Underground safety monitoring inspection device

Abstract

The invention discloses an underground safety monitoring and polling device, and belongs to the technical field of coal mine safety polling. Comprising a conveying belt body and an inspection robot. A jacking and extending assembly is installed between the inspection robot and the supporting plate, when the detected cracks on the conveying belt body need to be repaired or marked, the jacking and extending assembly drives the supporting plate to descend and abut against the conveying belt body, and the walking conveying belt body drives the inspection robot and the conveying belt body to move synchronously; a cleaning roller is arranged on the other side, close to the supporting plate, of the bottom of the inspection robot, two spraying heads are arranged on the side, close to the supporting plate, of the cleaning roller at equal intervals, and a transmission mechanism drives the corresponding spraying heads to distinguish slight cracks or serious cracks, detected by the inspection robot, on the conveying belt body; according to the invention, respective processing can be carried out according to the crack degree, the detection efficiency is effectively improved, and the problem that an existing robot lacks an effective processing means is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine safety inspection, and specifically relates to an underground safety monitoring and inspection device. Background Art

[0002] In underground operation scenarios such as coal mining, the conveyor belt is a key device for material transportation, and its operating condition directly affects the continuity and safety of production. The conveyor belt in the coal mine underground is in a high-load operation state for a long time and faces a complex environment, such as the impact of coal and the erosion of humid air. Under the action of these factors, slight cracks will continuously expand at a speed invisible to the naked eye but extremely fast. As time goes by, the cracks deepen and lengthen, and the structural integrity of the conveyor belt is severely damaged, eventually leading to the fracture of the conveyor belt. Once the conveyor belt breaks, it will not only cause the interruption of material transportation and the stagnation of coal mine production, but may also cause equipment damage, high maintenance costs, and even threaten the lives of underground workers.

[0003] In the early stage, the detection of internal cracks in the coal mine underground conveyor belt mainly relied on manual means. Coal miners needed to regularly patrol along the conveyor belt and rely on visual inspection with the naked eye and simple tool touch to judge whether there were cracks in the conveyor belt. However, this method has many disadvantages. On the one hand, the underground environment is dangerous, and workers face various safety risks such as gas explosion and water inrush. The working environment of manual inspection is harsh. On the other hand, the efficiency of manual detection is extremely low, and due to the limitations of human vision and touch, it is difficult to accurately detect cracks hidden deep inside and with fine widths in the conveyor belt, and the missed detection rate is extremely high. The conveyor belt fracture accidents caused by manual missed detection have brought huge economic losses and personnel casualty risks to coal mine production.

[0004] With the progress of technology, automated detection technology has gradually been applied to the field of coal mine underground conveyor belt detection, and inspection robots have emerged as the times require. However, the existing inspection robots have deficiencies in function. When cracks are detected, the existing robots lack effective treatment means. For slight cracks, they cannot be repaired in time, resulting in the gradual expansion of the cracks during subsequent operation. For severe cracks, there is also a lack of effective marking, which cannot provide strong support for subsequent maintenance and treatment.

[0005] Therefore, it is necessary to provide a new underground safety monitoring and inspection device to solve the above technical problems. Summary of the Invention

[0006] The present invention overcomes the deficiencies of the prior art and provides an underground safety monitoring and inspection device. The present invention is realized through the following technical solutions: An underground safety monitoring and inspection device, comprising: a conveyor belt body, an inspection robot, a support plate, a top extension component, a cleaning roller, a driving component, a spraying head and a transmission mechanism; slide rails are symmetrically installed along the inner side of the conveyor belt body along the direction of the conveyor belt body, and the inspection robot is slidably connected to the slide rails; support plates are symmetrically arranged below the inspection robot, and a top extension component is installed between the inspection robot and the support plate. When it is necessary to repair or mark the cracks detected on the conveyor belt body, the top extension component drives the support plate to descend and abut against the conveyor belt body, and the moving conveyor belt body drives the inspection robot to move synchronously with the conveyor belt body; A cleaning roller is arranged at the bottom of the inspection robot, and a driving component is installed between the inspection robot and the cleaning roller. The driving component drives the cleaning roller to clean the slightly cracked or severely cracked parts on the conveyor belt body. Two spraying heads are equidistantly arranged on one side of the cleaning roller close to the support plate. One spraying head is used to spray liquid glue to repair the slightly cracked parts, and one spraying head is used to spray marking paint to mark the severely cracked parts; a transmission mechanism is installed between the inspection robot and the spraying head, and the transmission mechanism drives the corresponding spraying head to differentially process the slightly cracked or severely cracked parts on the conveyor belt body detected by the inspection robot.

[0007] Furthermore, the top extension component includes a first electric push rod, an L-shaped rod, a spring and a sleeve. L-shaped rods are equidistantly and fixedly connected to both sides of the inspection robot. First electric push rods are arranged on both sides of the inspection robot. A sleeve is fixedly connected to one side of each of the two first electric push rods close to the inspection robot. The inner wall of the sleeve is slidably connected to the corresponding L-shaped rod. Springs are fixedly connected to the bottom of the inner wall of the sleeve, and one end of the spring contacts the corresponding L-shaped rod. The output end of the first electric push rod is rotatably connected to the corresponding support plate.

[0008] Furthermore, connecting rods are fixedly connected to the output ends of both of the first electric push rods. One end of the connecting rod is fixedly connected to the bottom end of the V-shaped air gathering plate. The V-shaped air gathering plate unfolds as the support plate descends, and the air flow is gathered by the V-shaped air gathering plate during the movement of the conveyor belt body; a fan-shaped air nozzle is fixedly connected to the intersection of the bottom ends of the V-shaped air gathering plate; the fan-shaped air nozzle faces the front of the inspection robot.

[0009] Furthermore, the driving component includes: a gear, a rack, a driving pulley and a driven pulley. Gears are rotatably connected to both sides of the inspection robot. Racks are fixedly connected to one side of the two slide rails away from each other. The gear is meshed with the corresponding rack. A shaft rod is connected to the center of the gear. One end of the shaft rod is fixedly connected to the driving pulley. Driven pulleys are respectively fixedly connected to both ends of the cleaning roller. The driving pulley and the corresponding driven pulley are connected by a belt transmission.

[0010] Further, one end of the shaft rod close to the driving pulley is rotatably connected with a connecting plate respectively, and one end of the connecting plate is rotatably connected with the corresponding end of the cleaning roller.

[0011] Further, a second electric push rod is rotatably connected to the bottom of the inspection robot. The output end of the second electric push rod is rotatably connected with a cross bar. Both ends of the cross bar are fixedly connected with the two connecting plates respectively. Guide plates are fixedly connected to both sides of the inspection robot near the corresponding gears. Arc grooves are formed at the bottom ends of the guide plates. Guide rods are fixedly connected to the inner sides of the two connecting plates. One end of the guide rod is slidably connected with the inner wall of the corresponding arc groove.

[0012] Further, the transmission mechanism includes a motor 1, a bidirectional threaded rod, a rotating rod and a fixing frame. A motor 1 is fixedly connected to the bottom end of the inspection robot. A worm is fixedly connected to the output end of the motor 1. A bidirectional threaded rod is rotatably connected to the bottom end of the inspection robot. A worm gear is fixedly connected to the middle of the bidirectional threaded rod. The worm and the worm gear are meshed. Slide blocks are respectively threadedly connected to both ends of the bidirectional threaded rod. The slide blocks are slidably connected to the bottom end of the inspection robot. Rotating rods are respectively rotatably connected to the bottom ends of the two slide blocks. One end of each of the two rotating rods is rotatably connected with the fixing frame. A motor 2 is fixedly connected to one end of the fixing frame. A lead screw is fixedly connected to the output end of the motor 2. A matching block is threadedly connected to the middle of the lead screw. A third electric push rod is fixedly connected to one side of the matching block. The output end of the third electric push rod is fixedly connected with the two spraying heads.

[0013] Further, storage tanks are symmetrically fixedly connected to the bottom of the inspection robot. A liquid glue for repairing slight cracks is contained in one of the storage tanks, and a marking paint for marking serious cracks is contained in the other storage tank. A pump body is fixedly connected to the bottom of the inspection robot. The two spraying heads are respectively communicated with the corresponding output ends of the pump body through hoses. The two input ends of the pump body are respectively communicated with the corresponding storage tanks.

[0014] Further, a pipe body is installed on one side of the conveyor belt body. A piston is slidably installed inside the pipe body. One end of the piston is fixedly connected with a steel cable. One end of the steel cable is fixedly connected with the top end of the inspection robot through a fixed pulley group. The other end of the piston is fixedly connected with a tension spring. One end of the tension spring is fixedly connected with the inside of the pipe body. One-way valves are symmetrically rotatably connected to the inner wall of the pipe body near the tension spring. Semi-circular grooves are formed at one ends of the two one-way valves close to each other.

[0015] Further, the fixed pulley group includes a first fixed pulley, a second fixed pulley and a third fixed pulley. The steel cable is led out from the inside of the pipe body and first bypasses the first fixed pulley installed near the end of the pipe body, then is redirected by the first fixed pulley and bypasses the second fixed pulley installed in the middle of the transverse direction of the conveyor belt body, and then is redirected by the second fixed pulley and bypasses the third fixed pulley to be fixedly connected with the inspection robot.

[0016] The beneficial effects of the present invention compared with the prior art are as follows: 1. Greatly improve the detection efficiency Through the setting of the top extension component, the inspection robot can run synchronously with the conveyor belt when detecting cracks in the conveyor belt, without stopping the machine, greatly improving the detection efficiency and ensuring the continuity of production; once a crack is detected, it can quickly make a judgment and start the corresponding processing mechanism, repair minor cracks in a timely manner, quickly mark and alarm for serious cracks, and reduce the time for crack development and deterioration.

[0017] 2. Have powerful processing capabilities For the detected minor cracks, through the coordinated work of the top extension component, the drive component and the transmission mechanism, it is possible to clean and repair the cracks with glue spraying, effectively preventing the expansion of minor cracks, extending the service life of the conveyor belt and reducing the maintenance cost; for serious cracks, it can clearly mark by spraying a special color marking paint through the spraying head, provide clear instructions for subsequent maintenance, and can also transmit information to the ground control center in a timely manner through the wireless communication module, facilitating the rapid arrangement of maintenance personnel for processing and reducing the production downtime.

[0018] 3. Optimize the cleaning and auxiliary functions The drive component drives the cleaning roller to rotate. At the same time, with the cooperation of components such as the second electric push rod and the guide plate, the cleaning roller can clean the dust at the abnormal part of the conveyor belt back and forth along the arc groove direction while rotating, ensuring the effect of subsequent glue spraying repair treatment and improving the accuracy of repair and marking; the V-shaped air gathering plate and the fan-shaped air nozzle can converge and direct the air flow to the internal detection area of the conveyor belt to assist the cleaning roller to better clean the surface of the conveyor belt.

[0019] 4. Through the cooperation of components such as the piston, the tension spring and the one-way valve, the smooth control of the return speed of the inspection robot is realized, ensuring the stability and safety of the equipment operation. Brief Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the underground safety monitoring and inspection device provided by the present invention; Figure 2 It is a schematic top view structural diagram of the inspection robot; Figure 3 It is a schematic side view structural diagram of the inspection robot; Figure 4 It is a schematic partial cross-sectional structural diagram of the inspection robot; Figure 5 It is for Figure 4 The enlarged view at C in; Figure 6 It is a schematic structural diagram of the top extension component; Figure 7It is a schematic structural diagram of a transmission mechanism; Figure 8 It is a schematic structural diagram of an inspection robot viewed from below; Figure 9 It is a schematic structural diagram of a pipe body; Figure 10 It is Figure 9 an enlarged view of part A in Figure 11 It is Figure 9 an enlarged view of part B in

[0021] Reference numerals in the figure: 1. Conveyor belt body; 2. Slide rail; 3. Inspection robot; 4. Pipe body; 5. Piston; 6. Support plate; 7. V-shaped air collecting plate; 8. Sector-shaped air nozzle; 9. Cleaning roller; 10. Spraying head; 11. First electric push rod; 12. L-shaped rod; 13. Spring; 14. Sleeve; 15. Connecting rod; 16. Gear; 17. Rack; 18. Connecting plate; 19. Driving pulley; 20. Driven pulley; 21. Second electric push rod; 22. Cross bar; 23. Guide plate; 24. Guide rod; 25. Motor 1; 26. Bidirectional threaded rod; 27. Rotating rod; 28. Fixed bracket; 29. Worm; 30. Worm gear; 31. Slide block; 32. Lead screw; 33. Fitting block; 34. Third electric push rod; 35. Storage tank; 36. Pump body; 37. Steel wire rope; 38. Tension spring; 39. Check valve; 40. Semi-circular groove; 41. Motor 2; 42. First fixed pulley; 43. Second fixed pulley; 44. Third fixed pulley. Specific embodiments

[0022] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail in combination with embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. The technical solutions of the present invention will be described in detail below in combination with embodiments and drawings, but the protection scope is not limited hereby.

[0023] See Figures 1 to 11, this embodiment proposes an underground safety monitoring and inspection device, including: a conveyor belt body 1, a pipe body 4, a support plate 6, a top extension assembly, a V-shaped air collecting plate 7, a cleaning roller 9, a driving assembly, a spraying head 10, and a transmission mechanism; Slide rails 2 are symmetrically installed on the inner side of the conveyor belt body 1 along the direction of the conveyor belt body 1. An inspection robot 3 is slidably connected to the slide rails 2. The bottom of the inspection robot 3 is symmetrically and rotatably connected with rollers, and the rollers are rollingly connected inside the slide rails 2, which can reduce the friction of the inspection robot 3 during movement. The inspection robot 3 is an existing device that uses a variety of advanced non-destructive testing technologies, such as ultrasonic waves, X-rays, etc. When the detection signal penetrates the conveyor belt body 1, if there is an internal crack, the signal will change due to reflection, refraction, or attenuation. The inspection robot 3 accurately judges whether there is a crack inside the conveyor belt body 1 and the position and approximate size of the crack by receiving and analyzing these changed signals. When the inspection robot 3 detects a crack inside the conveyor belt body 1, after analysis and calculation within the system, it judges whether it is a minor crack or a serious crack and makes corresponding treatments.

[0024] Support plates 6 are symmetrically arranged below the inspection robot 3, and anti-slip sheets are provided at the bottoms of the support plates 6, which can increase the friction between the support plates 6 and the conveyor belt body 1. A top extension assembly is installed between the inspection robot 3 and the support plate 6. When it is necessary to repair or mark the detected crack, the top extension assembly drives the support plate 6 to descend and contact the conveyor belt body 1. Under the action of the friction between the support plate 6 and the conveyor belt body 1, the conveyor belt body 1 in motion drives the inspection robot 3 to move synchronously with the conveyor belt body 1 along the direction of the slide rail 2. The inspection robot 3 and the conveyor belt body 1 remain relatively stationary, facilitating the treatment of the crack at this location.

[0025] The top extension assembly includes: a first electric push rod 11, an L-shaped rod 12, a spring 13, and a sleeve 14. L-shaped rods 12 are equidistantly and fixedly connected to both sides of the inspection robot 3. First electric push rods 11 are provided on both sides of the inspection robot 3. A sleeve 14 is fixedly connected to the side of each of the two first electric push rods 11 close to the inspection robot 3. The inner wall of the sleeve 14 is slidably connected to the corresponding L-shaped rod 12. Springs 13 are fixedly connected to the bottoms of the inner walls of the sleeves 14. One end of the spring 13 contacts the corresponding L-shaped rod 12. The output end of the first electric push rod 11 is rotatably connected to the corresponding support plate 6; when the support plate 6 contacts the conveyor belt body 1 and drives the inspection robot 3 to move synchronously with the conveyor belt body 1, the support plate 6 passes through the support roller at the bottom of the conveyor belt body 1, and the small up and down displacement of the first electric push rod 11 can be converted into the elastic deformation of the spring 13, playing a role in shock absorption.

[0026] The output ends of the two first electric push rods 11 are fixedly connected with connecting rods 15. One end of the connecting rod 15 is fixedly connected with the bottom end of the V-shaped air collecting plate 7. The V-shaped air collecting plate 7 is an existing device, which is a multi-stage telescopic structure, and the V-shaped air collecting plate 7 is located on one side of the bottom of the inspection robot 3 close to the support plate 6. The V-shaped air collecting plate 7 unfolds as the support plate 6 descends. During the movement of the conveyor belt body 1, the air flow is converged by the V-shaped air collecting plate 7. The intersection of the bottom ends of the V-shaped air collecting plate 7 is fixedly connected with a sector-shaped air nozzle 8. The sector-shaped air nozzle 8 faces the front of the inspection robot 3. The sector-shaped air nozzle 8 can direct the air flow converged by the V-shaped air collecting plate 7 to the crack detected at the lower part of the inspection robot 3, so that the conveyor belt body 1 at the crack can be purged before the crack is processed.

[0027] On the other side of the bottom of the inspection robot 3 close to the support plate 6, there is a cleaning roller 9. A driving component is installed between the inspection robot 3 and the cleaning roller 9. The driving component drives the cleaning roller 9 to clean the slightly cracked or severely cracked parts on the conveyor belt body 1. Two spraying heads 10 are equidistantly arranged on one side of the cleaning roller 9 close to the support plate 6. One of the spraying heads 10 is used to spray liquid glue to repair the slightly cracked parts, and the other spraying head 10 is used to spray marking paint to mark the severely cracked parts. A transmission mechanism is installed between the inspection robot 3 and the spraying heads 10. The transmission mechanism drives the corresponding spraying heads 10 to distinguish and process the slightly cracked or severely cracked parts on the conveyor belt body 1 detected by the inspection robot 3.

[0028] The driving component includes: a gear 16, a rack 17, a connecting plate 18, a driving belt pulley 19 and a driven belt pulley 20. Gears 16 are rotatably connected to both sides of the inspection robot 3. Racks 17 are fixedly connected to the mutually remote sides of the two slide rails 2. The gear 16 is meshed with the corresponding rack 17. When the inspection robot 3 moves synchronously with the conveyor belt body 1, the gear 16 rotates accordingly. A shaft rod is connected to the center of the gear 16. One end of the shaft rod is fixedly connected with the driving belt pulley 19. The two ends of the cleaning roller 9 are respectively fixedly connected with the driven belt pulleys 20. The driving belt pulley 19 and the corresponding driven belt pulley 20 are connected by a belt transmission, so that the cleaning roller 9 rotates together with the gear 16. One end of the shaft rod close to the driving belt pulley 19 is respectively rotatably connected with the connecting plate 18. One end of the connecting plate 18 is rotatably connected with the corresponding end of the cleaning roller 9, playing a supporting role.

[0029] The bottom of the inspection robot 3 is rotatably connected to a second electric push rod 21. The output end of the second electric push rod 21 is rotatably connected to a cross bar 22. The two ends of the cross bar 22 are respectively fixedly connected to two connecting plates 18. The second electric push rod 21 drives the cleaning roller 9 to rotate repeatedly around the shaft rod at the center of the gear 16 through the cross bar 22. Guide plates 23 are respectively fixedly connected to the positions on both sides of the inspection robot 3 close to the corresponding gears 16. Arc-shaped grooves are formed at the bottom ends of the guide plates 23. Guide rods 24 are respectively fixedly connected to the inner sides of the two connecting plates 18. One end of the guide rod 24 is slidably connected to the inner wall of the corresponding arc-shaped groove, ensuring the rotation amplitude and stability of the cleaning roller 9 during rotation.

[0030] The transmission mechanism includes: a first motor 25, a bidirectional threaded rod 26, a rotating rod 27 and a fixed frame 28. The bottom end of the inspection robot 3 is fixedly connected to a first motor 25. The output end of the first motor 25 is fixedly connected to a worm 29. The bottom end of the inspection robot 3 is rotatably connected to a bidirectional threaded rod 26. A worm gear 30 is fixedly connected to the middle of the bidirectional threaded rod 26. The worm 29 and the worm gear 30 are meshed and connected. When the first motor 25 is started, it drives the worm 29 to rotate, and the worm gear 30 and the bidirectional threaded rod 26 meshed with the worm 29 also rotate accordingly. The two ends of the bidirectional threaded rod 26 are respectively threadedly connected to sliders 31. A chute is formed at the top end of the slider 31, and the chute is slidably connected to the convex strip at the bottom end of the inspection robot 3. When the slider 31 moves along the axial direction of the bidirectional threaded rod 26, the stability of the movement is ensured. The bottom ends of the two sliders 31 are respectively rotatably connected to a rotating rod 27. One end of each of the two rotating rods 27 is rotatably connected to the fixed frame 28; Using the structural principle of a parallelogram, when the sliders 31 gather towards the middle of the bidirectional threaded rod 26, the fixed frame 28 at one end of the rotating rod 27 moves downward.

[0031] One end of the fixed frame 28 is fixedly connected to a second motor 41. The output end of the second motor 41 is fixedly connected to a lead screw 32. A mating block 33 is threadedly connected to the middle of the lead screw 32. One side of the mating block 33 is fixedly connected to a third electric push rod 34. The output end of the third electric push rod 34 is fixedly connected to the two spraying heads 10. Through the coordinated action of the second motor 41 and the third electric push rod 34, the spraying heads 10 can quickly move above the crack of the conveyor belt body 1. The bottom of the inspection robot 3 is symmetrically fixedly connected to storage tanks 35. One of the storage tanks 35 contains liquid glue for repairing minor cracks, and the other storage tank 35 contains marking paint for marking serious cracks. A pump body 36 is fixedly connected to the bottom of the inspection robot 3. The two spraying heads 10 are respectively communicated with the corresponding output ends of the pump body 36 through hoses. The two input ends of the pump body 36 are respectively communicated with the corresponding storage tanks 35.

[0032] One side of the conveyor belt body 1 is installed with a pipe body 4, and a piston 5 is slidably installed inside the pipe body 4; one end of the piston 5 is fixedly connected with a steel rope 37, and one end of the steel rope 37 is fixedly connected with the top end of the inspection robot 3 through a fixed pulley group. The fixed pulley group includes a first fixed pulley 42, a second fixed pulley 43 and a third fixed pulley 44. The steel rope 37 is led out from the inside of the pipe body 4 and first bypasses the first fixed pulley 42 installed near the end of the pipe body 4, then is redirected by the first fixed pulley 42 and bypasses the second fixed pulley 43 installed in the middle of the transverse direction of the conveyor belt body 1, and then is redirected by the second fixed pulley 43 and bypasses the third fixed pulley 44 to be fixedly connected with the inspection robot 3. The other end of the piston 5 is fixedly connected with a tension spring 38, and one end of the tension spring 38 is fixedly connected with the inside of the pipe body 4; on the inner wall of the pipe body 4 near one end of the tension spring 38, one-way valves 39 are symmetrically rotatably connected. One end of each of the two one-way valves 39 is provided with a semi-circular groove 40. Due to the one-way conduction characteristic of the one-way valve 39, the compressed air inside the pipe body 4 cannot flow out through the conventional path and can only be discharged from the semi-circular groove 40 opened on the one-way valve 39; as the piston 5 continuously compresses the air, the air is discharged from the semi-circular groove 40 at a uniform and slow speed, so that the speed of the inspection robot 3 can be smoothly controlled during the return process, realizing a uniform and slow return. This process ensures the smoothness of the inspection robot 3 during the return and avoids collisions or damage to the equipment that may be caused by too fast a speed.

[0033] Moreover, the friction force between the support plate 6 and the conveyor belt body 1 is greater than the pulling force of the tension spring 38 pulling the piston 5, so that after the support plate 6 contacts the conveyor belt body 1, it can drive the inspection robot 3 to move synchronously with the conveyor belt body 1, and at the same time, the inspection robot 3 can pull the tension spring 38 at the other end of the piston 5 through the steel rope 37; the time when the support plate 6 descends and contacts the conveyor belt body 1 is equal to the time when the inspection robot 3 detects that the abnormal part of the conveyor belt body 1 moves to directly below the inspection robot 3, so that while the inspection robot 3 moves with the conveyor belt body 1, the crack of the conveyor belt body 1 can just be in the area to be processed directly below the inspection robot 3, ensuring the accuracy of subsequent processing.

[0034] The working principle of the underground safety monitoring and inspection device provided by the present invention is as follows: 1. Telescopic support mechanism: Initially, the support plate 6 is in a retracted state, the inspection robot 3 is stationary on the slide rail 2, and the conveyor belt body 1 moves normally; the inspection robot 3 scans and detects the conveyor belt body 1 below; when the detection result is judged to be a slight crack, the control system of the inspection robot 3 itself sends a signal to control the first electric push rod 11 to start. The inner wall of the sleeve 14 fixedly connected to the side where the first electric push rods 11 approach each other is slidably connected to the L-shaped rods 12 fixedly connected to both sides of the inspection robot 3, and a spring 13 is fixed to the bottom end of the inner wall of the sleeve 14. When the first electric push rod 11 starts, it drives the support plate 6 rotatably connected to its output end to descend and contact the conveyor belt body 1. The output end of the first electric push rod 11 is connected to the bottom end of the V-shaped air collecting plate 7 through a connecting rod 15. When the support plate 6 contacts the conveyor belt body 1, the V-shaped air collecting plate 7 also descends and unfolds accordingly. The sector nozzles 8 at the intersection of the bottom ends of the V-shaped air collecting plate 7 can converge and direct the air flow to the detected area on the conveyor belt body 1, first blowing the crack to assist the cleaning roller 9 to better clean the surface of the conveyor belt body 1; at this time, due to the frictional force between the support plate 6 and the conveyor belt body 1, the inspection robot 3 moves synchronously with the conveyor belt body 1 along the slide rail 2. The time when the first electric push rod 11 pushes the support plate 6 to descend and contact the conveyor belt body 1 is equal to the time when the inspection robot 3 detects that the crack on the conveyor belt body 1 moves to directly below the inspection robot 3. Therefore, when the inspection robot 3 moves synchronously with the conveyor belt body 1, the detected crack is exactly located in the area to be processed directly below the inspection robot 3.

[0035] While the inspection robot 3 moves synchronously with the conveyor belt body 1, the steel rope 37 fixedly connected to its top end pulls the piston 5 to axially move inside the pipe body 4 through the guiding action of the fixed pulley group. The tension spring 38 fixedly connected to the other end of the piston 5 is stretched inside the pipe body 4. At the same time, the one-way valve 39 at the end of the pipe body 4 close to the tension spring 38 is opened by the air flow under the action of the piston 5, allowing the gas to flow into the pipe body 4.

[0036] 2. Start of the cleaning mechanism: The driving component starts to operate while the inspection robot 3 is moving. The gears 16 rotatably connected to both sides of the inspection robot 3 mesh with the racks 17 fixedly connected to both sides of the slide rail 2, causing the gears 16 to start rotating. The driving pulley 19 at one end of the shaft of the gear 16 rotates accordingly, and drives the driven pulleys 20 at both ends of the cleaning roller 9 to rotate through belt transmission, thereby realizing the rotation of the cleaning roller 9. One end of the shaft of the gear 16 corresponding to the cleaning roller 9 is rotatably connected through a connecting plate 18 to play a supporting role. In addition, the cross bar 22 between the output end of the second electric push rod 21 and the connecting plate 18 is rotatably connected. The guide rods 24 fixedly connected to the mutually approaching sides of the connecting plates 18 are slidably connected to the inner wall of the arc-shaped groove inside the guide plate 23. Furthermore, the cleaning roller 9 rotates back and forth along the arc-shaped groove while rotating, cleaning the dust at the crack of the conveyor belt body 1 directly below the inspection robot 3, ensuring the effect of subsequent processing.

[0037] 3. Minor crack repair: After the cleaning work of the cleaning roller 9 is completed, the second electric push rod 21 contracts, causing the cleaning roller 9 to reset. At this time, the first motor 25 starts, and the worm 29 fixedly connected to its output end meshes with the worm gear 30 in the middle of the bidirectional threaded rod 26 rotatably connected to the bottom end of the inspection robot 3, causing the bidirectional threaded rod 26 to start rotating. The sliders 31 threadedly connected to both ends of the bidirectional threaded rod 26 move towards the middle from both ends under the action of the thread, and the angle between the rotating rod 27 rotatably connected to the bottom end of the slider 31 and the bidirectional threaded rod 26 gradually becomes larger. Furthermore, the fixing frame 28 rotatably connected to one end of the rotating rod 27 moves downward and approaches the conveyor belt body 1.

[0038] At this time, according to the monitoring data of the inspection robot 3, the second motor 41 and the third electric push rod 34 inside the fixing frame 28 work together. The matching block 33 is driven to move along the axial direction of the lead screw 32 by the lead screw 32, and the third electric push rod 34 moves simultaneously with the matching block 33. After reaching the designated position, the third electric push rod 34 starts, driving the spraying head 10 fixedly connected to its output end to move above the minor crack. At this time, the liquid glue in one of the storage tanks 35 is transported to the corresponding spraying head 10 through a hose under the action of the pump body 36, realizing the glue spraying repair of the minor crack.

[0039] Severe crack treatment: For severe cracks, the same as the above steps, under the cooperation of the second motor 41 and the third electric push rod 34, the spraying head 10 is pushed to move above the severe crack. At this time, the marking paint in the other storage tank 35 is transported to the corresponding spraying head 10 through a hose under the action of the pump body 36, realizing the marking of the severe crack by spraying a special color marking paint. At the same time, the inspection robot 3 triggers the alarm mechanism through the wireless communication module, transmitting information such as the position and situation of the severe crack to the ground control center for timely arrangement of maintenance personnel to handle.

[0040] After the processing work on the conveyor belt body 1 at the abnormal location is completed, the drive mechanism resets, the jacking component resets and drives the V-shaped air collecting plate 7 to move upward. At this time, the piston 5 connected to the inspection robot 3 by the steel rope 37 will start to move towards the end of the spring 38 close to the pipe body 4 under the pulling force of the tension spring 38. When the piston 5 moves towards this end under the pulling force of the tension spring 38, the air in the pipe body 4 is gradually compressed. Due to the one-way conduction characteristic of the one-way valve 39, the compressed air cannot flow out through the conventional path and can only be discharged from the semi-circular groove 40 opened on the one-way valve 39. As the piston 5 continuously compresses the air, the air is discharged from the semi-circular groove 40 at a uniform and slow speed. Since the inspection robot 3 and the piston 5 are tightly connected by the steel rope 37, the speed of the inspection robot 3 can be stably controlled during the return process, realizing a uniform and slow return. This process ensures the stability of the inspection robot 3 during the return, avoiding collisions or damage to the equipment that may be caused by too fast speed, enabling the inspection robot 3 to safely and orderly return to the initial position after completing complex inspection tasks, and preparing for the next work of dealing with the crack of the conveyor belt body 1.

[0041] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific embodiments of the present invention are limited to this. For those of ordinary skill in the technical field to which the present invention belongs, without departing from the premise of the present invention, several simple deductions or substitutions can still be made, which should all be regarded as belonging to the patent protection scope determined by the claims submitted by the present invention.

Claims

1. An underground safety monitoring and inspection device, characterized in that, It includes a conveyor belt body (1), an inspection robot (3), a support plate (6), an extension component, a cleaning roller (9), a driving component, a spraying head (10), and a transmission mechanism; on the inner side of the conveyor belt body (1), slide rails (2) are symmetrically installed along the direction of the conveyor belt body (1), and the inspection robot (3) is slidably connected to the slide rails (2); support plates (6) are symmetrically arranged below the inspection robot (3), and an extension component is installed between the inspection robot (3) and the support plates (6). When it is necessary to repair or mark the cracks on the detected conveyor belt body (1), the extension component drives the support plates (6) to descend and abut against the conveyor belt body (1), and the moving conveyor belt body (1) drives the inspection robot (3) to move synchronously with the conveyor belt body (1). A cleaning roller (9) is provided at the bottom of the inspection robot (3), and a driving component is installed between the inspection robot (3) and the cleaning roller (9). The driving component drives the cleaning roller (9) to clean the slightly cracked or severely cracked parts on the conveyor belt body (1). Two spraying heads (10) are equidistantly arranged on one side of the cleaning roller (9) close to the support plate (6). One spraying head (10) is used to spray liquid glue to repair the slightly cracked parts, and one spraying head (10) is used to spray marking paint to mark the severely cracked parts; a transmission mechanism is installed between the inspection robot (3) and the spraying heads (10), and the transmission mechanism drives the corresponding spraying heads (10) to differentially process the slightly cracked or severely cracked parts on the conveyor belt body (1) detected by the inspection robot (3).

2. The downhole safety monitoring and inspection device according to claim 1, characterized in that, The extension component includes a first electric push rod (11), an L-shaped rod (12), a spring (13), and a sleeve (14). L-shaped rods (12) are equidistantly and fixedly connected to both sides of the inspection robot (3), and first electric push rods (11) are arranged on both sides of the inspection robot (3). On the side of each of the two first electric push rods (11) close to the inspection robot (3), a sleeve (14) is fixedly connected. The inner wall of the sleeve (14) is slidably connected to the corresponding L-shaped rod (12). Springs (13) are fixedly connected to the bottom of the inner wall of the sleeve (14), and one end of each spring (13) contacts the corresponding L-shaped rod (12). The output end of the first electric push rod (11) is rotatably connected to the corresponding support plate (6).

3. The downhole safety monitoring and inspection device according to claim 2, characterized in that, Connecting rods (15) are fixedly connected to the output ends of the two first electric push rods (11). One end of each connecting rod (15) is fixedly connected to the bottom end of a V-shaped air collecting plate (7). The V-shaped air collecting plate (7) unfolds as the support plate (6) descends, and the air flow is converged by the V-shaped air collecting plate (7) during the movement of the conveyor belt body (1); a fan-shaped air nozzle (8) is fixedly connected to the intersection of the bottom ends of the V-shaped air collecting plate (7); the fan-shaped air nozzle (8) faces the front of the inspection robot (3).

4. The downhole safety monitoring and inspection device according to claim 1, characterized in that, The driving assembly includes: a gear (16), a rack (17), a driving pulley (19) and a driven pulley (20). Gears (16) are rotatably connected to both sides of the inspection robot (3). Racks (17) are fixedly connected to the mutually remote sides of the two slide rails (2). The gears (16) are meshed with the corresponding racks (17). A shaft rod is connected to the center of the gear (16). One end of the shaft rod is fixedly connected to the driving pulley (19). Driven pulleys (20) are respectively fixedly connected to both ends of the cleaning roller (9). The driving pulley (19) and the corresponding driven pulley (20) are connected by belt drive.

5. The downhole safety monitoring and inspection device according to claim 4, characterized in that, One ends of the shaft rods close to the driving pulley (19) are respectively rotatably connected to connecting plates (18). One end of the connecting plate (18) is rotatably connected to the corresponding end of the cleaning roller (9).

6. The downhole safety monitoring and inspection device according to claim 5, characterized in that, A second electric push rod (21) is rotatably connected to the bottom of the inspection robot (3). The output end of the second electric push rod (21) is rotatably connected to a cross bar (22). Both ends of the cross bar (22) are respectively fixedly connected to the two connecting plates (18). Guide plates (23) are respectively fixedly connected to positions on both sides of the inspection robot (3) close to the corresponding gears (16). Arc-shaped grooves are formed at the bottom ends of the guide plates (23). Guide rods (24) are respectively fixedly connected to the inner sides of the two connecting plates (18). One end of the guide rod (24) is slidably connected to the inner wall of the corresponding arc-shaped groove.

7. The downhole safety monitoring and inspection device according to claim 1, characterized in that, The transmission mechanism includes a motor one (25), a bidirectional threaded rod (26), a rotating rod (27) and a fixing frame (28). A motor one (25) is fixedly connected to the bottom end of the inspection robot (3). A worm (29) is fixedly connected to the output end of the motor one (25). A bidirectional threaded rod (26) is rotatably connected to the bottom end of the inspection robot (3). A worm gear (30) is fixedly connected to the middle of the bidirectional threaded rod (26). The worm (29) is meshed with the worm gear (30). Sliders (31) are respectively threadedly connected to both ends of the bidirectional threaded rod (26). The sliders (31) are slidably connected to the bottom end of the inspection robot (3). Rotating rods (27) are respectively rotatably connected to the bottom ends of the two sliders (31). One ends of the two rotating rods (27) are respectively rotatably connected to the fixing frame (28). A motor two (41) is fixedly connected to one end of the fixing frame (28). A lead screw (32) is fixedly connected to the output end of the motor two (41). A mating block (33) is threadedly connected to the middle of the lead screw (32). A third electric push rod (34) is fixedly connected to one side of the mating block (33). The output end of the third electric push rod (34) is fixedly connected to the two spraying heads (10).

8. The downhole safety monitoring and inspection device according to claim 7, wherein Storage tanks (35) are symmetrically fixedly connected to the bottom of the inspection robot (3). A liquid glue for repairing slight cracks is contained in one of the storage tanks (35), and a marking paint for marking severe cracks is contained in the other storage tank (35). A pump body (36) is fixedly connected to the bottom of the inspection robot (3). The two spraying heads (10) are respectively communicated with the corresponding output ends of the pump body (36) through hoses. The two input ends of the pump body (36) are respectively communicated with the corresponding storage tanks (35).

9. The downhole safety monitoring and inspection device according to claim 1, wherein, One side of the conveyor belt body (1) is provided with a pipe body (4), and a piston (5) is slidably installed inside the pipe body (4); one end of the piston (5) is fixedly connected to a steel rope (37), one end of the steel rope (37) is fixedly connected to the top of the inspection robot (3) through a fixed pulley set, the other end of the piston (5) is fixedly connected to a tension spring (38), and one end of the tension spring (38) is fixedly connected to the inside of the pipe body (4); one-way valves (39) are symmetrically rotatably connected to the inner wall of the pipe body (4) near one end of the tension spring (38), and semi-circular grooves (40) are formed at one ends of the two one-way valves (39) close to each other.

10. The downhole safety monitoring and inspection device according to claim 9, characterized in that, The fixed pulley set includes a first fixed pulley (42), a second fixed pulley (43) and a third fixed pulley (44). The steel rope (37) is led out from the inside of the pipe body (4), first bypasses the first fixed pulley (42) installed near the end of the pipe body (4), then is redirected by the first fixed pulley (42) and bypasses the second fixed pulley (43) installed in the middle of the transverse direction of the conveyor belt body (1), and after being redirected by the second fixed pulley (43), bypasses the third fixed pulley (44) and is fixedly connected to the inspection robot (3).

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