Automatic ash removal device of coal conveying trestle track inspection robot and inspection robot

Abstract

The invention discloses an automatic ash removal device of a coal conveying trestle track inspection robot and the inspection robot, and relates to the technical field of coal conveying trestle cleaning. The inspection device comprises an inspection track, a supporting assembly is arranged at the bottom end of the inspection track, two symmetrically-distributed moving assemblies used for driving the inspection robot to move are arranged on the supporting assembly, and limiting assemblies used for limiting the inspection robot in the moving process are installed on the moving assemblies. The supporting assembly and the moving assembly are provided with ash removing assemblies used for removing ash of the inspection track. The moving assembly is used for driving the inspection robot to move on the inspection track, dust cleaning operation on the inspection track is achieved in cooperation with work of the dust cleaning assembly, dust on the inspection track can be effectively prevented from being scattered into the coal conveying trestle again due to cleaning, the limiting assembly is used for limiting the moving process of the inspection robot, and the inspection efficiency is improved. And the inspection robot can stably move on the inspection track.

Description

Technical Field

[0001] The invention relates to the technical field of coal conveying trestle cleaning, and in particular to an automatic dust cleaning device for a coal conveying trestle track inspection robot and an inspection robot. Background Art

[0002] In the process of transporting coal on the coal conveyor trestle, a large amount of coal powder impurities will be generated, forming a high concentration of harmful dust. These dusts will not only cause environmental pollution, but also when the dust concentration reaches a certain threshold, it may cause dust explosion accidents, causing huge losses to thermal power plants. Therefore, comprehensive dust control work, especially ash cleaning measures, is crucial to improving the safety and quality of coal transportation.

[0003] When the inspection robot is inspecting inside the coal conveyor trestle, a certain amount of dust will accumulate on its travel track due to the dust dispersed in the air. It is necessary to clean the track to avoid the invisible hazards of dust and improve the operating reliability of the coal conveyor trestle, thereby ensuring the operating safety of the thermal power plant.

[0004] When current track inspection robots clean the inspection track, they mostly clean the inspection track directly with a cleaning brush. The dust after cleaning is not collected, so that during cleaning, the dust on the inspection track will be scattered again inside the coal conveyor trestle, making the cleaning work of the cleaning device incomplete. Secondly, when the inspection robot moves on the inspection track, it is necessary to keep it stable during the movement to facilitate the efficient work of the inspection robot. In response to the above problems, the inventor proposes an automatic cleaning device for a coal conveyor trestle track inspection robot and an inspection robot for solving the above problems. Summary of the invention

[0005] In order to solve the problem that when a track inspection robot cleans the inspection track, most of the time the inspection track is cleaned directly with a cleaning brush, and the dust after cleaning is not collected, so that during cleaning, the dust on the inspection track will be scattered again inside the coal conveyor trestle, making the cleaning work of the cleaning device incomplete; secondly, when the inspection robot moves on the inspection track, it is necessary to keep it stable during the movement to facilitate the efficient work of the inspection robot; the purpose of the present invention is to provide an automatic cleaning device for a coal conveyor trestle track inspection robot and an inspection robot.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: an automatic dust cleaning device for a patrol robot on a coal conveying trestle track, comprising a patrol track, a support assembly is provided at the bottom end of the patrol track, two symmetrically distributed moving assemblies for driving the patrol robot to move are provided on the support assembly, a limit assembly for limiting the movement of the patrol robot is installed on the moving assembly, and the two limit assemblies are located on both sides of the patrol track, and a dust cleaning assembly for cleaning the patrol track is provided on the support assembly and the moving assembly; The support assembly includes a support frame, and four first wheel frames distributed in a rectangular shape are installed on the top of the support frame. The first wheel frames are rotatably provided with first rollers, and the first rollers are in contact with the bottom end of the inspection track; the moving assembly includes a transmission box, and the upper end of the transmission box is rotatably provided with two rotating shafts and two rotating rods, and the two rotating rods are located between the two rotating shafts, and two second rollers are fixedly installed on the rotating shaft, and the second rollers are rotatably arranged on the upper surface of the inspection track, and a roller brush is fixedly installed on the outer ring of the rotating rod, and the roller brush is in contact with the upper surface of the inspection track; The limiting assembly includes a fixed plate, and the fixed plate is fixedly installed on the top of the transmission box, and two support arms are rotatably provided on the side of the fixed plate close to the inspection track, and a second wheel frame is fixedly installed on the side of the support arm close to the inspection track, and a third roller is rotatably provided on the second wheel frame; the dust cleaning assembly includes a protective tube, and the protective tube is fixedly installed on the side of the transmission box close to the inspection track, a first dust suction pipe is fixedly installed inside the protective tube, a second dust suction pipe is fixedly installed on the top of the protective tube, and the second dust suction pipe is located at the bending part of the inspection track, and a straight line brush is fixedly installed inside the second dust suction pipe, and the straight line brush is in contact with the outer side of the inspection track.

[0007] Preferably, a plurality of connecting plates distributed in a straight line are fixedly installed on the top of the support frame, a driving shaft is rotatably provided on a plurality of the connecting plates, a hexagonal column is fixedly installed at the center of both ends of the driving shaft, a first gear is fixedly installed on the outer ring of the driving shaft, a servo motor is fixedly installed on one of the connecting plates, a second gear is fixedly installed on the output end of the servo motor, and the second gear is meshed with the first gear.

[0008] Preferably, four rectangularly distributed cylinders are fixedly mounted on the top of the support frame, and the four first wheel frames are rotatably mounted on the corresponding cylinders respectively. Two groups of plungers are fixedly mounted on one side of the support frame close to the two transmission boxes respectively.

[0009] Preferably, two symmetrically distributed connecting brackets are fixedly mounted on the transmission box, and the two connecting brackets are respectively slidably arranged on two groups of plug rods on one side of the support frame, a bidirectional screw is rotatably provided on the connecting bracket, and the bidirectional screw can slide inside the plug rod, two clamps are threadedly provided on the bidirectional screw, and the two clamps can contact the inner side of the plug rod, and the clamps can slide along the connecting bracket.

[0010] Preferably, a transmission shaft is rotatably provided at the lower end of the transmission box, and two hexagonal columns are slidably inserted into the centers of the two transmission shafts respectively. The transmission shaft and the two rotating shafts are connected by a first synchronous belt and a first synchronous wheel. A third gear is fixedly installed on the two rotating rods, and the two third gears are meshed with each other. One of the rotating rods and a rotating shaft on one side of it is connected by a second synchronous belt and a second synchronous wheel.

[0011] Preferably, a limit cylinder and two hinged seats are fixedly installed on the side of the fixed plate close to the inspection track, and the limit cylinder is located between the two hinged seats, and the two hinged seats are respectively hingedly connected to the sides of the two support arms away from the inspection track, and a limit block is slidably provided inside the limit cylinder, a limit rod is fixedly installed on the side of the limit block close to the inspection track, and the limit rod slides through the limit cylinder, an end block is fixedly installed on the end of the limit rod close to the inspection track, a spring is fixedly installed between the end block and the fixed plate, and the spring is slidably sleeved on the limit cylinder and the outer ring of the limit rod.

[0012] Preferably, both ends of the end block are hingedly connected with connecting arms, the other end of the connecting arm is fixedly mounted with a connecting rod, and the two connecting rods are rotatably arranged on the two supporting arms respectively.

[0013] Preferably, a first connecting pipe is fixedly installed inside the casing, and the first dust suction pipe and the second dust suction pipe are connected through the first connecting pipe. A dust suction device is fixedly installed on the top of the supporting frame, and a second connecting pipe is connected between the dust suction device and the two first dust suction pipes.

[0014] Preferably, the roller brush is located inside the protective tube and on both sides of the first dust suction pipe, and the distance between the first dust suction pipe, the second dust suction pipe and the protective tube and the surface of the inspection track is 1 cm.

[0015] A coal conveying trestle track inspection robot also includes the coal conveying trestle track inspection robot automatic dust cleaning device, and the coal conveying trestle track inspection robot body is installed at the lower end inside the supporting frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses a moving component to drive the inspection robot to move on the inspection track, and performs dust cleaning operations on the inspection track. In cooperation with the work of the dust cleaning component, the dust after cleaning is collected and processed, which can effectively prevent the dust on the inspection track from being scattered again inside the coal conveying trestle due to cleaning. The movement process of the inspection robot is limited by the limiting component, so that the inspection robot can move smoothly in straight lines and curves, thereby improving the working efficiency of the inspection robot; 2. The present invention utilizes the rotation of the driving shaft to drive the two transmission shafts to rotate, the rotation of the transmission shaft drives the rotating shaft, and the rotation of the rotating shaft drives the second roller to rotate, so that the inspection robot can move on the inspection track, and the third roller at the end of the support arm rolls on the inspection track and the spring supports the side of the support arm to limit the movement of the inspection robot, so that the inspection robot can move more smoothly in line with the trajectory of the inspection track when moving on a curve; 3. The present invention utilizes the rotation of the rotating shaft to drive the rotating rod to rotate, and utilizes the two rotating rods to rotate towards each other, thereby driving the roller brush thereon to rotate, and cooperates with the movement of the inspection robot to drive the linear brush to move, so as to clean the upper surface of the inspection track, and utilizes the dust suction device to suck the dust into the dust suction device through the first dust suction pipe, the first connecting pipe, the second dust suction pipe and the second connecting pipe, thereby achieving the effect of automatically cleaning the inspection track and preventing dust from accumulating on the inspection track or scattering inside the coal conveyor trestle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention.

[0020] Figure 3 It is a schematic diagram of the cross-sectional structure of the dust cleaning component of the present invention.

[0021] Figure 4 It is a schematic diagram of the structure of the first dust suction duct and the second dust suction duct of the present invention.

[0022] Figure 5 For the present invention Figure 2 A schematic diagram of the enlarged structure in the middle.

[0023] Figure 6 For the present invention Figure 2Enlarged schematic diagram of the structure at point B in the middle.

[0024] Figure 7 For the present invention Figure 2 Enlarged schematic diagram of the structure at point C in the middle.

[0025] Figure 8 For the present invention Figure 3 Enlarged schematic diagram of the structure at point D in the middle.

[0026] Fig. 9 For the present invention Figure 7 Enlarged schematic diagram of the structure at point E in the middle.

[0027] In the figure: 1. Inspection track; 2. Support assembly; 201. Support frame; 202. Connecting plate; 203. Drive shaft; 204. Hexagonal column; 205. First gear; 206. Second gear; 207. Servo motor; 208. Insert rod; 209. Cylinder; 210. First wheel frame; 211. First roller; 3. Moving assembly; 301. Transmission box; 302. Connecting bracket; 303. Bidirectional screw; 304. Clamp; 305. Transmission shaft; 306. Rotating shaft; 307. Second roller; 308. Rotating rod; 309. Third gear Wheel; 310, roller brush; 4, limit assembly; 401, fixing plate; 402, hinged seat; 403, support arm; 404, second wheel frame; 405, third roller; 406, limit cylinder; 407, limit rod; 408, limit block; 409, spring; 410, end block; 411, connecting arm; 412, connecting rod; 5, dust cleaning assembly; 501, protective tube; 502, first dust suction duct; 503, first connecting duct; 504, second dust suction duct; 505, linear brush; 506, second connecting duct; 507, dust suction device. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example: Figure 1-9 As shown, the present invention provides an automatic dust cleaning device for a coal conveying trestle track inspection robot, comprising an inspection track 1, a support assembly 2 is provided at the bottom end of the inspection track 1, two symmetrically distributed moving assemblies 3 for driving the inspection robot to move are provided on the support assembly 2, a limiting assembly 4 for limiting the inspection robot during movement is installed on the moving assembly 3, and the two limiting assemblies 4 are located on both sides of the inspection track 1, and a dust cleaning assembly 5 for cleaning the inspection track 1 is provided on the support assembly 2 and the moving assembly 3; The support assembly 2 includes a support frame 201, and four first wheel frames 210 distributed in a rectangular shape are installed on the top of the support frame 201. The first wheel frames 210 are rotatably provided with first rollers 211, and the first rollers 211 are in contact with the bottom end of the inspection track 1; the moving assembly 3 includes a transmission box 301, and the upper end of the transmission box 301 is rotatably provided with two rotating shafts 306 and two rotating rods 308, and the two rotating rods 308 are located between the two rotating shafts 306, and two second rollers 307 are fixedly installed on the rotating shaft 306, and the second rollers 307 are rollingly arranged on the upper surface of the inspection track 1, and the outer ring of the rotating rod 308 is fixedly provided with a roller brush 310, and the roller brush 310 is in contact with the upper surface of the inspection track 1; The limiting component 4 includes a fixed plate 401, and the fixed plate 401 is fixedly installed on the top of the transmission box 301, and two support arms 403 are rotatably provided on the side of the fixed plate 401 close to the inspection track 1, and a second wheel frame 404 is fixedly installed on the side of the support arm 403 close to the inspection track 1, and a third roller 405 is rotatably provided on the second wheel frame 404; the cleaning component 5 includes a protective tube 501, and the protective tube 501 is fixedly installed on the side of the transmission box 301 close to the inspection track 1, a first dust suction pipe 502 is fixedly installed inside the protective tube 501, a second dust suction pipe 504 is fixedly installed on the top of the protective tube 501, and the second dust suction pipe 504 is located at the bending part of the inspection track 1, and a straight line brush 505 is fixedly installed inside the second dust suction pipe 504, and the straight line brush 505 is in contact with the outer side of the inspection track 1.

[0030] A plurality of connecting plates 202 distributed in a straight line are fixedly installed on the top of the support frame 201, and a driving shaft 203 is rotatably provided on the plurality of connecting plates 202. A hexagonal column 204 is fixedly installed at the center of both ends of the driving shaft 203, and a first gear 205 is fixedly installed on the outer ring of the driving shaft 203. A servo motor 207 is fixedly installed on one connecting plate 202, and a second gear 206 is fixedly installed at the output end of the servo motor 207, and the second gear 206 is meshed with the first gear 205.

[0031] By adopting the above technical solution, the servo motor 207 can drive the driving shaft 203 to rotate.

[0032] Four rectangularly distributed cylinders 209 are fixedly installed on the top of the support frame 201, and four first wheel frames 210 are rotatably arranged on the corresponding cylinders 209. Two sets of plungers 208 are fixedly installed on one side of the support frame 201 close to the two transmission boxes 301.

[0033] By adopting the above technical solution, the four first rollers 211 can move along the inspection track 1 and can deflect during the movement.

[0034] Two symmetrically distributed connecting brackets 302 are fixedly installed on the transmission box 301, and the two connecting brackets 302 are respectively slidably set on the two groups of plug rods 208 on one side of the support frame 201, and a bidirectional screw 303 is rotatably provided on the connecting bracket 302, and the bidirectional screw 303 can slide inside the plug rod 208, and two clamps 304 are threaded on the bidirectional screw 303, and the two clamps 304 can contact the inner side of the plug rod 208, and the clamps 304 can slide along the connecting bracket 302.

[0035] By adopting the above technical solution, the moving component 3 and the supporting component 2 can be connected and fixed.

[0036] A transmission shaft 305 is rotatably provided at the lower end of the transmission box 301, and two hexagonal columns 204 are slidably inserted into the centers of the two transmission shafts 305 respectively. The transmission shaft 305 and the two rotating shafts 306 are connected by a first synchronous belt and a first synchronous wheel. A third gear 309 is fixedly installed on the two rotating rods 308, and the two third gears 309 are meshed with each other. A rotating rod 308 and a rotating shaft 306 on one side of it are connected by a second synchronous belt and a second synchronous wheel.

[0037] By adopting the above technical solution, the driving shaft 203 can drive the rotating shaft 306 to rotate.

[0038] A limit cylinder 406 and two hinged seats 402 are fixedly installed on one side of the fixed plate 401 close to the inspection track 1, and the limit cylinder 406 is located between the two hinged seats 402, and the two hinged seats 402 are respectively hingedly connected to the two support arms 403 on the side away from the inspection track 1, and a limit block 408 is slidably provided inside the limit cylinder 406, and a limit rod 407 is fixedly installed on the side of the limit block 408 close to the inspection track 1, and the limit rod 407 slides through the limit cylinder 406, and an end block 410 is fixedly installed on the end of the limit rod 407 close to the inspection track 1, and a spring 409 is fixedly installed between the end block 410 and the fixed plate 401, and the spring 409 is slidably sleeved on the outer ring of the limit cylinder 406 and the limit rod 407.

[0039] By adopting the above technical solution, the spring 409 can support the end block 410.

[0040] Both ends of the end block 410 are hingedly connected with connecting arms 411 , and the other end of the connecting arm 411 is fixedly installed with a connecting rod 412 , and the two connecting rods 412 are rotatably arranged on the two supporting arms 403 .

[0041] By adopting the above technical solution, the movement of the end block 410 can drive the connecting arm 411 to deflect.

[0042] A first connecting pipe 503 is fixedly installed inside the protective tube 501, and the first dust suction pipe 502 and the second dust suction pipe 504 are connected through the first connecting pipe 503. A dust suction device 507 is fixedly installed on the top of the support frame 201, and second connecting pipes 506 are connected between the dust suction device 507 and the two first dust suction pipes 502; the roller brush 310 is located inside the protective tube 501 and on both sides of the first dust suction pipe 502. The distance between the first dust suction pipe 502, the second dust suction pipe 504 and the protective tube 501 and the surface of the inspection track 1 is 1 cm.

[0043] By adopting the above technical solution, the dust collection device 507 can collect and process dust through the first dust collection pipe 502 and the second dust collection pipe 504 , the first connecting pipe 503 and the second connecting pipe 506 .

[0044] A coal conveying trestle track inspection robot also includes an automatic dust cleaning device for the coal conveying trestle track inspection robot. The coal conveying trestle track inspection robot body is installed at the lower end of the inner part of the support frame 201.

[0045] Working principle: When the present invention is used, the inspection track is installed inside the coal conveying trestle, and then the moving assembly 3 and the supporting bracket 2 are installed on the inspection track 1; Then, the positions of the moving assembly 3 and the supporting assembly 2 are adjusted so that the first roller 211 contacts the bottom end of the inspection track 1, and the third roller 405 of the limiting assembly 4 and the second roller 307 of the moving assembly 3 both contact the upper surface of the inspection track 1, and the roller brush 310 and the linear brush 505 also contact the upper surface of the inspection track 1, so that the spring 409 is in a compressed state; Then, by rotating the bidirectional screw 303, the two clamping plates 304 thereon move toward each other and contact the insertion rod 208, thereby connecting the moving assembly 3 and the supporting assembly 2 together and being located on the inspection track 1; The servo motor 207 is used to drive the second gear 206 to rotate. The rotation of the second gear 206 drives the first gear 205 to rotate. The rotation of the first gear 205 drives the driving shaft 203 to rotate. The rotation of the driving shaft 203 drives the two hexagonal columns 204 to rotate. The rotation of the hexagonal columns 204 drives the transmission shaft 305 to rotate. The transmission shaft 305 and the two rotating shafts 306 are connected through the first synchronous belt and the first synchronous wheel, so that the rotation of the transmission shaft 305 can drive the two rotating shafts 306 to rotate in the same direction, and the rotation of the rotating shaft 306 drives the second roller 307 thereon to rotate, so that the inspection robot can move on the inspection track 1; The movement of the inspection robot is limited by using the third roller 405 at the end of the support arm 403 to roll on the inspection track 1 and the spring 409 to support the side of the support arm 403; When the inspection robot moves to the bend of the inspection track 1, the inner side of the bend applies force in the opposite direction to the third roller 405 in the travel direction, compressing the spring 409. The third roller 405 in the travel direction on the inner side of the bend is driven by the elastic force of the spring 409 to continue to fit with the inspection track 1. As the third roller 405 of the limiting assembly 4 completely enters the bend, the springs 409 of the two limiting assemblies 4 are used to limit the movement of the inspection robot. Through the above steps, the inspection robot can move more smoothly in line with the trajectory of the inspection track 1 when moving in the bend. A rotating rod 308 is connected to a rotating shaft 306 on one side of the rotating rod 308 through a second synchronous belt and a second synchronous wheel transmission, so that the rotation of the rotating shaft 306 can drive the rotating rod 308 to rotate, and the third gears 309 on the two rotating rods 308 are engaged with each other to make the two rotating rods 308 rotate towards each other, thereby driving the roller brush 310 thereon to rotate, and cooperating with the movement of the inspection robot to drive the linear brush 505 to move, so as to clean the upper surface of the inspection track 1, and use the dust suction device 507 to suck the dust into the dust suction device 507 through the first dust suction pipe 502, the first connecting pipe 503, the second dust suction pipe 504 and the second connecting pipe 506, so as to achieve the effect of automatic cleaning of the inspection track 1 and prevent dust from accumulating on the inspection track 1 or scattering inside the coal conveyor trestle.

[0046] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic dust cleaning device for a coal handling trestle track inspection robot, comprising an inspection track (1), characterized in that: The bottom end of the inspection track (1) is provided with a support assembly (2), the support assembly (2) is provided with two symmetrically distributed moving assemblies (3) for driving the inspection robot to move, the moving assembly (3) is provided with a limit assembly (4) for limiting the position of the inspection robot during movement, and the two limit assemblies (4) are located on both sides of the inspection track (1), and the support assembly (2) and the moving assembly (3) are provided with a dust cleaning assembly (5) for cleaning the inspection track (1); The support assembly (2) comprises a support frame (201), and four first wheel frames (210) distributed in a rectangular shape are installed on the top of the support frame (201), and first rollers (211) are rotatably provided on the first wheel frames (210), and the first rollers (211) are in contact with the bottom end of the inspection track (1); the moving assembly (3) comprises a transmission box (301), and two rotating shafts (306) and two rotating rods (308) are rotatably provided on the upper end of the transmission box (301), and the two rotating rods (308) are located between the two rotating shafts (306), and two second rollers (307) are fixedly installed on the rotating shaft (306), and the second rollers (307) are rollingly arranged on the upper surface of the inspection track (1), and a roller brush (310) is fixedly installed on the outer ring of the rotating rod (308), and the roller brush (310) is in contact with the upper surface of the inspection track (1); The limiting assembly (4) comprises a fixing plate (401), and the fixing plate (401) is fixedly mounted on the top of the transmission box (301); two support arms (403) are rotatably mounted on a side of the fixing plate (401) close to the inspection track (1); a second wheel frame (404) is fixedly mounted on a side of the support arm (403) close to the inspection track (1); a third roller (405) is rotatably mounted on the second wheel frame (404); the dust cleaning assembly (5) comprises a protective tube (501), The protective tube (501) is fixedly mounted on a side of the transmission box (301) close to the inspection track (1); a first dust suction pipe (502) is fixedly mounted inside the protective tube (501); a second dust suction pipe (504) is fixedly mounted on the top of the protective tube (501); the second dust suction pipe (504) is located at a bend of the inspection track (1); a straight brush (505) is fixedly mounted inside the second dust suction pipe (504); and the straight brush (505) is in contact with the outer side of the inspection track (1).

2. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 1, characterized in that: A plurality of linearly distributed connecting plates (202) are fixedly mounted on the top of the support frame (201); a plurality of the connecting plates (202) are rotatably provided with drive shafts (203); a hexagonal column (204) is fixedly mounted at the center of both ends of the drive shaft (203); a first gear (205) is fixedly mounted on the outer ring of the drive shaft (203); a servo motor (207) is fixedly mounted on one of the connecting plates (202); a second gear (206) is fixedly mounted on the output end of the servo motor (207); and the second gear (206) is meshed with the first gear (205).

3. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 1, characterized in that: Four rectangularly distributed cylinders (209) are fixedly mounted on the top of the support frame (201); the four first wheel frames (210) are rotatably mounted on the corresponding cylinders (209); and two groups of plungers (208) are fixedly mounted on one side of the support frame (201) close to the two transmission boxes (301).

4. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 3, characterized in that: Two symmetrically distributed connecting brackets (302) are fixedly mounted on the transmission box (301), and the two connecting brackets (302) are respectively slidably arranged on two groups of plug rods (208) on one side of the support frame (201); a bidirectional screw rod (303) is rotatably arranged on the connecting bracket (302), and the bidirectional screw rod (303) can slide inside the plug rod (208); two clamping plates (304) are threadedly arranged on the bidirectional screw rod (303), and the two clamping plates (304) can contact the inner side of the plug rod (208), and the clamping plates (304) can slide along the connecting bracket (302).

5. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 1, characterized in that: A transmission shaft (305) is rotatably provided at the lower end of the transmission box (301), and two hexagonal columns (204) are respectively slidably inserted into the centers of the two transmission shafts (305). The transmission shaft (305) and the two rotating shafts (306) are connected to each other via a first synchronous belt and a first synchronous wheel. A third gear (309) is fixedly mounted on each of the two rotating rods (308), and the two third gears (309) are meshed with each other. One of the rotating rods (308) and a rotating shaft (306) on one side thereof are connected to each other via a second synchronous belt and a second synchronous wheel.

6. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 1, characterized in that: A limiting cylinder (406) and two hinged seats (402) are fixedly installed on one side of the fixed plate (401) close to the inspection track (1), and the limiting cylinder (406) is located between the two hinged seats (402). The two hinged seats (402) are respectively hingedly connected to the two sides of the support arms (403) away from the inspection track (1). A limiting block (408) is slidably provided inside the limiting cylinder (406). A limiting rod (407) is fixedly installed on one side of the limiting block (408) close to the inspection track (1), and the limiting rod (407) slides through the limiting cylinder (406). An end block (410) is fixedly installed on one end of the limiting rod (407) close to the inspection track (1). A spring (409) is fixedly installed between the end block (410) and the fixed plate (401), and the spring (409) is slidably sleeved on the outer rings of the limiting cylinder (406) and the limiting rod (407).

7. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 6, characterized in that: Both ends of the end block (410) are hingedly connected to connecting arms (411), the other end of the connecting arm (411) is fixedly mounted with a connecting rod (412), and the two connecting rods (412) are rotatably arranged on the two supporting arms (403) respectively.

8. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 1, characterized in that: A first connecting pipe (503) is fixedly installed inside the protective tube (501), and the first dust suction pipe (502) and the second dust suction pipe (504) are connected via the first connecting pipe (503); a dust suction device (507) is fixedly installed at the top end inside the support frame (201), and a second connecting pipe (506) is connected between the dust suction device (507) and the two first dust suction pipes (502).

9. The automatic dust cleaning device for the coal handling trestle track inspection robot according to claim 1, characterized in that: The roller brush (310) is located inside the protective tube (501) and on both sides of the first dust suction pipe (502); the distance between the first dust suction pipe (502), the second dust suction pipe (504) and the protective tube (501) and the surface of the inspection track (1) is 1 cm.

10. A coal handling trestle track inspection robot, characterized in that: It also includes an automatic dust cleaning device for a coal conveyor trestle track inspection robot as described in any one of claims 1 to 9, wherein the coal conveyor trestle track inspection robot body is installed at the lower end inside the support frame (201).

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