CN114918895A

CN114918895A - Intelligent inspection robot for pipe belt machine

Info

Publication number: CN114918895A
Application number: CN202210587004.9A
Authority: CN
Inventors: 乔冬强; 梁克勤; 魏鸿滨; 张广杰; 王锦绣; 王志国
Original assignee: Beijing Zhongsheng Bofang Intelligent Technology Co ltd; Huaneng Zuoquan Coal Power Co ltd
Current assignee: Beijing Zhongsheng Bofang Intelligent Technology Co ltd; Huaneng Zuoquan Coal Power Co ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-08-19
Anticipated expiration: 2042-05-26
Also published as: CN114918895B

Abstract

The invention discloses an intelligent inspection robot for a pipe belt machine, and belongs to the technical field of pipe belt machines. The driving mechanism enables the robot to run on the guide rail, the driving mechanism utilizes the two moving mechanisms to clamp the rail and drive the robot to move, and the thermal imager with the holder and the video monitor judge the abnormal condition of the belt; thermal imaging system can the temperature anomaly of real-time detection belt and bearing roller, when exceeding the setting value, automatic alarm, and do the suggestion, the arrival and the operational aspect of the scintillation suggestion robot of warning light, unusual sound detection mechanism can be according to rules such as the tone quality of sound and frequency, AI intelligent analysis, when the sound of abnormal frequency appears, transmit unusual data to warning light, show through alarm light, light radar keeps away barrier sensor and emergency stop button, prevent that the robot from taking place proruption state among the operation process, prevent the collision.

Description

Intelligent inspection robot for pipe belt machine

Technical Field

The invention relates to the technical field of pipe belt machines, in particular to an intelligent inspection robot of a pipe belt machine.

Background

The pipe belt conveyer is a novel conveyer combining pipe conveying and belt conveying, has the advantages of large conveying inclination angle, small curvature radius, small cross-sectional area of a machine body, three-dimensional space bending conveying, no deviation of a conveying belt, convenience for arrangement, maintenance and management of a conveying line and the like, but the lumpiness of materials is limited by the width of the conveying belt, and the pipe belt conveyer is not suitable for occasions (except for a guide roller type tubular belt conveyer) with short conveying lines and multiple receiving or discharging. The device is used for conveying various block and powder materials such as coal, ore, grain, cement, paper pulp, concrete and the like.

Patent number CN202022841056.3 discloses a robot is patrolled and examined to clean mechanism and pipe belt conveyor, includes: a mounting frame; the cleaning brush is directly or indirectly arranged on the mounting rack; and the follow-up mechanism is suitable for driving the cleaning brush to do sweeping motion under the action of driving force. Optionally, the following mechanism comprises: the first rotating assembly is suitable for rotating and moving parallel to the first axis under the action of driving force; and the second rotating assembly is directly or indirectly driven by the first rotating assembly and rotates around the second axis. Optionally, the first axis is disposed at an angle to the second axis. Optionally, the first axis is perpendicular to the second axis. Optionally, the first rotating assembly includes: the driven wheel is directly driven to rotate by the driving force; the driven wheel is driven to rotate by the driven wheel; and the synchronous transmission part is directly or indirectly connected with the driven wheel and the driven wheel, so that the driven wheel and the driven wheel synchronously rotate.

This patent overcomes the easy dirty defect of robot orbit of patrolling and examining among the prior art, nevertheless can't solve the manual work and patrol and examine that intensity of labour is big, inefficiency and discover untimely problem.

Disclosure of Invention

Technical problem to be solved

The invention aims to provide an intelligent inspection robot of a pipe-in-pipe machine, which aims to solve the problems in the background technology.

Technical scheme

The intelligent inspection robot for the pipe belt machine comprises a robot and a guide rail, wherein the robot is clamped and installed at two ends of the guide rail and moves by taking the guide rail as a path, the robot comprises an outer installation box, a regulating and controlling mechanism, a positioning box, a thermal image and video monitoring belt holder, a driving mechanism, an abnormal sound detection mechanism and an alarm prompt lamp, the regulating and controlling mechanism is installed on the side end face of the outer installation box, the positioning box is installed at the top end of the outer installation box, the thermal image and video monitoring belt holder is installed on the lower end face of the outer installation box, a guide rail is laid along the pipe belt machine, the robot runs in a reciprocating mode by taking the guide rail as the path, the robot carries the thermal image and video monitoring belt holder, a thermal imager sensor can perform thermal imaging induction on measuring equipment, and a video monitoring camera in the thermal image and video monitoring belt holder can monitor the movement of an object, the temperature state of a belt carrier roller on a real-time detection site is detected, abnormal temperature is found, a machine is stopped, an inner cavity of the positioning box is provided with a driving mechanism, an abnormal sound detection mechanism is installed on the side end face of the outer installation box, an alarm prompt lamp is arranged below the abnormal sound detection mechanism, the abnormal sound detection mechanism is an abnormal sound detection sensor, the abnormal sound detection mechanism is triggered to operate after abnormal sound is detected, abnormal data are transmitted to the alarm prompt lamp, and the abnormal data are displayed through alarm light.

Preferably, the robot further comprises a connection line, and the regulating and controlling mechanism, the positioning box, the thermal image and video monitoring belt holder, the driving mechanism, the abnormal sound detecting mechanism and the alarm prompting lamp are electrically connected through the connection line.

Preferably, regulation and control mechanism keeps away the barrier sensor including regulation and control mounting panel, emergency stop button and laser radar, the preceding terminal surface of regulation and control mounting panel is provided with two sets of laser radar and keeps away the barrier sensor, the emergency stop button has been seted up at the preceding terminal surface edge of regulation and control mounting panel, and the laser radar who sets up keeps away the barrier sensor, can real-time supervision device and the interval of object, collides with people or object when preventing the robot motion. When the worker finds the whole device.

Preferably, actuating mechanism is including holding frame, mounting bracket, brake mechanism, hanging mechanism and moving mechanism, the up end edge one side that holds the frame is provided with brake mechanism, hold the up end of frame and install the mounting bracket, the up end both sides that hold the frame all are provided with and hang mechanism, one side hold the both ends of frame and install moving mechanism, actuating mechanism's setting makes the robot can move on the guide rail, and actuating mechanism utilizes two moving mechanism to press from both sides tight track, drives the robot and removes.

Preferably, the mounting bracket includes support body, side roof-rack, side crown wheel and tandem axle, the side roof-rack has been seted up at the up end edge of support body, the centre gripping of side roof-rack is provided with the side crown wheel, the inner chamber of side crown wheel has cup jointed the tandem axle, the upper and lower both ends face of side roof-rack is inserted at the upper and lower both ends of tandem axle, makes the side crown wheel can use the tandem axle to rotate as the fulcrum, and the outer wall of the interior terminal surface laminating guide rail of side crown wheel carries out the centre gripping through the side crown wheel that sets up and two sets of moving mechanism to the guide rail, has improved the centre gripping stability of device to the guide rail.

Preferably, the side top wheel is arranged opposite to the suspension mechanism.

Preferably, brake mechanism includes brake riser, equipment piece and brake pad, the equipment piece is installed to the outer terminal surface of brake riser, the equipment piece runs through the inner chamber and the brake pad swing joint of brake riser.

Preferably, the guide rail is an i-shaped transverse bar-shaped member, the side end face of the moving mechanism is attached to the vertical wall of the guide rail, and the upper wall and the lower wall of the other side are both attached to the upper end face and the lower end face of the suspension mechanism.

Advantageous effects

Compared with the prior art, the invention has the advantages that:

1. the driving mechanism enables the robot to run on the guide rail, and the driving mechanism utilizes the two moving mechanisms to clamp the rail to drive the robot to move.

2. Judging the abnormal condition of the belt by a thermal imager with a holder and video monitoring; the thermal imager can detect the temperature abnormity of the belt and the carrier roller in real time, and when the temperature abnormity exceeds a set value, the thermal imager automatically alarms and prompts.

3. The robot is prompted to arrive and run by the flickering alarm lamp.

4. Abnormal sound detection mechanism can be according to rules such as tone quality and frequency of sound, AI intelligent analysis, when the sound of abnormal frequency appears, transmits abnormal data to warning light, shows through warning light.

5. The optical radar obstacle avoidance sensor and the emergency stop button prevent the robot from generating an emergency state in the operation process, prevent collision and provide safety guarantee for the whole device.

Drawings

FIG. 1 is a schematic view of the overall structure of the intelligent inspection robot of the pipe-in-pipe machine of the invention;

FIG. 2 is a schematic structural view of a robot for the intelligent inspection robot of the pipe belt conveyor;

FIG. 3 is a schematic diagram of the robot and the guide rail of the intelligent inspection robot for the pipe-in-pipe machine according to the present invention;

fig. 4 is a schematic structural view of a driving mechanism of the intelligent inspection robot of the pipe belt conveyor.

The numbering in the figures illustrates: 1. a robot; 11. an outer mounting box; 12. a regulating mechanism; 121. regulating and controlling the mounting plate; 122. an emergency stop button; 123. a laser radar obstacle avoidance sensor; 13. a positioning box; 14. thermal imagery and video monitoring belt cloud deck; 15. a drive mechanism; 151. a containing rack; 152. a mounting frame; 1521. a frame body; 1522. a side top frame; 1523. a side top wheel; 1524. a tandem axle; 153. a brake mechanism; 1531. a brake vertical plate; 1532. assembling the blocks; 1533. a brake pad; 154. a suspension mechanism; 155. a moving mechanism; 16. an abnormal sound detection means; 17. an alarm prompt lamp; 18. connecting the line; 2. a guide rail.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Referring to fig. 1-4, the present invention provides a technical solution:

the intelligent inspection robot for the pipe belt machine comprises a robot 1 and a guide rail 2, wherein the robot 1 is installed at two ends of the guide rail 2 in a clamping mode, the robot 1 moves by taking the guide rail 2 as a path, the robot 1 comprises an outer installation box 11, a regulating mechanism 12, a positioning box 13, a thermal image and video monitoring belt holder 14, a driving mechanism 15, an abnormal sound detection mechanism 16 and an alarm prompt lamp 17, the regulating mechanism 12 is installed on the side end face of the outer installation box 11, the positioning box 13 is installed at the top end of the outer installation box 11, the thermal image and video monitoring belt holder 14 is installed on the lower end face of the outer installation box 11, a guide rail 2 is laid along the pipe belt machine, the robot 1 runs in a reciprocating mode by taking the guide rail 2 as the path, the thermal image and video monitoring belt holder 14 is carried on the robot 1, a thermal image sensor can conduct thermal imaging induction on measuring equipment, and a video monitoring camera in the thermal image and video monitoring belt holder 14 can monitor the movement of an object, the robot comprises a robot 1, a regulating mechanism 12, a positioning box 13, a thermal imagery and video monitoring belt holder 14, a driving mechanism 15, an abnormal sound detection mechanism 16, an alarm prompting lamp 17, an abnormal sound detection sensor, a thermal imagery and video monitoring belt holder 18, an abnormal sound detection mechanism 16 and an alarm prompting lamp 17, wherein the temperature state of a field belt carrier roller is detected in real time, abnormal temperature is found, the robot stops the machine, the driving mechanism 15 is arranged in an inner cavity of the positioning box 13, the abnormal sound detection mechanism 16 is arranged on the side end face of an outer installation box 11, the alarm prompting lamp 17 is arranged below the abnormal sound detection mechanism 16, the abnormal sound detection mechanism 16 is an abnormal sound detection sensor, the abnormal sound detection mechanism 16 is triggered to operate after abnormal sound is detected, abnormal data are transmitted to the alarm prompting lamp 17 and displayed through alarm light, the robot further comprises a connection line 18, and the regulating mechanism 12, the positioning box 13, the thermal imagery and video monitoring belt holder 14, the driving mechanism 15, the abnormal sound detection mechanism 16 and the alarm prompting lamp 17 are electrically connected through the connection line 18.

Example 2

Regulation and control mechanism 12 keeps away barrier sensor 123 including regulation and control mounting panel 121, urgent stop button 122 and laser radar, and the preceding terminal surface of regulation and control mounting panel 121 is provided with two sets of laser radar and keeps away barrier sensor 123, and urgent stop button 122 has been seted up at the preceding terminal surface edge of regulation and control mounting panel 121, and the laser radar who sets up keeps away barrier sensor 123, interval that can real-time supervision device and object prevents that the robot from colliding with people or object when moving. When the worker finds the entire device.

Example 3

Actuating mechanism 15 is including holding frame 151, the mounting bracket 152, brake mechanism 153, hang mechanism 154 and moving mechanism 155, the up end edge one side that holds frame 151 is provided with brake mechanism 153, hold the up end of frame 151 and install mounting bracket 152, the up end both sides that hold frame 151 all are provided with and hang mechanism 154, moving mechanism 155 is installed at the both ends that one side held frame 151, actuating mechanism 15 sets up and makes robot 1 can move on guide rail 2, actuating mechanism 15 utilizes two moving mechanism 155 to press from both sides tight track, drive robot 1 removes.

Embodiment 4 the mounting bracket 152 comprises a bracket body 1521, a side top bracket 1522, a side top wheel 1523 and a serial shaft 1524, the upper end surface edge of the bracket body 1521 is provided with the side top bracket 1522, the middle of the side top bracket 1522 is clamped with the side top wheel 1523, the cavity of the side top wheel 1523 is sleeved with the serial shaft 1524, the upper end and the lower end of the serial shaft 1524 are inserted into the upper end surface and the lower end surface of the side top bracket 1522, so that the side top wheel 1523 can rotate by taking the serial shaft 1524 as a pivot, the inner end surface of the side top wheel 1523 is attached to the outer wall of the guide rail 2, the guide rail 2 is clamped by the side top wheel 1523 and two sets of moving mechanisms 155, the clamping stability of the device to the guide rail 2 is improved, the side top wheel 1523 is placed opposite to the suspension mechanism 154, the brake mechanism 153 comprises a brake riser 1531, an assembly block 1532 and a brake block 1533, the outer end surface of the brake riser 1531 is provided with the assembly block 1532, the assembly block 1532 penetrates through the cavity of the brake riser 1531 and is movably connected to the brake block 1533, the guide rail 2 is an i-shaped cross bar member, the side end surface of the moving mechanism 155 is attached to the vertical wall of the guide rail 2, and the upper and lower walls of the other side are both attached to the upper and lower end surfaces of the hanging mechanism 154.

In addition to this: a guide rail 2 is laid along a pipe belt machine, the robot 1 runs in a reciprocating mode by taking the guide rail 2 as a path, the robot 1 carries a thermal image and video monitoring belt holder 14, a thermal imager sensor can conduct thermal imaging induction on measuring equipment, a video monitoring camera in the thermal image and video monitoring belt holder 14 can monitor the movement of an object, the temperature state of a field belt carrier roller is detected in real time, abnormal temperature is found, the machine stops, an abnormal sound detection mechanism 16 is an abnormal sound detection sensor, the abnormal sound detection mechanism 16 is triggered to run after abnormal sound is detected, abnormal data are transmitted to an alarm prompt lamp 17 and displayed through alarm light, an obstacle avoidance sensor 123 of a laser radar is arranged, the distance between the device and the object can be monitored in real time, and the robot is prevented from colliding with a person or the object during movement. When the worker finds the entire device.

The working principle is as follows: the video monitoring is used as a video inspection record, so that the inquiry can be facilitated in the future, and the personnel can be assisted in inspecting the site in real time; the thermal imager is convenient to inquire in the future according to the video record of thermal imaging, and meanwhile, the thermal imager can detect the temperature state of a field belt carrier roller in real time, find abnormal temperature, stop the machine, prompt the position, give an alarm prompt and remind a control room operator to confirm and process.

In summary, the following steps: a guide rail 2 is laid along a pipe belt machine, the robot 1 runs in a reciprocating mode by taking the guide rail 2 as a path, the robot 1 carries a thermal image and video monitoring belt holder 14, a thermal imager sensor can conduct thermal imaging induction on measuring equipment, a video monitoring camera in the thermal image and video monitoring belt holder 14 can monitor the movement of an object, the temperature state of a field belt carrier roller is detected in real time, abnormal temperature is found, the machine stops, an abnormal sound detection mechanism 16 is an abnormal sound detection sensor, the abnormal sound detection mechanism 16 is triggered to run after abnormal sound is detected, abnormal data are transmitted to an alarm prompt lamp 17 and displayed through alarm light, an obstacle avoidance sensor 123 of a laser radar is arranged, the distance between the device and the object can be monitored in real time, and the robot is prevented from colliding with a person or the object during movement.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, which fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Pipe tape unit intelligence patrols and examines robot, including robot (1) and guide rail (2), robot (1) are installed to the both ends centre gripping of guide rail (2), robot (1) uses guide rail (2) to remove its characterized in that as the route: robot (1) is including outer install bin (11), regulation and control mechanism (12), location box (13), thermal imagery and video monitoring area cloud platform (14), actuating mechanism (15), unusual sound detection mechanism (16) and warning notice lamp (17), regulation and control mechanism (12) are installed to the side end face of outer install bin (11), location box (13) are installed on the top of outer install bin (11), thermal imagery and video monitoring area cloud platform (14) are installed to the lower terminal surface of outer install bin (11), the inner chamber of location box (13) is provided with actuating mechanism (15), unusual sound detection mechanism (16) are installed to the side end face of outer install bin (11), the below of unusual sound detection mechanism (16) is provided with warning notice lamp (17).

2. The intelligent inspection robot of the pipe belt machine according to claim 1, characterized in that: the robot (1) further comprises a connection line (18), and the regulating and controlling mechanism (12), the positioning box (13), the thermal image and video monitoring belt holder (14), the driving mechanism (15), the abnormal sound detection mechanism (16) and the alarm prompt lamp (17) are all electrically connected through the connection line (18).

3. The intelligent inspection robot of the pipe-in-pipe machine according to claim 1, characterized in that: regulation and control mechanism (12) keep away barrier sensor (123) including regulation and control mounting panel (121), emergency stop button (122) and laser radar, the preceding terminal surface of regulation and control mounting panel (121) is provided with two sets of laser radar and keeps away barrier sensor (123), emergency stop button (122) have been seted up to the preceding terminal surface edge of regulation and control mounting panel (121).

4. The intelligent inspection robot of the pipe-in-pipe machine according to claim 1, characterized in that: actuating mechanism (15) including holding frame (151), mounting bracket (152), brake mechanism (153), hanging mechanism (154) and moving mechanism (155), the up end edge one side that holds frame (151) is provided with brake mechanism (153), hold the up end of frame (151) and install mounting bracket (152), the up end both sides that hold frame (151) all are provided with hangs mechanism (154), one side hold the both ends of frame (151) and install moving mechanism (155).

5. The intelligent inspection robot of the pipe belt machine according to claim 4, characterized in that: mounting bracket (152) are including support body (1521), side roof-rack (1522), side crown wheel (1523) and tandem axle (1524), side roof-rack (1522) have been seted up at the up end edge of support body (1521), the centre gripping of side roof-rack (1522) is provided with side crown wheel (1523), the inner chamber of side crown wheel (1523) has cup jointed tandem axle (1524), the upper and lower both ends of tandem axle (1524) are inserted the upper and lower terminal surfaces of side roof-rack (1522), make side crown wheel (1523) can use tandem axle (1524) to rotate as the fulcrum.

6. The intelligent inspection robot of the pipe-in-pipe machine according to claim 6, characterized in that: the side top wheel (1523) is arranged opposite to the suspension mechanism (154).

7. The intelligent inspection robot of the pipe-in-pipe machine according to claim 4, characterized in that: the brake mechanism (153) comprises a brake vertical plate (1531), an assembly block (1532) and a brake patch (1533), wherein the assembly block (1532) is installed on the outer end face of the brake vertical plate (1531), and the assembly block (1532) penetrates through an inner cavity of the brake vertical plate (1531) and is movably connected with the brake patch (1533).

8. The intelligent inspection robot of the pipe-in-pipe machine according to claim 1, characterized in that: the guide rail (2) is an I-shaped cross bar-shaped component, the side end face of the moving mechanism (155) is attached to the vertical wall of the guide rail (2), and the upper wall and the lower wall of the other side are both attached to the upper end face and the lower end face of the suspension mechanism (154).