A mine steel wire rope self-walking belt inspection device

Abstract

The application discloses a mine steel wire rope self-walking belt inspection device and relates to the field of mine roadway inspection devices. The device comprises a rack, an explosion-proof battery and an explosion-proof motor which are installed in the middle of the interior of the rack, the explosion-proof battery is electrically connected with the explosion-proof motor, the end of the explosion-proof motor is provided with a planetary reducer, the end surface of the planetary reducer is provided with a belt driving wheel one, four corners of the rack are respectively provided with a synchronous wheel one, a synchronous wheel two, a synchronous wheel three and a synchronous wheel four. The device can drive two single claws to gather and separate through the guide rod lifting, and the claws can have certain obstacle crossing ability during the opening and clamping process. The self-walking inspection mode of the steel wire rope can adapt to complex roadway conditions, and the manual movement of the inspection device is not needed. Through the opening and clamping of the single claws in sequence, the static friction between the claw assembly and the steel wire rope drives the whole robot body to move forward, and the problem that the robot slips and cannot effectively walk does not occur.

Description

Technical Field

[0001] This invention relates to the field of mine roadway inspection devices, specifically a mine steel wire rope self-propelled belt inspection device. Background Technology

[0002] Existing inspection robots conduct regular inspections in coal mine roadways to check the operation of belt conveyors. Through image recognition and sound analysis, they analyze the operation of the belt conveyors and issue alarms when abnormalities are detected, thus ensuring safe production in the roadways. The inspection robot moves along a track and, when necessary, is pulled by a steel cable. This allows the robot's wheels to move on the I-beams through friction and clamping devices. The robot uses a two-wheel drive system to move on the I-beams.

[0003] Currently, inspection robots using I-beams as their walking tracks have some drawbacks. While this reduces the difficulty of developing the control system, the tunnels deform and subside over time. When the tunnels deform, the track joints also deform, resulting in misaligned cross-sections that prevent the robot from passing smoothly. Furthermore, track construction is difficult and costly in complex, long-distance tunnels. In the extremely low-temperature environment of open-pit mines, the tracks are prone to icing, causing the robot to slip and become unable to move effectively. While wire rope traction-based drive systems require extensive construction work, necessitating the installation of wire rope drive devices at the head and tail of the conveyor belt, the inspection device itself cannot perform obstacle-crossing functions. To address these shortcomings of existing technologies, a self-propelled wire rope inspection device for mining is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a self-propelled conveyor belt inspection device for steel wire ropes in mining, in order to solve the problems mentioned in the background art, such as the deformation of the track joints, which prevents the robot from passing smoothly, and the fact that the track is prone to icing in the ultra-low temperature environment of open-pit mines, causing the robot to slip and be unable to walk effectively; and the large amount of work involved in the steel wire rope construction, requiring the installation of steel wire rope drive devices at the head and tail of the conveyor belt, and the inability of the inspection device itself to perform obstacle crossing function.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A self-propelled belt conveyor inspection device for mining steel wire ropes includes a frame. An explosion-proof battery and an explosion-proof motor are installed inside the frame. The explosion-proof battery is electrically connected to the explosion-proof motor. A planetary reducer is installed at the end of the explosion-proof motor, and a belt drive pulley is installed on the end face of the planetary reducer. Synchronous pulleys one, two, three, and four are respectively installed at the four corners of the frame. A belt drive pulley two is installed at the end of synchronous pulley three, and belt drive pulley two rotates synchronously with synchronous pulley three. A drive belt connects belt drive pulley two and belt drive pulley one. A rubber track is fitted around the synchronous pulleys one, two, three, and four. A plurality of gripper assemblies are arranged around the rubber track. Each gripper assembly includes a fixing frame and a fixing... Guide posts are installed at the four corners of both the first and second fixed frames. One end of each guide post is slidably connected to the first fixed frame. The second fixed frame is installed on the outer surface of the rubber track. Connecting blocks are connected to both sides of the top of the first fixed frame. The top of each connecting block is equipped with an integrally manufactured single claw and a sliding groove. A connecting pin is connected between the connecting block and the top of the first fixed frame. An intermediate pin is connected between the two connecting blocks and is located in the middle of the first fixed frame. A guide rod is installed between the first and second fixed frames. The top of the guide rod is connected to the intermediate pin. A telescopic spring is sleeved on the outside of the guide rod and is located between the first and second fixed frames. A gripper wheel is installed at the bottom of the guide rod. Two guide rails are installed inside the frame between the first and third synchronous pulleys.

[0007] As a preferred embodiment of the present invention, the gripper assembly further includes a sliding groove and a movable pin. The sliding groove is located at both edges of the 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 gripper is slidably connected to the side wall of the connecting block. A second telescopic spring is connected to the side wall of the connecting block at the location of the groove. The second telescopic spring is located in the middle of the groove, and its two ends are respectively connected to the side wall of the connecting block and the interior of the groove. The two single grippers on the same gripper assembly are close to or far from each other.

[0008] As a preferred embodiment of the present invention, the gripper assemblies are arranged at equal intervals on the outer surface of the rubber track, and the interior of the first and second fixing frames are provided with connecting holes, and the guide rod is slidably connected to the interior of the connecting holes, and the bottom end of the guide rod penetrates the surface of the rubber track.

[0009] As a preferred embodiment of the present invention, there are two of each of the following: synchronous pulley one, synchronous pulley two, synchronous pulley three, and synchronous pulley four. The bottom end of the guide rod and the gripper wheel are located between the two synchronous pulleys one, two, three, and four, and the gripper wheel is in contact with the inner wall of the rubber track.

[0010] In a preferred embodiment of the present invention, the telescopic spring is in a normal state, and the two single claws of the same set of gripper assemblies are far apart from each other.

[0011] As a preferred embodiment 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 gripper wheel is located at the bottom end of the gap between the two guide rails and is in rolling connection with the guide rail.

[0012] In a preferred embodiment of the present invention, the telescopic spring is in a compressed state, and the two single claws of the same set of gripper assemblies are close to each other.

[0013] As a preferred embodiment of the present invention, the rubber track and the transmission belt are both synchronous belts, the first belt drive pulley and the second belt drive pulley are both synchronous pulleys, and the rubber track covers the outside of the two sets of synchronous pulleys one, two, three and four. The side wall of the frame and the four synchronous pulleys are provided with belt tensioning structures.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] Equipped with a gripper assembly, the guide rod slides between two fixed frames, allowing the guide rod to drive the two single claws to converge and separate, enabling the single claws to smoothly pass through different positions of the wire rope. The gripper has a certain obstacle-crossing ability during the opening and clamping process. The self-propelled inspection method using the wire rope can adapt to complex tunnel conditions.

[0016] The gripper wheel contacts the guide rail, which can control the two single claws of the gripper assembly to close and separate, thereby enabling the gripper assembly to automatically clamp or release the wire rope. The inspection device can be moved manually without the need for manual movement, as each set of single claws opens and closes in sequence.

[0017] The gripper assemblies are evenly arranged on the outer surface of the rubber track. The rotating rubber track can 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 propels the entire robot forward, and there will be no problem of the robot slipping and being unable to walk effectively. Attached Figure Description

[0018] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0019] Figure 1 This is a structural diagram of the main structure of a self-propelled conveyor belt inspection device for mining steel wire ropes according to the present invention;

[0020] Figure 2 This is a schematic diagram of the frame and planetary reducer of a self-propelled belt inspection device for mining steel wire ropes according to the present invention.

[0021] Figure 3 This is a schematic diagram of the gripper assembly of a self-propelled belt inspection device for mining steel wire ropes according to the present invention.

[0022] Figure 4 This is a schematic diagram of the two single claws of a self-propelled conveyor belt inspection device for mining steel wire ropes in a far apart state according to the present invention.

[0023] Figure 5 This is a schematic diagram of the two single claws of a self-propelled conveyor belt inspection device for mining steel wire ropes in the converged state according to the present invention.

[0024] Figure 6 This is a schematic diagram showing the contact between the gripper wheel and the guide rail of a self-propelled belt inspection device for mining steel wire ropes according to the present invention.

[0025] In the diagram: 1. Synchronous pulley one; 2. Synchronous pulley two; 3. Synchronous pulley three; 4. Synchronous pulley four; 5. Rubber track; 6. Gripper assembly; 7. Explosion-proof motor; 8. Belt drive pulley one; 9. Belt drive pulley two; 10. Drive belt; 11. Guide rail; 12. Belt tensioning structure; 13. Frame; 14. Planetary reducer; 15. Single claw; 16. Slide groove; 17. Telescopic spring one; 18. Guide rod; 19. Gripper wheel; 20. Sliding groove; 21. Movable pin; 22. Intermediate pin; 23. Fixed frame one; 24. Connecting pin; 25. Telescopic spring two; 26. Fixed frame two; 27. Connecting hole; 28. Guide post; 29. ​​Connecting block. Detailed Implementation

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figure 1 - Figure 3As shown, a self-propelled belt conveyor inspection device for mining steel wire rope includes a frame 13. An explosion-proof battery and an explosion-proof motor 7 are installed inside the frame 13. The explosion-proof battery is electrically connected to the explosion-proof motor 7. A planetary reducer 14 is installed at the end of the explosion-proof motor 7, and a belt drive pulley 8 is installed on the end face of the planetary reducer 14. The explosion-proof battery provides power to the explosion-proof motor 7, causing the end of the explosion-proof motor 7 to drive the planetary reducer 14 to rotate, thus changing the speed of the belt drive pulley 8. Synchronous pulleys 1, 2, 3, and 4 are installed at the four corners of the frame 13. A belt drive pulley 9 is installed at the end of synchronous pulley 3. 9 rotates synchronously with synchronous pulley 3. A transmission belt 10 connects synchronous pulley 29 and synchronous pulley 18. A rubber track 5 is fitted around synchronous pulleys 1, 2, 3, and 4. The rotating synchronous pulley 18 drives synchronous pulley 29 to rotate via the transmission belt 10, causing the rubber track 5 between synchronous pulleys 1, 2, 3, and 4 to rotate synchronously. Several gripper assemblies 6 are arranged around the rubber track 5. The gripper assembly 6 includes a fixed frame 1 23 and a fixed frame 26. Guide posts 28 are installed at the four corners of fixed frame 1 23 and the four corners of fixed frame 26. One end of the guide post 28 is slidably connected to fixed frame 1 23. Next, the second fixing frame 26 is installed on the outer surface of the rubber track 5. The second fixing frame 26 can be installed on the outer surface of the rubber track 5 so that when the rubber track 5 rotates, it can drive the various gripper assemblies 6 to rotate. Connecting blocks 29 are connected to both sides of the top of the first fixing frame 23. Each connecting block 29 has an integrally manufactured single claw 15 and a sliding groove 16 installed at its top. Connecting pins 24 connect the connecting blocks 29 to the top of the first fixing frame 23. An intermediate pin 22 connects the two connecting blocks 29 and is located in the middle of the first fixing frame 23. A guide rod 18 is installed between the first fixing frame 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 connects to the end of the guide rod 18 and the two connecting blocks 26. All nine components are movable. Inside the frame 13, at the guide rail 11, a support frame is installed to support the fixing frame 26 when the guide rod 18 descends, preventing the fixing frame 26 from deforming the rubber track 5. When the guide rod 18 descends, it can drive the intermediate pin 22 to pull the two single claws 15 together, thereby clamping the wire rope. A telescopic spring 17 is sleeved on the outside of the guide rod 18. The telescopic spring 17 is located between the fixing frame 23 and the fixing frame 26. A gripper wheel 19 is installed at the bottom of the guide rod 18. Inside the frame 13, between the synchronous pulley 1 and the synchronous pulley 3, two guide rails 11 are installed. The gripper wheel 19 and the guide rails 11 cooperate to control the single claws 15 to gather or disperse.

[0028] Please see Figure 4 and Figure 5 As shown, the gripper assembly 6 also includes a sliding groove 20 and a movable pin 21. The sliding groove 20 is located at the two edges 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, thereby changing the position of the two single claws 15 on the connecting block 29. A second telescopic spring 25 is connected to the side wall of the connecting block 29 and the sliding groove 16. The second telescopic spring 25 is located in the middle of the sliding groove 16, and its two ends 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 gripper assembly 6 can move closer or further away from each other. When the two single claws 15 move closer together, they can bring the sliding groove 16 at the single claw 15 into contact with the connecting block 29, thereby compressing the second telescopic spring 25. When the two single claws 15 separate, the sliding groove 16 and the connecting block 29 can be separated by the action of the second telescopic spring 25.

[0029] Please see Figure 3 and Figure 6 As shown, the gripper assemblies 6 are arranged at equal intervals on the outer surface of the rubber track 5. The first fixing frame 23 and the second fixing frame 26 have connecting holes 27 inside. The guide rod 18 is slidably connected to the inside of the connecting hole 27. The bottom end of the guide rod 18 penetrates the surface of the rubber track 5. The bottom end of the guide rod 18 and the second fixing frame 26 rotate synchronously with the surface of the rubber track 5. When the first fixing frame 23 and the second fixing frame 26 approach each other, the bottom end of the frame 13 slides along the guide post 28, so that the guide rod 18 is slidably connected to the two connecting holes 27.

[0030] Please see Figure 1 and Figure 2 As shown, there are two of each of the following: synchronous pulley 1, synchronous pulley 2, synchronous pulley 3, and synchronous pulley 4. The bottom end of the guide rod 18 and the gripper wheel 19 are located between the two synchronous pulleys 1, 2, 3, and 4. The gripper wheel 19 is in contact with the inner wall of the rubber track 5. When the gripper wheel 19 is located on both sides and at the bottom of the frame 13, the fixing frame 23 and the fixing frame 26 move away from each other under the action of the telescopic spring 17, causing the guide rod 18 to move along the inside of the connecting hole 27. As a result, the two connecting blocks 29 at the top of the guide rod 18 rotate around the intermediate pin 22, thereby separating the single claws 15 from each other.

[0031] In this embodiment, the telescopic spring 17 is in the normal state, and the two single claws 15 of the same set of gripper assembly 6 are far apart from each other, so that the mining steel 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 gripper assembly 6 at the top middle of the frame 13 can still clamp the mining steel wire rope when they are closed. When the rubber track 5 rotates, it relies on the static friction between the accompanying gripper and the steel wire rope to drive 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 gripper wheel 19 can smoothly enter or exit from both ends of the guide rails 11. The gripper wheel 19 is located at the bottom of the gap between the two guide rails 11. The gripper wheel 19 is in rolling connection with the guide rails 11, so that the gripper wheel 19 can enter the gap between the guide rails 11. The gripper wheel 19 contacts the guide rails 11 and rolls, thereby pressing down the guide rod 18 to make the connecting block 29 and the single claw 15 converge towards the middle.

[0033] In this embodiment, the telescopic spring 17 is in a compressed state, the two single claws 15 of the same set of gripper assemblies 6 approach each other, the two connecting blocks 29 approach each other, and the single claws 15 approach each other to clamp the wire rope. As the frame 13 moves along the wire rope, some gripper assemblies 6 enter the wire rope to clamp it, while some gripper assemblies 6 separate from the wire rope, thereby realizing the forward or backward movement of the device.

[0034] In this embodiment, the rubber track 5 and the transmission belt 10 are both synchronous belts, and the belt drive pulley 1 8 and the belt drive pulley 2 9 are both synchronous pulleys. The rubber track 5 covers the outside of the two sets of synchronous pulleys 1, 2, 3, and 4. A belt tensioning structure 12 is provided on the side wall of the frame 13 at the synchronous pulley 4. The rubber track 5 and the transmission belt 10 can ensure that the belt drive will not slip. The belt tensioning structure 12 can also push the synchronous pulley 4 to move slightly, so that the preload of the rubber track 5 is appropriate and the rubber track 5 is prevented from becoming loose.

[0035] In use, the entire machine is fixed on the frame 13. All power is supplied by an explosion-proof battery to the explosion-proof motor 7, which drives the belt drive pulley 8 to rotate. Since both belt drive pulley 8 and belt drive pulley 9 are synchronous pulleys, belt drive pulley 8 can drive belt drive pulley 9 via the transmission belt 10. Belt drive pulley 9 and synchronous pulley 3 rotate synchronously. Similarly, synchronous pulleys 1, 2, 3, and 4 are also driven by synchronous belts, allowing the rubber track 5 to rotate around synchronous pulleys 1, 2, 3, and 4. Several gripper arms are evenly distributed on the rubber track 5. The inspection device is simultaneously suspended from the steel wire rope by three gripper arms above the rubber track 5. The rotation of track 7 transmits power through planetary reducer 14 to belt drive pulley 8, and then the transmission belt 10 transmits the power to belt drive pulley 9. Belt drive pulley 9 is directly connected to synchronous pulley 3, which drives the rubber track 5 to rotate. As the frame 13 moves along the wire rope, some gripper assemblies 6 enter the wire rope and clamp it, ensuring that at least three sets of gripper assemblies 6 hold the wire rope to ensure that the robot does not detach from the track. At the same time, some gripper assemblies 6 detach from the wire rope, thereby realizing the forward or backward movement of the equipment. The guide rail inspection robot conducts regular inspections in coal mine roadways to detect the operation status of the roadway belt conveyor. Through image recognition and sound judgment, it analyzes the operation status of the belt conveyor and alarms when there is an abnormality in the belt conveyor, thus providing a guarantee for safe production in the roadway.

[0036] As the rubber track 5 moves forward, the two single claws 15 of the front gripper assembly 6 open. The gripper assembly 6 rotates downward with the rubber track 5, and the two single claws 15 of the rear gripper assembly 6 close, firmly clamping the steel wire rope between the two single claws 15. Through the sequential opening and closing of the gripper assembly 6, the static friction between the gripper and the steel wire rope propels the entire robot body forward. Before entering the track, the single claw 15 and the telescopic spring 17 have no clamping force, and the two single claws 15 are in an open state. When the gripper assembly 6 enters the guide track 11, since there are two synchronous pulleys 1, 2, 3, and 4, the bottom end of the guide rod 18 and the gripper wheel 19 are located between the two synchronous pulleys 1, 2, 3, and 4. The gripper wheel 19 always leans against the track. On the back side of the guide rail 11, as the guide rail 11 is gradually pulled up, the first telescopic spring 17 is in a compressed state. When the two single claws 15 come close to each other, they can bring the slide groove 16 at the single claw 15 into contact with the connecting block 29, thereby compressing the second telescopic spring 25, and the single claw 15 is in a closed state. When the gripper wheel 19 gradually walks out of the guide rail 11, the first telescopic spring 17 relaxes, causing the guide rod 18 to reset, and the single claw 15 opens again. When the two single claws 15 separate, the slide groove 16 and the connecting block 29 can be separated from each other under the action of the second telescopic spring 25. The gripper assembly 6 has a certain obstacle-crossing ability during the opening and clamping process, so that the self-propelled inspection device can pass smoothly through the steel wire rope. The static friction between the gripper assembly 6 and the steel 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 merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A self-propelled conveyor belt inspection device for mining steel wire ropes, 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 provided at the end of the explosion-proof motor (7). A belt drive pulley (8) is provided on the end face of the planetary reducer (14). Synchronous pulleys 1 (1), 2 (2), 3 (3), and 4 (4) are respectively installed at the four corners of the frame (13). A belt drive pulley (9) is provided at the end of synchronous pulley 3 (3). (9) Rotates synchronously with synchronous pulley three (3). A transmission belt (10) is connected between belt drive pulley two (9) and belt drive pulley one (8). A rubber track (5) is sleeved on the outside of synchronous pulley one (1), synchronous pulley two (2), synchronous pulley three (3) and synchronous pulley four (4). A number of gripper assemblies (6) are arranged around the rubber track (5). The gripper assembly (6) includes fixed frame one (23) and fixed frame two (26). The four corners of fixed frame one (23) and fixed frame two (26) are all A guide post (28) is installed, one end of which is slidably connected to a first fixing frame (23). The second fixing frame (26) is installed on the outer surface of the rubber track (5). Connecting blocks (29) are connected to both sides of the top of the first fixing frame (23). The top of each connecting block (29) is equipped with an integrally manufactured single claw (15) and a sliding groove (16). A connecting pin (24) is connected between the connecting block (29) and the top of the first fixing frame (23). An intermediate pin (22) is connected between the two connecting blocks (29). The intermediate pin (22) is positioned... A guide rod (18) is installed in the middle of the first fixed frame (23) and the middle of the second fixed frame (26). The top of the guide rod (18) is connected to the middle pin (22). A telescopic spring (17) is sleeved on the outside of the guide rod (18). The telescopic spring (17) is located between the first fixed frame (23) and the second fixed frame (26). A gripper wheel (19) is installed at the bottom of the guide rod (18). Two guide rails (11) are installed inside the frame (13) and between the first synchronous wheel (1) and the third synchronous wheel (3). The gripper assembly (6) further includes a sliding groove (20) and a movable pin (21). The sliding groove (20) is located at the two edges 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). A second telescopic spring (25) is connected to the side wall of the connecting block (29) and located in the sliding groove (16). The second telescopic spring (25) is located in the middle of the sliding groove (16). 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). The two single claws (15) on the same gripper assembly (6) are close to or far away from each other.

2. The self-propelled conveyor belt inspection device for mining steel wire ropes according to claim 1, characterized in that, The gripper assembly (6) is arranged at equal intervals on the outer surface of the rubber track (5). The first fixing frame (23) and the second fixing frame (26) have connecting holes (27) inside. The guide rod (18) is slidably connected to the inside of the connecting hole (27), and the bottom end of the guide rod (18) penetrates the surface of the rubber track (5).

3. The self-propelled conveyor belt inspection device for mining steel wire ropes according to claim 2, characterized in that, The number of synchronous pulley 1 (1), synchronous pulley 2 (2), synchronous pulley 3 (3) and synchronous pulley 4 (4) are all two. The bottom end of the guide rod (18) and the gripper wheel (19) are located between the two synchronous pulleys 1 (1), synchronous pulley 2 (2), synchronous pulley 3 (3) and synchronous pulley 4 (4). The gripper wheel (19) is in contact with the inner wall of the rubber track (5).

4. The self-propelled conveyor belt inspection device for mining steel wire ropes according to claim 3, characterized in that, The telescopic spring (17) is in normal condition, and the two single claws (15) of the same set of claw assemblies (6) are far apart from each other.

5. The self-propelled conveyor belt inspection device for mining steel wire ropes according to claim 2, 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 gripper wheel (19) is located at the bottom of the gap between the two guide rails (11), and the gripper wheel (19) is in rolling connection with the guide rail (11).

6. The self-propelled conveyor belt inspection device for mining steel wire ropes according to claim 5, characterized in that, The telescopic spring (17) is in a compressed state, and the two single claws (15) of the same set of claw assemblies (6) are close to each other.

7. A self-propelled conveyor belt inspection device for mining steel wire ropes according to any one of claims 1-6, characterized in that, The rubber track (5) and the transmission belt (10) are both synchronous belts. The belt drive pulley one (8) and the belt drive pulley two (9) are both synchronous pulleys. The rubber track (5) covers the outside of the two sets of synchronous pulley one (1), synchronous pulley two (2), synchronous pulley three (3) and synchronous pulley four (4). The side wall of the frame (13) and the location of synchronous pulley four (4) are provided with a belt tensioning structure (12).

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