An intelligent inspection robot

Abstract

The application discloses an intelligent inspection robot, which is composed of a belt conveyor, an inspection mechanism and a robot walking mechanism. The belt conveyor is provided with a bottom frame, a conveyor frame, a transmission roller, a conveying belt and side edge baffle plates. The inspection mechanism is connected with the robot walking mechanism through an inverted L-shaped vertical rod, and is equipped with a visual camera, an infrared camera, an arc-shaped push plate and the like, so that the material, the ground and the temperature of the transmission roller can be monitored, and the material beyond the range can be pushed back. The robot walking mechanism drives the inspection mechanism to move forward and backward by means of an electric slide and an electric sliding block, so that the belt conveyor can be comprehensively monitored. In addition, the inspection mechanism is also provided with a small pulse air pump, which blows air through a straight pipe to remove dust at the bottom of the tempered glass cover, so that the shooting is clear, the air pump is provided with a filtering device to purify air, and a gyroscope sensor and a servo electric push rod are arranged to ensure the stable work of the air pump, so that the intelligent level of the inspection is improved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and specifically to an intelligent inspection robot. Background Technology

[0002] In industrial production, belt conveyors are key equipment for material handling and are widely used in mining, ports, power, and many other industries. However, traditional belt conveyor inspection methods have many drawbacks. Previously, inspections relied mainly on manual, timed checks, which not only consumed a large amount of manpower but also, due to the intermittent nature of manual inspections, made it difficult to achieve real-time, comprehensive monitoring of the belt conveyor. This prevented the timely detection of emergencies such as abnormally high temperatures in the drive rollers, material overflow from the conveyor belt, or material falling to the ground, easily leading to escalating equipment failures, impacting production progress, and even causing safety accidents. Furthermore, in complex and harsh environments such as mines, manual inspections also faced high safety risks and high workload. While some companies have introduced simple monitoring equipment, its functions are limited, unable to comprehensively monitor multiple inspection indicators, and are susceptible to interference from environmental factors such as dust, resulting in inaccurate monitoring data and failing to meet the requirements of modern industrial production for efficient, stable, and safe operation of belt conveyors. Therefore, this paper proposes an intelligent inspection robot solution to address these issues. Summary of the Invention

[0003] In view of the shortcomings mentioned above, a technical solution for an intelligent inspection robot is provided.

[0004] It includes a belt conveyor, with robot walking mechanisms fixedly connected to both the left and right sides of the belt conveyor, and an inspection mechanism located above the belt conveyor connected to the top surface of the robot walking mechanism.

[0005] The belt conveyor includes a base frame, a conveyor frame fixedly connected to the top surface of the base frame, and multiple drive rollers rotatably arranged inside the conveyor frame. A conveyor belt is tightly wound around the outer surface of the drive rollers by a tensioning wheel. Side baffles are fixedly connected to the top left and right sides of the conveyor frame.

[0006] The inspection mechanism includes two inverted L-shaped uprights, a connecting basket fixed to one end of the inverted L-shaped uprights that is close to each other, and a protruding plate set on one side of the inverted L-shaped uprights that is far from each other. Two vision cameras are fixed to the bottom surface of the connecting basket and the bottom surface of the protruding plate. An infrared camera is fixedly connected to the surface of the inverted L-shaped uprights that is close to each other. A servo electric cylinder is fixed above the surface of the inverted L-shaped uprights that is close to each other. An arc-shaped push plate is fixedly connected to the telescopic end of the servo electric cylinder.

[0007] A small pulse air pump is provided on the top surface of the connecting basket. A tempered glass cover covering the visual camera is fixedly connected to the lower surface of both the connecting basket and the convex plate. A straight pipe is fixed to the rear side of the lower surface of the tempered glass cover. The straight pipes are connected to each other through air pipes and connected to the gas supply end of the small pulse air pump.

[0008] The robot walking mechanism includes an L-shaped support plate, an electric slide rail fixed to the top surface of the L-shaped support plate, and an electric slider that is movably arranged in the electric slide rail track. A slider driver for driving the electric slider is fixedly connected to the left end face of the electric slide rail.

[0009] In the above technical solution, preferably: a torque motor is fixedly connected to the outer surface of the inverted L-shaped upright, and a vertically arranged drive rod is fixed on the outer ring of the output shaft of the torque motor. The end of the drive rod is fixedly connected to the inner side wall of the convex plate, which is used to drive the convex plate and the vision camera to rotate through the torque motor, thereby inspecting the inside of the mine.

[0010] In the above technical solution, preferably: a servo electric actuator is installed at each of the four corners of the inner cavity of the connecting basket; a base plate is provided on the upper surface of the connecting basket; the bottom surface of the small pulse air pump is fixed to the upper surface of the base plate; and the top of the telescopic shaft of the servo electric actuator is hinged to the four corners of the lower surface of the base plate. A gyroscope sensor is installed on the bottom surface of the base plate to monitor the center of gravity offset position of the small pulse air pump. Then, when the center of gravity moves in the tilted state of the small pulse air pump, the attitude of the small pulse air pump is adjusted by the servo electric actuator.

[0011] In the above technical solution, preferably: a filter chamber is fixedly connected to the air inlet of the small pulse air pump, an air inlet grille is provided on the end face of the filter chamber away from the small pulse air pump, an air filter element is snapped into the port of the filter chamber near the small pulse air pump, and several electrostatic discharge rods are fixedly connected in the inner cavity of the filter chamber. The receiving end of the electrostatic discharge rod is connected to an electrostatic generator through a wire harness, and the electrostatic discharge rod releases static electricity in the inner cavity of the filter chamber to adsorb dust in the air.

[0012] In the above technical solution, preferably: the bottom end of the inverted L-shaped upright is fixed to the top surface of the electric slider by screws; the length of the L-shaped support plate and the electric slide rail are consistent with the length of the conveyor frame, and are used to drive the inspection mechanism to move back and forth to monitor the overall condition of the belt conveyor.

[0013] In the above technical solution, preferably: the ends of the infrared cameras that are close to each other are all facing the transmission roller inside the conveyor frame, for monitoring the infrared temperature of the transmission roller during operation; the camera end of the middle vision camera faces the material on the upper surface of the conveyor belt, and the camera ends of the vision cameras on both sides face the ground on the left and right sides of the belt conveyor, for monitoring whether there is any material falling on the ground.

[0014] In the above technical solution, preferably: the cross-section of the arc-shaped pusher plate is an inwardly concave arc shape, and pressure sensors are embedded in the interior of the sides of the arc-shaped pusher plate that are close to each other, for obtaining pressure data after the arc-shaped pusher plate contacts the material that exceeds the range of the side baffle, and pushing the material back into the space between the side baffles by the servo electric cylinder.

[0015] In the above technical solution, preferably: a number of air holes are opened on the front end face of the straight pipe, and the air outlet of the air holes are inclined towards the bottom surface of the tempered glass cover, so as to use pulse gas to disperse the dust attached to the bottom surface of the tempered glass cover.

[0016] In the above technical solution, preferably: the electric sliders move synchronously back and forth with the central axis of the electric slide as the reference, the vertical cross section of the L-shaped support plates is L-shaped, and the surfaces of the L-shaped support plates that are close to each other are fixedly connected to the left and right side walls of the transport frame respectively.

[0017] In the above technical solution, preferably: the gas delivery control switch of the small pulse air pump is connected to a remote control console via a wireless network, and is used to blow away dust with pulse air after the image captured by the visual camera becomes blurry.

[0018] As can be seen from the above technical solution, the intelligent inspection robot provided by the present invention has the following beneficial effects compared with the prior art:

[0019] A robotic walking mechanism drives the inspection mechanism to move back and forth, enabling comprehensive monitoring of the entire belt conveyor. Infrared cameras monitor the temperature of the drive rollers in real time, promptly detecting anomalies. Vision cameras monitor material falling from the conveyor belt and onto the ground. An arc-shaped pusher plate, in conjunction with a pressure sensor, pushes back materials that have exceeded the permitted range. A torque motor drives the convex plate and vision camera to rotate, facilitating inspection of the mine's interior. A small pulse air pump uses a straight pipe to pulse air, dispersing dust from the bottom of the tempered glass cover and ensuring clear images. A filter chamber, air filter, and electrostatic discharge rod purify the air entering the air pump. A gyroscope sensor monitors the air pump's center of gravity shift, and a servo electric actuator adjusts its posture to ensure stable operation. This entire solution improves inspection efficiency and accuracy, ensuring the stable operation of the belt conveyor. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced and explained below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an intelligent inspection robot and a belt conveyor.

[0022] Figure 2 This is a schematic diagram of a belt conveyor;

[0023] Figure 3 This is a schematic diagram of the robot's walking mechanism;

[0024] Figure 4 This is a schematic diagram of the overall inspection organization;

[0025] Figure 5 This is an exploded view of the side components of the inspection mechanism;

[0026] Figure 6 This is an exploded view of the intermediate components of the inspection mechanism.

[0027] Appendix Figure 1 -Appendix Figure 6 The correspondence between the components is as follows:

[0028] 1. Belt conveyor; 101. Base frame; 102. Drive roller; 103. Side baffle; 104. Conveyor belt; 105. Conveyor frame; 2. Inspection mechanism; 201. Inverted L-shaped upright; 202. Convex plate; 203. Infrared camera; 204. Arc-shaped push plate; 205. Pressure sensor; 206. Servo cylinder; 207. Connecting basket; 208. Air pipe; 209. Vision camera; 210. Straight pipe; 211. Tempered glass cover; 212. Small pulse air pump; 213. Torque motor; 214. Drive rod; 215. Servo electric push rod; 216. Gyroscope sensor; 217. Base plate; 218. Filter chamber; 219. Electrostatic discharge rod; 220. Air filter element; 3. Robot walking mechanism; 301. L-shaped support plate; 302. Electric slide rail; 303. Electric slider; 304. Slider driver. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention. In order to provide a clearer explanation and description of the technical solutions and implementation methods of the present invention, the following describes specific embodiments that implement the preferred technical solutions of the present invention.

[0030] Example 1: This intelligent inspection robot is applied to a conventional mine conveyor belt transportation scenario. The base frame 101 of the conveyor belt 1 is stably placed on the mine floor. The conveyor frame 105 is fixed to the top of the base frame 101. Multiple drive rollers 102 are rotatably arranged inside the conveyor frame 105. The conveyor belt 104 is tautly wound around the outer surface of the drive rollers 102 via tensioning wheels. Side baffles 103 are fixed to the left and right sides of the top of the conveyor frame 105. One side surface of the L-shaped support plate 301 of the robot walking mechanism 3 is fixedly connected to the side wall of the conveyor frame 105. The electric slide rail 302 is fixed to the top surface of the L-shaped support plate 301. The electric slider 303 is movably arranged in the track of the electric slide rail 302. The slider driver 304 is fixed to the left end face of the electric slide rail 302 to drive the electric slider 303 to move.

[0031] The bottom ends of the two inverted L-shaped uprights 201 of the inspection mechanism 2 are fixed to the top surface of the electric slider 303 with screws. The connecting basket 207 is fixed to one end of the inverted L-shaped uprights 201 that is close to each other. The protruding plate 202 is set on the side of the inverted L-shaped uprights 201 that is far from each other. The torque motor 213 is fixed to the outer surface of the inverted L-shaped uprights 201. The outer ring of its output shaft is fixed with a vertically arranged drive rod 214. The end of the drive rod 214 is fixedly connected to the inner side wall of the protruding plate 202. Two vision cameras 209 are fixed to the bottom surfaces of the connecting basket 207 and the protruding plate 202, and both are covered with tempered glass covers 211. A straight pipe 210 is fixed to the rear side of the lower surface of the tempered glass cover 211. The straight pipe 210 is connected to the gas supply end of a small pulse air pump 212 set on the top surface of the connecting basket 207 through an air pipe 208. Several air holes are opened on the front end face of the straight pipe 210, and the air outlet is inclined towards the bottom surface of the tempered glass cover 211. Infrared cameras 203 are fixed to the surfaces of the inverted L-shaped uprights 201 that are close to each other, with their camera ends facing the transmission roller 102. The camera end of the central vision camera 209 faces the material on the upper surface of the conveyor belt 104, and the camera ends of the two side vision cameras 209 face the ground on the left and right sides of the belt conveyor 1. A servo electric cylinder 206 is fixed above the surfaces of the inverted L-shaped uprights 201 that are close to each other, and an arc-shaped push plate 204 is fixed to its telescopic end. The cross-section of the arc-shaped push plate 204 is concave inward, and a pressure sensor 205 is embedded inside. Servo electric actuators 215 are installed at the four corners of the inner cavity of the connecting basket 207. The base plate 217 is set on the upper surface of the connecting basket 207. The bottom of the small pulse air pump 212 is fixed to the upper surface of the base plate 217. The top of the telescopic shaft of the servo electric actuator 215 is hinged to the four corners of the lower surface of the base plate 217. A gyroscope sensor 216 is installed on the bottom surface of the base plate 217. The air inlet of the small pulse air pump 212 is fixedly connected to the filter chamber 218. The filter chamber 218 is provided with an air inlet grille on the end face away from the small pulse air pump 212. The air filter element 220 is snapped into the inside near the port. Several electrostatic discharge rods 219 are fixed in the inner cavity, and their receiving ends are connected to the electrostatic generator through a wire harness.

[0032] During operation, the electric slider 303 moves synchronously back and forth on the electric slide rail 302, driving the inspection mechanism 2 to move back and forth to monitor the overall condition of the belt conveyor 1. Infrared camera 203 monitors the infrared temperature of the transmission roller 102 during operation, while vision camera 209 monitors the material falling from the conveyor belt 104 and the ground on both sides of the belt conveyor 1. When the arc-shaped push plate 204 contacts material exceeding the range of the side baffles 103, pressure sensor 205 acquires pressure data, and servo cylinder 206 pushes the material back between the side baffles 103. If the image captured by vision camera 209 is blurry, the remote control console controls a small pulse air pump 212 to blow air through straight pipe 210 to disperse dust on the bottom surface of the tempered glass cover 211. Torque motor 213 can drive the convex plate 202 and vision camera 209 to rotate and inspect the interior of the mine. Gyroscope sensor 216 monitors the center of gravity offset of the small pulse air pump 212, and servo electric actuator 215 adjusts its posture. When the small pulse air pump 212 takes in air, the electrostatic discharge rod 219 releases static electricity to attract dust in the air.

[0033] Example 2: This intelligent inspection robot is applied to a large open-pit mine belt conveyor scenario. The belt conveyor 1 has the same structure as in Example 1, but is larger in size to meet the transportation needs of a large mine. The L-shaped support plate 301 of the robot's walking mechanism 3 is lengthened according to the size of the large conveyor frame 105, and the electric slide rail 302 and electric slider 303 are also correspondingly enlarged to ensure stable movement of the inspection mechanism 2. In the inspection mechanism 2, the inverted L-shaped upright 201 is thickened and lengthened to accommodate a larger inspection area. The size of the connecting basket 207 and the protruding plate 202 is increased to accommodate more vision cameras 209 to meet the needs of large-area monitoring. The power of the infrared camera 203 is enhanced to accurately monitor the temperature of the large transmission roller 102. The thrust of the servo cylinder 206 is increased, and the size of the arc-shaped push plate 204 is enlarged to better handle large materials that exceed the range of the side baffle 103. The power of the small pulse air pump 212 is increased, and the number of air holes in the straight pipe 210 is increased to ensure rapid dispersal of dust on the bottom surface of the tempered glass cover 211. The servo electric actuator 215 increases thrust to stabilize and adjust the posture of the large and small pulse air pumps 212. The filter chamber 218 is enlarged, and the number of electrostatic discharge rods 219 is increased to enhance the air filtration effect. The working process is similar to that in Embodiment 1. The electric slider 303 drives the inspection mechanism 2 to move back and forth, and each camera and sensor monitors and detects according to the set functions. When large materials exceed the range of the side baffle 103, the arc-shaped push plate 204 pushes the materials under the action of the servo electric cylinder 206. When the image of the vision camera 209 is blurry, the small pulse air pump 212 blows air to clean the tempered glass cover 211. The torque motor 213 drives the convex plate 202 and the vision camera 209 to rotate and inspect the mine environment. The gyroscope sensor 216 and the servo electric actuator 215 work together to adjust the posture of the small pulse air pump 212. When the small pulse air pump 212 intakes air, the electrostatic discharge rods 219 in the filter chamber 218 adsorb dust to ensure the cleanliness of the incoming air.

[0034] Example 3: This intelligent inspection robot is applied to a narrow underground mine tunnel belt conveyor scenario. The belt conveyor 1 is miniaturized to suit the narrow mine tunnel space, with reduced dimensions for the base frame 101 and conveyor frame 105. The L-shaped support plate 301 of the robot's walking mechanism 3 is made of lightweight, high-strength material to adapt to installation in confined spaces. The electric slide 302 and electric slider 303 are designed to be compact, reducing space occupation. In the inspection mechanism 2, the inverted L-shaped upright 201 is made of lightweight, high-strength alloy material, ensuring strength while reducing weight. The connecting basket 207 and protruding plate 202 are reduced in size, and the number of vision cameras 209 is appropriately reduced according to the monitoring needs of the narrow space, while still ensuring monitoring of the material on the conveyor belt 104 and the ground conditions on both sides. The infrared camera 203 is a miniature, high-precision model to accurately monitor the temperature of the drive roller 102. The servo cylinder 206 and the arc-shaped push plate 204 are correspondingly reduced in size, enabling them to handle materials exceeding the range of the side baffle 103 within the narrow space. The miniature pulse air pump 212 is a compact and efficient model, with an optimized air hole layout in the straight tube 210 to effectively disperse dust on the bottom surface of the tempered glass cover 211 within a limited space. The servo electric actuator 215 is a miniature, high-precision model to precisely adjust the attitude of the miniature pulse air pump 212. The filter chamber 218 is smaller in size, but the electrostatic discharge rods 219 are rationally arranged to ensure air filtration effect.

[0035] During operation, the electric slider 303 drives the inspection mechanism 2 to move back and forth within the narrow space. Infrared camera 203 and vision camera 209 monitor according to their functions. When material exceeds the range of the side baffle 103, the arc-shaped pusher 204 pushes the material under the action of the servo cylinder 206. When the image from the vision camera 209 is blurry, the small pulse air pump 212 blows air to clean the tempered glass cover 211. Torque motor 213 drives the convex plate 202 and vision camera 209 to rotate and inspect the narrow mine environment. Gyroscope sensor 216 and servo electric actuator 215 work together to precisely adjust the attitude of the small pulse air pump 212. When the small pulse air pump 212 intakes air, the electrostatic discharge rod 219 inside the filter chamber 218 adsorbs dust, ensuring the cleanliness of the incoming gas.

[0036] Based on the above-described preferred technical solution, the workflow of this technical solution is explained as follows: In the initial state, the L-shaped support plate 301 of the robot walking mechanism 3 is fixed to the left and right side walls of the conveyor frame 105 of the belt conveyor 1. The electric slide rail 302 is fixed to the top surface of the L-shaped support plate 301. The electric slider 303 is located at a suitable position in the track of the electric slide rail 302. The bottom end of the inverted L-shaped upright 201 of the inspection mechanism 2 is fixed to the top surface of the electric slider 303 by screws. At this time, the inspection mechanism 2 is in standby mode, waiting to start the inspection work. When inspection is required, the robot walking mechanism 3 starts to work. The slider driver 304 drives the electric slider 303 to move back and forth in the track of the electric slide rail 302. Since the lengths of the L-shaped support plate 301 and the electric slide rail 302 are consistent with the length of the conveyor frame 105, and the electric slider 303 moves back and forth synchronously with the central axis of the electric slide rail 302 as a reference, it can drive the inspection mechanism 2 to move back and forth to monitor the overall condition of the belt conveyor 1. During the movement of the inspection mechanism 2, the infrared cameras 203 on the inspection mechanism 2, with their ends close together, face the transmission roller 102 inside the conveyor frame 105, continuously monitoring the infrared temperature of the transmission roller 102 during operation. Any abnormal temperature can be detected in time. The camera end of the central vision camera 209 faces the material on the upper surface of the conveyor belt 104, while the camera ends of the two side vision cameras 209 face the ground on the left and right sides of the belt conveyor 1, respectively monitoring the material condition on the conveyor belt 104 and whether there is any material falling to the ground.

[0037] If, during monitoring, material is found on the conveyor belt 104 exceeding the range of the side baffles 103, the pressure sensor 205 embedded in the side of the arc-shaped pusher plates 204 that are close to each other will acquire pressure data. At this time, the servo cylinder 206 will operate, and its telescopic end will push the arc-shaped pusher plate 204, pushing the material that exceeds the range back into the space between the side baffles 103. When it is necessary to inspect the inside of the mine, the torque motor 213 fixed on the outer surface of the inverted L-shaped upright 201 will operate. Its output shaft will drive the vertically arranged drive rod 214 to rotate. The end of the drive rod 214 is fixedly connected to the inner side wall of the protruding plate 202, thereby driving the protruding plate 202 and the vision camera 209 to rotate, realizing the function of inspecting the inside of the mine. During the inspection, the tempered glass cover 211, which is fixedly connected to the lower surface of the connecting basket 207 and the convex plate 202, is used to protect the vision camera 209. If the image captured by the vision camera 209 is blurry, it may be because dust is attached to the bottom surface of the tempered glass cover 211. At this time, after the gas delivery control switch of the small pulse air pump 212 receives the command from the remote control console via the wireless network, the small pulse air pump 212 starts to work. The gas is delivered to the straight pipe 210 through the air pipe 208. Several air holes on the front end face of the straight pipe 210 are tilted towards the bottom surface of the tempered glass cover 211, and the pulse gas is used to disperse the dust attached to the bottom surface of the tempered glass cover 211.

[0038] When the small pulse air pump 212 is working, the filter chamber 218 fixedly connected to its air inlet filters the incoming air. The air enters the filter chamber 218 from the air inlet grille. The air filter element 220, which is snapped into the port of the filter chamber 218 near the small pulse air pump 212, filters the dust in the air. At the same time, several electrostatic discharge rods 219 fixedly connected in the inner cavity of the filter chamber 218 release static electricity to adsorb the dust in the air. The receiving end of the electrostatic discharge rod 219 is connected to the electrostatic generator through a wire harness. The servo electric actuators 215 installed at the four corners of the inner cavity of the connecting basket 207 have their telescopic shafts hinged at the four corners of the lower surface of the base plate 217, which is fixed to the upper surface of the connecting basket 207 and the bottom surface of the small pulse air pump 212 is fixed to it. The gyroscope sensor 216 installed on the bottom surface of the base plate 217 monitors the offset position of the center of gravity of the small pulse air pump 212. When the center of gravity of the small pulse air pump 212 moves in an inclined state, the servo electric actuators 215 adjust the attitude of the small pulse air pump 212 to ensure its stable operation.

[0039] This invention is not limited to the preferred embodiments described above. Anyone should understand that structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention. Finally, it should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives of this application, should still fall within the scope of the technical content disclosed in this application.

Claims

1. An intelligent inspection robot, comprising a belt conveyor (1), characterized in that: Robot walking mechanisms (3) are fixedly connected to both the left and right sides of the belt conveyor (1), and an inspection mechanism (2) located above the belt conveyor (1) is connected to the top surface of the robot walking mechanism (3). The inspection mechanism (2) includes two inverted L-shaped uprights (201), a connecting basket (207) fixed to one end of the inverted L-shaped uprights (201) that is close to each other, and a protruding plate (202) set on one side of the inverted L-shaped uprights (201) that is far away from each other. Two visual cameras (209) are fixed on the bottom surface of the connecting basket (207) and the bottom surface of the protruding plate (202). An infrared camera (203) is fixedly connected to the surface of the inverted L-shaped uprights (201) that is close to each other. A servo electric cylinder (206) is fixed above the surface of the inverted L-shaped uprights (201) that is close to each other. An arc-shaped push plate (204) is fixedly connected to the telescopic end of the servo electric cylinder (206). The top surface of the connecting basket (207) is provided with a small pulse air pump (212). The lower surfaces of the connecting basket (207) and the convex plate (202) are both fixedly connected with tempered glass covers (211) that cover the vision camera (209). A section of straight pipe (210) is fixed on the rear side of the lower surface of the tempered glass cover (211). The straight pipes (210) are connected to each other through air pipes (208) and connected to the gas supply end of the small pulse air pump (212). The outer surface of the inverted L-shaped upright (201) is fixedly connected to a torque motor (213). A vertically arranged drive rod (214) is fixed on the outer ring of the output shaft of the torque motor (213). The end of the drive rod (214) is fixedly connected to the inner side wall of the protruding plate (202) and is used to drive the protruding plate (202) and the vision camera (209) to rotate through the torque motor (213) so as to inspect the situation inside the mine. A servo electric actuator (215) is installed at each of the four corners of the inner cavity of the connecting basket (207). The upper surface of the connecting basket (207) is provided with a base plate (217). The bottom surface of the small pulse air pump (212) is fixed to the upper surface of the base plate (217). The top of the telescopic shaft of the servo electric actuator (215) is hinged to the four corners of the lower surface of the base plate (217). A gyroscope sensor (216) is installed on the bottom surface of the base plate (217) to monitor the center of gravity offset position of the small pulse air pump (212). Then, when the center of gravity of the small pulse air pump (212) moves in the tilted state, the attitude of the small pulse air pump (212) is adjusted by the servo electric actuator (215).

2. The intelligent inspection robot according to claim 1, characterized in that: A filter chamber (218) is fixedly connected to the air inlet of the small pulse air pump (212). An air inlet grille is provided on the end face of the filter chamber (218) away from the small pulse air pump (212). An air filter element (220) is snapped into the port of the filter chamber (218) near the small pulse air pump (212). Several electrostatic discharge rods (219) are fixedly connected in the inner cavity of the filter chamber (218). The receiving end of the electrostatic discharge rod (219) is connected to the electrostatic generator through a wire harness. The electrostatic discharge rod (219) releases static electricity in the inner cavity of the filter chamber (218) to adsorb dust in the air.

3. The intelligent inspection robot according to claim 1, characterized in that: The bottom end of the inverted L-shaped upright (201) is fixed to the top surface of the electric slider (303) by screws.

4. The intelligent inspection robot according to claim 1, characterized in that: The infrared cameras (203) are positioned so that their ends face the drive roller (102) inside the conveyor frame (105) to monitor the infrared temperature of the drive roller (102) during operation. The camera end of the middle vision camera (209) faces the material on the upper surface of the conveyor belt (104), while the camera ends of the two side vision cameras (209) face the ground on the left and right sides of the belt conveyor (1) to monitor whether there is any material falling off the ground.

5. The intelligent inspection robot according to claim 1, characterized in that: The cross-section of the arc-shaped pusher (204) is an inwardly concave arc. Pressure sensors (205) are embedded in the sides of the arc-shaped pushers (204) that are close to each other. They are used to obtain pressure data after the arc-shaped pusher (204) contacts the material that exceeds the range of the side baffle (103) and pushes the material back into the space between the side baffles (103) by the servo electric cylinder (206).

6. The intelligent inspection robot according to claim 1, characterized in that: Several air holes are provided on the front end face of the straight tube (210), and the air outlet of the air holes is inclined toward the bottom surface of the tempered glass cover (211) to disperse the dust attached to the bottom surface of the tempered glass cover (211) by using pulsed gas.

7. The intelligent inspection robot according to claim 1, characterized in that: Each of the robot walking mechanisms (3) includes an L-shaped support plate (301), an electric slide rail (302) fixed on the top surface of the L-shaped support plate (301), and an electric slider (303) that is movably arranged in the track of the electric slide rail (302). A slider driver (304) for driving the electric slider (303) is fixedly connected to the left end face of the electric slide rail (302).

8. The intelligent inspection robot according to claim 1, characterized in that: The gas delivery control switch of the small pulse air pump (212) is connected to a remote control console via a wireless network and is used to blow away dust with pulse air after the image captured by the vision camera (209) becomes blurry.

Images