Underground belt inspection robot

Abstract

The utility model discloses an underground belt inspection robot, and relates to the technical field of mining equipment. Comprising a robot body, the robot body is arranged on the lower side of a conveying frame through a mounting mechanism, and an inspection camera body and a cleaning dustproof mechanism are arranged below the robot body. When the inspection camera body works under a mine, the air pump can blow air to the guide strip through the air injection pipe, then the guide strip separates airflow and enables the air above to be blown upwards along the inclined plate, dust on the surface of the inspection camera body is cleaned, and meanwhile, an air barrier can be formed to prevent the dust from getting close to the inspection camera body; by arranging the guide shell and the through opening in the lower portion of the guide shell, lower gas separated by the guide strip can be guided and discharged downwards from the through opening; the problem that the inspection effect is affected due to the fact that an equipment camera is fuzzy when a traditional underground belt inspection robot stays in a mine for a long time and the environment of the mine is easily caused is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mining, especially a mine belt inspection robot. BACKGROUND

[0002] A mine refers to an independent production and operation unit for mining ore in a certain range, which mainly includes one or more ore mining workshops and some auxiliary workshops, and most of the mines also include an ore dressing plant. In the process of mining, the belt conveying system is an important link for the transportation of mineral resources such as ore and coal. With the continuous expansion of the scale of the mine and the increase of the mining depth, the working environment under the mine becomes more and more complex and harsh, and the traditional manual inspection method has many safety hazards and efficiency problems. Therefore, using the mine belt inspection robot becomes an effective solution.

[0003] The mine belt inspection robot has the advantages of automation, high efficiency and high safety, and can perform all-weather inspection work in the harsh underground environment. The traditional mine belt inspection robot is usually installed above the belt conveying line or distributed along the belt conveying line, which can monitor and detect the belt along the line in all directions. However, due to the existence of dust, moisture, coal dust and other pollutants in the mine environment, the traditional robot is easily affected by the mine environment during long-term inspection, especially the surface of the camera, sensor and other devices used for inspection, which may be contaminated by coal dust, ore debris and humid environment, causing the device to have a blurred view, the sensor to malfunction, affecting the clarity of image acquisition, and further affecting the fault detection capability of the robot.

[0004] Therefore, the utility model provides a mine belt inspection robot to solve the above-mentioned problems of the prior art. UTILITY MODEL CONTENT

[0005] Therefore, the main purpose of the utility model is to provide a mine belt inspection robot to solve the problem that the traditional mine belt inspection robot is easily affected by the mine environment, causing the camera to be blurred and affecting the inspection effect.

[0006] To achieve the above-mentioned purpose, the technical scheme of the utility model is as follows:

[0007] A mine belt inspection robot is arranged on the lower side of the conveying frame on the upper side of the long-distance coal flow system, which includes a robot body, the robot body is arranged on the lower side of the conveying frame through a mounting mechanism, and an inspection camera body and a dust cleaning mechanism are arranged below the robot body, and the dust cleaning mechanism is matched with the inspection camera body.

[0008] In a preferred implementation form, the cleaning and dustproof mechanism comprises a shell rotatably arranged on the lower side surface of the inspection camera body, a guide strip is arranged on the inner wall of the shell, an inclined plate with an upward angle is arranged above the guide strip, the inclined plate is located at the lens position of the inspection camera body, and a guide shell is arranged below the shell.

[0009] In a preferred implementation form, the cleaning and dustproof mechanism further comprises an air pump arranged below the robot body, an air outlet end of the air pump is communicated with a gas jet pipe, the other end of the gas jet pipe is located below the inspection camera body, a jet opening is arranged on the surface of the gas jet pipe, the jet opening is at the same level as the guide strip, and the lower side of the gas jet pipe is connected with the shell.

[0010] In a preferred implementation form, the bottom of the shell and the guide shell are both provided with a through opening in communication.

[0011] In a preferred implementation form, the connection part between the guide strip and the shell is arranged in a chamfered manner.

[0012] In a preferred implementation form, the cleaning and dustproof mechanism further comprises a connecting frame arranged on the surface of the inspection camera body, a shaft rod is arranged on the lower side of the surface of the connecting frame through a first rotating shaft, and the lower end of the shaft rod is connected with the shell through a second rotating shaft.

[0013] In a preferred implementation form, the shaft point where the shaft rod is connected with the shell is at the same axis as the inspection camera body.

[0014] In a preferred implementation form, the mounting mechanism comprises a driving motor and a driving gear, the driving motor is arranged on the upper end of the robot body, the driving gear is arranged on the power output end of the driving motor and is located on both sides of the guide steel plate of the conveying frame and is engaged with the guide steel plate.

[0015] In a preferred implementation form, the mounting mechanism further comprises a driven gear, the driven gear is rotatably arranged on the mounting frame on the upper end of the robot body and is engaged with the guide steel plate.

[0016] In a preferred implementation form, the mounting mechanism further comprises a guide roller, the guide roller is rotatably arranged on the upper end of the mounting frame and is matched with the clamping rail of the conveying frame.

[0017] Compared with the prior art, the mine belt inspection robot has the following beneficial effects:

[0018] 1. Through the setting of the dust cleaning mechanism, when in use, through the air pump, the air jet pipe, the guide strip and the inclined plate, the inspection camera body can be cleaned when working in the mine, the air pump can use the air jet pipe to blow the gas to the guide strip, then the guide strip separates the airflow and makes the gas above blow upward along the inclined plate, the dust on the surface of the inspection camera body can be cleaned, and a gas barrier can be formed to prevent dust from approaching the inspection camera body.

[0019] 2. Through the setting of the guide shell and the through port below, the gas below the guide strip can be guided and discharged downward from the through port, the coal residue or dust generated when the belt system transports coal can be isolated, and the dustproof effect is achieved.

[0020] 3. Through the setting of the mounting mechanism, the device can be mounted below the conveying frame on the upper side of the long-distance coal flow system to monitor the working condition of the long-distance coal flow system in real time and dynamically, and the problem that the camera of the traditional underground belt inspection robot is easily blurred due to the mine environment and affects the inspection effect is solved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0022] Figure 1 It is an installation schematic diagram of the underground belt inspection robot of the present application.

[0023] Figure 2 It is a structural schematic diagram of the underground belt inspection robot of the present application.

[0024] Figure 3 It is a structural schematic diagram of the dust cleaning mechanism of the present application.

[0025] Figure 4 It is a structural schematic diagram of the shell of the present application.

[0026] Figure 5 It is an installation effect diagram of the air pump of the present application.

[0027]

MAIN COMPONENT SYMBOL DESCRIPTION

[0028] 1, robot body; 2, inspection camera body; 21, first rotating shaft; 22, shaft rod; 23, second rotating shaft; 3, cleaning dustproof mechanism; 31, shell; 32, connecting frame; 33, air pump; 34, guide strip; 35, guide shell; 36, inclined plate; 37, through hole; 38, air jet pipe; 39, air outlet; 4, mounting frame; 5, clamping rail; 6, guide steel plate; 7, mounting mechanism; 71, driving motor; 72, driving gear; 73, driven gear; 74, guide roller. DETAILED DESCRIPTION

[0029] The structure of the long-distance coal flow system belt deviation detection device will be further described in detail below in combination with the drawings and embodiments of the present application.

[0030] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0031] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments of the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, they indicate the presence of the features, steps, operations, devices, components and / or combinations thereof.

[0032] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units listed, but can include other steps or units not listed or inherent to these processes, methods, products or devices.

[0033] For purposes of the description hereinafter, spatial relative terms, such as "above", "below", "top", "bottom", and the like, can be used to describe a device or feature's orientation in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, then a dependent feature described as "above" or "up" the other feature or structure would then be oriented "below" or "down" the other feature or structure. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The terms "first", "second", "third", etc. can be used herein to describe various elements, but the elements should not be limited by these terms. The terms "first" and "second" are only used to differentiate one element from another element, and do not imply the properties of the elements and the sequence of actions of the elements. The terms "comprise", "comprising", "comprises", "include", "including", and "includes" used herein specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0034] As shown in the accompanying drawings for Figures 1-5 The utility model provides a technical scheme:

[0035] A mine under belt inspection robot, install in long distance coal flow system upper side's conveyer frame downside, for with conveyer frame transmission when use, make it can real time to long distance coal flow system's working condition carry out monitoring, including robot body 1, robot body 1 passes through installation mechanism 7 and is installed in conveyer frame downside, and be provided with inspection camera body 2 and cleaning dustproof mechanism 3 under robot body 1, cleaning dustproof mechanism 3 and inspection camera body 2 cooperation uses, for when use to the lens of inspection camera body 2 carry out cleaning, guarantee its lens's cleaning effect.

[0036] In the above description, the installation mechanism 7 can be movably clamped under the conveyer frame, and cooperates with the clamping rail 5 and the guide steel plate 6 of the conveyer frame, for driving the robot body 1 to move under the conveyer frame by the installation mechanism 7 during use, to monitor the working condition of the long distance coal flow system. During use, the cleaning dustproof mechanism 3 can be actively controlled to clean the lens of the inspection camera body 2 and provide airflow protection, to ensure the monitoring effect of the lens.

[0037] In a preferred embodiment, as shown in Figure 3 , Figure 4 and Figure 5 The cleaning dustproof mechanism 3 includes an outer shell 31 rotatably arranged on the lower surface of the inspection camera body 2, a guide strip 34 is arranged in the inner wall of the outer shell 31, an inclined plate 36 with an upward angle is arranged above the guide strip 34, the inclined plate 36 is located at the lens position of the inspection camera body 2, and a guide shell 35 is arranged below the inner wall of the outer shell 31.

[0038] Specifically, the cleaning dustproof mechanism 3 further comprises an air pump 33 fixedly installed below the robot body 1, an air outlet of the air pump 33 is communicated with symmetrically arranged air injection pipes 38 through a double-way pipe, the other ends of the air injection pipes 38 are fixedly connected to the lower side of the inspection camera body 2, and the air injection pipes 38 are provided with air injection ports 39 on both sides of the surfaces thereof, the air injection ports 39 of the air injection pipes 38 are in the same horizontal plane as the guide strips 34, and the lower side of the air injection pipes 38 is fixedly connected to the shell 31.

[0039] In the above description, in use, first, the air pump 33 is opened, the air pump 33 injects external air into the air injection pipes 38 through the double-way pipe, at this time, the air injection pipes 38 blow the air to the surfaces of the guide strips 34 through the air injection ports 39, since the guide strips 34 are in the same horizontal plane as the air injection ports 39, the blown air is separated by the guide strips 34, at this time, the air on the upper part of the guide strips 34 is blown upwards along the inclined plates 36 to be able to contact the lens position of the inspection camera body 2, and then blow away and clean the dust on the lens position of the inspection camera body 2 and the surface near the lens, at the same time, the air on the lower part separated by the guide strips 34 is introduced into the guide shell 35 along the inner wall of the shell 31 and is discharged downwards from the through port 37 at the lower side of the guide shell 35, so as to be able to isolate the coal residue or dust generated during the long-distance coal flow system coal mine transportation, avoid the coal residue or dust floating into the gap between the inspection camera body 2 and the shell 31, and achieve the dustproof effect.

[0040] In a preferred embodiment, as shown in Figure 3 、 Figure 4 and Figure 5 , the cleaning dustproof mechanism 3 further comprises a connecting frame 32 fixedly connected to the surface of the inspection camera body 2, the surface of the connecting frame 32 is movably connected with a shaft rod 22 through a first rotating shaft 21, and the lower end of the shaft rod 22 on the surface of the connecting frame 32 is movably connected with the shell 31 through a second rotating shaft 23, and the shaft point where the shaft rod 22 of the connecting frame 32 is movably connected with the shell 31 is in the same axis as the inspection camera body 2.

[0041] In the above description, through the arrangement of the above structure, the shell 31 is conveniently installed at the lower end of the lens of the inspection camera body 2 to protect the lower end lens of the inspection camera body 2. At the same time, the shell 31 is provided with the accommodation port to facilitate the lens observation and the working condition of the long-distance coal flow system.

[0042] Specifically, as shown in Figure 3 and Figure 4As shown in the drawings, the through hole 37 is arranged below the guide shell 35 and the outer shell 31, and the two through holes 37 on the guide shell 35 and the outer shell 31 have the same caliber, which facilitates the diversion of the airflow below the guide strip 34, and at the same time, the floating residues generated during the coal transportation can fall to the outside of the outer shell 31 under the action of gravity through the through hole 37, thereby avoiding the deposition on the inner side surface of the outer shell 31.

[0043] Specifically, as shown in Figure 3 and Figure 4 , the guide strip 34 is integrally connected with the outer shell 31, and the connection between the guide strip 34 and the outer shell 31 is chamfered, which facilitates the diversion of the airflow.

[0044] In a preferred embodiment, as shown in Figure 1 and Figure 2 , the mounting mechanism 7 includes a driving motor 71, a driving gear 72 and a driven gear 73; the driving motor 71 is fixedly installed at the upper end of the robot body 1, the driving gear 72 is arranged at the power output end of the driving motor 71 and located on both sides of the guide steel plate 6 and engaged with the guide steel plate 6, the driving motor 71 drives the driving gear 72 to rotate, thereby realizing the movement of the robot body 1 below the guide steel plate 6; the driven gear 73 is rotatably installed on the mounting frame 4 at the upper end of the robot body 1 and engaged with the guide steel plate 6.

[0045] In the above description, the mounting of the robot body 1 below the guide steel plate 6 is realized through the installation of the mounting frame 4, the driving gear 72 and the driven gear 73, and the movement of the robot body 1 below the guide steel plate 6 is realized by driving the driving gear 72 to rotate through the driving motor 71, thereby realizing the dynamic monitoring of the working condition of the long-distance coal flow system.

[0046] Specifically, as shown in Figure 1 and Figure 2 , the mounting mechanism 7 further includes a guide roller 74, which is rotatably installed at the upper end of the mounting frame 4 and cooperates with the clamping rail 5, and can move along the inner track of the clamping rail 5 during use. The stability of the robot body 1 during movement can be effectively improved by the arrangement of the guide roller 74.

[0047] Working principle: first, the air pump 33 is opened, the air pump 33 injects the external gas into the air jet pipe 38 through the double-way pipe, at this time the air jet pipe 38 will blow the gas to the surface of the guide strip 34 through the spout, because the guide strip 34 and the spout are in the same level, so the blown gas will be separated by the guide strip 34, at this time the gas on the upper part of the guide strip 34 will be blown upwards along the inclined plate 36, which can blow off and clean the dust on the surface of the inspection camera body 2, and can also form a gas barrier to prevent the dust from approaching the inspection camera body 2, the gas below will enter the guide shell 35 along the inner wall of the shell 31, and be discharged downwards from the lower through hole 37, which can isolate the coal residue or dust generated during the transportation of the belt system in the coal mine, and achieve the effect of dust prevention.

[0048] It should be noted that the inspection camera body 2, the air pump 33 and the driving motor 71 are all prior art known to those skilled in the art, and the corresponding models can be selected and powered according to the use scene, which will not be repeated here.

[0049] The above is only a preferred embodiment of the present application, and is not intended to limit the protection scope of the present application.

Claims

1. A mine conveyor belt inspection robot, installed on the lower side of the conveyor frame on the upper side of a long-distance coal flow system, characterized in that: The system includes a robot body (1), which is mounted on the lower side of the conveyor frame via an installation mechanism (7). An inspection camera body (2) and a cleaning and dust prevention mechanism (3) are provided below the robot body (1), and the cleaning and dust prevention mechanism (3) is matched with the inspection camera body (2).

2. The mine conveyor belt inspection robot as described in claim 1, characterized in that: The cleaning and dust prevention mechanism (3) includes a housing (31) rotatably disposed on the lower surface of the inspection camera body (2). A guide strip (34) is provided in the inner wall of the housing (31). An inclined plate (36) with an upward angle is provided above the guide strip (34). The inclined plate (36) is located at the lens position of the inspection camera body (2), and a guide shell (35) is provided in the lower part of the housing (31).

3. The mine conveyor belt inspection robot as described in claim 2, characterized in that: The cleaning and dust prevention mechanism (3) also includes an air pump (33) located below the robot body (1). The air outlet of the air pump (33) is connected to the jet pipe (38). The other end of the jet pipe (38) is located below the inspection camera body (2), and a nozzle (39) is provided on the surface of the jet pipe (38). The nozzle (39) is at the same level as the guide strip (34), and the lower part of the jet pipe (38) is connected to the outer shell (31).

4. The mine conveyor belt inspection robot as described in claim 2, characterized in that: Both the outer shell (31) and the guide shell (35) have interconnected openings (37) at their bottoms.

5. The mine conveyor belt inspection robot as described in claim 2, characterized in that: The connection between the guide strip (34) and the outer shell (31) is chamfered.

6. The mine conveyor belt inspection robot as described in claim 2, characterized in that: The cleaning and dustproof mechanism (3) also includes a connecting frame (32) set on the surface of the inspection camera body (2). The lower side of the surface of the connecting frame (32) is provided with a shaft (22) through a first rotating shaft (21), and the lower end of the shaft (22) is connected to the outer shell (31) through a second rotating shaft (23).

7. The mine conveyor belt inspection robot as described in claim 6, characterized in that: The pivot point connecting the shaft (22) and the outer casing (31) is on the same axis as the inspection camera body (2).

8. The mine conveyor belt inspection robot as described in claim 1, characterized in that: The mounting mechanism (7) includes a drive motor (71) and a drive gear (72). The drive motor (71) is located at the upper end of the robot body (1), and the drive gear (72) is located at the power output end of the drive motor (71) and on both sides of the guide steel plate (6) of the conveyor frame, meshing with the guide steel plate (6).

9. The mine conveyor belt inspection robot as described in claim 8, characterized in that: The mounting mechanism (7) also includes a driven gear (73), which is rotatably mounted on the mounting bracket (4) at the upper end of the robot body (1) and meshes with the guide steel plate (6).

10. The mine conveyor belt inspection robot as described in claim 8, characterized in that: The mounting mechanism (7) also includes a guide roller (74), which is rotatably mounted on the upper end of the mounting frame (4) and matches the rail (5) of the conveyor frame.

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