CN114313884B - Intelligent inspection robot for conveyor belt - Google Patents
Intelligent inspection robot for conveyor belt Download PDFInfo
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- CN114313884B CN114313884B CN202210172666.XA CN202210172666A CN114313884B CN 114313884 B CN114313884 B CN 114313884B CN 202210172666 A CN202210172666 A CN 202210172666A CN 114313884 B CN114313884 B CN 114313884B
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- 238000007689 inspection Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 118
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 45
- 239000010959 steel Substances 0.000 claims abstract description 45
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 239000000428 dust Substances 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 13
- 230000009471 action Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 238000004220 aggregation Methods 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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Abstract
The utility model discloses an intelligent inspection robot for a conveyor belt, which relates to the technical field of monitoring and protection of belt conveyors and comprises a limiting mechanism and a travelling mechanism, wherein the limiting mechanism is symmetrically and fixedly arranged in a support frame, the limiting mechanism is slidably arranged on a steel rail, the travelling mechanism is rotatably arranged on an adjusting group at the top of the support frame, a cleaning mechanism is rotatably arranged on a shell at the top of the support frame, and the travelling mechanism moves on the steel rail when rotating and drives the cleaning mechanism to clean dust on the steel rail; the camera is arranged at the bottom of the support frame, the obstacle avoidance mechanism is driven by a conveyor belt to cover the camera completely, two groups of expansion mechanisms are symmetrically arranged on a horizontal sliding rod at the bottom of the support frame, the obstacle avoidance mechanism respectively drives the two groups of expansion mechanisms to slide on the horizontal sliding rod through the two groups of transmission mechanisms, and a gas sensor on the expansion mechanisms detects combustible gas in a working environment. Is suitable for the steel rails with different types, the working environment is safe, and the degree of automation is high.
Description
Technical Field
The utility model relates to the technical field of monitoring and protecting of belt conveyors, in particular to an intelligent inspection robot for a belt of a conveyor.
Background
The belt conveyor has the characteristics of continuous operation, 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 in the whole conveying system, a plurality of belt conveyors are overlapped, the number of belt conveyors is numerous, the single machine of the cross-country belt conveyor is from a few kilometers to a dozen kilometers long, the distance is long, the fault points are many, the manual inspection efficiency is low, if the fault is not found timely, the small fault is easy to develop into a major fault, even a safety accident is caused, and the working efficiency of the whole conveying system is seriously influenced. At present, most of the existing belt conveyors are mainly manually inspected, so that the inspection efficiency is low, and the labor intensity of inspection workers is high; very few belt conveyors have adopted inspection robots to inspect, and current robots are conventional to have wheeled inspection robots, crawler-type inspection robots, track-type inspection robots, wherein wheeled inspection robots generally carry out fixed-point inspection, but are difficult to use in extreme road conditions and unsettled transportation occasions.
The publication number CN214732076U discloses a belt conveyor inspection robot, which comprises profile steel and a detection robot taking the profile steel as a walking track; a charging coil module is arranged on the section steel; the detection robot comprises a robot body, a power wheel, a permanent magnet, a magnetic induction charging module and a detection system, wherein the power wheel, the permanent magnet, the magnetic induction charging module and the detection system 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 profile steel, so that the conveyor is inspected. The utility model has reasonable overall structure design, convenient installation, sensitive application, environmental protection, energy conservation and good stability.
But to track robot when the inspection, when meetting the pile material, often can collide with the material, not only can spill the material after the collision, the dead conveyer of card and make the conveyer belt impaired, still can damage inspection robot, and when walking on the track, inevitably there are ash and stone, and the during operation of robot is higher to the requirement of walking track face cleanliness factor, so need a conveyer belt intelligence inspection robot.
Disclosure of Invention
Aiming at the technical problems, the utility model adopts the following technical scheme: the intelligent inspection robot for the conveyor belt comprises a limiting mechanism, a travelling mechanism, a main body mechanism and an obstacle avoidance mechanism, wherein the main body mechanism comprises a supporting frame and an adjusting group, the limiting mechanism is symmetrically and fixedly arranged inside the supporting frame, the limiting mechanism is slidably arranged on a steel rail, the adjusting group is divided into two groups, the adjusting group is symmetrically and slidably arranged at the top of the supporting frame, the travelling mechanism is rotatably arranged on the two groups of the adjusting groups, the top of the supporting frame is provided with a shell, a cleaning mechanism is rotatably arranged on the shell, and the travelling mechanism moves on the steel rail when rotating to drive the cleaning mechanism to clean dust on the steel rail; the center position of the bottom of the support frame is provided with a camera, the obstacle avoidance mechanism is arranged at the bottom of the support frame, the obstacle avoidance mechanism is driven by a conveyor belt to cover the camera completely, a pair of vertical sliding rods are arranged in the vertical direction of the edge of the support frame, two groups of transmission mechanisms are symmetrically arranged between the vertical sliding rods and the obstacle avoidance mechanism, the horizontal direction of the bottom of the support frame is provided with a horizontal sliding rod, two groups of expansion mechanisms are symmetrically and slidably arranged on the horizontal sliding rod, the obstacle avoidance mechanism drives the two groups of expansion mechanisms to slide on the horizontal sliding rod through the two groups of transmission mechanisms respectively, and a gas sensor is arranged on each group of expansion mechanisms to detect combustible gas in a working environment.
Further, stop gear includes spacing, friction pulley, and spacing fixed mounting is inside the support frame, and four groups are altogether to the friction pulley, and the even rotation of friction pulley is installed on four angles of spacing, and spacing middle part rotation is installed spacing. Two groups of limiting mechanisms are arranged on the track of the steel rail, four groups of friction wheels limit the walking track of the robot, and the limiting wheels increase the walking friction force, so that the contact point is firmer, and the robot is ensured to walk stably on the steel rail.
Further, the adjusting group comprises a shaft seat and an adjusting spring, the bottom of the shaft seat is fixedly provided with a shaft seat rod, the shaft seat rod is slidably arranged at the top of the supporting frame, the adjusting spring is arranged between the shaft seat rod and the supporting frame, the adjusting spring is slidably arranged on the shaft seat rod, and the first group of shaft seats is fixedly provided with a driving motor. According to the height of the steel rail, the adjusting group adjusts the distance between the travelling mechanism and the upper surface of the steel rail, adapts to the steel rails with different models, and ensures the running of the robot on the steel rail.
Further, the travelling mechanism comprises a travelling wheel and a driving gear, wherein the travelling wheel is arranged between the two groups of adjusting groups, the travelling wheel is rotatably arranged on the two groups of shaft seats, the travelling wheel is fixedly arranged on an output shaft of the driving motor, the driving gear is rotatably arranged on the second group of shaft seats, the driving gear and the travelling wheel are coaxial, and the driving gear and the travelling wheel are fixedly arranged. The driving motor drives the travelling wheel to rotate, and the travelling wheel drives the driving gear to rotate.
Further, the cleaning mechanism comprises a driven gear and a cleaning brush, wherein the driven gear is rotatably arranged inside the shell, the cleaning brush is rotatably arranged outside the shell, the driven gear is fixedly arranged with the cleaning brush, and the cleaning brush is meshed with the driving gear. The cleaning brush is driven to rotate when the driving gear rotates, and the driven gear is driven to rotate by the cleaning brush, so that dust on the steel rail is cleaned when the driven gear rotates.
Further, keep away barrier mechanism and including keeping away the baffle, two sets of reset group, keep away the baffle and rotate and install in the support frame bottom, reset group symmetry is installed and is kept away the baffle both ends, reset group includes reset lever, reset spring, reset lever first end slidable mounting is on keeping away the baffle, reset lever second end slidable mounting support frame bottom, reset spring sets up between keeping away baffle and support frame, reset spring slidable mounting is on reset lever. The obstacle drives the obstacle avoidance plate to swing at the bottom of the support frame, the obstacle avoidance plate drives the reset rod to swing on the support frame, and the reset spring is compressed until the obstacle avoidance plate completely covers the camera; when no obstacle exists, the reset spring assists the obstacle avoidance plate to restore to the initial position.
Further, the transmission mechanism comprises a turntable and a sliding pin, the turntable is rotatably arranged at the bottom of the support frame, a fixing pin is arranged on the turntable and fixedly connected with the obstacle avoidance plate, the sliding pin is slidably arranged on the vertical sliding rod, a connecting rod is rotatably connected between the sliding pin and the turntable, and a driving rod is rotatably arranged at the bottom of the sliding pin. The baffle plate drives the turntable to rotate through the fixing pin, the turntable drives the sliding pin to slide on the vertical sliding rod through the connecting rod, and the sliding pin drives the driving rod to swing.
Further, the expansion mechanism comprises a sliding seat and a swinging frame, wherein the sliding seat is slidably arranged on the horizontal sliding rod, the driving rod is rotatably arranged on the upper part of the sliding seat, the swinging frame is rotatably arranged at the bottom of the sliding seat, the gas sensor is fixedly arranged on the swinging frame, the swinging frame is rotatably provided with swinging rods, and the two groups of swinging rods are rotatably connected. When the driving rod swings, the two groups of sliding seats are driven to move in opposite directions on the horizontal sliding rod, and under the action of the two groups of rocking bars, the swinging frame is driven to swing, so that the detection range of the gas sensor is enlarged.
Compared with the prior art, the utility model has the beneficial effects that: (1) The cleaning mechanism provided by the utility model cleans the track surface to be walked, and avoids the damage of dust and stones to the walking wheels; (2) The walking mechanism and the adjusting group provided by the utility model enable the walking wheels to adapt to steel rails of different types, ensure the running of the robot on the steel rails and simultaneously provide power for the cleaning mechanism; (3) According to the limiting mechanism provided by the utility model, the four groups of friction wheels limit the walking track of the robot, and the limiting wheels increase the walking friction force, so that the contact point is firmer, and the robot is ensured to stably walk on the steel rail; (4) The obstacle avoidance mechanism provided by the utility model can automatically avoid obstacles by using obstacle driving, and the detection of the camera is not interrupted in the rotation process of the obstacle avoidance plate; (5) According to the utility model, the transmission mechanism and the expansion mechanism are arranged, materials are piled up, the possibility of flammable gas aggregation is increased, and the detection range of the gas sensor is enlarged through the transmission mechanism and the expansion mechanism when obstacle avoidance is performed, so that the safety of a working environment is ensured.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model.
Fig. 2 is a schematic view of the working state of the present utility model.
Fig. 3 is a front view of the overall structure of the present utility model.
Fig. 4 is a right side view of the overall structure of the present utility model.
Fig. 5 is a schematic cross-sectional view in the direction of fig. 3 A-A.
Reference numerals: 1-a body mechanism; 101-supporting frames; 102-regulatory group; 103-driving a motor; 104-a vertical slide bar; 105-horizontal slide bar; 106-a housing; 10201-axle seat; 10202-shaft seat bar; 10203-adjusting spring; 2-a travelling mechanism; 201-travelling wheels; 202-a drive gear; 3-a cleaning mechanism; 301-driven gear; 302-cleaning brush; 4-a limiting mechanism; 401-a limiting frame; 402-limiting wheels; 403-friction wheel; 5-an obstacle avoidance mechanism; 501-a barrier plate; 502-resetting groups; 50201-reset lever; 50202-return spring; 6-a transmission mechanism; 601-a turntable; 602-a connecting rod; 603-sliding pins; 604-a drive rod; 60101-fixing pins; 7-an expansion mechanism; 701-sliding seat; 702-a swing frame; 703-a rocker; 8-a gas sensor; 9-camera.
Detailed Description
The technical scheme of the utility model is further described below by the specific embodiments with reference to the accompanying drawings.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Examples: the intelligent inspection robot for the conveyor belt comprises a limiting mechanism 4, a travelling mechanism 2, a main body mechanism 1 and an obstacle avoidance mechanism 5, wherein the main body mechanism 1 comprises a supporting frame 101 and two adjusting groups 102, the limiting mechanism 4 is symmetrically and fixedly arranged inside the supporting frame 101, the limiting mechanism 4 is slidably arranged on steel rails, the two adjusting groups 102 are respectively arranged, the adjusting groups 102 are symmetrically and slidably arranged at the top of the supporting frame 101, the travelling mechanism 2 is rotatably arranged on the two adjusting groups 102, a shell 106 is arranged at the top of the supporting frame 101, a cleaning mechanism 3 is rotatably arranged on the shell 106, the travelling mechanism 2 moves on the steel rails when rotating, and the cleaning mechanism 3 is driven to clean dust on the steel rails; the center position of the bottom of the supporting frame 101 is provided with a camera 9, the obstacle avoidance mechanism 5 is arranged at the bottom of the supporting frame 101, the obstacle avoidance mechanism 5 driven by a conveyor belt completely covers the camera 9, a pair of vertical sliding rods 104 are arranged in the vertical direction of the edge of the supporting frame 101, two groups of transmission mechanisms 6 are symmetrically arranged between the vertical sliding rods 104 and the obstacle avoidance mechanism 5, a horizontal sliding rod 105 is arranged in the horizontal direction of the bottom of the supporting frame 101, two groups of expansion mechanisms 7 are symmetrically and slidably arranged on the horizontal sliding rod 105, the obstacle avoidance mechanism 5 drives the two groups of expansion mechanisms 7 to slide on the horizontal sliding rod 105 through the two groups of transmission mechanisms 6 respectively, and a gas sensor 8 is arranged on each group of expansion mechanisms 7 to detect combustible gas in a working environment.
As shown in fig. 1, fig. 2 and fig. 3, the main body mechanism 1, the adjusting group 102 is two groups, the two adjusting groups 102 are symmetrically and slidably mounted at the top of the supporting frame 101, the adjusting group 102 comprises an axle seat 10201, an axle seat rod 10202 and an adjusting spring 10203, the axle seat rod 10202 is fixedly mounted at the bottom of the axle seat 10201, the axle seat rod 10202 is slidably mounted at the top of the supporting frame 101, the adjusting spring 10203 is arranged between the axle seat rod 10202 and the supporting frame 101, the adjusting spring 10203 is slidably mounted on the axle seat rod 10202, the driving motor 103 is fixedly mounted on the first group of axle seat 10201, the adjusting group 102 adjusts the distance between the travelling mechanism 2 and the upper surface of the steel rail according to the height of the steel rail, the adjusting spring 10203 compresses to adapt to the operation of the robot on the steel rail, the camera 9 is fixedly mounted at the center of the bottom of the supporting frame 101, a pair of vertical sliding rods 104 are arranged at the edge of the supporting frame 101, the horizontal sliding rods 105 are arranged at the bottom of the horizontal direction of the supporting frame 101, and the casing 106 is fixedly mounted at the top of the supporting frame 101.
As shown in fig. 1 and 5, the limiting mechanisms 4 are two groups, the limiting mechanisms 4 are symmetrically arranged inside the supporting frame 101, the limiting frame 401 is fixedly arranged inside the supporting frame 101, the friction wheels 403 are four groups, the friction wheels 403 are uniformly rotatably arranged on four corners of the limiting frame 401, and the limiting wheels 402 are rotatably arranged in the middle of the limiting frame 401. Two groups of limiting mechanisms 4 are arranged on the steel rail, friction wheels 403 are in contact with the rails of the steel rail, four groups of friction wheels 403 limit the walking rails of the robot, and the limiting wheels 402 increase the walking friction force, so that the contact point is firmer, and the robot is ensured to walk stably on the steel rail.
As shown in fig. 1 and 4, in the travelling mechanism 2, a travelling wheel 201 is disposed between two groups of adjustment groups 102, the travelling wheel 201 is rotatably mounted on two groups of shaft seats 10201, the travelling wheel 201 is fixedly mounted on an output shaft of a driving motor 103, a driving gear 202 is rotatably mounted on a second group of shaft seats 10201, the driving gear 202 and the travelling wheel 201 are coaxial, and the driving gear 202 and the travelling wheel 201 are fixedly mounted. The driving motor 103 drives the travelling wheel 201 to rotate, the travelling wheel 201 drives the driving gear 202 to rotate, and the adjusting group 102 adjusts the distance between the travelling wheel 201 and the upper surface of the steel rail, so that the robot can stably run on the rail.
As shown in fig. 1 and 5, the brush 302 is rotatably mounted on the outside of the housing 106, the driven gear 301 is fixedly mounted to the brush 302, and the brush 302 is engaged with the driving gear 202. When the driving gear 202 rotates, the cleaning brush 302 is driven to rotate, the driven gear 301 is rotatably arranged inside the shell 106, the cleaning brush 302 drives the driven gear 301 to rotate, and when the driven gear 301 rotates, dust on a steel rail is cleaned, so that the travelling wheel 201 runs more stably on the steel rail.
As shown in fig. 1, 3 and 4, the obstacle avoidance mechanism 5 is provided with an obstacle avoidance plate 501 rotatably installed at the bottom of a supporting frame 101, the obstacle drives the obstacle avoidance plate 501 to swing at the bottom of the supporting frame 101, two reset groups 502 are provided, the reset groups 502 are symmetrically installed at two ends of the obstacle avoidance plate 501, each reset group 502 comprises a reset rod 50201 and a reset spring 50202, a first end of the reset rod 50201 is slidably installed on the obstacle avoidance plate 501, a second end of the reset rod 50201 is slidably installed at the bottom of the supporting frame 101, the reset spring 50202 is arranged between the obstacle avoidance plate 501 and the supporting frame 101, the reset spring 50202 is slidably installed on the reset rod 50201, the reset rod 50201 is driven by the obstacle avoidance plate 501 to swing on the supporting frame 101, and the reset spring 50202 is compressed until the camera 9 is completely covered by the obstacle avoidance plate 501; when no obstacle is present, the return spring 50202 assists the obstacle avoidance plate 501 in returning to the initial position.
As shown in fig. 1 and fig. 4, the transmission mechanisms 6 are two groups, the two groups of transmission mechanisms 6 are symmetrically arranged at two ends of the obstacle avoidance plate 501, the turntable 601 is rotatably arranged at the bottom of the supporting frame 101, a fixing pin 60101 is arranged on the turntable 601, the fixing pin 60101 is fixedly connected with the obstacle avoidance plate 501, the obstacle avoidance plate 501 drives the turntable 601 to rotate through the fixing pin 60101, a connecting rod 602 is rotatably connected between the sliding pin 603 and the turntable 601, a first end of the connecting rod 602 is rotatably arranged on the turntable 601, a second end of the connecting rod 602 is rotatably arranged on the sliding pin 603, the sliding pin 603 is slidably arranged on the vertical sliding rod 104, the turntable 601 drives the sliding pin 603 to slide on the vertical sliding rod 104 through the connecting rod 602, a driving rod 604 is rotatably arranged at the bottom of the sliding pin 603, and the sliding pin 603 drives the driving rod 604 to swing.
As shown in fig. 1 and 3, two groups of expansion mechanisms 7 are provided, the two groups of expansion mechanisms 7 are symmetrically arranged at two ends of the supporting frame 101, one group of transmission mechanisms 6 corresponds to one group of expansion mechanisms 7, a driving rod 604 is rotatably arranged at the upper part of the sliding seat 701, the sliding seat 701 is slidably arranged on the horizontal sliding rod 105, and the driving rod 604 drives the two groups of sliding seats 701 to move on the horizontal sliding rod 105 in opposite directions when swinging; the rocker 702 is rotatably arranged at the bottom of the sliding seat 701, the rocker 703 is rotatably arranged on the rocker 702, the two groups of rockers 703 are rotatably connected, the rocker 702 is driven to swing under the action of the two groups of rockers 703, the gas sensor 8 is fixedly arranged on the rocker 702, and the swing of the rocker 702 enlarges the detection range of the gas sensor 8.
Working principle: when the robot is required to carry out the inspection, the two groups of limiting mechanisms 4 are arranged on the steel rail, the friction wheels 403 are in contact with the rails of the steel rail, the four groups of friction wheels 403 limit the walking rails of the robot, and the limiting wheels 402 increase the walking friction force, so that the contact point is firmer, and the robot is ensured to walk stably on the steel rail.
The distance between the travelling wheel 201 and the upper surface of the steel rail is adjusted by the adjusting group 102, the adjusting spring 10203 is compressed, the travelling wheel 201 is in close contact with the upper surface of the steel rail, the driving motor 103 is started, the travelling wheel 201 is driven by the driving motor 103 to rotate, the driving gear 202 is driven by the travelling wheel 201 to rotate, and the robot is ensured to stably run on the track; when the driving gear 202 rotates, the cleaning brush 302 is driven to rotate, the cleaning brush 302 drives the driven gear 301 to rotate, dust on a steel rail is cleaned when the driven gear 301 rotates, the travelling wheel 201 is enabled to run on the steel rail more stably, the camera 9 detects the environmental condition near the conveyor belt, and the gas sensor 8 detects combustible gas in the working environment.
When obstacles are arranged on a conveyor belt, the situation that flammable gas is easily accumulated in the places where the obstacles are accumulated, the obstacle drives the obstacle avoidance plate 501 to swing at the bottom of the supporting frame 101, the obstacle avoidance plate 501 drives the reset rod 50201 to swing on the supporting frame 101, and the reset spring 50202 compresses until the obstacle avoidance plate 501 completely covers the camera 9, so that the camera 9 is protected from being damaged; in the process, the baffle plate 501 drives the turntable 601 to rotate through the fixing pin 60101, the turntable 601 drives the sliding pin 603 to slide downwards on the vertical sliding rod 104 through the connecting rod 602, the sliding pin 603 drives the driving rod 604 to swing, the driving rod 604 drives the two groups of sliding seats 701 to move on the horizontal sliding rod 105 in opposite directions when swinging, the swinging frame 702 is driven to swing under the action of the two groups of rocking bars 703, the detection range of the gas sensor 8 is enlarged, the safety of the working environment is ensured, and the barrier is dispersed to a certain extent under the action of the baffle plate 501.
After the obstacle is evacuated, the obstacle avoidance plate 501 is not interfered any more, the reset spring 50202 assists the obstacle avoidance plate 501 to restore to the initial position, and in the same way, the obstacle avoidance plate 501 drives the expansion mechanism 7 to restore to the initial position through the transmission mechanism 6, and the expansion mechanism 7 drives the gas sensor 8 to restore to the initial position.
With the rotation of the travelling wheel 201, the robot is driven to carry out omnibearing inspection on the working condition on the conveyor belt.
The present utility model is not limited to the above-described embodiments, and various modifications are possible within the scope of the present utility model without inventive labor, as those skilled in the art will recognize from the above-described concepts.
Claims (4)
1. The utility model provides a robot is patrolled and examined to conveyer belt intelligence, includes stop gear (4), running gear (2), its characterized in that: the novel anti-collision device comprises a main body mechanism (1) and an obstacle avoidance mechanism (5), wherein the main body mechanism (1) comprises a support frame (101) and an adjusting group (102), a limiting mechanism (4) is symmetrically and fixedly installed inside the support frame (101), the limiting mechanism (4) is slidably installed on a steel rail, the adjusting group (102) is divided into two groups, the adjusting group (102) is symmetrically and slidably installed at the top of the support frame (101), the adjusting group (102) comprises an axle seat (10201) and an adjusting spring (10203), an axle seat rod (10202) is fixedly installed at the bottom of the axle seat (10201), the axle seat rod (10202) is slidably installed at the top of the support frame (101), the adjusting spring (10203) is arranged between the axle seat rod (10202) and the support frame (101), and a driving motor (103) is fixedly installed on the axle seat (10201) of the first group.
The travelling mechanism (2) is rotatably arranged on the two groups of adjusting groups (102), a shell (106) is arranged at the top of the supporting frame (101), the cleaning mechanism (3) is rotatably arranged on the shell (106), and the travelling mechanism (2) moves on the steel rail when rotating to drive the cleaning mechanism (3) to clean dust on the steel rail; the camera (9) is arranged at the center of the bottom of the supporting frame (101), the obstacle avoidance mechanism (5) is arranged at the bottom of the supporting frame (101), the obstacle avoidance mechanism (5) is driven by an obstacle on a conveyor belt to completely cover the camera (9), the obstacle avoidance mechanism (5) comprises an obstacle avoidance plate (501) and two groups of reset groups (502), the obstacle avoidance plate (501) is rotatably arranged at the bottom of the supporting frame (101), the reset groups (502) are symmetrically arranged at two ends of the obstacle avoidance plate (501), each reset group (502) comprises a reset rod (50201) and a reset spring (50202), a first end of each reset rod (50201) is slidably arranged on the obstacle avoidance plate (501), a second end of each reset rod (50201) is slidably arranged at the bottom of the supporting frame (101), and each reset spring (50202) is arranged between the obstacle avoidance plate (501) and the supporting frame (101) and is slidably arranged on the reset rods (50201);
a pair of vertical sliding rods (104) are arranged in the vertical direction of the edge of the support frame (101), two groups of transmission mechanisms (6) are symmetrically arranged between the vertical sliding rods (104) and the obstacle avoidance mechanisms (5), horizontal sliding rods (105) are arranged at the bottom of the support frame (101) in the horizontal direction, two groups of expansion mechanisms (7) are symmetrically arranged on the horizontal sliding rods (105) in a sliding manner, the obstacle avoidance mechanisms (5) respectively drive the two groups of expansion mechanisms (7) to slide on the horizontal sliding rods (105) through the two groups of transmission mechanisms (6), and a gas sensor (8) is arranged on each group of expansion mechanisms (7) to detect combustible gas in a working environment;
the transmission mechanism (6) comprises a rotary table (601) and a sliding pin (603), the rotary table (601) is rotatably arranged at the bottom of the supporting frame (101), a fixing pin (60101) is arranged on the rotary table (601), the fixing pin (60101) is fixedly connected with the obstacle avoidance plate (501), the sliding pin (603) is slidably arranged on the vertical sliding rod (104), a connecting rod (602) is rotatably connected between the sliding pin (603) and the rotary table (601), and a driving rod (604) is rotatably arranged at the bottom of the sliding pin (603);
the expansion mechanism (7) comprises a sliding seat (701) and a swinging frame (702), wherein the sliding seat (701) is slidably arranged on the horizontal sliding rod (105), a driving rod (604) is rotatably arranged on the upper portion of the sliding seat (701), the swinging frame (702) is rotatably arranged at the bottom of the sliding seat (701), a gas sensor (8) is fixedly arranged on the swinging frame (702), a rocker (703) is rotatably arranged on the swinging frame (702), and two groups of rockers (703) are rotatably connected.
2. The intelligent inspection robot for conveyor belts of claim 1, wherein: the limiting mechanism (4) comprises a limiting frame (401) and friction wheels (403), wherein the limiting frame (401) is fixedly installed inside the supporting frame (101), the friction wheels (403) are in four groups, the friction wheels (403) are uniformly and rotatably installed on four corners of the limiting frame (401), and the limiting wheels (402) are rotatably installed in the middle of the limiting frame (401).
3. The intelligent inspection robot for conveyor belts of claim 1, wherein: the travelling mechanism (2) comprises travelling wheels (201) and a driving gear (202), wherein the travelling wheels (201) are arranged between two groups of adjusting groups (102), the travelling wheels (201) are rotatably arranged on two groups of shaft seats (10201), the travelling wheels (201) are fixedly arranged on an output shaft of a driving motor (103), the driving gear (202) is rotatably arranged on a second group of shaft seats (10201), the driving gear (202) and the travelling wheels (201) are coaxial, and the driving gear (202) and the travelling wheels (201) are fixedly arranged.
4. A conveyor belt intelligent inspection robot according to claim 3, characterized in that: the cleaning mechanism (3) comprises a driven gear (301) and a cleaning brush (302), wherein the driven gear (301) is rotatably arranged inside the shell (106), the cleaning brush (302) is rotatably arranged outside the shell (106), the driven gear (301) is fixedly arranged with the cleaning brush (302), and the cleaning brush (302) is meshed with the driving gear (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172666.XA CN114313884B (en) | 2022-02-24 | 2022-02-24 | Intelligent inspection robot for conveyor belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172666.XA CN114313884B (en) | 2022-02-24 | 2022-02-24 | Intelligent inspection robot for conveyor belt |
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| Publication Number | Publication Date |
|---|---|
| CN114313884A CN114313884A (en) | 2022-04-12 |
| CN114313884B true CN114313884B (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210172666.XA Active CN114313884B (en) | 2022-02-24 | 2022-02-24 | Intelligent inspection robot for conveyor belt |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115180367B (en) * | 2022-08-06 | 2024-01-09 | 山西华智弘兴科技有限公司 | Belt conveying belt foreign matter recognition device |
| CN116381564B (en) * | 2023-06-02 | 2023-08-11 | 常州世博电气有限公司 | Medium-voltage ring main unit capable of automatically detecting fault points |
| CN117842622A (en) * | 2024-01-18 | 2024-04-09 | 徐州奔蓝机械科技有限公司 | Remote control inspection robot for mining rubber belt conveyor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN210850247U (en) * | 2019-07-02 | 2020-06-26 | 北京约基工业股份有限公司 | Robot inspection system for belt conveyor |
| CN112623660A (en) * | 2021-01-08 | 2021-04-09 | 力博重工科技股份有限公司 | Belt conveyor inspection robot |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN113873108A (en) * | 2021-08-23 | 2021-12-31 | 广东大唐国际潮州发电有限责任公司 | Non-contact intelligent inspection device for coal conveying belt |
-
2022
- 2022-02-24 CN CN202210172666.XA patent/CN114313884B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN210850247U (en) * | 2019-07-02 | 2020-06-26 | 北京约基工业股份有限公司 | Robot inspection system for belt conveyor |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN112623660A (en) * | 2021-01-08 | 2021-04-09 | 力博重工科技股份有限公司 | Belt conveyor inspection robot |
| CN113873108A (en) * | 2021-08-23 | 2021-12-31 | 广东大唐国际潮州发电有限责任公司 | Non-contact intelligent inspection device for coal conveying belt |
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| CN114313884A (en) | 2022-04-12 |
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