A self-propelled coal bunker inspection robot

Abstract

The present invention provides a self-propelled coal bunker inspection robot, belonging to the technical field of coal bunker inspection equipment. The self-propelled coal bunker inspection robot includes a protective box, a reversing wheel set, a winding wheel, a steel wire rope and a robot body. Among them, the protective box is arranged at the bottom of the coal bunker, the reversing wheel set is arranged inside the protective box, two winding wheels are arranged at the top of the coal bunker, one end of the steel wire rope is wound around one of the winding wheels, the other end of the steel wire rope extends vertically downward to the bottom of the coal bunker and then extends vertically upward to the top of the coal bunker after passing through the reversing wheel set and is wound around the other winding wheel. The two winding wheels are set to act synchronously, and when one of the winding wheels releases the steel wire rope, the other winding wheel winds the steel wire rope. The robot body is arranged between the two vertical sections of the steel wire rope, and walking wheel sets for walking on the two vertical sections of the steel wire rope are arranged on both sides of the robot body. The present invention has the advantages of good anti-airflow performance and strong stability of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of coal bunker inspection equipment, and particularly relates to a self-propelled coal bunker inspection robot. Background Art

[0002] As a coal bunker inspection robot is used to replace manual workers to enter the coal bunker to detect the temperature and humidity of its internal environment, the quality of the coal bunker wall, and the concentration of harmful and high-risk gases, it avoids the safety hazards existing when manual workers directly enter the coal bunker for detection. At the same time, it can use various sensors to detect the internal environment of the coal bunker more comprehensively, accurately, and conveniently.

[0003] In the conventional setting method of coal bunker inspection robots, there is a method of arranging tracks for the inspection robot to walk everywhere in the coal bunker to achieve detection, and there is also a method of using a hanging method to pull up or lower the robot by traction to achieve the robot walking in the height direction of the coal bunker and cooperating with the detection part of the inspection robot itself that can be adjusted 360° in the horizontal direction.

[0004] However, the first setting method of the inspection robot has the disadvantages of high cost, high additional load on the coal bunker, and high construction difficulty. And in the second setting method of the inspection robot, there are disadvantages such as poor stability when the robot is suspended and easy shaking during walking, which affects the detection accuracy. In view of this, the present application provides a self-propelled coal bunker inspection robot. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes a self-propelled coal bunker inspection robot.

[0006] The technical solution of the present invention is realized as follows:

[0007] A self-propelled coal bunker inspection robot includes a protective box, a reversing wheel set, a winding wheel, a steel wire rope, and a robot body. Among them, the protective box is arranged at the bottom of the coal bunker, the reversing wheel set is arranged inside the protective box, two winding wheels are arranged at the top of the coal bunker, one end of the steel wire rope is wound around one of the winding wheels, the other end of the steel wire rope extends vertically downward to the bottom of the coal bunker and then extends vertically upward to the top of the coal bunker after passing through the reversing wheel set and is wound around the other winding wheel. The two winding wheels are set to act synchronously, and when one of the winding wheels releases the steel wire rope, the other winding wheel winds the steel wire rope. The robot body is arranged between the two vertical sections of the steel wire rope, and walking wheel sets that walk on the two vertical sections of the steel wire rope are arranged on both sides of the robot body.

[0008] Furthermore, the protective box is set to a trapezoidal structure, through holes for the steel wire rope to enter and exit the protective box are arranged at both ends of the top of the protective box, and a wire guide sleeve adapted to the diameter of the steel wire rope is arranged at the top of the through hole.

[0009] Furthermore, the bottom end of the vertical section of the wire rope extends into the protective box, and the reversing wheel group includes a reversing wheel, a limiting wheel and an anti-jump wheel. The reversing wheels are arranged on both sides of the protective box, and the two vertical sections of the wire rope form horizontal sections after passing through the bottom of the reversing wheel. The limiting wheel is axially vertically arranged and the limiting wheels are equidistantly arranged on both sides of the horizontal section of the wire rope. The anti-jump wheel is arranged in the box and on the opposite side of the reversing wheel relative to the vertical section of the wire rope, and the height of the anti-jump wheel is greater than the height of the reversing wheel.

[0010] Furthermore, one of the winding wheels is connected to the output shaft of the winding motor, and the other winding wheel is in driving cooperation with the winding motor, and the winding motor is installed on the top of the coal bunker.

[0011] Furthermore, the walking wheel group includes an inner walking wheel and an outer walking wheel clamped on both sides of the wire rope, the inner walking wheel is installed on the top of the robot body through the inner wheel frame, and the outer walking wheel is installed on the inner wheel frame. A walking motor is provided on the robot body, and the walking motor drives the inner walking wheel to rotate through the walking drive structure. The outer walking wheel is connected to the walking drive structure through the walking transmission structure so that the outer walking wheel and the inner walking wheel rotate synchronously in opposite directions.

[0012] Furthermore, the outer running wheel is arranged to have an adjustable spacing with the inner running wheel so as to adjust the clamping force of the outer running wheel and the inner running wheel on the wire rope.

[0013] Furthermore, auxiliary wheels are provided on the upper and lower sides of the traveling wheel group, which are symmetrically clamped on the vertical section of the wire rope. The auxiliary wheels are installed on the inner wheel frame through a bracket, and the auxiliary wheels are arranged on the bracket to be adjustable in position in a radial direction parallel to the vertical section of the wire rope to adjust the clamping force of the auxiliary wheels on the wire rope.

[0014] Furthermore, the top of the upper bracket and the bottom of the lower bracket are both provided with cleaning brushes distributed in a centrally symmetrical manner on the outside of the vertical section of the wire rope. The cleaning brushes are connected to the walking drive structure through a cleaning drive structure, and the cleaning drive structure is configured to drive the cleaning brush located above to always sweep the coal upwards, and drive the cleaning brush located below to always sweep the coal downwards when the robot body walks up and down.

[0015] Furthermore, spherical clamping blocks are equidistantly sleeved on the steel wire rope, and the inner running wheel, the outer running wheel and the auxiliary wheel are all provided with clamping grooves which are adapted to the spherical clamping blocks and can engage with the spherical clamping blocks.

[0016] Furthermore, a limiting rod is fixedly arranged at the top of the coal bunker, below the winding wheel and symmetrically distributed around the outer side of the steel wire rope in a central symmetry manner, and the limiting rod and the cleaning brush are arranged staggeredly in the circumferential direction of the vertical section of the steel wire rope. A jack for inserting the limiting rod is arranged at the top of the bracket.

[0017] The present invention has the following beneficial effects:

[0018] 1. The robot body of the self-propelled coal bunker inspection robot of the present invention walks on the two vertical sections of the steel wire rope through the walking wheel groups on both sides thereof, reducing the disturbance of the air flow to the robot body and making the stability of the robot body stronger.

[0019] 2. Both ends of the steel wire rope of the present invention are wound around two synchronously rotating winding wheels after passing through the reversing wheel group at the bottom of the bunker, so that the steel wire rope can be reciprocally pulled. The part of the steel wire rope buried by the raw coal in the coal bunker can be relieved of the pressing force of the raw coal through the reciprocal pulling, which is more conducive to maintaining the vertical state of the vertical part of the steel wire rope and preventing the steel wire rope from deforming and being damaged at the same time.

[0020] 3. The present invention is provided with cleaning brushes on both the upper and lower sides of the walking wheel group, and in the two reverse processes of the robot body ascending and descending, the cleaning brush located above is in a state of cleaning the steel wire rope upward, and the cleaning brush located below is in a state of cleaning the steel wire rope downward, with good cleaning effect on the surface of the steel wire rope, enabling the robot body to walk on the steel wire rope for a long time and effectively. Description of the Drawings

[0021] Figure 1 is a schematic diagram of the self-propelled coal bunker inspection robot of the present invention on the coal bunker;

[0022] Figure 2 is an overall schematic diagram of the self-propelled coal bunker inspection robot of the present invention;

[0023] Figure 3 is the self-propelled coal bunker inspection robot of the present invention Figure 2 partial schematic diagram in;

[0024] Figure 4 is a schematic diagram of the reversing wheel group in the protective box of the self-propelled coal bunker inspection robot of the present invention;

[0025] Figure 5 is a schematic diagram of the winding wheel and the winding motor of the self-propelled coal bunker inspection robot of the present invention;

[0026] Figure 6 is a schematic diagram of the walking wheel group and the auxiliary walking wheel of the self-propelled coal bunker inspection robot of the present invention;

[0027] Figure 7 is the self-propelled coal bunker inspection robot of the present inventionFigure 6 Another perspective view;

[0028] Figure 8 It is a schematic diagram of the distribution of the cleaning brushes of the self - walking coal bunker inspection robot of the present invention on the steel wire rope;

[0029] Figure 9 It is an internal schematic diagram of the cleaning brush of the self - walking coal bunker inspection robot of the present invention;

[0030] Figure 10 It is of the self - walking coal bunker inspection robot of the present invention Figure 9 Exploded view of the cleaning brush;

[0031] Figure 11 It is of the self - walking coal bunker inspection robot of the present invention Figure 8 Partial schematic diagram;

[0032] Figure 12 It is of the self - walking coal bunker inspection robot of the present invention Figure 11 Partial schematic diagram;

[0033] Figure 13 It is a schematic diagram of a spherical block being provided on the steel wire rope of the self - walking coal bunker inspection robot of the present invention. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0035] Please refer to Figures 1 to 12 As shown, the self - walking coal bunker inspection robot provided by the present invention includes a protective box 1, a reversing wheel set 2, a winding wheel 3, a steel wire rope 4, and a robot body 5, wherein:

[0036] The protective box 1 is arranged at the bottom of the coal bunker. In this embodiment, the protective box 1 is configured as a box with a trapezoidal structure as a whole. Through holes for the steel wire rope 4 to enter and exit the protective box 1 are provided at both ends of its top, and a wire guide sleeve 1 - 1 adapted to the diameter of the steel wire rope 4 is provided at the top of the through hole. Specifically, the wire guide sleeve 1 - 1 is configured to include a cylindrical and hollow metal shell and wear - resistant rubber provided inside the metal shell. The main function of the wire guide sleeve 1 - 1 is to use the shaping effect of the metal shell and the contact effect between the wear - resistant rubber and the surface of the steel wire rope 4 to prevent the raw coal in the coal bunker from adhering to the steel wire rope 4 and being brought into the protective box 1. In addition, in this embodiment, a box door is provided on one side of the protective box 1, and the box door is used to regularly clean the accumulated coal in the protective box 1.

[0037] The reversing pulley set 2 is arranged inside the protective box 1 and is used for reversing the wire rope 4. Specifically, in this embodiment, the vertical section 4-1 of the wire rope 4 extends into the protective box 1. The reversing pulley set 2 includes a reversing pulley 2-1, a limiting pulley 2-2, and an anti-jump pulley 2-3. The reversing pulley 2-1 is arranged on both sides inside the protective box 1. After the two vertical sections 4-1 of the wire rope 4 pass through the bottom of the reversing pulley 2-1, they form a horizontal section 4-2. The limiting pulley 2-2 is arranged with its axis perpendicular, and the limiting pulleys 2-2 are equidistantly arranged on both sides of the horizontal section 4-2 of the wire rope 4. The anti-jump pulley 2-3 is arranged inside the box body and is arranged on the opposite side of the reversing pulley 2-1 relative to the vertical section 4-1 of the wire rope 4, and the height of the anti-jump pulley 2-3 is greater than the height of the reversing pulley 2-1. At this time, one end of the wire rope 4 enters the protective box 1, first passes through the anti-jump pulley 2-3, then passes through the reversing pulley 2-1, then passes through the limiting pulley 2-2, and finally passes through another reversing pulley 2-1 and extends out of the protective box 1. At this time, the anti-jump pulley 2-3 cooperates with the wire guide sleeve 1-1 to prevent the wire rope 4 from separating from the reversing pulley 2-1, and the limiting pulley 2-2 can limit the wire rope 4 from both sides in the axial direction parallel to the reversing pulley 2-1. At the same time, the wire guide sleeve 1-1 can keep the distance between the bottoms of the two vertical sections 4-1 of the wire rope 4 to stabilize the distance between the bottoms of the two vertical sections 4-1 of the wire rope 4.

[0038] There are two winding pulleys 3 arranged at the top of the coal bunker. The two winding pulleys 3 are arranged side by side. One end of the wire rope 4 is wound around one of the winding pulleys 3. The other end of the wire rope 4 extends vertically downward to the bottom of the coal bunker, passes through the reversing pulley set 2, and then extends vertically upward to the top of the coal bunker and is wound around the other winding pulley 3. And the two winding pulleys 3 are set to act synchronously. When one of the winding pulleys 3 releases the wire rope 4, the other winding pulley 3 winds the wire rope 4.

[0039] Specifically, in this embodiment, one of the winding pulleys 3 is connected to the output shaft of the winding motor 7, and the other winding pulley 3 is in transmission cooperation with the winding motor 7. The winding motor 7 is installed at the top of the coal bunker.

[0040] At this time, the cooperation of the two winding pulleys 3 can make the wire rope 4 submerged by the raw coal in the coal bunker reciprocate in its extending direction. Using this reciprocating process of the wire rope 4, the wire rope 4 presents a state of cutting the piled raw coal in the coal bunker. Furthermore, when the piled raw coal in the coal bunker presses the wire rope 4, through the process of the wire rope 4 reciprocating in the raw coal pile, the wire rope 4 is in a state of continuously cutting the raw coal. Eventually, the part of the wire rope 4 under force pressure forms a channel for its own recovery by cutting the raw coal pile, so that the wire rope 4 is restored and straightened to achieve the function of removing the pressure of the raw coal.

[0041] The robot body 5 is disposed between the two vertical sections 4 - 1 of the steel wire rope 4 , and walking wheel sets 6 are disposed on both sides of the robot body 5 for walking on the two vertical sections 4 - 1 of the steel wire rope 4 respectively.

[0042] Specifically, in this embodiment, the walking wheel group 6 includes an inner walking wheel 6-1 and an outer walking wheel 6-2 clamped on both sides of the wire rope 4, the inner walking wheel 6-1 is installed on the top of the robot body 5 through the inner wheel frame 6-3, and the outer walking wheel 6-2 is installed on the inner wheel frame 6-3. At this time, the inner walking wheel 6-1 and the outer walking wheel 6-2 are in a state of clamping the wire rope 4 from both sides, and support the robot body 5 to walk on the wire rope 4 by synchronously rotating in the opposite direction.

[0043] A walking motor 8 is provided on the robot body 5, and the walking motor 8 drives the inner walking wheel 6-1 to rotate through the walking drive structure 9. The outer walking wheel 6-2 is connected to the walking drive structure 9 through the walking transmission structure 10 so that the outer walking wheel 6-2 and the inner walking wheel 6-1 rotate synchronously in opposite directions.

[0044] Specifically, in this embodiment, the travel transmission structure 10 includes a telescopic shaft, which includes an outer shaft and an inner shaft. The outer shaft and the inner shaft are relatively fixed in the circumferential direction, and the inner shaft is inserted into the outer shaft and can slide axially in the outer shaft. The inner end of the outer shaft is connected to the axle of the inner travel wheel 6-1 through a bevel gear pair, and the outer end of the inner shaft is connected to the axle of the outer travel wheel 6-2 through a bevel gear pair.

[0045] At this time, when the inner walking wheel 6-1 is driven by the walking drive structure 9, it rotates the telescopic shaft through the wheel axle and the bevel gear pair. The telescopic shaft drives the outer walking wheel 6-2 through the bevel gear pair between the inner shaft end and the wheel axle of the outer walking wheel 6-2, and presents a synchronous and opposite rotation process with the inner walking wheel 6-1.

[0046] The walking drive structure 9 includes a housing portion disposed on the top of the robot body 5 and a transmission portion (not shown) disposed in the housing portion and transmitting between the walking transmission structure 10 and the output shaft of the walking motor 8. Specifically, the power output end of the transmission portion of the walking drive structure 9 can be transmission-connected to the bevel gear pair on the inner end of the outer layer shaft, or can be directly transmission-connected to the outer shaft, or can be directly transmission-connected to the wheel axle of the inner wheel, which is the prior art and will not be described in detail.

[0047] Furthermore, in this embodiment, the distance between the outer running wheel 6-2 and the inner running wheel 6-1 is set to be adjustable to adjust the clamping force of the outer running wheel 6-2 and the inner running wheel 6-1 on the wire rope 4. Specifically, the outer running wheel 6-2 is installed on the outer wheel frame 6-4. A lead screw is rotatably installed at the outer end of the inner wheel frame 6-3, and a sliding hole is provided at the inner end of the outer wheel frame 6-4. The outer end of the lead screw penetrates through the sliding hole. Locking nuts with threads sleeved on the lead screw are provided on both sides of the sliding hole. When the inner locking nut is turned to displace inwardly away from the outer wheel frame 6-4, and then the outer locking nut is turned to drive the outer wheel frame 6-4 to displace inwardly on the lead screw. At this time, the distance between the outer running wheel 6-2 and the inner running wheel 6-1 can be reduced. Then, the outer locking nut and the inner locking nut are turned to clamp and fix the outer wheel frame 6-4 from both the inside and the outside to fix the distance between the outer running wheel 6-2 and the inner running wheel 6-1.

[0048] Even further, auxiliary wheels 11 that are symmetrically clamped on the vertical section 4-1 of the wire rope 4 are provided on both the upper and lower sides of the running wheel set 6. The auxiliary wheels 11 are installed on the inner wheel frame 6-3 through brackets 12, and the auxiliary wheels 11 are set to be adjustable in position in the radial direction parallel to the vertical section 4-1 of the wire rope 4 to adjust the clamping force of the auxiliary wheels 11 on the wire rope 4. Specifically, for the wire ropes 4 on both sides of the robot body 5, three-point clamping of the wire rope 4 is achieved through the running wheels and the auxiliary wheels 11, which can improve the stability of the robot body 5.

[0049] Among them, in this embodiment, three auxiliary wheels 11 are provided on both the upper and lower sides of the running wheel set 6. The auxiliary wheel 11 located on the inner side among the three auxiliary wheels 11 is arranged in a state parallel to the inner running wheel 6-1. The brackets 12 are arranged in a "V" shape and there are three of them. The auxiliary wheels 11 are installed at the ends of the brackets 12.

[0050] Specifically, a slide groove 12-1 is provided at the end of the bracket 12, a slider 12-2 is slidably provided in the slide groove 12-1, the wheel axle of the auxiliary wheel 11 is rotatably mounted on the slider 12-2, and a screw is rotatably provided on the bracket 12, a connecting block is provided on the outer surface of the slider 12-2, a sliding hole for the screw to pass through is provided on the connecting block, and locking nuts threadedly sleeved on the outside of the screw are provided on both sides of the slider 12-2. At this time, the operation process of adjusting the radial position of the auxiliary wheel 11 and the vertical section 4-1 of the wire rope 4 is similar to the above-mentioned spacing adjustment process between the outer running wheel 6-2 and the inner running wheel 6-1. In this way, the clamping force of the three auxiliary wheels 11 on the wire rope 4 can be adjusted. At the same time, the walking wheel group 6 is fixed in the circumferential direction of the vertical section 4-1 of the wire rope 4. Therefore, when the walking wheel group 6 clamps the wire rope 4, the direction of the clamping force on the wire rope 4 remains unchanged. During long-term use, it is easy to cause deformation of the wire rope 4, which will make it difficult for the walking wheel group 6 to stably suspend on the wire rope 4 under the action of the clamping force, affecting the walking performance and the stable suspension effect on the robot body 5.

[0051] The clamping force of the three auxiliary wheels 11 on the steel wire rope 4 and the clamping force of the traveling wheel group 6 on the steel wire rope 4 are staggeredly distributed. The clamping forces of the auxiliary wheels 11 and the traveling wheel group 6 on the steel wire rope 4 are complementary, which is beneficial to the recovery of the steel wire rope 4 and prevents the steel wire rope 4 from being deformed due to the clamping force in the same direction in the radial direction for a long time.

[0052] Among them, cleaning brushes 13 are provided at the top of the upper bracket 12 and the bottom of the lower bracket 12, which are symmetrically distributed on the outside of the vertical section 4-1 of the wire rope 4. The cleaning brushes 13 are connected to the walking drive structure 9 through a cleaning drive structure 14. The cleaning drive structure 14 is configured so that when the robot body 5 walks up and down, the cleaning brush 13 located above is driven to always sweep the coal upwards, and the cleaning brush 13 located below is driven to always sweep the coal downwards.

[0053] Specifically, in this embodiment, the cleaning brush 13 includes a tubular brush body 13-1, bristles arranged on the surface of the brush body 13-1, wheels 13-2 arranged at both ends inside the brush body 13-1, and a main body 13-3. The two wheels 13-2 are rotatably installed at the two ends of the main body 13-3 respectively, the brush body 13-1 is rotatably arranged on the side surface of the main body 13-3, and the two wheels 13-2 drive the brush body 13-1 to rotate on the main body 13-3.

[0054] For the convenience of explaining the solution of the embodiment of the present invention, among the two runners 13-2 in the cleaning brush 13, the runner 13-2 far from the robot body 5 is defined as the outer runner 13-2a, and the runner 13-2 close to the robot body 5 is defined as the inner runner 13-2b. Based on this, the cleaning drive structure 14 in the embodiment of the present invention is described as follows:

[0055] The cleaning drive structure 14 includes an outer ratchet 14-1, an outer transmission gear 14-2, an outer transmission ratchet 14-3, a middle gear 14-4, a middle ratchet 14-5 and an inner ratchet 14-6. Among them, the outer ratchet 14-1 is coaxially fixed on the axle of the outer runner 13-2a, the inner ratchet 14-6 is coaxially fixed on the axle of the inner runner 13-2b, the middle gear 14-4 and the middle ratchet 14-5 are coaxially rotatably installed on the main body part 13-3, the outer transmission gear 14-2 and the outer transmission ratchet 14-3 are coaxially rotatably installed on the main body part 13-3, and the outer transmission gear 14-2 is in transmission connection with the middle transmission gear. The outer transmission ratchet 14-3 is engaged with the outer ratchet 14-1, the middle ratchet 14-5 is engaged with the inner ratchet 14-6, and the teeth of the outer ratchet 14-1 and the middle ratchet 14-5 face the same direction, and the teeth of the outer transmission ratchet 14-3 and the inner ratchet 14-6 face the same direction.

[0056] Furthermore, both the outer transmission ratchet 14-3 and the middle ratchet 14-5 are provided with a ratchet main body part, ratchet teeth and a ratchet spring. A contraction groove for the contraction of the ratchet teeth is formed on the circumferential surface of the ratchet main body part corresponding to each ratchet tooth. The ratchet spring is arranged in the contraction groove, and its two ends are respectively fixed on the inner wall surface of the contraction groove of the ratchet tooth, and the inner end of the ratchet tooth is slidably arranged in the contraction groove.

[0057] State 1: When the middle gear 14-4 rotates clockwise:

[0058] First, the middle gear 14-4 drives the outer transmission ratchet 14-3 to rotate counterclockwise through the outer transmission gear 14-2, and the outer support transmission ratchet drives the outer ratchet 14-1 to rotate clockwise. At this time, the outer ratchet 14-1 drives the outer runner 13-2a to rotate clockwise;

[0059] Second, when the middle ratchet 14-5 rotates clockwise and each of its ratchet teeth passes through the ratchet teeth of the inner ratchet 14-6, a pressure will be applied to the ratchet teeth of the inner ratchet 14-6. At this time, the ratchet teeth of the inner ratchet 14-6 will contract into its ratchet main body part.

[0060] State 2: When the middle gear 14-4 rotates counterclockwise:

[0061] First, the middle gear 14-4 drives the outer transmission ratchet 14-3 to rotate clockwise through the outer transmission gear 14-2. When the ratchet teeth of the outer support transmission ratchet pass through the ratchet teeth of the outer ratchet 14-1, the ratchet teeth of the outer ratchet 14-1 will contract into its ratchet main body part;

[0062] Second, when the middle ratchet 14-5 rotates counterclockwise, it drives the inner ratchet 14-6 to rotate clockwise. The inner ratchet 14-6 drives the brush body part 13-1 to rotate clockwise through the inner runner 13-2b.

[0063] As can be seen from the above state 1 and state 2, whether the middle gear 14-4 above the traveling wheel set 6 rotates clockwise or counterclockwise, the brush body part 13-1 in the cleaning brush 13 drives the bristles to make a clockwise rotary motion, so that the cleaning brush 13 always sweeps the coal ash or coal impurities on the steel wire rope 4 upward during the ascending and descending processes of the robot body 5. And the cleaning brush 13 below the traveling wheel set 6 will always present a state of sweeping the coal ash or coal impurities on the steel wire rope 4 downward.

[0064] The cleaning drive structure 14 further includes a first toothed ring 14-7 rotatably arranged on the bracket 12 and coaxially arranged with the vertical section 4-1 of the steel wire rope 4, a first gear 14-8 corresponding to the three cleaning brushes 13 and meshing on the first toothed ring 14-7, a first transmission shaft 14-9 vertically arranged on the top of the first gear 14-8, and a bevel gear pair arranged at the top end of the first transmission shaft 14-9 and drivingly connecting the first transmission shaft 14-9 and the middle gear 14-4.

[0065] At this time, the steel wire rope 4 passes through the inner cavity of the first toothed ring 14-7. When the first toothed ring 14-7 rotates, it drives the three first gears 14-8 to rotate synchronously. At this time, the three first gears 14-8 respectively drive their corresponding first transmission shafts 14-9 to rotate. The first transmission shaft 14-9 drives the corresponding middle gear 14-4 to rotate through the bevel gear pair at its top end. Furthermore, the rotation of the first toothed ring 14-7 can be used to drive the three cleaning brushes 13 to clean the surface of the steel wire rope 4 synchronously.

[0066] Furthermore, a second toothed ring 14-10 is fixedly arranged at the bottom of the first toothed ring 14-7. The second toothed ring 14-10 is rotatably mounted on the bracket 12. A second gear 14-11 is meshed laterally with the second toothed ring 14-10. A second transmission shaft is fixedly arranged on the second gear 14-11. The bottom end of the second transmission shaft is connected with a bevel gear pair. The bevel gear longitudinally distributed in the bevel gear pair is drivingly connected with the outer shaft through a pulley assembly 14-12. Thus, when the traveling wheel set 6 operates, the outer shaft drives the pulley assembly 14-12 to operate. The pulley assembly 14-12 drives the second transmission shaft to rotate through the bevel gear pair drivingly connected therewith. The second transmission shaft drives the second gear 14-11 to rotate. The second gear 14-11 drives the second toothed ring 14-10 to rotate. The first toothed ring 14-7 is fixedly arranged at the top of the second toothed ring 14-10. Therefore, the second toothed ring 14-10 can drive the first toothed ring 14-7 to rotate. That is to say, when the traveling motor 8 drives the traveling wheel set 6 to operate, during the up-and-down displacement of the robot, force is provided for the operation of all the cleaning brushes 13 at the same time.

[0067] Among them, please refer to Figure 13 As shown, in order to improve the stability of the traveling wheel set 6 when traveling on the steel wire rope 4, a spherical block 15 is sleeved on the steel wire rope 4. Grooves 16 adapted to the spherical block 15 and capable of engaging with the spherical block 15 are arranged on the inner traveling wheel 6-1, the outer traveling wheel 6-2 and the auxiliary wheels 11. At this time, the grooves 16 on the inner traveling wheel 6-1 and the outer traveling wheel 6-2 can be arranged in a hemispherical state. When the corresponding grooves 16 on the inner traveling wheel 6-1 and the outer traveling wheel 6-2 pass through the steel wire rope 4, they are in a state of engaging with both sides of the spherical block 15 respectively. Similarly, the corresponding grooves 16 on the three auxiliary wheels 11 are arranged in a state of simultaneously engaging with the spherical block 15 when passing through the steel wire rope 4.

[0068] Furthermore, a limiting rod 17 is fixedly arranged at the top of the coal bunker and is located below the winding wheel 3 and symmetrically distributed around the outer side of the steel wire rope 4. The limiting rod 17 and the cleaning brush 13 are arranged alternately in the circumferential direction of the vertical section 4-1 of the steel wire rope 4. A jack 18 for inserting the limiting rod 17 is arranged at the top of the bracket 12.

[0069] At this time, when the robot body 5 is at the highest position at the top of the coal bunker, the inserting rod is inserted into the jack 18. At this time, the jack 18 and the inserting rod cooperate to limit the robot body 5 from both sides of the robot body 5 at the same time. In this state, when the winding motor 7 is started to drive the two winding wheels 3 to rotate synchronously, so that the part of the steel wire rope 4 piled up by the raw coal in the coal bunker cuts the raw coal through reciprocating pulling to relieve the pressure of the raw coal, the stability of the robot body 5 can be maintained.

[0070] In an embodiment of the present invention, a support ring 19 coaxially distributed with the vertical section 4-1 of the wire rope 4 is fixedly arranged at the top of the bracket 12. The jack 18 is opened on the support ring 19, and the second toothed ring 14-10 is rotatably installed on the top of the support ring 19.

[0071] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A self - propelled coal bunker inspection robot, characterized in that, it includes a protective box (1), a reversing wheel set (2), a winding wheel (3), a steel wire rope (4) and a robot body (5). Among them, the protective box (1) is arranged at the bottom of the coal bunker, the reversing wheel set (2) is arranged inside the protective box (1), two winding wheels (3) are arranged at the top of the coal bunker, one end of the steel wire rope (4) is wound around one of the winding wheels (3), the other end of the steel wire rope (4) extends vertically downward to the bottom of the coal bunker, passes through the reversing wheel set (2) and then extends vertically upward to the top of the coal bunker and is wound around the other winding wheel (3). The two winding wheels (3) are set to act synchronously, and when one of the winding wheels (3) releases the steel wire rope (4), the other winding wheel (3) winds the steel wire rope (4). The robot body (5) is arranged between the two vertical sections (4 - 1) of the steel wire rope (4), and walking wheel sets (6) for walking on the two vertical sections (4 - 1) of the steel wire rope (4) are arranged on both sides of the robot body (5); The walking wheel set (6) includes an inner walking wheel (6 - 1) and an outer walking wheel (6 - 2) clamped on both sides of the steel wire rope (4). The inner walking wheel (6 - 1) is installed on the top of the robot body (5) through an inner wheel frame (6 - 3), the outer walking wheel (6 - 2) is installed on the inner wheel frame (6 - 3), a walking motor (8) is arranged on the robot body (5), the walking motor (8) drives the inner walking wheel (6 - 1) to rotate through a walking drive structure (9), and the outer walking wheel (6 - 2) is connected to the walking drive structure (9) through a walking transmission structure (10) so that the outer walking wheel (6 - 2) rotates synchronously and in the opposite direction to the inner walking wheel (6 - 1); The outer walking wheel (6 - 2) is set to have an adjustable distance from the inner walking wheel (6 - 1) to adjust the clamping force of the outer walking wheel (6 - 2) and the inner walking wheel (6 - 1) on the steel wire rope (4); Auxiliary wheels (11) that are symmetrically clamped on the vertical section (4 - 1) of the steel wire rope (4) are arranged on both the upper and lower sides of the walking wheel set (6). The auxiliary wheels (11) are installed on the inner wheel frame (6 - 3) through brackets (12), and the auxiliary wheels (11) are set to be adjustable in the radial direction parallel to the vertical section (4 - 1) of the steel wire rope (4) on the brackets (12) to adjust the clamping force of the auxiliary wheels (11) on the steel wire rope (4).

2. The self - propelled coal bunker inspection robot according to claim 1, characterized in that, the protective box (1) is set to be a trapezoidal structure, through holes for the steel wire rope (4) to enter and exit the protective box (1) are arranged at both ends of its top, and a wire guide sleeve (1 - 1) adapted to the diameter of the steel wire rope (4) is arranged at the top of the through hole.

3. The self - propelled coal bunker inspection robot according to claim 1, characterized in that, The bottom end of the vertical section (4-1) of the steel wire rope (4) extends into the protection box (1); the reversing wheel assembly (2) comprises a reversing wheel (2-1), a limiting wheel (2-2) and an anti-jump wheel (2-3); the reversing wheel (2-1) is arranged on both sides of the protection box (1); the two vertical sections (4-1) of the steel wire rope (4) pass through the bottom of the reversing wheel (2-1) to form a horizontal section (4-2); the limiting wheel (2-2) is arranged axially vertically and the limiting wheel (2-2) is equidistantly arranged on both sides of the horizontal section (4-2) of the steel wire rope (4); the anti-jump wheel (2-3) is arranged in the box and is arranged on the opposite side of the reversing wheel (2-1) relative to the vertical section (4-1) of the steel wire rope (4); and the height of the anti-jump wheel (2-3) is greater than the height of the reversing wheel (2-1).

4. A self-propelled coal bunker inspection robot according to claim 1, It is characterized in that One of the winding wheels (3) is connected to the output shaft of the winding motor (7), and the other winding wheel (3) is in driving cooperation with the winding motor (7), and the winding motor (7) is installed on the top of the coal bunker.

5. The self-propelled coal bunker inspection robot according to claim 1, It is characterized in that The top of the bracket (12) located above and the bottom of the bracket (12) located below are both provided with cleaning brushes (13) distributed outside the vertical section (4-1) of the wire rope (4) in a centrally symmetrical manner. The cleaning brushes (13) are connected to the walking driving structure (9) through a cleaning driving structure (14). The cleaning driving structure (14) is configured to drive the cleaning brush (13) located above to always sweep the coal upwards, and drive the cleaning brush (13) located below to always sweep the coal downwards when the robot body (5) walks up and down.

6. A self-propelled coal bunker inspection robot according to claim 5, It is characterized in that Spherical clamping blocks (15) are sleeved equidistantly on the steel wire rope (4), and the inner running wheel (6-1), the outer running wheel (6-2) and the auxiliary wheel (11) are all provided with clamping grooves (16) adapted to the spherical clamping blocks (15) and capable of engaging the spherical clamping blocks (15).

7. The self-propelled coal bunker inspection robot according to claim 1, It is characterized in that A limit rod (17) is fixedly arranged on the top of the coal bunker and is located below the winding wheel (3) and is centrally symmetrically distributed on the outside of the steel wire rope (4). The limit rod (17) and the cleaning brush (13) are staggered in the circumferential direction of the vertical section (4-1) of the steel wire rope (4). A socket (18) for inserting the limit rod (17) is arranged on the top of the bracket (12).

Images