CN210150174U - Walking driving mechanism of inspection robot of belt conveyor - Google Patents
Walking driving mechanism of inspection robot of belt conveyor Download PDFInfo
- Publication number
- CN210150174U CN210150174U CN201920677136.4U CN201920677136U CN210150174U CN 210150174 U CN210150174 U CN 210150174U CN 201920677136 U CN201920677136 U CN 201920677136U CN 210150174 U CN210150174 U CN 210150174U
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- guide rail
- guide
- wire rope
- steel wire
- spring
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Abstract
The utility model discloses a walking driving mechanism of a belt conveyor inspection robot, which comprises a guide rail support frame, a guide rail erected at the top end of the guide rail support frame, a guide rail sliding seat frame sleeved on the guide rail and a steel wire rope traction structure arranged at the end part of the guide rail; the top end of the guide rail support frame is fixedly provided with a guide support, the end part of the guide rail is fixedly arranged on the guide support, and a guide sliding bearing is fixedly arranged on the guide support corresponding to the end part of the guide rail; the guide rail sliding seat frame is of a frame structure, and supporting guide wheels are arranged in the frame structure at positions corresponding to the side surface and the top surface of the guide rail; the front and the back of the steel wire rope traction structure are symmetrically provided with two sets, the steel wire rope traction structure comprises a roller seat, a steel wire rope roller and a tension spring, and the roller seat is installed in the guide sliding bearing in a penetrating manner through a guide post. The utility model discloses can make the belt feeder patrol and examine the robot and be applicable to and carry the belt feeder that the trend is curved, can avoid the problem of the transmission inefficacy because of the dust is big moreover.
Description
Technical Field
The utility model relates to a walking drive mechanism specifically is a reciprocating inspection action that is applicable to patrolling and examining the robot to the belt feeder and carries out driven belt feeder and patrols and examines robot walking drive mechanism, belongs to industrial automation technical field.
Background
A belt conveyor (belt conveyor) is a machine for friction-driven material transportation in a continuous mode, mainly comprises a frame, a conveying belt, a carrier roller, a tensioning device, a transmission device and the like, and can form a material conveying flow from an initial feeding point to a final discharging point on a certain conveying line. Besides pure material conveying, the method can be matched with the requirements of the technological process in the production flow of each industrial enterprise to form a rhythmic line production conveying line, and is widely applied to the fields of assembly, detection, debugging, packaging, transportation and the like of articles in each industry.
Common faults of the belt conveyor comprise belt breakage, deviation, slipping, carrier roller blocking and the like, and how to realize real-time monitoring of the conveying state of the belt conveyor becomes a common concern of enterprises. A belt machine inspection robot is a leading-edge technology in the prior art. The belt conveyor inspection robot generally comprises a control box of computer vision and various sensors, data acquisition is carried out on the working state of the belt conveyor in a mode that the control box is driven by a walking driving mechanism to move along the trend of the belt conveyor, the data are transmitted to a terminal interface through a wireless communication technology, and automatic alarm is realized by applying the computer vision and a computer programming technology.
The walking driving mechanism of the traditional belt conveyor inspection robot adopts a gear rack structure, on one hand, the walking driving mechanism with the traditional structure needs to lay racks, and the gear rack transmission is suitable for linear motion or circular motion and is not suitable for curvilinear motion, so that the traditional belt conveyor inspection robot with the walking driving mechanism with the gear rack structure is usually suitable for a belt conveyor with a linear conveying trend and cannot be suitable for a belt conveyor with a curvilinear conveying trend; on the other hand, under the material transportation operating mode that dust volume is great such as colliery in the pit, the rack and pinion structure is very easily because of the wearing and tearing that adhere of dust leads to the fact to reduce transmission precision, can even appear under the extreme condition that the gear card is dead, the phenomenon of transmission inefficacy.
Disclosure of Invention
To the above problem, the utility model provides a robot walking drive mechanism is patrolled and examined to belt feeder can make the belt feeder patrol and examine the robot and be applicable to the transport trend and be curved belt feeder, can avoid the problem of the transmission inefficacy because of the dust is big moreover.
In order to achieve the purpose, the walking driving mechanism of the belt conveyor inspection robot comprises a guide rail support frame, a guide rail sliding seat frame and a steel wire rope drawing structure, wherein the guide rail is erected at the top end of the guide rail support frame;
the top end of the guide rail support frame is fixedly provided with a guide support, the end part of the guide rail arranged in parallel to the conveying direction of the belt conveyor is fixedly arranged on the guide support, and a guide sliding bearing is fixedly arranged on the guide support corresponding to the end part of the guide rail;
the guide rail sliding seat frame is of a frame structure, supporting guide wheels which are arranged in the frame structure in a rolling mode along the front-back direction through a supporting frame are arranged in positions corresponding to the side face and the top face of the guide rail, the side face guiding support wheels are symmetrically arranged in two pieces in the left-right mode corresponding to the left side face and the right side face of the guide rail, and the space size between the two side face guiding support wheels is matched with the width size of the guide rail;
the steel wire rope traction structures are symmetrically arranged in two sets in front and back relative to the guide rail and comprise roller bases, steel wire rope rollers and tensioning springs; the roller seat is fixedly provided with a guide post and is installed in the guide sliding bearing in a penetrating way through the guide post; the steel wire rope rollers are erected and installed on the roller seats, at least one of the front and rear steel wire rope rollers is a driving roller with a driving motor, the steel wire ropes which are connected end to end in an annular shape are wound on the front and rear steel wire rope rollers, and the upper layer steel wire rope or the lower layer steel wire rope which is in a parallel state is fixedly installed and connected with the guide rail sliding seat frame; the tensioning spring is arranged between the roller seat and the end surface of the guide rail in a telescopic mode along the front-back direction.
As a further improvement of the utility model, the both ends of tensioning spring are respectively installed on the terminal surface of roller seat and guide rail through the spring holder.
As a further improvement of the utility model, the tensioning spring is internally provided with a spring inner guide pillar fixedly arranged on the spring seat.
As a further improvement of the utility model, an elastic pressing structure which can enable the side guide supporting wheel to be always attached to the guide rail is arranged on at least one side guide supporting wheel.
As an embodiment of the utility model, elasticity compact structure includes the supporting wheel sleeve, the supporting wheel spring, the spring pad, adjusting bolt and lock nut, the fixed position that the supporting wheel sleeve corresponds side direction supporting wheel is installed on the guide rail saddle frame, and the support frame setting of side direction supporting wheel is in the supporting wheel sleeve, supporting wheel spring and spring pad set up in the supporting wheel sleeve, and the supporting wheel spring is located between the support frame and the spring pad of side direction supporting wheel, adjusting bolt just installs on the guide rail saddle frame to the position threaded connection who fills up the spring, and the adjusting bolt top leans on the spring pad, the lock nut cooperation connects soon on adjusting bolt.
As a further improvement of the utility model, the steel wire rope winds the steel wire rope roller for at least three weeks.
Compared with the prior art, after the belt conveyor monitoring control box is arranged at the top or the bottom of the guide rail sliding seat frame, the belt conveyor monitoring control box can move back and forth along the conveying direction of the belt conveyor and monitor the running state of the belt conveyor through the traction of a steel wire rope; in a normal state, the tension spring is always in a compression state, namely the steel wire rope is always in a tension state, the rotation of the driving roller is realized by controlling the rotation of the driving motor, the steel wire rope is driven to circularly move around the driving roller and the driven roller by friction force in the rotation process of the driving roller, the belt conveyor monitoring control box is driven to move along the trend of the guide rail by the guide rail sliding frame in the movement process of the steel wire rope, and after the steel wire rope moves to a position close to the set position of the steel wire rope roller, the driving motor is controlled to reversely rotate, so that the return movement of the belt conveyor monitoring; even if the conveying trend is the belt feeder of curve, the guide rail has the curvature, through the elasticity of reasonable setting tensioning spring and the stroke of guide post, still can realize keeping wire rope to be in the tensioning state all the time.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
fig. 3 is a sectional view B-B of fig. 1.
In the figure: 1. the automatic belt conveyor comprises a driving motor, 2, a roller seat, 3, a driving roller, 4, a screw I, 5, a spring seat I, 6, a spring inner guide column, 7, a tension spring, 8, a guide sliding bearing, 9, a guide support, 10, a mounting bolt I, 11, a guide rail, 12, a nut 13, a screw II, 14, a guide column, 15, a spring seat II, 16, a belt conveyor monitoring control box, 17, a mounting bolt II, 18, a guide rail sliding seat frame, 19, an adjusting bolt, 20, a fastening nut, 21, a spring pad, 22, a supporting wheel sleeve, 23, a supporting wheel spring, 25, a top surface guide supporting wheel, 26, a side surface guide supporting wheel, 27, a driven roller, 28 and a steel wire rope.
Detailed Description
The present invention will be further explained with reference to the drawings (hereinafter, the left-right direction of fig. 1 is referred to as the front-back direction).
As shown in fig. 1, the walking driving mechanism of the belt conveyor inspection robot comprises a vertically arranged guide rail support frame, a guide rail 11 erected at the top end of the guide rail support frame, a guide rail sliding seat frame 18 sleeved on the guide rail 11 and a steel wire rope drawing structure arranged at the end part of the guide rail 11.
The top end of the guide rail support frame is fixedly provided with a guide support 9, the end part of a guide rail 11 arranged parallel to the conveying direction of the belt conveyor is fixedly arranged on the guide support 9 through a mounting bolt I10, and a guide sliding bearing 8 is also fixedly arranged on the guide support 9 corresponding to the end part of the guide rail 11, as shown in figure 2, the longitudinal section of the guide rail 11 can be of an I-shaped structure or other structures such as a pi-shaped structure.
The guide rail sliding seat frame 18 is a frame structure, the positions of the inside of the frame structure corresponding to the side surfaces and the top surface of the guide rail 11 are provided with support guide wheels which are arranged by rolling along the front-back direction through a support frame, as shown in fig. 2, the support guide wheels comprise top surface guide support wheels 25 and side surface guide support wheels 26, in order to ensure that the guide rail sliding seat frame 18 stably moves back and forth along the guide rail 11, the left side surface and the right side surface of the guide rail 11 corresponding to the side surface guide support wheels 26 are symmetrically arranged into two pieces, and the space size between the two side surface guide support wheels 26 is matched with the width size of the guide rail.
The steel wire rope pulling structures are symmetrically arranged in two sets in front and back relative to the guide rail 11, and as shown in fig. 3, each steel wire rope pulling structure comprises a roller base 2, a steel wire rope roller and a tension spring 7; a guide post 14 is fixedly arranged on the roller base 2, the roller base 2 is installed in the guide sliding bearing 8 through the guide post 14 in a penetrating manner, and the roller base 2 can slide back and forth under the guide effect of the guide post 14; the steel wire rope rollers are erected and installed on the roller seat 2, at least one of the front and rear steel wire rope rollers is a driving roller 3 with a driving motor 1, the other steel wire rope roller is a driven roller 27, the front and rear steel wire rope rollers can also be driving rollers 3 with driving motors 1, the steel wire ropes 28 which are connected end to end in a ring shape are wound on the front and rear steel wire rope rollers, and the upper layer steel wire ropes or the lower layer steel wire ropes which are in a parallel state are fixedly installed and connected with the guide rail sliding seat frame 18; the tension spring 7 is telescopically arranged between the roller base 2 and the end surface of the guide rail 11 along the front-back direction.
After the belt conveyor monitoring control box 16 is installed at the top or the bottom of the guide rail sliding seat frame 18 through the installation bolt II 17, the belt conveyor monitoring control box 16 can move back and forth along the conveying direction of the belt conveyor and monitor the running state of the belt conveyor through the traction of the steel wire rope 28, and the specific working principle is as follows: in a normal state, the tension spring 7 is always in a compression state, namely the steel wire rope 28 is always in a tension state, for example, two steel wire rope drums are divided into the driving drum 3 and the driven drum 27, the rotation of the driving drum 3 is realized by controlling the rotation of the driving motor 1, the steel wire rope 28 is driven to circularly move around the driving drum 3 and the driven drum 27 through friction in the rotation process of the driving drum 3, the belt conveyor monitoring control box 16 is driven to move along the trend of the guide rail 11 by the guide rail sliding seat frame 18 in the movement process of the steel wire rope 28, and after the steel wire rope is moved to a position close to the set position of the steel wire rope drum, the belt conveyor monitoring control box 16 can be moved in a return process. Even if the belt conveyor has a curved conveying trend, namely the guide rail 11 has curvature, the steel wire rope 28 can still be kept in a tensioning state all the time by reasonably setting the elastic force of the tensioning spring 7 and the stroke of the guide column 14.
In order to guarantee that tensioning spring 7 stabilizes and provides tensioning elasticity, as the utility model discloses a further improvement scheme, tensioning spring 7's both ends are respectively through spring seat mounting on roller base 2 and guide rail 11's terminal surface, as shown in fig. 3, the spring seat includes spring seat I5 of installing on roller base 2 through screw I4 and spring seat II 15 of installing on the terminal surface of guide rail 11 through nut 12 and screw II 13.
In order to further guarantee that tensioning spring 7 stabilizes and provides tensioning elasticity, as the utility model discloses a further improvement scheme, as shown in fig. 3, tensioning spring 7 is inside to be equipped with the fixed spring inner guide pillar 6 that sets up on the spring holder.
In order to further ensure that the guide rail saddle frame 18 stably moves back and forth along the guide rail 11, as a further improvement of the present invention, an elastic pressing structure capable of making the side guide supporting wheel 26 always lean against the guide rail 11 is provided on at least one side guide supporting wheel 26, the elastic pressing structure may be a spring structure or other elastic structures such as a plate spring structure, as shown in fig. 2, the elastic pressing structure includes a supporting wheel sleeve 22, a supporting wheel spring 23, a spring pad 21, an adjusting bolt 19 and a locking nut 20, the supporting wheel sleeve 22 is fixedly installed on the guide rail saddle frame 18 corresponding to the position of the side guide supporting wheel 26, and the supporting frame of the side guide supporting wheel 26 is disposed in the supporting wheel sleeve 22, the supporting wheel spring 23 and the spring pad 21 are disposed in the supporting wheel sleeve 22, and the supporting wheel spring 23 is located between the supporting frame of the side guide supporting wheel 26 and the spring pad 21, the adjusting bolt 19 is installed on the guide rail sliding seat frame 18 opposite to the position of the spring pad 21 in a threaded connection mode, the adjusting bolt 19 abuts against the spring pad 21, the pressing elasticity of the supporting wheel spring 23 can be adjusted by rotating the adjusting bolt 19, and the locking nut 20 is matched and screwed on the adjusting bolt 19 and used for adjusting and positioning the adjusting bolt 19.
In order to prevent that wire rope 28 from taking place the phenomenon of skidding with the wire rope cylinder in the removal process, as the utility model discloses a further improvement scheme, wire rope 28 twines three weeks at least on the wire rope cylinder.
Claims (6)
1. A walking driving mechanism of a belt conveyor inspection robot comprises a guide rail support frame, a guide rail (11) erected at the top end of the guide rail support frame and a guide rail sliding seat frame (18) sleeved on the guide rail (11), and is characterized by further comprising a steel wire rope traction structure arranged at the end part of the guide rail (11);
the top end of the guide rail support frame is fixedly provided with a guide support (9), the end part of a guide rail (11) arranged in parallel to the conveying direction of the belt conveyor is fixedly arranged on the guide support (9), and a guide sliding bearing (8) is fixedly arranged on the guide support (9) corresponding to the end part of the guide rail (11);
the guide rail sliding seat frame (18) is of a frame structure, supporting guide wheels which are arranged in the frame structure in a rolling mode along the front-back direction through a supporting frame are arranged in positions corresponding to the side face and the top face of the guide rail (11), the side face guiding support wheels (26) are symmetrically arranged in a left-right mode corresponding to the left side face and the right side face of the guide rail (11) in a left-right mode, and the space between the two side face guiding support wheels (26) is matched with the width of the guide rail (11);
the steel wire rope traction structures are symmetrically arranged in two sets in front and back relative to the guide rail (11), and each steel wire rope traction structure comprises a roller base (2), a steel wire rope roller and a tension spring (7); a guide post (14) is fixedly arranged on the roller base (2), and the roller base (2) is installed in the guide sliding bearing (8) in a penetrating way through the guide post (14); the steel wire rope rollers are erected and installed on the roller seat (2), at least one of the front and rear steel wire rope rollers is a driving roller (3) with a driving motor (1), and an upper layer steel wire rope or a lower layer steel wire rope which is connected end to end and is in a ring shape is wound on the front and rear steel wire rope rollers and is in a parallel state is fixedly installed and connected with the guide rail sliding seat frame (18); the tension spring (7) is arranged between the roller seat (2) and the end surface of the guide rail (11) in a telescopic mode along the front-back direction.
2. The belt conveyor inspection robot walking drive mechanism according to claim 1, wherein two ends of the tension spring (7) are respectively mounted on end surfaces of the roller base (2) and the guide rail (11) through spring seats.
3. The belt conveyor inspection robot walking driving mechanism according to claim 2, wherein an inner spring guide post (6) fixedly arranged on a spring seat is arranged inside the tension spring (7).
4. The belt conveyor inspection robot walking drive mechanism according to claim 1, 2 or 3, characterized in that at least one side guide support wheel (26) is provided with an elastic pressing structure which can enable the side guide support wheel (26) to be always attached to the guide rail (11).
5. The belt conveyor inspection robot walking driving mechanism according to claim 4, wherein the elastic pressing structure comprises a supporting wheel sleeve (22), a supporting wheel spring (23), a spring pad (21), an adjusting bolt (19) and a locking nut (20), the supporting wheel sleeve (22) is fixedly installed on the guide rail sliding seat frame (18) corresponding to the position of the side guide supporting wheel (26), the supporting frame of the side guide supporting wheel (26) is arranged in the supporting wheel sleeve (22), the supporting wheel spring (23) and the spring pad (21) are arranged in the supporting wheel sleeve (22), the supporting wheel spring (23) is positioned between the supporting frame of the side guide supporting wheel (26) and the spring pad (21), the adjusting bolt (19) is installed on the guide rail sliding seat frame (18) opposite to the position of the spring pad (21) in a threaded connection manner, and the adjusting bolt (19) abuts against the spring pad (21), the locking nut (20) is matched and screwed on the adjusting bolt (19).
6. The belt inspection robot travel drive mechanism of claim 1, 2 or 3, wherein the wire rope (28) is wound on the wire rope drum for at least three revolutions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920677136.4U CN210150174U (en) | 2019-05-13 | 2019-05-13 | Walking driving mechanism of inspection robot of belt conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920677136.4U CN210150174U (en) | 2019-05-13 | 2019-05-13 | Walking driving mechanism of inspection robot of belt conveyor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210150174U true CN210150174U (en) | 2020-03-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920677136.4U Expired - Fee Related CN210150174U (en) | 2019-05-13 | 2019-05-13 | Walking driving mechanism of inspection robot of belt conveyor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210150174U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043490A (en) * | 2021-10-11 | 2022-02-15 | 北京天玛智控科技股份有限公司 | Universal chassis structure of inspection robot |
-
2019
- 2019-05-13 CN CN201920677136.4U patent/CN210150174U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043490A (en) * | 2021-10-11 | 2022-02-15 | 北京天玛智控科技股份有限公司 | Universal chassis structure of inspection robot |
| CN114043490B (en) * | 2021-10-11 | 2023-12-26 | 北京天玛智控科技股份有限公司 | Universal chassis structure of inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200317 Termination date: 20210513 |
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| CF01 | Termination of patent right due to non-payment of annual fee |