Camera dust removal device of working face inspection robot

Abstract

The invention discloses a camera dust removal device of a working face inspection robot, which belongs to the field of working face inspection robots and comprises a driving synchronous belt, a dust removal driving component, a dust removal scraping strip component, an annular tempered glass assembly, a camera and a camera mounting base. The dust removal driving assembly is fixedly installed in the robot body shell through a locking screw and a first fixing screw, the dust removal scraping strip assembly is fixed to the surface of the robot body shell through a second fixing screw, the dust removal driving assembly and the annular tempered glass assembly are sleeved with the driving synchronous belt, and the camera is fixedly installed on the camera fixing support. The annular tempered glass is arranged on the outer surface of the camera and can rotate around the center shaft by 360 degrees, and the camera mounting base is mounted on a middle partition plate in the robot body shell through a third fixing screw; the dust removal driving assembly drives the annular tempered glass to rotate by driving the synchronous belt, and the fixed dust removal scraping strip assembly removes settled powder and coal slime attached to the outer surface of the annular tempered glass.

Description

Technical Field

[0001] The invention belongs to the field of working surface inspection robots, and in particular relates to a camera dust removal device of the working surface inspection robot. Background Art

[0002] The environment of the fully-mechanized mining face in a coal mine is harsh. During the coal mining process, a large amount of coal dust will float in the tunnel. In recent years, with the intelligent upgrading and transformation of coal mines, a wide variety of fixed cameras have been arranged on the fully-mechanized mining face. These cameras generally use a wiper-like method to remove the coal dust on the surface of the camera. At present, the effect of removing accumulated coal slime and kerosene film is not good.

[0003] The working face inspection robot is a robot that is installed on the scraper conveyor track for reciprocating inspection. Video monitoring and AI video analysis are important functions of the working face inspection robot. In view of the harsh production environment of the working face, the camera of the working face inspection robot needs to automatically remove coal powder, coal slime, kerosene film, etc. on a regular basis. The long-term operation of the working face inspection robot camera in a harsh environment is prone to the problem of coal powder, coal slime, and kerosene film accumulation that is difficult to remove. Summary of the invention

[0004] In view of this, the present invention provides a camera dust removal device for a working surface inspection robot, which is used to solve the above-mentioned problem.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A camera dust removal device for a working surface inspection robot comprises: a driving synchronous belt, a dust removal driving component, a dust removal scraper component, an annular tempered glass assembly, a camera and a camera mounting base, wherein the dust removal driving component is fixed to the top of the robot body shell by a locking screw and a first fixing screw, the dust removal scraper component is fixed to the surface of the robot body shell by a second fixing screw, the driving synchronous belt is sleeved on the output end of the dust removal driving component and the driving end of the annular tempered glass assembly, the annular tempered glass assembly comprises a camera fixing assembly component and an annular tempered glass rotating assembly component, the camera fixing assembly component comprises a camera fixing bracket, the annular tempered glass rotating assembly component comprises an annular tempered glass, the camera is fixed to the camera fixing bracket, the annular tempered glass is placed on the outer surface of the camera and can rotate 360 ​​degrees around the central axis, and the camera mounting base is installed on the middle partition inside the robot body shell by a third fixing screw; the dust removal driving component drives the annular tempered glass to rotate by the driving synchronous belt, and the fixed dust removal scraper component removes the sediment and coal slime attached to the outer surface of the annular tempered glass.

[0007] Furthermore, the dust removal drive assembly includes: a driving motor, a fourth mounting screw, a main synchronous pulley sleeve, a first fixing screw, a first shaft end retaining spring, a driving wheel seat, a main synchronous pulley and a second fixing screw, the inner hole of the main synchronous pulley sleeve is a semicircular hole with a plane, the output shaft of the driving motor is a semicircular shaft with a plane, the semicircular hole cooperates with the semicircular shaft and is tightened by the second fixing screw to transmit the rotational torque, the outer circle of the main synchronous pulley sleeve cooperates with the inner hole of the synchronous pulley and is tightened by the first fixing screw to transmit the rotational torque, the bottom end of the main synchronous pulley sleeve has a flange, the first shaft end retaining spring is installed at the top end of the main synchronous pulley sleeve to limit the up and down movement of the main synchronous pulley, the driving motor is inserted into the driving wheel seat and is locked by the fourth mounting screw, and the top end of the driving wheel seat is installed on the top wall of the robot body shell.

[0008] Furthermore, an oblong hole is provided on the top of the driving wheel seat, and a locking threaded hole is provided on the side wall. The locking screw passes through the through hole on the robot body shell and is connected to the locking threaded hole. The first fixing screw passes through the oblong hole and is locked into the threaded hole on the top of the robot body shell. By adjusting the locking screw to pull the dust removal drive assembly backward, the driving synchronous belt can be tightened to a suitable state and then locked by the first fixing screw. The oblong hole plays a guiding and positioning role.

[0009] Furthermore, the dust removal scraper strip assembly includes a scraper strip seat, a scraper strip pressure plate, a first countersunk screw and a scraper strip, the scraper strip pressure plate presses the scraper strip onto the scraper strip seat, and through the first countersunk screw; a mounting surface with an inclined angle is provided in the middle of the scraper strip seat, and oblong mounting holes are provided at the upper and lower ends of the scraper strip seat, and the mounting position of the scraper strip seat is adjusted through the oblong mounting holes, and the ends of the left and right groups of scrapers are pre-pressed and fitted with the arc surface of the annular tempered glass, and the scraper strip is in line contact with the annular tempered glass.

[0010] Further, the camera fixing assembly component also includes a second shaft end retaining ring, a top fixing cover, a ball bearing, a second countersunk screw, a bottom fixing cover, a fifth countersunk screw and a sixth countersunk screw, and the annular tempered glass rotating assembly component also includes a third set screw, a top rotating ring, a synchronous pulley, a first thin-walled ring bearing, an upper fixing ring, a first pan head screw, a second pan head screw, a lower fixing ring, a second thin-walled ring bearing, a bottom rotating ring, a third countersunk screw and a fourth countersunk screw, in the camera fixing assembly component, the top fixing cover is connected and locked to the camera fixing bracket by the sixth countersunk screw, the bottom fixing cover is connected and locked to the camera fixing bracket by the fifth countersunk screw, the camera is installed and fixed on the camera fixing bracket, and the bottom fixing cover is connected and locked to the camera mounting base by the second countersunk screw;

[0011] The first thin-walled ring bearing is installed in the inner hole of the upper fixing ring in the annular tempered glass rotating assembly component, and the annular tempered glass and the upper fixing ring are locked and connected together by the first pan head screw; the second thin-walled ring bearing is installed in the inner hole of the lower fixing ring, and the annular tempered glass and the lower fixing ring are locked and connected together by the second pan head screw; the top rotating ring and the upper fixing ring are locked and connected together by the third countersunk screw, and the bottom rotating ring and the lower fixing ring are connected and locked by the fourth countersunk screw to prevent the second thin-walled ring bearing from falling off from the bottom;

[0012] The annular tempered glass is coaxially arranged with the camera fixing bracket, and the annular tempered glass is placed outside the camera fixing bracket, with a 1mm gap between the two; a 1mm gap is left between the upper plane of the top fixed cover and the lower plane of the top rotating ring to ensure that the two can rotate relative to each other.

[0013] Furthermore, a sealing strip and a sealing cover are installed around the window of the annular tempered glass assembly installed on the robot body shell, and the sealing strip and the sealing cover can prevent dust from entering the interior of the robot body shell.

[0014] The beneficial effects of the present invention are:

[0015] First, the scraper bar fits more closely to the annular tempered glass; second, when removing dust, the entire contact surface of the scraper bar is subjected to force more evenly, and there is no problem of cantilever scraper brush; third, the scraper bar and the annular tempered glass bonding surface adopts line contact, which reduces the scraper brush resistance during dust removal and improves the durability of the scraper bar; fourth, the scraper bar is made of polytetrafluoroethylene plate, which has a very low friction coefficient, excellent self-lubricating properties, excellent wear resistance and non-stick properties, and can well solve the problem of coal slime and kerosene attached to the camera surface that is difficult to remove. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] Figure 1 A three-dimensional camera dust removal device for a working surface inspection robot Figure 1 .

[0018] Figure 2 A three-dimensional camera dust removal device for a working surface inspection robot Figure 2 .

[0019] Figure 3 The figure is a schematic diagram of the overall structure of a camera dust removal device of a work surface inspection robot.

[0020] Figure 4 The figure is a schematic diagram of the overall structure of a camera dust removal device of a working surface inspection robot without a sealing cover.

[0021] Figure 5 This is a cross-sectional view of a camera dust removal device of a work surface inspection robot in the robot.

[0022] Figure 6 for Figure 5 A partial enlarged view of Figure I.

[0023] Figure 7 A perspective view of the dust removal drive assembly

[0024] Figure 8 A cross-sectional view of the dust removal drive assembly.

[0025] Fig. 9 It is a schematic diagram of the structure of the dust removal scraper strip assembly.

[0026] Fig.10 for Fig. 9 AA section view in.

[0027] Fig.11 A stereoscopic assembly for fixing the camera Figure 1 .

[0028] Fig.12 A stereoscopic assembly for fixing the camera Figure 2 .

[0029] Fig.13 The three-dimensional rotating assembly of annular tempered glass Figure 1 .

[0030] Fig.14 The three-dimensional rotating assembly of annular tempered glass Figure 2 .

[0031] Fig.15 It is a cross-sectional view of the annular tempered glass rotating assembly component.

[0032] Fig.16 It is a half-section view of the annular tempered glass assembly.

[0033] Among them, in the figure:

[0034] 1-driving synchronous belt, 2-dust removal drive assembly, 21-driving motor, 22-fourth mounting screw, 23-main synchronous pulley sleeve, 24-first set screw, 25-first shaft end retaining spring, 26-driving wheel seat, 261-long circular hole, 262-locking threaded hole, 27-main synchronous pulley, 28-second set screw, 3-dust removal scraper assembly, 31-scraper seat, 311-long circular mounting hole, 32-scraper pressure plate, 33-first countersunk screw, 34-scraper, 341-end, 4-annular tempered glass assembly, 41-third set screw, 42-second shaft end retaining spring, 43-top fixing cover, 44-ball bearing, 45-top rotating ring, 46-slave synchronous belt Wheel, 47-first thin-walled ring bearing, 48-upper fixing ring, 49-first pan head screw, 410-annular tempered glass, 411-second pan head screw, 412-lower fixing ring, 413-second thin-walled ring bearing, 414-second countersunk screw, 415-bottom fixing cover, 416-camera fixing bracket, 417-bottom rotating ring, 418-third countersunk screw, 419-fourth countersunk screw, 420-fifth countersunk screw, 421-sixth countersunk screw, 5-camera, 6-camera mounting base, 7-sealing cover, 9-body shell, 10-locking screw, 11-first fixing screw, 12-third fixing screw, 13-second fixing screw, 14-sealing strip. DETAILED DESCRIPTION

[0035] 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.

[0036] Example 1

[0037] See attached Figure 1-16As shown, the present invention provides a camera dust removal device for a working surface inspection robot, comprising: a driving synchronous belt 1, a dust removal driving component 2, a dust removal scraper component 3, an annular tempered glass assembly 4, a camera 5 and a camera mounting base 6, the dust removal driving component 2 is fixed to the top of the robot body shell 9 by a locking screw 10 and a first fixing screw 11, the dust removal scraper component 3 is fixed to the surface of the robot body shell 9 by a second fixing screw 13, the driving synchronous belt 1 is sleeved on the output end of the dust removal driving component 2 and the driving end of the annular tempered glass assembly 4, the annular tempered glass assembly 4 includes a camera fixing combination component and an annular tempered The glass rotating assembly component, the camera fixing assembly component includes a camera fixing bracket 416, the annular tempered glass rotating assembly component includes an annular tempered glass 410, the camera 5 is installed and fixed on the camera fixing bracket 416, the annular tempered glass 410 is placed on the outer surface of the camera 5 and can rotate 360° around the central axis, and the camera mounting base 6 is installed on the middle partition inside the robot body shell 9 through the third fixing screw 12; the dust removal drive assembly 2 drives the annular tempered glass 410 to rotate by driving the synchronous belt 1, and the fixed dust removal scraper strip assembly 3 removes the sediment and coal slime attached to the outer surface of the annular tempered glass 410.

[0038] Preferably, in one embodiment, the dust removal drive assembly 2 includes: a drive motor 21, a fourth mounting screw 22, a main synchronous pulley sleeve 23, a first fixing screw 24, a first shaft end retaining spring 25, a drive wheel seat 26, a main synchronous pulley 27 and a second fixing screw 28. The inner hole of the main synchronous pulley sleeve 23 is a semicircular hole with a plane, and the output shaft of the drive motor 21 is a semicircular shaft with a plane. The semicircular hole cooperates with the semicircular shaft and is tightened by the second fixing screw 28 to transmit the rotational torque. The outer circle of the main synchronous pulley sleeve 23 cooperates with the inner hole of the synchronous pulley and is tightened by the first fixing screw 24 to transmit the rotational torque. The bottom end of the main synchronous pulley sleeve 23 has a flange, and the first shaft end retaining spring 25 is installed at the top end of the main synchronous pulley sleeve 23 to limit the up and down movement of the main synchronous pulley 27. The drive motor 21 is inserted into the drive wheel seat 26 and locked by the fourth mounting screw 22. The top of the drive wheel seat 26 is installed on the top wall of the robot body housing 9.

[0039] In a preferred embodiment, an oblong hole 261 is provided on the top of the driving wheel seat 26, and a locking threaded hole 262 is provided on the side wall. The locking screw 10 passes through the through hole on the robot body shell 9 and is connected to the locking threaded hole 262. The first fixing screw 11 passes through the oblong hole 261 and is locked into the threaded hole on the top of the robot body shell 9. By adjusting the locking screw 10 to pull the dust removal drive assembly 2 backward, the driving synchronous belt 1 can be tightened to a suitable state and then locked by the first fixing screw 11. The oblong hole 261 plays a guiding and positioning role.

[0040] In a preferred embodiment, the dust removal scraper strip assembly 3 includes a scraper strip seat 31, a scraper strip pressure plate 32, a first countersunk screw 33 and a scraper strip 34. The scraper strip pressure plate 32 presses the scraper strip 34 onto the scraper strip seat 31 and through the first countersunk screw 33; an inclined mounting surface is provided in the middle of the scraper strip seat 31, and oblong mounting holes 311 are provided at the upper and lower ends of the scraper strip seat 31. The mounting position of the scraper strip seat 31 is adjusted through the oblong mounting holes 311, and the ends 341 of the left and right groups of scrapers 34 are pre-pressed and fitted with the arc surface of the annular tempered glass 410, and the scraper strip 34 is in line contact with the annular tempered glass 410. The scraper strip 34 is made of polytetrafluoroethylene plate. Polytetrafluoroethylene has extremely low friction coefficient, excellent self-lubricating performance, excellent wear resistance and non-adhesiveness. The hardness of the scraper strip 34 is lower than that of the annular tempered glass 410, and will not scratch the surface of the annular tempered glass 410. The scraper strip 34 and the annular tempered glass 410 are in line contact with each other, which reduces the rotation resistance of the annular tempered glass 410 and achieves the best effect of removing coal slime and kerosene.

[0041] Preferably, in one embodiment, the camera fixing assembly component further includes a second shaft end retaining ring 42, a top fixing cover 43, a ball bearing 44, a second countersunk screw 414, a bottom fixing cover 415, a fifth countersunk screw 420 and a sixth countersunk screw 421, and the annular tempered glass rotating assembly component further includes a third set screw 41, a top rotating ring 45, a synchronous pulley 46, a first thin-walled ring bearing 47, an upper fixing ring 48, a first pan head screw 49, a second pan head screw 411, a lower fixing ring 412, a second thin Wall ring bearing 413, bottom rotating ring 417, third countersunk screw 418 and fourth countersunk screw 419, in the camera fixing assembly, the top fixing cover 43 is connected and locked with the camera fixing bracket 416 by the sixth countersunk screw 421, the bottom fixing cover 415 is connected and locked with the camera fixing bracket 416 by the fifth countersunk screw 420, the camera 5 is installed and fixed on the camera fixing bracket 416, and the bottom fixing cover 415 is connected and locked with the camera mounting base 6 by the second countersunk screw 414;

[0042] A first thin-walled ring bearing 47 is installed in the inner hole of the upper fixing ring 48 in the annular tempered glass rotating assembly component, and the annular tempered glass 410 is locked and connected with the upper fixing ring 48 by a first pan head screw 49; a second thin-walled ring bearing 413 is installed in the inner hole of the lower fixing ring 412, and the annular tempered glass 410 is locked and connected with the lower fixing ring 412 by a second pan head screw 411; the top rotating ring 45 is locked and connected with the upper fixing ring 48 by a third countersunk screw 418, and the bottom rotating ring 417 is connected and locked with the lower fixing ring 412 by a fourth countersunk screw 419 to prevent the second thin-walled ring bearing 413 from falling off from the bottom;

[0043] The annular tempered glass 410 is coaxially arranged with the camera fixing bracket 416, and the annular tempered glass 410 is placed outside the camera fixing bracket 416, with a 1 mm gap between the two; a 1 mm gap is left between the upper plane of the top fixed cover 43 and the lower plane of the top rotating ring 45 to ensure that the two can rotate relative to each other.

[0044] In a preferred embodiment, the annular tempered glass assembly 4 is installed with a sealing strip 14 and a sealing cover 7 around the window of the robot body shell 9 , and the sealing strip 14 and the sealing cover 7 can prevent dust from entering the inside of the robot body shell 9 .

[0045] Example 2

[0046] A window is opened in the inspection robot body shell 9 to install the annular tempered glass assembly 4, the dust removal scraper strip assembly 3 is fixed on the surface of the robot body shell 9, and is arranged symmetrically with the leaking annular tempered glass 410 as the center, the camera 5 is installed and fixed on the camera fixing bracket 416, the annular tempered glass 410 is placed on the outer surface of the camera 5 and can rotate 360° around the central axis, and the installation position of the dust removal scraper strip assembly 3 is adjusted to ensure that the ends 341 of the left and right groups of scrapers 34 are pre-pressed and fit with the arc surface of the annular tempered glass 410. After the robot has been running for a period of time, the annular tempered glass 410 is driven to rotate by the dust removal drive assembly 2, and the fixed dust removal scraper strip assembly 3 will wipe off the attached dust, coal slime, and kerosene film.

[0047] Example 3

[0048] The installation sequence of the annular tempered glass assembly 4 is as follows: ① the camera 5 is installed and fixed to the camera fixing bracket 416; ② the annular tempered glass 410 is inserted into the outer hollow of the camera fixing bracket 416; ③ the camera mounting base 6 is connected and locked to the bottom fixing cover 415 with the second countersunk screw 414; ④ the top of the camera fixing bracket 416 is connected and locked to the top fixing cover 43 with the sixth countersunk screw 421; the bottom of the camera fixing bracket 416 is connected and locked to the bottom fixing cover 415 with the fifth countersunk screw 420; ⑤ the first thin-walled ring bearing 47 is installed in the inner hole of the upper fixing ring 48, and the second thin-walled ring bearing 413 is installed in the inner hole of the lower fixing ring 412; ⑥ the upper fixing ring 48 with the first thin-walled ring bearing 47 is inserted into the outer cylindrical surface of the top fixing cover 43, and the lower fixing ring 412 with the second thin-walled ring bearing 413 is inserted into the bottom fixing cover 415 ⑦ Use the first pan head screw 49 to connect and lock the upper fixing ring 48 to the annular tempered glass 410, and use the second pan head screw 411 to connect and lock the lower fixing ring 412 to the annular tempered glass 410, ⑧ Fit two sets of ball bearings 44 on the small diameter outer circle of the upper part of the top fixing cover 43, and install the second shaft end retaining ring 42 at the end to limit the up and down movement of the ball bearings 44, ⑨ Fit the top rotating ring 45 on the outer circle of the two sets of ball bearings 44, and connect and lock it to the upper fixing ring 48 with the third countersunk screw 418, fit the slave synchronous pulley 46 on the small diameter outer circle of the upper part of the top rotating ring 45, and tighten it with the third set screw 41 to transmit the rotational torque, ⑩ Finally, use the fourth countersunk screw 419 to connect and lock the bottom rotating ring 417 to the lower fixing ring 412 at the bottom of the lower fixing ring 412 to prevent the second thin-walled ring bearing 413 from falling off from the bottom.

[0049] The above is only a specific embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

[0050] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0051] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A camera dust removal device for a working surface inspection robot, characterized in that: include: A driving synchronous belt (1), a dust removal driving component (2), a dust removal scraper component (3), an annular tempered glass assembly (4), a camera (5) and a camera mounting base (6); the dust removal driving component (2) is fixed to the top of the robot body shell (9) by a locking screw (10) and a first fixing screw (11); the dust removal scraper component (3) is fixed to the surface of the robot body shell (9) by a second fixing screw (13); the driving synchronous belt (1) is sleeved on the output end of the dust removal driving component (2) and the driving end of the annular tempered glass assembly (4); the annular tempered glass assembly (4) includes a camera fixing assembly component and an annular tempered glass rotating assembly component; the camera fixing assembly The component comprises a camera fixing bracket (416), the annular tempered glass rotating assembly component comprises an annular tempered glass (410), the camera (5) is mounted and fixed on the camera fixing bracket (416), the annular tempered glass (410) is placed on the outer surface of the camera (5) and can rotate 360 ​​degrees around the central axis, and the camera mounting base (6) is mounted on the middle partition inside the robot body shell (9) through a third fixing screw (12); the dust removal drive component (2) drives the annular tempered glass (410) to rotate through the driving synchronous belt (1), and the fixed dust removal scraper strip component (3) removes the sediment and coal slime attached to the outer surface of the annular tempered glass (410).

2. The camera dust removal device of a working surface inspection robot according to claim 1, characterized in that: The dust removal drive assembly (2) comprises: a drive motor (21), a fourth mounting screw (22), a main synchronous pulley sleeve (23), a first set screw (24), a first shaft end retaining spring (25), a drive wheel seat (26), a main synchronous pulley (27) and a second set screw (28), wherein the inner hole of the main synchronous pulley sleeve (23) is a semicircular hole with a flat surface, and the output shaft of the drive motor (21) is a semicircular shaft with a flat surface, wherein the semicircular hole cooperates with the semicircular shaft and is tightened by the second set screw (28) to transmit a rotational torque, wherein the inner hole of the main synchronous pulley sleeve (23) is a semicircular hole with a flat surface, and the output shaft of the drive motor (21) is a semicircular shaft with a flat surface, wherein the semicircular hole cooperates with the semicircular shaft and is tightened by the second set screw (28) to transmit a rotational torque, and wherein the The outer circle of the main synchronous pulley sleeve (23) matches the inner hole of the synchronous pulley and is tightened by the first set screw (24) to transmit the rotational torque. The bottom end of the main synchronous pulley sleeve (23) has a flange. The first shaft end retaining spring (25) is installed on the top of the main synchronous pulley sleeve (23) to limit the up and down movement of the main synchronous pulley (27). The driving motor (21) is inserted into the driving wheel seat (26) and is locked by the fourth mounting screw (22). The top of the driving wheel seat (26) is installed on the top wall of the robot body shell (9).

3. The camera dust removal device of a working surface inspection robot according to claim 2, characterized in that: The top of the driving wheel seat (26) is provided with an oblong hole (261), and the side wall is provided with a locking threaded hole (262); the locking screw (10) passes through the through hole on the robot body shell (9) and is connected to the locking threaded hole (262); the first fixing screw (11) passes through the oblong hole (261) and is locked into the threaded hole on the top of the robot body shell (9); by adjusting the locking screw (10) and pulling the dust removal drive assembly (2) backward, the driving synchronous belt (1) can be tightened to a suitable state and then locked by the first fixing screw (11); the oblong hole (261) plays a guiding and positioning role.

4. The camera dust removal device of a working surface inspection robot according to claim 1, characterized in that: The dust removal scraper assembly (3) comprises a scraper seat (31), a scraper pressure plate (32), a first countersunk screw (33) and a scraper (34); the scraper pressure plate (32) presses the scraper (34) onto the scraper seat (31) and is fixed by the first countersunk screw (33); a mounting surface with an inclined angle is provided in the middle of the scraper seat (31); oblong mounting holes (311) are provided at the upper and lower ends of the scraper seat (31); the mounting position of the scraper seat (31) is adjusted by the oblong mounting holes (311); the ends (341) of the left and right groups of scrapers (34) are pre-pressed and fitted with the arc surface of the annular tempered glass (410), and the scraper (34) is in line contact with the annular tempered glass (410).

5. The camera dust removal device of a working surface inspection robot according to claim 1, characterized in that: The camera fixing assembly component also includes a second shaft end retaining ring (42), a top fixing cover (43), a ball bearing (44), a second countersunk screw (414), a bottom fixing cover (415), a fifth countersunk screw (420) and a sixth countersunk screw (421); the annular tempered glass rotating assembly component also includes a third set screw (41), a top rotating ring (45), a synchronous pulley (46), a first thin-walled ring bearing (47), an upper fixing ring (48), a first pan head screw (49), a second pan head screw (411), a lower fixing ring (412), a second thin-walled ring bearing (413), a bottom rotating ring ( 417), a third countersunk screw (418) and a fourth countersunk screw (419), in the camera fixing assembly, the top fixing cover (43) is connected and locked to the camera fixing bracket (416) by the sixth countersunk screw (421), the bottom fixing cover (415) is connected and locked to the camera fixing bracket (416) by the fifth countersunk screw (420), the camera (5) is installed and fixed on the camera fixing bracket (416), and the bottom fixing cover (415) is connected and locked to the camera mounting base (6) by the second countersunk screw (414); The first thin-walled ring bearing (47) is installed in the inner hole of the upper fixing ring (48) in the annular tempered glass rotating assembly component, and the annular tempered glass (410) and the upper fixing ring (48) are locked and connected together by the first pan head screw (49); the second thin-walled ring bearing (413) is installed in the inner hole of the lower fixing ring (412), and the annular tempered glass (410) and the lower fixing ring (412) are locked and connected together by the second pan head screw (411); the top rotating ring (45) and the upper fixing ring (48) are locked and connected together by the third countersunk screw (418), and the bottom rotating ring (417) and the lower fixing ring (412) are connected and locked by the fourth countersunk screw (419) to prevent the second thin-walled ring bearing (413) from falling off from the bottom; The annular tempered glass (410) is coaxially arranged with the camera fixing bracket (416), and the annular tempered glass (410) is placed outside the camera fixing bracket (416), with a 1 mm gap between the two; a 1 mm gap is left between the upper plane of the top fixing cover (43) and the lower plane of the top rotating ring (45) to ensure that the two can rotate relative to each other.

6. The camera dust removal device of a working surface inspection robot according to claim 1, characterized in that: The annular tempered glass assembly (4) is installed on the robot body shell (9) and has a sealing strip (14) and a sealing cover (7) installed around the window. The sealing strip (14) and the sealing cover (7) can prevent dust from entering the robot body shell (9).

Images