A camera dust removal device for a work surface inspection robot

Abstract

This invention discloses a camera dust removal device for a working face inspection robot, belonging to the field of working face inspection robots. It includes: a drive timing belt, a dust removal drive assembly, a dust removal scraper assembly, an annular tempered glass assembly, a camera, and a camera mounting base. The dust removal drive assembly is fixed inside the robot body shell by locking screws and a first fixing screw. The dust removal scraper assembly is fixed to the surface of the robot body shell by a second fixing screw. The drive timing belt is fitted over the dust removal drive assembly and the annular tempered glass assembly. The camera is mounted on a camera mounting bracket. The annular tempered glass is placed on the outer surface of the camera and can rotate 360° around its central axis. The camera mounting base is installed on the inner partition plate inside the robot body shell by a third fixing screw. The dust removal drive assembly drives the annular tempered glass to rotate via the drive timing belt, and the fixed dust removal scraper assembly removes dust and coal sludge adhering to the outer surface of the annular tempered glass.

Description

Technical Field

[0001] This invention belongs to the field of work surface inspection robots, and particularly relates to a camera dust removal device for a work surface inspection robot. Background Technology

[0002] The working environment of fully mechanized coal mining faces is harsh, and a large amount of coal dust is generated during the mining process, which floats in the roadway. In recent years, with the intelligent upgrading and transformation of coal mines, a wide variety of fixed cameras have been installed in fully mechanized coal mining faces. These cameras generally use a wiper-like method to remove coal dust from the camera surface. Currently, the effect on removing accumulated coal sludge and kerosene film is not good.

[0003] A face inspection robot is a robot that reciprocates along a scraper conveyor track to perform inspections. Video monitoring and AI video analysis are important functions of face inspection robots. Given the harsh production environment of the face, the robot's cameras need to be automatically cleaned regularly to remove coal dust, coal sludge, and kerosene film. Prolonged operation in such a harsh environment can easily lead to the accumulation of coal dust, coal sludge, and kerosene film, which is difficult to remove. Summary of the Invention

[0004] In view of this, the present invention provides a camera dust removal device for a work surface inspection robot to solve the above problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A camera dust removal device for a working face inspection robot includes: a drive timing belt, a dust removal drive assembly, a dust removal scraper assembly, an annular tempered glass assembly, a camera, and a camera mounting base. The dust removal drive assembly is fixed to the top of the robot body shell via locking screws and a first fixing screw. The dust removal scraper assembly is fixed to the surface of the robot body shell via a second fixing screw. The drive timing belt is sleeved on the output end of the dust removal drive assembly and the drive end of the annular tempered glass assembly. The annular tempered glass assembly includes a camera fixing assembly and an annular tempered glass rotating assembly. The camera fixing assembly includes a camera fixing bracket, and the annular tempered glass rotating assembly includes an annular tempered glass. The camera is mounted on the camera fixing bracket, and the annular tempered glass is placed on the outer surface of the camera and can rotate 360° around its central axis. The camera mounting base is installed on the middle partition inside the robot body shell via a third fixing screw. The dust removal drive assembly drives the annular tempered glass to rotate via the drive timing belt, and the fixed dust removal scraper assembly removes dust and coal sludge adhering to the outer surface of the annular tempered glass.

[0007] Furthermore, the dust removal drive assembly includes: a drive motor, a fourth mounting screw, a main synchronous pulley bushing, a first set screw, a first shaft end retaining ring, a drive wheel seat, a main synchronous pulley, and a second set screw. The inner hole of the main synchronous pulley bushing is a semi-circular hole with a flat surface, and the output shaft of the drive motor is a semi-circular shaft with a flat surface. The semi-circular hole mates with the semi-circular shaft and is tightened by the second set screw to transmit rotational torque. The outer circle of the main synchronous pulley bushing mates with the inner hole of the synchronous pulley and is tightened by the first set screw to transmit rotational torque. The bottom end of the main synchronous pulley bushing has a flange. The first shaft end retaining ring is installed at the top of the main synchronous pulley bushing to limit the vertical movement of the main synchronous pulley. The drive motor is inserted into the drive wheel seat and locked by the fourth mounting screw. The top of the drive wheel seat is installed on the top wall of the robot body shell.

[0008] Furthermore, the top of the drive wheel seat is provided with an elongated oval hole, and the side wall is provided with a locking threaded hole. The locking screw passes through the through hole on the robot body shell and connects to the locking threaded hole. The first fixing screw passes through the elongated oval hole and locks 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 drive timing belt can be tensioned to a suitable state and then locked by the first fixing screw. The elongated oval hole serves as a guide and positioning function.

[0009] Furthermore, the dust removal scraper assembly includes a scraper seat, a scraper pressure plate, a first countersunk screw, and a scraper. The scraper pressure plate presses the scraper onto the scraper seat and is secured by the first countersunk screw. The scraper seat has an inclined mounting surface in the middle, and elongated oval mounting holes at the upper and lower ends. The mounting position of the scraper seat is adjusted through the elongated oval mounting holes. The ends of the left and right sets of scrapers are pre-pressed and fitted against the arc surface of the annular tempered glass, and the scraper and the annular tempered glass are in line contact.

[0010] Furthermore, the camera fixing assembly 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. The annular tempered glass rotating assembly also includes a third set screw, a top rotating ring, a timing 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, the top fixing cover is connected and locked to the camera fixing bracket by the sixth countersunk screw, and the bottom fixing cover is connected and locked to the camera fixing bracket by the fifth countersunk screw. The camera is mounted 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] In the annular tempered glass rotating assembly, the first thin-walled ring bearing is installed in the inner hole of the upper fixed ring, and the annular tempered glass is locked together with the upper fixed ring by the first pan head screw; the second thin-walled ring bearing is installed in the inner hole of the lower fixed ring, and the annular tempered glass is locked together with the lower fixed ring by the second pan head screw; the top rotating ring is locked together with the upper fixed ring by the third countersunk screw, and the bottom rotating ring is locked together with the lower fixed ring 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 arranged coaxially with the camera mounting bracket, and the annular tempered glass is placed outside the camera mounting bracket with a 1mm gap between them; a 1mm gap is left between the upper plane of the top fixing cover and the lower plane of the top rotating ring to ensure that the two can rotate relative to each other.

[0013] Furthermore, the annular tempered glass assembly is equipped with a sealing strip and a sealing cover around the window of the robot body shell. The sealing strip and the sealing cover can prevent dust from entering the robot body shell.

[0014] The beneficial effects of this invention are as follows:

[0015] First, the squeegee adheres more tightly to the ring-shaped tempered glass; second, during dust removal, the entire contact surface of the squeegee is subjected to more even force, eliminating the problem of cantilevered brushing; third, the contact surface between the squeegee and the ring-shaped tempered glass uses line contact, reducing brushing resistance during dust removal and improving the durability of the squeegee; fourth, the squeegee is made of polytetrafluoroethylene (PTFE) sheet, which has an extremely low coefficient of friction, excellent self-lubricating properties, excellent wear resistance, and non-adhesiveness, effectively solving the problem of difficult-to-remove coal sludge and kerosene adhering to the camera surface. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

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

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

[0020] Figure 4 This is a schematic diagram of the overall structure of a camera dust removal device in a work surface inspection robot without a sealed cover.

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

[0022] Figure 6 for Figure 5 A magnified view of part I.

[0023] Figure 7 3D view of dust removal drive components

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

[0025] Figure 9 This is a schematic diagram of the dust removal scraper assembly.

[0026] Figure 10 for Figure 9 AA section view in the image.

[0027] Figure 11 Three-dimensional assembly for fixing camera components Figure 1 .

[0028] Figure 12 Three-dimensional assembly for fixing camera components Figure 2 .

[0029] Figure 13 Three-dimensional for rotating components of ring-shaped tempered glass Figure 1 .

[0030] Figure 14 Three-dimensional for rotating components of ring-shaped tempered glass Figure 2 .

[0031] Figure 15 This is a cross-sectional view of the rotating assembly of the ring-shaped tempered glass.

[0032] Figure 16 This is a half-sectional view of the ring-shaped tempered glass assembly.

[0033] In the figure:

[0034] 1-Drive timing belt, 2-Dust removal drive assembly, 21-Drive motor, 22-Fourth mounting screw, 23-Main timing belt pulley bushing, 24-First set screw, 25-First shaft end retaining ring, 26-Drive wheel seat, 261-Octagonal hole, 262-Locking threaded hole, 27-Main timing belt pulley, 28-Second set screw, 3-Dust removal scraper assembly, 31-Scraper seat, 311-Octagonal 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 ring, 43-Top fixing cover, 44-Ball bearing, 45-Top rotating ring, 46-From timing belt 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 mounting 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 - Main body shell; 10 - Locking screw; 11 - First fixing screw; 12 - Third fixing screw; 13 - Second fixing screw; 14 - Sealing strip. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0036] Example 1

[0037] See attached document Figure 1-16As shown, this invention provides a camera dust removal device for a work surface inspection robot, comprising: a drive timing belt 1, a dust removal drive assembly 2, a dust removal scraper assembly 3, an annular tempered glass assembly 4, a camera 5, and a camera mounting base 6. The dust removal drive assembly 2 is mounted and fixed to the top of the robot body shell 9 inside by locking screws 10 and first fixing screws 11. The dust removal scraper assembly 3 is fixed to the surface of the robot body shell 9 by second fixing screws 13. The drive timing belt 1 is sleeved on the output end of the dust removal drive assembly 2 and the drive end of the annular tempered glass assembly 4. The annular tempered glass assembly 4 includes a camera fixing assembly and an annular tempered glass assembly. The glass rotating assembly and the camera fixing assembly include a camera fixing bracket 416 and an annular tempered glass rotating assembly including 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° around the central axis. The camera mounting base 6 is installed on the middle partition inside the robot body shell 9 by the third fixing screw 12. The dust removal drive assembly 2 drives the annular tempered glass 410 to rotate through the drive synchronous belt 1. The fixed dust removal scraper assembly 3 removes the dust and coal sludge adhering to the outer surface of the annular tempered glass 410.

[0038] In a preferred embodiment, the dust removal drive assembly 2 includes: a drive motor 21, a fourth mounting screw 22, a main synchronous pulley bushing 23, a first set screw 24, a first shaft end retaining ring 25, a drive wheel seat 26, a main synchronous pulley 27, and a second set screw 28. The inner hole of the main synchronous pulley bushing 23 is a semi-circular hole with a flat surface. The output shaft of the drive motor 21 is a semi-circular shaft with a flat surface. The semi-circular hole and the semi-circular shaft cooperate and are tightened by the second set screw 28 to transmit rotational torque. The outer circle of the main synchronous pulley bushing 23 cooperates with the inner hole of the synchronous pulley and is tightened by the first set screw 24 to transmit rotational torque. The bottom end of the main synchronous pulley bushing 23 has a flange. The first shaft end retaining ring 25 is installed on the top end of the main synchronous pulley bushing 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 end of the drive wheel seat 26 is installed on the top wall of the robot body shell 9.

[0039] In a preferred embodiment, the top of the drive wheel seat 26 is provided with an elongated oval 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 connects to the locking threaded hole 262. The first fixing screw 11 passes through the elongated oval 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 drive timing belt 1 can be tensioned to a suitable state and then locked by the first fixing screw 11. The elongated oval hole 261 plays a guiding and positioning role.

[0040] In a preferred embodiment, the dust removal scraper assembly 3 includes 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 secured by the first countersunk screw 33. The scraper seat 31 has an inclined mounting surface in the middle, and elongated oval 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 through the elongated oval mounting holes 311. The ends 341 of the left and right sets of scrapers 34 are pre-pressed and fitted with the arc surface of the annular tempered glass 410, and the scraper 34 and the annular tempered glass 410 are in line contact. The scraper 34 is made of polytetrafluoroethylene (PTFE) sheet. PTFE has an extremely low coefficient of friction, excellent self-lubricating properties, excellent wear resistance and non-adhesion. The hardness of the scraper 34 is lower than that of the annular tempered glass 410, so it will not scratch the surface of the annular tempered glass 410. The contact surface between the scraper 34 and the annular tempered glass 410 is in line contact, which reduces the rotational resistance of the annular tempered glass 410 while achieving the best effect in removing coal sludge and kerosene.

[0041] In a preferred embodiment, the camera fixing assembly 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. The annular tempered glass rotating assembly further includes a third set screw 41, a top rotating ring 45, a timing 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, and a second thin-walled ring bearing 421. The camera fixing assembly includes a wall 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, and 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.

[0042] In the annular tempered glass rotating assembly, a first thin-walled ring bearing 47 is installed in the inner hole of the upper fixed ring 48, and the annular tempered glass 410 is locked together with the upper fixed 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 fixed ring 412, and the annular tempered glass 410 is locked together with the lower fixed ring 412 by a second pan head screw 411; a top rotating ring 45 is locked together with the upper fixed ring 48 by a third countersunk screw 418, and a bottom rotating ring 417 is connected and locked to the lower fixed 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 and the camera mounting bracket 416 are arranged coaxially. The annular tempered glass 410 is placed outside the camera mounting bracket 416, with a 1mm gap between them. A 1mm gap is left between the upper surface of the top fixing cover 43 and the lower surface 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 fitted with a sealing strip 14 and a sealing cover 7 around the window of the robot body shell 9. The sealing strip 14 and the sealing cover 7 can prevent dust from entering the interior of the robot body shell 9.

[0045] Example 2

[0046] The inspection robot's outer shell 9 has a window for installing a ring-shaped tempered glass assembly 4. The dust removal scraper assembly 3 is fixed to the surface of the robot's outer shell 9 and is symmetrically arranged on the left and right sides with the exposed ring-shaped tempered glass 410 as the center. The camera 5 is installed and fixed on the camera mounting bracket 416. The ring-shaped tempered glass 410 is placed on the outer surface of the camera 5 and can rotate 360° around the central axis. The installation position of the dust removal scraper assembly 3 is adjusted to ensure that the ends 341 of the left and right sets of scrapers 34 are pre-pressed and adhered to the arc surface of the ring-shaped tempered glass 410. After the robot has been running for a period of time, the ring-shaped tempered glass 410 is rotated by the dust removal drive assembly 2, and the fixed dust removal scraper assembly 3 wipes away the attached dust, coal sludge, 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 onto the camera mounting bracket 416; ② The annular tempered glass 410 is inserted into the outer side of the camera mounting bracket 416; ③ The camera mounting base 6 is connected and locked to the bottom fixing cover 415 using the second countersunk screw 414; ④ The top fixing cover 43 is connected and locked to the top of the camera mounting bracket 416 using the sixth countersunk screw 421, and the bottom fixing cover 415 is connected and locked to the bottom of the camera mounting bracket 416 using 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 installed 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 installed 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 upper small diameter outer circle of the top fixing cover 43, and install the second shaft end snap ring 42 at the end to restrict 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 timing pulley 46 on the small diameter outer circle of the top rotating ring 45, and tighten it with the third set screw 41 to transmit rotational torque. ⑩ Finally, use the fourth countersunk screw 419 to connect and lock the bottom rotating ring 417 to the bottom fixing ring 412 to prevent the second thin-walled ring bearing 413 from falling off from the bottom.

[0049] The above descriptions are merely specific embodiments of the present invention, and common knowledge regarding the specific structures and characteristics of the solutions is not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

[0050] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0051] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A camera dust removal device of a working face inspection robot, characterized in that, The utility model relates to a kind of robot dust removal device, including: drive synchronous belt (1), dust removal drive assembly (2), dust removal scraping strip assembly (3), annular toughened glass assembly (4), camera (5) and camera mounting base (6), the dust removal drive assembly (2) is fixed by locking screw (10) and first fixed screw (11) and is installed in the inside top of robot body shell (9), the dust removal scraping strip assembly (3) is fixed on the surface of robot body shell (9) by second fixed screw (13), the drive synchronous belt (1) is set in the output end of the dust removal drive assembly (2) and the drive end of the annular toughened glass assembly (4), the annular toughened glass assembly (4) includes camera fixed combination component and annular toughened glass rotating combination component, the camera fixed combination component includes camera fixed support (416), the annular toughened glass rotating combination component includes annular toughened glass (410), the camera (5) is fixed on the camera fixed support (416), the annular toughened glass (410) is placed on the outer surface of the camera (5) and can rotate around center axis 360 °, the camera mounting base (6) is installed on the middle partition of robot body shell (9) by third fixed screw (12);The dust removal drive assembly (2) is driven by the drive synchronous belt (1) and rotates the annular toughened glass (410), and the dust removal scraping strip assembly (3) is fixed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip assembly (3) and is removed to the dust removal scraping strip ​ ​ The first thin-wall ring bearing (47) is installed in the inner hole of the upper fixed ring (48) in the annular toughened glass rotating combination component, and the annular toughened glass (410) is locked and connected with the upper fixed ring (48) through the first pan head screw (49); the second thin-wall ring bearing (413) is installed in the inner hole of the lower fixed ring (412), and the annular toughened glass (410) is locked and connected with the lower fixed ring (412) through the second pan head screw (411); the top rotating ring (45) is locked and connected with the upper fixed ring (48) through the third countersunk screw (418), and the bottom rotating ring (417) is locked and connected with the lower fixed ring (412) through the fourth countersunk screw (419), so as to prevent the second thin-wall ring bearing (413) from falling off from the bottom; The annular toughened glass (410) is coaxially arranged with the camera fixed support (416), the annular toughened glass (410) is arranged outside the camera fixed support (416), and a gap of 1mm is left between the two; a gap of 1mm is left between the upper plane of the top fixed cover (43) and the lower plane of the top rotating ring (45), so as to ensure that the two can relatively rotate.

2. The camera dust removal device of the working face inspection robot according to claim 1, characterized in that, The dust removal driving assembly (2) comprises a driving motor (21), a fourth mounting screw (22), a main synchronous belt wheel shaft sleeve (23), a first locking screw (24), a first shaft end clamp spring (25), a driving wheel seat (26), a main synchronous belt wheel (27) and a second locking screw (28). The inner hole of the main synchronous belt wheel shaft sleeve (23) is a flat semicircular hole, the output shaft of the driving motor (21) is a flat semicircular shaft, the semicircular hole is matched with the semicircular shaft and is tightly pressed through the second locking screw (28) to transmit rotary torque, the outer circle of the main synchronous belt wheel shaft sleeve (23) is matched with the inner hole of the synchronous belt wheel and is tightly pressed through the first locking screw (24) to transmit rotary torque, the bottom end of the main synchronous belt wheel shaft sleeve (23) is provided with a flange, the first shaft end clamp spring (25) is installed at the top end of the main synchronous belt wheel shaft sleeve (23) to limit the up and down movement of the main synchronous belt wheel (27), the driving motor (21) is inserted into the driving wheel seat (26) and is locked through the fourth mounting screw (22), and the top end 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 the working face inspection robot according to claim 2, characterized in that, The driving wheel seat (26) is provided with a long circular hole (261) at the top, and the side wall is provided with a locking threaded hole (262), the locking screw (10) is connected into the locking threaded hole (262) through the via hole on the robot body shell (9), the first fixing screw (11) is locked into the threaded hole on the top of the robot body shell (9) through the long circular hole (261), the dust removal driving assembly (2) is pulled back by adjusting the locking screw (10), the driving synchronous belt (1) is tensioned to the appropriate state and locked by the first fixing screw (11), and the long circular hole (261) plays a guiding and positioning role.

4. The camera dust removal device of the working face inspection robot according to claim 1, characterized in that, The dust removal scraping strip assembly (3) comprises a scraping strip seat (31), a scraping strip pressing plate (32), a first countersunk screw (33) and a scraping strip (34), the scraping strip pressing plate (32) presses the scraping strip (34) onto the scraping strip seat (31) and is locked by the first countersunk screw (33); the scraping strip seat (31) is provided with an installation surface with an inclined angle in the middle, the upper end and the lower end of the scraping strip seat (31) are provided with long circular installation holes (311), the installation position of the scraping strip seat (31) is adjusted through the long circular installation holes (311), the ends (341) of the left and right groups of scraping strips (34) are pre-pressed and attached to the circular arc surface of the annular tempered glass (410), and the scraping strip (34) is in linear contact with the annular tempered glass (410).

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

Images