An underground safety monitoring and inspection device

Abstract

The present invention discloses an underground safety monitoring and inspection device, which belongs to the technical field of coal mine safety inspection; it comprises a conveyor belt body, an inspection robot, etc.; a jacking assembly is installed between the inspection robot and a support plate, and when it is necessary to repair or mark the cracks on the detected conveyor belt body, the jacking assembly drives the support plate to descend and counteract the conveyor belt body, and the inspection robot and the conveyor belt body are driven to move synchronously by the moving conveyor belt body; a cleaning roller is provided on the other side of the bottom of the inspection robot close to the support plate, and two spray heads are equidistantly provided on the side of the cleaning roller close to the support plate, and a transmission mechanism drives the corresponding spray heads to perform differential treatment on slight cracks or serious cracks on the conveyor belt body detected by the inspection robot; the present invention can treat them separately according to the degree of the cracks, effectively improves the detection efficiency, and solves the problem that the existing robots lack effective treatment means.

Description

Technical Field

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

[0002] In underground operations such as coal mining, conveyor belts are key equipment for material transportation, and their operating conditions directly affect the continuity and safety of production. Conveyor belts in coal mines are in high-load operation for a long time and face complex environments, such as coal impact and humid air erosion. Under the influence of these factors, slight cracks will continue to expand at an extremely fast speed that is invisible to the naked eye. As time goes by, the cracks continue to deepen and lengthen, and the structural integrity of the conveyor belt is severely damaged, eventually leading to the breakage 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 days, the detection of internal cracks in conveyor belts in coal mines mainly relied on manual means. Coal miners had to patrol along the conveyor belts regularly, and rely on visual observation and simple tools to touch to determine whether there were cracks in the conveyor belts. However, this method has many disadvantages. On the one hand, the underground environment is dangerous, and workers face multiple safety risks such as gas explosions and water seepage. The working environment of manual inspections is harsh. On the other hand, the efficiency of manual inspections is extremely low. Due to the limitations of human vision and touch, it is difficult to accurately detect cracks that are hidden deep inside the conveyor belt and have a fine width. The missed detection rate remains high. Conveyor belt breakage accidents caused by manual missed detection have brought huge economic losses and casualties to coal mine production.

[0004] With the advancement of science and technology, automated detection technology has gradually been applied to the field of underground conveyor belt inspection in coal mines, and inspection robots have emerged. However, existing inspection robots have functional deficiencies. When cracks are detected, existing robots lack effective processing methods. For minor cracks, they cannot be repaired in time, resulting in the cracks gradually expanding during subsequent operation. For serious cracks, there is also a lack of effective marking, which cannot provide strong support for subsequent maintenance and processing.

[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 shortcomings of the prior art and proposes an underground safety monitoring and inspection device; the present invention is achieved through the following technical solutions:

[0007] An underground safety monitoring and inspection device comprises: a conveyor belt body, an inspection robot, a support plate, a jacking assembly, a cleaning roller, a drive assembly, a spray head, and a transmission mechanism; slide rails are symmetrically installed on 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 jacking assembly is installed between the inspection robot and the support plate. When it is necessary to repair or mark a crack on the conveyor belt body, the jacking assembly drives the support plate to descend and abut against the conveyor belt body, and the inspection robot and the conveyor belt body are driven by the moving conveyor belt body to move synchronously;

[0008] A cleaning roller is provided at the bottom of the inspection robot, and a drive assembly is installed between the inspection robot and the cleaning roller. The drive assembly drives the cleaning roller to clean slight cracks or severe cracks on the conveyor belt body. Two spray heads are equidistantly provided on the side of the cleaning roller close to the support plate, one spray head is used to spray liquid glue to repair slight cracks, and the other spray head is used to spray marking paint to mark severe cracks; a transmission mechanism is installed between the inspection robot and the spray head, and the transmission mechanism drives the corresponding spray head to perform differential treatment on slight cracks or severe cracks on the conveyor belt body detected by the inspection robot.

[0009] Furthermore, the extension assembly includes a first electric push rod, an L-shaped rod, a spring and a sleeve. The L-shaped rods are equidistantly fixedly connected on both sides of the inspection robot. A first electric push rod is provided on both sides of the inspection robot. The two first electric push rods are fixedly connected to the sleeve on the side close to the inspection robot. The inner wall of the sleeve is slidingly connected to the corresponding L-shaped rod. The bottom of the inner wall of the sleeve is fixedly connected to a spring. One end of the spring is in contact with the corresponding L-shaped rod. The output end of the first electric push rod is rotatably connected to the corresponding support plate.

[0010] Furthermore, the output ends of the two first electric push rods are fixedly connected to a connecting rod, one end of the connecting rod is fixedly connected to the bottom end of the V-shaped wind gathering plate, the V-shaped wind gathering plate is unfolded as the support plate descends, and the airflow is gathered through the V-shaped wind gathering plate during the movement of the conveyor belt body; a fan-shaped wind nozzle is fixedly connected to the intersection of the bottom ends of the V-shaped wind gathering plates; the fan-shaped wind nozzle faces the front of the inspection robot.

[0011] Furthermore, the driving assembly includes: gears, racks, driving pulleys and driven pulleys. Gears are rotatably connected on both sides of the inspection robot. Racks are fixedly connected on the sides of the two slide rails that are away from each other. The gears and the corresponding racks are meshed and connected. A shaft is connected to the center of the gear, one end of the shaft is fixedly connected to the driving pulley, and both ends of the cleaning roller are fixedly connected to the driven pulleys respectively. The driving pulley and the corresponding driven pulley are connected through a belt transmission.

[0012] Furthermore, one end of the shaft rod close to the driving pulley is rotatably connected to a connecting plate, and one end of the connecting plate is rotatably connected to the corresponding end of the cleaning roller.

[0013] Furthermore, the bottom of the inspection robot is rotatably connected to a second electric push rod, and the output end of the second electric push rod is rotatably connected to a cross bar, and the two ends of the cross bar are respectively fixedly connected to the two connecting plates; the two sides of the inspection robot are fixedly connected to the positions near the corresponding gears, and the bottom ends of the guide plates are provided with arc grooves, and the inner sides of the two connecting plates are fixedly connected to guide rods, and one end of the guide rod is slidably connected to the inner wall of the corresponding arc groove.

[0014] Furthermore, the transmission mechanism includes a motor 1, a bidirectional threaded rod, a rotating rod and a fixed frame. The bottom end of the inspection robot is fixedly connected to the motor 1, the output end of the motor 1 is fixedly connected to the worm, the bottom end of the inspection robot is rotatably connected to the bidirectional threaded rod, the middle part of the bidirectional threaded rod is fixedly connected to the worm gear, the worm and the worm gear are meshingly connected, the two ends of the bidirectional threaded rod are respectively threadedly connected to sliders, the slider is slidably connected to the bottom end of the inspection robot, the bottom ends of the two sliders are respectively rotatably connected to the rotating rod, and one end of the two rotating rods is rotatably connected to the fixed frame; one end of the fixed frame is fixedly connected to the motor 2, the output end of the motor 2 is fixedly connected to the screw rod, the middle part of the screw rod is threadedly connected to the matching block, one side of the matching block is fixedly connected to the third electric push rod, and the output end of the third electric push rod is fixedly connected to the two spray heads.

[0015] Furthermore, the bottom of the inspection robot is symmetrically fixedly connected to storage tanks, one of which is filled with liquid glue for repairing minor cracks, and the other is filled with marking paint for marking severe cracks. The bottom of the inspection robot is fixedly connected to a pump body, and the two spray heads are respectively connected to the corresponding output ends of the pump body through hoses, and the two input ends of the pump body are respectively connected to the corresponding storage tanks.

[0016] Furthermore, a tube body is installed on one side of the conveyor belt body, and a piston is slidably installed inside the tube body; one end of the piston is fixedly connected to a steel rope, one end of the steel rope is fixedly connected to the top of the inspection robot through a fixed pulley set, and the other end of the piston is fixedly connected to a tension spring, one end of the tension spring is fixedly connected to the inside of the tube body; a one-way valve is symmetrically connected to the inner wall of one end of the tube body close to the tension spring, and a semicircular groove is provided at the ends of the two one-way valves close to each other.

[0017] Furthermore, the fixed pulley group includes a first fixed pulley, a second fixed pulley and a third fixed pulley. The steel rope is led out from the inside of the tube body and first passes around the first fixed pulley installed near the end of the tube body, then is redirected by the first fixed pulley and passes around the second fixed pulley installed in the horizontal middle of the conveyor belt body, and then is redirected by the second fixed pulley and passes around the third fixed pulley to be fixedly connected to the inspection robot.

[0018] The beneficial effects of the present invention compared to the prior art are:

[0019] 1. Significantly improve detection efficiency

[0020] The setting of the top extension component enables the inspection robot to run synchronously with the conveyor belt when it detects 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 activate the corresponding processing mechanism. Minor cracks can be repaired in time, and serious cracks can be quickly marked and alarmed, reducing the time for crack development and deterioration.

[0021] 2. Have strong processing capabilities

[0022] For minor cracks detected, the coordinated work of the jacking assembly, drive assembly and transmission mechanism can achieve cleaning and glue spraying repair of the cracks, effectively preventing the expansion of minor cracks, extending the service life of the conveyor belt and reducing maintenance costs; for serious cracks, special color marking paint can be sprayed through the spray head to clearly mark them, providing clear instructions for subsequent maintenance, and can also transmit information to the ground control center in a timely manner through the wireless communication module, so as to quickly arrange maintenance personnel to handle them and reduce production downtime.

[0023] 3. Optimize cleaning and auxiliary functions

[0024] The cleaning roller is driven by the driving assembly to rotate. At the same time, with the cooperation of the second electric push rod, guide plate and other components, the cleaning roller can clean the dust from abnormal parts of the conveyor belt back and forth along the arc groove while rotating, ensuring the effect of subsequent glue spraying repair treatment and improving the accuracy of repair and marking; the V-shaped wind concentrator and fan-shaped wind nozzle can converge and guide the airflow to the internal detection area of the conveyor belt, assisting the cleaning roller to better clean the conveyor belt surface.

[0025] 4. Through the cooperation of components such as the piston, tension spring and one-way valve, the return speed of the inspection robot is smoothly controlled, ensuring the stability and safety of the equipment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the underground safety monitoring and inspection device provided by the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the inspection robot from a bird's-eye view;

[0028] Figure 3 This is a schematic diagram of the structure of the inspection robot from the side;

[0029] Figure 4 This is a schematic diagram of the structure of a partial cross-section of the inspection robot;

[0030] Figure 5 for Figure 4 Enlarged view of point C in the middle;

[0031] Figure 6 Schematic diagram of the structure of the top extension component;

[0032] Figure 7 It is a structural diagram of the transmission mechanism;

[0033] Figure 8 This is a schematic diagram of the inspection robot's structure when viewed from above;

[0034] Figure 9 Schematic diagram of the structure of the tube body;

[0035] Figure 10 for Figure 9 Enlarged view of point A in the middle;

[0036] Figure 11 for Figure 9 Enlarged view of point B in the middle.

[0037] Numbers in the figure:

[0038] 1. Conveyor belt body; 2. Slide rail; 3. Inspection robot; 4. Tube; 5. Piston; 6. Support plate; 7. V-shaped air collecting plate; 8. Fan-shaped air nozzle; 9. Cleaning roller; 10. Spray 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. Crossbar; 23 , guide plate; 24, guide rod; 25, motor one; 26, two-way threaded rod; 27, rotating rod; 28, fixed frame; 29, worm; 30, worm gear; 31, slider; 32, screw rod; 33, matching block; 34, third electric push rod; 35, storage tank; 36, pump body; 37, steel rope; 38, tension spring; 39, one-way valve; 40, semicircular groove; 41, motor two; 42, first fixed pulley; 43, second fixed pulley; 44, third fixed pulley. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail with reference to the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. The technical solutions of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0040] See also Figures 1 to 11This 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 component, a V-shaped wind gathering plate 7, a cleaning roller 9, a drive component, a spray head 10 and a transmission mechanism; the inner side of the conveyor belt body 1 is symmetrically installed with a slide rail 2 along the direction of the conveyor belt body 1, and an inspection robot 3 is slidably connected to the slide rail 2. The bottom of the inspection robot 3 is symmetrically connected to the roller, and the roller is rollingly connected inside the slide rail 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 ultrasound and X-rays. When the detection signal penetrates the conveyor belt body 1, if it encounters an internal crack, the signal will change due to reflection, refraction or attenuation. The inspection robot 3 receives and analyzes these changed signals to accurately determine whether there is a crack inside the conveyor belt body 1, as well as the location and approximate size of the crack. When the inspection robot 3 detects a crack inside the conveyor belt body 1, it will determine whether it is a minor crack or a serious crack through internal analysis and calculation within the system, and take appropriate measures.

[0041] Support plates 6 are symmetrically arranged below the inspection robot 3. Anti-slip sheets are provided at the bottom of each support plate 6 to increase the friction between the support plate 6 and the conveyor belt body 1. A jacking assembly is installed between the inspection robot 3 and the support plate 6. When a detected crack needs to be repaired or marked, the jacking assembly drives the support plate 6 down and into contact with the conveyor belt body 1. Under the action of the friction between the support plate 6 and the conveyor belt body 1, the moving conveyor belt body 1 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, making it easier to repair the cracks at this location.

[0042] The extending assembly includes: a first electric push rod 11, an L-shaped rod 12, a spring 13 and a sleeve 14. The L-shaped rod 12 is equidistantly fixedly connected to both sides of the inspection robot 3. A first electric push rod 11 is provided on both sides of the inspection robot 3. The two first electric push rods 11 are fixedly connected to the sleeve 14 on the side close to the inspection robot 3. The inner wall of the sleeve 14 is slidingly connected to the corresponding L-shaped rod 12. The bottom of the inner wall of the sleeve 14 is fixedly connected to the spring 13. 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 elastic deformation of the spring 13, which plays a shock-absorbing role.

[0043] The output ends of the two first electric push rods 11 are fixedly connected to a connecting rod 15, one end of the connecting rod 15 is fixedly connected to the bottom end of the V-shaped wind gathering plate 7, the V-shaped wind gathering plate 7 is an existing device, which is a multi-stage retractable structure, and the V-shaped wind gathering plate 7 is located on the side of the bottom of the inspection robot 3 close to the support plate 6; the V-shaped wind gathering plate 7 is unfolded as the support plate 6 descends, and the airflow is gathered by the V-shaped wind gathering plate 7 during the movement of the conveyor belt body 1; the bottom intersection of the V-shaped wind gathering plate 7 is fixedly connected to a fan-shaped wind nozzle 8; the fan-shaped wind nozzle 8 faces the front of the inspection robot 3; the fan-shaped wind nozzle 8 can guide the airflow gathered by the V-shaped wind gathering plate 7 to the crack detected at the lower part of the inspection robot 3, and then the conveyor belt body 1 at the crack can be blown before the crack is treated.

[0044] A cleaning roller 9 is provided on the other side of the bottom of the inspection robot 3 near the support plate 6, 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 slight cracks or serious cracks on the conveyor belt body 1. Two spray heads 10 are equidistantly provided on the side of the cleaning roller 9 near the support plate 6, one of the spray heads 10 is used to spray liquid glue to repair slight cracks, and the other spray head 10 is used to spray marking paint to mark serious cracks; a transmission mechanism is installed between the inspection robot 3 and the spray head 10, and the transmission mechanism drives the corresponding spray head 10 to perform different treatments on the slight cracks or serious cracks on the conveyor belt body 1 detected by the inspection robot 3.

[0045] The driving assembly includes: a gear 16, a rack 17, a connecting plate 18, a driving pulley 19 and a driven pulley 20. Both sides of the inspection robot 3 are rotatably connected to the gear 16, and the two sides of the slide rails 2 that are away from each other are fixedly connected to the rack 17. The gear 16 and the corresponding rack 17 are meshed and connected. When the inspection robot 3 moves synchronously with the conveyor belt body 1, the gear 16 rotates accordingly. The center of the gear 16 is connected to a shaft, one end of the shaft is fixedly connected to the driving pulley 19, and the two ends of the cleaning roller 9 are respectively fixedly connected to the driven pulley 20. The driving pulley 19 and the corresponding driven pulley 20 are connected by belt transmission, so that the cleaning roller 9 rotates with the gear 16, and the end of the shaft close to the driving pulley 19 is rotatably connected to the connecting plate 18. One end of the connecting plate 18 is rotatably connected to the end corresponding to the cleaning roller 9, which plays a supporting role.

[0046] The bottom of the inspection robot 3 is rotatably connected to a second electric push rod 21, and 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 the two connecting plates 18. The second electric push rod 21 drives the cleaning roller 9 to rotate repeatedly around the axis rod in the center of the gear 16 through the cross bar 22. The positions on both sides of the inspection robot 3 near the corresponding gears 16 are respectively fixedly connected with guide plates 23. The bottom ends of the guide plates 23 are provided with arc grooves. The inner sides of the two connecting plates 18 are fixedly connected with guide rods 24. One end of the guide rod 24 is slidably connected to the inner wall of the corresponding arc groove to ensure the rotation amplitude of the cleaning roller 9 and the stability during rotation.

[0047] The transmission mechanism includes: a 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 the motor 25, and the output end of the motor 25 is fixedly connected to the worm 29. The bottom end of the inspection robot 3 is rotatably connected to the bidirectional threaded rod 26. The middle part of the bidirectional threaded rod 26 is fixedly connected to the worm gear 30. The worm 29 and the worm gear 30 are meshed and connected. When the motor 25 is started, it drives the worm 29 to rotate, and the worm gear 30 meshed with the worm 29 and the bidirectional threaded rod 26 also rotate accordingly. Sliders 31 are threadedly connected to both ends of the threaded rod 26, and a slide groove is provided at the top of the slide 31. The slide groove is slidably connected to the convex strip at the bottom end of the inspection robot 3. When the slide 31 moves axially along the bidirectional threaded rod 26, the stability of the movement is ensured. The bottom ends of the two slides 31 are rotatably connected to the rotating rod 27, and one end of the two rotating rods 27 is rotatably connected to the fixed frame 28. Using the structural principle of a parallelogram, when the slide 31 gathers toward the middle of the bidirectional threaded rod 26, the fixed frame 28 at one end of the rotating rod 27 moves downward.

[0048] One end of the fixed frame 28 is fixedly connected to motor 2 41, and the output end of motor 2 41 is fixedly connected to a screw rod 32, the middle part of the screw rod 32 is threadedly connected to a matching block 33, and one side of the matching block 33 is fixedly connected to a third electric push rod 34, and the output end of the third electric push rod 34 is fixedly connected to the two spray heads 10. Through the coordinated action of motor 2 41 and the third electric push rod 34, the spray head 10 can be quickly moved to 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 which is filled with liquid glue for repairing minor cracks, and the other storage tank 35 is filled with marking paint for marking serious cracks. The bottom of the inspection robot 3 is fixedly connected to a pump body 36, and the two spray heads 10 are respectively connected to the corresponding output ends of the pump body 36 through hoses, and the two input ends of the pump body 36 are respectively connected to the corresponding storage tanks 35.

[0049] A tube body 4 is installed on one side of the conveyor belt body 1, and a piston 5 is slidably installed inside the tube body 4; one end of the piston 5 is fixedly connected to a steel rope 37, and one end of the steel rope 37 is fixedly connected to the top 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 tube body 4 and first passes around the first fixed pulley 42 installed near the end of the tube body 4, and then passes around the second fixed pulley 43 installed in the transverse middle of the conveyor belt body 1 after being redirected by the second fixed pulley 43, and then passes around the third fixed pulley 44 and is fixedly connected to the inspection robot 3. The other end of the piston 5 is fixedly connected to a tension spring 38. One end of the tension spring 38 The end is fixedly connected to the interior of the tube body 4; the inner wall of one end of the tube body 4 close to the tension spring 38 is symmetrically connected to a one-way valve 39, and the two one-way valves 39 are provided with a semicircular groove 40 at one end close to each other. Due to the unidirectional conduction characteristics of the one-way valve 39, the compressed air inside the tube body 4 cannot flow out from the conventional path and can only be discharged from the semicircular groove 40 opened on the one-way valve 39; as the piston 5 continues to compress the air, the air is discharged from the semicircular 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, and a uniform and slow return is achieved. This process ensures the stability of the inspection robot 3 when returning, and avoids collisions or damage to the equipment that may be caused by excessive speed.

[0050] In addition, 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 and the conveyor belt body 1 to move synchronously. 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 the abnormality of the conveyor belt body 1 and moves to the bottom of the inspection robot 3, so that when the inspection robot 3 moves with the conveyor belt body 1, the crack of the conveyor belt body 1 can be just in the area to be processed directly below the inspection robot 3, ensuring the accuracy of subsequent processing.

[0051] The working principle of the underground safety monitoring and inspection device provided by the present invention is as follows:

[0052] 1. Top extension support mechanism:

[0053] 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 sends a signal to control the first electric push rod 11 to start, and the first electric push rod 11 approaches the inner wall of the sleeve 14 fixedly connected on one side and is slidably connected to the L-shaped rod 12 fixedly connected on both sides of the inspection robot 3, and the bottom end of the inner wall of the sleeve 14 is fixed with a spring 13. When the first electric push rod 11 is started, it drives the support plate 6 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 wind gathering plate 7 through the connecting rod 15. When the support plate 6 contacts the conveyor belt body 1, the V-shaped wind gathering plate 7 also descends and unfolds. The fan-shaped wind nozzle 8 at the intersection of the bottom ends of the wind-gathering plates 7 can gather the airflow and guide it to the inspected area on the conveyor belt body 1, first blowing the cracks, and assisting the cleaning roller 9 to better clean the surface of the conveyor belt body 1; at this time, due to the friction 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, and the time taken by the first electric push rod 11 to push the support plate 6 down and contact the conveyor belt body 1 is equal to the time taken by the inspection robot 3 to detect the crack on the conveyor belt body 1 and move to the area directly below the inspection robot 3. Therefore, when the inspection robot 3 moves synchronously with the conveyor belt body 1, the detected crack is just located in the area to be processed directly below the inspection robot 3.

[0054] When 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 move axially inside the tube body 4 through the guidance of the fixed pulley group, and the tension spring 38 fixedly connected to the other end of the piston 5 is stretched inside the tube body 4. At the same time, the one-way valve 39 at one end of the tube body 4 close to the tension spring 38 is opened by the airflow under the action of the movement of the piston 5, allowing the gas to flow into the inside of the tube body 4.

[0055] 2. Cleaning mechanism starts:

[0056] The driving assembly starts to start as the inspection robot 3 moves. The gears 16 rotatably connected on both sides of the inspection robot 3 mesh with the racks 17 fixedly connected on both sides of the slide rail 2, causing the gear 16 to start rotating, and the active pulley 19 at one end of the gear 16 shaft rotates accordingly, driving the driven pulleys 20 at both ends of the cleaning roller 9 to rotate through the belt transmission, thereby realizing the rotation of the cleaning roller 9. The gear 16 shaft and the corresponding end of the cleaning roller 9 are rotatably connected through the connecting plate 18, which plays a supporting role. In addition, the output end of the second electric push rod 21 is rotatably connected to the cross bar 22 between the connecting plates 18, and the guide rod 24 fixedly connected on the side of the connecting plates 18 close to each other is slidably connected to the inner wall of the arc groove inside the guide plate 23, so that the cleaning roller 9 can clean the dust at the cracks of the conveyor belt body 1 just below the inspection robot 3 back and forth along the direction of the arc groove while rotating, thereby ensuring the effect of subsequent processing.

[0057] 3. Minor crack repair:

[0058] After the cleaning work of the cleaning roller 9 is completed, the second electric push rod 21 retracts, so that the cleaning roller 9 is reset. At this time, the motor 1 25 is started, and the worm 29 fixedly connected to its output end is engaged with the worm gear 30 in the middle of the two-way threaded rod 26 rotatably connected to the bottom end of the inspection robot 3, so that the two-way threaded rod 26 starts to rotate. The sliders 31 threadedly connected at both ends of the two-way threaded rod 26 move from the two ends to the middle under the action of the threads, and the angle between the rotating rod 27 rotatably connected at the bottom end of the slider 31 and the two-way threaded rod 26 gradually increases, thereby causing the fixed frame 28 rotatably connected at one end of the rotating rod 27 to move downward close to the conveyor belt body 1.

[0059] At this time, according to the monitoring data of the inspection robot 3, the motor 2 41 and the third electric push rod 34 inside the fixed frame 28 work together to drive the matching block 33 to move axially along the screw rod 32 through the screw rod 32, and the third electric push rod 34 moves simultaneously with the matching block 33. After reaching the specified position, the third electric push rod 34 starts and drives the spray head 10 fixedly connected to its output end to move above the slight crack. At this time, the liquid glue in one of the storage tanks 35 is transported to the corresponding spray head 10 through the hose under the action of the pump body 36, thereby realizing the glue spray repair of the slight crack.

[0060] Severe crack treatment:

[0061] For severe cracks, the same as the above steps, with the coordinated work of motor 2 41 and the third electric push rod 34, push the spray head 10 to move above the severe crack. At this time, the marking paint in another storage tank 35 is transported to the corresponding spray head 10 through the hose under the action of the pump body 36, so that the severe crack is sprayed with special color marking paint. At the same time, the inspection robot 3 triggers the alarm mechanism through the wireless communication module, and transmits the location, situation and other information of the severe crack to the ground control center so that maintenance personnel can be arranged to handle it in time.

[0062] After the abnormal part of the conveyor belt body 1 is processed, the transmission mechanism is reset, the top extension assembly is reset and drives the V-shaped wind collecting plate 7 to move upward. At this time, the piston 5 connected to the inspection robot 3 by the steel rope 37 will begin to move toward the end of the tube body 4 close to the tension spring 38 due to the tension of the tension spring 38. When the piston 5 moves toward this end under the tension of the tension spring 38, the air in the tube body 4 is gradually compressed. Due to the unidirectional conduction characteristics of the one-way valve 39, the compressed air cannot flow out from the conventional path and can only be discharged from the semicircular groove 40 opened on the one-way valve 39. As the piston 5 continues to compress the air, the air is discharged from the semicircular groove 40 at a uniform and slow speed. The inspection robot 3 and the piston 5 are tightly connected by the steel rope 37, so that the speed of the inspection robot 3 can be smoothly controlled during the return process, and a uniform and slow return is achieved. This process ensures the stability of the inspection robot 3 during the return, avoids collisions or damage to equipment caused by excessive speed, and enables the inspection robot 3 to return to its initial position safely and orderly after completing the complex inspection task, and be prepared for the next work of processing cracks in the conveyor belt body 1.

[0063] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. It cannot be considered that the specific embodiments of the present invention are limited to this. For ordinary technicians in the technical field to which the present invention belongs, they can make several simple deductions or substitutions without departing from the present invention, which should be regarded as belonging to the scope of patent protection determined by the submitted claims of the present invention.

Claims

1. An underground safety monitoring and inspection device, characterized in that: The invention comprises a conveyor belt body (1), an inspection robot (3), a support plate (6), a top extension assembly, a cleaning roller (9), a driving assembly, a spray head (10) and a transmission mechanism; a slide rail (2) is symmetrically installed on the inner side of the conveyor belt body (1) along the direction of the conveyor belt body (1), and the inspection robot (3) is slidably connected to the slide rail (2); a support plate (6) is symmetrically provided below the inspection robot (3), and 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 cracks on the conveyor belt body (1) detected, the top extension assembly drives the support plate (6) to descend and to contact the conveyor belt body (1), and the moving conveyor belt body (1) drives the inspection robot (3) and the conveyor belt body (1) to move synchronously; A cleaning roller (9) is provided at the bottom of the inspection robot (3), and a driving assembly is installed between the inspection robot (3) and the cleaning roller (9). The driving assembly drives the cleaning roller (9) to clean the slight cracks or serious cracks on the conveyor belt body (1). Two spray heads (10) are equidistantly provided on one side of the cleaning roller (9) close to the support plate (6), one spray head (10) is used to spray liquid glue to repair the slight cracks, and the other spray head (10) is used to spray marking paint to mark the serious cracks. A transmission mechanism is installed between the inspection robot (3) and the spray head (10), and the transmission mechanism drives the corresponding spray head (10) to perform differential processing on the slight cracks or serious cracks on the conveyor belt body (1) detected by the inspection robot (3).

2. The underground safety monitoring and inspection device according to claim 1, characterized in that: The extension assembly comprises a first electric push rod (11), an L-shaped rod (12), a spring (13) and a sleeve (14); both sides of the inspection robot (3) are fixedly connected with the L-shaped rod (12) at equal distances; both sides of the inspection robot (3) are provided with a first electric push rod (11); the two first electric push rods (11) are fixedly connected with the sleeve (14) on one side close to the inspection robot (3); the inner wall of the sleeve (14) is slidably connected to the corresponding L-shaped rod (12); the bottom of the inner wall of the sleeve (14) is fixedly connected with the spring (13); one end of the spring (13) is in contact with the corresponding L-shaped rod (12); and the output end of the first electric push rod (11) is rotatably connected to the corresponding support plate (6).

3. The underground safety monitoring and inspection device according to claim 2, characterized in that: The output ends of the two first electric push rods (11) are fixedly connected to a connecting rod (15), one end of the connecting rod (15) is fixedly connected to the bottom end of the V-shaped wind gathering plate (7), the V-shaped wind gathering plate (7) is unfolded as the support plate (6) descends, and the air flow is gathered through the V-shaped wind gathering plate (7) during the movement of the conveyor belt body (1); the intersection of the bottom ends of the V-shaped wind gathering plates (7) is fixedly connected to a fan-shaped air nozzle (8); the fan-shaped air nozzle (8) faces the front of the inspection robot (3).

4. The underground 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), both sides of the inspection robot (3) are rotatably connected to the gear (16), the two sides of the two slide rails (2) away from each other are fixedly connected to the rack (17), the gear (16) and the corresponding rack (17) are meshed and connected, the center of the gear (16) is connected to a shaft, one end of the shaft is fixedly connected to the driving pulley (19), the two ends of the cleaning roller (9) are respectively fixedly connected to the driven pulley (20), and the driving pulley (19) and the corresponding driven pulley (20) are connected through a belt transmission.

5. The underground safety monitoring and inspection device according to claim 4, characterized in that: One end of the shaft rod close to the driving pulley (19) is rotatably connected to a connecting plate (18), and one end of the connecting plate (18) is rotatably connected to the corresponding end of the cleaning roller (9).

6. The underground safety monitoring and inspection device according to claim 5, characterized in that: The bottom of the inspection robot (3) is rotatably connected to a second electric push rod (21), and the output end of the second electric push rod (21) is rotatably connected to a cross bar (22), and the two ends of the cross bar (22) are respectively fixedly connected to the two connecting plates (18); the positions of the two sides of the inspection robot (3) near the corresponding gears (16) are respectively fixedly connected to guide plates (23), and the bottom ends of the guide plates (23) are each provided with an arc groove. The inner sides of the two connecting plates (18) are both fixedly connected to a guide rod (24), and one end of the guide rod (24) is slidably connected to the inner wall of the corresponding arc groove.

7. The underground safety monitoring and inspection device according to claim 1, characterized in that: The transmission mechanism includes a motor 1 (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 the motor 1 (25), the output end of the motor 1 (25) is fixedly connected to the worm (29), the bottom end of the inspection robot (3) is rotatably connected to the bidirectional threaded rod (26), the middle part of the bidirectional threaded rod (26) is fixedly connected to the worm gear (30), the worm gear (29) and the worm gear (30) are meshed and connected, and the two ends of the bidirectional threaded rod (26) are respectively threadedly connected to the slider (31), and the slider (31) is connected to the inspection robot. The bottom end of the robot (3) is slidably connected, and the bottom ends of the two sliders (31) are respectively rotatably connected to the rotating rods (27), and one end of the two rotating rods (27) is rotatably connected to the fixed frame (28); one end of the fixed frame (28) is fixedly connected to the second motor (41), and the output end of the second motor (41) is fixedly connected to the screw rod (32), the middle part of the screw rod (32) is threadedly connected to the matching block (33), and one side of the matching block (33) is fixedly connected to the third electric push rod (34), and the output end of the third electric push rod (34) is fixedly connected to the two spray heads (10).

8. The underground safety monitoring and inspection device according to claim 7, characterized in that: The bottom of the inspection robot (3) is symmetrically fixedly connected to storage tanks (35), one of which is filled with liquid glue for repairing minor cracks, and the other is filled with marking paint for marking serious cracks. The bottom of the inspection robot (3) is fixedly connected to a pump body (36), and the two spray heads (10) are respectively connected to the corresponding output ends of the pump body (36) through hoses, and the two input ends of the pump body (36) are respectively connected to the corresponding storage tanks (35).

9. The underground safety monitoring and inspection device according to claim 1, characterized in that: A tube body (4) is installed on one side of the conveyor belt body (1), and a piston (5) is slidably installed inside the tube 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, and the other end of the piston (5) is fixedly connected to a tension spring (38), one end of the tension spring (38) is fixedly connected to the inside of the tube body (4); a one-way valve (39) is symmetrically rotated and connected to the inner wall of one end of the tube body (4) close to the tension spring (38), and a semicircular groove (40) is provided at the ends of the two one-way valves (39) close to each other.

10. An underground safety monitoring and inspection device according to claim 9, characterized in that: The fixed pulley assembly 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 tube body (4) and first passes around the first fixed pulley (42) installed near the end of the tube body (4). Then, it is redirected by the first fixed pulley (42) and passes around the second fixed pulley (43) installed in the transverse middle of the conveyor belt body (1). Then, after being redirected by the second fixed pulley (43), it passes around the third fixed pulley (44) and is fixedly connected to the inspection robot (3).

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