CN213801464U - Pipe belt conveyor inspection robot and conveying system - Google Patents

Abstract

The utility model relates to a technical field, concretely relates to pipe belt conveyor patrols and examines robot and conveying system. The method comprises the following steps: the inspection robot body; a detection component; the driving mechanism is arranged on the inspection robot body and is suitable for driving the inspection robot body to move along the first surface of the preset track; the guide mechanism is directly or indirectly connected with the inspection robot body and is matched with the second surface of the preset track in a sliding or rolling abutting mode; the preset track first surface and the preset track second surface are arranged at an angle. The utility model provides a pipe belt conveyor inspection robot, which enables a detection component to continuously detect an object to be detected; and through setting up guiding mechanism, conveniently lead to the direction of motion of patrolling and examining the robot body, avoid the off tracking, guarantee to patrol and examine the robot and be in on predetermineeing the track constantly, and then guarantee the accuracy of detecting element detection position.

Description

Pipe belt conveyor inspection robot and conveying system

Technical Field

The utility model relates to a technical field, concretely relates to pipe belt conveyor patrols and examines robot and conveying system.

Background

The tubular belt conveyer has the conveying belt wound into tubular belt conveyer, and the conveying belt is wound into tubular belt conveyer and then lapped with the carrier rollers to realize tubular sealing.

Because the winding form of tubulose belt conveyor, at long distance operation in-process, can have the risk that the overlap joint position deviates from normal position, consequently need set up inspection device and monitor the running state of pipe area, in time discover the deviation, avoid the risk. The inspection robot for the inspection of the existing tubular belt conveyor usually adopts a rail-hanging type inspection robot, however, the rail-hanging type inspection robot usually needs to be provided with an independent rail, the manufacturing cost of the rail is high, and the cost of the inspection rail accounts for more than 50% of the cost of the whole inspection robot system. And the track needs to support or hang auxiliary structure, and the construction is difficult, and especially when the project of the established tubular belt conveyor is added with the inspection robots, the construction of additionally arranging the track is more inconvenient. In addition, no matter the track of the track inspection robot is placed above or on one side of the tubular belt conveyor, the track inspection robot can only detect the pipe belts and the carrier rollers on one side of the tubular belt conveyor, and the pipe belts and the carrier rollers on the two sides of the tubular belt conveyor cannot be monitored.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the higher defect of tubulose belt conveyor inspection equipment cost among the prior art to a pipe belt conveyor inspection robot that reduces construction cost is provided.

The utility model discloses another technical problem that solves lies in overcoming the higher defect of conveying system inspection equipment cost among the prior art to a reduce construction cost's conveying system is provided.

In order to solve the technical problem, the utility model provides a pair of pipe belt conveyor patrols and examines robot, include:

the inspection robot body;

the detection assembly is directly or indirectly connected to the inspection robot body; and

the driving mechanism is arranged on the inspection robot body and is suitable for driving the inspection robot body to move along the first surface of the preset track;

the guide mechanism is directly or indirectly connected with the inspection robot body and is matched with the second surface of the preset track in a sliding or rolling abutting mode;

the preset track first surface and the preset track second surface are arranged at an angle.

Optionally, the driving mechanism includes a driving wheel, and the driving wheel is driven by the driving device to rotate.

Optionally, the guide mechanism includes a guide wheel, and the guide wheel rolls along the second surface of the preset track.

Optionally, the guide wheel is arranged on at least one side of the traveling direction of the inspection robot of the pipe belt conveyor.

Optionally, the guide mechanism further includes a reset component, and the reset component is directly or indirectly connected to the guide wheel, so that the guide wheel is elastically abutted to the second surface of the preset track.

Optionally, the method further includes: and the lifting mechanism is suitable for driving the detection assembly to lift.

Optionally, the detection component includes one or more of a camera, a thermal infrared imager, and a laser scanner.

Optionally, the method further includes: and the cleaning mechanism is directly or indirectly connected to the inspection robot body and is suitable for cleaning the first surface of the preset track and/or the second surface of the preset track.

Optionally, the cleaning mechanism is arranged in the front position of the driving mechanism and/or the guiding mechanism along the moving direction of the inspection robot body.

Optionally, a driven wheel is arranged on the sweeping mechanism, and the driven wheel is directly driven by the driving mechanism and/or the guiding mechanism; and

and the cleaning brush is directly or indirectly connected with the driven wheel and performs reciprocating sweeping motion around the axis of the cleaning brush.

The utility model provides a conveying system, include:

a pipe strap;

a truss for supporting the pipe string; and

the pipe belt conveyor inspection robot is described above.

Optionally, the pipe belt conveyor inspection robot is arranged outside the truss, and a first surface of a preset track is formed on the upper surface of the truss; at least one side surface of the truss forms a second surface of the preset track.

Optionally, the preset track first surface and the preset track second surface are arranged at a right angle.

Optionally, the detection assembly of the pipe belt conveyor inspection robot is arranged on two opposite sides of the truss in the width direction.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a pipe belt conveyor patrols and examines robot, conveniently treats the detection object through setting up the determine module and detects to drive through actuating mechanism patrol and examine the robot body and move along presetting track first face, thereby make the determine module treats the detection object and detects in succession; and through setting up guiding mechanism, it is convenient right the direction of motion of patrolling and examining the robot body leads, avoids the off tracking, guarantees to patrol and examine the robot and be in on predetermineeing the track constantly, and then guarantees the accuracy of determine module detection position.

2. The utility model provides a pipe belt conveyor patrols and examines robot, through at the leading wheel direct or indirect connection reset assembly to reserve more allowances for the activity space of leading wheel, improve the fault-tolerant rate, avoid the jamming; through patrol and examine the both sides of robot body and set up reset assembly respectively to improve patrol and examine the centering nature of robot body, avoid patrolling and examining the robot body and to unilateral skew, guarantee to operate steadily, improve determine module's detection accuracy.

3. The utility model provides a pipe belt conveyor patrols and examines robot, drives through setting up elevating system the detection component goes up and down to improve the detection range of detection component, and make detection component can follow and detect the object and move, avoid the loss of detection area, improve the fault-tolerant rate; simultaneously, through the lift operation, can realize adopting single detection assembly to detect a plurality of objects that wait simultaneously, improve the utilization ratio, reduce construction cost.

4. The utility model provides a conveying system adopts the operation track of tubulose belt conveyor's truss structure conduct robot of patrolling and examining, need not set up solitary track separately for patrolling and examining the robot to greatly reduced cost reduces the construction degree of difficulty, improves the commonality.

5. The utility model provides a conveying system patrols and examines the robot and uses the tubulose belt conveyor truss as the walking track, need not set up solitary track separately for patrolling and examining the robot, can accomplish patrolling and examining to the pipe area, and actuating mechanism and guiding mechanism are located the different planes respectively, guarantee to move each other and do not take place to interfere, and improve the stationarity of patrolling and examining the robot operation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic perspective view of the conveying system of the present invention;

FIG. 2 is a schematic view of the tube strip of the present invention;

fig. 3 is a left side view of the conveying system of the present invention;

FIG. 4 is an enlarged view taken at A in FIG. 3;

fig. 5 is a front view of the delivery system of the present invention;

fig. 6 is a top view of the delivery system of the present invention;

FIG. 7a is a schematic view of a normal lap position of the pipe strap;

FIG. 7b is a schematic view of the first lap joint position after the pipe belt is deflected by an angle A;

FIG. 7c is a schematic view of the second lap position after the tube band has been deflected by angle A;

fig. 8 is a schematic view of the lifting mechanism of the present invention;

FIG. 9 is a front view of the conveying system with the cleaning mechanism installed;

FIG. 10 is an enlarged view of FIG. 9 at B;

fig. 11 is a left side view of the sweeping mechanism of the present invention;

fig. 12 is a front view of the sweeping mechanism of the present invention;

fig. 13 is a perspective view of the cleaning mechanism of the present invention.

Description of reference numerals:

10-pipe strap, 11-lap joint; 20-truss, 21-inner frame end plate, 22-carrier roller;

30-inspection robot body, 31-lifting mechanism, 32-guiding mechanism, 33-driving mechanism, 34-guiding mechanism bracket, 35-resetting component, 36-detecting component, 37-motor component, 38-lifting rod, 39-lifting bracket;

40-a sweeping mechanism, 41-a driven wheel, 42-a synchronous transmission piece, 43-a driven wheel, 44-a transmission gear, 45-a reversing gear, 46-a cleaning brush, 47-a mounting frame, 471-a pressure adjusting hole, 48-a first rotating shaft and 49-a second rotating shaft.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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 meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example one

Referring to fig. 1 to 13, the present embodiment provides a pipe belt conveyor inspection robot, including:

a patrol robot body 30;

the detection component 36 is directly or indirectly connected to the inspection robot body 30; and

the driving mechanism 33 is arranged on the inspection robot body 30 and is suitable for driving the inspection robot body 30 to move along the first surface of the preset track;

the guide mechanism 32 is directly or indirectly connected with the inspection robot body 30 and is matched with the second surface of the preset track in a sliding or rolling abutting mode;

the preset track first surface and the preset track second surface are arranged at an angle.

The pipe belt conveyor inspection robot provided by the embodiment is convenient to detect an object to be detected by arranging the detection assembly 36, and drives the inspection robot body 30 to move along the first surface of the preset track through the driving mechanism 33, so that the detection assembly 36 continuously detects the object to be detected; and through setting up guiding mechanism 32, it is convenient right the direction of motion of patrolling and examining robot body 30 leads, avoids the off tracking, guarantees to patrol and examine the robot and be in on predetermineeing the track constantly, and then guarantees the accuracy of detecting component 36 detection position.

As a preferred implementation form, the preset track can be the outer surface of the object to be detected, so that the inspection robot can move along the outer surface of the object to be detected, and an independent running track does not need to be arranged for the inspection robot; at this moment, pipe belt conveyor patrols and examines robot only includes patrols and examines robot body 30 and sets up a plurality of mechanism's subassemblies on patrolling and examining robot body 30, with the help of actuating mechanism 33 and guiding mechanism 32's cooperation for patrolling and examining robot body 30 and can following the surface that detects object self and remove, and guarantee traffic direction's accuracy, need not to patrol and examine robot to pipe belt conveyor and set up the track alone, greatly reduced cost reduces the construction degree of difficulty, improves the commonality.

In this embodiment, the preset track may be a truss structure for erecting the pipe belt.

Preferably, the inspection robot body 30 is configured as a main structure of the pipe belt conveyor inspection robot, and at least one or more of a control module, a communication module, an energy module, and the like are further provided thereon. The communication module receives the inspection instruction in a wireless communication mode or a wired communication mode and transmits the information obtained by detection back to the background monitoring system. In this embodiment, the inspection robot body 30 is preferably configured as a box structure, and at least one or more of the control module, the communication module, the energy module, and the like are disposed inside the box structure.

Preferably, in some embodiments, the housing of the inspection robot body 30 is formed by a solar panel, so that when the inspection robot operates outdoors, solar energy can be used for charging, and the power supply of the inspection robot of the pipe belt conveyor is ensured. In other embodiments, an electric driving device or a fuel driving device may be disposed inside the inspection robot body 30 to provide power for the operation of the inspection robot.

Preferably, the guide mechanism 32 is installed and matched with the inspection robot body 30 through a guide mechanism bracket 34.

In particular, the driving mechanism 33 includes a driving wheel, which is driven by a driving device to rotate.

Preferably, the drive wheel set up in patrol and examine the bottom of robot 30 to place the drive wheel in the upper surface of presetting the first face of track, and under the rotation effect of drive wheel, drive patrol and examine robot 30 and remove.

As a deformation, the driving wheel is disposed at the top or the side of the inspection robot body 30, so that the inspection robot body 30 is conveniently moved by the driving wheel in a suspended or inclined state.

Preferably, the number of the driving wheels may be one or more, and in some embodiments, the bottom of the inspection robot body 30 may be provided with one or more driving wheels and cooperate with one or more bearing wheels, so as to realize the movement of the inspection robot body 30.

Preferably, the driving wheel is provided with patterns, so that the friction force between the driving wheel and the first surface of the preset track is increased, and slipping is avoided.

Specifically, the guiding mechanism 32 includes a guiding wheel, and the guiding wheel rolls along the second surface of the preset track.

In this embodiment, the guide wheel is a driven wheel, and a driving mechanism is not connected to the guide wheel. The leading wheel can set up in patrol and examine robot body 30's both sides position to with predetermine the track second face butt. Thereby under the drive wheel drives patrol and examine robot 30 and remove, and under the guide effect of leading wheel, guarantee patrol and examine robot 30 and walk along predetermineeing the track constantly, do not take place the skew.

In some embodiments, the guide wheel rolls along the second surface of the preset track, the preset track may be an outer surface of the object to be detected, and preferably, the preset track may be a truss structure for erecting a pipe belt. Because of the complex line of the tubular belt conveyor, the tubular belt conveyor is often erected in the air and has complex space turning. The guide wheels are arranged on the two sides of the inspection robot body 30 and are tightly attached to the side faces of the tubular belt conveyor truss, when the tubular belt conveyor truss turns, the guide wheels keep the transverse positioning relation of the driving wheels and the bearing wheels on the top surface of the truss unchanged, so that the inspection robot can turn along with the tubular belt conveyor truss, the accuracy of a walking path is guaranteed, and deviation is avoided.

Specifically, the guide wheel is arranged on at least one side of the traveling direction of the pipe belt conveyor inspection robot. And are preferably provided at opposite sides of the traveling direction of the inspection robot.

Specifically, the guide mechanism 32 further includes a reset component 35, and the reset component 35 is directly or indirectly connected to the guide wheel, so that the guide wheel is elastically abutted to the second surface of the preset track.

The reset component 35 comprises a reset spring, the reset spring is directly or indirectly abutted against the rotating shaft of the guide wheel, and the elastic direction of the reset spring is perpendicular to the rotating axis of the guide wheel.

The pipe belt conveyor inspection robot provided by the embodiment has the advantages that the reset component 35 is directly or indirectly connected with the guide wheel, so that more allowance is reserved for the moving space of the guide wheel, the fault tolerance rate is improved, and clamping stagnation is avoided; through patrol and examine the both sides of robot body 30 and set up reset assembly 35 respectively, thereby improve patrol and examine robot body 30 centering nature, avoid patrolling and examining robot body 30 to unilateral skew, guarantee to operate steadily, improve detection component 36's detection accuracy.

Specifically, the pipe belt conveyor inspection robot still includes: the lifting mechanism 31 is suitable for driving the detection assembly 36 to lift and descend through the lifting mechanism 31.

According to the pipe belt conveyor inspection robot provided by the embodiment, the lifting mechanism 31 is arranged to drive the detection assembly 36 to lift, so that the detection range of the detection assembly 36 is enlarged, the detection assembly 36 can move along with an object to be detected, the loss of a detection area is avoided, and the fault tolerance rate is improved; meanwhile, through the lifting operation, the single detection assembly 36 can be used for detecting a plurality of objects to be detected simultaneously, the utilization rate is improved, and the construction cost is reduced.

Specifically, the detection assembly 36 includes one or more of a camera, a thermal infrared imager, and a laser scanner.

In this embodiment, the camera is adapted to detect the general appearance and surroundings of the tube-belt conveyor; the thermal infrared imager is suitable for detecting the temperature of the carrier roller and the pipe belt; the laser scanner detects whether the position of a joint of the pipe belt and the outer contour of the pipe belt are complete and circular or not, and timely discovers the collapse change of the circular pipe under the fault state.

Preferably, the detection assembly 36 is disposed on two sides of the inspection robot body 30, and can monitor the upper pipe belt, the lower pipe belt and the carrier roller on two sides of the tubular belt conveyor.

Specifically, the pipe belt conveyor inspection robot still includes: and the cleaning mechanism 40 is directly or indirectly connected to the inspection robot body 30 and is suitable for cleaning the first surface of the preset track and/or the second surface of the preset track.

Preferably, the cleaning mechanism 40 is disposed at a side surface or a bottom position of the inspection robot body 30,

specifically, the cleaning mechanism 40 is disposed at a position in front of the driving mechanism 33 and/or the guide mechanism 32 in the moving direction of the inspection robot body 30. Therefore, the driving mechanism 33 and/or the front position of the guide mechanism 32 are/is cleaned, so that the cleaning of the first surface of the preset track and/or the second surface of the preset track is completed before the driving wheel or the bearing wheel or the guide wheel passes through, the driving mechanism 33 and/or the guide mechanism 32 are/is ensured to normally operate, the slipping or the clamping stagnation is avoided, the service life is prolonged, and the failure rate is reduced.

The sweeping mechanism 40 may be driven by a separate power device, such as a driving motor; the driving can also be carried out by a passive driving mode, and the passive driving mode is preferably adopted in the embodiment. The passive driving mode adopted in the present embodiment will be described below.

Specifically, the cleaning mechanism 40 is provided with a driven wheel 41, and the driven wheel 41 is directly driven by the driving mechanism 33 and/or the guiding mechanism 32; and

and a cleaning brush 46 connected directly or indirectly to the driven wheel 41 and performing a reciprocating sweeping motion about its own axis.

Further preferably, in the present embodiment, the driven wheel 41 is abutted against the driving wheel, the bearing wheel or the guide wheel, and for simplifying the description, the driving wheel is taken as an example for explanation; the driven wheel 41 and the driving wheel are preferably in elastic contact, the driven wheel 41 is driven to rotate through rotation of the driving wheel, the driven wheel 41 transmits power to the driven wheel 43 through the synchronous transmission piece 42, and further drives the transmission gear 44 coaxially arranged with the driven wheel 43 to rotate, the transmission gear 44 is meshed with the reversing gear 45, the transmission gear 44 and the reversing gear 45 are both constructed into conical gears, so that the rotation direction is changed, the reversing gear 45 further drives the cleaning brush 46 to rotate, and the cleaning brush 46 performs reciprocating cleaning motion around the axis of the cleaning brush 46, so that cleaning action is realized.

Example two

As shown in fig. 1, the present embodiment provides a conveying system, including:

a pipe band 10;

a truss 20 for supporting the pipe string 10; and

the pipe belt conveyor inspection robot according to the first embodiment.

The conveying system specifically comprises: a truss 20; the inner frame end disc 21 is installed on the truss 20, and a plurality of carrier roller supports are arranged on the inner frame end disc 21; the carrier roller bracket is used for mounting a carrier roller 22; the carrier rollers are used for supporting a conveying belt, the conveying belt is in a tail-end connection mode, and the main structure of the pipe belt conveyor is formed by continuous multi-section trusses which are connected end to end. In a specific implementation form, the conveying belt is surrounded by a carrier roller arranged on an end disc of an inner frame of a pipe belt type conveyor truss, the conveying belt is curled into a pipe shape, and a pipe-shaped closing is realized by adopting a conveying belt overlapping method. Because the conveyer belt is constructed in a mode of ending and connecting, the bearing section and the return section of the conveyer belt are both arranged in the truss, and preferably, the bearing section and the return section are supported by the same truss and are distributed in the truss in an up-down mode, 12 carrier rollers are arranged on the same inner frame end disc, and the 12 carrier rollers are divided into two groups and are arranged on two planes of the inner frame end disc to respectively form two regular hexagon sections. In the receiving area, the conveying belt is in a straight state at the roller, and then gradually transits to a U-shaped state to form a pipe shape finally; in the unloading zone the process is reversed.

The conveying system provided by the embodiment adopts the truss structure of the tubular belt conveyor as the running track of the inspection robot, and does not need to additionally arrange an independent track for the inspection robot, so that the cost is greatly reduced, the construction difficulty is reduced, and the universality is improved.

Specifically, the pipe belt conveyor inspection robot is arranged outside the truss 20, and a first surface of a preset track is formed on the upper surface of the truss 20; at least one side of the truss 20 forms a second surface of the preset track.

That is, the driving mechanism 33 uses the top surface of the tubular belt conveyor truss as a moving rail, and the guide mechanism uses the side surface of the tubular belt conveyor truss as a guide rail.

The conveying system that this embodiment provided, the robot that patrols and examines uses the tubulose belt conveyor truss as the walking track, need not set up solitary track separately for the robot that patrols and examines, can accomplish patrolling and examining to the pipe area, and actuating mechanism and guiding mechanism are located different planes respectively, guarantee not to take place to interfere each other in the operation, and improve the stationarity of patrolling and examining the robot operation.

Specifically, the preset track first surface and the preset track second surface are arranged at a right angle.

Specifically, the inspection units 36 of the pipe belt type conveyor inspection robot are disposed at opposite sides of the girder 20 in the width direction.

The inspection robot is provided with lifting mechanisms 31 on two sides of the tubular belt conveyor, detection elements such as a camera, a thermal infrared imager and a two-dimensional laser scanner are mounted on the lifting mechanisms 31, and an upper pipe belt, a lower pipe belt and supporting carrier rollers on two sides of the tubular belt conveyor can be monitored simultaneously. Preferably, both sides at tubular belt conveyor all set up detection assembly, detect pipe area, bearing roller and the affiliated facilities of tubular belt conveyor both sides simultaneously, realize no dead angle and detect.

EXAMPLE III

The embodiment provides a tubulose belt conveyor pipe area overlap joint position detection device, includes:

a detection assembly 36 adapted to detect the deflection angle of the lap 11 of the pipe band 10;

the inspection robot body 30 directly or indirectly drives the detection component 36 to move along a first preset direction;

the detection assembly 36 includes a laser scanner.

Preferably, in this embodiment, the detection component 36 includes a laser scanner, which may be a two-dimensional laser scanner or a three-dimensional laser scanner, and the laser scanner is a profile scanning instrument, and can rapidly and accurately measure the profile of the object at a scanning frequency of tens to hundreds of Hz by using a non-contact laser measurement technology.

According to the detection device for the pipe belt lapping position of the tubular belt conveyor, the detection component 36 is arranged to facilitate detection of an object to be detected, and the inspection robot body 30 drives the detection component 36 to move along a first preset direction, so that the detection component 36 continuously detects the object to be detected; and a laser scanner is specifically adopted as the detection component 36, so that continuous non-contact detection is performed on the pipe belt overlapping position, and the accuracy of detection of the pipe belt overlapping position is improved.

Specifically, the detection component 36 further includes: one or more of a camera and a thermal infrared imager.

Specifically, the laser scanner specifically includes: optical distance sensors and/or lidar (light detection and ranging) area scanning sensors.

In particular operation, the laser scanner emits a beam of light, typically laser light having a wavelength in the visible or near infrared range, toward the object being measured, and the laser scanner receives light reflected from the object being measured. Because the speed of light is known, the distance between the laser scanner and the object to be measured can be calculated according to the flight time of the light, and further, the image of the detection range can be obtained according to the angle and the flight time of the laser beam emitted by and received by the laser scanner. This measurement method is called time-of-flight measurement and is an indirect method for determining the distance to the measured object, and this distance measurement method is hardly affected by the surface characteristics of the measured object. Thus, time-of-flight measurements are applicable not only to one-dimensional ranging, but also to multi-dimensional measurements with LiDAR area-scanning sensors that detect planes or solid angles.

The optical distance sensor and/or the LiDAR area scanning sensor are/is adopted as the laser scanner, so that the distance values analyzed at the corresponding positions of each angular resolution by the laser scanner in the scanning area can be sequentially connected, the outline of the surrounding object can be very visually seen through polar coordinate representation, the detection accuracy is improved, and the intuitiveness of detection feedback data is improved.

In this embodiment, the profile of the pipe belt at the overlapping part 11 has a sudden change, the difference is the upper layer pipe belt + overlapping gap, the LiDAR area scanning sensor can effectively detect the profile, and the specific difference of the profile change and the position on the circular arc can be distinguished, so that the position of the overlapping part 11 can be effectively determined.

Specifically, the method further comprises the following steps: the lifting mechanism 31 is adapted to drive the detection assembly 36 to lift along a second preset direction by the lifting mechanism 31.

Specifically, the lifting mechanism 31 includes:

a motor assembly 37;

a lifting bracket 39 adapted to mount the detection assembly 36;

and the lifting rod 38 is driven by the motor assembly 37 and drives the lifting bracket 39 to lift.

Specifically, the number of the detection assemblies 36 is two; the corresponding quantity of elevating system 31 is two sets of, two sets of elevating system 31 set up respectively in the both sides of patrolling and examining robot body 30 along first predetermined direction.

Specifically, the first preset direction is parallel to the axial direction of the pipe belt 10 or arranged at an acute angle; the second preset direction is parallel to the vertical direction or arranged in an acute angle.

Specifically, the method further comprises the following steps: and the driving mechanism 33 is arranged on the inspection robot body 30 and drives the inspection robot body 30 to move along a first preset direction.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims (14)

1. The utility model provides a pipe belt conveyor patrols and examines robot which characterized in that includes:

a patrol robot body (30);

the detection assembly (36) is directly or indirectly connected to the inspection robot body (30); and

the driving mechanism (33) is arranged on the inspection robot body (30) and is suitable for driving the inspection robot body (30) to move along the first surface of the preset track;

the guide mechanism (32) is directly or indirectly connected with the inspection robot body (30) and is in sliding or rolling abutting fit with the second surface of the preset track;

the preset track first surface and the preset track second surface are arranged at an angle.

2. The pipe belt conveyor inspection robot according to claim 1, wherein the drive mechanism (33) includes a drive wheel that is rotated by a drive device.

3. The pipe belt conveyor inspection robot according to claim 2, wherein the guide mechanism (32) includes a guide wheel that rolls along the second side of the preset track.

4. The pipe belt conveyor inspection robot according to claim 3, wherein the guide wheels are disposed on at least one side of a direction of travel of the pipe belt conveyor inspection robot.

5. The pipe belt conveyor inspection robot according to claim 3, wherein the guide mechanism (32) further comprises a reset assembly (35), and the reset assembly (35) is directly or indirectly connected with the guide wheel so that the guide wheel is in elastic abutment with the second surface of the preset track.

6. The pipe belt conveyor inspection robot according to any one of claims 1-5, further comprising: the lifting mechanism (31), the lifting mechanism (31) is suitable for driving the detection component (36) to lift.

7. The pipe belt conveyor inspection robot according to claim 6, wherein the detection assembly (36) includes one or more of a camera, a thermal infrared imager, and a laser scanner.

8. The pipe belt conveyor inspection robot according to any one of claims 1-5, further comprising: and the cleaning mechanism (40) is directly or indirectly connected to the inspection robot body (30) and is suitable for cleaning the first surface of the preset track and/or the second surface of the preset track.

9. The pipe belt conveyor inspection robot according to claim 8, wherein the cleaning mechanism (40) is disposed at a position forward of the driving mechanism (33) and/or the guiding mechanism (32) in a moving direction of the inspection robot body (30).

10. The pipe belt conveyor inspection robot according to claim 9, wherein a driven wheel (41) is provided on the sweeping mechanism (40), the driven wheel (41) being directly driven by the driving mechanism (33) and/or the guiding mechanism (32); and

and the cleaning brush (46) is directly or indirectly connected with the driven wheel (41) and performs reciprocating sweeping motion around the axis of the cleaning brush.

11. A conveyor system, comprising:

a pipe band (10);

a truss (20) for supporting the pipe string (10); and

the pipe belt conveyor inspection robot according to any one of claims 1-10.

12. The conveying system according to claim 11, wherein the pipe belt conveyor inspection robot is arranged outside the truss (20), and the upper surface of the truss (20) forms a first surface of a preset track; at least one side surface of the truss (20) forms a second surface of the preset track.

13. The conveyor system of claim 12, wherein the pre-set track first face is disposed at a right angle to the pre-set track second face.

14. The conveyor system according to claim 11, wherein the inspection assemblies (36) of the pipe belt conveyor inspection robot are provided on opposite sides of the truss (20) in the width direction.

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