Self-cleaning track-mounted inspection device

Abstract

This utility model discloses a self-cleaning track-mounted inspection device for roadways, belonging to the field of coal mine safety inspection technology. Addressing the problems of incomplete camera cleaning, complex drive structures, high failure rates, and poor environmental adaptability in existing track-mounted inspection devices, this utility model includes a guide rail, a moving drive component rolled along the guide rail, an inspection robot body fixed to the moving drive component, and a self-cleaning module integrated into the robot body. The moving drive component drives wheels to move along the guide rail via gear and rack engagement. The self-cleaning module uses a mechanical scraping unit and a hydraulic flushing unit to spatially and collaboratively remove dust from the camera. A connecting bracket allows for horizontal and pitch angle adjustment, and the guide rail adapts to different roadway heights via a telescopic rod. This device can efficiently remove stubborn dust, improving image clarity, simplifying the transmission structure and reducing the failure rate, adapting to roadway heights of 3-5 meters and vibration environments, improving inspection accuracy and stability, and is suitable for automated inspection scenarios in dusty roadways such as coal mines.

Description

Technical Field

[0001] This utility model relates to the technical field of coal mine roadway inspection equipment, specifically to a roadway rail-mounted inspection device with self-cleaning function. Background Technology

[0002] In coal mining and transportation operations, to ensure mining safety, it is necessary to inspect transportation equipment and mine equipment. With the advancement of science and technology, to reduce the labor intensity of workers and improve inspection accuracy, unmanned inspection equipment is often used for mobile inspections in roadways, thereby effectively detecting the safety conditions of various parts of the coal mine roadways. Currently, existing roadway rail-mounted inspection devices usually use gear transmission structures, but they have problems such as complex structures and high costs. At the same time, the coal mine roadway environment contains a large amount of dust and coal powder, which can easily accumulate on the inspection cameras, affecting the inspection effect and potentially leading to safety accidents in severe cases.

[0003] I. Shortcomings of existing technologies in self-cleaning function (the corresponding improvement idea of ​​this utility model is: a self-cleaning system that combines mechanical scraping and water flushing).

[0004] In the prior art, taking reference document 1 (patent number 202021471454.4, titled: A Track-Type Inspection Robot for Coal Plant Monitoring) as an example, it achieves camera cleaning through "cleaning soft brush 7 + first electric telescopic rod 9". Specifically, after the first electric telescopic rod 9 extends, a small motor 8 drives the cleaning soft brush 7 to physically scrub the camera surface. This technical solution has the following drawbacks:

[0005] Limited cleaning effect: Relying solely on the mechanical friction of the soft brush is insufficient to thoroughly remove stubborn dust (such as the paste-like dust formed by the mixture of coal powder and water vapor) that is highly viscous and accumulated in coal mine roadways, resulting in dust residue on the camera surface and blurry inspection images.

[0006] Low cleaning efficiency: Without auxiliary cleaning media, a single cleaning requires repeated scrubbing 3-5 times, which takes up inspection time and reduces inspection efficiency.

[0007] Early industrial cleaning equipment mostly adopted the "mechanical friction + dry wiping" mode (such as blackboard erasers and mechanical polishing). When introducing camera cleaning function, the technical approach in this field is to implement the old method by improving the mechanical structure (such as electric telescopic rod to adjust the position of soft brush), and improve the dust removal rate by strengthening the physical friction intensity, and then realize the cleaning function by utilizing the correlation between "friction intensity and cleaning effect".

[0008] Existing technologies focus on the relationship between "single physical friction cleaning" and "dust removal effect," that is, enhancing friction intensity by optimizing the soft brush material (such as increasing bristle density) and increasing the thrust of the telescopic rod, without considering the introduction of a multi-media synergistic cleaning mechanism. In contrast, this patent application establishes a new technical route of "mechanical scraping + water rinsing synergy," achieving efficient dust removal through the combined action of physical scraping by the scraper driven by the lever 12 and water rinsing by the nozzle 14.

[0009] II. Shortcomings of existing technologies in drive structure (corresponding to the improvement idea of ​​this utility model: a combined drive structure of gear rack and wheel).

[0010] Existing roadway rail-mounted inspection devices (such as those in Comparative Document 1 and similar products) generally employ a multi-gear meshing transmission structure of "servo motor 14 + driving gear 15 + driven gear 18 + fixed wheels (11, 12)". Specifically, the servo motor 14 drives the driving gear 15 to rotate, which in turn meshes with the driven gear 18 to move the rotating disk 4 and camera 6. Simultaneously, the first fixed wheel 11 and the second fixed wheel 12 prevent the equipment from shaking. This technical solution has the following drawbacks:

[0011] Complex structure and prone to failure: The multi-gear meshing transmission chain is long (including more than 5 transmission components such as driving gear, driven gear and fixed wheel). Dust in coal mine roadways can easily enter the gear meshing gap, causing jamming or wear, and the equipment failure rate is as high as 25% / month.

[0012] High cost: The processing and assembly costs of servo motors and precision gears account for more than 40% of the total equipment cost, which is not conducive to large-scale promotion and application.

[0013] Early rail transport equipment (such as mine cable cars) mostly adopted a "gearbox + multi-gear transmission" structure. In the design of inspection device drive systems, the technical approach in this field is to use precision gears (such as helical gears and bevel gears) to implement the old method, improve transmission accuracy by optimizing gear meshing parameters (such as module and pressure angle), and then use the correlation between "multi-gear meshing and transmission smoothness" to realize equipment movement.

[0014] Existing technologies focus on the relationship between "multi-gear meshing transmission" and "operational stability," that is, ensuring transmission smoothness by increasing the number of gears (such as adding idler gears) and improving gear precision (such as using involute tooth profiles), without considering the possibility of simplifying the transmission chain. Correspondingly, this patent application establishes a simplified technical route of "gear and rack linear transmission + wheel rolling guidance," in which the first motor 5 drives the gear 6 to mesh with the rack 7, directly driving the wheel 2 to roll along the guide rail (1), reducing the number of transmission components.

[0015] III. The shortcomings of existing technologies in terms of environmental adaptability and stability (corresponding to the improvement ideas of this utility model: adjustable bracket and telescopic support structure).

[0016] In the existing technology, the installation and support structure of the inspection device lacks adjustment function. Taking the prior art document 1 as an example, it achieves equipment fixation through "guide rail (1) + fixed wheels (11, 12)". Specifically, the guide rail (1) is fixed to the top of the coal plant with screws, and the fixed wheels (11, 12) limit the shaking of the equipment. This technical solution has the following defects:

[0017] Poor environmental adaptability: It cannot adapt to different roadway heights (the net height of coal mine roadways usually varies within the range of 3-5m) and the field of view requirements of cameras. Fixed installation makes cameras easily blocked by roadway supports and pipelines.

[0018] Insufficient operational stability: Coal mine roadways experience continuous vibrations (such as resonance caused by passing transport vehicles), and fixed supports lack buffering and adjustment functions, which can easily lead to loosening of equipment components (such as camera angle shift), affecting inspection accuracy.

[0019] Early industrial equipment (such as machine tools and assembly lines) mostly adopted the design of "fixed base + rigid support". In this field, when designing the support structure of inspection devices, the technical approach is to use high-strength materials (such as alloy steel) to implement the old method, and to resist external interference by improving the rigidity of the structure, thereby ensuring the operation of the equipment by utilizing the correlation between "rigid structure and stability".

[0020] Existing technologies focus on the relationship between "fixed installation structure" and "equipment stability," that is, preventing equipment swaying by increasing the number of fixing points (such as the fixing bolts on both sides of the guide rail in prior art 1) and strengthening the rigidity of the support (such as using thick-walled steel plates), without considering the relationship between "adjustable support" and "environmental adaptability." Correspondingly, this patent application establishes a technical approach of "angle-adjustable support + height-adjustable telescopic rod," adjusting the angle of the inspection robot body 11 via bolt 8 and hexagonal nuts, and adjusting the height of the guide rail 1 via ring 19 and telescopic rod 20.

[0021] IV. Necessity of Improvement

[0022] In existing technologies, insufficient self-cleaning capabilities lead to dust accumulation and blurred images on inspection cameras, potentially causing misjudgments of inspection data (such as missed detection of roadway cracks or equipment malfunctions). Complex drive structures result in high equipment failure rates and maintenance costs, limiting widespread application. Poor environmental adaptability restricts the inspection field of view and results in incomplete data, failing to meet the inspection needs of complex roadway environments. Therefore, there is an urgent need to develop a rail-mounted inspection device with efficient self-cleaning capabilities, a simplified drive structure, and adaptability to different roadway environments to address the shortcomings of existing technologies and ensure the accuracy and safety of coal mine roadway inspections. Utility Model Content

[0023] The purpose of this utility model is to provide a technical solution that enables efficient self-cleaning of stubborn dust on the surface of the camera of the rail-mounted inspection device in coal mine roadways, so as to overcome the defects of the existing technology that result in blurred inspection images and safety hazards due to incomplete removal by a single physical cleaning method.

[0024] To achieve the above objectives, the self-cleaning lane rail-mounted inspection device of this utility model includes a guide rail 1, a moving drive assembly tumblingly connected to the guide rail 1, an inspection robot body 11 fixed to the moving drive assembly, and a self-cleaning module integrated into the inspection robot body 11. The moving drive assembly includes wheels 2 that roll in cooperation with the guide rail 1, a drive unit that drives the wheels 2 to move along the guide rail 1, and a connecting bracket that connects the wheels 2 and the inspection robot body 11. The self-cleaning module includes a mechanical scraping unit for mechanically scraping the surface of the camera and a water jetting unit for spraying cleaning medium onto the surface of the camera. The mechanical scraping unit and the water jetting unit are spatially coordinated to remove dust from the camera surface.

[0025] The drive unit also includes a rack 7 fixed to the inner top wall of the guide rail 1, and a gear 6 fixedly connected to the output end of the first motor 5 and meshing with the rack 7. The wheel 2 is rotatably connected to the connecting bracket through a rotating shaft.

[0026] The connecting bracket includes a U-shaped plate 3 fixedly connected to the axle of the wheel 2, a connecting plate 4 fixed to one side of the U-shaped plate 3, and an L-shaped plate 9 connected to the bottom end of the U-shaped plate 3 by bolts 8. The inspection robot body 11 is fixed to the L-shaped plate 9 by the bracket 10.

[0027] The bracket 10 is fixedly connected to the inspection robot body 11 by screws, and one end of the screw is threaded with a hexagonal nut.

[0028] The mechanical scraping unit includes a second motor disposed in the cavity inside the inspection robot body 11, and a lever 12 fixedly connected to the output end of the second motor. A scraping strip that is in contact with the camera surface is fixedly connected to one side of the lever 12.

[0029] The water-flushing unit includes a water box 21 fixed to the upper surface of the inspection robot body 11, a water pump disposed inside the water box 21, and a water pipe 13 with one end connected to the water pump and the other end extending to the surface of the camera. A nozzle 14 is connected to the end of the water pipe 13.

[0030] A ring 19 is fixedly connected to the lower surface of the guide rail 1. A telescopic rod 20 is threadedly connected to the inside of the ring 19. A hole for locking the length is opened on the surface of the telescopic rod 20. A fixing bolt is threadedly connected to the hole.

[0031] A support block is fixedly connected to the bottom end of the telescopic rod 20, and a rubber pad is fixedly connected to the bottom end of the support block.

[0032] A threaded ring 15 is fixedly connected to the upper surface of the guide rail 1. A threaded rod 16 is threadedly connected inside the threaded ring 15. A fixing piece 17 with a bolt insertion hole 18 is fixedly connected to the top end of the threaded rod 16.

[0033] The inspection robot body 11 has an internal cavity for accommodating a second motor, and the inner wall of the cavity is fixedly connected with sound insulation cotton.

[0034] This utility model has the following advantages:

[0035] The mobile drive component drives the wheel 2 to move smoothly along the guide rail 1 through the meshing of gear 6 and rack 7, realizing the inspection of the alleyway by the inspection robot body 11; in the self-cleaning module, the second motor drives the lever 12 to drive the scraper to mechanically scrape the surface of the camera, while the water pump sprays the cleaning medium (such as water) through the nozzle 14. The two work together to efficiently remove stubborn dust, solve the defect of the existing technology of single physical cleaning that is not thorough, and improve the clarity of the inspection image.

[0036] The meshing transmission between gear 6 and rack 7 directly drives the movement of wheel 2. Compared with the complex gear transmission in document 1, this simplifies the structure and reduces the failure rate. The rotational connection of wheel 2 reduces movement resistance and improves the stability of the movement of the inspection robot body 11.

[0037] The U-shaped plate 3 and the L-shaped plate 9 are connected by bolts 8. Tightening or loosening the bolts 8 can adjust the horizontal angle of the inspection robot body 11 and optimize the camera's field of view coverage. The bracket 10 is fixedly connected to the L-shaped plate 9 to ensure that the inspection robot body 11 does not shake during movement.

[0038] The hexagonal nut and screw work together to adjust the pitch angle of the inspection robot body 11 (adjustment range ±30°), adapting to the inspection needs of different roadway heights and solving the defect that fixed-angle cameras are easily blocked.

[0039] The second motor drives the lever 12 to rotate, and the scraper sticks to fit tightly against the camera surface. Physical scraping can remove the dust accumulated on the surface, laying the foundation for subsequent water rinsing. The silicone scraper stick is both elastic and wear-resistant, avoiding scratching the camera lens.

[0040] The water pump pressurizes the clean water (with a small amount of neutral detergent added) in the water box 21 and delivers it to the nozzle 14 through the water pipe 13. The fan-shaped water flow evenly covers the surface of the camera, rinsing away residual stubborn dust. The atomizing nozzle 14 reduces water consumption and avoids water splashing that could affect the internal electrical components of the device.

[0041] The telescopic rod 20 is connected to the guide rail 1 via the ring 19. The length of the telescopic rod 20 can be adjusted by loosening the fixing bolts to adapt to different roadway clearance heights (3-5m). The bottom support block and shims enhance the overall stability of the device and reduce the impact of roadway vibration on inspection accuracy.

[0042] The support block increases the bottom contact area, and the rubber pad increases the friction to prevent the device from slipping when the tunnel vibrates; the rubber pad also has a buffering effect to reduce the transmission of vibration to the guide rail 1.

[0043] The fixing plate 17 is fixed to the top of the tunnel through the bolt hole 18. The threaded ring 15 and the threaded rod 16 cooperate to finely adjust the installation level of the guide rail 1, ensuring that the inspection robot body 11 moves smoothly.

[0044] The sound insulation cotton absorbs the noise from the second motor during operation, preventing noise interference with other equipment or personnel in the tunnel; the cavity structure provides physical protection for the second motor, preventing dust from entering the motor and affecting its lifespan. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0046] Figure 2 This is a partial schematic diagram of the connection structure between the wheel and the guide rail.

[0047] Figure 3 yes Figure 1 Enlarged view of point A in the middle.

[0048] Figure 4 This is a schematic diagram of a gear and rack transmission structure.

[0049] Figure 5 This is a side view of the guide rail mounting structure.

[0050] Figure 6 This is a side view of the inspection robot.

[0051] Figure 7 This is a magnified view of a portion of the self-cleaning module.

[0052] The following is a classification and description of the various components of this utility model:

[0053] I. Guide rail and support adjustment structure.

[0054] 1. Guide rail 1.

[0055] Installation location: Fixed to the top of the tunnel, and connected to the top of the tunnel via fixing piece 17.

[0056] Structural relationship: I-shaped cross-section frame, rack 7 fixed on the inner top wall, threaded ring 15 fixed on the upper surface, and circular ring 19 fixed on the lower surface.

[0057] As the moving track of the entire device, it provides the rolling support surface for the wheel 2; the driving force is transmitted through the meshing of the rack 7 and the gear 6, realizing the linear movement of the device along the guide rail 1; the I-shaped structure enhances rigidity and adapts to the vibration environment of coal mine roadways.

[0058] 2. Threaded ring 15.

[0059] Installation location: Fixed on the upper surface of guide rail 1.

[0060] Structural relationship: An internally threaded sleeve is threadedly connected to a threaded rod 16. The height of the fixing plate 17 is adjusted by rotating the threaded rod 16, and multiple threaded rods 16 can be used to finely adjust the level of the guide rail 1, ensuring stable installation of the device.

[0061] 3. Threaded rod 16.

[0062] Installation position: The top end is connected to the fixing plate 17, and the bottom end is threadedly connected to the threaded ring 15.

[0063] Structural features: a metal rod, 100-150mm in length, made of No. 45 steel. It works with a threaded ring 15 to adjust the height of guide rail 1, accommodating installation errors at the top of the tunnel and improving the adaptability of the hoisting device installation.

[0064] 4. Fixing plate 17.

[0065] Installation location: Fixed to the top of the tunnel with bolts, located at the top of threaded rod 16.

[0066] Structural configuration: Q235 steel plate with symmetrically distributed bolt holes 18. The guide rail 1 is rigidly fixed to the top of the tunnel, and the bolt holes 18 provide installation interfaces to ensure the overall stability of the device.

[0067] 5. Bolt insertion hole 18.

[0068] Installation location: Located on the fixing plate 17.

[0069] Structural relationship: Two circular holes, 10-12mm in diameter, symmetrically distributed. These holes allow bolts to pass through to secure the fixing plate 17, achieving a mechanical connection between the guide rail 1 and the tunnel roof.

[0070] 6. Ring 19.

[0071] Installation location: Fixed to the lower surface of guide rail 1.

[0072] Structural relationship: An internally threaded round nut is threadedly connected to the telescopic rod 20. The guide rail 1 is connected to the telescopic rod 20, and its extension length can be adjusted by rotating the telescopic rod 20 to adapt to tunnel heights of 3-5 meters.

[0073] 7. Telescopic pole 20.

[0074] Installation position: The bottom end contacts the bottom surface of the tunnel, and the top end is connected to the 19-threaded ring.

[0075] Structural configuration: The rod body is made of aluminum alloy with locking holes on the surface, and a cast iron support block and rubber pad are fixed at the bottom. By adjusting the length, it can adapt to different roadway clearance heights. The support block and rubber pad increase friction, reduce slippage caused by vibration, and improve the operational stability of the device.

[0076] II. Mobile Driver Components.

[0077] 1. Wheels 2.

[0078] Installation location: Located inside the guide rail 1, connected to the U-shaped plate 3 via a rotating shaft.

[0079] Structural relationship: Cylindrical rollers made of polyurethane, 50-80mm in diameter, are distributed in pairs. They roll along guide rail 1 to support the main body of the device, reducing movement resistance; the polyurethane material combines wear resistance and cushioning, adapting to the vibration environment of the tunnel.

[0080] 2. U-shaped plate 3.

[0081] Installation location: Connects wheel 2 and L-shaped plate 9, located below guide rail 1.

[0082] Structural relationship: The "U"-shaped bracket, formed by bending Q235 steel plate, is connected to the wheel 2 on the inside via a pivot, and the bottom end is connected to the L-shaped plate 9 via bolt 8. It supports the wheel 2 and the inspection robot body 11, transmitting driving force; the bolt 8 enables horizontal angle adjustment (±15°) to optimize the camera's field of view.

[0083] 3. Connecting plate 4.

[0084] Installation location: Fixed to one side of U-shaped plate 3.

[0085] Structural relationship: A rectangular flat plate with a first motor 5 mounted on its surface. A U-shaped plate 3 is rigidly connected to the drive unit to ensure that the driving force of the first motor 5 is stably transmitted to the gear 6.

[0086] 4. First motor 5.

[0087] Installation location: Fixed to the surface of connecting plate 4.

[0088] Structural relationship: A DC geared motor with a fixed gear 6 at the output end provides the driving force for movement, driving the gear 6 to rotate. The rotation of the gear 6 is converted into linear motion through the meshing of the gear 6 and the rack 7, which in turn moves the device along the guide rail 1.

[0089] 5. Gear 6.

[0090] Installation position: Fixed to the output end of the first motor 5, located below the rack 7 on the inner top wall of the guide rail 1.

[0091] Structural relationship: Module 2-3mm, tooth width 15-20mm, gear teeth mesh with rack 7. It forms a transmission pair with rack 7, converting the rotational motion of the first motor 5 into linear driving force, replacing the traditional multi-gear set structure, simplifying the transmission chain and reducing the failure rate.

[0092] 6. Gear rack 7.

[0093] Installation location: Fixed to the inner top wall of guide rail 1, with the same length as guide rail 1.

[0094] Structural relationship: Made of 45# steel, the tooth groove meshes with the gear 6. Meshing with gear 6 transmits driving force, ensuring smooth movement of the device along guide rail 1 and improving movement accuracy.

[0095] III. Connection and Angle Adjustment Structure.

[0096] 1. Bolt 8.

[0097] Installation location: Connect U-shaped plate 3 and L-shaped plate 9.

[0098] Structural relationship: M8-M12 hexagonal head bolts pass through the connection holes of U-shaped plate 3 and L-shaped plate 9. By adjusting the horizontal rotation angle of L-shaped plate 9, the horizontal field of view of the inspection robot body 11 can be adjusted to avoid obstruction by the aisle support.

[0099] 2. L-shaped plate 9.

[0100] Installation location: Located at the bottom of U-shaped plate 3, connected to U-shaped plate 3 by bolts 8, and fixed at the bottom by bracket 10.

[0101] Structural Relationship: The robot body is formed from Q235 steel plate, bent to a thickness of 5-8mm. It supports the inspection robot body 11 and uses bolts 8 to adjust the horizontal angle, ensuring comprehensive camera coverage without blind spots.

[0102] 3. Bracket 10.

[0103] Installation location: Connect the L-shaped plate 9 to the inspection robot body 11.

[0104] Structural relationship: The "L"-shaped structure is fixed to the inspection robot body 11 by M6-M8 Phillips head countersunk screws, with a hexagonal nut at one end of the screw. The pitch angle of the inspection robot body 11 can be adjusted (±30°) by the cooperation of the screw and the hexagonal nut to adapt to the inspection needs of different roadway heights.

[0105] IV. Inspection robot body and self-cleaning module.

[0106] 1. Inspection robot body 11.

[0107] Installation location: Fixed on bracket 10, located below L-shaped plate 9.

[0108] Structural features: A rectangular box housing with a built-in second motor (not marked in the attached diagram) and a cavity (containing sound insulation cotton). The surface integrates a camera, lever 12, and water tank 21. It integrates core inspection components (camera, self-cleaning module), uses sound insulation cotton to absorb motor noise, and features a lightweight aluminum alloy design to ensure mobility.

[0109] 2. Lever 12.

[0110] Installation location: Side of the inspection robot body 11, fixed to the output end of the second motor.

[0111] Structural configuration: A metal rod is fitted with a silicone scraper (Shore hardness 50-60HA, thickness 2-3mm) at one end, its rotation path covering the camera surface. Driven by a second motor, the scraper mechanically scrapes the camera surface, removing accumulated dust and preparing it for water rinsing; the silicone scraper prevents scratching the lens. The second motor is a conventional motor, not shown in the diagram.

[0112] 3. Water pipe 13.

[0113] Installation location: One end is connected to the water pump inside the water box 21, and the other end extends to the surface of the camera and is connected to the nozzle 14.

[0114] Structural features: a flexible hose with a diameter adapted to the water pump flow rate (1-2 L / min). It delivers the cleaning medium (water or neutral detergent) to the nozzle 14, achieving spatial coordination between hydraulic rinsing and mechanical scraping.

[0115] 4. Nozzle 14.

[0116] Installation location: near the surface of the camera, connected to the end of water pipe 13.

[0117] Structural features: a fan-shaped atomizing nozzle with a spray angle of 60-90°. The cleaning water is atomized and evenly sprayed onto the camera surface, working in conjunction with the mechanical scraping of lever 12 to remove stubborn dust (such as pasty dust), improving cleaning efficiency and ensuring clear inspection images.

[0118] 5. Water box 21.

[0119] Installation location: Fixed on the upper surface of the inspection robot body 11.

[0120] Structural features: The tank is made of 304 stainless steel with a volume of 500-1000mL and a built-in miniature diaphragm pump (flow rate 1-2L / min). It stores the cleaning medium, which is pressurized by the pump and delivered to the nozzle 14 through water pipe 13 to power the hydraulic flushing unit; the 304 stainless steel material is corrosion-resistant and suitable for the humid environment of coal mines. Detailed Implementation Example

[0121] like Figures 1 to 7 As shown, the self-cleaning lane rail-mounted inspection device of this utility model includes a guide rail 1, a moving drive assembly that is rotatably connected to the guide rail 1, an inspection robot body 11 fixed to the moving drive assembly, and a self-cleaning module integrated into the inspection robot body 11. The moving drive assembly includes a wheel 2 that rotatably cooperates with the guide rail 1, a drive unit that drives the wheel 2 to move along the guide rail 1, and a connecting bracket that connects the wheel 2 and the inspection robot body 11. The self-cleaning module includes a mechanical scraping unit for mechanically scraping the surface of the camera, and a water jetting unit for spraying cleaning medium onto the surface of the camera. The mechanical scraping unit and the water jetting unit are spatially coordinated to achieve dust removal from the camera surface.

[0122] The drive unit includes a first motor 5 fixed to the connecting bracket, a gear 6 fixedly connected to the output end of the first motor 5, and a rack 7 fixed to the inner top wall of the guide rail 1 and meshing with the gear 6; the mechanical scraping unit includes a second motor disposed inside the inspection robot body 11, a lever 12 fixedly connected to the output end of the second motor, and a scraper fixed to one side of the lever 12; the water rinsing unit includes a water box 21 fixed to the upper surface of the inspection robot body 11, a water pump disposed inside the water box 21, a water pipe 13 with one end connected to the water pump and the other end extending to the surface of the camera, and a nozzle 14 connected to the end of the water pipe 13.

[0123] The mobile drive component drives the wheel 2 to move smoothly along the guide rail 1 through the meshing of gear 6 and rack 7, realizing the inspection of the alleyway by the inspection robot body 11; in the self-cleaning module, the second motor drives the lever 12 to drive the scraper to mechanically scrape the surface of the camera, while the water pump sprays the cleaning medium (such as water) through the nozzle 14. The two work together to efficiently remove stubborn dust, solve the defect of the existing technology of single physical cleaning that is not thorough, and improve the clarity of the inspection image.

[0124] The drive unit also includes a rack 7 fixed to the inner top wall of the guide rail 1, and a gear 6 fixedly connected to the output end of the first motor 5 and meshing with the rack 7. The wheel 2 is rotatably connected to the connecting bracket via a rotating shaft. The module of the gear 6 and the rack 7 is 2-3mm, and the tooth width is 15-20mm; the wheel 2 is made of polyurethane and has a diameter of 50-80mm. The meshing transmission of the gear 6 and the rack 7 directly drives the wheel 2 to move, which simplifies the structure and reduces the failure rate compared to the complex gear transmission in the prior art 1; the rotating connection of the wheel 2 reduces the resistance to movement and improves the stability of the inspection robot body 11.

[0125] The connecting bracket includes a U-shaped plate 3 fixedly connected to the axle of the wheel 2, a connecting plate 4 fixed to one side of the U-shaped plate 3, and an L-shaped plate 9 connected to the bottom end of the U-shaped plate 3 by bolts 8. The inspection robot body 11 is fixed to the L-shaped plate 9 by the bracket 10. The bolts 8 are M8-M12 hexagonal head bolts, and the L-shaped plate 9 is made of Q235 steel plate bent into shape with a thickness of 5-8mm. The U-shaped plate 3 and the L-shaped plate 9 are connected by bolts 8. Tightening or loosening the bolts 8 can adjust the horizontal angle of the inspection robot body 11 and optimize the coverage of the camera's field of view. The bracket 10 is fixedly connected to the L-shaped plate 9 to ensure that the inspection robot body 11 does not shake during movement.

[0126] The bracket 10 is fixedly connected to the inspection robot body 11 by screws, one end of which is threaded with a hexagonal nut. The screws are M6-M8 Phillips head countersunk screws, and the hexagonal nuts are standard parts according to GB / T6170-2015. The hexagonal nut and screw work together to adjust the pitch angle of the inspection robot body 11 (adjustment range ±30°), adapting to the inspection needs of different roadway heights and solving the defect that fixed-angle cameras are easily obstructed.

[0127] The mechanical scraping unit includes a second motor disposed inside the cavity of the inspection robot body 11, and a lever 12 fixedly connected to the output end of the second motor. A scraper strip that adheres to the camera surface is fixedly connected to one side of the lever 12. The second motor is a DC geared motor with a rotation speed of 50-100 rpm; the scraper strip is made of silicone with a Shore hardness of 50-60 HA and a thickness of 2-3 mm. The second motor drives the lever 12 to rotate, and the scraper strip adheres tightly to the camera surface. Physical scraping can remove surface dust accumulation, laying the foundation for subsequent water rinsing; the silicone scraper strip combines elasticity and wear resistance, avoiding scratches on the camera lens.

[0128] The hydraulic rinsing unit includes a water tank 21 fixed to the upper surface of the inspection robot body 11, a water pump disposed inside the water tank 21, and a water pipe 13 connected at one end to the water pump and extending to the surface of the camera at the other end. A nozzle 14 is connected to the end of the water pipe 13. The water tank 21 has a volume of 500-1000mL and is made of 304 stainless steel; the water pump is a miniature diaphragm pump with a flow rate of 1-2L / min; the nozzle 14 is a fan-shaped atomizing nozzle with a spray angle of 60-90°. The water pump pressurizes the cleaning water (with a small amount of neutral detergent added) in the water tank 21 and delivers it to the nozzle 14 through the water pipe 13. The fan-shaped water flow evenly covers the surface of the camera, rinsing away residual stubborn dust; the atomizing nozzle 14 reduces water consumption and avoids water splashing that could affect the internal electrical components of the device.

[0129] A ring 19 is fixedly connected to the lower surface of the guide rail 1. A telescopic rod 20 is threadedly connected to the inside of the ring 19. The surface of the telescopic rod 20 has a hole for locking its length, and a fixing bolt is threaded into the hole. The ring 19 is an M16-M20 threaded nut. The telescopic rod 20 is made of aluminum alloy, with an adjustment range of 300-500mm. The hole diameter is 8-10mm, and the fixing bolt is an M8 wing bolt. The telescopic rod 20 is connected to the guide rail 1 via the ring 19. Loosening the fixing bolt adjusts the length of the telescopic rod 20 to accommodate different roadway clearance heights (3-5m). The bottom support block and shims enhance the overall stability of the device, reducing the impact of roadway vibration on inspection accuracy.

[0130] A support block is fixedly connected to the bottom end of the telescopic rod 20, and a rubber gasket is fixedly connected to the bottom end of the support block. The support block is made of cast iron and weighs 2-3 kg; the rubber gasket is 5-8 mm thick and has a Shore hardness of 60-70 HA. The support block increases the bottom contact area, and the rubber gasket increases friction to prevent the device from slipping when the tunnel vibrates; the rubber gasket also has a buffering function, reducing the transmission of vibration to the guide rail 1.

[0131] A threaded ring 15 is fixedly connected to the upper surface of the guide rail 1. A threaded rod 16 is internally threaded into the threaded ring 15. A fixing plate 17 with bolt holes 18 is fixedly connected to the top of the threaded rod 16. The threaded ring 15 is an M20-M24 internally threaded sleeve, the threaded rod 16 is 100-150mm long, the fixing plate 17 is made of Q235 steel plate, and the bolt holes 18 are 10-12mm in diameter, two in number and symmetrically distributed. The fixing plate 17 is fixed to the top of the tunnel through the bolt holes 18. The threaded ring 15 and the threaded rod 16 cooperate to finely adjust the installation level of the guide rail 1, ensuring smooth movement of the inspection robot body 11.

[0132] The inspection robot body 11 has an internal cavity to accommodate the second motor, and sound-absorbing cotton is fixedly connected to the inner wall of the cavity. The cavity volume is 200-300 cm³, and the sound-absorbing cotton is centrifugal glass wool with a thickness of 10-15 mm and a density of 48 kg / m³. The sound-absorbing cotton absorbs the noise generated by the second motor during operation, preventing noise interference with other equipment or personnel in the tunnel; the cavity structure provides physical protection for the second motor, preventing dust from entering the motor and affecting its lifespan.

[0133] The process of using this utility model is as follows:

[0134] I. Installation and Debugging Phase.

[0135] When installing this inspection device in a coal mine roadway, firstly, the threaded ring 15 on the upper surface of the guide rail 1 is connected to the threaded rod 16, and the height of the fixing plate 17 is adjusted so that the fixing plate 17 fits against the top of the roadway. Then, the bolts are passed through the two symmetrical bolt holes 18 on the fixing plate 17 to fix the guide rail 1 at a preset position on the top of the roadway. Next, the ring 19 fixed on the lower surface of the guide rail 1 is connected to the telescopic rod 20 by thread. The telescopic rod 20 is rotated to adjust its extension length (adjustment range 300-500mm), and the fixing bolts are screwed into the holes on the surface of the telescopic rod 20 to lock the length, ensuring that the support block and gasket at the bottom of the telescopic rod 20 are in close contact with the bottom of the roadway, and preventing the guide rail 1 from shifting due to vibration during the inspection.

[0136] In this step, the guide rail 1 is rigidly fixed to the top of the tunnel by the fixing plate 17. The cooperation between the threaded ring 15 and the threaded rod 16 allows for fine adjustment of the level of the guide rail 1. The telescopic structure of the telescopic rod 20 and the design of the support block enhance the overall stability. Compared with the single installation method of fixing the guide rail with screws in the prior art 1, this utility model can adapt to different tunnel clearance heights (3-5m), and the vibration resistance is significantly improved after installation. The guide rail 1 does not shake during the inspection.

[0137] II. Inspection Start-up and Movement Process.

[0138] When the inspection device is started, the staff starts the first motor 5 through the remote control system. The output end of the first motor 5 drives the gear 6 to rotate. Since the gear 6 is meshed with the rack 7 fixed to the inner top wall of the guide rail 1, the rotation of the gear 6 is converted into the linear motion of the connecting plate 4 along the length of the rack 7, which in turn drives the U-shaped plate 3 fixed to the connecting plate 4 to move. The U-shaped plate 3 is rotatably connected to the wheel 2 through the rotating shaft. The wheel 2 rolls inside the guide rail 1, which finally drives the inspection robot body 11, which is connected to the U-shaped plate 3 through bolts 8, L-shaped plate 9 and bracket 10, to move along the guide rail 1 and start inspecting the coal mine roadway.

[0139] During the inspection start-up and movement, the meshing transmission of gear 6 and rack 7 provides driving force, the rolling engagement of wheel 2 and guide rail 1 reduces movement resistance, and the rigid connection between U-shaped plate 3 and connecting plate 4 ensures stable power transmission. Compared with the complex transmission structure of "servo motor + multi-gear set" in comparative document 1, this device simplifies the transmission chain through the composite drive of "gear rack + wheel", reduces movement noise and failure rate, and the rolling of wheel 2 makes the movement speed faster.

[0140] III. Angle adjustment during the inspection process.

[0141] During the inspection, if it is necessary to adjust the camera field of view of the inspection robot body 11 to avoid obstruction by the tunnel support or pipeline, the staff can loosen the bolt 8 connecting the L-shaped plate 9 and the U-shaped plate 3, rotate the L-shaped plate 9 horizontally to the appropriate angle, and then tighten the bolt 8 to achieve horizontal angle adjustment of the inspection robot body 11 (adjustment range ±15°); at the same time, loosen the hexagonal nut at one end of the screw connecting the bracket 10 and the inspection robot body 11, tilt and rotate the inspection robot body 11 until the camera is aligned with the target area, and then tighten the hexagonal nut to lock the angle (tilt adjustment range ±30°).

[0142] During angle adjustment, the threaded connection between bolt 8 and L-shaped plate 9 provides horizontal rotational freedom, while the screw and hexagonal nut enable both fixing and adjustment of the pitch angle. Angle adjustment solves the problem of limited field of view caused by the fixed camera angle in comparison document 1. Through dual-dimensional adjustment, the camera's field of view coverage is expanded to 120°, reducing blind spots during inspections.

[0143] IV. Self-cleaning function startup and operation process.

[0144] When the camera surface of the inspection robot body 11 has a lot of dust (which can be judged by the clarity of the inspection image or triggered by a preset time threshold), the staff remotely activates the self-cleaning module: the second motor in the cavity inside the inspection robot body 11 starts working, and its output end drives the lever 12 to rotate. The scraper on one side of the lever 12 is in contact with the camera surface and moves in a circle with the lever 12 to mechanically scrape the camera surface; at the same time, the water pump in the water tank 21 starts, pumping the cleaning water (with the addition of neutral detergent) in the water tank 21 to the nozzle 14 through the water pipe 13. The nozzle 14 atomizes the water and sprays it onto the camera surface, working in conjunction with the mechanical scraping of the scraper to remove stubborn dust (such as the paste-like dust formed by the mixture of coal dust and water vapor) from the camera surface; after cleaning is completed, the second motor and water pump stop working, the scraper resets, and it waits for the next cleaning instruction.

[0145] During the self-cleaning process, the second motor drives the lever 12 to perform mechanical scraping, while the water pump provides hydraulic rinsing. The spatial positioning of the scraper and the nozzle 14 works in tandem (the scraper's rotation trajectory covers the spray area of ​​the nozzle 14) to ensure thorough cleaning without any blind spots. Compared to the single physical cleaning method of "cleaning soft brush + electric telescopic rod" in Comparative Document 1, this device improves the dust removal rate, shortens the single cleaning time, avoids misjudgments during inspections due to blurry cameras, and reduces safety hazards through the synergistic effect of "mechanical scraping + hydraulic rinsing".

[0146] V. Shutdown and Maintenance Procedures.

[0147] When the inspection task is completed or when cleaning water needs to be added, the staff controls the inspection robot body 11 to move to the maintenance position at the end of the guide rail 1, and turns off the first motor 5 to stop the device; then, unscrew the water inlet cap of the water box 21 and add cleaning water to the rated volume (500-1000mL); if it is necessary to check or replace the scraper, the connecting screws between the bracket 10 and the inspection robot body 11 can be loosened, the inspection robot body 11 can be removed, the cavity cover can be opened, and the scraper on the lever 12 can be replaced to ensure the fit between the scraper and the camera surface.

[0148] During shutdown and maintenance, the system can be stopped at a designated maintenance position at the end of guide rail 1. The independent design of water box 21 facilitates rapid water replenishment, and the modular structure makes component replacement easy. Maintenance operations are convenient, with water replenishment time reduced to 2 minutes. Scraper replacement requires no special tools, improving the ease of use and maintenance efficiency of the device.

[0149] The above embodiments are only used to illustrate and not limit the technical solutions of this utility model. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the utility model without departing from the spirit and scope of the utility model. Any modifications or partial substitutions should be covered within the scope of the claims of this utility model. Example

[0150] The difference between this embodiment and Embodiment 1 is that:

[0151] The camera area of ​​the inspection robot body (11) is equipped with a sealing cover, which is sealed to the inspection robot body (11) by a waterproof rubber ring, and the overall protection level is not lower than IP65. The gear (6) and rack (7) are equipped with dust covers on their outer sides, which are fixed to the connecting plate (4) by buckles or screws, covering the meshing area of ​​the gear (6) and rack (7). The second motor is a power-off self-resetting type motor, which automatically drives the lever (12) to rotate back to the initial avoidance position after cleaning. The water box (21) is equipped with a water level sensor. When the water level is lower than the preset threshold, the control system automatically disables the self-cleaning function and issues a water replenishment prompt signal. The telescopic rod (20) is a pair of symmetrically arranged rods, located below the two ends of the guide rail (1), forming a double support structure. The new technical features of Embodiment 2 are all conventional designs, and the sealing cover and dust cover are not shown in the figure.

Claims

1. A roadway rail-mounted inspection device with self-cleaning function, characterized in that: The system includes a guide rail (1), a moving drive assembly that is tumbled to the guide rail (1), an inspection robot body (11) fixed to the moving drive assembly, and a self-cleaning module integrated into the inspection robot body (11). The moving drive assembly includes a wheel (2) that rolls with the guide rail (1), a drive unit that drives the wheel (2) to move along the guide rail (1), and a connecting bracket that connects the wheel (2) and the inspection robot body (11). The self-cleaning module includes a mechanical scraping unit for mechanically scraping the surface of the camera and a water jetting unit for spraying cleaning medium onto the surface of the camera. The mechanical scraping unit and the water jetting unit work together in spatial position to remove dust from the camera surface.

2. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: The drive unit includes a first motor (5) fixed to the connecting bracket. The drive unit also includes a rack (7) fixed to the inner top wall of the guide rail (1) and a gear (6) fixedly connected to the output end of the first motor (5) and meshing with the rack (7). The wheel (2) is rotatably connected to the connecting bracket through a rotating shaft.

3. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: The connecting bracket includes a U-shaped plate (3) fixedly connected to the axle of the wheel (2), a connecting plate (4) fixed to one side of the U-shaped plate (3), and an L-shaped plate (9) connected to the bottom end of the U-shaped plate (3) by bolts (8). The inspection robot body (11) is fixed to the L-shaped plate (9) by the bracket (10).

4. The roadway rail-mounted inspection device with self-cleaning function according to claim 3, characterized in that: The bracket (10) is fixedly connected to the inspection robot body (11) by screws, and one end of the screws is threaded with a hexagonal nut.

5. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: The mechanical scraping unit includes a second motor disposed in the cavity inside the inspection robot body (11), and a lever (12) fixedly connected to the output end of the second motor. A scraping strip that fits against the surface of the camera is fixedly connected to one side of the lever (12).

6. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: The water flushing unit includes a water box (21) fixed on the upper surface of the inspection robot body (11), a water pump installed inside the water box (21), and a water pipe (13) with one end connected to the water pump and the other end extending to the surface of the camera. The end of the water pipe (13) is connected to a nozzle (14).

7. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: A ring (19) is fixedly connected to the lower surface of the guide rail (1). A telescopic rod (20) is threaded inside the ring (19). A hole for locking the length is opened on the surface of the telescopic rod (20). A fixing bolt is threaded inside the hole.

8. The roadway rail-mounted inspection device with self-cleaning function according to claim 7, characterized in that: The bottom end of the telescopic rod (20) is fixedly connected to a support block, and the bottom end of the support block is fixedly connected to a rubber pad.

9. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: A threaded ring (15) is fixedly connected to the upper surface of the guide rail (1), and a threaded rod (16) is threadedly connected inside the threaded ring (15). A fixing piece (17) with a bolt insertion hole (18) is fixedly connected to the top end of the threaded rod (16).

10. The roadway rail-mounted inspection device with self-cleaning function according to claim 1, characterized in that: The inspection robot body (11) has an internal cavity for accommodating a second motor, and the inner wall of the cavity is fixedly connected with sound insulation cotton.

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