Excavating working face patrolling robot and application thereof

Abstract

The invention relates to an excavating working face patrolling robot and application thereof. The patrolling robot comprises a robot body, an explosion-proof all-directional vehicle-mounted cloud deck, a sensor integration module, an explosion-proof infrared camera and an intrinsic safety type wireless communicating devices. Four independent suspending devices are symmetrically arranged on the front, the back, the left and the right of a rack and connected with walking devices correspondingly. An explosion-proof servo motor is connected with a transmission device. The transmission device is connected with the walking devices. An explosion-proof steering engine is connected with the independent suspending devices and controls steering of the walking devices. According to the excavating working face patrolling robot, deformation of a top plate of the working face, sudden water inflowing and operation situation of equipment can be monitored in real time, the temperature of the working face and concentration of harmful gas can be monitored in real time, the wheel type and the crawler type of the carried walking devices can be switched, all-terrain operation can be carried out, patrolling personnel can escape from the risk environment, safety of the patrolling personnel is ensured, the abnormal situation of the excavating working face can be found in time, and the situation can be found and treated in time.

Description

technical field [0001] The invention relates to a mining face inspection robot and its application, belonging to the technical field of special robots. Background technique [0002] Coal is the main energy source in our country, and it is also the most economical, clean and efficient energy source. my country's coal is mainly mined underground. After years of development, the mechanization, informatization and automation of mine production have been greatly improved, the underground safety situation has improved, and various accident rates and personnel death rates have dropped significantly. However, the underground environment of underground mining is complex, and various accidents still occur. [0003] The five natural disasters in coal mines are water, gas, coal dust, fire and roof. Roof disaster is the most common and most likely accident in coal mines. Among the five major disasters in coal mines, roof accidents rank first among all accidents in coal mines, regardle...

AI Technical Summary

Problems solved by technology

[0004] The existing legged robots have low movement efficiency and complex control, which cannot meet the complex environmental requirements in the mine

Wheeled robots have the advantages of simple structure, high speed, simple control, stable motion, and low energy consumption, but they are not suitable for crossing ravines, muddy roads, etc., and have poor obstacle surmountability and passability

Compared with wheeled robots, crawler robots have stronger terrain adaptability, and have higher obstacle-surmounting capabilities and good environmental adaptability in steep terrain and complex environments. However, due to large frictional resistance, their energy consumption is very high. high and low speed

Therefore, for the complex environment in the mine, a single walking method can no longer meet the needs

[0005] The environment of underground rock roadways in coal mines is very harsh, and complex conditions such as gas, coal dust, broken rocks, gullies, water, and mud are intertwined. The explosion-proof, waterproof, insulating, and passability of robots on the ground cannot meet the needs of underground mining. Working face requirements

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