Anti-explosion intelligent inspection robot and inspection method thereof

Abstract

The invention relates to the technical field of anti-explosion robots, in particular to an anti-explosion intelligent inspection robot and an inspection method thereof.The anti-explosion intelligent inspection robot comprises a track, two sets of guide grooves are formed in the track, two sets of pulleys are rotationally arranged in the guide grooves, a fixing frame is arranged at one ends of the two sets of pulleys, and two sets of cameras are installed at the lower end of the fixing frame; a guide pipe is connected into the fixing frame, a reciprocating lead screw rotates in the guide pipe, and a connecting rod is arranged on the outer side of the reciprocating lead screw. When the rail cleaning device is used, the outer surface of a rail can be cleaned through the cleaning roller, and meanwhile preservative liquid can seep outwards through the cleaning roller during cleaning, so that the preservative liquid is smeared on the surface of the rail; and the rotating speed of the cleaning roller is changed through the running speed of the equipment, so that when the running speed of the equipment is high, the rotating speed of the cleaning roller is increased, a larger track area can be covered within the same time, coal dust, sundries and the like on the track are cleaned in time, and the track is kept clean.

Description

Technical Field

[0001] The present invention relates to the technical field of explosion-proof robots, and particularly to an explosion-proof intelligent inspection robot and an inspection method thereof. Background Art

[0002] The underground environment of coal mines is highly dangerous and complex, with flammable and explosive gases and substances such as gas and coal dust. At the same time, it also faces various disaster risks such as roof falls and water inrush. The traditional manual inspection method not only has low efficiency and high labor intensity, but also in a harsh environment, the personal safety of the inspection personnel is difficult to be effectively guaranteed. Manual inspection is prone to missed inspections and misjudgments, and potential safety hazards cannot be discovered in time. With the continuous expansion of coal mine production scale and the requirements of intelligent development, there is an urgent need for an inspection technology and equipment that can replace manual labor, be efficient and accurate to ensure the safe production of coal mines.

[0003] When traditional robots clean the track during use, the rotation speed of the cleaning roller is fixed. When the robot is running, it cannot effectively clean under different moving speeds. When the robot runs too fast, the rotation speed of the cleaning roller cannot keep up, resulting in untimely cleaning of the track, and coal dust and other sundries cannot be effectively removed. When the robot runs at a low speed, if the cleaning roller still rotates at a fixed high speed, it will not only cause energy waste, but also over-clean the track, accelerating the wear of the cleaning roller itself and shortening its service life. Summary of the Invention

[0004] When the present invention is in use, the outer surface of the track will be cleaned by the cleaning roller. At the same time, the anticorrosive liquid will seep out through the cleaning roller during cleaning, so as to be applied to the surface of the track. And the rotation speed of the cleaning roller changes according to the running speed of the equipment. Therefore, when the equipment runs fast, the rotation speed of the cleaning roller increases, which can cover a larger track area in the same time, timely clean the coal dust, sundries, etc. on the track, and keep the track clean.

[0005] To achieve the above object, the present invention provides the following technical solution: An explosion-proof intelligent inspection robot, including a track, two guiding grooves are opened inside the track, two pulleys are rotated inside the guiding grooves, a fixing frame is arranged at one end of the two pulleys, and two cameras are installed at the lower end of the fixing frame;

[0006] A guiding pipe is connected inside the fixing frame, a reciprocating lead screw is rotated inside the guiding pipe, a connecting rod is arranged on the outer side of the reciprocating lead screw, a cleaning plate is connected to one side of the fixing frame, a connecting frame is fixedly connected to one side of the cleaning plate, a driving wheel A is connected to one end of the reciprocating lead screw, a driving wheel B is arranged on one side of the driving wheel A, a cleaning roller is rotated at one end of the driving wheel B, and a storage tank is arranged at one end of the cleaning roller;

[0007] A connecting pipe A and a connecting pipe B are connected to the outside of the guiding pipe. One side of the connecting pipe A communicates with a pneumatic pipe A. A pressure relief hole is connected to the outside of the pneumatic pipe A. The output end of the pneumatic pipe A is connected to a movable shaft.

[0008] A gas storage pipe is installed on one side of the camera. One side of the gas storage pipe communicates with a pneumatic pipe B. The output end of the pneumatic pipe B is connected to a cleaning block.

[0009] Preferably, a motor is arranged between the two pulleys. Both ends of the motor are connected to the pulleys. The guiding pipe is fixedly connected to the fixed frame. One end of the reciprocating lead screw is fixedly connected to the axis center of the pulley. A bearing seat is installed on the outside of the reciprocating lead screw. A piston is fixedly connected to the outside of the bearing seat.

[0010] Preferably, the other end of the reciprocating lead screw extends to the outside of the guiding pipe. The connecting rod is fixedly connected to the piston. One end of the cleaning plate is fixedly connected with two spring A. The other ends of the two spring A are fixedly connected to the fixed frame. One end of the connecting frame is a slope, and the slope and the connecting rod are in the same plane.

[0011] Preferably, a belt is sleeved on the outside of the driving wheel A. The other end of the belt is sleeved on the driving wheel B. One end of the driving wheel B is fixedly connected with a connecting shaft. The connecting shaft penetrates through the storage tank and is connected with the cleaning roller.

[0012] Preferably, the other end of the connecting pipe A is connected to the storage tank. A bottom support is fixedly connected to the outside of the storage tank. The bottom support is fixedly connected to the fixed frame. One end of the connecting pipe A is connected to the storage tank. The storage tank communicates with the cleaning roller.

[0013] Preferably, a branch pipe is connected to the outside of the connecting pipe A. The other end of the branch pipe is connected to the pneumatic pipe A. A push rod is movably connected inside the pneumatic pipe A. One end of the push rod located inside the pneumatic pipe A is fixedly connected with a spring B. The other end of the spring B is fixedly connected to the inner wall of the pneumatic pipe A. One end of the push rod located outside the pneumatic pipe A is movably connected with a movable shaft. The movable shaft is located on one side of the belt.

[0014] Preferably, the other end of the connecting pipe B is connected to the gas storage pipe. A hose is connected to the lower end of the gas storage pipe. A pneumatic valve is arranged at the connection between the gas storage pipe and the hose. One end of the hose is connected with two pneumatic pipes B.

[0015] Preferably, a top rod is movably connected inside the pneumatic pipe B. One end of the top rod located outside the pneumatic pipe B is connected with a cleaning block. The cleaning block and the camera are in the same plane.

[0016] An inspection method for an explosion-proof intelligent inspection robot includes the following steps:

[0017] Step 1: During use, drive two sets of pulleys to rotate through a motor. When the pulleys rotate, they will drive the fixed frame to move synchronously. When the pulleys rotate, they will synchronously drive the reciprocating screw rod to rotate. When the reciprocating screw rod rotates, it will drive the piston to move reciprocally. When the piston moves reciprocally, it will convey air pressure inside the connecting pipe A and the connecting pipe B. Thus, after the air pressure enters the storage tank, it will squeeze the anticorrosive liquid inside the storage tank into the cleaning roller and then seep out.

[0018] Step 2: After the air pressure enters the gas storage pipe through the connecting pipe B, when the air pressure inside the gas storage pipe reaches a certain value, the air pressure valve will be opened. After the air pressure valve is opened, the air pressure will enter the air pressure pipe B through the hose. Thus, the air pressure pipe B will push up the cleaning block through the ejector rod to clean the camera.

[0019] Step 3: When the reciprocating screw rod rotates, it will synchronously drive the connecting rod to rotate. When the connecting rod rotates, it will contact the connecting frame, thereby pulling the cleaning plate to move to one side. After the connecting rod moves a certain distance, it will disengage from the connecting frame. Thus, the cleaning plate will quickly reset under the force of two sets of spring A, thereby cleaning the inside of the guide groove.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. When the cleaning plate of the present invention resets, it will clean the inside of the guide groove, so that the pulley can move smoothly during driving, enabling the device to travel smoothly along the predetermined route, accurately complete the inspection task, reduce equipment wear and failures caused by unstable driving. At the same time, since the pulley is less jolted, the picture taken by the camera is clearer, thus enabling better monitoring.

[0022] 2. When the reciprocating screw rod of the present invention rotates, it will synchronously drive the cleaning roller to rotate. When the cleaning roller rotates, it will clean the outer surface of the track. After the air pressure enters the storage tank, the anticorrosive liquid inside the storage tank will be squeezed into the cleaning roller. After the anticorrosive liquid enters the cleaning roller, it will seep outwards and be smeared on the track surface. Moreover, the rotation speed of the cleaning roller changes according to the traveling speed of the equipment. Thus, when the equipment travels fast, the rotation speed of the cleaning roller increases, and it can cover a larger track area in the same time, timely cleaning the coal dust, sundries, etc. on the track, keeping the track clean, preventing sundries from accumulating and affecting the robot's traveling and detection accuracy, and at the same time ensuring the cleaning quality.

[0023] 3. After the air pressure enters the inside of the air pressure pipe B, the air pressure pipe B will push the ejector rod to rise. When the ejector rod rises, it will clean the camera through the cleaning block, so that the camera always maintains a clear field of view, providing high-quality image data for subsequent monitoring and analysis. At the same time, it can accurately capture the detailed information in the coal mine, improve the resolution and contrast of the image, and help the operator more accurately identify abnormal situations such as equipment failures and potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The first overall structure diagram of the present invention;

[0025] Figure 2 The second overall structure diagram of the present invention;

[0026] Figure 3 The partial structure diagram of the present invention;

[0027] Figure 4 The first partial structure sectional view of the present invention;

[0028] Figure 5 The second partial structure sectional view of the present invention;

[0029] Figure 6 The internal sectional view of the guide pipe of the present invention;

[0030] Figure 7 The sectional view of the present invention;

[0031] Figure 8 The enlarged view of the structure at A of the present invention.

[0032] In the figure: 1, track; 2, guide groove; 3, motor; 4, pulley; 5, fixed frame; 6, guide pipe; 7, reciprocating lead screw; 8, piston; 9, connecting rod; 10, spring A; 11, cleaning plate; 12, connecting frame; 13, driving wheel A; 14, belt; 15, driving wheel B; 16, connecting shaft; 17, cleaning roller; 18, storage tank; 19, connecting pipe A; 20, branch pipe; 21, air pressure pipe A; 22, pressure relief hole; 23, push rod; 24, spring B; 25, movable shaft; 26, connecting pipe B; 27, gas storage pipe; 28, hose; 29, air pressure pipe B; 30, ejector rod; 31, cleaning block; 32, camera. DETAILED DESCRIPTION OF THE INVENTION

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0034] The present invention provides an explosion-proof intelligent inspection robot, including a track 1. Two groups of guide grooves 2 are formed inside the track 1. Two groups of pulleys 4 are rotatably arranged inside the guide grooves 2. A fixing frame 5 is arranged at one end of the two groups of pulleys 4. Two cameras 32 are installed at the lower end of the fixing frame 5.

[0035] A guide pipe 6 is connected inside the fixing frame 5. A reciprocating lead screw 7 is rotatably arranged inside the guide pipe 6. A connecting rod 9 is arranged on the outer side of the reciprocating lead screw 7. A cleaning plate 11 is connected to one side of the fixing frame 5. A connecting frame 12 is fixedly connected to one side of the cleaning plate 11. One end of the reciprocating lead screw 7 is connected to a driving wheel A 13. A driving wheel B 15 is arranged on one side of the driving wheel A 13. A cleaning roller 17 is rotatably arranged at one end of the driving wheel B 15. A storage tank 18 is arranged at one end of the cleaning roller 17.

[0036] A connecting pipe A 19 and a connecting pipe B 26 are connected to the outer side of the guide pipe 6. A pneumatic pipe A 21 is communicated with one side of the connecting pipe A 19. A pressure relief hole 22 is arranged on the outer side of the pneumatic pipe A 21. The output end of the pneumatic pipe A 21 is connected to a movable shaft 25.

[0037] An air storage pipe 27 is installed on one side of the camera 32. A pneumatic pipe B 29 is communicated with one side of the air storage pipe 27. The output end of the pneumatic pipe B 29 is connected to a cleaning block 31.

[0038] In an optional embodiment, a motor 3 is arranged between the two groups of pulleys 4. Both ends of the motor 3 are connected to the pulleys 4. The guide pipe 6 is fixedly connected to the fixing frame 5. One end of the reciprocating lead screw 7 is fixedly connected to the axis center of the pulley 4. A bearing seat is installed on the outer side of the reciprocating lead screw 7. A piston 8 is fixedly connected to the outer side of the bearing seat. A one-way valve is connected to the outer side of the piston 6. When using the device, the two groups of pulleys 4 are driven to rotate by the motor 3. When the pulleys 4 rotate, the whole device will be driven to move. When the pulleys 4 rotate, the reciprocating lead screw 7 will be synchronously driven to rotate. When the reciprocating lead screw 7 rotates, the piston 8 will be driven to reciprocate. When the piston 8 reciprocates, air pressure will be continuously delivered to the rear end of the guide pipe 6 through the one-way valve.

[0039] In an alternative embodiment, the other end of the reciprocating lead screw 7 extends outside the guide tube 6. The connecting rod 9 is fixedly connected to the piston 8. One end of the cleaning plate 11 is fixedly connected with two sets of spring A10, and the other ends of the two sets of spring A10 are fixedly connected to the fixed frame 5. One end of the connecting frame 12 is a slope, and the slope is in the same plane as the connecting rod 9. When the reciprocating lead screw 7 rotates, it will synchronously drive the connecting rod 9 to rotate. When the connecting rod 9 rotates, it will contact the slope of the connecting frame 12, so that the connecting frame 12 will move to one side under the extrusion of the connecting rod 9. When the connecting frame 12 moves, it will synchronously drive the cleaning plate 11 to move. After the connecting rod 9 rotates to a certain angle, it will disengage from the connecting frame 12, so that the cleaning plate 11 will automatically rebound and reset by the force of the two sets of spring A10. When the cleaning plate 11 resets, it will clean the inside of the guide groove 2, so that the pulley 4 can run smoothly during driving, so that the device can run smoothly along the predetermined route, accurately complete the inspection task, reduce equipment wear and failures caused by unstable driving. At the same time, because the pulley 4 is less jolted, the picture taken by the camera 32 is clearer, so as to better monitor.

[0040] In an alternative embodiment, a belt 14 is sleeved outside the driving wheel A13, and the other end of the belt 14 is sleeved with the driving wheel B15. One end of the driving wheel B15 is fixedly connected with a connecting shaft 16, and the connecting shaft 16 passes through the storage tank 18 and is connected to the cleaning roller 17. When the reciprocating lead screw 7 rotates, it will synchronously drive the driving wheel A13 to rotate. When the driving wheel A13 rotates, it will synchronously drive the driving wheel B15 to rotate through the belt 14. When the driving wheel B15 rotates, it will drive the cleaning roller 17 to rotate synchronously through the connecting shaft 16. When the cleaning roller 17 rotates, it will clean the outer surface of the track 1.

[0041] In an alternative embodiment, the other end of the connecting pipe A19 is connected to the storage tank 18. The outside of the storage tank 18 is fixedly connected with a bottom support, and the bottom support is fixedly connected to the fixed frame 5. One end of the connecting pipe A19 is connected to the storage tank 18, and the storage tank 18 is communicated with the cleaning roller 17. The storage tank 18 stores an anti-corrosion liquid inside. The air pressure at the rear end of the guide tube 6 will enter the inside of the connecting pipe A19, and the connecting pipe A19 will transport the air pressure to the inside of the storage tank 18. After the air pressure enters the inside of the storage tank 18, the anti-corrosion liquid inside the storage tank 18 will be squeezed into the inside of the cleaning roller 17. After the anti-corrosion liquid enters the inside of the cleaning roller 17, it will seep outwards, so as to be smeared on the surface of the track 1. Then, an anti-corrosion film will be formed on the surface of the track 1 by the anti-corrosion liquid, isolating the contact between air, moisture and corrosive substances and the track 1, slowing down the corrosion speed of the track 1, extending the service life of the track 1, and enabling the track 1 to operate stably, preventing the track 1 from rusting and breaking, thus causing accidents.

[0042] In an alternative embodiment, a branch pipe 20 is connected to the outside of the connecting pipe A19. The other end of the branch pipe 20 is connected to the air pressure pipe A21. A push rod 23 is movably connected inside the air pressure pipe A21. One end of the push rod 23 located inside the air pressure pipe A21 is fixedly connected to a spring B24. The other end of the spring B24 is fixedly connected to the inner wall of the air pressure pipe A21. One end of the push rod 23 located outside the air pressure pipe A21 is movably connected to a movable shaft 25. The movable shaft 25 is located on one side of the belt 14. When the connecting pipe A19 conveys air pressure, part of the air pressure will be conveyed into the air pressure pipe A21 through the branch pipe 20. If the equipment runs at a slow speed, the air pressure entering the air pressure pipe A21 will be discharged through the pressure relief hole 22. If the equipment runs at a fast speed, the conveying speed of the air pressure will also increase accordingly, so that the air pressure entering the air pressure pipe A21 will also increase. After the air pressure increases and the pressure relief hole 22 cannot discharge the air pressure in time, the air pressure pipe A21 will push the push rod 23 outwards. When the push rod 23 is pushed outwards, the movable shaft 25 will contact the belt 14, so that the movable shaft 25 will push the belt 14 to change its position. At the same time, since the driving wheel A13 and the driving wheel B15 are of variable diameter design, when the position of the belt 14 changes, the rotation speed of the driving wheel B15 will also increase accordingly. Thus, the rotation speed of the cleaning roller 17 changes according to the traveling speed of the equipment. When the equipment travels at a high speed, the faster rotation speed of the cleaning roller 17 can cover a larger area of the track 1 in the same time, timely cleaning the coal dust, sundries, etc. on the track 1, keeping the track 1 clean, preventing sundries from accumulating and affecting the traveling and detection accuracy of the robot, and at the same time ensuring the cleaning quality. After the traveling speed of the equipment decreases, as the air pressure inside the air pressure pipe A21 is discharged, the push rod 23 will gradually return to its original position by the force of the spring B24, and the movable connection of the movable shaft 25 ensures that the friction is reduced when contacting the belt 14, thereby reducing the wear of the belt 14.

[0043] In an alternative embodiment, the other end of the connecting pipe B26 is connected to the air storage pipe 27. The lower end of the air storage pipe 27 is connected to a hose 28. An air pressure valve is provided at the connection between the air storage pipe 27 and the hose 28. One end of the hose 28 is connected to two air pressure pipes B29. The connecting pipe B26 will convey the air pressure inside the guide pipe 6 into the air storage pipe 27, thereby increasing the air pressure inside the air storage pipe 27. When the air pressure inside the air storage pipe 27 reaches a certain value, the air pressure valve at the connection between the air storage pipe 27 and the hose 28 will be opened, so that the air pressure enters the two air pressure pipes B29 through the hose 28.

[0044] In an alternative embodiment, a push rod 30 is movably connected inside the air pressure tube B29. One end of the push rod 30 located outside the air pressure tube B29 is connected with a cleaning block 31. The cleaning block 31 and the camera 32 are on the same plane. After air pressure enters the inside of the air pressure tube B29, the air pressure tube B29 will push the push rod 30 to rise. When the push rod 30 rises, the camera 32 will be cleaned by the cleaning block 31, so that the camera 32 always maintains a clear field of view, providing high-quality image data for subsequent monitoring and analysis. At the same time, it can accurately capture the detailed information underground in the coal mine, improve the resolution and contrast of the image, and help the operator more accurately identify abnormal conditions such as equipment failures and safety hazards.

[0045] This embodiment also discloses an inspection method for an explosion-proof intelligent inspection robot, including the following steps:

[0046] Step 1: When in use, the motor 3 drives the two sets of pulleys 4 to rotate. When the pulleys 4 rotate, they will drive the fixed frame 5 to move synchronously. When the pulleys 4 rotate, they will synchronously drive the reciprocating lead screw 7 to rotate. When the reciprocating lead screw 7 rotates, it will drive the piston 8 to move reciprocally. When the piston 8 moves reciprocally, it will convey air pressure inside the connecting pipe A19 and the connecting pipe B26. Thus, after the air pressure enters the storage tank 18, it will squeeze the anticorrosive liquid inside the storage tank 18 into the cleaning roller 17 and then seep out;

[0047] Step 2: After the air pressure enters the air storage pipe 27 through the connecting pipe B26, when the air pressure inside the air storage pipe 27 reaches a certain value, the air pressure valve will be opened. After the air pressure valve is opened, the air pressure will enter the inside of the air pressure tube B29 through the hose 28. Thus, the air pressure tube B29 will push up the cleaning block 31 through the push rod 30 to clean the camera 32;

[0048] Step 3: When the reciprocating lead screw 7 rotates, it will synchronously drive the connecting rod 9 to rotate. When the connecting rod 9 rotates, it will contact the connecting frame 12, thereby pulling the cleaning plate 11 to move to one side. After the connecting rod 9 moves a certain distance, it will disengage from the connecting frame 12. Thus, the cleaning plate 11 will quickly reset by the force of the two sets of springs A10 to clean the inside of the guide groove 2.

[0049] Working principle: When using the device, the motor 3 drives the two sets of pulleys 4 to rotate. When the pulleys 4 rotate, they will drive the whole device to move. And when the pulleys 4 rotate, they will synchronously drive the reciprocating lead screw 7 to rotate. When the reciprocating lead screw 7 rotates, it will drive the piston 8 to move reciprocally. When the piston 8 moves reciprocally, it will continuously convey air pressure to the rear end of the guide pipe 6 through the one-way valve;

[0050] When the reciprocating lead screw 7 rotates, it will synchronously drive the connecting rod 9 to rotate. When the connecting rod 9 rotates, it will be in inclined contact with the connecting frame 12. As a result, the connecting frame 12 will move to one side under the extrusion of the connecting rod 9. When the connecting frame 12 moves, it will synchronously drive the cleaning plate 11 to move. After the connecting rod 9 rotates to a certain angle, it will disengage from the connecting frame 12. Thus, the cleaning plate 11 will automatically rebound and reset under the force of the two groups of springs A10. When the cleaning plate 11 resets, it will clean the inside of the guide groove 2;

[0051] When the reciprocating lead screw 7 rotates, it will synchronously drive the driving wheel A13 to rotate. When the driving wheel A13 rotates, it will synchronously drive the driving wheel B15 to rotate through the belt 14. When the driving wheel B15 rotates, it will drive the cleaning roller 17 to rotate synchronously through the connecting shaft 16. When the cleaning roller 17 rotates, it will clean the outer surface of the track 1. The air pressure at the rear end of the guide pipe 6 will enter the inside of the connecting pipe A19. The connecting pipe A19 will convey the air pressure to the inside of the storage tank 18. After the air pressure enters the inside of the storage tank 18, the anticorrosive liquid inside the storage tank 18 will be squeezed into the inside of the cleaning roller 17. After the anticorrosive liquid enters the inside of the cleaning roller 17, it will seep outwards, thus being smeared on the surface of the track 1;

[0052] When the connecting pipe A19 conveys the air pressure, it will convey part of the air pressure to the inside of the air pressure pipe A21 through the branch pipe 20. If the equipment runs at a slow speed, the air pressure entering the inside of the air pressure pipe A21 will be discharged through the pressure relief hole 22. If the equipment runs at a fast speed, the conveying speed of the air pressure will also increase accordingly. Thus, the air pressure entering the inside of the air pressure pipe A21 will also increase. When the air pressure increases and the pressure relief hole 22 cannot discharge the air pressure in time, the air pressure pipe A21 will push the push rod 23 outwards. When the push rod 23 is pushed outwards, the movable shaft 25 will contact the belt 14. Thus, the movable shaft 25 will push the belt 14 to change its position. At the same time, because the driving wheel A13 and the driving wheel B15 are of variable diameter design, when the position of the belt 14 changes, the rotation speed of the driving wheel B15 will also increase accordingly. Thus, the rotation speed of the cleaning roller 17 changes according to the traveling speed of the equipment;

[0053] The connecting pipe B26 will convey the air pressure inside the guide pipe 6 to the inside of the air storage pipe 27, thus increasing the air pressure inside the air storage pipe 27. When the air inside the air storage pipe 27 reaches a certain value, it will open the air pressure valve at the connection of the air storage pipe 27 and the hose 28. Thus, the air pressure will enter the two groups of air pressure pipes B29 through the hose 28. After the air pressure enters the inside of the air pressure pipe B29, the air pressure pipe B29 will push the ejector rod 30 to rise. When the ejector rod 30 rises, it will clean the camera 32 through the cleaning block 31.

[0054] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An explosion-proof intelligent inspection robot, comprising a track (1), characterized in that, Two sets of guiding grooves (2) are provided inside the track (1). Two sets of pulleys (4) are rotatably arranged inside the guiding grooves (2). One end of each of the two sets of pulleys (4) is provided with a fixing frame (5), and two cameras (32) are installed at the lower end of the fixing frame (5). A guiding pipe (6) is connected inside the fixing frame (5). A reciprocating lead screw (7) is rotatably arranged inside the guiding pipe (6). A connecting rod (9) is arranged on the outer side of the reciprocating lead screw (7). A cleaning plate (11) is connected to one side of the fixing frame (5). A connecting frame (12) is fixedly connected to one side of the cleaning plate (11). One end of the reciprocating lead screw (7) is connected to a driving wheel A (13). A driving wheel B (15) is arranged on one side of the driving wheel A (13). A cleaning roller (17) is rotatably arranged at one end of the driving wheel B (15). A storage tank (18) is arranged at one end of the cleaning roller (17). A connecting pipe A (19) and a connecting pipe B (26) are connected to the outer side of the guiding pipe (6). A pneumatic pipe A (21) is communicated with one side of the connecting pipe A (19). A pressure relief hole (22) is arranged on the outer side of the pneumatic pipe A (21). The output end of the pneumatic pipe A (21) is connected to a movable shaft (25). An air storage pipe (27) is installed on one side of the camera (32). A pneumatic pipe B (29) is communicated with one side of the air storage pipe (27). The output end of the pneumatic pipe B (29) is connected to a cleaning block (31).

2. The explosion-proof intelligent inspection robot according to claim 1, wherein, A motor (3) is arranged between the two sets of pulleys (4). Both ends of the motor (3) are connected to the pulleys (4). The guiding pipe (6) is fixedly connected to the fixing frame (5). One end of the reciprocating lead screw (7) is fixedly connected to the axis center of the pulley (4). A bearing seat is installed on the outer side of the reciprocating lead screw (7), and a piston (8) is fixedly connected to the outer side of the bearing seat.

3. An explosion-proof intelligent inspection robot according to claim 2, characterized in that, The other end of the reciprocating lead screw (7) extends to the outside of the guiding pipe (6). The connecting rod (9) is fixedly connected to the piston (8). Two sets of spring A (10) are fixedly connected to one end of the cleaning plate (11). The other ends of the two sets of spring A (10) are fixedly connected to the fixing frame (5). One end of the connecting frame (12) is a slope, and the slope and the connecting rod (9) are in the same plane.

4. An explosion-proof intelligent inspection robot according to claim 1, characterized in that, A belt (14) is sleeved on the outer side of the driving wheel A (13). The other end of the belt (14) is sleeved on the driving wheel B (15). A connecting shaft (16) is fixedly connected to one end of the driving wheel B (15). The connecting shaft (16) passes through the storage tank (18) and is connected to the cleaning roller (17).

5. The explosion-proof intelligent inspection robot according to claim 1, wherein The other end of the connecting pipe A (19) is connected to the storage tank (18). A bottom support is fixedly connected to the outer side of the storage tank (18). The bottom support is fixedly connected to the fixing frame (5). One end of the connecting pipe A (19) is connected to the storage tank (18). The storage tank (18) is communicated with the cleaning roller (17).

6. An explosion-proof intelligent inspection robot according to claim 1, characterized in that, The connecting tube A (19) is connected to a branch tube (20) at its outer side, and the other end of the branch tube (20) is connected to an air pressure tube A (21). The air pressure tube A (21) is movably connected to a push rod (23) inside. One end of the push rod (23) located inside the air pressure tube A (21) is fixedly connected to a spring B (24), and the other end of the spring B (24) is fixedly connected to the inner wall of the air pressure tube A (21). One end of the push rod (23) located outside the air pressure tube A (21) is movably connected to a movable shaft (25), and the movable shaft (25) is located on one side of the belt (14).

7. An explosion-proof intelligent inspection robot according to claim 1, characterized in that, The other end of the connecting pipe B (26) is connected to the gas storage pipe (27), the lower end of the gas storage pipe (27) is connected to a hose (28), a pressure valve is provided at the connection between the gas storage pipe (27) and the hose (28), and one end of the hose (28) is connected to two groups of pressure pipes B (29).

8. An explosion-proof intelligent inspection robot according to claim 1, characterized in that, A push rod (30) is movably connected inside the air pressure tube B (29), and one end of the push rod (30) located outside the air pressure tube B (29) is connected to a cleaning block (31), and the cleaning block (31) and the camera (32) are located on the same plane.

9. A patrol method for an explosion-proof intelligent patrol robot, which is used to use an explosion-proof intelligent patrol robot according to any one of claims 1-8, characterized in that, The following steps are involved: Step 1: The two sets of pulleys (4) are driven to rotate by the motor (3). When the pulleys (4) rotate, the fixed frame (5) is driven to move synchronously. When the pulleys (4) rotate, the reciprocating screw (7) is driven to rotate synchronously. When the reciprocating screw (7) rotates, the piston (8) is driven to move reciprocatingly. When the piston (8) moves reciprocatingly, air pressure is delivered to the inside of the connecting pipe A (19) and the connecting pipe B (26). After the air pressure enters the inside of the storage tank (18), it squeezes the antiseptic liquid inside the storage tank (18) into the inside of the cleaning roller (17), thereby seeping out; Step 2: After the air pressure enters the air storage pipe (27) through the connecting pipe B (26), when the air pressure inside the air storage pipe (27) reaches a certain value, the air pressure valve will be opened. After the air pressure valve is opened, the air pressure will enter the air pressure pipe B (29) through the hose (28), so that the air pressure pipe B (29) pushes up the cleaning block (31) through the push rod (30) to clean the camera (32); Step 3: When the reciprocating screw (7) rotates, it will synchronously drive the connecting rod (9) to rotate. When the connecting rod (9) rotates, it will contact the connecting frame (12), thereby pulling the cleaning plate (11) to move to one side. After the connecting rod (9) moves to a certain distance, it will be out of contact with the connecting frame (12), so that the cleaning plate (11) will be quickly reset by the force of the two sets of springs A (10), thereby cleaning the inside of the guide groove (2).

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