Intelligent inspection device based on scraper conveyor

Abstract

The invention relates to the technical field of state monitoring of mining conveyors, and discloses an intelligent inspection device based on a scraper conveyor, which solves the problem of low stability, and comprises a scraper conveyor, a moving main body is arranged at the top of the scraper conveyor, and a pulse crushing head is arranged on the left side of the moving main body. A grabbing rod manipulator is arranged on the right side of the moving body, a grabbing rod head is arranged at the bottom of the grabbing rod manipulator, a storage box is fixed to the front end of the moving body, two sliding shoes are arranged at the bottom of the rear end of the moving body, a plurality of moving gears are arranged at the bottom of the front end of the moving body, and cleaning shafts are arranged on the outer sides of the two moving gears at the outermost end. According to the invention, the millimeter wave radar and the industrial camera are matched to find large coal briquettes and anchor rods, so that the inspection accuracy is ensured, and meanwhile, the clamping ring can be moved to the required position through the matching of the large arm supporting block, the mechanical large arm, the small arm reversing head, the mechanical small arm and the clamping rod reversing head, so that the inspection accuracy is ensured.

Description

Technical Field

[0001] This invention belongs to the field of mine conveyor condition monitoring technology, specifically an intelligent inspection device based on scraper conveyors. Background Technology

[0002] A scraper conveyor is a device used to transport bulk materials. It transports materials in a trough by scraper chains and is commonly found in coal mining faces and other industrial fields. In underground coal mining faces, large pieces of coal often collapse or anchor bolts fall into the middle trough of the scraper conveyor, causing the scraper conveyor to jam, break, or damage the equipment. Therefore, when the conveyor jams, it is necessary to conduct inspections and break up large pieces of coal.

[0003] However, most of the current inspection work is done manually. This traditional inspection method has poor real-time performance, increases the labor intensity of workers, and is not conducive to the safe and efficient production of coal. At the same time, most of the existing inspection methods rely on manual crushing of large coal blocks and grabbing of anchor bolts, resulting in low inspection efficiency. Therefore, this invention proposes an intelligent inspection device based on a scraper conveyor. Summary of the Invention

[0004] In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides an intelligent inspection device based on a scraper conveyor, which effectively solves the problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent inspection device based on a scraper conveyor, comprising a scraper conveyor, wherein a conveyor chain is slidably connected to the front and rear ends of the scraper conveyor, a movable body is provided on the top of the scraper conveyor, a controller is fixed inside the movable body, a power supply is fixed at the front end of the controller, millimeter-wave radars are fixed on both the left and right ends of the movable body, an industrial camera is fixed at the bottom of each millimeter-wave radar, two mechanical arms are provided on the top of the movable body, a pulse crushing head is provided on the left side of the left mechanical arm, and a gripping manipulator is provided on the right side of the right mechanical arm, a positioning block is fixed at the bottom of the gripping manipulator, a movable block is slidably connected inside the positioning block, and two movable main rods are hinged to the lower end of the movable block, each of the movable main rods... A clamping rod is hinged to the other end of the main rod. A gripping head is fixed to the bottom of each clamping rod. Stabilizing sub-plates are provided on both the left and right sides of each gripping head. A stabilizing main plate is provided at the front end of each stabilizing sub-plate. A storage box is fixed to the front end of the moving main body. A storage box door is rotatably connected to the top of the front end of the storage box via a storage shaft. Two sliding shoes are fixed to the bottom of the rear end of the moving main body. A cleaning block is provided on the outside of each sliding shoe. Several moving gear positioning plates are slidably connected to the bottom of the front end of the moving main body. A moving gear is rotatably connected inside each moving gear positioning plate via a rotating shaft. A cleaning shaft is provided on the outside of the two outermost moving gears. A set of cleaning wires is fixed to both ends of each cleaning shaft. A blocking plate is provided at the bottom of each cleaning shaft. A proximity rod is fixed to the outside of each moving gear positioning plate.

[0006] Preferably, a locking plate is fixed at the front end of the scraper conveyor, a conveying shaft is rotatably connected to the rear end of the locking plate, a conveying motor is rotatably connected to the rear end of the conveying shaft, a number of positioning rods are fixed at the rear end of the scraper conveyor, and a number of conveying strips are fixed between the front and rear sets of conveying chains.

[0007] Preferably, a rack is fixed to the top of the front end of the scraper conveyor, and the rack is meshed with several moving gears at its top. Each moving gear has a moving gear disk fixed to its front end via a rotating shaft. All the moving gear disks are meshed with each other via a chain. The front end of the leftmost moving gear disk is rotatably connected to a moving motor via a rotating shaft. The moving motor is fixedly connected to the moving gear positioning plate at its rear end via a fixed rod. Each moving gear positioning plate has a proximity rod fixing plate at its front end, which is fixedly connected to the storage box at its bottom. Several proximity rod fixing plates are fixedly connected with each other via proximity rod connecting plates.

[0008] Preferably, a connecting plate is fixed to the outer side of the two outermost movable gear positioning plates, a cleaning plate is fixed to the outer side of each connecting plate, each cleaning plate is rotatably connected to the cleaning shaft on its inner side, a cleaning shaft motor is fixed to the outer side of each cleaning plate, a cleaning main gear is rotatably connected to the outer side of each cleaning shaft motor, a cleaning secondary gear is meshed with each cleaning main gear, and each cleaning secondary gear is fixedly connected to the cleaning shaft at one end.

[0009] Preferably, each cleaning plate is provided with a cleaning bearing on its outer side, the inner ring of each cleaning bearing is fixedly connected to the cleaning shaft inside it, a blocking plate positioning block is fixed at the bottom of the outer ring of each cleaning bearing, a blocking buckle is fixed on the outer side of each blocking plate positioning block, a blocking connecting buckle is rotatably connected inside each blocking buckle, each blocking connecting buckle is fixedly connected to the blocking plate outside it, and a set of blocking plate springs is fixed on the inner side of the top of each blocking plate, the other end of each set of blocking plate springs is fixedly connected to the blocking plate positioning block inside it.

[0010] Preferably, positioning strips are fixed at both ends of the storage box, and several storage hubs are rotatably connected to the rear end of each positioning strip. Each group of storage hubs is connected by a storage belt drive. A baffle is fixed at the front end of each storage hub. A storage motor is rotatably connected to the rear end of each storage hub at the top via a rotating shaft. Each storage motor is fixedly connected to the positioning strip at its front end. Storage springs are fixedly connected to both ends of the storage shaft. The other end of each storage spring is fixedly connected to the storage box. A storage ramp is also fixed inside the storage box.

[0011] Preferably, the storage box is further provided with two lighting lamps at the rear end, which are fixedly connected to the mobile body. Positioning buckles are fixed on both the left and right sides of the rear end of the mobile body. The bottom of each cleaning block is slidably connected to the scraper conveyor. A positioning plate is fixed at the top of the rear end of the scraper conveyor. The positioning plate is tightly fitted with the slip shoe. A cleaning motor is fixed at the front end of each positioning buckle. Each cleaning motor is rotatably connected to the cleaning block at its rear end via a rotating shaft.

[0012] Preferably, the top of the mobile body has two large arm support blocks fixed, each large arm support block is rotatably connected to the mechanical large arm on its top, each mechanical large arm is rotatably connected to a small arm reversing head at its top, each small arm reversing head is rotatably connected to a mechanical small arm at its outer bottom, each small arm is rotatably connected to a clamping rod reversing head at its bottom, each clamping rod reversing head is fixed to a clamping ring at its outer side, the left clamping ring is fixedly connected to the pulse crushing head, and the right clamping ring is fixedly connected to the gripping rod manipulator.

[0013] Preferably, a gripping rod camera is fixed to the right side of the gripping ring at the right end. Two connecting rods are hinged to the lower end of the gripping rod robot. A movable auxiliary rod is hinged to the lower end of each connecting rod. The inner side of each movable auxiliary rod is hinged to the upper end of the moving block. The outer end of each movable auxiliary rod is hinged to the upper end of the gripping rod. Stable main rods are fixed to both ends of the positioning block. A stable auxiliary rod is fixed to the lower end of each stable main rod.

[0014] Preferably, a stabilizing block is fixed to the bottom of each stabilizing sub-rod, a stabilizing motor is fixed to the outside of each stabilizing block, a stabilizing main gear is rotatably connected to the inside of each stabilizing motor, each stabilizing main gear is fixedly connected to the stabilizing main plate inside it via a rotating shaft, a stabilizing secondary gear is meshed with the rear end of each stabilizing main gear, and each stabilizing secondary gear is fixedly connected to the stabilizing sub-plate inside it via a rotating shaft.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention uses millimeter-wave radar and industrial camera to locate large coal blocks and anchor bolts, thereby ensuring the accuracy of inspection. Furthermore, this device uses a combination of boom support block, mechanical boom, small boom reversing head, mechanical small boom and clamping rod reversing head to move the clamping ring to the required position, thereby further ensuring the accuracy of inspection. At the same time, due to the action of the pulse crushing head, large coal blocks can be crushed, thereby ensuring the efficiency of coal block conveying and saving manpower. (2) In this invention, the retraction of the gripping manipulator can drive the moving block to move upward, thereby driving the connecting rod to expand, thereby driving the moving auxiliary rod and the moving main rod to move upward, thereby driving the clamping rod to move inward, thereby causing the gripping rod head to move inward, thereby clamping the anchor rod. Furthermore, the stabilizing motor can drive the stabilizing main gear to rotate, thereby driving the stabilizing auxiliary gear to rotate, thereby driving the stabilizing main plate and the stabilizing auxiliary plate to rotate, thereby enabling the stabilizing main plate and the stabilizing auxiliary plate to adapt to anchor rods of different diameters. Furthermore, the stabilizing main rod and the stabilizing auxiliary rod can work together to press the anchor rod, thereby ensuring the stability of the anchor rod transportation and thus ensuring the anchor rod transportation efficiency. (3) The present invention uses a storage box to store anchor rods, and the storage slope makes it easy for the anchor rods to fall out of the storage box. At the same time, the storage motor can drive the storage hub to rotate, thereby driving the baffle to rotate, thus controlling the opening and closing of the storage box door, thereby realizing automation. At the same time, the storage spring can make the storage box door stick tightly to the storage box when there is no external force, thus ensuring the effect of storing anchor rods. (4) The present invention uses a sliding shoe to position the moving body. At the same time, the device can drive the cleaning block to rotate through the cleaning motor, so that the cleaning block is in close contact with the scraper conveyor. This allows the cleaning block to clean the coal dust outside the positioning plate when the moving body moves, thereby ensuring the smoothness of the sliding shoe movement, thus ensuring the stability of the moving body movement, and thus ensuring the material crushing effect. (5) The present invention can drive the moving body to move along the scraper conveyor by rotating the moving gear, thereby ensuring the stability and accuracy of the moving body. At the same time, the cleaning shaft motor can drive the cleaning main gear to rotate, thereby driving the cleaning secondary gear to rotate, thereby driving the cleaning shaft to rotate, thereby driving the cleaning wire to rotate around the cleaning shaft, so that the cleaning wire can clean the coal dust on the rack, thereby ensuring the stability of the moving body. At the same time, the device uses a baffle plate to prevent coal dust from accidentally entering one end of the moving gear when the cleaning shaft cleans the rack, thereby ensuring the cleanliness during cleaning. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of the overall invention; Figure 2 This is a top view of the entire invention; Figure 3 This is a schematic diagram of the moving main body of the present invention; Figure 4 This is a schematic diagram of the left end of the moving body of the present invention; Figure 5 This is a schematic cross-sectional view of the top of the movable body of the present invention; Figure 6 This is a schematic diagram of the bottom of the gripper robot of the present invention; Figure 7 This is a schematic diagram of the bottom of the stabilizing auxiliary rod of the present invention; Figure 8 This is a cross-sectional view of the positioning block of the present invention; Figure 9 This is a schematic diagram of the outer end of the stabilizing block of the present invention; Figure 10 This is a schematic diagram of the lower end of the movable body of the present invention; Figure 11 This is a schematic diagram of the outer end of the storage box of the present invention; Figure 12 This is a schematic diagram of the cleaning block of the present invention; Figure 13 This is a schematic diagram of the rear end of the mobile main body of the present invention; Figure 14 This is a schematic diagram of the front end of the moving gear of the present invention; Figure 15 This is a schematic diagram of the outer end of the connecting plate of the present invention; Figure 16 This is a schematic diagram of the outer end of the cleaning plate of the present invention; Figure 17 This is a schematic diagram of cleaning the outer end of the shaft according to the present invention.

[0018] In the diagram: 1-Scraper conveyor; 2-Moving main body; 3-Storage box; 4-Mechanical arm; 5-Gripper robot; 6-Rack; 7-Positioning buckle; 8-Proximity rod; 9-Cleaning shaft; 101-Locking plate; 102-Conveyor shaft; 103-Conveyor motor; 104-Conveyor chain; 105-Positioning rod; 106-Conveyor bar; 201-Lighting lamp; 202-Controller; 203-Power supply; 204-Millimeter-wave radar; 205-Industrial camera; 301-Storage... Storage box door; 302-Baffle; 303-Positioning strip; 304-Storage wheel hub; 305-Storage belt; 306-Storage motor; 307-Storage spring; 308-Storage shaft; 309-Storage ramp; 401-Up boom support block; 402-Down boom reversing head; 403-Mechanical down boom; 404-Clamping rod reversing head; 405-Clamping ring; 406-Pulse crushing head; 501-Grab bar camera; 502-Positioning block; 503-Connecting rod; 504-Movement... 505-Moving main rod; 506-Clamping rod; 507-Grip rod head; 508-Stabilizing main rod; 509-Stabilizing auxiliary rod; 510-Stabilizing block; 511-Stabilizing main plate; 512-Stabilizing auxiliary plate; 513-Moving block; 514-Stabilizing motor; 515-Stabilizing main gear; 516-Stabilizing auxiliary gear; 601-Moving gear; 602-Moving gear positioning plate; 603-Moving gear disc; 604-Moving motor; 605-Chain; 701- Cleaning block; 702-Positioning plate; 703-Cleaning motor; 704-Slipper; 801-Proximity rod fixing plate; 802-Proximity rod connecting plate; 901-Cleaning screw; 902-Connecting plate; 903-Blocking plate; 904-Cleaning bearing; 905-Cleaning secondary gear; 906-Cleaning main gear; 907-Cleaning shaft motor; 908-Cleaning plate; 909-Blocking plate positioning block; 910-Blocking plate spring; 911-Blocking buckle; 912-Blocking connecting buckle. Detailed Implementation

[0019] 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 described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Example 1, by Figures 1-5 , Figure 6 , Figure 10 , Figure 12 , Figure 16The present invention discloses an intelligent inspection device based on a scraper conveyor, comprising a scraper conveyor 1 made of alloy material, the scraper conveyor 1 being used to support coal blocks, a conveyor chain 104 slidably connected at both ends inside the scraper conveyor 1, the conveyor chain 104 being used to position the conveyor bar 106, a movable body 2 made of alloy material on the top of the scraper conveyor 1, the movable body 2 being used to support the entire device, a controller 202 fixed inside the movable body 2, the controller 202 being used to control the entire device, a power supply 203 fixed at the front end of the controller 202, the power supply 203 providing the required energy for the entire device, and the left side of the movable body 2... Millimeter-wave radars 204 are fixed at both ends of the right side. An industrial camera 205 is fixed to the bottom of each millimeter-wave radar 204. The millimeter-wave radars 204 and industrial cameras 205 work together to locate large coal blocks and anchor bolts. Two mechanical arms 4 are located on the top of the moving body 2. The mechanical arms 4 are used to position the forearm reversing head 402. A pulse crushing head 406 is located on the left side of the mechanical arm 4. The pulse crushing head 406 uses shock waves generated by electromagnetic pulses to crush coal blocks. A grabbing manipulator 5 is located on the right side of the mechanical arm 4. The grabbing manipulator 5 is retractable, thereby driving the moving block 513 to move up and down. A positioning block 502 is fixed to the bottom of the grabbing manipulator 5. The positioning block 502 is made of alloy material. Made of alloy material, the positioning block 502 is used to limit the moving block 513. The moving block 513 is slidably connected inside the positioning block 502. The moving block 513 is made of alloy material and is used to position the moving main rod 505. Two moving main rods 505 are hinged to the lower end of the moving block 513. The moving main rods 505 are made of alloy material and are used to position the clamping rod 506. A clamping rod 506 is hinged to the other end of each moving main rod 505. The clamping rod 506 is made of alloy material and is used to position the gripping rod head 507. A gripping rod head 507 is fixed to the bottom of each clamping rod 506. The gripping rod head 507 is made of alloy material. The moving body 2 is constructed from a material with a grabbing head 507 for gripping anchor bolts. Each grabbing head 507 has stabilizing plates 512 on both its left and right sides, made of alloy material. Each stabilizing plate 512 has a stabilizing main plate 511 at its front end, also made of alloy material. The stabilizing main plate 511 and the stabilizing plates 512 work together to position the anchor bolts. A storage box 3, made of alloy material, is fixed to the front end of the moving body 2. The storage box 3 is used to store anchor bolts. A storage box door 301, also made of alloy material, is rotatably connected to the top front end of the storage box 3 via a storage shaft 308. The storage box door 301 prevents the anchor bolts inside the storage box 3 from falling out.Two sliding shoes 704 are fixed to the bottom rear end of the moving body 2. The sliding shoes 704 are made of alloy material and are used to position the moving body 2. Each sliding shoe 704 has a cleaning block 701 on its outer side. The upper end of the cleaning block 701 is made of alloy material, and the lower end is made of rubber material. The cleaning block 701 is used to clean coal dust from the outside of the positioning plate 702, thereby ensuring the smooth movement of the sliding shoes 704. Several moving gear positioning plates 602 are slidably connected to the bottom front end of the moving body 2. Each moving gear positioning plate 602 has a moving gear 601 rotatably connected inside via a rotating shaft. The moving gear 601, by rotating, can drive the moving body 2 to move along the scraper conveyor 1. The two outermost moving gears 601... Each of the outer sides is equipped with a cleaning shaft 9, which is made of alloy material. The cleaning shaft 9 is used to position the cleaning wires 901. A set of cleaning wires 901 is fixed to both ends of each cleaning shaft 9. The cleaning wires 901 are made of multiple strands of iron wire. The cleaning wires 901 are used to clean coal dust from the rack 6, thereby ensuring the stability of the moving body 2. Each cleaning shaft 9 has a blocking plate 903 at its bottom, which is made of alloy material. The blocking plate 903 is used to prevent coal dust from accidentally entering one end of the moving gear 601 when the cleaning shaft 9 is cleaning the rack 6, thereby ensuring the cleanliness of the cleaning. Each moving gear positioning plate 602 has a contact rod 8 fixed externally. The contact rod 8 is retractable, thereby driving the moving gear positioning plate 602 to move.

[0021] Example 2, based on Example 1, is... Figures 13-15 , Figure 17As shown, a locking plate 101 is fixed at the front end of the scraper conveyor 1. The locking plate 101 is made of alloy material and is used to position the conveyor shaft 102. The rear end of the locking plate 101 is rotatably connected to the conveyor shaft 102. The conveyor shaft 102 can drive the conveyor chain 104 to rotate by rotation, thereby driving the conveyor bar 106 to move along the scraper conveyor 1. A conveyor motor 103 is rotatably connected to the rear end of the conveyor shaft 102 and is used to drive the conveyor shaft 102 to rotate. Several positioning rods 105 are fixed at the rear end of the scraper conveyor 1. The positioning rods 105 are used to position the scraper conveyor 1. Several conveyor bars are fixed between the front and rear sets of the conveyor chains 104. The conveyor bar 106 is made of alloy material and is used to convey coal blocks. A rack 6 is fixed to the top front end of the scraper conveyor 1. The rack 6 facilitates smooth movement of the entire device, thus ensuring its stability. The rack 6 meshes with several moving gears 601 on its top. Each moving gear 601 has a moving gear disc 603 fixed to its front end via a rotating shaft. The moving gear disc 603 can drive the moving gear 601 at its rear end to rotate. All the moving gear discs 603 are meshed together by a chain 605. A moving motor 604 is rotatably connected to the front end of the leftmost moving gear disc 603 via a rotating shaft. The moving motor 604 can drive the leftmost moving gear disc 603. 03 rotates, thereby driving the entire device to move. The moving motor 604 is fixedly connected to the moving gear positioning plate 602 at its rear end via a fixed rod. Each moving gear positioning plate 602 has a proximity rod fixing plate 801 at its front end, which is fixedly connected to the storage box 3 at its bottom. The proximity rod fixing plate 801 is used to position the proximity rod 8. Several proximity rod fixing plates 801 are fixedly connected to each other via proximity rod connecting plates 802. The proximity rod connecting plates 802 are used to connect several proximity rod fixing plates 801. Connecting plates 902 are fixed to the outer sides of the two outermost moving gear positioning plates 602. The connecting plates 902 are made of alloy material and are used to position the cleaning plate 908. Each A cleaning plate 908, made of alloy material, is fixed to the outer side of the connecting plate 902. The cleaning plate 908 is used to position the cleaning auxiliary gear 905. Each cleaning plate 908 is rotatably connected to the cleaning shaft 9 on its inner side. A cleaning shaft motor 907 is fixed to the outer side of each cleaning plate 908. The cleaning shaft motor 907 can drive the cleaning main gear 906 on its outer side to rotate. A cleaning main gear 906 is rotatably connected to the outer side of each cleaning shaft motor 907. The cleaning main gear 906 can drive the cleaning auxiliary gear 905 to rotate. Each cleaning main gear 906 meshes with a cleaning auxiliary gear 905. Each cleaning auxiliary gear 905 is fixedly connected to the cleaning shaft 9 at one end.The cleaning gear 905 can drive the cleaning shaft 9 to rotate, thereby facilitating the cleaning of the rack 6. Each cleaning plate 908 has a cleaning bearing 904 on its outer side, which is used to position the blocking plate positioning block 909. The inner ring of each cleaning bearing 904 is fixedly connected to the cleaning shaft 9 inside it, and the bottom of the outer ring of each cleaning bearing 904 is fixed with a blocking plate positioning block 909. The blocking plate positioning block 909 is made of alloy material and is used to position the blocking plate. A spring 910 is provided. A blocking buckle 911, made of alloy material, is fixed to the outer side of each blocking plate positioning block 909. The blocking buckle 911 is used to position the blocking connecting buckle 912. A blocking connecting buckle 912, also made of alloy material, is rotatably connected inside each blocking buckle 911. The blocking connecting buckle 912 is used to position the blocking plate 903. Each blocking connecting buckle 912 is fixedly connected to the outer blocking plate 903. The inner top side of each blocking plate 903... A set of blocking springs 910 is fixedly provided. These springs are elastic, allowing the blocking plate 903 to rotate, thus ensuring the blocking effect. The other end of each set of blocking springs 910 is fixedly connected to the blocking plate positioning block 909 on its inner side. Two lighting lamps 201 are also fixedly connected to the moving body 2 at the rear end of the storage box 3. These lamps 201 provide illumination for the entire device. Positioning buckles 7 are fixedly provided on both the left and right sides of the rear end of the moving body 2. These positioning buckles 7 are made of alloy material. The positioning buckle 7 is used to position the cleaning block 701. The bottom of each cleaning block 701 is slidably connected to the scraper conveyor 1. A positioning plate 702 is also fixed at the top rear end of the scraper conveyor 1. The positioning plate 702 is used to position the slipper 704. The positioning plate 702 and the slipper 704 are tightly fitted together. A cleaning motor 703 is fixed at the front end of each positioning buckle 7. The cleaning motor 703 can drive the cleaning block 701 to rotate. Each cleaning motor 703 and the cleaning block 701 at its rear end are rotatably connected via a rotating shaft. When large pieces of coal collapse or anchor bolts fall into the middle trough of the scraper conveyor 1, causing chain jamming, chain breakage, or damage, the operator stops the scraper conveyor 1 and places the moving body 2 on top of the scraper conveyor 1. At this time, the moving gear 601 is in close contact with the rack 6. The controller 202 then controls the extension and retraction of several proximity rods 8, thereby moving the moving gear positioning plate 602. This causes the lower end of the moving gear positioning plate 602 to engage with the rack 6, and simultaneously causes the slipper 704 to be in close contact with the positioning plate 702. This ensures the stability of the moving body 2. At this time, the controller 202 controls the lighting 201 to operate, facilitating the operation of the millimeter-wave radar 204 and the industrial camera 205. Furthermore, the controller 202 controls the millimeter-wave radar 204 and the industrial camera 205 at both ends of the moving body 2 to work together, thereby monitoring the coal blocks and anchor bolts at both ends of the moving body 2. At this time, the controller 202 controls the cleaning motor 703 to operate, thereby driving the cleaning block 701 to rotate and closely adhere to the scraper conveyor 1. Further, the controller... 202 controls the cleaning plate 908 to work, thereby driving the main cleaning gear 906 to rotate, which in turn drives the secondary cleaning gear 905 to rotate, which in turn drives the cleaning shaft 9 to rotate. This allows the cleaning wire 901 to clean the coal dust above the rack 6. At the same time, due to the action of the blocking plate spring 910, the blocking buckle 911, and the blocking connecting buckle 912, the blocking plate 903 can rotate, thereby making the blocking plate 903 tightly attached to the rack 6, thus preventing the coal dust cleaned at the outer end of the cleaning shaft 9 from reaching the inner end of the cleaning shaft 9. The cleaning wire 901 at the inner end of the cleaning shaft 9 can clean the rack 6 at the inner end of the baffle plate 903, thereby further ensuring the cleanliness of the rack 6 and ensuring the movement effect of the entire device. At this time, the controller 202 controls the moving motor 604 to work, thereby driving the leftmost moving gear 603 to rotate, thereby causing all the moving gears 603 to rotate through the chain 605, thereby driving several moving gears 601 to rotate along the rack 6, so that the moving body 2 can move to the required position, thereby improving the automation level of the entire device.

[0022] Example 3, based on Example 1, is... Figures 7-9 , Figure 11As shown, positioning strips 303 are fixed at both ends of the storage box 3. The positioning strips 303 are made of alloy material and are used to position the baffle 302. Each positioning strip 303 has several storage hubs 304 rotatably connected to its rear end. Each group of storage hubs 304 is connected by a storage belt 305. The storage hubs 304 and the storage belt 305 cooperate to drive the baffle 302 to rotate. Each storage hub 304 has a baffle 302 fixed to its front end. The baffle 302 is made of alloy material and is used to position the storage box door 301. At the very top, each storage hub 304 has a storage motor 306 rotatably connected to its rear end via a rotating shaft. 06 can drive the topmost storage hub 304 to rotate. Each storage motor 306 is fixedly connected to the positioning strip 303 at its front end. Storage springs 307 are fixedly connected to both ends of the storage shaft 308. The storage springs 307 are elastic, thus providing a force to the storage box door 301, so that the storage box door 301 is tightly pressed against the storage box 3 when no external force is applied. The other end of each storage spring 307 is fixedly connected to the storage box 3. A storage ramp 309 is also fixed inside the storage box 3. The storage ramp 309 adopts a sloping structure. The storage ramp 309 facilitates the anchor rod to fall out of the storage box 3. Two large arm support blocks 401 are fixedly fixed to the top of the moving body 2. The large arm support blocks 401 are used for... The mechanical arm 4 is positioned by a support block 401, which is rotatably connected to the top of the mechanical arm 4. A small arm reversing head 402 is rotatably connected to the top of each mechanical arm 4. The small arm reversing head 402 is rotatable, thereby driving the small arm 403 to reverse direction. Simultaneously, the small arm reversing head 402 can rotate around the top pivot of the mechanical arm 4, allowing the small arm 403 to rotate around the top pivot of the mechanical arm 4. A small arm 403 is rotatably connected to the bottom outer side of each small arm reversing head 402. The small arm 403 is used to position the clamping rod reversing head 404, which can rotate around the small arm 403. The bottom of each small arm 403... A clamping rod reversing head 404 is rotatably connected. A clamping ring 405 is fixed to the outer side of each clamping rod reversing head 404. The clamping ring 405 is made of alloy material. The left clamping ring 405 is used to clamp the pulse crushing head 406, and the right clamping ring 405 is used to clamp the gripping rod manipulator 5. The left clamping ring 405 is fixedly connected to the pulse crushing head 406, and the right clamping ring 405 is fixedly connected to the gripping rod manipulator 5. A gripping rod camera 501 is fixed to the right side of the right clamping ring 405. The gripping rod camera 501 is used to monitor the clamping status of the anchor rod at the bottom of the gripping rod manipulator 5. Two connecting rods 503, made of alloy material, are hinged to the lower end of the gripping rod manipulator 5.The connecting rod 503 is used to position the movable auxiliary rod 504. Each connecting rod 503 has a movable auxiliary rod 504 hinged to its lower end. The movable auxiliary rod 504 is made of alloy material and is used to position the clamping rod 506. The inner side of each movable auxiliary rod 504 is hinged to the upper end of the moving block 513, and the outer end of each movable auxiliary rod 504 is hinged to the upper end of the clamping rod 506. When the gripping robot 5 retracts, it can move the moving block 513 upwards, thereby moving the clamping rod 506. The expansion of the connecting rod 503 causes the movable auxiliary rod 504 and the movable main rod 505 to move upward, thereby causing the clamping rod 506 to move inward, which in turn causes the gripping rod head 507 to move inward, thus clamping the anchor rod. Stabilizing main rods 508 are fixed to both ends of the positioning block 502. The stabilizing main rods 508 are retractable, allowing the stabilizing auxiliary rods 509 to move. A stabilizing auxiliary rod 509 is fixed to the lower end of each stabilizing main rod 508, and the stabilizing auxiliary rod 509 is retractable. This allows the stabilizing block 510 to move up and down. Each stabilizing auxiliary rod 509 has a stabilizing block 510 fixed to its bottom. The stabilizing block 510 is made of alloy material and is used to position the stabilizing main plate 511 and the stabilizing auxiliary plate 512. A stabilizing motor 514 is fixed to the outside of each stabilizing block 510. The stabilizing motor 514 can drive the stabilizing main gear 515 to rotate. A stabilizing main gear 515 is rotatably connected to the inside of each stabilizing motor 514. The stabilizing main gear 515 can drive the stabilizing auxiliary gear 516 to rotate, and simultaneously drive the stabilizing main plate 511 inside it to rotate. Each stabilizing main gear 515 and its inner stabilizing main plate 511 are fixedly connected via a rotating shaft. A stabilizing auxiliary gear 516 is meshed with the rear end of each stabilizing main gear 515. Each stabilizing auxiliary gear 516 is fixedly connected to its inner stabilizing auxiliary plate 512 via a rotating shaft. The stabilizing auxiliary gear 516 can drive its inner stabilizing auxiliary plate 512 to rotate. When the moving body 2 moves to the desired crushing position, the controller 202 controls the left-end boom support block 401, the mechanical boom 4, the forearm reversing head 402, the mechanical forearm 403, and the clamping rod reversing head 404 to work together, thereby causing the pulse crushing head 406 to move onto the large coal block. The controller 202 then controls the pulse crushing head 406 to work, thereby crushing the large coal block, ensuring efficient coal conveying and facilitating the movement of the moving body 2. Furthermore, when the moving body 2 moves past the crushed coal block, the right-end millimeter-wave radar 204 and the right-end industrial camera 205 can monitor whether there are anchor bolts in the crushed coal block. If an anchor bolt is detected, the controller 202... 2. The control unit controls the right-end large arm support block 401, the mechanical large arm 4, the small arm reversing head 402, the mechanical small arm 403, and the clamping rod reversing head 404 to work together, thereby moving the gripping rod manipulator 5 to the anchor position. At this time, the controller 202 can monitor the anchor position through the gripping rod camera 501. Furthermore, the controller 202 controls the gripping rod manipulator 5 to retract, which can drive the moving block 513 to move upward, thereby driving the connecting rod 503 to expand, thereby driving the moving auxiliary rod 504 and the moving main rod 505 to move upward, thereby driving the clamping rod 506 to move inward, thereby causing the gripping rod head 507 to move inward, thereby clamping the anchor. At this time, the gripping rod camera 501... The extension and retraction of the stabilizing main rod 508 is controlled by the length of the anchor rod, thus adapting to anchor rods of different lengths. Furthermore, the controller 202 controls the two stabilizing motors 514 to operate, thereby driving the stabilizing main gear 515 to rotate, which in turn drives the stabilizing secondary gear 516 to rotate, thereby driving the stabilizing main plate 511 and the stabilizing secondary plate 512 to rotate, thus adapting to anchor rods of different diameters. Further, the controller 202 controls the extension of the stabilizing secondary rod 509, so that the stabilizing main plate 511, the stabilizing secondary plate 512, and the grab bar head 507 cooperate to clamp the anchor rod. Furthermore, the controller 202, through the right-end large arm support block 401, the mechanical large arm 4, the small arm reversing head 402, and the mechanical small arm 40... 3. In conjunction with the clamping rod reversing head 404, the anchor bolt is transported into the storage box 3, thereby completing the anchor bolt storage work. Further, the controller 202 controls the moving body 2 to move to the next crushing position and anchor bolt grabbing position. After all large coal pieces have been crushed and all anchor bolts have been grabbed, the controller 202 controls the moving body 2 to return to its initial position. Further, the controller 202 controls the storage motor 306 to operate, thereby driving the topmost storage hub 304 to rotate. Due to the action of the storage belt 305, all storage hubs 304 rotate, causing the baffle 302 to rotate, which in turn drives the storage box door 301 to rotate, thus opening the storage box door 301.Therefore, due to the action of the storage slope 309, the anchor bolts fall out of the storage box 3. When all the anchor bolts have fallen out of the storage box 3, the storage spring 307 and the storage shaft 308 ensure that the storage box door 301 and the storage box 3 are tightly closed, thus facilitating the next loading of anchor bolts.

[0023] The workflow of this invention is as follows: When a large piece of coal collapses or an anchor bolt falls into the middle trough of the scraper conveyor 1, causing the scraper conveyor to jam, break, or be damaged, the operator stops the scraper conveyor 1. The operator places the moving body 2 on top of the scraper conveyor 1. At this time, the moving gear 601 is in close contact with the rack 6. The controller 202 controls several of the contact rods 8 to extend and retract, thereby driving the moving gear positioning plate 602 to move. This causes the lower end of the moving gear positioning plate 602 to engage with the rack 6, and simultaneously causes the slipper 704 to be in close contact with the positioning plate 702, thus ensuring the stability of the moving body 2. At this time, the controller 202 controls the lighting lamp 201 to work, thereby... To facilitate the operation of the millimeter-wave radar 204 and the industrial camera 205, the controller 202 further controls the millimeter-wave radar 204 and the industrial camera 205 at both ends of the moving body 2 to work together, thereby monitoring the coal blocks and anchor bolts at both ends of the moving body 2. At this time, the controller 202 controls the cleaning motor 703 to work, thereby driving the cleaning block 701 to rotate and closely adhere to the scraper conveyor 1. Furthermore, the controller 202 controls the cleaning plate 908 to work, thereby driving the main cleaning gear 906 to rotate, thereby driving the secondary cleaning gear 905 to rotate, thereby driving the cleaning shaft 9 to rotate, so that the cleaning wire 901 can clean the coal dust above the rack 6. Simultaneously, the blocking plate spring 910, the blocking buckle 911, and the blocking connecting buckle 912 allow the blocking plate 903 to rotate, thus ensuring that the blocking plate 903 is in close contact with the rack 6. This prevents coal dust cleaned from the outer end of the cleaning shaft 9 from reaching the inner end of the cleaning shaft 9. Furthermore, the cleaning wire 901 at the inner end of the cleaning shaft 9 can clean the rack 6 at the inner end of the blocking plate 903, further ensuring the cleanliness of the rack 6 and thus guaranteeing the overall movement effect of the device. At this time, the controller 202 controls the moving motor 604 to operate, thereby driving the leftmost moving gear 603 to rotate. This, in turn, causes all the moving gears 603 to rotate via the chain 605, thereby driving... Several moving gears 601 rotate along the rack 6, allowing the moving body 2 to move to the desired position, thereby improving the automation level of the entire device. When the moving body 2 moves to the desired crushing position, the controller 202 controls the left-end boom support block 401, the mechanical boom 4, the forearm reversing head 402, the mechanical forearm 403, and the clamping rod reversing head 404 to work together, thereby causing the pulse crushing head 406 to move onto the large coal block. Furthermore, the controller 202 controls the pulse crushing head 406 to work, thereby crushing the large coal block, ensuring the efficiency of coal block conveying, and facilitating the movement of the moving body 2. Further, when the moving body 2 moves past the crushed coal block...The millimeter-wave radar 204 and the industrial camera 205 on the right end can monitor whether there are anchor bolts in the crushed coal block. If an anchor bolt is detected, the controller 202 controls the right-end boom support block 401, the mechanical boom 4, the forearm reversing head 402, the mechanical forearm 403, and the gripping rod reversing head 404 to work together, thereby moving the gripping rod manipulator 5 to the anchor bolt position. At this time, the controller 202 can monitor the anchor bolt position through the gripping rod camera 501. Furthermore, the controller 202 controls the gripping rod manipulator 5 to retract, which can drive the moving block 513 to move upward, thereby driving the connecting rod 503 to expand, thereby driving... The moving auxiliary rod 504 and the moving main rod 505 move upward, thereby driving the clamping rod 506 to move inward, which in turn causes the gripping rod head 507 to move inward, thus gripping the anchor rod. At this time, the gripping rod camera 501 controls the extension and retraction of the stabilizing main rod 508 according to the anchor rod length, thereby adapting to anchor rods of different lengths. Furthermore, the controller 202 controls the two stabilizing motors 514 to work, thereby driving the stabilizing main gear 515 to rotate, which in turn drives the stabilizing secondary gear 516 to rotate, which in turn drives the stabilizing main plate 511 and the stabilizing secondary plate 512 to rotate, thereby adapting to anchor rods of different diameters. Furthermore, the controller 202 controls the... The stabilizing auxiliary rod 509 extends, allowing the stabilizing main plate 511, the stabilizing auxiliary plate 512, and the grabbing rod head 507 to clamp the anchor bolt. Furthermore, the controller 202, through the right-end boom support block 401, the mechanical boom 4, the forearm reversing head 402, the mechanical forearm 403, and the clamping rod reversing head 404, transports the anchor bolt into the storage box 3, thus completing the anchor bolt storage. The controller 202 then controls the moving body 2 to move to the next crushing position and anchor bolt grabbing position. After completing the crushing of all large coal pieces and the grabbing of all anchor bolts, the controller 202 controls the moving body 2 to return to its initial position. In this configuration, the controller 202 further controls the storage motor 306 to operate, thereby driving the topmost storage hub 304 to rotate. Due to the action of the storage belt 305, all storage hubs 304 rotate, causing the baffle 302 to rotate, which in turn drives the storage box door 301 to rotate, opening the door. The storage ramp 309 then allows the anchor bolts to fall out of the storage box 3. When all anchor bolts have fallen out, the storage spring 307 and the storage shaft 308 ensure that the storage box door 301 and the storage box 3 are tightly closed, facilitating the next loading of anchor bolts.

[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart inspection device based on a flight conveyor, characterized in that: Including the scraper conveyor (1), the scraper conveyor (1) is slidably connected with the conveying chain (104) at both ends, the scraper conveyor (1) is provided with a moving body (2) on the top, the moving body (2) is fixed with a controller (202) inside, the controller (202) is fixed with a power supply (203) at the front end, the moving body (2) is fixed with millimeter wave radar (204) on both ends, each millimeter wave radar (204) is fixed with an industrial camera (205) at the bottom, the moving body (2) is provided with two mechanical arms (4) on the top, the left end of the mechanical arm (4) is provided with a pulse breaking head (406) on the left side, the right end of the mechanical arm (4) is provided with a grab lever manipulator (5) on the right side, the grab lever manipulator (5) is fixed with a positioning block (502) at the bottom, the positioning block (502) is slidably connected with a moving block (513) inside, the moving block (513) is hingedly connected with two moving main rods (505) inside the lower end, each moving main rod (505) is hingedly connected with a clamping rod (506) at the other end, each clamping rod (506) is fixed with a grab lever head (507) at the bottom, the grab lever head (507) is provided with a stable auxiliary plate (512) on both sides, each stable auxiliary plate (512) is provided with a stable main plate (511) at the front end, the moving body (2) is fixed with a storage box (3) at the front end, the storage box (3) is rotatably connected with a storage box door (301) at the top of the front end through a storage shaft (308), the moving body (2) is fixed with two slide shoes (704) at the bottom of the rear end, each slide shoe (704) is provided with a cleaning block (701) on the outer side, the moving body (2) is slidably connected with a plurality of moving gear positioning plates (602) at the bottom of the front end, each moving gear positioning plate (602) is rotatably connected with a moving gear (601) inside through a rotating shaft, each moving gear (601) is provided with a cleaning shaft (9) on the outer side, each cleaning shaft (9) is fixed with a group of cleaning wires (901) on both ends, each cleaning shaft (9) is provided with a blocking plate (903) at the bottom, each moving gear positioning plate (602) is fixed with a close-to-rod (8) on the outside.

2. The intelligent inspection device based on a flight conveyor according to claim 1, characterized in that: The scraper conveyor (1) is fixed with a locking plate (101) at the front end, the locking plate (101) is rotatably connected with a conveying shaft (102) at the rear end, the conveying shaft (102) is rotatably connected with a conveying motor (103) at the rear end, the scraper conveyor (1) is fixed with a plurality of positioning rods (105) at the rear end, a plurality of conveying strips (106) are fixed between the front and rear conveying chains (104).

3. The intelligent inspection device based on a flight conveyor according to claim 2, characterized in that: The scraper conveyor (1) front end top is fixed with rack (6), the rack (6) is engaged with the top of a plurality of mobile gear (601) connection, each mobile gear (601) front end is fixed with mobile gear plate (603) through the rotating shaft, all the mobile gear plate (603) is engaged between the chain (605) connection, the leftmost mobile gear plate (603) front end is rotatably connected with mobile motor (604) through the rotating shaft, the mobile motor (604) is fixedly connected with the mobile gear positioning plate (602) through the fixed rod, each mobile gear positioning plate (602) front end is equipped with close to the rod fixed plate (801) and its bottom storage box (3) fixed connection, a plurality of close to the rod fixed plate (801) is fixedly connected between the close to the rod connecting plate (802).

4. The intelligent inspection device based on a flight conveyor according to claim 3, characterized in that: The outermost two mobile gear positioning plates (602) are fixed with connecting plates (902), each connecting plate (902) is fixed with a cleaning plate (908) outside, each cleaning plate (908) is rotatably connected with the cleaning shaft (9) inside, each cleaning plate (908) is fixed with a cleaning shaft motor (907) outside, each cleaning shaft motor (907) is rotatably connected with a cleaning main gear (906) outside, each cleaning main gear (906) is engaged with a cleaning sub gear (905), each cleaning sub gear (905) is fixedly connected with the cleaning shaft (9) at one end.

5. The intelligent inspection device based on a flight conveyor according to claim 4, characterized in that: Each cleaning plate (908) is provided with a cleaning bearing (904) outside, the inner ring of each cleaning bearing (904) is fixedly connected with the cleaning shaft (9) inside, the outer ring bottom of each cleaning bearing (904) is fixedly connected with a blocking plate positioning block (909), each blocking plate positioning block (909) is fixedly connected with a blocking buckle (911) outside, each blocking buckle (911) is rotatably connected with a blocking connecting buckle (912) inside, each blocking connecting buckle (912) is fixedly connected with the blocking plate (903) outside, each blocking plate (903) is fixedly connected with a group of blocking plate springs (910) inside the top, the other end of each group of blocking plate springs (910) is fixedly connected with the blocking plate positioning block (909) inside.

6. The intelligent inspection device based on a flight conveyor according to claim 3, characterized in that: The storage box (3) is fixed with positioning strips (303) at both ends, the rear end of each positioning strip (303) is rotatably connected with a plurality of storage hubs (304), each group of storage hubs (304) is drivingly connected by a storage belt (305), the front end of each storage hub (304) is fixed with a baffle (302), the rear end of each storage hub (304) at the top is rotatably connected with a storage motor (306) through a rotating shaft, each storage motor (306) is fixedly connected with the positioning strip (303) at the front end, the left and right ends of the storage shaft (308) are fixedly connected with storage springs (307), one end of each storage spring (307) is fixedly connected with the storage box (3), and the storage box (3) is further fixed with a storage slope (309) inside.

7. The intelligent inspection device based on a flight conveyor according to claim 6, characterized in that: The rear end of the storage box (3) is further provided with two illuminating lamps (201) fixedly connected with the moving main body (2), the rear end of the moving main body (2) is fixedly provided with positioning buckles (7) on the left and right sides, the bottom of each cleaning block (701) is slidingly connected with the scraper conveyor (1), the rear end of the scraper conveyor (1) is further fixedly provided with a positioning plate (702), the positioning plate (702) is closely attached to the sliding shoe (704), the front end of each positioning buckle (7) is fixedly provided with a cleaning motor (703), and each cleaning motor (703) is rotatably connected with the cleaning block (701) at the rear end through a rotating shaft.

8. The intelligent inspection device based on a flight conveyor according to claim 7, characterized in that: The top of the moving main body (2) is fixedly provided with two large arm supporting blocks (401), each large arm supporting block (401) is rotatably connected with the mechanical large arm (4) at the top, each mechanical large arm (4) is rotatably connected with a small arm reversing head (402) at the top, each small arm reversing head (402) is rotatably connected with a mechanical small arm (403) at the bottom outside, each mechanical small arm (403) is rotatably connected with a clamping rod reversing head (404) at the bottom, each clamping rod reversing head (404) is fixedly provided with a clamping ring (405) at the outside, the left clamping ring (405) is fixedly connected with the pulse breaking head (406), and the right clamping ring (405) is fixedly connected with the grab lever manipulator (5).

9. The intelligent inspection device based on a flight conveyor according to claim 8, characterized in that: The right clamping ring (405) is fixedly provided with a grab lever camera (501) at the right side, the grab lever manipulator (5) is hingedly provided with two connecting rods (503) at the lower end, each connecting rod (503) is hingedly provided with a moving auxiliary rod (504) at the lower end, each moving auxiliary rod (504) is hingedly connected with the moving block (513) at the inner side, and each moving auxiliary rod (504) is hingedly connected with the clamping rod (506) at the outer end, and the positioning block (502) is fixedly provided with a stable main rod (508) at both ends, and each stable main rod (508) is fixedly provided with a stable auxiliary rod (509) at the lower end.

10. The intelligent inspection device based on a flight conveyor according to claim 9, characterized in that: The bottom of each stable auxiliary rod (509) is fixed with a stable block (510), the outer side of each stable block (510) is fixed with a stable motor (514), the inner side of each stable motor (514) is rotatably connected with a stable main gear (515), each stable main gear (515) is fixedly connected with the stable main plate (511) on the inner side through a rotating shaft, and the rear end of each stable main gear (515) is meshedly connected with a stable auxiliary gear (516), and each stable auxiliary gear (516) is fixedly connected with the stable auxiliary plate (512) on the inner side through a rotating shaft.

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