Robot device, and method for inspection of components of a belt conveyor

Patent metadata

Field	Value
Publication number	US-11926481-B2
Application number	US-201917056622-A
Country	US
Kind code	B2
Filing date	Mar 19, 2019
Priority date	May 18, 2018
Publication date	Mar 12, 2024
Grant date	Mar 12, 2024

Abstract

Aspects include a robotic device for inspection of components of a belt conveyor comprising a mobile platform and a robotic arm having a first end coupled to the mobile platform and a second end, the robotic arm configured to guide the second end to contact at least one of the components of the belt conveyor. Further included is a method for inspecting components of a belt conveyor using a robotic device, including: obtaining temperature and/or noise data of at least one of the components of the belt conveyor; and, if the data are outside a range, then: driving a second end a robotic arm of the robotic device for contacting at least one of the components; and obtaining vibration data from at least one of the components.

First claim

The invention claimed is:

1. Robotic device for inspecting components of a conveyor belt, comprising:
one mobile platform; and
one robotic arm having a first end coupled to the movable platform and a second end;
wherein the robotic arm comprises an articulated structure configured to conduct the second end to contact at least one of the components of the belt conveyor and
wherein the robotic device comprises a vibration sensor attached to the second end of the arm.

2. The robotic device according to claim 1 , wherein the robotic device further comprises a laser scanner coupled to the second end of the arm.

3. The robotic device according to claim 1 , wherein the robotic device further comprises a measuring tip coupled to the vibrations sensor.

4. The robotic device according to claim 1 , wherein the robotic device further comprises at least one camera, a microphone, encoders, a global positioning system (GPS), an inertial sensor and depth cameras, or any combination thereof.

5. The robotic device according to claim 4 , wherein the at least one camera or the microphone are coupled to the second end of the arm.

6. The robotic device according to claim 4 , wherein at least one camera is the RGB or thermal type.

7. The robotic device according to claim 1 , wherein the one robotic arm comprises six rotational joints.

8. The robotic device according to claim 1 , wherein the mobile platform comprises wheels and tracks.

9. The robotic device according to claim 8 , wherein the mobile platform further comprises lever arms.

10. A method for inspecting components of a belt conveyor using a robotic device according to claim 1 , comprising the step of:
a) obtaining temperature and/or noise data from at least one of the components of the belt conveyor, wherein, if the temperature and/or noise data of at least one of the components are outside a predetermined range of values, the method also comprises the steps of:
b) driving a second end of a robotic arm of the robotic device to contact at least one of the components ( 8 , 9 , 10 ) of the belt conveyor, in which the robotic arm comprises an articulated structure; and
c) obtain vibration data from at least one of the components through the vibrations sensor.

11. The method according to claim 10 , wherein the predetermined range of values comprises temperature values below 50° C.

12. The method according to claim 10 , wherein step b) comprises:
generating a three-dimensional point cloud of the region of interest using a laser scanner coupled to the second end of the arm.

13. The method according to claim 10 , wherein step b) comprises physically contacting a measuring tip coupled to the vibrations sensor to at least one of the components of the belt conveyor.

14. The method according to claim 10 , wherein step b) comprises selectively activating the articulated structure of the arm of the robotic device.

15. The method according to claim 14 , wherein step b) comprises activating wheels and tracks of a mobile platform of the robotic device.

16. The method according to claim 15 , wherein step b) comprises additionally activating lever arms of the mobile platform of the robotic device.

Assignees

• Vale Sa
• Univ Federal Do Rio De Janeiro—Ufrj

Inventors

• Freitas Gustavo Medeiros
• Torre Marcos Paulo
• Garcia Gabriel Carvalho
• Rocha Filipe Augusto Santos
• Franca André Stanzani
• Da Fonseca Felipe Ribeiro
• Lizarralde Fernando Cesar
• Costa Ramon Romankevicius
• Neves Alex Fernandes
• Monteiro João Carlos Espiúca

Classifications

• B65G43/02 Primary

  detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating · CPC title

• B25J5/005

  mounted on endless tracks or belts · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J19/022

  using lasers · CPC title

• B25J19/023

  including video camera means · CPC title