CN116280990A

CN116280990A - Inspection robot and pipe belt type conveying system

Info

Publication number: CN116280990A
Application number: CN202310193110.3A
Authority: CN
Inventors: 苏金辉; 张玉妮; 廖辉; 陈鹏河; 蓝武生
Original assignee: Fujian Longjing Environmental Protection Intelligent Transportation Engineering Co ltd; Fujian Longking Co Ltd.
Current assignee: Fujian Longjing Environmental Protection Intelligent Transportation Engineering Co ltd; Fujian Longking Co Ltd.
Priority date: 2023-03-02
Filing date: 2023-03-02
Publication date: 2023-06-23

Abstract

The application discloses a patrol robot and a pipe belt type conveying system, wherein the patrol robot is used for a pipe belt type conveyor and comprises a machine body, a guide rail mechanism, a travelling mechanism, a swing arm mechanism and a detection mechanism; the guide rail mechanism extends along the conveying direction of the pipe belt conveyor; the walking mechanism is used for driving the machine body to walk along the guide rail mechanism; the swing arm mechanism is rotatably connected with the machine body, and the detection mechanism is slidably arranged on the swing arm mechanism; the swing arm mechanism can drive the detection mechanism to rotate in a first plane, and the sliding direction of the detection mechanism relative to the swing arm mechanism is perpendicular to the first plane; the first plane is parallel to a truss side of the tube and belt conveyor. The inspection robot is used for the pipe belt conveyor, has relatively small overall volume and flexible installation position through structural optimization, does not occupy the pavement space of an maintainer, and can realize complete inspection of the whole line of the pipe belt conveyor.

Description

Inspection robot and pipe belt type conveying system

Technical Field

The application relates to the technical field of belt conveying, in particular to a patrol robot and a pipe belt type conveying system.

Background

The operation state of the pipe belt conveyor is monitored by adopting two traditional on-site manual maintenance modes of spot inspection and inspection, and inspection personnel obtain various states of the conveyor during operation, such as abnormal noise of a carrier roller, overhigh temperature of a conveyor belt and the like through on-site observation. With the development of the pipe belt conveyor to the long-distance conveying direction, the cost of the manual maintenance mode is increased, and faults in the running process of equipment cannot be found in time.

Along with the development of intelligent inspection technology, the running state of the pipe belt conveyor is monitored by adopting an inspection robot, the existing inspection robot is a rail suspension type robot, the walking space of the existing inspection robot can occupy the manual walkways on two sides of the pipe belt conveyor, normal operation of an maintainer is affected, meanwhile, the inspection robot is limited by the height of the rail, enters a pipe belt conveyor transfer station, and cannot run along the original height, so that the whole line of the pipe belt conveyor cannot be completely inspected.

Disclosure of Invention

The utility model aims at providing a patrol robot and pipe belt conveyor system, this patrol robot is used for pipe belt conveyor, through structural optimization, and whole volume is less relatively, and mounted position is comparatively nimble, does not occupy maintainer's pavement space to can realize the complete inspection to the whole circuit of pipe belt machine.

In order to solve the technical problems, an embodiment of the present application provides a patrol robot for a pipe belt conveyor, which includes a machine body, a guide rail mechanism, a traveling mechanism, a swing arm mechanism and a detection mechanism;

the guide rail mechanism extends along the conveying direction of the pipe belt conveyor;

the walking mechanism is used for driving the machine body to walk along the guide rail mechanism;

the swing arm mechanism is rotatably connected with the machine body, and the detection mechanism is slidably arranged on the swing arm mechanism;

the swing arm mechanism can drive the detection mechanism to rotate in a first plane, and the sliding direction of the detection mechanism relative to the swing arm mechanism is perpendicular to the first plane; the first plane is parallel to a truss side of the tube and belt conveyor.

The inspection robot is used for the pipe belt conveyor and can monitor the running state of the pipe belt conveyor. The guide rail mechanism of the inspection robot extends along the conveying direction of the pipe belt conveyor, the machine body is driven to walk along the guide rail mechanism by the traveling mechanism, the machine body is rotatably connected with the swing arm mechanism, the swing arm mechanism is provided with the slidable detection mechanism, the swing mechanism can drive the detection mechanism to rotate in a plane parallel to the truss side surface of the pipe belt conveyor, and the detection mechanism can slide along the direction vertical to the first plane relative to the swing arm mechanism; like this, through swing arm mechanism's rotation and detection mechanism's slip, can change detection mechanism's range of motion, enlarge detection mechanism's detection range, when the space of patrolling and examining is comparatively narrow and small, accessible swing arm mechanism's rotation drives detection mechanism and is in relative lower height to reduce the whole volume of patrolling and examining the robot through the slip of detection mechanism relative swing arm mechanism, avoid patrolling and examining the robot and occupy too much space, make the robot of patrolling and examining can follow the whole circuit of tube belt conveyor and carry out complete patrolling and examining, and mounted position is more nimble.

The inspection robot comprises a mounting frame, a first execution part, a second execution part and an image collector;

the first executing component is used for driving the mounting frame to rotate around a first shaft;

the second execution part is arranged on the mounting frame and used for driving the image collector to rotate around a second shaft;

the first shaft is parallel to the sliding direction of the detection mechanism relative to the swing arm mechanism;

the second axis is perpendicular to the first axis.

The inspection robot further comprises a probe assembly mounted on the mounting frame, wherein the probe assembly comprises a third executing component and a probe, and the third executing component is used for driving the probe to rotate in a second plane so as to realize the detection of each carrier roller of the pipe belt conveyor; the second plane is parallel to the cross section of the truss of the pipe belt conveyor; the probe is used for measuring the working parameter information of the carrier roller and the conveyer belt of the pipe belt type conveyer.

The inspection robot further comprises a first power component and a sleeve component, wherein the sleeve component comprises at least two sleeves, each sleeve is nested in sequence, one of the two adjacent sleeves can stretch and retract relative to the other sleeve, and the first power component is used for driving the sleeve component to stretch and retract; one end of the sleeve assembly is connected with the third executing component, and the probe is installed at the other end of the sleeve assembly.

The inspection robot is characterized in that the sleeve is an arc-shaped sleeve.

The inspection robot is characterized in that the probe is integrated with the wireless communication module.

As described above, the inspection robot is provided with the second power component, the output end of the second power component is connected with the transmission gear, the detection mechanism is connected with the slide rail, the slide rail is provided with the tooth part meshed with the transmission gear, the tooth part extends along the sliding direction of the detection mechanism, and the second power component is used for driving the transmission gear to rotate.

The inspection robot comprises the swing arm mechanism, wherein the swing arm mechanism comprises a first arm part and a second arm part, one end of the first arm part is rotatably connected with the machine body, the other end of the first arm part is fixedly connected with the second arm part, and the second arm part is perpendicular to the first arm part; the detection mechanism is slidably mounted at an end of the second arm portion remote from the first arm portion.

As described above, the inspection robot, the first arm is rotatably inserted into the machine body, a first gear is disposed at an end of the first arm extending into the machine body, a third power component is disposed in the machine body, an output end of the third power component is connected with a second gear, the third power component is used for driving the second gear to rotate, and the second gear is engaged with the first gear.

The inspection robot comprises the guide rail mechanism, wherein the guide rail mechanism comprises an upper guide rail and a lower guide rail which are arranged in parallel; the travelling mechanism comprises an upper travelling assembly and a lower travelling assembly, and the upper travelling assembly and the lower travelling assembly are connected through a bracket; the lower walking assembly comprises a driving assembly, and the driving assembly is used for driving the lower walking assembly to walk along the lower guide rail.

The inspection robot comprises the upper guide wheel and the adjusting assembly, wherein the upper guide wheel can rotate around the axis of the upper guide wheel so as to walk along the upper guide rail, and the adjusting assembly is used for adjusting the compression degree of the upper guide wheel and the upper guide rail.

The inspection robot comprises the adjusting assembly, the fixing seat and the first elastic piece, wherein the fixing seat is fixedly connected with the support, the first elastic piece is arranged between the fixing seat and the adjusting wheel, and the adjusting wheel is in contact with the upper guide rail and in rolling fit with the upper guide rail.

The inspection robot comprises a driving component and a driving wheel, wherein the output end of the driving component is connected with the driving wheel, and the driving component is used for driving the driving wheel to rotate; and a second elastic piece is arranged between the driving assembly and the bracket so as to press the driving assembly towards the lower guide rail, and the driving wheel is in pressing contact with the lower guide rail.

The inspection robot is characterized in that the lower guide rail is an L-shaped guide rail, and the driving wheels are matched with the vertical rail surfaces of the L-shaped guide rail; the driving part is positioned above the driving wheel.

The inspection robot comprises a lower walking assembly, wherein the lower walking assembly comprises a lower guide wheel, the lower guide wheel can rotate around the axis of the lower guide wheel, and the lower guide wheel is matched with the vertical rail surface of the L-shaped guide rail.

The inspection robot, as described above, the lower walking assembly further includes a bearing wheel, and the bearing wheel is capable of rotating around its axis and is in contact with the horizontal rail surface of the L-shaped guide rail.

The embodiment of the application also provides a pipe belt type conveying system, which comprises a pipe belt type conveyor and railings positioned at two sides of the pipe belt type conveyor, wherein a traveling channel is formed between the railings and a truss of the pipe belt type conveyor; the inspection robot is characterized by further comprising any one of the inspection robots, and the inspection robots are used for monitoring the running state of the pipe belt conveyor.

Since the inspection robot has the technical effects, the pipe belt type conveying system comprising the inspection robot also has corresponding technical effects, and the discussion is not repeated here.

In the pipe belt type conveying system, the inspection robot guide rail mechanism is arranged on the outer side of the truss or the inner side of the railing.

Drawings

Fig. 1 is a schematic structural diagram of an inspection robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of the inspection robot shown in FIG. 1 mounted outside a truss;

FIG. 3 is a schematic view of the inspection robot shown in FIG. 1 mounted inside a railing;

fig. 4 is a schematic structural diagram of a running mechanism of the inspection robot in fig. 1;

FIG. 5 is a schematic structural view of a swing arm mechanism and a part of a detection mechanism of the inspection robot in FIG. 1;

FIG. 6 is a schematic view of the probe assembly of the inspection robot of FIG. 1;

fig. 7A and 7B respectively show working schematic diagrams of the swing arm mechanism at two different angles in practical application;

FIGS. 8A and 8B are schematic views showing the operation of the probe assembly at two different angles in practice;

FIG. 9 is a schematic diagram of a structure of the inspection robot entering a narrow space in a specific application;

fig. 10 is a partial enlarged view of the I-site in fig. 9.

Reference numerals illustrate:

inspection robot 100;

body 110, guide rail mechanism 120, running mechanism 130, swing arm mechanism 140, detection mechanism 150, control system 160;

an upper rail 121, a lower rail 122;

the upper walking assembly 131, the upper guide wheel 1311, the adjusting wheel 1312, the fixed seat 1313, the first elastic member 1314, the lower walking assembly 132, the driving part 1321, the driving wheel 1322, the second elastic member 1323, the lower guide wheel 1324, the bearing wheel 1325 and the bracket 133;

a swing arm 141, a first arm 1411, a second arm 1412;

a mounting frame 151, a first executing component 152, a second executing component 153, an image collector 154, a probe assembly 155, a third executing component 1551, a probe 1552, a first power component 1553, a sleeve 1554 and a wireless communication module 1555;

a second power unit 171, a slide rail 172, and a connecting frame 173;

tube belt conveyor 200, truss 210, conveyor tube 220, idler roller 230, railing 300.

Detailed Description

In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.

For ease of understanding and simplicity of description, the following description is provided in conjunction with the inspection robot and the tube-and-belt conveying system, and the discussion of the advantageous effects will not be repeated.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an inspection robot in an embodiment provided in the present application, and fig. 2 and 3 respectively show two installation scene diagrams of the inspection robot.

As shown in fig. 2 and 3, the pipe-belt conveyor system includes a pipe-belt conveyor 200 and balustrades 300 located at both sides of the pipe-belt conveyor 200, and a traveling path is formed between each of the balustrades 300 and the pipe-belt conveyor 200, which is used for a maintainer to travel, so as to facilitate the maintenance and repair of the pipe-belt conveyor 200.

The pipe belt conveyor 200 is formed by rolling a conveyor belt 220 into a circular pipe-shaped structure and then passing through a forming roller set to maintain the circular pipe shape, so as to realize uninterrupted conveying of materials. The pipe belt conveyor 200 includes a truss 210, a bracket is mounted on the truss 210, a forming roller set is mounted in the bracket, and generally, the truss 210 is provided with a forming roller set corresponding to a bearing section and a forming roller set corresponding to a return section, and the forming roller set is surrounded by a plurality of rollers 230 to form a round hole for the conveying belt 220 to pass through. With the profile idler set of fig. 2 and 3 above truss 210 being the load-bearing segment and the profile idler set of fig. 210 below truss 210 being the return segment.

The tube and belt conveyor system also includes a patrol robot 100 for monitoring the operating state of the tube and belt conveyor 200. The present application focuses on improving the structure of the inspection robot 100, so that the installation position of the inspection robot 100 is flexible, as shown in fig. 2, the inspection robot 100 may be installed on the outer side of the truss 210, as shown in fig. 3, the inspection robot 100 may also be installed on the inner side of the railing 300, where the outer side of the truss 210 refers to the side far away from the conveyor belt 220, and the inner side of the railing 300 refers to the side near the pipe belt conveyor 200.

The tube and belt conveyor 200 may be implemented based on prior art and is not the core invention of the present application and will not be described in detail herein.

In the present embodiment, the inspection robot 100 includes a body 110, a rail mechanism 120, a traveling mechanism 130 (labeled in fig. 4), a swing arm mechanism 140, and a detection mechanism 150.

The guide rail mechanism 120 extends along the conveying direction of the pipe belt conveyor 200, that is, the conveying direction of the conveying belt 220, and the travelling mechanism 130 is used for driving the machine body 110 to travel along the guide rail mechanism 120; the swing arm mechanism 140 is rotatably connected to the body 110, and the detection mechanism 150 is slidably mounted on the swing arm mechanism 140 and configured to: the swing arm mechanism 140 can drive the detection mechanism 150 to rotate in a first plane, and the sliding direction of the detection mechanism 150 relative to the swing arm mechanism 140 is perpendicular to the first plane; the first plane is a plane parallel to the side of truss 210 of tube and belt conveyor 200. With the view angles shown in fig. 2 and 3, the first plane is a plane perpendicular to the paper surface and parallel to the height direction of the truss 210, and the sliding direction of the detection mechanism 150 is the left-right direction in the drawing.

In practical applications, the inspection robot 100 runs along the guide rail mechanism 120, the running state of the pipe belt conveyor 200 is detected by the detection mechanism 150, the running state of the pipe belt conveyor 200 includes the running state of the conveying belt 220, each carrier roller 230 and other components, the detection mechanism 150 can detect the carrier roller 230 located above and related components adjacent to each other, the carrier roller 230 located below and related components adjacent to each other along with the rotation of the swing arm mechanism 140, the detection mechanism 150 slides relative to the swing arm mechanism 140, the carrier roller 230 close to or far from the inspection robot 100 and related components adjacent to each other can also be detected, the inspection robot 100 is mounted on the outer side of the left side of the truss 210, as shown in fig. 2, the detection mechanism 150 can move leftwards along the swing arm mechanism 140 so as to detect the carrier roller 230 close to the left side, and also can move rightwards along the swing arm mechanism 140 so as to detect the carrier roller 230 close to the right side, thus the detection range of the detection mechanism 150 is larger, and comprehensive working information of the pipe belt conveyor 200 can be detected.

According to the above-mentioned arrangement of the swing arm mechanism 140 and the detection mechanism 150 of the inspection robot 100, the whole volume of the inspection robot 100 can be relatively small, detection can be realized by utilizing the rotation or sliding motion of the swing arm mechanism 140 and the detection mechanism 150, in the application process, the height dimension of the inspection robot 100 can be reduced by rotating the swing arm mechanism 140, and the dimension of the inspection robot 100 in the width direction (horizontal direction in fig. 2 and 3) can be reduced by sliding the detection mechanism 150 relative to the swing arm mechanism 140, so that when the inspection space is relatively small, the whole volume of the inspection robot 100 can be reduced again, excessive space is avoided, conditions are provided for complete inspection of the inspection robot 100 along the whole line of the pipe belt conveyor 200, the installation position is flexible, the occupation of the travelling channels on both sides of the pipe belt conveyor 200 is avoided, and no conflict with maintenance personnel can occur.

In a specific arrangement, the rotation angle of the swing arm mechanism 140 in the first plane may be 360 ° so that the detection mechanism 150 has a larger detection range. Of course, the rotation angle of the swing arm mechanism 140 can be adjusted to other ranges according to the application requirements.

Referring to fig. 4 together, fig. 4 is a schematic structural diagram of a travelling mechanism of the inspection robot in fig. 1.

In this embodiment, the guide rail mechanism 120 of the inspection robot 100 includes an upper guide rail 121 and a lower guide rail 122 that are disposed in parallel, the traveling mechanism 130 includes an upper traveling component 131 that is matched with the upper guide rail 121 and a lower traveling component 132 that is matched with the lower guide rail 122, the upper traveling component 131 and the lower traveling component 132 are connected through a bracket 133, the lower traveling component 132 includes a driving component, and the driving component is used for driving the lower traveling component 132 to travel along the lower guide rail 122, so, the lower traveling component 132 is used as a driving traveling member, and the upper traveling component 131 follows, so that the inspection robot 100 can run more stably and reliably.

In other embodiments, upper traveling assembly 131 may be used as the driving traveling member, lower traveling assembly 132 may follow, or both upper traveling assembly 131 and lower traveling assembly 132 may be used as the driving traveling member, if the conditions allow.

Taking the inspection robot 100 installed at the outer side of the truss 210 as an example, in practical setting, the guide rail mechanism 120 may be disposed near the middle area of the truss 210, so that the swing arm mechanism 140 has a shorter rotation radius to drive the detection mechanism 150 to detect each portion (such as the carrier roller 230 of the carrying section and the carrier roller 230 of the return section) of the pipe belt conveyor 200, which is beneficial to the miniaturization setting of the swing arm mechanism 140 and the detection mechanism 150.

In this embodiment, the upper walking assembly 131 includes an upper guide wheel 1311 and an adjusting assembly, where the upper guide wheel 1311 can rotate around its axis to walk along the upper rail 121, and the adjusting assembly is used to adjust the compression degree between the upper guide wheel 1311 and the upper rail 121, so as to avoid the upper guide wheel 1311 from separating from the upper rail 121.

When specifically setting up, the upper guide rail 121 can adopt L shape guide rail, and upper guide wheel 1311 specifically cooperates with the vertical rail section of upper guide rail 121, and the horizontal rail section of upper guide rail 121 is located the top of vertical rail section, and in this way, upper guide wheel 1311 can receive the spacing of the horizontal rail section of upper guide rail 121, avoids upper guide wheel 1311 derailment.

On the basis, the rotation axis of the upper guide wheel 1311 is in the vertical direction, and the rotation arrangement of the upper guide wheel 1311 can avoid the influence on the service life due to overlarge friction force between the upper guide wheel 1311 and the upper guide rail 1311.

In a specific application, the adjusting assembly includes an adjusting wheel 1312, a fixing seat 1313, and a first elastic member 1314, wherein the fixing seat 1313 is fixedly connected with the bracket 133, the first elastic member 1314 is disposed between the fixing seat 1313 and the adjusting wheel 1312, and the adjusting wheel 1312 contacts and is in rolling fit with the upper rail 121. By the elastic force adjustment of the first elastic member 1314, the elastic force applied to the adjustment wheels 1312 in the direction of the upper rail 121 can be adjusted, thereby adjusting the degree of compression of the upper guide wheels 1311 with the upper rail 121 to achieve smoothness of the travel of the upper travel assembly 131 along the upper rail 121.

It should be appreciated that the adjustment wheel 1312 can also rotate about its axis to achieve a rolling engagement with the upper rail 121 to reduce friction therebetween and avoid wear.

In the illustrated example, the upper guide wheels 1311 and the adjustment assembly are provided in two, and the upper guide wheels 1311 and the adjustment assembly are alternately arranged to make walking more stable and reliable.

In this embodiment, the driving assembly of the lower walking assembly 132 includes a driving component 1321 and a driving wheel 1322, where an output end of the driving component 1321 is connected to the driving wheel 1322 and is used for driving the driving wheel 1322 to rotate, a second elastic member 1323 is disposed between the driving assembly and the bracket 133 to press the driving assembly to the lower rail 122, and the driving wheel 1322 is in pressing contact with the lower rail 122, that is, under the action of self gravity of the inspection robot 100 and elastic force of the second elastic member 1323, the driving assembly can swing in the direction of the lower rail 122, so that the driving wheel 1322 can press the lower rail 122. The driving wheel 1322 is rotated by the driving part 1321 and is pressed against the lower rail 122, so that the driving wheel 1322 generates friction thrust to form the power for the inspection robot 100 to travel along the rail mechanism 120.

In a specific arrangement, the output end of the driving component 1321 may be directly connected to the driving wheel 1322, and there are no other transmission members therebetween, so as to simplify the structure.

In a specific arrangement, the lower guide rail 122 may also be an L-shaped guide rail, and the driving wheel 1322 is matched with a vertical rail surface of the lower guide rail 122, at this time, the rotation axis of the driving wheel 1322 is along a vertical direction, and the driving component 1322 may be disposed above the driving wheel 1322, so as to reduce the volume of the inspection robot 100.

Illustratively, the lower walking assembly 132 further includes a lower guide wheel 1324, and the lower guide wheel 1324 is capable of rotating around its axis and cooperates with the vertical rail surface of the lower guide rail 122 to ensure the smoothness and reliability of the walking of the lower walking assembly 132.

Illustratively, the lower walking assembly 132 further includes a bearing wheel 1325, where the bearing wheel 1325 can rotate around its axis and contact with the horizontal rail surface of the lower rail 122 to support the weight of the inspection robot 100, and ensure the walking safety of the inspection robot 100. It should be appreciated that the axis of rotation of the loadbearing wheel 1325 is perpendicular to the axis of rotation of the drive wheel 1321, the lower guide wheel 1324.

In the illustrated example, the lower traveling assembly 132 includes two driving assemblies, two guide wheels 1324 and three bearing wheels 1325, so as to ensure the traveling stability of the lower traveling assembly 132, and in practical application, the number and arrangement of the foregoing structures can be adjusted according to specific requirements.

For example, the first elastic member 1314 and the second elastic member 1323 may each take the form of a spring.

Illustratively, the aforementioned driving part 1321 may employ a motor or the like.

Referring to fig. 5 and fig. 6 together, fig. 5 is a schematic structural diagram of a swing arm mechanism and a part of a detection mechanism of the inspection robot in fig. 1; fig. 6 is a schematic structural view of a probe assembly of the inspection robot of fig. 1.

In this embodiment, the detection mechanism 150 includes a mounting frame 151, a first execution member 152, a second execution member 153, and an image collector 154.

The first actuator 152 is configured to drive the mounting frame 151 to rotate about a first axis; the second actuating member 153 is mounted on the mounting frame 151 and is used for driving the image pickup 154 to rotate around the second axis; the first axis is parallel to the sliding direction of the detection mechanism 150 relative to the swing arm mechanism 140, and the second axis is perpendicular to the first axis, and extends in the vertical direction from the perspective shown in fig. 2 and 3.

With reference to fig. 7A and 7B, after the above arrangement, the position of the image collector 154 may be changed in a plane parallel to the side of the truss 210 under the rotation of the swing arm mechanism 140, the distance between the image collector 154 and the tube belt conveyor 200 may be changed under the sliding action of the detection mechanism 150 relative to the swing arm mechanism 140, the pitch angle of the image collector 154 may be changed under the driving of the first execution member 152, and the rotation angle of the image collector 154 in the horizontal plane may be changed under the driving of the second execution member 153. Here, the side surfaces of the truss 210 are illustrated as being parallel to the vertical surface.

It can be seen that through the foregoing structural arrangement, the image collector 154 can adjust positions in a three-dimensional plane, facilitating monitoring of various portions of the tubular belt conveyor 200.

The image collector 154 may be a mature product such as a camera, and its functions may include detection of visible light and infrared rays.

In this embodiment, the detecting mechanism 150 further includes a probe assembly 155 mounted on the mounting frame 151, where the probe assembly 155 includes a third executing component 1551 and a probe 1552, and the third executing component 1551 is used to drive the probe 1552 to rotate in a second plane to implement detection on each part of the tube belt conveyor 200, where the second plane is parallel to a cross section of the truss 210 of the tube belt conveyor 200, and the view shown in fig. 2 and 3 is a cross-sectional view of the truss 210, that is, a direction parallel to a paper surface in fig. 2 and 3 is the second plane. Here, the probe 1552 may be used to measure operational parameter information of the conveyor belt 220, idler 230, and the like.

After the arrangement, more work information of the pipe belt conveyor 200 can be acquired by using the probe 1552, so that the detection range of the inspection robot 100 is larger and more comprehensive.

Because the probe assembly 155 is mounted on the mounting frame 151, the position of the probe assembly 155 in the first plane, the distance between the probe assembly 155 and the tube belt conveyor 200, and the pitch angle can be changed by the rotation of the swing arm mechanism 140, the sliding of the whole detection mechanism 150, and the rotation of the first execution member 152 to drive the mounting frame 151, and the position of the probe 1552 can be changed in the second plane by combining with the driving of the third execution member 1551, so that the probe 1552 has a wider detection range.

In a specific setting, the first executing component 152, the second executing component 153, and the third executing component 1551 may all adopt devices such as a steering engine, as long as the corresponding functions can be realized.

Generally, the parameter information that needs to be detected when the pipe belt conveyor 200 is in operation includes the temperature of the conveyor belt 220, the noise of the idler roller 230, etc., so, according to the actual application requirement, the probe 1552 may be a temperature noise probe, which can detect both temperature information and noise information.

In other embodiments, there are other detection requirements, and a matched probe 1552 may be provided, and more than two probes 1552 may be provided according to the structural setting condition allowance, the actual requirements, and the like.

In this embodiment, the probe assembly 155 further comprises a first power member 1553 and a sleeve assembly, the sleeve assembly comprises at least two sleeves 1554, each sleeve 1554 is nested in sequence, one sleeve 1554 can telescope relative to the other sleeve 1554, wherein the first power member 1553 is used for driving the telescopic action of the sleeve assembly, one end of the sleeve assembly is connected with the third actuating member 1551, and the other end of the sleeve assembly is provided with the probe 1552.

As above, the probe 1552 may be repositioned by telescoping the sleeve assembly 1554, with the radius of rotation of the probe 1552 in the second plane being variable and more positions being detectable in conjunction with actuation of the third actuating member 1551. As will be appreciated with reference to fig. 8A and 8B, when the inspection robot 100 is disposed on one side of the truss 210, the distance between each carrier roller 230 on the truss 210 and the inspection robot 100 is different, and after the sleeve assembly is disposed, the length of the sleeve assembly can be adjusted according to the position of the carrier roller 230 to be detected, so that the rotatable radius of the probe 1552 is changed, the probe 1552 can detect the vicinity of each carrier roller 230, the influence caused by environmental factors is reduced, more accurate data is acquired, and meanwhile, the minimum volume of the inspection robot 100 can be reduced, and excessive space is avoided.

In a specific arrangement, the angle at which the third actuating member 1551 drives the probe 1552 to rotate on the second plane may be set at 360 ° so as to have a wider detection range.

When specifically setting up, sleeve 1554 is the arc sleeve, conveniently carries out comparatively accurate control to the testing position of probe 1552. The dimensions (including radius and length, etc.) of the arcuate sleeve may be adjusted for different tube and belt conveyors 200.

By way of example, fig. 6 shows a configuration in which the sleeve assembly is provided with three sleeves 1554. In practice, the number of sleeves 1554 may be adjusted according to the tube and belt conveyor 200.

The expansion and contraction of the sleeve assembly can be realized by installing an air inflation spring between two adjacent sleeves 1554, and the like, after the air inflation spring is inflated, the sleeve 1554 is driven to extend outwards, and after the air inflation spring is deflated, the sleeve 1554 is driven to retract inwards, and at the moment, the first power component 1553 can be an air pump. The mode is simple and convenient to set and high in reliability. The telescopic structure of the sleeve assembly can be realized by adopting other common telescopic structure forms, and the first power component 1553 is matched and arranged.

In this embodiment, the wireless communication module 1555 may be integrated on the probe 1552, so as to facilitate the feedback of the information collected by the probe 1552 to an upper computer or other control devices, and facilitate the user to grasp the running state of the pipe-belt conveyor 200 in real time.

In this embodiment, the sliding of the detecting mechanism 150 relative to the swing arm mechanism 140 can be achieved by the following manner: as shown in fig. 5, a second power unit 171 is mounted on the swing arm mechanism 140, an output end of the second power unit 171 is connected with a transmission gear (not shown in the drawing), the detection mechanism 150 is connected with a sliding rail 172, the sliding rail 172 has a tooth portion meshed with the transmission gear, the tooth portion extends along a sliding direction of the detection mechanism 150, the sliding rail 172 can also be understood as a rack structure, the second power unit 171 is used for driving the transmission gear to rotate, and the sliding rail 172 slides relative to the swing arm mechanism 140 through transmission cooperation of the transmission gear and the sliding rail 172, so as to drive the detection mechanism 150 to slide together.

Specifically, the first actuator 151 of the detection mechanism 150 is mounted on a connecting frame 173, and the connecting frame 173 is connected to the slide rail 172.

By way of example, the second power member 171 may employ a motor or the like.

In this embodiment, the swing arm mechanism 140 includes a swing arm 141, referring to fig. 5, the swing arm 141 includes a first arm portion 1411 and a second arm portion 1412, one end of the first arm portion 1411 is rotatably connected with the machine body 110, the other end of the first arm portion 1411 is fixedly connected with the second arm portion 1412, the second arm portion 1412 is perpendicular to the first arm portion 1411, and the detection mechanism 150 is slidably mounted at one end of the second arm portion 1412 away from the first arm portion 1411. It should be appreciated that the length of the second arm 1412 is generally the radius of rotation of the detection mechanism 150 in the first plane, and the length setting of the second arm 1412 may be set according to different tube and belt conveyors 200.

When the first arm 1411 is specifically arranged, the first arm 1411 is rotatably inserted into the machine body 110, a first gear is arranged at one end of the first arm 1411 extending into the machine body 110, and the first gear can be arranged separately from the first arm 1411 and can be integrally arranged when the first arm 1411 is assembled without interference; the machine body 110 is provided with a third power component (not shown in the figure), an output end of the third power component is connected with a second gear (not shown in the figure), the second gear is meshed and matched with the first gear, and the third power component is used for driving the second gear to rotate, so that the first arm 1411 is driven to rotate relative to the machine body 110 through meshing transmission of the second arm 1412 and the first gear, and further the second arm 1412 and the detection component 150 mounted on the second arm are driven to rotate together.

Bearings may be installed between the first arm 1411 and the body 110 to reduce wear on both, making the rotation of the swing arm 141 more stable and reliable.

The swing arm 141 may be rotated in other ways than the above-mentioned driving manner, for example, the third power component in the machine body 110 may be directly connected to the first arm portion 1411 of the swing arm 141 in a transmission manner.

In this embodiment, the inspection robot 100 further includes a control system 160, where the control system 160 may be specifically installed in the machine body 110, and the control system 160 may communicate with the foregoing execution components, the power components, the driving components, the probe 1552, the image collector 154, and the like to control the electronic execution mechanisms. The control system 160 may also communicate with a master control or host computer of the pipe-and-belt conveyor 200 to control the actions of the various components of the inspection robot 100 based on information fed back by the master control or host computer. The control system 160 may be configured with a wireless data transfer module to enable long-range communications.

Because the swing arm mechanism 140 and the detection mechanism 150 of the inspection robot 100 are configured such that the image collector 154 and the probe 1552 can change positions in multiple dimensions to realize accurate detection of the part to be detected, in practical setting, the distance between the upper rail 121 and the lower rail 122 of the rail mechanism 120 can be set smaller, for example, in an embodiment, 500mm, so as to further reduce the overall volume of the inspection robot 100, which is more beneficial to inspection of the inspection robot 100 in a narrow space.

The motion flow of the inspection robot 100 according to the embodiment may be as follows:

in normal operation of the pipe belt conveyor 200, the travelling mechanism 130 is matched with the guide rail mechanism 120, the swing arm mechanism 140 rotates in a plane (a first plane) where the side surface of the truss 210 is located through the swing arm 141 so as to adjust the height of the detection part 150 in the plane, and then the distance between the detection part 150 and the side surface of the truss 210 is adjusted through the detection part 150 relative to the swing arm mechanism 140; the angle of the image pickup 154 and the angle of the probe 1552 are adjusted by the operations of the first and

second execution units

152 and 153. After the state of the inspection robot 100 is adjusted, the driving member 1321 is started to drive the traveling mechanism 130 to travel along the rail mechanism 120.

When the traveling mechanism 130 travels to the portion to be detected of the tube belt conveyor 200, the probe 1552 and the image collector 154 perform actions in the aforementioned planes of different dimensions to achieve accurate detection of the portion to be detected through multi-dimensional angle and distance adjustment.

When the travelling mechanism 130 travels to the vicinity of the carrier roller of the round section of the carrying section and the return section of the tube belt conveyor 200, the uppermost carrier roller 230 and the lowermost carrier roller 230 have a height difference, and the swing arm mechanism 140 starts to swing at the side of the truss 210 through the swing arm 141, so that the probe 1552 can detect the carrier rollers 230 at different positions at different heights, and meanwhile, the operation state of each carrier roller 230 is more comprehensively detected in combination with multi-dimensional angle adjustment, as shown in fig. 7A and 7B.

If the image collector 154 detects that an abnormality occurs in a certain carrier roller 230 during walking inspection, the control system 160 in the machine body 110 can send an instruction to stop the walking of the walking mechanism 130, meanwhile, through rotating the mounting frame 151 at the side surface of the truss 210 to adjust the angle and distance of the multidimensional plane, if necessary, the sleeve assembly is stretched to a proper position, the probe 1552 is rotated to the vicinity of the abnormal carrier roller 230, on the premise of reducing the interference of environmental factors, the temperature and sound data information of the abnormal carrier roller 230 are collected and transmitted to an upper computer and the like for real-time display and storage, and if the detected data exceeds a set value, corresponding measures such as alarm and the like are started to ensure the safe operation of the pipe belt conveyor 200, as shown in fig. 8A and 8B. After the abnormal idler 230 is detected, the components may be reset and the control system 160 may then control the running gear 130 to continue running.

For different running directions of the pipe belt conveyor 200, the installation directions of the round section carrier rollers of the bearing section and the return section on the truss are also different, and at this time, the first executing component 152 can drive the mounting frame 151 to change the detection directions of the probe 1552 and the image collector 154, so that the inspection robot 100 can be suitable for pipe belt conveyors 200 of different projects.

The flow of inspection by the inspection robot 100 entering the transfer station provided in this embodiment may be as follows: after the pipe belt conveyor 200 enters a narrow space, the inspection space is limited, and the inspection robot 100 provided in this embodiment can set the height between the upper rail 121 and the lower rail 122 smaller, so as to adapt to the arrangement in the narrow space.

When the travelling mechanism 130 travels to a narrow space, as shown in fig. 9 and 10, the control system 160 in the machine body 110 can control the swing arm mechanism 140 to act, and drive the detection mechanism 150 to rotate to a height substantially horizontal to the guide rail mechanism 120 and then stop moving, so as to reduce the overall height dimension of the inspection robot 100; while passing through a narrow space, the inspection robot 100 can perform inspection work by adjusting the angle of the image collector 154.

As can be seen from the above workflow, the inspection robot 100 provided in this embodiment can combine the rotation of the swing arm mechanism 140 in the first plane, the sliding of the detection mechanism 150 relative to the swing arm mechanism 140, the rotation of the first execution component 152 and the second execution component 153, and the rotation of the probe assembly 155 to implement the information data acquisition of the image collector 154 and the probe 1552 in multiple dimensions, thereby enhancing the applicability, and expanding the detection range and acquiring more comprehensive data information. The swing arm 141 can be replaced according to the height requirements of different projects to meet different height detection areas.

The inspection robot and the pipe belt type conveying system provided by the application are described in detail. Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.

Claims

1. The inspection robot is used for a pipe belt conveyor and is characterized by comprising a machine body, a guide rail mechanism, a traveling mechanism, a swing arm mechanism and a detection mechanism;

2. The inspection robot of claim 1, wherein the detection mechanism comprises a mounting frame, a first execution component, a second execution component, and an image collector;

the second axis is perpendicular to the first axis.

3. The inspection robot of claim 2, wherein the inspection mechanism further comprises a probe assembly mounted on the mounting frame, the probe assembly including a third actuating member and a probe, the third actuating member for driving the probe to rotate in a second plane to effect inspection of each idler of the tube and belt conveyor; the second plane is parallel to the cross section of the truss of the pipe belt conveyor; the probe is used for measuring the working parameter information of the carrier roller and the conveyer belt of the pipe belt type conveyer.

4. A inspection robot in accordance with claim 3 wherein said probe assembly further comprises a first power member and a sleeve assembly, said sleeve assembly comprising at least two sleeves, each of said sleeves being nested in sequence, one of adjacent two of said sleeves being telescoping with respect to the other, said first power member being adapted to drive said sleeve assembly to telescope; one end of the sleeve assembly is connected with the third executing component, and the probe is installed at the other end of the sleeve assembly.

5. The inspection robot of claim 4, wherein the sleeve is an arcuate sleeve.

6. A patrol robot according to claim 3, wherein the probe has a wireless communication module integrated thereon.

7. The inspection robot according to claim 1, wherein a second power component is mounted on the swing arm mechanism, an output end of the second power component is connected with a transmission gear, the detection mechanism is connected with a sliding rail, the sliding rail is provided with a tooth portion meshed with the transmission gear, the tooth portion extends along a sliding direction of the detection mechanism, and the second power component is used for driving the transmission gear to rotate.

8. The inspection robot according to claim 1, wherein the swing arm mechanism comprises a swing arm, the swing arm comprises a first arm part and a second arm part, one end of the first arm part is rotatably connected with the machine body, the other end of the first arm part is fixedly connected with the second arm part, and the second arm part is perpendicular to the first arm part; the detection mechanism is slidably mounted at an end of the second arm portion remote from the first arm portion.

9. The inspection robot according to claim 8, wherein the first arm is rotatably inserted into the machine body, a first gear is disposed at an end of the first arm extending into the machine body, a third power component is disposed in the machine body, an output end of the third power component is connected with a second gear, the third power component is used for driving the second gear to rotate, and the second gear is engaged with the first gear.

10. The inspection robot of any one of claims 1-9, wherein the rail mechanism includes an upper rail and a lower rail disposed in parallel; the travelling mechanism comprises an upper travelling assembly and a lower travelling assembly, and the upper travelling assembly and the lower travelling assembly are connected through a bracket; the lower walking assembly comprises a driving assembly, and the driving assembly is used for driving the lower walking assembly to walk along the lower guide rail.

11. The inspection robot of claim 10, wherein the upper travel assembly includes an upper guide wheel rotatable about its axis to travel along the upper rail and an adjustment assembly for adjusting the degree of compression of the upper guide wheel with the upper rail.

12. The inspection robot of claim 11, wherein the adjustment assembly comprises an adjustment wheel, a fixed seat, and a first elastic member, the fixed seat is fixedly connected with the bracket, the first elastic member is disposed between the fixed seat and the adjustment wheel, and the adjustment wheel is in contact with the upper rail and in rolling fit.

13. The inspection robot according to claim 10, wherein the driving assembly comprises a driving part and a driving wheel, an output end of the driving part is connected with the driving wheel, and the driving part is used for driving the driving wheel to rotate; and a second elastic piece is arranged between the driving assembly and the bracket so as to press the driving assembly towards the lower guide rail, and the driving wheel is in pressing contact with the lower guide rail.

14. The inspection robot of claim 13, wherein the lower rail is an L-shaped rail, the drive wheel mating with a vertical rail surface of the L-shaped rail; the driving part is positioned above the driving wheel.

15. The inspection robot of claim 14, wherein the lower travel assembly further comprises a lower guide wheel rotatable about its axis, the lower guide wheel mating with a vertical rail surface of the L-shaped rail.

16. The inspection robot of claim 14, wherein the lower travel assembly further comprises a load bearing wheel rotatable about its axis and in contact with the horizontal rail surface of the L-shaped rail.

17. The pipe belt type conveying system comprises a pipe belt type conveyor and railings positioned at two sides of the pipe belt type conveyor, wherein a traveling channel is formed between each railing and a truss of the pipe belt type conveyor; the inspection robot of any one of claims 1-16, wherein the inspection robot is configured to monitor an operational status of the tubular belt conveyor.

18. The pipe-and-tape transport system of claim 17, wherein the inspection robot rail mechanism is mounted outside of the truss or inside of the balustrade.