Mine steel wire rope self-walking belt inspection device

Abstract

The invention discloses a mine steel wire rope self-walking belt inspection device, and relates to the field of mine roadway inspection devices.The mine steel wire rope self-walking belt inspection device comprises a rack, an anti-explosion battery and an anti-explosion motor are installed in the middle of the interior of the rack, the anti-explosion battery is electrically connected with the anti-explosion motor, and a planetary reducer is arranged at the end of the anti-explosion motor; a first belt transmission wheel is arranged on the end face of the planetary reducer, and a first synchronous wheel, a second synchronous wheel, a third synchronous wheel and a fourth synchronous wheel are installed at the four corners of the rack correspondingly. The two single claws can be driven to gather and separate through lifting of the guide rod, a certain obstacle crossing ability can be achieved in the opening and clamping process of the clamping claws, the inspection device can adapt to complex roadway conditions through the self-walking inspection mode of the steel wire rope, manual movement of the inspection device is not needed, and the inspection efficiency is greatly improved through sequential opening and clamping of the single claws. Static friction between the clamping jaw assembly and the steel wire rope drives the whole robot body to advance, and the problem that the robot slips and cannot effectively walk is solved.

Description

Technical Field

[0001] The invention relates to the field of mine tunnel inspection devices, in particular to a mine steel wire rope self-propelled belt inspection device. Background Art

[0002] The existing inspection robots conduct regular inspections in coal mine tunnels, detect the operating conditions of the tunnel belt conveyors, analyze the operating conditions of the belt conveyors through image recognition and sound judgment, and sound alarms when there are abnormalities in the belt conveyors, thereby providing protection for safe production in the tunnels. The inspection robots move along the track and, when necessary, need to be towed by steel wire ropes so that the wheels of the robot's walking mechanism move on the I-beams through friction and clamping devices. The robot uses two-wheel drive to walk on the I-beams.

[0003] In the prior art, the inspection robots currently use I-beams as walking tracks. Although the I-beam tracks reduce the difficulty of control system development, the tunnels will deform and sink over the years. When the tunnels are deformed, the track joints will also deform, resulting in misaligned cross-sections, which will prevent the robot from passing smoothly. In addition, for long-distance tunnels with complex environments, track construction is difficult and costly. For the ultra-low temperature environment of open-pit mines, the tracks are very likely to freeze, causing the robot to slip and be unable to walk effectively. The driving method using wire rope traction as power has a large amount of construction work for the wire rope construction part, and a wire rope driving device needs to be installed at the head and tail of the belt conveyor, and the inspection device body cannot complete the obstacle crossing function. In view of the defects in the prior art, a self-propelled wire rope inspection device for mining is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a mine wire rope self-propelled belt inspection device to solve the problem that the track joints proposed in the above background technology will be deformed, resulting in the robot being unable to pass smoothly, and in the ultra-low temperature environment of the open-pit mine, the track is very likely to freeze, causing the robot to slip and unable to walk effectively; the wire rope construction part has a large construction volume, and a wire rope drive device needs to be installed at the head and tail of the belt machine, and the inspection device body cannot complete the obstacle crossing function.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A mine wire rope self-propelled belt inspection device comprises a frame, an explosion-proof battery and an explosion-proof motor are installed in the middle of the frame, the explosion-proof battery is electrically connected to the explosion-proof motor, a planetary reducer is arranged at the end of the explosion-proof motor, a belt drive wheel 1 is arranged on the end face of the planetary reducer, a synchronous wheel 1, a synchronous wheel 2, a synchronous wheel 3 and a synchronous wheel 4 are respectively installed at the four corners of the frame, a belt drive wheel 2 is arranged at the end of the synchronous wheel 3, and the belt drive wheel 2 rotates synchronously with the synchronous wheel 3, a transmission belt is connected between the belt drive wheel 2 and the belt drive wheel 1, a rubber track is arranged on the outer sleeve between the synchronous wheel 1, the synchronous wheel 2, the synchronous wheel 3 and the synchronous wheel 4, a plurality of clamping claw assemblies are arranged on one circle of the rubber track, and the clamping claw assembly comprises a fixed frame 1 and a fixed frame 1. The cam is provided with a plurality of guide rails, each of which is connected to a plurality of guide rails of the plurality of wheels, and the plurality of guide rails are connected to the plurality of wheels respectively.

[0007] As a preferred technical solution of the present invention, the clamping jaw assembly also includes a sliding groove and a movable pin. The sliding groove is opened at the two edge positions of the sliding groove, and the movable pin passes through the two side walls of the connecting block and the interior of the sliding groove. The bottom end of the single claw is slidably connected to the side wall of the connecting block. The side wall of the connecting block is connected to a telescopic spring 2 at the sliding groove. The telescopic spring 2 is located in the middle of the sliding groove. The two ends of the telescopic spring 2 are respectively connected to the side wall of the connecting block and the interior of the sliding groove. The two single claws on the same clamping jaw assembly approach or move away from each other.

[0008] As a preferred technical solution of the present invention, the clamping claw assemblies are arranged at equal distances on the outer surface of the rubber track, connecting holes are opened inside the fixing frame 1 and the fixing frame 2, and the guide rod is slidably connected to the inside of the connecting hole, and the bottom end of the guide rod passes through the surface of the rubber track.

[0009] As a preferred technical solution of the present invention, the number of the synchronous wheel one, the synchronous wheel two, the synchronous wheel three and the synchronous wheel four are two, the bottom end of the guide rod and the clamping claw wheel are located between the two synchronous wheels one, the synchronous wheel two, the synchronous wheel three and the synchronous wheel four, and the clamping claw wheel is in contact with the inner wall of the rubber track.

[0010] As a preferred technical solution of the present invention, the telescopic spring is in a normal state, and the two single claws of the same group of clamping claw assemblies are away from each other.

[0011] As a preferred technical solution of the present invention, both ends of the two guide rails are in contact with the inner wall of the rubber track, and the guide rod passes through the gap between the two guide rails. The clamping wheel is located at the bottom of the gap between the two guide rails, and the clamping wheel is rollingly connected to the guide rails.

[0012] As a preferred technical solution of the present invention, the telescopic spring is in a compressed state, and two single claws of the same group of clamping claw assemblies are close to each other.

[0013] As a preferred technical solution of the present invention, the rubber track and the transmission belt are both synchronous belts, the belt drive wheel one and the belt drive wheel two are both synchronous wheels, and the rubber track covers the outside of two sets of synchronous wheels one, two, three and four, and a belt tensioning structure is provided on the side wall of the frame and at four locations of the synchronous wheels.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] A clamping claw assembly is provided, and the guide rod is connected along the sliding connection between the two fixed frames, so that the guide rod can drive the two single claws to gather and separate, so that the single claw can smoothly pass through different positions of the wire rope. The clamping claw can have a certain obstacle crossing ability during the opening and clamping process, and the inspection method of self-propelled wire rope can adapt to complex tunnel conditions;

[0016] The clamping wheel contacts the guide rail, which can control the two single claws of the clamping assembly to gather and separate, so that the clamping assembly can automatically clamp or release the wire rope, and each group of single claws can be opened and clamped in sequence without manually moving the inspection device;

[0017] The gripper assemblies are arranged at equal distances on the outer surface of the rubber track. The rotating rubber track can be used to drive multiple gripper assemblies to clamp the wire rope, so that the gripper assemblies can alternately contact the wire rope. The static friction between the gripper assemblies and the wire rope drives the entire robot body forward, and the problem of the robot slipping and being unable to walk effectively will not occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0019] Figure 1 This is a main structure diagram of a mine steel wire rope self-propelled belt inspection device of the present invention;

[0020] Figure 2 It is a schematic diagram of a frame and a planetary reducer of a mining wire rope self-propelled belt inspection device of the present invention;

[0021] Figure 3 It is a schematic diagram of a clamping claw assembly of a mining wire rope self-propelled belt inspection device of the present invention;

[0022] Figure 4 It is a schematic diagram of the two single claws of the mining wire rope self-propelled belt inspection device of the present invention being in a state of being separated;

[0023] Figure 5 It is a schematic diagram of the gathered state of two single claws of a mining wire rope self-propelled belt inspection device of the present invention;

[0024] Figure 6 The present invention is a schematic diagram of the contact between the clamping claw wheel and the guide rail of a mining wire rope self-propelled belt inspection device.

[0025] In the figure: 1. Synchronous wheel 1; 2. Synchronous wheel 2; 3. Synchronous wheel 3; 4. Synchronous wheel 4; 5. Rubber track; 6. Gripping claw assembly; 7. Explosion-proof motor; 8. Belt drive wheel 1; 9. Belt drive wheel 2; 10. Driving belt; 11. Guide track; 12. Belt tensioning structure; 13. Frame; 14. Planetary reducer; 15. Single claw; 16. Contact block; 17. Telescopic spring 1; 18. Guide rod; 19. Gripping claw wheel; 20. Sliding groove; 21. Movable pin; 22. Intermediate pin; 23. Fixed frame 1; 24. Connecting pin; 25. Telescopic spring 2; 26. Fixed frame 2; 27. Connecting hole; 28. Guide column; 29. ​​Connecting block. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1 - Figure 3As shown, a mining wire rope self-propelled belt inspection device includes a frame 13, an explosion-proof battery and an explosion-proof motor 7 are installed in the middle of the frame 13, the explosion-proof battery is electrically connected to the explosion-proof motor 7, a planetary reducer 14 is arranged at the end of the explosion-proof motor 7, a belt drive wheel 8 is arranged at the end face of the planetary reducer 14, an explosion-proof battery is installed inside the frame 13, and the explosion-proof battery supplies power to the explosion-proof motor 7, so that the end of the explosion-proof motor 7 drives the planetary reducer 14 to rotate, thereby changing the speed of the belt drive wheel 8, and synchronous wheels 1, 2, 3 and 4 are installed at the four corners of the frame 13 respectively, and a belt drive wheel 2 9 is arranged at the end of the synchronous wheel 3, and the belt drive wheel 2 9 rotates synchronously with the synchronous wheel three 3, a transmission belt 10 is connected between the belt drive wheel two 9 and the belt drive wheel one 8, and a rubber track 5 is arranged on the outer sleeve between the synchronous wheel one 1, the synchronous wheel two 2, the synchronous wheel three 3 and the synchronous wheel four 4. The rotating belt drive wheel one 8 drives the belt drive wheel two 9 to rotate through the transmission belt 10, so that the rubber track 5 between the synchronous wheel one 1, the synchronous wheel two 2, the synchronous wheel three 3 and the synchronous wheel four 4 rotates synchronously, and a circle of the rubber track 5 is provided with a plurality of clamping claw assemblies 6, and the clamping claw assembly 6 includes a fixing frame one 23 and a fixing frame two 26. Guide columns 28 are installed at the four corners of the fixing frame one 23 and the four corners of the fixing frame two 26, and one end of the guide column 28 is slidably connected with the fixing frame one 23 The second fixing frame 26 is installed on the outer surface of the rubber crawler 5. The second fixing frame 26 can be installed on the outer surface of the rubber crawler 5 so that the rubber crawler 5 can drive each clamping claw assembly 6 to rotate. The top of the fixing frame 1 23 is connected with connecting blocks 29 on both sides. The tops of the two connecting blocks 29 are installed with single claws 15 and slide grooves 16 manufactured in one piece. A connecting pin 24 is connected between the connecting block 29 and the top of the fixing frame 1 23. An intermediate pin 22 is connected between the two connecting blocks 29. The intermediate pin 22 is located in the middle of the fixing frame 1 23. A guide rod 18 is installed in the middle of the fixing frame 1 23 and the second fixing frame 26. The top of the guide rod 18 is connected to the intermediate pin 22. The intermediate pin 22 is connected to the end of the guide rod 18 and the two connecting blocks 2 9 are all movably connected, and a support frame is installed inside the frame 13 and at the guide track 11, which is used to support the fixed frame 26 when the guide rod 18 descends to prevent the fixed frame 26 from compressing and deforming the rubber track 5. When the guide rod 18 descends, it can drive the middle pin 22 to pull the two single claws 15 together, so that the two single claws 15 clamp the wire rope, and the outer sleeve of the guide rod 18 is provided with a telescopic spring 17, which is located between the fixed frame 1 23 and the fixed frame 26. A clamping claw wheel 19 is installed at the bottom end of the guide rod 18, and two guide tracks 11 are installed inside the frame 13 and between the synchronous wheel 1 and the synchronous wheel 3. The clamping claw wheel 19 cooperates with the guide track 11 to control the single claws 15 to gather or disperse with each other.

[0028] See also Figure 4 and Figure 5 As shown, the clamping jaw assembly 6 also includes a sliding groove 20 and a movable pin 21. The sliding groove 20 is opened at the two edge positions of the sliding groove 16, and the movable pin 21 passes through the two side walls of the connecting block 29 and the interior of the sliding groove 20. The bottom end of the single claw 15 is slidably connected to the side wall of the connecting block 29, and the movable pin 21 is slidably connected along the interior of the sliding groove 20, so that the position of the two single claws 15 located at the connecting block 29 can be changed. The side wall of the connecting block 29 and the sliding groove 16 are connected with a telescopic spring 25, and the telescopic spring 25 is located in the middle of the sliding groove 16. The two ends of the telescopic spring 25 are respectively connected to the side wall of the connecting block 29 and the interior of the sliding groove 16. The two single claws 15 on the same clamping jaw assembly 6 are close to or away from each other. When the two single claws 15 are close to each other and gathered together, the sliding groove 16 at the single claw 15 can be brought into contact with the connecting block 29, thereby compressing the telescopic spring 25. When the two single claws 15 are separated, the sliding groove 16 and the connecting block 29 can be separated from each other under the action of the telescopic spring 25.

[0029] See also Figure 3 and Figure 6 As shown, the clamping claw assemblies 6 are arranged at equal distances on the outer surface of the rubber track 5, and connecting holes 27 are opened inside the fixing frame 1 23 and the fixing frame 2 26, and the guide rod 18 is slidably connected with the inside of the connecting hole 27, and the bottom end of the guide rod 18 passes through the surface of the rubber track 5, and the bottom end of the guide rod 18 and the fixing frame 2 26 rotate synchronously with the surface of the rubber track 5. When the fixing frame 1 23 and the fixing frame 2 26 are close to each other, the bottom end of the frame 13 slides along the guide column 28, so that the guide rod 18 is slidably connected with the two connecting holes 27.

[0030] See also Figure 1 and Figure 2 As shown, there are two synchronous wheels 1, 2, 3 and 4 respectively, the bottom end of the guide rod 18 and the clamping wheel 19 are located between the two synchronous wheels 1, 2, 3 and 4, the clamping wheel 19 is in contact with the inner wall of the rubber track 5, and when the clamping wheel 19 is located at both sides and the bottom of the frame 13, the fixing frame 1 23 and the fixing frame 2 26 move away from each other under the action of the telescopic spring 17, so that the guide rod 18 moves along the inside of the connecting hole 27, so that the two connecting blocks 29 at the top of the guide rod 18 rotate around the middle pin 22, so that the single claws 15 are separated from each other.

[0031] In this embodiment, the telescopic spring 17 is in a normal state, and the two single claws 15 of the same group of clamping jaws 6 are away from each other, so that the mining wire rope can be separated from the two single claws 15 at the top edge of the frame 13. The two single claws 15 of the clamping jaw assembly 6 in the middle of the top of the frame 13 are closed and can still clamp the mining wire rope. When the rubber track 5 rotates, the static friction between the accompanying clamp and the wire rope drives the entire robot body forward.

[0032] In this embodiment, both ends of the two guide rails 11 are in contact with the inner wall of the rubber track 5, and the guide rod 18 passes through the gap between the two guide rails 11. The clamping wheel 19 can smoothly enter or exit from the two ends of the guide rails 11. The clamping wheel 19 is located at the bottom of the gap between the two guide rails 11. The clamping wheel 19 is rollingly connected to the guide rails 11, so that the clamping wheel 19 can enter the gap between the guide rails 11, and the clamping wheel 19 contacts and rolls with the guide rails 11, thereby pressing the guide rod 18 downward so that the connecting block 29 and the single claw 15 gather toward the middle.

[0033] In this embodiment, the telescopic spring 17 is in a compressed state, the two single jaws 15 of the same group of jaw assemblies 6 are close to each other, the two connecting blocks 29 are close to each other, and the single jaws 15 are close to each other to clamp the wire rope, and as the frame 13 moves along the wire rope, some jaw assemblies 6 enter the wire rope to clamp it, and at the same time some jaw assemblies 6 are separated from the wire rope, thereby realizing the forward or backward movement of the equipment.

[0034] In this embodiment, the rubber track 5 and the transmission belt 10 are both synchronous belts, the belt drive wheel 1 8 and the belt drive wheel 2 9 are both synchronous wheels, and the rubber track 5 covers the outside of the two sets of synchronous wheels 1 1, synchronous wheel 2 2, synchronous wheel 3 3 and synchronous wheel 4 4, and a belt tensioning structure 12 is provided on the side wall of the frame 13 and located at the synchronous wheel 4 4. The rubber track 5 and the transmission belt 10 can ensure that the belt will not slip during transmission, and the belt tensioning structure 12 can push the synchronous wheel 4 4 to move slightly, so that the pre-tightening force of the rubber track 5 is appropriate to avoid the rubber track 5 from loosening.

[0035] When the present invention is in use, the whole machine is fixed on the frame 13, and all the power is supplied to the explosion-proof motor 7 by an explosion-proof battery, so that the explosion-proof motor 7 can drive the belt drive wheel 1 8 to rotate. Since the belt drive wheel 1 8 and the belt drive wheel 2 9 are both synchronous wheels, the belt drive wheel 1 8 can drive the belt drive wheel 2 9 through the transmission belt 10, and the belt drive wheel 2 9 and the synchronous wheel 3 3 rotate synchronously. Similarly, the synchronous wheel 1 1, the synchronous wheel 2 2, the synchronous wheel 3 3 and the synchronous wheel 4 4 are also driven by the synchronous belt, so that the rubber crawler 5 can rotate around the synchronous wheel 1 1, the synchronous wheel 2 2, the synchronous wheel 3 3 and the synchronous wheel 4 4. A plurality of clamping claw arms are evenly distributed on the rubber crawler 5, and the inspection device is suspended on the wire rope at the same time through the three grabbing arms above the rubber crawler 5. As the explosion-proof motor 7 rotates, and the power is transmitted to the belt drive wheel 8 through the planetary reducer 14, and then the power is transmitted to the belt drive wheel 2 9 by the transmission belt 10. The belt drive wheel 2 9 is directly connected to the synchronous wheel 3 3, so that the rubber crawler 5 is driven to rotate. As the frame 13 moves along the wire rope, some clamping claw assemblies 6 enter the wire rope to clamp it. At least three groups of clamping claw assemblies 6 are guaranteed to clamp the wire rope to ensure that the robot does not fall off the track. At the same time, some clamping claw assemblies 6 are separated from the wire rope, thereby realizing the forward or backward movement of the equipment. The guide rail inspection robot performs regular inspections in the coal mine tunnels, detects the operating status of the tunnel belt conveyor, analyzes the operating status of the belt conveyor through image recognition and sound judgment, and alarms when the belt conveyor is abnormal, providing protection for safe production in the tunnel.

[0036] The rubber track 5 moves forward, the two single claws 15 of the front clamping jaw assembly 6 open, the clamping jaw assembly 6 rotates downward with the rubber track 5, and the two single claws 15 of the rear clamping jaw assembly 6 close, and the two single claws 15 firmly clamp the wire rope between the single claws 15, and the static friction between the clamp and the wire rope drives the entire robot body forward through the sequential opening and clamping of the clamping jaw assembly 6. Before the single claw 15 and the telescopic spring 17 enter the track, the telescopic spring 17 has no pressing force, and the two single claws 15 are in an open state. When the clamping jaw assembly 6 enters the guide track 11, since the number of synchronous wheels 1, 2, 3 and 4 are all two, the bottom end of the guide rod 18 and the clamping jaw wheel 19 are both located between the two synchronous wheels 1, 2, 3 and 4, and the clamping jaw wheel 19 is always close to the guide rail 11. On the back side of the guide track 11, as the guide track 11 is gradually pulled up, the telescopic spring 17 is in a compressed state, and when the two single claws 15 are close to each other, the slide groove 16 at the single claw 15 can be in contact with the connecting block 29, thereby compressing the telescopic spring 25, and the single claw 15 is in a closed state. When the clamping claw wheel 19 gradually walks out of the guide track 11, the telescopic spring 17 is relaxed to reset the guide rod 18, and the single claw 15 is opened again. When the two single claws 15 are separated, the slide groove 16 and the connecting block 29 can be separated from each other under the action of the telescopic spring 25. The clamping claw assembly 6 has a certain obstacle surmounting ability during the opening and clamping process, so that the self-propelled inspection device can pass through the wire rope smoothly, and the static friction between the clamping claw assembly 6 and the wire rope drives the entire robot body forward, and there will be no problem of the robot slipping and being unable to walk effectively.

[0037] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mining wire rope self-propelled belt inspection device, comprising a frame (13); characterized in that: An explosion-proof battery and an explosion-proof motor (7) are installed in the middle of the frame (13), the explosion-proof battery is electrically connected to the explosion-proof motor (7), a planetary reducer (14) is arranged at the end of the explosion-proof motor (7), a belt drive wheel (8) is arranged at the end surface of the planetary reducer (14), a synchronous wheel (1) (2), a synchronous wheel (3) (3) and a synchronous wheel (4) (4) are respectively installed at the four corners of the frame (13), a belt drive wheel (2) (9) is arranged at the end of the synchronous wheel (3), and the belt drive wheel (2) (9) is arranged at the end of the synchronous wheel (3). (9) rotates synchronously with the synchronous wheel three (3), a transmission belt (10) is connected between the belt drive wheel two (9) and the belt drive wheel one (8), a rubber track (5) is provided on the outer sleeve between the synchronous wheel one (1), the synchronous wheel two (2), the synchronous wheel three (3) and the synchronous wheel four (4), a circle of the rubber track (5) is provided with a plurality of clamping claw assemblies (6), the clamping claw assembly (6) includes a fixing frame one (23) and a fixing frame two (26), and the four corners of the fixing frame one (23) and the four corners of the fixing frame two (26) are A guide column (28) is installed, one end of the guide column (28) is slidably connected to the fixing frame 1 (23), the fixing frame 2 (26) is installed on the outer surface of the rubber track (5), the top of the fixing frame 1 (23) is connected to connecting blocks (29) on both sides, the tops of the two connecting blocks (29) are installed with a single claw (15) and a slide groove (16) manufactured in one piece, a connecting pin (24) is connected between the connecting block (29) and the top of the fixing frame 1 (23), and an intermediate pin (22) is connected between the two connecting blocks (29), and the intermediate pin (22) is located at A guide rod (18) is installed in the middle of the fixing frame 1 (23) and the fixing frame 2 (26). The top end of the guide rod (18) is connected to the middle pin (22). The outer sleeve of the guide rod (18) is provided with a telescopic spring 1 (17). The telescopic spring 1 (17) is located between the fixing frame 1 (23) and the fixing frame 2 (26). A clamping claw wheel (19) is installed at the bottom end of the guide rod (18). Two guide rails (11) are installed inside the frame (13) and between the synchronous wheel 1 (1) and the synchronous wheel 3 (3).

2. A mining wire rope self-propelled belt inspection device according to claim 1, characterized in that: The clamping jaw assembly (6) further comprises a sliding groove (20) and a movable pin (21), wherein the sliding groove (20) is arranged at two edge positions of the sliding groove (16), and the movable pin (21) penetrates the two side walls of the connecting block (29) and the interior of the sliding groove (20), the bottom end of the single claw (15) is slidably connected to the side wall of the connecting block (29), and the side wall of the connecting block (29) and the sliding groove (16) are connected with a second telescopic spring (25), the second telescopic spring (25) is located in the middle of the sliding groove (16), and the two ends of the second telescopic spring (25) are respectively connected to the side wall of the connecting block (29) and the interior of the sliding groove (16), and the two single claws (15) on the same clamping jaw assembly (6) are close to or away from each other.

3. A mining wire rope self-propelled belt inspection device according to claim 2, characterized in that: The clamping claw assemblies (6) are arranged at equal distances on the outer surface of the rubber crawler (5); the interiors of the fixing frame 1 (23) and the fixing frame 2 (26) are provided with connecting holes (27); the guide rod (18) is slidably connected to the interior of the connecting hole (27); and the bottom end of the guide rod (18) passes through the surface of the rubber crawler (5).

4. A mining wire rope self-propelled belt inspection device according to claim 3, characterized in that: The number of the synchronous wheel one (1), the synchronous wheel two (2), the synchronous wheel three (3) and the synchronous wheel four (4) is two, the bottom end of the guide rod (18) and the clamping claw wheel (19) are located between the two synchronous wheels one (1), the synchronous wheel two (2), the synchronous wheel three (3) and the synchronous wheel four (4), and the clamping claw wheel (19) is in contact with the inner wall of the rubber crawler (5).

5. A mining wire rope self-propelled belt inspection device according to claim 4, characterized in that: The telescopic spring 1 (17) is in a normal state, and the two single claws (15) of the same group of clamping claw assemblies (6) are away from each other.

6. A mining wire rope self-propelled belt inspection device according to claim 3, characterized in that: Both ends of the two guide rails (11) are in contact with the inner wall of the rubber track (5), and the guide rod (18) passes through the gap between the two guide rails (11). The clamping claw wheel (19) is located at the bottom end of the gap between the two guide rails (11), and the clamping claw wheel (19) is rollingly connected to the guide rails (11).

7. A mining wire rope self-propelled belt inspection device according to claim 6, characterized in that: The telescopic spring 1 (17) is in a compressed state, and the two single claws (15) of the same group of clamping claw assemblies (6) are close to each other.

8. A mining wire rope self-propelled belt inspection device according to any one of claims 1 to 7, characterized in that: The rubber crawler (5) and the transmission belt (10) are both synchronous belts, the belt transmission wheel 1 (8) and the belt transmission wheel 2 (9) are both synchronous wheels, and the rubber crawler (5) covers the outside of two sets of synchronous wheels 1 (1), 2 (2), 3 (3) and 4 (4), and a belt tensioning structure (12) is provided on the side wall of the frame (13) and at the synchronous wheel 4 (4).

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