Intelligent disassembling robot for coal mine conveying belt

Abstract

The invention belongs to the technical field of robots, and particularly relates to a coal mine conveying belt intelligent disassembling robot which comprises a moving platform and a disassembling device, the moving platform drives the disassembling device to move along a conveying belt, and the disassembling device is used for disassembling the conveying belt; the device further comprises connecting boxes, the connecting boxes are slidably connected to the bottom of the movable platform, penetrating grooves are formed in the middles of the connecting boxes, the sides, close to each other, of the connecting boxes are clamped and sealed through rubber rings, and the sides, away from each other, of the connecting boxes are connected through electric telescopic rods installed on the two sides of the movable platform. The zigzag part, the top and the bottom of the conveying belt in contact with the rotating rod are bent, so that the upper surface and the lower surface of the conveying belt are both provided with bent parts, a subfissure wound is opened or expanded, detection of the visual detection module is facilitated, the detection effect is improved, and breakage of the conveying belt caused by remaining defects is avoided. And therefore, the working effect of the disassembling robot is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, specifically a coal mine conveyor belt intelligent disassembly robot. Background Art

[0002] In coal mine production operations, belt conveyors often have hidden dangers due to edge wear and cannot continue to be used. The conveyor belts that are eliminated or scrapped will accumulate into waste, not only wasting resources but also polluting the environment. Moreover, this work needs to be carried out in a long-term cycle. Manual cutting has a high labor intensity, low work efficiency, and using a utility knife cannot cut the conveyor belt neatly, and it is also very easy to cause cuts to personnel. The main reasons for the disassembly of coal mine conveyor belts are mainly for maintenance, replacement, or scrapping. During long-term use, the conveyor belt may need to be repaired or replaced due to wear, aging, damage, or other reasons. In addition, when the conveyor belt reaches the end of its service life or can no longer meet the use requirements, it also needs to be scrapped, and then it needs to be disassembled. The application of the conveyor belt disassembly robot is mainly reflected in efficient disassembly, safety guarantee, and intelligent management.

[0003] However, in the process of coal mine production and transportation, there are often large pieces of crushed stones, and sometimes there are even sundries such as production waste and garbage. These sundries often have sharp edges. Once these sundries get stuck on the idler, rack, or scraper of the head cleaner, it will cause pressure and continuous friction on the surface of the conveyor belt, and these sundries will get stuck tighter and tighter. Once the surface of the conveyor belt is punctured, the crack will quickly deepen and expand, and finally pierce the conveyor belt, resulting in tearing. Therefore, when the coal mine conveyor belt breaks, effective treatment measures must be taken quickly and professional joint construction must be carried out to ensure that production resumes normal as soon as possible. Moreover, during the disassembly process of the conveyor belt, if the robot fails to detect hidden cracks, tears, and other parts of the conveyor belt, during subsequent use, it will cause the conveyor belt to break during use, affecting the safety of coal mine transportation. Summary of the Invention

[0004] In order to make up for the deficiencies of the prior art and solve the above technical problems, the present invention proposes a coal mine conveyor belt intelligent disassembly robot.

[0005] The technical solution adopted by the present invention to solve its technical problems is: The present invention proposes a coal mine conveyor belt intelligent disassembly robot, including a mobile platform and a disassembly device. The mobile platform drives the disassembly device to move along the conveyor belt, and the disassembly device is used for disassembling the conveyor belt; it also includes: Connection box, the connection boxes are evenly arranged on both sides of the mobile platform, and a through groove is opened in the middle part of one of the connection boxes. The connection boxes are clamped on the side close to each other and sealed by rubber rings, and the side far from each other is connected by electric telescopic rods installed on both sides of the mobile platform; the inner wall of the connection box is evenly rotatably connected with rotating disks, and the rotating disks are connected to the first driving parts installed on the connection boxes. One side of the rotating disk is rotatably connected with a rotating rod. There are two rotating rods evenly distributed, and one of them is connected to the second driving part installed on the rotating disk. The conveyor belt bypasses between adjacent rotating rods; Cleaning plate, the cleaning plates are evenly arranged on one side of the rotating disk, and one side of the cleaning plate contacts the surface of the conveyor belt; visual detection modules are evenly arranged in the connection box, and the visual detection modules are used to detect the upper and lower surfaces of the conveyor belt; a circulation device is installed on the connection box, and the circulation device sprays a chemical agent on the conveyor belt through nozzles arranged in the connection box.

[0006] Preferably, the rotating rod includes: Upper rotating rod, the upper rotating rod is rotatably connected to one side of the rotating disk, and one end of the upper rotating rod is connected to the second driving part; Lower rotating rod, the lower rotating rod slides in a chute opened on one side of the rotating disk, and a slider rotatably connected to one end of the lower rotating rod slides in the chute, and a spring is arranged between the slider and the chute; when static, the upper rotating rod is located below the lower rotating rod; when working, the upper rotating rod is located on one side of the lower rotating rod; Guide plates are evenly arranged on the inner wall of the connection box, and one end of the lower rotating rod contacts the guide plates. The guide plates are arc-shaped around the rotating disk. One end of the guide plate is far from the center of the rotating disk, and the other end is close to the center of the rotating disk; The cleaning plate is composed of an upper scraping plate and a lower scraping plate. The upper scraping plate is located on one side of the upper rotating rod, and the lower scraping plate is located on one side of the lower rotating rod. One end of the lower scraping plate is fixedly connected to the slider. The upper scraping plate contacts the upper surface of the conveyor belt, and the lower scraping plate contacts the lower surface of the conveyor belt; a cleaning brush is arranged at one end of the cleaning plate, and a fixing plate is arranged at the top of the cleaning plate. Moving grooves are symmetrically opened in the fixing plate with the middle line as the axis. The moving groove consists of four channels in a "day" shape. The left side of the "day" shape is the first channel, the right side is the second channel, the upper and lower sides are the third channels, and the middle is the fourth channel. A guiding piece is hinged to the connecting part of the fourth channel and the second channel through a torsion spring, and the guiding pieces are symmetrically distributed up and down in the fourth channel; two clamping rods are slidably connected in the moving groove, and one side of the clamping rod contacts the conveyor belt; a moving plate with a T-shaped cross-section is arranged in the connection box, and the two clamping rods are slidably connected to one side of the moving plate through springs, and the moving plate and the fixing plate are connected by springs; convex blocks are evenly arranged on the surface of the rotating rod, and the side close to each other of the convex blocks is an inclined surface, and one side of the moving plate contacts the inclined surface of the convex blocks.

[0007] Preferably, a cylindrical clamping block is rotatably connected to the side of the clamping rod in contact with the conveyor belt, and the end of the clamping block is in close contact with the friction plate arranged on the surface of the fixed plate. The friction plate is located at one end of the fixed plate and close to the first channel; when the clamping block moves up and down, it rotates through the friction with the friction plate, and the adjacent clamping blocks rotate in opposite directions.

[0008] Preferably, a clamping piece is hinged to the outer surface of the clamping block through a torsion spring. The clamping piece is arc-shaped and is evenly distributed annularly.

[0009] Preferably, clamping grooves are evenly formed in the clamping piece, and the cross section of the clamping groove is V-shaped.

[0010] Preferably, one end of the cleaning plate is slidably connected with a brush plate through a spring, and the cleaning brush is installed on one side of the brush plate; a linkage rod is arranged at the end of the brush plate, one end of the convex block is provided with an inclined surface, the linkage rod contacts the inclined surface at one end of the convex block, and the moving plate contacts the inclined surfaces on both sides of the convex block.

[0011] Preferably, the cleaning brush is composed of a plurality of brush rods, the brush rods are made of elastic materials, brush tubes are arranged at the ends of the brush rods, the outer surface of the brush tube contacts the conveyor belt, and both ends of the brush tube face the two side edges of the conveyor belt respectively; serrated brush grooves are evenly arranged at both ends of the brush tube.

[0012] Preferably, a fixed frame is arranged at one end of the guide plate away from the rotating disc, the conveyor belt enters the fixed frame from the opening on one side of the fixed frame and runs inside the fixed frame, nozzles are evenly installed in the upper and lower inner walls of the fixed frame, the nozzles are inclined away from the rotating disc, and the nozzles spray a reagent with a color display type onto the conveyor belt; a guide roller is rotatably connected to the cleaning plate.

[0013] Preferably, a maintenance rod is arranged in the connection box, the maintenance rods are symmetrically distributed up and down, the conveyor belt passes through the space between adjacent maintenance rods, and the maintenance rods are far away from the rotating disc; a maintenance block is slidably connected in the maintenance rod, and the maintenance block is connected to the maintenance rod through a bolt.

[0014] Preferably, an arc-shaped detection plate is arranged on one side of the bottom of the maintenance rod close to the rotating disc, and the visual detection module is respectively located above the detection plate and on one side of the upper rotating rod.

[0015] The beneficial effects of the present invention are as follows: 1. For the intelligent disassembly robot for the coal mine conveyor belt of the present invention, the zigzag part where the conveyor belt contacts the rotating rod forms a curved shape at both the top and the bottom, so that both the upper surface and the lower surface of the conveyor belt have curved parts, which enables the hidden crack wounds to be opened or enlarged, facilitating the detection by the visual detection module, improving the detection effect, avoiding the situation that the conveyor belt breaks due to remaining defects, resulting in frequent disassembly and maintenance of the conveyor belt by the disassembly robot, and thus improving the working effect of the disassembly robot.

[0016] 2. For the intelligent disassembly robot for coal mine conveyor belts of the present invention, workers respectively wind the two broken ends of the conveyor belt around two sets of rotating rods in the connection box. There is one set of rotating rods on each side of the connection box; the nozzle sprays a medicament on the broken part of the conveyor belt for cleaning, then the conveyor belt surface is scraped and cleaned by the cleaning plate, and finally the two broken ends of the conveyor belt are moved closer to the center of the connection box by the rotation of the rotating rods. At this time, the two broken ends of the conveyor belt are in a state of approaching each other, eliminating a large amount of manual work such as pulling and cleaning the two broken ends of the conveyor belt, and reducing the working intensity of workers when repairing the conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 is a perspective view of the present invention; Figure 2 is a side view of the present invention; Figure 3 is a state diagram of the connection box when it is merged; Figure 4 is a state diagram of the connection box when it is separated; Figure 5 is a schematic diagram of the inside of the connection box; Figure 6 is a state diagram of the upper rotating rod and the lower rotating rod when they are working; Figure 7 is a state diagram of the upper rotating rod and the lower rotating rod when they are stationary; Figure 8 is a perspective view of the turntable; Figure 9 is a schematic diagram of the connection part between the slider and the lower scraper; Figure 10 is a perspective view of the lower rotating rod; Figure 11 is a perspective view of the lower scraper; Figure 12 is a perspective view of the clamping rod when it is working; Figure 13 is a moving state diagram of the clamping rod according to the second channel, the third channel, the first channel, and the fourth channel; Figure 14 is a side schematic diagram of the clamping piece and the brush tube contacting the conveyor belt; Figure 15 is a front schematic diagram of the clamping piece and the brush tube contacting the conveyor belt.

[0019] In the figure: mobile platform 1, disassembly device 11, connection box 13, through groove 14, electric telescopic rod 15, rotating disc 16, first driving member 17, rotating rod 18, second driving member 19, cleaning plate 2, visual detection module 21, circulation device 22, nozzle 23, upper rotating rod 24, lower rotating rod 25, sliding groove 26, slider 27, guiding plate 28, upper scraping plate 3, lower scraping plate 31, cleaning brush 32, fixing plate 33, moving groove 34, first channel 35, second channel 36, third channel 37, fourth channel 38, guiding piece 39, clamping rod 4, moving plate 41, convex block 42, clamping block 43, friction plate 44, clamping piece 45, clamping groove 46, brush plate 5, linkage rod 51, brush rod 52, brush tube 53, brush groove 54, fixing frame 55, guiding roller 56, maintenance rod 6, maintenance block 61, detection plate 62. Detailed implementation manners

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1:

[0022] To effectively solve the above problems, as shown in the accompanying drawings of the specification Figures 1 - 15 it includes a mobile platform 1 and a disassembly device 11. The mobile platform 1 drives the disassembly device 11 to move along the conveyor belt, and the disassembly device 11 is used to disassemble the conveyor belt; the mobile platform 1 is a conventional intelligent mobile vehicle, realizing the function of the intelligent disassembly robot moving along the conveyor belt; the disassembly device 11 is a conventional manipulator for disassembly. While the mobile platform 1 drives the disassembly device 11 to move along the conveyor belt, the disassembly device 11 starts to disassemble the conveyor belt along the way; It further includes: A connection box 13, the connection boxes 13 are evenly arranged on both sides of the mobile platform 1, and a through groove 14 is opened in the middle part of one of the connection boxes 13. The connection boxes 13 are symmetrically distributed with the midline of the mobile platform 1 as the reference. The mutually close sides of the connection boxes 13 are clamped and sealed by rubber rings, and the mutually far sides are connected by electric telescopic rods 15 installed on both sides of the mobile platform 1; the inner walls of the connection boxes 13 are evenly rotatably connected with rotating discs 16, and the rotating discs 16 are connected to first driving members 17 installed on the connection boxes 13. One side of the rotating disc 16 is rotatably connected with a rotating rod 18. There are two rotating rods 18 evenly distributed, and one of them is connected to a second driving member 19 installed on the rotating disc 16. The conveyor belt bypasses between adjacent rotating rods 18; The cleaning plate 2 is evenly arranged on one side of the rotating disk 16, and one side of the cleaning plate 2 contacts the surface of the conveyor belt; the connection box 13 is evenly provided with a visual detection module 21, and the visual detection module 21 is used to detect the upper and lower surfaces of the conveyor belt; a circulation device 22 is installed on the connection box 13, and the circulation device 22 sprays a chemical agent onto the conveyor belt through a nozzle 23 arranged in the connection box 13; Two connection boxes 13, one of which is provided with a cleaning detection component; there is an opening at the top of the connection box 13 to facilitate workers to repair the conveyor belt; the rubber ring is a conventional sealing ring, the electric telescopic rod 15 is a conventional device for realizing the telescopic function, the first driving part 17 and the second driving part 19 are conventional devices for driving parts to rotate, such as motors; the visual detection module 21 is a conventional detection electrical appliance for detecting the conveyor belt by using image shooting. The visual detection technology is applied to the detection of coal mine belts. It mainly shoots the belt in real time through a digital camera and a high-speed image transmission system, and uses computer image processing and pattern recognition technology to detect the belt state. The visual processing technology can also detect various damage conditions on the belt, such as: long cracks, hidden cracks, transverse cracks, joint busbars, joint fractures, corner fractures, etc.; the circulation device 22 is a conventional device for liquid circulation, which is used to realize the spraying and suction circulation of the chemical agent in the connection box 13, and the chemical agent is a conventional solution for cleaning the conveyor belt.

[0023] Specific working process: During the long-term transportation of coal by the conveyor belt, the disassembly robot conducts periodic quality inspections on the conveyor belt, disassembles it during the repair process, and disassembles it after the work is completed; its working method is as follows: When inspecting the conveyor belt, the worker controls the mobile platform 1 to move to the designated position of the conveyor belt, and the disassembling device 11 lifts a part of the conveyor belt off the ground by means of conventional clamping; then, the electric telescopic rod 15 extends to drive the two connection boxes 13 to approach each other, and the lifted and suspended part of the conveyor belt is inserted into the connection box 13 through the through groove 14. The worker winds the part located in the connection box 13 around the rotating rod 18 so that the rotating rod 18 can drive the conveyor belt to rotate by rotation; subsequently, the mutually approaching sides of the two connection boxes 13 are clamped and sealed with rubber rings, achieving the purpose of combining the two connection boxes 13 into a box with an opening at the top, so that when the circulating device 22 sprays the medicine into the connection box 13 through the nozzle 23, it will not flow out from the connection and drip onto the electrical appliances at the bottom of the conveyor belt; the worker drives the rotating disk 16 to rotate by the rotation of the first driving member 17, and the rotating disk 16 drives the rotating rod 18 to swing. The conveyor belt located between adjacent rotating rods 18 is affected by the swing of the rotating rod 18, so that the part of the conveyor belt in contact with the rotating rod 18 is bent into a zigzag shape; on the one hand, it increases the contact area between the conveyor belt and the rotating rod 18, enabling the rotating rod 18 to drive the conveyor belt to rotate more effectively, avoiding contact with the cleaned conveyor belt and preventing slipping, improving the inspection efficiency of the conveyor belt, and thus improving the working efficiency of the disassembly robot; on the other hand, it makes the zigzag part of the conveyor belt in contact with the rotating rod 18 bent at both the top and the bottom, so that both the upper and lower surfaces of the conveyor belt have bent parts. The visual inspection module 21 inspects the bent parts on the upper and lower surfaces of the conveyor belt. That is, if there are hidden cracks or other scars on the surface of the conveyor belt, the conveyor belt at this part is bent, increasing the surface tension of this part of the conveyor belt, so that the hidden crack wound is opened or enlarged, facilitating the detection by the visual inspection module 21, improving the detection effect, avoiding leaving defects that cause the conveyor belt to break, and preventing the situation where the disassembly robot frequently disassembles and repairs the conveyor belt, thus improving the working effect of the disassembly robot; during the process of the rotating rod 18 driving the conveyor belt to rotate, the cleaning plate 2 rubs against the surface of the conveyor belt to remove the coal impurities on the surface of the conveyor belt, improving the cleanliness of the conveyor belt and facilitating the detection by the visual inspection module 21; moreover, the circulating device 22 sprays the medicine onto the conveyor belt through the nozzle 23, accelerating the removal of the coal on the surface of the conveyor belt, reducing the influencing factors of the inspection, and improving the inspection accuracy; When repairing the conveyor belt, the worker bypasses the two broken ends of the conveyor belt around two groups of rotating rods 18 in the connection box 13 respectively. There is a group of rotating rods 18 on each side of the connection box 13; the nozzle 23 sprays the medicament on the broken part of the conveyor belt for cleaning, and then scrapes and cleans the surface of the conveyor belt through the cleaning plate 2. Finally, the rotation of the rotating rod 18 brings the two broken ends of the conveyor belt closer to the center of the connection box 13. At this time, the two broken ends of the conveyor belt are in a state of approaching each other, eliminating a large amount of manual work such as pulling and cleaning the two broken ends of the conveyor belt, reducing the working intensity of the worker when repairing the conveyor belt, accelerating the repair efficiency of the conveyor belt, and improving the working efficiency of the disassembly robot; Subsequently, the worker repairs the conveyor belt through work such as grinding, gluing, and adding repair materials; When disassembling the conveyor belt, while the mobile platform 1 drives the disassembly device 11 to move along the conveyor belt, the disassembly device 11 starts to disassemble the conveyor belt along the way one by one, improving the convenience of conveyor belt disassembly; Through the application of the above-mentioned various methods, the disassembly robot can complete disassembly, detection, and repair work, expanding the application range of the disassembly robot, thereby improving the practicality.

[0024] Embodiment Two:

[0025] On the basis of Embodiment One, the rotating rod 18 includes: The upper rotating rod 24 is rotatably connected to one side of the rotating disk 16, and one end of the upper rotating rod 24 is connected to the second driving member 19; The lower rotating rod 25 slides in a chute 26 opened on one side of the rotating disk 16, and a slider 27 rotatably connected to one end of the lower rotating rod 25 slides in the chute 26. A spring is provided between the slider 27 and the chute 26; when at rest, the upper rotating rod 24 is located below the lower rotating rod 25; when working, the upper rotating rod 24 is located on one side of the lower rotating rod 25; The inner wall of the connection box 13 is evenly provided with guide plates 28, and one end of the lower rotating rod 25 contacts the guide plate 28. The guide plate 28 is arc-shaped around the rotating disk 16. One end of the guide plate 28 is far from the center of the rotating disk 16, and the other end is close to the center of the rotating disk 16; The cleaning plate 2 is composed of an upper scraping plate 3 and a lower scraping plate 31. The upper scraping plate 3 is located on one side of the upper rotating rod 24, and the lower scraping plate 31 is located on one side of the lower rotating rod 25. One end of the lower scraping plate 31 is fixedly connected to the slider 27. The upper scraping plate 3 contacts the upper surface of the conveyor belt, and the lower scraping plate 31 contacts the lower surface of the conveyor belt. One end of the cleaning plate 2 is provided with a cleaning brush 32, and a fixing plate 33 is provided at the top of the cleaning plate 2. A moving groove 34 is symmetrically opened in the fixing plate 33 with the midline as the axis. The moving groove 34 consists of four channels in a shape of a Chinese character 'Ri'. The left side of the 'Ri' shape is the first channel 35, the right side is the second channel 36, the upper and lower sides are the third channels 37, and the middle is the fourth channel 38. A guiding piece 39 is hinged to the connecting part of the fourth channel 38 and the second channel 36 through a torsion spring, and the guiding pieces 39 are symmetrically distributed up and down in the fourth channel 38. Two clamping rods 4 are slidably connected in the moving groove 34, and one side of each clamping rod 4 contacts the conveyor belt. A moving plate 41 with a T-shaped cross-section is provided in the connection box 13, and the two clamping rods 4 are slidably connected to one side of the moving plate 41 through springs. The moving plate 41 is connected to the fixing plate 33 through a spring. The surface of the rotating rod 18 is evenly provided with bumps 42, and the adjacent sides of the bumps 42 are inclined surfaces. One side of the moving plate 41 contacts the inclined surface of the bumps 42. One side of the clamping rod 4 contacting the conveyor belt is rotatably connected with a cylindrical clamping block 43, and the end of the clamping block 43 is in close contact with a friction plate 44 provided on the surface of the fixing plate 33. The friction plate 44 is located at one end of the fixing plate 33 and close to the first channel 35. When the clamping block 43 moves up and down, it rotates through the friction with the friction plate 44, and the adjacent clamping blocks 43 rotate in opposite directions. The outer surface of the clamping block 43 is hinged with a clamping piece 45 through a torsion spring. The clamping piece 45 is arc-shaped, and the clamping pieces 45 are evenly distributed in a ring shape. The clamping piece 45 is evenly provided with clamping grooves 46, and the cross-section of the clamping grooves 46 is V-shaped.

[0026] Specific working process: When detecting the conveyor belt, after the suspended part of the conveyor belt is lifted and enters the inside of the connection box 13, the conveyor belt is located between the upper rotating rod 24 and the lower rotating rod 25 at rest; when the rotating disk 16 drives the rotating rod 18 to swing, while the rotating disk 16 drives the upper rotating rod 24 to swing upward, it drives the lower rotating rod 25 to swing downward, so that the upper rotating rod 24 is located at a position slightly lower than one side of the lower rotating rod 25. The lower surface of the conveyor belt contacts the lower rotating rod 25, and the upper surface contacts the upper rotating rod 24, achieving the effect that the conveyor belt presents a zigzag shape when passing through the rotating rod 18; moreover, when the lower rotating rod 25 swings upward, it contacts the guide plate 28. Since one end of the guide plate 28 is far from the center of the rotating disk 16 and the other end is close to the center of the rotating disk 16, and the arc of the guide plate 28 faces the center of the rotating disk 16, the lower rotating rod 25 is guided by the guide plate 28, so that while the lower rotating rod 25 swings upward, it is squeezed by the guide plate 28 and slides in the chute 26 close to the upper rotating rod 24, achieving that the upper rotating rod 24 and the lower rotating rod 25 squeeze the conveyor belt in the middle, increasing the frictional force between the upper rotating rod 24 and the conveyor belt, and avoiding the situation of slipping caused by the influence of moisture such as residual chemicals when the upper rotating rod 24 drives the conveyor belt to rotate, thereby improving the detection efficiency of the conveyor belt; the lower rotating rod 25 contacts the guide plate 28, while the conveyor belt does not contact the guide plate 28, avoiding the generation of frictional resistance when the conveyor belt contacts the guide plate 28; When repairing the conveyor belt, the worker places the broken ends of the conveyor belt between the upper rotating rod 24 and the lower rotating rod 25 at rest. The upper rotating rod 24 and the lower rotating rod 25 clamp and drive the two ends of the conveyor belt during operation, making the broken ends of the conveyor belt approach each other, facilitating the repair operation by the worker; When the conveyor belt rotates, the upper rotating rod 24 and the upper scraper 3 swing upward together, and the lower rotating rod 25 and the lower scraper 31 swing downward together. When the lower rotating rod 25 approaches the upper rotating rod 24, it drives the slider 27 to slide in the chute 26. The slider 27 drives the lower scraper 31 to approach the upper scraper 3 together with the lower rotating rod 25 until the upper scraper 3 and the lower scraper 31 contact. The upper scraper 3 cleans the upper surface of the conveyor belt through the cleaning brush 32, and the lower scraper 31 cleans the lower surface of the conveyor belt through the cleaning brush 32. Through the driving and cleaning of the conveyor belt by the contact of the upper rotating rod 24 and the lower rotating rod 25, the disassembly robot can adapt to conveyor belts of different thicknesses, improving the applicable range; When the moving plate 41 is stationary, the moving plate 41 is located between adjacent bumps 42, the clamping rod 4 is located in the second channel 36, and the two guiding pieces 39 are in contact with each other under the influence of the torsion spring to close the communication port between the second channel 36 and the fourth channel 38; when the rotating rod 18 rotates to drive the bump 42 to rotate, one side of the moving plate 41 contacts the two inclined surfaces of the bump 42 and is guided. When the moving plate 41 contacts the inclined surface on one side of the bump 42, the moving plate 41 moves closer to the fixed plate 33 and the conveyor belt, and the moving plate 41 drives the clamping rod 4 to move closer to the fixed plate 33 and the conveyor belt; when the clamping rod 4 moves towards the conveyor belt, the combined guiding pieces 39 are inserted between adjacent clamping rods 4, and the clamping rod 4 is subjected to the inclined guiding action of the guiding pieces 39, so that the clamping rod 4 moves from the second channel 36 to the third channel 37, achieving the purpose of separating the two clamping rods 4. When the clamping rod 4 contacts the surface of the conveyor belt, the clamping rod 4 moves to the communication port between the third channel 37 and the first channel 35, and the clamping rod 4 moves and merges in the first channel 35 under the influence of the spring contraction to clamp and pull out the impurities on the surface of the conveyor belt; then, the moving plate 41 contacts the other inclined surface of the bump 42, and the bump 42 no longer pushes the moving plate 41 towards the conveyor belt. The moving plate 41 is affected by the spring reset contraction and drives the clamping rod 4 to move into the fourth channel 38 and move towards the second channel 36 to complete the reset. Until the combined clamping rod 4 drives the impurities to squeeze open and cross the combined two guiding pieces 39, and the two guiding pieces 39 swing from the separated state to the combined state after the clamping rod 4 passes by, that is, the clamping rod 4 is in the combined state when stationary, in the separated state when close to the conveyor belt, in the combined state when contacting the conveyor belt, and in the combined state when far from the conveyor belt, realizing the effect of the two clamping rods 4 clamping the surface of the conveyor belt, pulling out the impurities inserted on the surface of the conveyor belt and collecting them on the cleaning plate 2. Through the cooperation of the cleaning brush 32 and the clamping rod 4, the surface of the conveyor belt is cleaned and the impurities are pulled out, improving the cleaning degree of the conveyor belt, facilitating the detection of the conveyor belt, thereby improving the detection efficiency, and further improving the working efficiency of the disassembly robot. Moreover, the clamping rod 4 in the upper scraper 3 clamps and pulls out the impurities on the upper surface of the conveyor belt before the upper surface of the conveyor belt contacts the upper rotating rod 24; the clamping rod 4 in the lower scraper 31 clamps and pulls out the impurities on the lower surface of the conveyor belt before the lower surface of the conveyor belt contacts the lower rotating rod 25; in this way, it is avoided that the impurities remaining on the surface of the conveyor belt are squeezed and inserted deeper when passing through the upper rotating rod 24 and the lower rotating rod 25, thereby improving the cleaning degree of the surface of the conveyor belt, improving the detection efficiency, and further improving the working efficiency of the disassembly robot. When the two clamping rods 4 are combined in the No. 1 channel 35, the upper clamping rod 4 descends, so that the upper clamping block 43 contacts the friction plate 44 when it descends and rotates counterclockwise, and the lower clamping rod 4 rises, so that the lower clamping block 43 contacts the friction plate 44 when it rises and rotates clockwise. When the two clamping rods 4 are combined, the two clamping blocks 43 rotate in opposite directions, and both rotate toward the middle position of the moving plate 41. The clamping block 43 pushes the impurities embedded in the conveyor belt that are not clamped on the surface of the conveyor belt to the clamping rod 4 for collection by rolling contact, thereby increasing the area of ​​the conveyor belt pushed by the clamping rod 4, thereby increasing the amount of impurities pushed out, further improving the cleanliness of the conveyor belt surface, improving the detection efficiency, and thus improving the working efficiency of the disassembly robot; when the clamping rods 4 are combined, the clamping block 43 is away from the friction plate 44, and the friction plate 44 will not affect the movement and reset of the clamping block 43; The rotation of the clamp block 43 drives the arc-shaped clamping piece 45 to rotate, and the end of the clamping piece 45 contacts the surface of the conveyor belt, and the impurities embedded in the surface of the conveyor belt are buckled out, thereby improving the cleanliness of the conveyor belt surface, improving the detection efficiency, and further improving the working efficiency of the disassembly robot; and, since a V-shaped clamping groove 46 is provided on the clamping piece 45, if the impurities are embedded too deeply in the conveyor belt, the clamping piece 45 is not easy to be buckled out. Therefore, when the clamping piece 45 drives the clamping groove 46 to pass through the impurities, the impurities are in the clamping groove 46 and contact the deep V-shaped clamping groove 46. The clamping groove 46 clamps the impurities through the inner walls on both sides. As the clamping piece 45 moves away from the conveyor belt, the clamping groove 46 pulls the impurities out of the conveyor belt, just like the way a claw hammer drives a nail, thereby further improving the cleanliness of the conveyor belt surface.

[0027] Embodiment three:

[0028] On the basis of the second embodiment, one end of the cleaning plate 2 is slidably connected to a brush plate 5 through a spring, and the cleaning brush 32 is installed on one side of the brush plate 5; a linkage rod 51 is provided at the end of the brush plate 5, one end of the protrusion 42 is set as an inclined surface, the linkage rod 51 contacts the inclined surface at one end of the protrusion 42, and the moving plate 41 contacts the inclined surfaces on both sides of the protrusion 42; The cleaning brush 32 is composed of a plurality of brush rods 52, and the brush rods 52 are made of elastic material. A brush tube 53 is provided at the end of the brush rod 52. The outer ring surface of the brush tube 53 contacts the conveyor belt, and the two ends of the brush tube 53 are respectively facing the two side edges of the conveyor belt; the two ends of the brush tube 53 are evenly provided with serrated brush grooves 54.

[0029] Specific working process: During the rotation of the bump 42, the inclined surfaces on both sides of the bump 42 will contact and pass by the moving plate 41, driving the moving plate 41 to reciprocate along the fixed plate 33. And the inclined surface at one end of the bump 42 will contact and pass by the end of the linkage rod 51. Under the guiding action of the inclined surface at one end of the bump 42 on the end of the linkage rod 51, the linkage rod 51 drives the brush plate 5 to laterally move to one side. When the bump 42 passes over the end of the linkage rod 51, the brush plate 5 is affected by the spring contraction and reset, driving the linkage rod 51 to laterally move and reset to the other side, achieving the purpose of driving the cleaning brush 32 to reciprocate laterally. By increasing the way of the cleaning brush 32 sweeping the conveyor belt from left to right, the cleaning effect of the conveyor belt is improved. Moreover, during the process of the brush plate 5 driving the cleaning brush 32 to laterally move left and right, when the cleaning brush 32 contacts the conveyor belt, it is in a compressed and bent state. During the process of sweeping to one side, the cleaning brush 32 moves away from the conveyor belt and undergoes elastic recovery, throwing out the coal mine impurities mixed in the cleaning brush 32 through elastic recovery and moving inertia, discharging them from the cleaning brush 32, improving the cleanliness of the cleaning brush 32 during the working process, thereby improving the cleaning degree of the conveyor belt surface, improving the detection efficiency, and further improving the working efficiency of the disassembly robot; When the brush plate 5 laterally moves left and right, it drives the brush tube 53 to laterally move left and right through the brush rod 52. The brush tube 53 contacts and embeds the impurities on the surface of the conveyor belt through the serrated brush grooves 54, and clamps the impurities through the inner walls on both sides. As the brush tube 53 moves away from the conveyor belt, the clamping groove 46 pulls out the impurities from the conveyor belt, thereby improving the cleaning degree of the conveyor belt surface. Moreover, since the brush tube 53 is circular tubular and the brush grooves 54 are evenly arranged at both ends of the brush tube 53 and are annularly distributed, even when the brush rod 52 is in a bent state, the brush rod 52 can still drive the brush tube 53 and the brush grooves 54 to contact the impurities on the surface of the conveyor belt, further improving the cleaning degree of the conveyor belt.

[0030] Embodiment 4:

[0031] On the basis of Embodiment 3, a fixed frame 55 is provided at one end of the guide plate 28 away from the rotating disk 16. The conveyor belt enters the fixed frame 55 from the opening on one side of the fixed frame 55 and runs inside the fixed frame 55. The nozzles 23 are evenly installed in the upper and lower inner walls of the fixed frame 55. The nozzles 23 are inclined away from the rotating disk 16, and the nozzles 23 spray the agent with color display types onto the conveyor belt. A guide roller 56 is rotatably connected to the cleaning plate 2; A maintenance rod 6 is provided in the connection box 13. The maintenance rods 6 are symmetrically distributed up and down. The conveyor belt passes through between adjacent maintenance rods 6, and the maintenance rods 6 are away from the rotating disk 16. A maintenance block 61 is slidably connected in the maintenance rod 6, and the maintenance block 61 is connected to the maintenance rod 6 by bolts; On one side of the bottom of the maintenance rod 6 close to the rotating disk 16, an arc-shaped detection plate 62 is provided. The visual detection module 21 is respectively located above the detection plate 62 and on one side of the upper rotating rod 24.

[0032] Specific working process: The fixed frame 55 is U-shaped, and one side of the fixed frame 55 is open, so that when the connection box 13 is combined, the conveyor belt can enter the inside of the fixed frame 55 through the open side of the fixed frame 55; when the conveyor belt moves inside the fixed frame 55, it passes by the nozzle 23, and the nozzle 23 sprays a reagent with a color-developing type on the surface of the conveyor belt, such as a conveyor belt cleaning reagent with a color opposite to that of the conveyor belt. After the nozzle 23 sprays the conveyor belt, these colored reagents will penetrate into defects such as hidden cracks on the surface of the conveyor belt. When detecting after the conveyor belt cleaning is completed, these colored reagents will remain inside these defects, achieving the marking effect, enabling the vision detection module 21 to more easily discover these defective parts, facilitating detection, improving the detection efficiency, and thus improving the working efficiency of the disassembly robot; moreover, through the cooperation of the guide roller 56 and the detection plate 62, when the conveyor belt passes through the guide roller 56 and the detection plate 62, the conveyor belt in contact with the upper scraper 3 and the lower scraper 31 can be kept flat; During detection, the maintenance rod 6 does not work, and the conveyor belt normally passes through between adjacent maintenance rods 6; during repair, the two ends of the conveyor belt respectively pass through the maintenance rods 6 on both sides of the connection box 13, and there are two maintenance rods 6 distributed vertically on each side of the connection box 13; when splicing the broken ends of the conveyor belt, the worker drives the maintenance blocks 61 to approach each other by twisting the bolts, clamping and fixing the broken ends of the conveyor belt, facilitating the worker's repair work, improving the convenience of use of the disassembly robot, and thus improving the practicality; The conveyor belt bypasses the upper rotating rod 24, the top of the detection plate 62, and between adjacent maintenance rods 6, so that when the conveyor belt passes through the upper rotating rod 24, its lower surface is curved, and when the conveyor belt passes through the detection plate 62, its upper surface is curved, increasing the surface tension of this part of the conveyor belt, opening or expanding the wound of the hidden crack, facilitating the detection by the vision detection module 21, and improving the detection effect; moreover, the conveyor belt passing through here has been cleaned, reducing the influence of impurities on the detection result; The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent disassembling robot for a coal mine conveyor belt, comprising a mobile platform (1) and a disassembling device (11), wherein the mobile platform (1) drives the disassembling device (11) to move along the conveyor belt, and the disassembling device (11) is used to disassemble the conveyor belt; characterized in that: Also includes: A connection box (13), wherein the connection boxes (13) are evenly arranged on both sides of the mobile platform (1), and a through groove (14) is opened in the middle of one of the connection boxes (13); the sides of the connection boxes (13) that are close to each other are clamped and sealed by a rubber ring, and the sides that are away from each other are connected by electric telescopic rods (15) installed on both sides of the mobile platform (1); the inner wall of the connection box (13) is evenly rotatably connected to a rotating disk (16), and the rotating disk (16) is connected to a No. 1 driving member (17) installed on the connection box (13); one side of the rotating disk (16) is rotatably connected to a rotating rod (18), and there are two evenly distributed rotating rods (18), one of which is connected to a No. 2 driving member (19) installed on the rotating disk (16), and the conveyor belt passes around between adjacent rotating rods (18); A cleaning plate (2), wherein the cleaning plate (2) is evenly arranged on one side of the rotating disk (16), and one side of the cleaning plate (2) contacts the surface of the conveyor belt; visual detection modules (21) are evenly arranged in the connection box (13), and the visual detection module (21) is used to detect the upper surface and the lower surface of the conveyor belt; a circulation device (22) is installed on the connection box (13), and the circulation device (22) sprays a medicine onto the conveyor belt through a nozzle (23) arranged in the connection box (13).

2. The intelligent disassembly robot for coal mine conveyor belt according to claim 1 is characterized in that: The rotating rod (18) comprises: An upper rotating rod (24), wherein the upper rotating rod (24) is rotatably connected to one side of the rotating disk (16), and one end of the upper rotating rod (24) is connected to the second driving member (19); A lower rotating rod (25), wherein the lower rotating rod (25) slides in a slide groove (26) provided on one side of the rotating disk (16), and a slider (27) rotatably connected to one end of the lower rotating rod (25) slides in the slide groove (26), and a spring is provided between the slider (27) and the slide groove (26); The inner wall of the connection box (13) is evenly provided with guide plates (28), and one end of the lower rotating rod (25) contacts the guide plate (28), the guide plate (28) is arc-shaped and surrounds the rotating disk (16), one end of the guide plate (28) is away from the center of the rotating disk (16), and the other end is close to the center of the rotating disk (16); The cleaning plate (2) is composed of an upper scraping plate (3) and a lower scraping plate (31). The upper scraping plate (3) is located on one side of the upper rotating rod (24), and the lower scraping plate (31) is located on one side of the lower rotating rod (25). One end of the lower scraping plate (31) is fixedly connected to the slider (27). One end of the cleaning plate (2) is provided with a cleaning brush (32), and a fixing plate (33) is provided on the top of the cleaning plate (2). A moving groove (34) is symmetrically opened in the fixing plate (33) with the midline as the axis. The moving groove (34) consists of four channels in a shape like the Chinese character 'ri' (日). The left side of the 'ri' shape is the first channel (35), the right side is the second channel (36), the upper and lower sides are the third channels (37), and the middle is the fourth channel (38). A guiding piece (39) is hinged to the connecting part of the fourth channel (38) and the second channel (36) through a torsion spring, and the guiding pieces (39) are symmetrically distributed up and down in the fourth channel (38). Two clamping rods (4) are slidably connected in the moving groove (34), and one side of each clamping rod (4) contacts the conveyor belt. A moving plate (41) with a T-shaped cross-section is arranged in the connecting box (13), and the two clamping rods (4) are slidably connected to one side of the moving plate (41) through springs. The moving plate (41) is connected to the fixing plate (33) through a spring. The surface of the rotating rod (18) is evenly provided with bumps (42), and the adjacent sides of the bumps (42) are inclined surfaces. One side of the moving plate (41) contacts the inclined surfaces of the bumps (42).

3. The intelligent disassembly robot for coal mine conveyor belt according to claim 2 is characterized in that: One side of the clamping rod (4) in contact with the conveyor belt is rotatably connected with a cylindrical clamping block (43), and the end of the clamping block (43) is in close contact with a friction plate (44) arranged on the surface of the fixing plate (33). The friction plate (44) is located at one end of the fixing plate (33) and close to the first channel (35). When the clamping block (43) moves up and down, it rotates through the friction with the friction plate (44), and the adjacent clamping blocks (43) rotate in opposite directions.

4. The intelligent disassembly robot for coal mine conveyor belt according to claim 3 is characterized in that: Clamping pieces (45) are hinged to the outer surface of the clamping block (43) through torsion springs. The clamping pieces (45) are arc-shaped and are evenly distributed in a ring shape.

5. The intelligent disassembly robot for coal mine conveyor belt according to claim 4 is characterized in that: Clamping grooves (46) are evenly opened on the clamping pieces (45), and the cross-section of the clamping grooves (46) is V-shaped.

6. The intelligent disassembly robot for coal mine conveyor belt according to claim 2 is characterized in that: One end of the cleaning plate (2) is slidably connected with a brush plate (5) through a spring, and the cleaning brush (32) is installed on one side of the brush plate (5). A linkage rod (51) is arranged at the end of the brush plate (5). One end of the bump (42) is an inclined surface. The linkage rod (51) contacts the inclined surface at one end of the bump (42), and the moving plate (41) contacts the inclined surfaces on both sides of the bump (42).

7. The intelligent disassembly robot for coal mine conveyor belt according to claim 6 is characterized in that: The cleaning brush (32) is composed of a plurality of brush rods (52). The brush rods (52) are made of an elastic material. The end of each brush rod (52) is provided with a brush tube (53). The outer surface of the brush tube (53) contacts the conveyor belt, and the two ends of the brush tube (53) respectively face the two side edges of the conveyor belt. Sawtooth-shaped brush grooves (54) are evenly arranged at both ends of the brush tube (53).

8. The intelligent disassembly robot for coal mine conveyor belts according to claim 2 is characterized in that: A fixed frame (55) is provided at one end of the guide plate (28) away from the rotating disk (16), and the conveyor belt enters the fixed frame (55) from an opening on one side of the fixed frame (55) and runs in the fixed frame (55). The nozzles (23) are evenly installed in the upper and lower inner walls of the fixed frame (55). The nozzles (23) are tilted away from the rotating disk (16) and spray a color-developing agent onto the conveyor belt. A guide roller (56) is rotatably connected to the cleaning plate (2).

9. The intelligent disassembly robot for coal mine conveyor belts according to claim 8 is characterized in that: A maintenance rod (6) is provided in the connection box (13), the maintenance rods (6) are symmetrically distributed up and down, the conveyor belt passes between adjacent maintenance rods (6), and the maintenance rods (6) are away from the rotating disk (16); a maintenance block (61) is slidably connected in the maintenance rod (6), and the maintenance block (61) is connected to the maintenance rod (6) by bolts.

10. The intelligent disassembly robot for coal mine conveyor belts according to claim 9, characterized in that: A curved detection plate (62) is provided on one side of the bottom of the maintenance rod (6) close to the rotating disk (16), and the visual detection module (21) is respectively located above the detection plate (62) and on one side of the upper rotating rod (24).

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