CN111217108B

CN111217108B - A single track robot system of patrolling and examining for extreme environment band conveyer

Info

Publication number: CN111217108B
Application number: CN202010304087.7A
Authority: CN
Inventors: 胡业民; 李开一; 王明和; 杨忠炯; 周科平
Original assignee: Hunan Zhongkuang Jinhe Robotics Research Institute Co ltd
Current assignee: Hunan Zhongkuang Jinhe Robotics Research Institute Co ltd
Priority date: 2020-04-17
Filing date: 2020-04-17
Publication date: 2020-07-14
Anticipated expiration: 2040-04-17
Also published as: CN111217108A

Abstract

The invention discloses a single-rail inspection robot system for an extreme environment belt conveyor, which comprises an angle steel track, at least 1 tractor and at least 1 detection vehicle, wherein the angle steel track consists of an upper side surface and a lower side surface which are perpendicular to each other to form an angle, the tractor and the detection vehicle are connected through a connecting assembly, the tractor and the detection vehicle are arranged on the angle steel track and can walk along the angle steel track, the tractor is connected with a power supply device, the detection vehicle is connected with a detection device, and the power supply device is also electrically connected with the detection device. The invention replaces the original manual inspection, realizes fault detection, early warning and residual life estimation of the carrier roller by monitoring the phenomena of temperature, noise level, surface abrasion, deformation, microcrack, blocking and the like of the carrier roller of the conveying belt by using a robot, provides basis for planned maintenance and timely replacement, thereby reducing the maintenance cost and the production cost and improving the working safety of personnel.

Description

A single track robot system of patrolling and examining for extreme environment band conveyer

Technical Field

The invention belongs to the field of industrial automation, and particularly relates to a monorail inspection robot system for an extreme environment belt conveyor.

Background

The robot technology and the driver technology thereof are used as a strategic high-tech technology, have strong drive and technical radiation for emerging industries in the future, develop the robot technology, the driving technology and the perception technology, and have profound significance for promoting the development of economy and society, enhancing the national defense strength, improving the emergency handling capacity of emergencies, improving the livelihood and the like. At present, robots are widely applied in the field of human-computer interaction, for example, in the industrial field, the robots begin to participate in human labor and cooperate with people to complete tasks; in the service industry, catering service robots, humanoid robots, have also been introduced. Under the extreme environment of a mine, due to the characteristics of high temperature and high humidity and the existence of toxic and harmful gases, the robot is not suitable for human beings to work in the environment for a long time, so that the robot is more required to replace the manual work for operation, and the safety of workers is ensured.

Conveyor belt transportation is widely used in the current mining industry, and unplanned shutdown of a conveyor belt causes huge cost and production loss, and taking a coal mine of the England American resource group as an example, the shutdown causes the loss of more than 100 ten thousand dollars of production per day; another concern is that the conveyor belt is a moving machine element, which is a potential hazard to personnel detecting and working in its vicinity, and statistically 52% of accidents are related to transport, typically occurring during cleaning and maintenance.

The most main mechanisms of the conveying belt are a supporting belt and a bearing carrier roller, nearly 450 carrier rollers are arranged on a small conveying belt with the length of 150m, tens of thousands of carrier rollers are arranged on the conveying belt with the length of several kilometers, and the existing carrier rollers with a large number are mainly overhauled by means of manual inspection.

The total cost of manual inspection is high, potential safety hazards exist in personnel, the inspection speed is low, the total length of belt transportation of a coal department reaches 58 kilometers, time is consumed for manual round-trip, and the influence of weather is large, so that great inconvenience is brought to inspection.

The early warning system capable of remotely and unmanned monitoring the faults of the carrier roller of the conveying belt is extremely necessary for preventive maintenance, maintenance and production cost reduction and improvement of working safety of personnel.

The utility model with the application number of 201721747771.2 discloses an automatic inspection robot for a coal mine belt conveyor, which comprises a rail-type walking unit, a robot control system, a machine case shell, an I-shaped steel rail, inclined bases and upright posts, wherein the rail-type walking unit and the robot control system are arranged in the machine case shell and are erected on the I-shaped steel rail; the rail mounted walking unit includes drive division and direction part, robot control system includes visible light camera, infrared camera, automatically controlled cloud platform, adapter, controller, lithium cell, visible light camera, infrared camera, automatically controlled cloud platform, adapter, controller are connected with the lithium cell respectively. Although the patent discloses a rail-mounted traveling unit and a robot control system, the fixed mode adopted by the robot control system is that the robot control system is erected on a specific I-steel rail, and each working unit of the robot control system is separately installed on the rail-mounted traveling unit, so that the installation structure is complex, the disassembly and assembly are extremely inconvenient, the shooting range of a camera is limited, and the monitoring in a 360-degree range cannot be realized.

The utility model with the Chinese patent application number of 201820943889.0 discloses a rail-hanging type intelligent inspection robot, which comprises a rail, a slider, a rotating shaft and a stepping motor, wherein the inner side of the rail is connected with the slider in a sliding way, the bottom end of the slider is fixedly connected with a connecting rod, the lower surface of a mounting plate is fixedly connected with an inspection camera through screws, the bottom end of the rotating shaft extends to the inner side of a hollow cavity and is fixedly connected with a gear at the bottom end thereof, the side end of the slider is provided with a rack near the gear, the gear and the rack are connected in a meshing way, the top end of the rotating shaft is fixedly connected with a first belt pulley, the output shaft of the stepping motor faces downwards and is fixedly connected with a second belt pulley at the bottom end thereof, the first belt pulley and the second belt pulley are rotationally connected through a belt pulley, thereby the slider can complete transverse movement under the, do benefit to and patrol and examine the steady removal of camera, be convenient for to the steady collection of information of patrolling and examining, convenient and practical. Although this patent discloses a fixing method of the hanging rail, this fixing method is only suitable for a specific return-type rail, and this patent does not disclose a mounting position relation with the inspection camera.

The invention with Chinese patent application number 201811613732.2 discloses a rail type inspection robot, which comprises a box body, wherein an I-shaped mounting strip is arranged above the box body, guide strips are arranged on the upper and lower surfaces inside the I-shaped mounting strip, second rollers are arranged in the middle of the front and rear sides of the I-shaped mounting strip, the outer side surface of each second roller is in contact with the guide strips, positioning shafts are respectively arranged on the front and rear surfaces of each second roller, a third motor is arranged on the upper surface of the box body, belt pulleys are respectively arranged at the end part of an output shaft of the third motor and the end part of each positioning shaft, two fixing rods corresponding to each other in the front and rear direction are arranged on the upper surface of the box body, one end of each positioning shaft penetrates through the belt pulley and is connected with the corresponding fixing rod through a bearing seat, the first motor can drive the fourth gear to rotate, the fourth gear can drive the third gear to rotate, the third gear can drive the, need not artifical the adjustment, conveniently carry out all-round shooting, bring the facility for the use. Although this patent discloses a fixed mode of hanging, this fixed mode only is applicable to specific I-shaped track, and power device and camera are installed respectively at the upper and lower position of box, and the mounting structure of camera and box is complicated, the dismouting is very inconvenient, and need replace the inner member in the aspect of power control and just can realize the power increase, and this makes spare part complicated, influences work efficiency.

Disclosure of Invention

The invention aims to solve the problems, and provides a single-rail inspection robot system for an extreme-environment belt conveyor, which can replace manpower to carry out early detection and early warning on a carrier roller of a conveying belt, reduce the maintenance cost and the production cost, and improve the working safety of personnel.

In order to realize the purpose, the invention adopts the technical scheme that:

the utility model provides a single track patrols and examines robotic system for extreme environment band conveyer, includes angle steel track, 1 at least tractor and 1 at least detection car of constituteing by mutually perpendicular angled form the side of going up and the downside, be connected through coupling assembling between tractor and the detection car, the tractor with it establishes on the angle steel track and can follow the walking of angle steel track to survey the frame, the tractor is connected with power supply unit, it is connected with detection device to survey the car, power supply unit is the tractor and detection device supplies power simultaneously.

Preferably, the tractor includes 2 at least hanging wheels, 2 at least traction wheels, first sealed box and power component, first sealed box sets up in angle steel track top, power component sets up in first sealed box, the hanging wheel sets up the one side at first sealed box to hang the top in angle steel track upper flank, the traction wheel is connected with power component, and walks along angle steel track upper flank.

Preferably, the bottom of first sealed box is provided with the spill trip, the mutual lock in spill trip and the top of angle steel guide downside.

Preferably, the power assembly comprises a motor and a gear assembly, wherein the motor is positioned above the upper side surface and is transversely arranged relative to the upper side surface; the gear assembly comprises 1 driving gear and 2 driven gears, the driven gears are respectively arranged on two sides of the driving gear and meshed with the driving gear, and the driven gears are connected with the traction wheel; one end of the motor is connected with the power supply device, and the other end of the motor is connected with the driving gear.

Preferably, the tractor comprises a first support frame for mounting the power supply device, and the first support frame is arranged on one side of the first sealed box body, which is far away from the suspension wheel; the suspension wheel is buckled on the top of the upper side face of the angle steel track through a groove arranged in the middle.

Preferably, the detection vehicle comprises a second sealed box body, at least 2 traction wheels and at least 2 suspension wheels, the second sealed box body is arranged above the angle steel track, the suspension wheels are arranged on one side of the second sealed box body and suspended at the top of the upper side face of the angle steel track, and the traction wheels are arranged at the bottom of the second sealed box body and walk along the upper side face of the angle steel track.

Preferably, the detection vehicle further comprises a main mounting piece, one end of the main mounting piece is arranged in the second sealing box body, the other end of the main mounting piece extends out of the second sealing box body, the main mounting piece comprises a plurality of mounting plates, the mounting plates are connected through connecting columns, and 2 mounting plates positioned on the outer side of the second sealing box body are mutually clamped with the top of the upper side face of the angle steel track; the suspension wheel is buckled on the top of the upper side face of the angle steel track through a groove arranged in the middle.

Preferably, the probe vehicle comprises a second supporting frame for mounting the detection device, and the second supporting frame is arranged on one side of the second sealed box body, which is far away from the suspension wheel; the second supporting frame comprises a rotating assembly and a frame body, the frame body is movably connected with the second sealing box body through the rotating assembly, and the frame body is provided with a rotatable detection device.

Preferably, the angle steel track and the conveyer belt parallel arrangement that awaits measuring, just angle steel track cross-section is perpendicular with conveyer belt advancing direction, and goes up the side cross-section and be 0-90 slopes along conveyer belt advancing direction's projection and the vertical direction in cross-section, the up side is towards power supply unit with the land surface of being connected of downside.

Preferably, the detection device includes: the device comprises a controller, a sound pick-up, an infrared detector, a video imaging device and an illuminating device; the sound pickup, the infrared detector, the video imaging device and the lighting device are all connected with the controller.

The invention has the beneficial effects that:

1. the invention replaces the original manual inspection, realizes fault detection, early warning and residual life estimation of the carrier roller by monitoring the phenomena of temperature, noise level, surface abrasion, deformation, microcrack, blocking and the like of the carrier roller of the conveying belt by using a robot, provides basis for planned maintenance and timely replacement, thereby reducing the maintenance cost and the production cost and improving the working safety of personnel.

2. The track is made of conventional angle steel, can be customized according to the length, the structure and the topography of an on-site conveying belt, is welded on site in sections, and the angle steel is inclined at a certain angle, so that materials can be prevented from being accumulated on the track.

3. The invention is divided into the tractor and the detection vehicle, thereby reducing the complexity of the structure, realizing the power increase without replacing internal components under the condition of insufficient power, and concretely increasing more combinations of the tractor and the detection vehicle according to the factors of the length of the conveying belt, the terrain requirement, the gravity of the monitoring device and the like, and possibly requiring a plurality of tractors to meet the requirements of larger traction force and larger battery capacity for slope conveying.

4. The power supply device is hung on the track through the tractor, and the monitoring device is hung on the track through the detection vehicle, so that the gravity center of the monitoring device is deviated to the side surface, and the carriage is prevented from swinging.

5. The invention adopts a tractor and probe car combined mode, namely the tractor and the probe car can be connected only through the connecting component, and the quick assembly and disassembly can be realized; and do not interfere with each other in function, even if one of them device goes wrong, only need replace the device that goes wrong and just can work again at once, improved work efficiency.

Drawings

Fig. 1 is a schematic diagram of an application scenario structure of the present invention.

Fig. 2 is a schematic structural view of embodiment 1.

FIG. 3 is a schematic diagram of a first view angle according to the present invention.

Fig. 4 is a schematic diagram of the internal structure of the tractor and the probe car.

FIG. 5 is a schematic diagram of a second perspective view of the present invention.

Fig. 6 is a schematic view of a module connection structure according to the present invention.

Fig. 7 is a schematic structural view of embodiment 2.

Fig. 8 is a schematic structural view of embodiment 3.

1. A bearing roller; 2. an angle steel track; 3. a mounting seat; 4. a power supply device; 5. a tractor; 6. detecting a vehicle; 7. a detection device; 8. a main control room; 9. a first sealed box; 10. a connecting assembly; 11. a second sealed box body; 12. a first support frame; 13. a second support frame; 14. a suspension wheel; 15. a traction wheel; 16. a concave clamping hook; 17. a direction control device; 18. a bearing; 19. a rotating shaft; 21. an upper side surface; 22. a lower side surface; 51. a driven gear; 52. a motor; 53. a drive gear; 61. a primary mount; 611. connecting columns; 612. mounting a plate; 62. a second support frame; 621. a rotating assembly; 622. a frame body; 71. a sound pickup; 72. an infrared detector; 73. a video imaging device; 74. an illumination device.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

Example 1

A single-rail inspection robot system for an extreme environment belt conveyor comprises an angle steel rail 2 consisting of an upper side surface 21 and a lower side surface 22 which are perpendicular to each other to form an angle, 1

tractor

5 and 1 probe vehicle 6, wherein the tractor 5 and the probe vehicle 6 are connected through a connecting component 10, and the connecting component 10 can be a universal hinge; tractor 5 erects on angle steel track 2 and can follow angle steel track 2 walking with detecting car 6, and tractor 5 is connected with power supply unit 4, and detecting car 6 is connected with detection device 7, and power supply unit 4 is tractor 5 and detection device 7 power supply simultaneously.

In the embodiment, the tractor 5 comprises 2

suspension wheels

14, 2 traction wheels 15, a first sealed box 9 and a power assembly, wherein the first sealed box 9 is arranged above the angle iron track 2, and the power assembly is arranged in the first sealed box 9; the suspension wheel 14 is arranged on one side of the first sealed box body 9 and is suspended at the top of the upper side 21 of the angle iron track 2, wherein the suspension wheel 14 can be a roller wheel, a groove is arranged in the middle of the roller wheel, and the roller wheel is buckled at the top of the upper side 21 of the angle iron track 2 through the groove; traction wheel 15 is connected with power component to follow angle steel track 2 and go up 21 walks to the side, the bottom of first sealed box 9 is provided with spill trip 16, the mutual lock in top of

spill trip

16 and 2 downside 22 of angle steel guide rail, realizes through the cooperation of hanging wheel 14 and spill trip 16 that first sealed box 9 hangs on angle steel track 2, and no matter angle steel track 2 is in any angle and can not drop, rocks around can not more.

Wherein, the power assembly comprises a motor 52 and a gear assembly, the motor 52 is positioned above the upper side 21 and is transversely arranged relative to the upper side 21; the gear assembly comprises 1

driving gear

53 and 2 driven gears 51, the driven gears 51 are respectively arranged at two sides of the driving gear 53 and meshed with the driving gear 53, and the driven gears 51 are connected with the traction wheel 15; one end of the motor 52 is connected to the power supply device 4, and the other end is connected to the drive gear 53. The motor 52 may be a servo motor, a stepper motor, or other motor that powers the gear assembly.

In this embodiment, the tractor 5 further comprises a first support frame 12 for mounting the power supply device 4, the first support frame 12 being arranged on a side of the first sealed housing 9 remote from the suspension wheels 14.

In this embodiment, the probe vehicle 6 includes a second sealed

box

11, 2

traction wheels

15 and 2 suspension wheels 14, the second sealed box 11 is disposed above the angle iron rail 2, the suspension wheels 14 are disposed on one side of the second sealed box 11 and suspended on the top of the upper side 21 of the angle iron rail 2, wherein the suspension wheels 14 may be rollers, a groove is disposed in the middle of the roller, and the roller is fastened on the top of the upper side 21 of the angle iron rail 2 through the groove; the traction wheel 15 is arranged at the bottom of the second seal box body 11 and runs along the upper side surface 21 of the angle iron track 2.

In this embodiment, the probe vehicle 6 includes the main installation component 61, one end of the main installation component 61 is disposed in the second sealed box 11, and the other end extends out of the second sealed box 11, the main installation component 61 includes a plurality of mounting plates 612, the mounting plates 612 are connected by a connecting column 611, wherein 2 mounting plates 612 located outside the second sealed box 11 are mutually engaged with the top of the upper side 21 of the angle iron rail 2, in a specific operation, 2 mounting plates 612 located outside the second sealed box 11 form a slot shape to be engaged with the top of the upper side 21 of the angle iron rail 2, and the second sealed box 11 is suspended on the rail by cooperation of engaging action of the suspension wheels 14 and the 2 mounting plates 612, and the angle iron rail 2 cannot fall off at any angle and cannot shake back and forth.

In this embodiment, the probe vehicle 6 further includes a second supporting frame 62 for mounting the detecting device 7, the second supporting frame 62 being disposed on a side of the second airtight box 11 away from the suspension wheel 14; the second supporting frame 62 includes a rotating component 621 and a frame body 622, the frame body 622 is movably connected to the second sealed box 11 through the rotating component 621, and the rotatable detecting device 7 is installed on the frame body 622. In the concrete operation, rotating assembly 621 can drive frame body 622 and realize 360 rotations, and frame body 622 can be the frame construction that comprises 2 horizontal extension boards and 2 vertical extension boards, and detection device 7's both sides are connected with 2 vertical extension boards through articulated mode respectively, make detection device 7 can center on the pin joint luffing motion to detection device 7's all-round multi-angle rotation has been realized.

In this embodiment, the angle steel track 2 and the conveyer belt parallel arrangement that awaits measuring, and 2 sections of angle steel track are perpendicular with conveyer belt advancing direction, and go up 21 sections of side and be 0-90 slopes along the projection of conveyer belt advancing direction and the vertical direction in cross-section, and the up 21 and the terminal surface of being connected of downside 22 face power supply unit 4 to can avoid the material to pile up on the track.

In the present embodiment, the detection device 7 includes: a controller, a sound collector 71, an infrared detector 72, a video imaging device 73, and an illumination device 74; the sound pickup 71, the infrared detector 72, the video imaging device 73 and the lighting device 74 are all connected with the controller. The infrared detector 72 can be used for detecting the temperature of the carrier roller, and when the temperature of the carrier roller is higher, the fact that the friction degree is high at the position is proved, and a fault occurs; the lighting device 74 provides a light source for the video imaging device 73, so that the video imaging device 73 can monitor the abnormal condition of the surface of the carrier roller in a dark place; the sound pick-up 71 can be used for collecting noise generated by the running of the carrier roller, and faults can occur if the noise is abnormal. The controller may also be configured with other information acquisition devices according to the requirements of a specific environment, and is not limited to the devices listed in this embodiment.

The controller can comprise an information storage module, an information processing module and an information transmission module.

In concrete operation, angle steel track 2 is on a parallel with the conveyer belt setting, opens the power, and the motor begins work, thereby the operation of motor control gear subassembly drives the traction wheel motion on the tractor 5, and then the pulling probe car 6 moves along angle steel track 2, and detection device 7 can the luffing motion, can also realize 360 rotations through rotatory component 621 to the realization is to the all-round detection of conveyer belt bearing roller.

The detection device 7 stores the video information collected by the infrared detector 72 and the video imaging device 73 and the audio information collected by the sound pickup 71 in an information storage module of the controller, analyzes and processes the information through an information processing module, and sends the collected information to the main control room 8 through an information transmission module, so that the staff can acquire various data of corresponding positions from the main control room 8, and the fault positions can be accurately positioned.

Example 2

A single-rail inspection robot system for an extreme environment belt conveyor comprises an angle steel rail 2 consisting of an upper side surface 21 and a lower side surface 22 which are perpendicular to each other to form an angle, 2

tractors

5 and 1 probe vehicle 6, wherein the tractors 5 and the probe vehicles 6 are connected through a connecting assembly 10, and the adjacent 2 tractors 5 are connected through the connecting assembly 10, wherein the connecting assembly can be a universal hinge; tractor 5 erects on angle steel track 2 and can follow angle steel track 2 walking with detecting car 6, and tractor 5 is connected with power supply unit 4, and detecting car 6 is connected with detection device 7, and power supply unit 4 is tractor 5 and detection device 7 power supply simultaneously.

In this embodiment, the tractor 5 includes 2

suspension wheels

14, 2 traction wheels 15, a first sealed box 9 and a power assembly, the first sealed box 9 is disposed above the angle iron rail 2, the power assembly is disposed in the first sealed box 9, the suspension wheels 14 are disposed on one side of the first sealed box 9 and suspended on the top of the upper side 21 of the angle iron rail 2, wherein the suspension wheels 14 may be rollers, a groove is disposed in the middle of the rollers, and the rollers are fastened on the top of the upper side 21 of the angle iron rail 2 through the groove; the traction wheel 15 is connected with the power assembly and runs along the upper side 21 of the angle steel rail 2, the bottom of the first sealing box body 9 is provided with a concave clamping hook 16, and the concave clamping hook 16 is buckled with the top of the lower side 22 of the angle steel rail 2.

driving gear

In this embodiment, the probe vehicle 6 includes a second sealed

box

11, 2

traction wheels

Example 3

A single-rail inspection robot system for an extreme environment belt conveyor comprises an angle steel rail 2 consisting of an upper side surface 21 and a lower side surface 22 which are mutually perpendicular to form an angle, 2

tractors

5 and 2 probe vehicles 6, wherein the tractors 5 and the probe vehicles 6 are alternately arranged, and the tractors 5 and the probe vehicles 6 are connected through a connecting component 10 which can be a universal hinge component in specific operation; tractor 5 erects on angle steel track 2 and can follow angle steel track 2 walking with detecting car 6, and tractor 5 is connected with power supply unit 4, and detecting car 6 is connected with detection device 7, and power supply unit 4 is tractor 5 and detection device 7 power supply simultaneously.

In a specific operation, one detection device 7 can be used as a standby device, and when the other detection device 7 fails, the standby detection device 7 is started to continue to work; the tractor 5 connected to the inoperative detection means 7 is used only for power. The motor 52 may be a servo motor, a stepper motor, or other motor that powers the gear assembly.

In this embodiment, the tractor 5 includes 2

suspension wheels

driving gear

In this embodiment, the probe vehicle 6 includes a second sealed

box

11, 2

traction wheels

In this embodiment, angle steel track 2 and the conveyer belt parallel arrangement that awaits measuring, and 2 sections of angle steel track are perpendicular with conveyer belt advancing direction, and go up 21 sections of side and be certain angle slope along conveyer belt advancing direction's projection and the vertical direction in cross-section, go up 21 and the terminal surface of being connected of downside 22 towards power supply unit 4 to can avoid the material to pile up on the track.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims

1. A monorail inspection robot system for an extreme environment belt conveyor is characterized by comprising an angle steel track (2) with an upper side surface (21) and a lower side surface (22) perpendicular to each other to form an angle, at least 1 tractor (5) and at least 1 probe car (6); the tractor (5) and the detection vehicle (6) are connected through a connecting assembly (10), the tractor (5) and the detection vehicle (6) are erected on the angle steel track (2) and can walk along the angle steel track (2), the tractor (5) is connected with a power supply device (4), the detection vehicle (6) is connected with a detection device (7), and the power supply device (4) simultaneously supplies power to the tractor (5) and the detection device (7);

the angle steel track (2) is arranged in parallel with the conveying belt to be detected, the section of the angle steel track (2) is perpendicular to the advancing direction of the conveying belt, the projection of the section of the upper side surface (21) along the advancing direction of the conveying belt is inclined by 0-90 degrees with the vertical direction of the section, and the connecting end surface of the upper side surface (21) and the lower side surface (22) faces the power supply device (4);

the tractor (5) comprises: at least 2 suspension wheels (14), at least 2 traction wheels (15), a first sealed box body (9) and a power assembly; the first sealing box body (9) is arranged above the angle steel track (2), the power assembly is arranged in the first sealing box body (9), and the suspension wheel (14) is arranged on one side of the first sealing box body (9) and is suspended at the top of the upper side surface (21) of the angle steel track (2); the traction wheel (15) is connected with the power assembly and runs along the upper side surface (21) of the angle steel track (2);

the bottom of the first sealing box body (9) is provided with a concave clamping hook (16), and the concave clamping hook (16) is buckled with the top of the lower side surface (22) of the angle steel guide rail (2).

2. The monorail inspection robot system for extreme environment belt conveyors of claim 1, wherein the power assembly comprises a motor (52) and a gear assembly, the motor (52) being located above the upper side surface (21) and being positioned laterally with respect to the upper side surface (21); the gear assembly comprises 1 driving gear (53) and 2 driven gears (51), the driven gears (51) are respectively arranged on two sides of the driving gear (53) and meshed with the driving gear (53), and the driven gears (51) are connected with the traction wheel (15); one end of the motor (52) is connected with the power supply device (4), and the other end of the motor is connected with the driving gear (53).

3. The monorail inspection robot system for extreme-environment belt conveyors according to claim 1, characterized in that the tractor (5) comprises a first support frame (12) for mounting the power supply device (4), the first support frame (12) being arranged on the side of the first sealed box (9) remote from the suspension wheels (14); the suspension wheel (14) is buckled at the top of the upper side surface (21) of the angle iron track (2) through a groove arranged in the middle.

4. The monorail inspection robot system for the extreme environment belt conveyor as claimed in claim 1, wherein the probe car (6) comprises a second sealed box (11), at least 2 traction wheels (15) and at least 2 suspension wheels (14), the second sealed box (11) is arranged above the angle iron rail (2), the suspension wheels (14) are arranged on one side of the second sealed box (11) and suspended on top of the upper side surface (21) of the angle iron rail (2), and the traction wheels (15) are arranged on the bottom of the second sealed box (11) and run along the upper side surface (21) of the angle iron rail (2).

5. The monorail inspection robot system for the extreme environment belt conveyor according to claim 4, characterized in that the probe vehicle (6) further comprises a main mounting member (61), one end of the main mounting member (61) is arranged in the second sealed box body (11), the other end of the main mounting member extends out of the second sealed box body (11), the main mounting member (61) comprises a plurality of mounting plates (612), the mounting plates (612) are connected through a connecting column (611), and 2 mounting plates (612) positioned outside the second sealed box body (11) are mutually clamped with the top of the upper side surface (21) of the angle steel track (2); the suspension wheel (14) is buckled at the top of the upper side surface (21) of the angle iron track (2) through a groove arranged in the middle.

6. The monorail inspection robot system for extreme-environment belt conveyors according to claim 5, characterized in that the probe car (6) comprises a second support frame (62) for mounting the detection device (7), the second support frame (62) being arranged on the side of the second sealed box (11) remote from the suspension wheel (14); the second supporting frame (62) comprises a rotating assembly (621) and a frame body (622), the frame body (622) is connected with the second sealing box body (11) through the rotating assembly (621), and the rotatable detection device (7) is mounted on the frame body (622).

7. The monorail inspection robot system for extreme-environment belt conveyors according to claim 1, characterized in that the detection device (7) comprises: a controller, a sound collector (71), an infrared detector (72), a video imaging device (73) and an illuminating device (74); the sound pick-up device (71), the infrared detector (72), the video imaging device (73) and the lighting device (74) are all connected with the controller.