CN216328364U

CN216328364U - Robot for maintaining parallel roller-off of conveyor

Info

Publication number: CN216328364U
Application number: CN202123080117.XU
Authority: CN
Inventors: 周小寒; 王兴; 刘润增
Original assignee: Beijing Runxing Hande Emergency Management Technology Co ltd
Current assignee: Beijing Runxing Hande Emergency Management Technology Co ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-04-19
Anticipated expiration: 2031-12-09

Abstract

The utility model provides a robot for maintaining a parallel roller of a conveyor, which relates to the technical field of maintenance robots and comprises a mobile robot, a cylinder, a PLC (programmable logic controller) control system and a coding motor, wherein the coding motor is arranged in the mobile robot, an output shaft of the coding motor is rotatably connected with a roller through a connector, the mobile robot is of a hollow structure, the surface of the mobile robot is provided with a groove with the same shape as that of a grabbing manipulator, one side of the groove on the surface of the mobile robot is provided with a baffle plate, the device can realize the positioning of a fault point, the mobile robot can be positioned to the fault point through the value returned by the coding motor through an encoder, a lifting plate capable of lifting is adopted between a feeding area and the manipulator, and an infrared sensor is arranged on the lifting plate, so that the lifting plate falls when feeding is carried out, the lifting plate rises when a carrier roller is detected to the feeding area, and the impact of the manipulator caused by redundant carrier rollers is avoided, shortening the life of the equipment.

Description

Robot for maintaining parallel roller-off of conveyor

Technical Field

The utility model relates to the technical field of maintenance robots, in particular to a robot for maintaining parallel roller-releasing of a conveyor.

Background

At present, bulk cargo conveyer all has extensive application in metallurgy, coal, colliery, heavy industry and agricultural production, compares in the used equipment of other transports, and bulk cargo conveyer structure is comparatively simple, the working time efficiency is long, bearing capacity is strong, stability is high, but advantages such as working distance is long are one of the indispensable equipment in the industrial development, and the work efficiency of long distance bulk cargo conveyer has especially decided the work efficiency of whole production line in mining machinery, becomes the indispensable partly of mining machinery.

The main failure modes of the bulk cargo conveyor mainly appear on the belt and the carrier roller group, and the main modes comprise belt abrasion, belt slippage, belt fracture, carrier roller group roller release, carrier roller abrasion and the like, because the loose material conveyor can bear different forces due to the uncertainty of the weight of conveyed materials and the uneven distribution of axial loads, the roller releasing at different positions can bear different forces, the abrasion of the carrier roller and the roller releasing of the carrier roller group are accelerated, and because the loose material conveyor is completely in an open-air environment or underground, and may be influenced by wind sand and dust to a great extent, the dust, wind sand and materials on the bulk cargo conveyer may enter into the bearing of the carrier roller and the gap between the carrier roller group and the belt, this greatly increases the chance of damage to the bearings and outer surfaces of the idlers, which also makes the failure of the idler set a dominant failure mode during operation of long-haul bulk material conveyors.

Along with the continuous extension of bulk cargo conveyer transmission distance, the load that bears increases gradually, the emergence of the inefficacy form of bulk cargo conveyer bearing roller group can all be accelerated in the acceleration of transmission speed. In the process of transporting the mining machinery, no matter underground or aboveground, on-site patrol personnel hardly carry a carrier roller with larger weight to enter a site and maintain the carrier roller on the site, meanwhile, due to the fact that the transmission distance of the bulk cargo transporter is long, constructors consume larger working hours, the progress of the whole production line is delayed, and further the working efficiency is greatly influenced, however, along with the improvement of the technical level, a routing inspection device and a fault diagnosis device of the bulk cargo transporter are continuously emerged, then the discovered faults are processed by manually arriving at a fault place, but in the coal mine industry, the conveying length of the bulk cargo transporter can reach several kilometers or even dozens of kilometers, even if the faults of the bulk cargo transporter are discovered, a large amount of manpower, material resources and financial resources are consumed, and a large amount of time is consumed for maintenance work, so that the whole production line is paralyzed for a short time, affecting the work process.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a robot for maintaining a parallel roller-out of a conveyor.

In order to achieve the purpose, the utility model adopts the following technical scheme: a robot for maintaining a parallel roller-off of a conveyor comprises a mobile robot, a cylinder, a PLC control system and a coding motor, wherein the coding motor is arranged in the mobile robot, an output shaft of the coding motor is rotatably connected with a roller through a wheel axle, the mobile robot is of a hollow structure, the surface of the mobile robot is provided with a groove with the same shape as that of a grabbing manipulator, one side of the groove in the surface of the mobile robot is provided with a baffle, the surface of the mobile robot is provided with an infrared sensor, the coding motor is fixedly arranged on the inner wall of the mobile robot, the PLC control system is fixed at the bottom of the mobile robot, the cylinder is fixed at the bottom of the mobile robot, the bottom of the mobile robot at one side of the cylinder, away from the PLC control system, is provided with a rotating workbench, and the rotating workbench is provided with a first-order manipulator cylinder, the automatic opening and closing device comprises a first-order manipulator cylinder, a second-order manipulator cylinder, a third-order manipulator cylinder, a lifting plate, the same infrared sensor, opening and closing manipulators, opening and closing manipulator guide rails and opening and closing manipulator arms, wherein the second-order manipulator cylinder is installed on the first-order manipulator cylinder, the third-order manipulator cylinder is installed on the second-order manipulator cylinder, the lifting plate cylinder is installed at the bottom of a mobile robot, which is far away from one side of the cylinder, of a rotary workbench, the opening and closing manipulators are arranged on two sides of the mobile robot, the opening and closing manipulators comprise first-order opening and closing manipulator cylinders, the first-order opening and closing manipulator cylinders are welded at the tops of two side walls of the mobile robot, the first-order opening and closing manipulator cylinders are provided with second-order opening and closing manipulator cylinders, the second-opening and closing manipulator guide rails are connected with the opening and closing manipulator guide rails through fixing frames, every open and shut mechanical arm on the mechanical guide rail of the manipulator that opens and shuts is two, open and shut mechanical arm slides through the dovetail on open and shut mechanical guide rail, there are open and shut mechanical arm step motor, open and shut mechanical arm band pulley and belt inside open and shut mechanical arm, open and shut mechanical arm band pulley passes through the axle to be fixed inside open and shut mechanical arm, open and shut mechanical arm band pulley and open and shut mechanical arm step motor's output fixed connection, open and shut mechanical arm step motor passes through the screw connection to be fixed inside open and shut mechanical arm, the belt surface has piezoelectric sensor, the screw is connected with open and shut mechanical arm's shell, be provided with travel switch on the mechanical arm that opens and shuts, travel switch and open and shut mechanical arm step motor electric connection.

The technical effect of adopting the further scheme is as follows: can realize the location to the fault point, numerical value that can return through the encoder through the coding motor fixes a position mobile robot to the fault point, this device is to adopting the liftable board of lifting and being furnished with infrared sensor on the board of lifting between material loading district and the manipulator, the board of lifting descends when making the material loading, it rises to detect the bearing roller to the material loading district time board of lifting, avoid unnecessary bearing roller to cause the impact to the manipulator, shorten equipment life, its both sides open and shut manipulator inside has belt drive and piezoelectric sensor, through opening and shutting manipulator centre gripping bearing roller axle end piezoelectric sensor detection pressure, if pressure is concentrated and explains manipulator and is the point contact with the roll axle head of releasing, because the bearing roller axle both ends are irregular type, need to make two planes and frame cooperation during the installation, correct the bearing roller axle head position through the inside belt drive of manipulator, make the bearing roller install smoothly.

As a preferred embodiment, the grabbing manipulator is mounted on a third-order manipulator cylinder through a pin shaft, and the rotating workbench is located at the center of the whole mobile robot.

The technical effect of adopting the further scheme is as follows: the rotary worktable is positioned at the center of the whole mobile robot so as to improve the rigidity and stability of the whole robot.

In a preferred embodiment, the lifting plate is arranged at a critical position on the left side of the manipulator groove.

In a preferred embodiment, the PLC control system includes a wireless module, and the wireless module in the PLC control system is in signal connection with the coding motor.

The technical effect of adopting the further scheme is as follows: when the host computer obtains the fault signal, the fault signal is transmitted to a PLC control system of the mobile robot through the wireless module, the PLC control system controls the coding motor to enable the motor to accurately move to a target point, and the coding motor is controlled to be locked after the motor reaches the target point to ensure the stability of the maintenance process.

As a preferred embodiment, the coding motor, the wheel shaft and the rollers form a driving device, the bottom of the mobile robot is stepped, the driving devices are arranged on two sides of the bottom, the number of the rollers in the driving device is two, and the number of the rollers in the driving device on one side is two.

The technical effect of adopting the further scheme is as follows: the bottom of the mobile robot is in a step shape, the two sides of the mobile robot are provided with driving devices, the driving chassis is provided with two groups of rollers, and one side of each group of rollers is provided with two rollers, so that the overall rigidity is improved.

Compared with the prior art, the utility model has the advantages and positive effects that,

1. this device can realize the location to the fault point, can fix a position the fault point through the numerical value that the encoder returned through the coding motor with mobile robot to avoid changing the use of inefficiency because of the manual work.

2. This device is to adopting the board of lifting of liftable and being furnished with infrared sensor on the board of lifting between material loading district and the manipulator, lifts the board when making the material loading and descends, detects the bearing roller and lifts the board and rise to the material loading district, avoids unnecessary bearing roller to cause the impact and shorten equipment life to the manipulator.

3. The inside belt drive and the piezoelectric sensor that have of its both sides manipulator that opens and shuts among this device detect pressure through opening and shutting manipulator centre gripping bearing roller axle head piezoelectric sensor, if pressure concentrates the description manipulator and takes off the roller axle head and be the point contact, because the bearing roller axle both ends are the irregularity type, need make two planes and frame cooperation during the installation, correct bearing roller axle head position through the inside belt drive of manipulator, make the bearing roller install smoothly.

4. The inside hollow structure that adopts of mobile robot reduces the holistic size of equipment direction of height with furthest, can install most equipment inside mobile robot simultaneously, has avoided the pollution of the inside key spare part of mobile robot and structure, also makes this equipment applicability stronger.

Drawings

FIG. 1 is a front view of a robot for servicing a parallel doffer of a conveyor according to the present invention;

FIG. 2 is a perspective view of a robot for maintaining a parallel roll-off of a conveyor according to the present invention;

FIG. 3 is a perspective view of an opening and closing manipulator in a robot for maintaining the parallel roller-off of a conveyor, provided by the utility model;

FIG. 4 is a flow chart of an opening and closing manipulator in a robot for maintaining the parallel roller-out of a conveyor provided by the utility model.

Illustration of the drawings:

1. a mobile robot; 2. a cylinder; 3. a PLC control system; 4. a coding motor; 5. a wheel shaft; 6. a roller; 7. a first-order manipulator cylinder; 8. a second-order manipulator cylinder; 9. a third-order manipulator cylinder; 10. a pin shaft; 11. a grabbing manipulator; 12. a lifting plate; 13. a lifting plate cylinder; 14. a folding manipulator; 15. rotating the workbench; 16 infrared sensors; 17. opening and closing a second-order cylinder of the manipulator; 18. a fixed mount; 19. opening and closing manipulator guide rails; 20. an opening and closing manipulator arm; 21. an opening and closing manipulator belt wheel; 22. an opening and closing manipulator stepping motor; 23. a travel switch; 24. the first-order cylinder of the opening and closing manipulator.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1 and 2, the present invention provides a technical solution: a robot for maintaining a parallel roller-off of a conveyor comprises a mobile robot 1, a cylinder 2, a PLC control system 3 and a coding motor 4, wherein the coding motor 4 is arranged inside the mobile robot 1, an output shaft of the coding motor 4 is rotatably connected with a roller 6 through a wheel shaft 5, the mobile robot 1 is of a hollow structure, a groove with the same shape as a grabbing manipulator 11 is arranged on the surface of the mobile robot 1, a baffle is arranged on one side of the groove on the surface of the mobile robot 1, an infrared sensor 16 is arranged on the surface of the mobile robot 1, the coding motor 4 is fixedly arranged on the inner wall of the mobile robot 1, the PLC control system 3 is fixed at the bottom of the mobile robot 1, the cylinder 2 is fixed at the bottom of the mobile robot 1, a rotating workbench 15 is arranged at the bottom of the mobile robot 1 on the side, away from the PLC control system 3, a first-order manipulator cylinder 7 is arranged on the rotating workbench 15, a second-order manipulator cylinder 8 is arranged on a first-order manipulator cylinder 7, a third-order manipulator cylinder 9 is arranged on the second-order manipulator cylinder 8, a lifting plate cylinder 13 is arranged at the bottom of the mobile robot 1 at one side of a rotary workbench 15 far away from a cylinder 2, a lifting plate 12 is fixedly connected onto the lifting plate cylinder 13, the top end of the lifting plate 12 is provided with the same infrared sensor 16, a coding motor 4, a wheel shaft 5 and rollers 6 form a driving device, the bottom of the mobile robot 1 is in a step shape, two driving devices are arranged at two sides, the rollers 6 in the driving devices are two groups, the rollers 6 in one side of the driving device are two, a grabbing manipulator 11 is arranged on the third-order manipulator cylinder 9 through a pin shaft 10, the rotary workbench 15 is positioned at the central position of the whole mobile robot 1, the lifting plate 12 is arranged at the critical position at the left side of a manipulator groove, and the PLC control system 3 comprises a wireless module, and a wireless module in the PLC control system 3 is in signal connection with the coding motor 4.

In this embodiment, can realize the location to the fault point, can fix a position fault point with mobile robot 1 through the numerical value that encoder motor 4 returned, this device is to the lifting plate 12 that adopts the liftable between material loading district and the manipulator and be furnished with infrared sensor 16 on lifting plate 12, lifting plate 12 descends when making the material loading, and it rises to detect the lifting plate 12 when having the bearing roller to material loading district, avoids unnecessary bearing roller to cause the impact to the manipulator, shortens equipment life.

Example 2

As shown in fig. 3, two opening and closing manipulators 14 are arranged on two sides of a mobile robot 1, two opening and closing manipulators 14 are arranged, each opening and closing manipulator 14 comprises a first-order opening and closing manipulator cylinder 24, the first-order opening and closing manipulator cylinders 24 are welded on the tops of two side walls of the mobile robot 1, a second-order opening and closing manipulator cylinder 17 is arranged on each first-order opening and closing manipulator cylinder 24, each second-order opening and closing manipulator cylinder 17 is connected with an opening and closing manipulator guide rail 19 through a fixing frame 18, two opening and closing manipulator arms 20 are arranged on each opening and closing manipulator guide rail 19, each opening and closing manipulator arm 20 on each opening and closing manipulator guide rail 19 slides through a dovetail groove, an opening and closing manipulator stepping motor 22, an opening and closing manipulator belt pulley 21 and a belt are arranged inside each opening and closing manipulator arm 20, each opening and closing manipulator belt pulley 21 is fixed inside each opening and closing manipulator arm 20 through a shaft, the belt wheel of the opening and closing mechanical arm 20 is fixedly connected with the output end of the opening and closing mechanical arm stepping motor 22, the opening and closing mechanical arm stepping motor 22 is fixed inside the opening and closing mechanical arm 20 through screw connection, a piezoelectric sensor is attached to the surface of the belt, the screw is connected with the shell of the opening and closing mechanical arm 20, a travel switch 23 is arranged on the opening and closing mechanical arm 20, and the travel switch 23 is electrically connected with the opening and closing mechanical arm stepping motor 22.

In this embodiment, there are belt drive and piezoelectric sensor in its both sides switching manipulator 14 inside, through switching manipulator 14 centre gripping bearing roller axle head piezoelectric sensor detection pressure, if pressure concentrates and explains that the manipulator is the point contact with the release roller axle end, because the bearing roller axle both ends are the irregularity type, need make two planes and frame cooperation during the installation, correct bearing roller axle end position through the inside belt drive of manipulator, make the bearing roller install smoothly.

The working principle is as follows:

as shown in fig. 1-4, the output shaft of the coding motor 4 in the mobile robot 1 is connected with the wheel shaft 5 through the wheel shaft 5 to drive the roller 6 to move, the mobile robot 1 is in a hollow structure, so that most of cylinders 2 and a control system are packaged in the robot, a groove and a baffle plate which have the same appearance as the grabbing manipulator 11 are arranged on the surface of the mobile robot 1, an infrared sensor 16 is arranged on the side wall of the groove to detect whether the loading is finished, the first-order manipulator cylinder 7 is fixed on the rotating workbench 15 to realize the rotating motion of the grabbing manipulator 11, and the concrete steps are as follows: firstly, fault points are positioned, a coding motor 4 is controlled to operate through a PLC control system, a mobile robot 1 can be positioned to the fault points through numerical values returned by the coding motor 4 through an encoder, when the mobile robot 1 moves to a specified position, a first-order manipulator cylinder 7, a second-order manipulator cylinder 8 and a third-order manipulator cylinder 9 are utilized to drive a grabbing manipulator 11 to move up and down and to open and grab, a rotary worktable 15 can drive the whole grabbing manipulator 11 to rotate according to requirements, so that damaged carrier rollers can be grabbed better, after grabbing is completed, the manipulator is recovered to a position below a working plane, at the moment, a first-order opening and closing manipulator cylinder 24 and a second-order opening and closing manipulator cylinder 17 drive an opening and closing manipulator to move up and down, so that intact carrier rollers are supported, and then an opening and closing manipulator belt wheel 21 is driven to rotate through a stepping motor 22 of the opening and closing manipulator, realize the material loading of switching manipulator arm 20 to the bearing roller, through the pressure sensor detection pressure of the 14 centre gripping bearing roller axle ends of switching manipulator, if pressure concentrated explanation manipulator and take off the roller axle end and be the point contact, because the bearing roller axle both ends are the irregularity type, need make two planes and frame cooperation during the installation, correct bearing roller axle end position through the inside belt drive of manipulator, make the bearing roller install smoothly, after the installation, mobile robot 1 returns the original way and returns.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims

1. A robot for maintaining a parallel roller-off of a conveyor comprises a mobile robot (1), a cylinder (2), a PLC control system (3) and a coding motor (4), and is characterized in that the coding motor (4) is arranged inside the mobile robot (1), an output shaft of the coding motor (4) is rotatably connected with a roller (6) through a wheel shaft (5), the mobile robot (1) is of a hollow structure, a groove with the same shape as a grabbing manipulator (11) is formed in the surface of the mobile robot (1), a baffle is arranged on one side of the groove in the surface of the mobile robot (1), an infrared sensor (16) is arranged on the surface of the mobile robot (1), the coding motor (4) is fixedly installed on the inner wall of the mobile robot (1), and the PLC control system (3) is fixed at the bottom of the mobile robot (1), the cylinder (2) is fixed in the bottom of a mobile robot (1), the bottom of the mobile robot (1) far away from one side of a PLC control system (3) is provided with a rotary workbench (15) by the cylinder (2), the rotary workbench (15) is provided with a first-order manipulator cylinder (7), the first-order manipulator cylinder (7) is provided with a second-order manipulator cylinder (8), the second-order manipulator cylinder (8) is provided with a third-order manipulator cylinder (9), the bottom of the mobile robot (1) far away from one side of the cylinder (2) is provided with a lifting plate cylinder (13), the lifting plate cylinder (13) is fixedly connected with a lifting plate (12), the top end of the lifting plate (12) is provided with the same infrared sensor (16), the two sides of the mobile robot (1) are provided with an opening and closing manipulator (14), open-close mechanical hand (14) are provided with two, open-close mechanical hand (14) are including the first-order cylinder (24) of the manipulator that opens and shuts, the welding of the first-order cylinder (24) of the manipulator that opens and shuts is at the both sides wall top of mobile robot (1), be provided with the second-order cylinder (17) of the manipulator that opens and shuts on the first-order cylinder (24) of the manipulator that opens and shuts, be connected with the mechanical hand guide rail (19) that opens and shuts through mount (18) on the mechanical hand second-order cylinder (17) that opens and shuts, all be provided with on the mechanical hand guide rail (19) that opens and shuts manipulator arm (20), every open and shut manipulator arm (20) on the mechanical hand guide rail (19) and be two, open and shut manipulator arm (20) slide through the dovetail on mechanical hand guide rail (19) that opens and shuts, open and shut manipulator step motor (22) and shut in manipulator arm (20) inside, Open and shut manipulator band pulley (21) and belt, open and shut manipulator band pulley (21) are fixed inside open and shut manipulator arm (20) through the axle, the output fixed connection of open and shut manipulator arm (20) band pulley and open and shut manipulator step motor (22), open and shut manipulator step motor (22) are fixed inside open and shut manipulator arm (20) through the screw connection, the belt surface is with piezoelectric sensor, the screw is connected with the shell of open and shut manipulator arm (20), be provided with travel switch (23) on open and shut manipulator arm (20), travel switch (23) and open and shut manipulator step motor (22) electric connection.

2. A robot for servicing a parallel roll-off of a conveyor according to claim 1, characterized in that: the grabbing manipulator (11) is installed on a third-order manipulator cylinder (9) through a pin shaft (10), and the rotating workbench (15) is located at the center of the whole mobile robot (1).

3. A robot for servicing a parallel roll-off of a conveyor according to claim 1, characterized in that: the lifting plate (12) is arranged at the critical position on the left side of the groove of the manipulator.

4. A robot for servicing a parallel roll-off of a conveyor according to claim 1, characterized in that: the PLC control system (3) comprises a wireless module, and the wireless module in the PLC control system (3) is in signal connection with the coding motor (4).

5. A robot for servicing a parallel roll-off of a conveyor according to claim 1, characterized in that: the encoding motor (4), the wheel shaft (5) and the rollers (6) form a driving device, the bottom of the mobile robot (1) is in a step shape, the two sides of the mobile robot are provided with the driving devices, the number of the rollers (6) in the driving devices is two, and the number of the rollers (6) in the driving device on one side is two.