CN112623660A - Belt conveyor inspection robot - Google Patents
Belt conveyor inspection robot Download PDFInfo
- Publication number
- CN112623660A CN112623660A CN202110022262.8A CN202110022262A CN112623660A CN 112623660 A CN112623660 A CN 112623660A CN 202110022262 A CN202110022262 A CN 202110022262A CN 112623660 A CN112623660 A CN 112623660A
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- robot
- belt conveyor
- detection
- section steel
- module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/04—Control devices, e.g. for safety, warning or fault-correcting detecting slip between driving element and load-carrier, e.g. for interrupting the drive
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of monitoring and protecting of belt conveyors, in particular to a belt conveyor inspection robot which is small in occupied space, energy-saving, environment-friendly and convenient to install, and comprises profile steel and a detection robot taking the profile steel as a walking track; the profile steel is provided with a charging coil module; the detection robot comprises a robot body, and a power wheel, a permanent magnet, a magnetic induction charging module and a detection system which are arranged on the robot body; the power wheel is used for driving the detection robot to walk along the section steel; the permanent magnet is used for providing an adsorption force between the detection robot and the section steel; the charging coil module supplies power to the power wheel through the magnetic induction charging module; the detection system is driven by the detection robot to walk on the section steel, so that the conveyor is patrolled and examined. The invention has the advantages of reasonable integral structure design, convenient installation, sensitive application, environmental protection, energy conservation and good stability.
Description
Technical Field
The invention relates to the technical field of monitoring and protection of belt conveyors, in particular to a belt conveyor inspection robot.
Background
The belt conveyor has the characteristics of continuous work, high stability, large transportation capacity and the like, and is widely applied to the industrial production fields of mines, metallurgy, coal, electric power, ports, cement and the like. The belt conveyor generally exists with whole conveying system, many overlap joints, and is numerous, and wherein cross country belt conveyor, unit are long from several kilometers to ten odd miles, and the distance is long, and the fault point is many, and the manual work is patrolled and examined inefficiency, if discover the trouble untimely, the minor fault easily evolves into major failure, arouses the incident even, seriously influences whole conveying system's work efficiency.
At present, most of the existing belt conveyors mainly adopt manual inspection, so that the inspection efficiency is low, and the labor intensity of inspection workers is high; a few belt conveyors adopt inspection robots to inspect, the conventional robots comprise wheel type inspection robots, crawler type inspection robots and rail type inspection robots, wherein the rail type inspection robots generally independently erect rails, and the investment in the early stage is increased. For example, chinese patent 201910591134.8 discloses a robot inspection system for a belt conveyor and an inspection method thereof, including an inspection robot body which is disposed on a walking guide rail and has a walking mechanism moving on the walking guide rail, the walking guide rail is mounted on the belt conveyor and located between an upper layer of carrier rollers and a lower layer of carrier rollers of the belt conveyor; the charging pile and the dust removal device are arranged on the outer side of the walking guide rail and are arranged corresponding to the position of the inspection robot body; however, in the technical scheme, the walking guide rail needs to be erected independently, so that the occupied space is large, and the early investment cost is high. Chinese patent CN202010562681.6 discloses a steel wire rope traction type coal mine underground belt conveyor circulation detection system, which comprises an aerial cableway system, a rope clip, a belt conveyor state monitoring device and a monitoring background system, wherein the aerial cableway system is driven to operate by power supplied by a power grid, so that the belt conveyor state monitoring device on the aerial cableway system can stably patrol along the upper part of a conveyor belt of the belt conveyor, and a storage battery arranged on the belt conveyor state monitoring device is only used for providing electric energy of sensing and communication equipment, so that the service life of the battery is prolonged; the belt conveyor state monitoring devices are mutually base stations, and can be used for positioning the inspection site in real time through the wireless radio frequency module arranged on the conveyor belt and uploading data information. But the technical scheme has complex structure and inconvenient installation.
Disclosure of Invention
The invention aims to provide a belt conveyor inspection robot which is small in occupied space, energy-saving, environment-friendly and convenient to install.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a belt conveyor inspection robot comprises profile steel and a detection robot taking the profile steel as a walking track; the profile steel is provided with a charging coil module; the detection robot comprises a robot body, and a power wheel, a permanent magnet, a magnetic induction charging module and a detection system which are arranged on the robot body; the power wheel is used for driving the detection robot to walk along the section steel; the permanent magnet is used for providing an adsorption force between the detection robot and the section steel; the magnetic induction charging module is wirelessly connected with the power wheel, and the charging coil module supplies power to the power wheel through the magnetic induction charging module; the detection system is used for inspecting the belt conveyor, and the detection robot drives the detection system to walk on the section steel, so that the conveyor is inspected.
Further, the charging coil module is connected with charging pile, and charging pile supplies power for the charging coil module to provide electric energy for detection robot. The charging post is preferably solar charged.
Furthermore, two electromagnets are arranged on the section steel; the two electromagnets are oppositely arranged with the same polarity; the robot body is also provided with a Hall sensor; when the detection robot walks to between two electromagnets, the hall sensor has a voltage output, and the voltage size is directly proportional with the displacement size, and when the detection robot walks to between two electromagnets, the magnetic induction intensity of hall sensor is zero, regard the intermediate position of two electromagnets as the zero point of detection robot displacement this moment for gather the displacement condition of detection robot.
Further, two the straight line at electro-magnet place is parallel with the direction of delivery of conveyer, and one of them electro-magnet is close to the tail end of shaped steel, and another electro-magnet is close to the top of shaped steel, the charging coil module is located between two electro-magnets, utilizes the mode that detects magnetic pole on the track to charge the location, accurate location.
Furthermore, the two power wheels are arranged on one side of the robot body close to the section steel, and each power wheel comprises a roller, a gear for driving the roller to roll and a driving device (such as a motor) for driving the gear to rotate; the driving device is positioned in the roller and is wirelessly connected with the magnetic induction charging module, and the charging coil module supplies power to the driving device through the magnetic induction charging module; the gear is positioned above the roller and connected with the driving device, and the section steel is provided with a guide mechanism meshed with the gear; when the detection robot walks, the driving device drives the gear to rotate, the gear is meshed with the guide mechanism on the section steel, and the function that the power wheel drives the detection robot to walk along the length direction of the section steel is realized.
Furthermore, the permanent magnet is positioned on one side of the power wheel and is connected with the robot body through a support rod; the magnetic induction charging module and the Hall sensor are positioned between the two power wheels.
Further, the bottom of the robot body is provided with a supporting wheel used for supporting the detection robot, and the supporting wheel travels along with the power wheel, so that the detection robot travels more smoothly.
Further, the detection system comprises a detection module and a signal transceiving antenna; the detection module is in wireless connection with the terminal through the signal receiving and transmitting antenna and is used for collecting data of field equipment operation and carrying out wireless communication and data exchange on the data and the terminal through the signal receiving and transmitting antenna.
Further, detection module includes equipment such as adapter, camera, temperature measurement sensor, light filling lamp, signal transceiver antenna is used for gathering site environment sound, the camera is used for shooing site conditions, temperature measurement sensor is used for testing operating mode temperature, the light filling lamp is used for carrying out light compensation to the scene, has improved and has patrolled and examined the effect.
Further, one side of the robot body, which is far away from the section steel, is provided with an upper cover, the upper cover is connected with the detection module through a support, and the signal receiving and transmitting antenna is arranged on the upper cover.
Further, the terminal comprises an industrial personal computer, a mobile phone and other equipment.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention directly uses the intermediate frame steel of the belt conveyor as the walking track, thereby saving the cost, reasonably utilizing the space and being easy to maintain;
2. the invention adopts the permanent magnet design to provide the adsorption force for detecting the robot main body, saves energy, and is stable and reliable;
3. the invention adopts the charging pile to provide electric energy, is energy-saving and environment-friendly, adopts a wireless charging technology, and is simple and efficient;
4. the invention carries out charging positioning by detecting the magnetic poles on the track, and accurately positions.
The invention has the advantages of reasonable integral structure design, convenient installation, sensitive application, environmental protection, energy conservation and good stability.
Drawings
FIG. 1 is a schematic diagram of the structural principle of a belt conveyor inspection robot, a charging pile and section steel;
FIG. 2 is a schematic diagram of the principle of the main structure of the inspection robot of the belt conveyor of the invention;
FIG. 3 is a rear view of FIG. 2 in accordance with the present invention;
fig. 4 is a right side view of fig. 2 of the present invention.
In the figure, 1-shaped steel, 2-detection robot, 3-charging coil module, 4-magnet, 5-charging pile, 6-power wheel, 7-robot body, 8-permanent magnet, 9-supporting wheel, 10-upper cover, 11-magnetic induction charging module, 12-Hall sensor, 13-detection module, 14-signal receiving and transmitting antenna, 15-supporting rod, 16-support, 601-roller, 602-gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings of the specification.
Example 1:
as shown in fig. 1 and 2, the belt conveyor inspection robot according to the embodiment includes a section steel 1 and a detection robot 2 using the section steel 1 as a traveling track; the section steel 1 is provided with a charging coil module 3; the detection robot 2 comprises a robot body 7, and a power wheel 6, a permanent magnet 8, a magnetic induction charging module 11 and a detection system which are arranged on the robot body 7; the power wheel 6 is used for driving the detection robot 2 to walk along the section steel 1; the permanent magnet 8 is used for providing the adsorption force between the detection robot 2 and the section steel 1; the magnetic induction charging module 11 is wirelessly connected with the power wheel 6, and the charging coil module 3 supplies power to the power wheel 6 through the magnetic induction charging module 11; the detection system is used for inspecting the belt conveyor, and the detection robot 2 drives the detection system to walk on the section steel 1, so that the conveyor is inspected.
As shown in fig. 1, the charging coil module 3 is connected with a charging pile 5, and the charging pile 5 supplies power to the charging coil module 3, so as to provide electric energy for the detection robot 2; the charging pile 5 is charged by solar energy.
As shown in fig. 1 and 2, two electromagnets 4 are further arranged on the section steel 1; the two electromagnets 4 are oppositely arranged with the same polarity; the robot body 7 is also provided with a Hall sensor 12; when the detection robot 2 walks to between two electromagnets 4, hall sensor 12 has a voltage output, and the voltage size is directly proportional with the displacement size, and when the detection robot 2 walked to between two electromagnets 4, hall sensor 12's magnetic induction was zero, regard the intermediate position of two electromagnets 4 as the zero point of detection robot 2 displacement this moment for gather the displacement condition of detection robot 2.
As shown in fig. 1, the straight lines where the two electromagnets 4 are located are parallel to the conveying direction of the conveyor, one of the electromagnets 4 is close to the tail end of the section steel 1, the other electromagnet 4 is close to the start end of the section steel 1, and the charging coil module 3 is located between the two electromagnets 4, and is charged and positioned in a manner of detecting magnetic poles on a track, so that the positioning is performed accurately.
As shown in fig. 2, the two power wheels 6 are arranged on one side of the robot body 7 close to the section steel 1, and each power wheel 6 comprises a roller 601, a gear 602 for driving the roller 601 to roll, and a motor (not shown in the figure) for driving the gear 602 to rotate; the motor is positioned in the roller 601 and is wirelessly connected with the magnetic induction charging module 11, and the charging coil module 3 supplies power to the motor through the magnetic induction charging module 11; the gear 602 is positioned above the roller 601 and is connected with a motor, and a guide mechanism (not shown in the figure) meshed with the gear 602 is arranged on the section steel 1; when walking, motor drive gear 602 rotates, and gear 602 meshes with the guiding mechanism on shaped steel 1 mutually, has realized that power wheel 6 drives the function of detecting robot 2 along shaped steel 1 length direction walking.
As shown in fig. 2, the permanent magnet 8 is positioned on one side of the power wheel 6 and is connected with the robot body 7 through a support rod 15; the magnetic induction charging module 11 and the hall sensor 12 are located between the two power wheels 6.
As shown in fig. 3 and 4, the bottom of the robot body 7 is provided with a support wheel 9, and the support wheel 9 follows the power wheel 6 to walk.
As shown in fig. 2 and 4, an upper cover 10 is arranged on one side of the robot body 7 away from the section steel 1, the upper cover 10 is connected with the detection module 13 through a bracket 16, and the signal transceiving antenna 14 is arranged on the upper cover 10; the detection system comprises a detection module 13 and a signal transceiving antenna 14; the detection module 13 is wirelessly connected with a computer through a signal transceiving antenna 14, and the detection module 13 is used for collecting data of field equipment operation and performing wireless communication and data exchange on the data and a terminal through the signal transceiving antenna 14; detection module 13 includes equipment such as adapter, camera, temperature sensor, light filling lamp (not shown in the figure), signal transceiver antenna is used for gathering site environment sound, the camera is used for shooing site work condition, temperature sensor is used for testing operating mode temperature, the light filling lamp is used for carrying out light compensation to the scene, has improved and has patrolled and examined the effect.
The working principle is as follows:
according to the invention, the permanent magnet 8 provides an adsorption force between the detection robot 2 and the section steel 1, so that the detection robot 2 can walk along the section steel 1, during walking, the charging coil module 3 supplies power to the power wheel 6 through the magnetic induction charging module 11, the detection robot 2 is driven by the power wheel 6, and meanwhile, the supporting wheel 9 walks along with the power wheel 6 and supplies power to the charging coil module 3 through the charging pile 5; in the walking process of the detection robot 2, the belt conveyor is patrolled and examined through the detection module 13, and the acquired data is wirelessly communicated and exchanged with the terminal through the signal receiving and transmitting antenna 14. The invention not only realizes the inspection by using the middle frame steel 1 of the conveyor as the walking track and reasonably utilizes the space, but also solves the problem of inconvenient power supply by charging and positioning in a mode of detecting the magnetic poles on the track.
Example 2:
the belt conveyor inspection robot related to the embodiment has the structure basically the same as that of the embodiment 1, and the difference is only that: fill electric pile 5 and be connected with the electricity distribution room through the cable, supply power through the electricity distribution room.
The above embodiments are only specific examples of the present invention, and the protection scope of the present invention includes but is not limited to the product forms and styles of the above embodiments, and any suitable changes or modifications made by those skilled in the art according to the claims of the present invention shall fall within the protection scope of the present invention.
Claims (11)
1. The utility model provides a belt conveyor patrols and examines robot which characterized in that: comprises a section steel (1) and a detection robot (2) taking the section steel (1) as a walking track; the section steel (1) is provided with a charging coil module (3); the detection robot (2) comprises a robot body (7), and a power wheel (6), a permanent magnet (8), a magnetic induction charging module (11) and a detection system which are arranged on the robot body (7); the power wheel (6) is used for driving the detection robot (2) to walk along the section steel (1); the permanent magnet (8) is used for providing an adsorption force between the detection robot (2) and the section steel (1); the magnetic induction charging module (11) is wirelessly connected with the power wheel (6), and the charging coil module (3) supplies power to the power wheel (6) through the magnetic induction charging module (11).
2. The belt conveyor inspection robot according to claim 1, wherein: charging coil module (3) with fill electric pile (5) and be connected, fill electric pile (5) and supply power for charging coil module (3).
3. The belt conveyor inspection robot according to claim 2, wherein: the charging pile (5) is charged by solar energy.
4. The belt conveyor inspection robot according to claim 1, 2, or 3, wherein: the section steel (1) is also provided with two electromagnets (4); the two electromagnets (4) are oppositely arranged with the same polarity; the robot body (7) is also provided with a Hall sensor (12).
5. The belt conveyor inspection robot according to claim 4, wherein: the straight line that two electro-magnet (4) place is parallel with the direction of delivery of conveyer, and one of them electro-magnet (4) is close to the tail end of shaped steel (1), and another electro-magnet (4) is close to the top of shaped steel (1), charging coil module (3) are located between two electro-magnets (4).
6. The belt conveyor inspection robot according to claim 1, 2, 3, or 5, wherein: the robot is characterized in that the number of the power wheels (6) is two, the two power wheels are arranged on one side, close to the section steel (1), of the robot body (7), and each power wheel (6) comprises a roller (601), a gear (602) for driving the roller (601) to roll and a driving device for driving the gear (602) to rotate; the driving device is positioned in the roller (601) and is wirelessly connected with the magnetic induction charging module (11); the gear (602) is positioned above the roller (601) and connected with a driving device, and the section steel (1) is provided with a guide structure meshed with the gear (602).
7. The belt conveyor inspection robot according to claim 1, 2, 3, or 5, wherein: the permanent magnet (8) is positioned on one side of the power wheel (6) and is connected with the robot body (7) through a support rod (15); the magnetic induction charging module (11) and the Hall sensor (12) are positioned between the two power wheels (6).
8. The belt conveyor inspection robot according to claim 6, wherein: and the bottom of the robot body (7) is provided with a supporting wheel (9).
9. The belt conveyor inspection robot according to any one of claims 1, 2, 3, 5, and 8, wherein: the detection system comprises a detection module (13) and a signal transceiving antenna (14); the detection module (13) is in wireless connection with the terminal through a signal transceiving antenna (14).
10. The belt conveyor inspection robot according to claim 9, wherein: detection module (13) include adapter, camera, temperature sensor, light filling lamp equipment, signal transceiver antenna is used for gathering site environment sound, the camera is used for shooing site work condition, temperature sensor is used for testing operating mode temperature, the light filling lamp is used for carrying out light compensation to the scene.
11. The belt conveyor inspection robot according to claim 9, wherein: one side of the robot body (7) departing from the section steel (1) is provided with an upper cover (10), the upper cover (10) is connected with the detection module (13) through a support (16), and the signal receiving and transmitting antenna (14) is arranged on the upper cover (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110022262.8A CN112623660A (en) | 2021-01-08 | 2021-01-08 | Belt conveyor inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110022262.8A CN112623660A (en) | 2021-01-08 | 2021-01-08 | Belt conveyor inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN112623660A true CN112623660A (en) | 2021-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110022262.8A Pending CN112623660A (en) | 2021-01-08 | 2021-01-08 | Belt conveyor inspection robot |
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| CN (1) | CN112623660A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326524A (en) * | 2021-12-30 | 2022-04-12 | 杭州电子科技大学 | Distributed cable tunnel inspection system and detection evaluation method |
| CN114313884A (en) * | 2022-02-24 | 2022-04-12 | 枣庄矿业集团新安煤业有限公司 | Intelligent inspection robot for conveyor belt |
-
2021
- 2021-01-08 CN CN202110022262.8A patent/CN112623660A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326524A (en) * | 2021-12-30 | 2022-04-12 | 杭州电子科技大学 | Distributed cable tunnel inspection system and detection evaluation method |
| CN114313884A (en) * | 2022-02-24 | 2022-04-12 | 枣庄矿业集团新安煤业有限公司 | Intelligent inspection robot for conveyor belt |
| CN114313884B (en) * | 2022-02-24 | 2023-12-01 | 枣庄矿业集团新安煤业有限公司 | Intelligent inspection robot for conveyor belt |
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