Self-cleaning coal conveying inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses a self-cleaning coal conveying inspection robot which comprises a hanging rail, a connecting arm is slidably connected in the hanging rail, a supporting block is fixedly connected to one side of the connecting arm, an inspection head is arranged in the supporting block, a cleaning assembly is arranged on one side of the supporting block, and the cleaning assembly is fixedly connected with the hanging rail. The cleaning assembly is used for the self-cleaning robot and comprises a fixing plate, the fixing plate is fixedly connected to one side of the supporting block, a collecting assembly is arranged at the bottom of the supporting block, and the collecting assembly is used for collecting cleaned dust. When the transmission rod swings, the rubber scraping brush further swings left and right synchronously in the first connecting frame and the second connecting frame, so that the effect of automatically cleaning the inspection head is achieved, the problem of sensor failure caused by coal dust attachment is solved, and the reliability of continuous monitoring of the coal conveying system is improved.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a self-cleaning coal conveying inspection robot. Background Technology

[0002] In coal-fired power plants, coal mines, and ports, the coal conveying system is a core component to ensure continuous production. Traditional manual inspections suffer from low efficiency, poor real-time performance, and high safety risks. Especially in coal conveying corridors with high temperatures, high dust levels, and high noise levels, it is difficult for humans to achieve all-weather monitoring. With the development of industrial intelligence, coal conveying inspection robots have gradually become an important solution to replace manual labor. However, a large amount of coal dust in the coal conveying environment can easily adhere to the robot's surface and key sensors, leading to a decline in equipment performance, an increase in the misjudgment rate, and even malfunctions.

[0003] Currently, existing coal conveying inspection robots mainly rely on traditional mechanical structures and sensor technologies. Their mechanical structures typically include tracked or wheeled chassis to adapt to complex terrain environments, while sensor systems include infrared thermometers, vibration sensors, and cameras to monitor the operating status of coal conveying equipment in real time. In terms of navigation, existing technologies mostly adopt lidar-based technology to achieve autonomous movement and obstacle avoidance.

[0004] However, although existing technologies have achieved automated inspection of coal conveying systems to a certain extent, their cleaning function is mainly focused on environmental cleaning rather than robot cleaning. In high-dust environments, the accumulation of coal dust on the robot's surface will seriously affect the working performance of its sensors, leading to blurred images, inaccurate data acquisition, and even equipment failure. This problem not only reduces inspection efficiency but also increases maintenance costs and limits the long-term application of robots in harsh environments. Therefore, a self-cleaning coal conveying inspection robot is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a self-cleaning coal conveying inspection robot, which aims to improve the problems of sensor failure caused by dust adhesion, frequent cleaning and maintenance, and low efficiency in the existing coal conveying inspection robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A self-cleaning coal conveying inspection robot includes a rail, a connecting arm slidably connected inside the rail, a support block fixedly connected to one side of the connecting arm, an inspection head disposed inside the support block, and a cleaning component disposed on one side of the support block, the cleaning component being used for the self-cleaning robot.

[0008] The cleaning assembly includes a fixing plate fixedly connected to one side of the support block. A motor is fixedly connected inside the fixing plate, and a transmission rod is fixedly connected to the output end of the motor. A first connecting frame and a second connecting frame are fixedly connected to one side of the support block. A rubber scraper made of soft rubber is slidably connected inside the transmission rod. One end of the rubber scraper slides inside the first connecting frame, and the other end slides inside the second connecting frame. The rubber scraper contacts the outer wall of the inspection head. A collection assembly is provided at the bottom of the support block to collect the dust that has been cleaned.

[0009] As a further description of the above technical solution:

[0010] The cleaning assembly includes a collection hopper and a connecting block. The collection hopper is slidably connected to the bottom of the support block, and the connecting block is fixedly connected to the side wall of the collection hopper.

[0011] As a further description of the above technical solution:

[0012] The support block has symmetrical slots inside, and the connecting block has a drive shaft slidably connected inside.

[0013] As a further description of the above technical solution:

[0014] A limiting post is fixedly connected inside the drive shaft, and the limiting post is in contact with the side wall of the connecting block.

[0015] As a further description of the above technical solution:

[0016] A pull plate is fixedly connected to the outer wall of the limiting post, and an extrusion plate is fixedly connected to the outer wall of the transmission shaft.

[0017] As a further description of the above technical solution:

[0018] The extrusion disc is slidably connected inside the connecting block, and a locking post is fixedly connected to one end of the drive shaft.

[0019] As a further description of the above technical solution:

[0020] The engaging pin engages with the slot, and a spring is provided on the outer wall of the drive shaft.

[0021] As a further description of the above technical solution:

[0022] One end of the spring is fixedly connected to the side wall of the extrusion disc, and the other end is fixedly connected to the inner wall of the connecting block.

[0023] This utility model has the following beneficial effects:

[0024] 1. In this utility model, the transmission rod is driven by a motor to swing left and right. When the transmission rod swings, the rubber scraper will swing left and right synchronously inside the connecting frame one and the connecting frame two. The friction between the rubber scraper and the surface of the inspection head removes the dust on the surface of the inspection head, thereby achieving the effect of automatic cleaning of the inspection head. This solves the problem of sensor failure caused by coal dust adhesion and improves the reliability of continuous monitoring of the coal conveying system.

[0025] 2. In this utility model, the dust swept down is collected by the collection hopper, and the locking column is unlocked by pulling the pull plate, so that the operator can clean the collection hopper after unlocking. This achieves the effect of dust collection, solves the problem of secondary pollution caused by the ineffective collection of dust in traditional cleaning methods, and improves the environmental safety and equipment operating efficiency of the coal conveying system. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of a self-cleaning coal conveying inspection robot proposed in this utility model;

[0027] Figure 2 This is a schematic diagram of one side of the support block of a self-cleaning coal conveying inspection robot proposed in this utility model;

[0028] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0029] Figure 4 This is a schematic diagram of the cross-sectional structure of the connecting block of a self-cleaning coal conveying inspection robot proposed in this utility model.

[0030] Legend:

[0031] 1. Hanging rail; 2. Connecting arm; 3. Inspection head; 4. Support block; 5. Fixing plate; 6. Motor; 7. Transmission rod; 8. Connecting frame one; 9. Connecting frame two; 10. Rubber scraper; 11. Collection hopper; 12. Connecting block; 13. Slot; 14. Transmission shaft; 15. Limiting post; 16. Pull plate; 17. Extrusion plate; 18. Engaging post; 19. Spring. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Reference Figure 1 - Figure 3The present invention provides an embodiment of a self-cleaning coal conveying inspection robot, including a rail 1 for providing a stable motion trajectory for the inspection robot and ensuring the stability of the inspection robot's movement. A connecting arm 2 is slidably connected inside the rail 1, and a support block 4 is fixedly connected to one side of the connecting arm 2. An inspection head 3 is provided inside the support block 4 for inspecting the coal conveying equipment. A cleaning component is provided on one side of the support block 4 for the self-cleaning robot.

[0034] The cleaning assembly includes a fixing plate 5, which provides stable support and connection for the motor 6, ensuring stable movement of the motor 6. The fixing plate 5 is fixedly connected to one side of the support block 4. The motor 6 is fixedly connected inside the fixing plate 5, providing output power to the cleaning assembly so that the cleaning assembly can react quickly and perform cleaning. A transmission rod 7 is fixedly connected to the output end of the motor 6 to transmit power, enabling the rubber brush 10 to move quickly and scrape off dust from the outer wall of the inspection head 3. A connecting bracket 1 8 and a connecting bracket 2 9 are fixedly connected to one side of the support block 4. The first 8 and the second 9 are used to provide a stable movement path for the rubber brush 10, ensuring the stable movement of the rubber brush 10. The transmission rod 7 is slidably connected to the rubber scraper 10. The rubber scraper 10 is made of soft rubber and is used to rub against the outer wall of the inspection head 3, thereby quickly scraping away the dust on the surface of the inspection head 3 and ensuring the cleanliness of the inspection head 3. One end of the rubber scraper 10 slides inside the first 8 and the other end slides inside the second 9. The rubber scraper 10 contacts the outer wall of the inspection head 3. The bottom of the support block 4 is equipped with a collection component, which is used to collect the cleaned dust.

[0035] Specifically, when the image clarity of the camera drops to a threshold or reaches a preset cleaning cycle due to coal dust adhesion, the robot can move freely via the rail 1, ensuring it can flexibly inspect various areas of the coal conveying equipment. The inspection head 3, as a detection component, is responsible for monitoring the operating status of the coal conveying equipment around the clock. When coal dust or other dust accumulates on the surface of the inspection head 3, affecting the detection effect, the transmission rod 7 is driven by the output of the motor 6 to swing left and right. This action will drive the rubber scraper 10 to swing synchronously, thereby cleaning the surface of the inspection head 3. During the movement, the two ends of the rubber scraper 10 will reciprocate and slide rub stably under the guidance of the connecting frame 2 9 and the connecting frame 1 8, ensuring the cleaning effect. The connecting frame 2 9 and the connecting frame 1 8, through their guiding effect, ensure the stable movement of the rubber scraper 10, avoiding deviation and irregular friction, ensuring the efficiency and accuracy of the cleaning process. Through the friction between the rubber scraper 10 and the outer wall of the inspection head 3, the dust accumulated on the surface can be effectively scraped off, thereby realizing the function of the self-cleaning inspection head 3.

[0036] Reference Figure 4The cleaning component includes a collection hopper 11 and a connecting block 12. The collection hopper 11 is used to collect dust to prevent secondary pollution caused by the scraped dust. The collection hopper 11 is slidably connected to the bottom of the support block 4. The connecting block 12 is fixedly connected to the side wall of the collection hopper 11. The support block 4 has symmetrical slots 13 inside. The slots 13 are used to cooperate with other components to realize the quick assembly and disassembly of the collection hopper 11, which is convenient for operators to maintain and clean at any time. A drive shaft 14 is slidably connected inside the connecting block 12. A limit post 15 is fixedly connected inside the drive shaft 14. The limit post 15 is used to limit the movement of the drive shaft 14 and ensure the stability of the component when it is restored. The limit post 15 is in contact with the side wall of the connecting block 12. A pull plate 16 is fixedly connected to the outer wall of the limit post 15 to facilitate the operator to drive the component to move. A squeezing plate 17 is fixedly connected to the outer wall of the drive shaft 14.

[0037] Specifically, during the robot cleaning process, when the detached dust re-adheres to the robot surface or spreads into the surrounding environment causing secondary pollution, the dust scraped off is collected by the collection hopper 11 to prevent secondary pollution to the environment or equipment. To facilitate regular cleaning of the collection hopper 11 by the operator, the operator only needs to pull the pull plate 16. The pulling force generated by the pull plate 16 causes the drive shaft 14 to slide synchronously inside the connecting block 12, which drives the extrusion plate 17 to slide along the inner wall of the connecting block 12, thereby compressing the spring 19 and causing the spring 19 to undergo elastic deformation, thus providing elastic restoring force for subsequent installation.

[0038] Reference Figure 4 The extrusion disc 17 is slidably connected inside the connecting block 12 to transmit power. The extrusion disc 17 allows the spring 19 to deform stably and store elastic potential energy. One end of the drive shaft 14 is fixedly connected to a locking column 18, which engages with the slot 13. Through the cooperation of the locking column 18 and the slot 13, the collection hopper 11 can be quickly locked and unlocked, ensuring efficient disassembly and maintenance and facilitating quick adjustments to the equipment by the operator. A spring 19 is provided on the outer wall of the drive shaft 14. The spring 19 provides elastic restoring force to the locking column 18 to ensure stable movement of the components. One end of the spring 19 is fixedly connected to the side wall of the extrusion disc 17, and the other end is fixedly connected to the inner wall of the connecting block 12.

[0039] Specifically, further, the movement of the drive shaft 14 will also cause the locking column 18 to disengage from the slot 13, realizing a quick unlocking function, thereby allowing the operator to easily disassemble the collection hopper 11 for cleaning, thus improving the convenience and efficiency of operation. After cleaning, the operator only needs to connect the collection hopper 11 to the support block 4, and through the elastic restoring force of the spring 19, push the locking column 18 to re-insert into the slot 13 and lock it, thereby completing the reinstallation of the collection hopper 11 and providing a guarantee for continued dust collection.

[0040] Working Principle: When using this inspection robot, the rail 1 ensures the robot's free movement. The inspection head 3 monitors the coal conveying equipment around the clock. When a large amount of dust accumulates on the surface of the inspection head 3, affecting the detection effect, the output of the motor 6 drives the transmission rod 7 to swing left and right. The swinging of the transmission rod 7 further drives the rubber scraper 10 to swing synchronously. During the movement of the rubber scraper 10, its two ends slide synchronously inside the connecting frame 9 and the connecting frame 8. The guiding effect of the connecting frame 9 and the connecting frame 8 ensures the stable movement of the rubber scraper 10, thus ensuring that the rubber scraper 10 reciprocates and rubs against the outer wall of the inspection head 3. The friction of the rubber scraper 10 scrapes away the dust accumulated on the surface of the inspection head 3, thus achieving the function of a self-cleaning inspection head 3. Simultaneously, the collected hopper 11 collects the scraped dust. Dust is collected to prevent secondary pollution. When the operator needs to clean the collection hopper 11, pulling the pull plate 16 will cause the drive shaft 14 to slide synchronously inside the connecting block 12. The movement of the drive shaft 14 will further drive the squeezing plate 17 to slide synchronously on the inner wall of the connecting block 12, thereby squeezing the spring 19 and causing the spring 19 to deform elastically, providing elastic restoring force for subsequent installation. At the same time as the drive shaft 14 moves, it will also drive the locking column 18 to disengage from the slot 13 to unlock, thereby achieving the function of quick disassembly of the collection hopper 11, making it convenient for the operator to clean it at any time. When installing after cleaning, by attaching the collection hopper 11 to the support block 4, the elastic restoring force of the spring 19 will push the locking column 18 back into the slot 13 to lock it, thereby continuing to collect.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-cleaning coal conveying inspection robot comprising a hanging rail (1), characterized in that: The hanging rail (1) is internally connected with a connecting arm (2), one side of the connecting arm (2) is fixedly connected with a supporting block (4), the supporting block (4) is internally provided with an inspection head (3), one side of the supporting block (4) is provided with a cleaning assembly, and the cleaning assembly is used for self-cleaning robots. The cleaning assembly comprises a fixed plate (5) fixedly connected to one side of the supporting block (4), a motor (6) fixedly connected to the inside of the fixed plate (5), a transmission rod (7) fixedly connected to the output end of the motor (6), a connecting frame one (8) fixedly connected to one side of the supporting block (4), a connecting frame two (9) fixedly connected to one side of the supporting block (4), a rubber scraper (10) slidably connected to the inside of the transmission rod (7), the rubber scraper (10) is made of soft rubber material, one end of the rubber scraper (10) slides in the inside of the connecting frame one (8), the other end slides in the inside of the connecting frame two (9), the rubber scraper (10) is in contact with the outer wall of the inspection head (3), and the bottom of the supporting block (4) is provided with a collecting assembly for collecting dust cleaned.

2. The self-cleaning coal conveying inspection robot according to claim 1, characterized in that: The cleaning assembly comprises a collecting hopper (11) and a connecting block (12), the collecting hopper (11) is slidably connected to the bottom of the supporting block (4), and the connecting block (12) is fixedly connected to the side wall of the collecting hopper (11).

3. The self-cleaning coal conveying inspection robot according to claim 2, characterized in that: The supporting block (4) is internally provided with left-right symmetrical clamping grooves (13), and the connecting block (12) is slidably connected with a transmission shaft (14) internally.

4. The self-cleaning coal conveying inspection robot according to claim 3, characterized in that: The transmission shaft (14) is fixedly connected with a limiting column (15) internally, and the limiting column (15) is in contact with the side wall of the connecting block (12).

5. The self-cleaning coal conveying inspection robot according to claim 4, characterized in that: The limiting column (15) is fixedly connected with a pull disc (16) on the outer wall, and the transmission shaft (14) is fixedly connected with a pressing disc (17) on the outer wall.

6. The self-cleaning coal conveying inspection robot according to claim 5, characterized in that: The pressing disc (17) is slidably connected in the inside of the connecting block (12), and the transmission shaft (14) is fixedly connected with a clamping column (18) at one end.

7. The self-cleaning coal conveying inspection robot according to claim 6, characterized in that: The clamping column (18) is matched with the clamping groove (13), and the transmission shaft (14) is provided with a spring (19) on the outer wall.

8. The self-cleaning coal conveying inspection robot according to claim 7, characterized in that: One end of the spring (19) is fixedly connected to the side wall of the pressing disc (17), and the other end is fixedly connected to the inner wall of the connecting block (12).

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