inspection system relates to robot technical field, the transmission device of inspection robot comprises track and test mechanism, the track is provided with a plurality of illuminating lamps, a plurality of illuminating lamps are spaced in proper order, each illuminating lamp is provided with a time delay switch, and the test mechanism is connected with the track. The rail is provided with a push switch corresponding to each illuminating lamp, the plurality of push switches and the plurality of illuminating lamps are alternately arranged, and each push switch and the corresponding illuminating lamp are arranged at an interval; the pressing switch is used for electrifying the time delay switch to turn on the illuminating lamp when being pressed by the inspection robot; the testing mechanism comprises a testing box and a testing module, a testing space is formed in the testing box, the track passes through the testing space, the testing module is arranged in the testing space, and the testing module comprises a smoke unit used for forming smoke into the testing space and a heating unit used for heating. The conveying device is more energy-saving and better in reliability.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a conveying device and a robot inspection system for an inspection robot. Background Technology

[0002] The stable and safe operation of key components within the coal conveying trestle of a power plant (such as belt conveyors, motors, belts, idlers, and coal bunker openings) is a crucial factor for the normal operation of the power plant's generating equipment. Operators need to have an accurate and comprehensive understanding of the operating status of the coal conveying equipment. Therefore, power plant staff must regularly inspect the coal conveying equipment within the trestle to promptly identify risks, issue early warnings, and take timely preventative measures to ensure the safe operation of the coal conveying equipment.

[0003] Due to the harsh environment, long distance, cramped space, and numerous stairs inside the coal conveyor bridge, manual inspection is not only inefficient and unable to provide 24-hour comprehensive monitoring, but also poses significant safety risks, causing many inconveniences to the inspection work. The inspection content mainly includes: whether the conveyor belt of the coal conveying equipment is operating normally (such as whether there is deviation, roll slippage, or coal leakage) and whether the coal conveying equipment is operating normally (such as temperature, vibration, coal bunker level, and whether there is a fire). Manual inspection is difficult and unsafe, so robotic inspection is currently used.

[0004] In existing technologies, inspection robots require a conveyor system to move along a set track. When it is necessary to check whether the conveyor belt of the coal conveying equipment is normal, sufficient light is required for the inspection robot to clearly capture images for judgment. Currently, most of them use constantly lit lamps for supplementary lighting, but this results in high power consumption and energy waste. Moreover, the conveyor system in existing technologies does not have a test function for the robot. Without testing the inspection robot before inspection, the inspection results are prone to errors, inaccuracies, and poor reliability. Utility Model Content

[0005] The main purpose of this utility model is to propose a conveying device and robot inspection system for inspection robots, aiming to solve the technical problems of energy waste and poor reliability that are currently common in inspection robots.

[0006] To achieve the above objectives, this utility model proposes a conveying device for an inspection robot, comprising:

[0007] The inspection robot can walk on a track. Multiple lights are installed on the track, spaced apart sequentially along the robot's walking direction. Each light has a time-delay switch electrically connected to it. A push-button switch is installed on the track corresponding to each light. Multiple push-button switches and multiple lights are alternately arranged along the walking direction, with each push-button switch and its corresponding light spaced apart. The push-button switch is used to energize the time-delay switch to turn on the light when pressed by the inspection robot, and the time-delay switch is used to delay turning off the light.

[0008] The testing mechanism includes a testing box and a testing module. A testing space is formed inside the testing box, and the track passes through the testing space. The testing module is disposed within the testing space and includes a smoke unit for generating smoke into the testing space and a heating unit for generating heat.

[0009] In one embodiment, the plurality of lights are evenly spaced along the walking direction of the inspection robot, and the distance between each push switch and the two adjacent lights is equal.

[0010] In one embodiment, two sluices extending along the walking direction are formed on both sides of the track, and the openings of the two sluices are arranged opposite to each other. The inspection robot is slidably attached to the bottom wall of the two sluices, and a plurality of push switches are arranged on the bottom wall of one of the sluices.

[0011] In one embodiment, the bottom wall of the test space is recessed downward to form a groove, and a mounting slot communicating with the groove is provided at the bottom of the groove;

[0012] The dust unit includes a fan disposed in the mounting groove, the groove containing dust particles, and a filter screen for isolating the dust particles is provided at the connection between the groove and the mounting groove. The fan blows air toward the filter screen to blow the dust particles in the groove toward the test space through the filter screen.

[0013] In one embodiment, the heating unit includes two heating groups, which are respectively disposed on opposite side walls of the test space. Each heating group includes a plurality of heating wires spaced apart along the walking direction, and each heating wire extends vertically.

[0014] In one embodiment, in each heating group, a plurality of heating blocks are disposed between any two adjacent heating wires and evenly distributed along vertical intervals.

[0015] In one embodiment, the track is a linear track, and two testing mechanisms are provided, with the two testing mechanisms respectively located at opposite ends of the track. Each testing box has an opening on one side facing the track that communicates with the testing space. The two ends of the track extend into the corresponding testing space from the corresponding openings, and the inspection robot can enter the testing space from the openings.

[0016] In one embodiment, the test box has a baffle that is detachably connected to the test box on the side facing the track, and the baffle has the opening; a connecting rail is provided in the test space, and the rail extends into the test space from the opening and is connected to the end of the connecting rail near the opening.

[0017] In one embodiment, the track is a circular track, and a testing mechanism is provided. The testing box has two openings communicating with the testing space on opposite sides along the walking direction. The track passes through the two openings, and the inspection robot can enter and exit the testing space from the two openings respectively.

[0018] This utility model also proposes a robot inspection system, including an inspection robot and a conveying device for the inspection robot as described above, wherein the inspection robot can walk on the track.

[0019] The conveying device of this utility model for an inspection robot features multiple lights arranged on a track, each with a corresponding push-button switch and a delay switch. Each push-button switch is positioned in front of its corresponding light. As the inspection robot moves along the track, it first passes the push-button switch, activating the corresponding light for supplemental illumination. After the robot passes the light again and continues traveling a certain distance, the delay switch on the light turns it off. This achieves a sequential lighting and automatic shut-off of multiple lights as the inspection robot moves along the track, thereby reducing energy consumption and increasing energy efficiency.

[0020] Furthermore, the conveying device of this utility model's inspection robot is also equipped with a testing mechanism, which includes a test box and a test unit. The track passes through the test box. When the inspection robot walks along the track and passes through the test box, the test unit inside the test box tests whether the inspection robot's inspection function is normal. The smoke and dust unit is used to generate smoke and dust in the test space to test whether the inspection robot can accurately collect smoke and dust data. Based on the smoke and dust data, the main test is whether the inspection robot can accurately determine the occurrence of a fire. The heating unit is used to generate heat to simulate a heat source to test whether the inspection robot can accurately collect heat source data. The heat source data mainly reflects whether the inspection robot can accurately determine whether the coal conveying equipment has localized heating (such as belt rollers) or fire during long-term operation, so as to take corresponding measures to prevent fire or resolve fire in a timely manner. Therefore, the testing through the testing mechanism can ensure that the inspection robot's inspection function is intact, and ensure that the inspection results of the inspection robot are accurate and reliable, with better reliability. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a conveying device provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the testing mechanism in a conveying device provided in an embodiment of the present invention;

[0024] Figure 3 This is a front view schematic diagram of the testing mechanism in a conveying device provided in an embodiment of the present invention.

[0025] Explanation of icon numbers:

[0026] 100. Conveying device; 1. Track; 11. Lighting lamp; 111. Delay switch; 12. Press switch; 13. Slide rail; 2. Testing mechanism; 21. Test box; 211. Test space; 212. Groove; 213. Mounting slot; 214. Filter screen; 215. Mounting box; 216. Baffle; 217. Opening; 218. Connecting rail; 22. Smoke and dust unit; 221. Fan; 222. Smoke and dust particles; 23. Heating unit; 231. Heating wire; 232. Heating block.

[0027] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0029] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0030] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0031] This utility model proposes a conveying device 100 for an inspection robot.

[0032] Please see Figures 1 to 3In one embodiment of this utility model, the conveying device 100 of the inspection robot includes a track 1 and a testing mechanism 2. The inspection robot can walk on the track 1. Multiple lights 11 are arranged on the track 1, spaced apart sequentially along the walking direction of the inspection robot. Each light 11 is equipped with a time-delay switch 111 electrically connected to it. A push-button switch 12 is arranged on the track 1 corresponding to each light 11. The multiple push-button switches 12 and the multiple lights 11 are alternately arranged along the walking direction, and each push-button switch 12 and the light 11 are connected to the light 11. The corresponding lighting lamps 11 are spaced apart along the walking direction; the push switch 12 is used to energize the delay switch 111 to turn on the lighting lamps 11 when pressed by the inspection robot, and the delay switch 111 is used to delay turning off the lighting lamps 11; the test mechanism 2 includes a test box 21 and a test module. A test space 211 is formed inside the test box 21, and the track 1 passes through the test space 211. The test module is set inside the test space 211. The test module includes a smoke unit 22 for generating smoke in the test space 211 and a heating unit 23 for generating heat.

[0033] The conveying device 100 of the inspection robot of this utility model can be used to inspect various belt conveyor equipment, such as coal conveying equipment. In this embodiment, coal conveying equipment is used as an example for explanation.

[0034] The conveying device 100 of this utility model for the inspection robot has multiple lights 11 arranged on a track 1, and each light 11 is equipped with a push switch 12 and a delay switch 111. Each push switch 12 is located in front of its corresponding light 11, so that when the inspection robot walks on the track 1, it first passes the push switch 12, which turns on the corresponding light 11 for supplementary lighting. After the inspection robot passes the light 11 and continues to travel a certain distance, the delay switch 111 on the light 11 turns off the light 11. In this way, the lights 11 turn on and off automatically in sequence as the inspection robot walks, thereby reducing energy consumption and making it more energy-efficient.

[0035] In addition, the conveying device 100 of this utility model is also equipped with a testing mechanism 2, which includes a testing box 21 and a testing unit. The track 1 passes through the testing box 21. When the inspection robot walks along the track 1 and passes through the testing box 21, the testing unit in the testing box 21 tests whether the inspection function of the inspection robot is normal. The smoke and dust unit 22 is used to generate smoke and dust in the testing space 211 to test whether the inspection robot can accurately collect smoke and dust data. Based on the smoke and dust data, the main purpose is to test whether the inspection robot can accurately determine the occurrence of a fire. The heating unit 23 is used to generate heat to simulate a heat source to test whether the inspection robot can accurately collect heat source data. The heat source data mainly reflects whether the inspection robot can accurately determine whether the coal conveying equipment has localized heating (such as belt rollers) or fire during long-term operation, so as to take corresponding measures in time to prevent fire or resolve fire in time. Therefore, the testing through the testing mechanism 2 can ensure that the inspection function of the inspection robot is intact, and ensure that the inspection results of the inspection robot are accurate and reliable, with better reliability.

[0036] In this embodiment, each light 11 illuminates a different area, but the size of the illumination range is basically the same. In a preferred embodiment, the delay switch 111 is set to turn on based on the walking speed of the inspection robot. When the inspection robot triggers the pressing switch 12, the corresponding delay switch 111 is energized, turning on the light 11. The light 11 illuminates the inspection range of the surrounding inspection robot. Furthermore, the delay switch 111 is configured to turn off the light 11 when the inspection robot triggers the next pressing switch 12. This ensures that only one light 11 is on at a time, reducing ineffective illumination from the other lights 11 and guaranteeing that the inspection range of the inspection robot is always illuminated, significantly saving energy consumption. It should be noted that in this embodiment, the selection of the delay switch 111, the pressing switch 12, and the light 11, as well as the control method between them, can all adopt existing technologies.

[0037] In this embodiment, the testing principle is as follows: the smoke and dust unit 22 and the heating unit 23 can be preset. The inspection robot obtains the smoke and dust data and heat source data in the test box 21, and compares the smoke and dust data and heat source data with the preset expected values ​​to judge the size of the difference. If the difference is too large, it indicates that the inspection function of the inspection robot is interfered with or is inaccurate. It should be noted that the above-mentioned inspection robot obtaining smoke and dust data and comparing the data can be implemented using existing technology, which will not be elaborated here.

[0038] Furthermore, the test box 21 can be set at the starting end of the track 1 to perform an inspection function test on the inspection robot before it departs.

[0039] In one embodiment, a plurality of lights 11 are evenly spaced along the walking direction of the inspection robot, and the distance between each push switch 12 and the two adjacent lights 11 is equal.

[0040] Understandably, the illumination range of each light 11 is basically the same, and the evenly spaced multiple lights 11 ensure complete coverage of the surrounding environment. By placing the push switch 12 at the center of two lights 11, when the inspection robot moves from the illumination range of one light 11 to the illumination range of the next light 11, the push switch 12 is used to turn on the next light 11 in time, achieving continuous illumination and ensuring that the images captured by the inspection robot remain clear and have better reliability.

[0041] In one embodiment, two slides 13 extending along the walking direction are formed on both sides of the track 1. The openings of the two slides are arranged opposite to each other. The inspection robot can be slidably attached to the bottom wall of the two slides 13. Multiple push switches 12 are all arranged on the bottom wall of one of the slides 13.

[0042] In this embodiment, two grooves 13 are formed at the bottom of the track 1. The inspection robot is attached to the bottom wall of the two grooves 13, which can distribute the force points, facilitate the stable walking of the inspection robot, and prevent the shaking from causing the image captured by the inspection robot to be blurry. In addition, a push switch 12 is set on the bottom wall of the groove 13. When the inspection robot walks and passes the push switch 12, it can directly press the push switch 12, which can accurately trigger the corresponding lighting lamp 11 to light up.

[0043] Specifically, track 1 can be made of I-beams using existing technology.

[0044] In one embodiment, the bottom wall of the test space 211 is recessed downward to form a groove 212, and the bottom of the groove 212 is provided with an installation groove 213 communicating with the groove 212; the dust unit 22 includes a fan 221, which is disposed in the installation groove 213. The groove 212 contains dust particles, and a filter screen 214 for isolation is provided at the connection between the groove 212 and the installation groove 213. The fan 221 is used to blow air toward the filter screen 214 so as to blow the dust particles 222 in the groove toward the test space through the filter screen.

[0045] Understandably, by setting a filter screen 214 between the groove 212 and the mounting groove 213, it is possible to prevent the smoke particles 222 in the groove 212 from entering the mounting groove 213 and affecting the operation of the fan 221. Furthermore, by setting the groove 212, when the fan 221 is not running, the smoke particles 222 slide down the side wall of the groove 212 to the bottom of the groove 212, that is, the smoke particles 222 are collected above the filter screen 214, so that the smoke particles 222 can be quickly blown away to form smoke when the fan 221 runs again, thereby simulating the situation of dense smoke in a fire.

[0046] It should be noted that the groove in this embodiment contains a certain number of dust particles 222, and different dust conditions can be obtained by setting the number of dust particles 222 and the wind force of the fan 221.

[0047] In one embodiment, the heating unit 23 includes two heating groups, which are respectively disposed on opposite side walls of the test space. Each heating group includes multiple heating wires distributed along the walking direction, and each heating wire extends vertically.

[0048] By setting heating wires 231, the heating wires 231 generate heat to simulate a heat source. The heating wires 231 are distributed on both sides of the inner wall of the test space 211, which can quickly heat the test space 211 so that the inspection robot can collect heat source data. Furthermore, by changing the heating temperature of the non-heating wires 231, different heat source data can be obtained, thereby improving the accuracy of the inspection robot test.

[0049] Specifically, the heating wires 231 are arranged on opposite sides of the test box 21 in the lateral direction, and multiple heating wires 231 are distributed at intervals in the lateral direction.

[0050] Furthermore, an installation box 215 is installed on the side wall of the test box 21, wherein the heating wire 231 is disposed inside the installation box 215.

[0051] In one embodiment, in each heating group, a plurality of heating blocks 232 are arranged between any two adjacent heating wires 231 and are evenly distributed along the vertical interval.

[0052] Understandably, by setting up multiple heating blocks 232, the complexity of the heat source in the test space 211 can be further increased, increasing the difficulty of the test. Based on the test results, the inspection robot can be accurately calibrated to ensure higher inspection accuracy.

[0053] It should be noted that both the heating wire 231 and the heating block 232 can be made using existing technologies.

[0054] In one embodiment, the track 1 is a linear track 1, and two testing mechanisms 2 are provided, with the two testing mechanisms 2 respectively located at opposite ends of the track 1. Each testing box 21 has an opening 217 on one side facing the track 1 that communicates with the testing space 211. The two ends of the track 1 extend into the corresponding testing space 211 from the corresponding opening 217, and the inspection robot can enter the testing space 211 from the opening 217.

[0055] Track 1 is a linear track. There are two test mechanisms 2, one at the start and one at the end of track 1. The inspection robot can be tested once at the start and once at the end. By comparing the data results of the two tests, it can be determined whether the inspection function of the inspection robot is interfered with or malfunctions after inspection. This is helpful for quickly troubleshooting whether the inspection robot is faulty and makes it more reliable.

[0056] In one embodiment, a baffle 216 is provided on the side of the test box 21 facing the track 1 and is detachably connected to the test box 21. An opening 217 is provided on the baffle 216. A connecting rail 218 is provided in the test space 211. The track 1 extends into the test space 211 from the opening 217 and is connected to the end of the connecting rail 218 near the opening 217.

[0057] Understandably, by providing a baffle 216 on one side of the test box 21, and by providing a detachable baffle 216, it is convenient to maintain the test components in the test space 211. A connecting rail 218 is provided in the test space 211 to facilitate the installation and removal of the entire test box 21 on the rail 1.

[0058] In one embodiment, the track 1 is a circular track 1, and the testing mechanism 2 is provided. The test box has openings 217 on opposite sides along the walking direction, which communicate with the testing space 211. The track 1 passes through the two openings 217, and the inspection robot can enter and exit the testing space 211 from the two openings 217 respectively.

[0059] Understandably, track 1 is a circular track 1, which facilitates continuous inspection by the inspection robot. Each inspection cycle passes through test box 21 to complete the test, ensuring that the inspection robot operates without faults and improving the accuracy of the inspection results.

[0060] Specifically, when track 1 is a circular track 1, the inspection robot can also be judged to have malfunctions by comparing the results of the two tests.

[0061] This utility model also proposes a robot inspection system, including an inspection robot and a conveying device 100 for the inspection robot as described above. The inspection robot can walk on track 1. The specific structure of the conveying device 100 for the inspection robot is as described in the above embodiments. Since this robot inspection system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0062] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A transfer device for an inspection robot, characterized in that The inspection robot comprises a track on which the inspection robot can walk, a plurality of illuminating lamps are arranged on the track, the plurality of illuminating lamps are arranged in sequence and at intervals along the walking direction of the inspection robot, each illuminating lamp is provided with a time delay switch electrically connected with the illuminating lamp, a pressing switch corresponding to each illuminating lamp is arranged on the track, the plurality of pressing switches and the plurality of illuminating lamps are arranged alternately along the walking direction, and each pressing switch and the illuminating lamp corresponding thereto are arranged at intervals along the walking direction; the pressing switch is used for enabling the time delay switch to be powered on to turn on the illuminating lamp when the pressing switch is pressed by the inspection robot, and the time delay switch is used for delaying the turning off of the illuminating lamp. The testing mechanism comprises a testing box and a testing module, a testing space is formed in the testing box, and the track passes through the testing space; the testing module is arranged in the testing space, and the testing module comprises a smoke unit for forming smoke in the testing space and a heating unit for heating. The plurality of illuminating lamps are arranged at intervals along the walking direction of the inspection robot, and the distance between each pressing switch and the two illuminating lamps adjacent thereto is equal.

2. The transport device of the patrol robot according to claim 1, wherein, Two sliding grooves extending along the walking direction are formed on the two sides of the track, the openings of the two sliding grooves are arranged oppositely, the inspection robot is slidably hung on the groove bottom walls of the two sliding grooves, and the plurality of pressing switches are arranged on the groove bottom walls of one of the sliding grooves.

3. The transport device of the patrol robot according to claim 1, wherein 4. The conveying device of the inspection robot according to claim 1, wherein The bottom wall of the testing space is concave downward to form a recess, and the bottom of the recess is provided with a mounting groove in communication with the recess; The smoke unit comprises a fan arranged in the mounting groove, smoke particles are accommodated in the recess, a filter screen for isolating the smoke particles is arranged at the communication position between the recess and the mounting groove, and the fan blows air toward the filter screen to blow the smoke particles in the recess toward the testing space through the filter screen. The heating unit comprises two heating groups, and the two heating groups are arranged on the opposite side walls of the testing space, respectively; each heating group comprises a plurality of heating wires arranged at intervals along the walking direction, and each heating wire extends vertically.

5. The transport device of the patrol robot according to claim 1, wherein In each heating group, a plurality of electric heating blocks arranged at intervals along the vertical direction are arranged between any two adjacent heating wires.

6. The transport device of the patrol robot according to claim 5, wherein The track is a linear track, two testing mechanisms are arranged, and the two testing mechanisms are arranged at opposite ends of the track, respectively; each testing box is provided with an opening in communication with the testing space on the side facing the track, and the track extends into the corresponding testing space from the corresponding opening at the two ends, respectively; and the inspection robot can enter the testing space from the opening.

7. The transport device of a patrol robot according to any one of claims 1 to 6, wherein The testing box is provided with a baffle detachably connected with the testing box on the side facing the track, and the opening is arranged on the baffle; and a connecting track is arranged in the testing space, and the track connected with one end of the connecting track close to the opening in the testing space extends into the testing space from the opening.

8. The transport device of the patrol robot according to claim 7, wherein ​ 9. The transport device of a patrol robot according to any one of claims 1 to 6, wherein, The track is a ring-shaped track, the testing mechanism is provided with one, the testing box is respectively provided with two openings in communication with the testing space on opposite sides in the walking direction, the track passes through the two openings, and the inspection robot can enter and exit the testing space from the two openings respectively.

10. A robotic inspection system, comprising: The transmission device comprising the inspection robot and the inspection robot as claimed in any one of claims 1 to 9, wherein the inspection robot can walk on the track.

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