Mine inspection robot

Abstract

The invention provides a mine inspection robot, and relates to the technical field of inspection robots, the mine inspection robot comprises a body and a mechanical arm mechanism, the mechanical arm mechanism is arranged at the top of the body, driving wheel sets are fixedly installed on the two opposite sides of the body, a snake-shaped mechanical arm is arranged at the output end of a connecting end shaft, and the main body of the mine inspection robot is composed of a plurality of arm body small sections; the side, away from the connecting end shaft, of each arm body small section is detachably provided with a connecting screw cap, the hinged position of each arm body small section is sleeved with a rubber protective sleeve, and the outer wall of each connecting screw cap is provided with an arc-shaped protruding structure used for supporting the strength of the corresponding connecting screw cap and protruding to expand the corresponding rubber protective sleeve. According to the invention, the joint is sealed and actively cleaned through segmented supporting and the rubber protective sleeve, so that the problems of joint failure, frequent maintenance and the like caused by movement clamping stagnation and dust invasion which are difficult to deal with by a conventional snake-shaped mechanical arm in a high-dust and multi-bending environment under a mine are effectively solved; and meanwhile, the problems that joints are blocked by accumulated dust and sealing is eroded in the high-dust environment under the mine are solved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically a mine inspection robot. Background Technology

[0002] With the rapid development of robotics technology, robots are increasingly being applied to people's production and daily lives, especially in locations unsuitable for human activity or in hazardous environments. In underground mines, due to the presence of various hazardous substances and gases, the temperature, humidity, and concentration of hazardous gases can change unpredictably, posing risks to miners entering the mine. Therefore, obtaining relevant data in advance is extremely important. Underground inspection robots can replace manual labor to automatically inspect the surrounding environment and specific locations in coal mines such as belt conveyors, substations, and gas extraction pumping stations. They collect environmental data and equipment operating status, promptly identify anomalies and issue warnings, and automatically generate inspection data tables, thereby improving inspection efficiency and ensuring safe production in the mine.

[0003] However, most current mine inspection robots operate in high-dust environments, and to improve their efficiency, they often combine multi-axis robots with snake-like robotic arms. Existing technologies use conventional flexible protective sleeves at the joints of these snake-like robotic arms for dust prevention. However, in the high-dust, winding environments of mines, these sleeves struggle to handle the problems of dust accumulation and movement obstruction caused by wrinkles. This leads to issues such as movement stagnation, joint failure due to dust intrusion, and frequent maintenance. Therefore, we propose a mine inspection robot with a snake-like robotic arm. Summary of the Invention

[0004] The purpose of this invention is to address the problem that conventional flexible protective sleeves used for dust prevention at the joints of serpentine robotic arms in existing technologies are ineffective in high-dust, multi-bend environments like underground mines. These sleeves struggle to handle dust accumulation due to wrinkles and hinder movement, leading to issues such as movement stagnation, joint failure due to dust intrusion, and frequent maintenance. Therefore, this invention innovatively solves these problems by using rubber protective sleeves to seal the joints, enhance the rigidity of the connecting caps, and provide support, positioning, and active cleaning for the rubber protective sleeves.

[0005] The present invention provides a mine inspection robot, including a body and a robotic arm mechanism. The robotic arm mechanism is located on the top of the body, and drive wheel sets are fixedly installed on both sides of the body. A snake-shaped robotic arm is provided at the output end of the connecting shaft, and its main body is composed of multiple arm segments. Each arm segment has a detachable connecting cap on the side away from the connecting shaft. A rubber protective sleeve is fitted at the hinge of each arm segment. The outer wall of the connecting cap has an arc-shaped protrusion structure for supporting the strength of the connecting cap itself and expanding the rubber protective sleeve. The outer wall of each arm segment has an annular protrusion structure at the end near the previous arm segment for expanding and positioning the rubber protective sleeve away from the connecting cap.

[0006] The outer wall of the arm section is provided with an air outlet pointing to the surface of the rubber protective sleeve where dust easily accumulates, and a nozzle structure in the gap between the sleeve and the arm section; the connecting end shaft is provided with a pulse airflow mechanism, whose pipeline can pass through multiple arm sections, and is connected to the inner wall of the arm section through the air distribution port on the pipeline corresponding to the number of arm sections, and is connected to the dustproof nozzle.

[0007] As a further improvement of the present invention, the robotic arm mechanism specifically includes a multi-axis robotic arm, which is rotatably connected to the top of the main body via a disc rotating shaft. A connecting end shaft is rotatably connected to the end of the multi-axis robotic arm away from the main body. A mounting platform is fixedly connected to the outer wall of the connecting end shaft. A drive device is provided inside the multi-axis robotic arm, which is connected to the drive mechanism inside each small segment of the arm body.

[0008] As a further improvement of the present invention, the multiple arm segments and the connecting screw cap are connected in series and hinged. The drive device set inside the multi-axis robotic arm can be connected to the drive mechanism inside the multiple arm segments to control the swinging or twisting of the multiple hinged arm segments. A head monitoring module is threadedly installed on one of the arm segments located at the end away from the connecting end shaft.

[0009] As a further improvement of the present invention, a C-shaped groove is provided on the outer wall of the connecting cap, and the arc-shaped protrusion structure is specifically a C-shaped metal unit support ring that is snapped into the C-shaped groove. The annular protrusion structure is specifically an annular protrusion fixed on the outer wall of each arm segment near one end of the previous arm segment. The rubber protective sleeve covers the connection between every two arm segments and covers the connecting cap and the annular protrusion. The annular protrusion limits the expansion and positioning of the rubber protective sleeve. Multiple internal connecting air boxes are provided on the inner wall of each arm segment.

[0010] As a further improvement of the present invention, the nozzle structure specifically consists of multiple dustproof nozzles fixed on the outer wall of a small section of the arm body, arranged in a circumferential array, with each dustproof nozzle corresponding to and connected to each inner connecting air box.

[0011] As a further improvement of the present invention, the dust nozzles are provided with opposing inwardly inclined arc-shaped surfaces on both sides, with the inclined surfaces facing the outer wall of the arm segment. Each inwardly inclined arc-shaped surface has an inclined nozzle. The air outlet range of the dust nozzles on the outer wall of the arm segment in each array covers the surface of the rubber protective sleeve and the gap between it and the arm segment. Each dust nozzle has an end inclined arc-shaped surface and an outer arc-shaped surface in the direction of the annular array, and the end inclined arc-shaped surface covers the outer arc-shaped surface. The end inclined arc-shaped surface has an end spray hole that points to the surface of the outer arc-shaped surface and is inclined outward.

[0012] As a further improvement of the present invention, the pulse airflow mechanism includes a pulse air pump fixed on the mounting platform. Its output end has multiple output connection ports corresponding to the number of dustproof nozzles. A main air pipe is snapped onto the main air pipe and passes through the connecting end shaft and multiple arm segments until the last arm segment away from the connecting end shaft. The main air pipe is snapped onto the connection side between the head monitoring module and the arm segment. Each main air pipe is fixed with an air pipe branch connector corresponding to the number of arm segments. The branch connector is snapped onto and connected to a corresponding internal connecting air box. Between every two air pipe branch connectors of the same main air pipe, the main air pipe is in a bent state. The bending amplitude of the main air pipe between every two air pipe branch connectors is adapted to the maximum bending and twisting amplitude of the snake-shaped robotic arm.

[0013] As a further improvement of the present invention, a detection system is installed on the top of the main body. The detection system includes an integrated detection device, a built-in motor corresponding to the main body and the integrated detection device, the integrated detection device is fixedly connected to its output shaft, a laser radar camera is threadedly installed on the top of the integrated detection device, and an alarm is fixed on the top of the main body.

[0014] As a further improvement of the present invention, the integrated detection device consists of a rotating disk rotatably connected to the top of the main body, a support screw on the top of the rotating disk, and monitoring and sensing modules integrated on the outer surface of the support screw and arranged axially at intervals.

[0015] As a further improvement of the present invention, the monitoring and sensing module includes a lidar sensor, a gas sensor, an oxygen concentration sensor, a carbon dioxide concentration sensor and a depth sensor that are sequentially spaced along the axial direction on the outer surface of the support screw, wherein each monitoring and sensing module is provided with an LED warning light corresponding to the sensor.

[0016] The present invention has the following advantages over the prior art:

[0017] 1. The mine inspection robot provided by this invention, after a single bending motion is completed at the joint connecting two arm segments, triggers a high-pressure airflow via the electromagnetic pulse valve of the pulse air pump. This airflow is dispersed into the four main air pipes and then delivered to the internal connecting air box and dust nozzles via multiple branch connectors on each main air pipe. This allows all dust nozzles on the serpentine robotic arm to simultaneously eject high-speed airflow through inclined nozzles pointing towards the surface of the rubber sleeve where dust easily accumulates and at the gap between the sleeve and the arm segments. The high-speed airflow forms an air curtain on the surface of the serpentine robotic arm, peeling away dust from each segment. The dust particles adsorbed on the rubber protective sleeves installed on the small segments of the arm and at the joints between each pair of arm segments further prevent dust from entering the interior of the joints between each pair of arm segments, improving the protective effect of the rubber protective sleeves. At the same time, it avoids a large amount of dust adsorbing and accumulating in the joint gaps and surface creases of the rubber protective sleeves. Through segmented support, joint sealing by rubber protective sleeves and active cleaning, it effectively solves the problems that conventional snake-shaped robotic arms cannot handle in high dust and multi-curved environments in mines, such as motion jamming, joint failure caused by dust intrusion, and frequent maintenance. It also solves the problems of dust accumulation blocking joints and erosion of seals in high dust environments in mines.

[0018] 2. The mine inspection robot provided by this invention features a C-shaped metal unit support ring that supports the connecting cap into a stable cylindrical profile when the serpentine robotic arm bends. The C-shaped metal unit support ring and the annular protrusion support both ends of the rubber protective sleeve, ensuring that the rubber protective sleeve only bends uniformly along the cylindrical surface of the arm segment. This prevents localized stacking and wrinkling of the rubber protective sleeve during serpentine arm bending, and avoids large gaps at the connection points with the arm segment caused by wrinkles, allowing dust to enter. It also prevents wrinkles caused by compression and twisting, solving the problem of conventional flexible protective sleeves easily trapping dust and hindering the movement of the serpentine robotic arm. This not only improves the dustproof effect of the rubber protective sleeve at the connection points between every two arm segments when the serpentine robotic arm is fully twisted, but also extends the service life of the serpentine robotic arm.

[0019] 3. The mine inspection robot provided by this invention has a wider coverage area of ​​the arm section and rubber protective sleeve surface by the airflow ejected from the inclined nozzle, which increases the cleaning effect on the dust on the arm section and rubber protective sleeve surface. At the same time, the airflow can be ejected through the end nozzle by covering the outer arc surface of the next dustproof nozzle in the ring array through the inclined arc surface. The airflow is guided to the outer wall of the dustproof nozzle by the outer arc surface. The dustproof nozzles arranged in multiple circumferential arrays can clean each other, avoiding the formation of dead corners in airflow cleaning, which would cause dust to be adsorbed and accumulated in the gaps of the dustproof nozzles, further enhancing the effect of airflow in cleaning dust on the surface of the snake-shaped robotic arm. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the detection system structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the head monitoring module structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the snake-shaped robotic arm structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the fit between the rubber protective sleeve and the small section of the arm body of the present invention;

[0026] Figure 6 This is a schematic diagram of the pulse airflow mechanism of the present invention;

[0027] Figure 7 This is a schematic diagram of the annular array of dustproof nozzles of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of a single dustproof nozzle of the present invention;

[0029] Figure 9 yes Figure 7 Enlarged view of point A in the middle;

[0030] Figure 10 This is a diagram of the drive mechanism for the snake-shaped robotic arm of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Main body; 101. Drive wheel assembly; 2. Detection system; 201. Integrated detection device; 202. LiDAR camera; 203. LED warning light; 204. Alarm; 3. Robotic arm mechanism; 301. Multi-axis robotic arm; 302. Connecting end shaft; 303. Mounting platform; 4. Snake-shaped robotic arm; 401. Arm body segment; 402. Dustproof nozzle; 4021. Inner oblique arc surface; 4022. End oblique arc surface; 4023. Outer arc surface 4024, Inclined nozzle; 4025, End nozzle; 403, Connecting cap; 404, C-shaped slot; 405, C-shaped metal unit support ring; 406, Rubber protective sleeve; 407, Annular protrusion; 408, Inner connecting air box; 5, Pulse airflow mechanism; 501, Pulse air pump; 502, Main air pipe; 503, Air pipe branch connector; 6, Head monitoring module; 7, Pin shaft; 8, Active bevel gear; 9, Drive motor; 10, Driven bevel gear. Detailed Implementation

[0033] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Example 1

[0036] Combination Figures 1-9 As shown, this embodiment discloses a mine inspection robot, including a body 1 and a robotic arm mechanism 3. The robotic arm mechanism 3 is located on the top of the body 1, and drive wheel sets 101 are fixedly installed on both opposite sides of the body 1.

[0037] The output end of the connecting shaft 302 is equipped with a serpentine robotic arm 4, the main body of which is composed of multiple arm body segments 401. Each arm body segment 401 is detachably equipped with a connecting cap 403 on the side away from the connecting shaft 302. Each arm body segment 401 is fitted with a rubber protective sleeve 406 at the hinge. The outer wall of the connecting cap 403 is provided with an arc-shaped protrusion structure for supporting the strength of the connecting cap 403 itself and for expanding the rubber protective sleeve 406. The outer wall of each arm body segment 401 is provided with an annular protrusion structure at the end near the previous arm body segment 401 for expanding and positioning the end of the rubber protective sleeve 406 away from the connecting cap 403. By providing a rubber protective sleeve 406 at the connection of every two arm body segments 401, dust and fine particles are prevented from entering the connection.

[0038] The outer wall of the arm section 401 is provided with an air outlet pointing to the surface of the rubber protective sleeve 406 where dust easily accumulates, and a nozzle structure in the gap between the sleeve and the arm section 401.

[0039] Each segment of the arm body 401 has multiple internal connecting air boxes 408 on its inner wall;

[0040] The nozzle structure specifically consists of multiple dustproof nozzles 402 fixed to the outer wall of the arm segment 401, preferably four, arranged in a circumferential array. Each dustproof nozzle 402 corresponds to and communicates with each inner connecting air box 408. A pulse airflow mechanism 5 is provided on the connecting end shaft 302. Its pipeline can pass through multiple arm segments 401 and is connected to the inner wall of the arm segment 401 through the air distribution port provided on the pipeline corresponding to the number of arm segments 401. It communicates with the dustproof nozzles 402. In this way, all the dustproof nozzles 402 on the serpentine robotic arm 4 can simultaneously spray high-speed airflow through the inclined nozzles 4024 pointing to the surface of the rubber sleeve where dust easily accumulates and the gap between it and the arm segment 401. The high-speed airflow forms an air curtain on the surface of the serpentine robotic arm 4, stripping the dust particles adsorbed on each arm segment 401 and the rubber protective sleeve 406 provided at the connection between each pair of arm segments 401.

[0041] The pulse airflow mechanism 5 includes a pulse air pump 501 fixed on the mounting platform 303. Its output end has multiple output connection ports corresponding to the number of dust nozzles 402, preferably four. A main air pipe 502 is attached to the pump. Without affecting the operation of the internal structure of the connecting shaft 302 or the internal drive mechanism of the arm segment 401, the main air pipe 502 passes through the connecting shaft 302 and the multiple arm segments 401 until it reaches the last arm segment 401 away from the connecting shaft 302. The main air pipe 502 is then secured to the connection side between the head monitoring module 6 and the arm segment 401, until it is detachably fixed to the connection side of the head monitoring module 6 and the arm segment 401. By limiting the end of the main air pipe 502, the stability of the main air pipe 502 within the multiple arm segments 401 is improved during the operation of the serpentine robotic arm 4. Each main air pipe 502 is fixed with a branch connector corresponding to the number of arm segments 401. 503, which is snapped and connected to a corresponding internal connecting air box 408. Between every two air pipe branch connectors 503 on the same main air pipe 502, the main air pipe 502 is in a bent state. The bending range of the main air pipe 502 between every two air pipe branch connectors 503 is adapted to the maximum bending and twisting range of the snake-shaped robotic arm 4. Since the main air pipe 502 is provided with air pipe branch connectors 503 corresponding to the number of arm body segments 401, after the main air pipe 502 passes through each arm body segment 401, it can be connected to the internal connecting air box 408 through the air pipe branch connectors 503. Furthermore, between every two air pipe branch connectors 503 on the same main air pipe 502, the main air pipe 502 is in a bent state. The bending range of the main air pipe 502 between every two air pipe branch connectors 503 can be adapted to the maximum bending and twisting range of the snake-shaped robotic arm 4, eliminating the risk of main air pipe 502 breakage and air pipe branch connectors 503 falling off.

[0042] In this embodiment, the pulse air pump 501 is provided with multiple output connection ports, preferably four. Each output connection port is snapped with a main air pipe 502. The main air pipe 502 passes through the connecting end shaft 302 without affecting the operation of the internal structure of the connecting end shaft 302, and passes through multiple arm body segments 401 without affecting the internal drive mechanism of the arm body segments 401, until it is detachably fixed to the connection side between the head monitoring module 6 and the arm body segments 401. By limiting the end of the main air pipe 502, the stability of the main air pipe 502 inside the multiple arm body segments 401 is improved when the snake-shaped robotic arm 4 is in motion.

[0043] During the operation of the robot, if the serpentine robotic arm 4 is in a serpentine bending posture, after each bending motion is completed at the joint connecting two arm segments 401, the electromagnetic pulse valve of the pulse air pump 501 triggers a high-pressure airflow, which is dispersed into the four main air pipes 502. Then, through multiple air pipe branch connectors 503 on each main air pipe 502, the high-pressure airflow is delivered to the inner connecting air box 408 and the dust nozzle 402. In this way, all the dust nozzles 402 on the serpentine robotic arm 4 can simultaneously eject high-speed airflow through the inclined nozzles 4024 pointing towards the surface of the rubber sleeve where dust easily accumulates and the gap between the sleeve and the arm segment 401. The high-speed airflow travels in a serpentine... An air curtain is formed on the surface of the robotic arm 4, which removes dust particles adsorbed on the rubber protective sleeves 406 set at the joints of each segment 401 of the serpentine robotic arm 4. This further prevents dust from entering the interior of the joints of each segment 401, improving the protective effect of the rubber protective sleeves 406. At the same time, it avoids a large amount of dust adsorbing and accumulating in the joint gaps and surface creases of the rubber protective sleeves 406. In conjunction with the above solution, through segmented support, joint sealing by the rubber protective sleeves 406, and active cleaning, the problems of motion jamming, joint failure caused by dust intrusion, and frequent maintenance that conventional serpentine robotic arms 4 cannot handle in high dust and multi-bend environments in mines are effectively solved.

[0044] Example 2

[0045] In this embodiment, combined with Figures 1-6 and Figure 9 As shown, the outer wall of the connecting cap 403 has a C-shaped groove 404. The arc-shaped protrusion structure is specifically a C-shaped metal unit support ring 405 that is engaged inside the C-shaped groove 404. This is used to improve the rigidity of the connecting cap 403 connected to the arm segment 401 and to maintain the cylindrical outline of the rubber protective sleeve 406 fitted between the two arm segments 401. The annular protrusion structure is specifically fixed to the outer wall of each arm segment 401 near the end of the previous arm segment 401. The annular protrusion 407 and the rubber protective sleeve 406 cover the connection between every two arm segments 401, and cover the connecting cap 403 and the annular protrusion 407. The annular protrusion 407 extends and limits the rubber protective sleeve 406. The rubber protective sleeve is wrapped between the two arm segments 401. One end of the sleeve covers the C-shaped metal unit support ring 405 and is supported by the C-shaped metal unit support ring 405. The other end has the annular protrusion 407, which extends and limits the sleeve.

[0046] In this example, a rubber protective sleeve 406 is provided at the connection point of each pair of arm segments 401 to prevent dust and fine particles from entering the connection point. A C-shaped slot 404 is provided on the connecting cap 403 to engage a C-shaped metal unit support ring 405. The C-shaped metal unit support ring 405 is a rigid, thin, arc-shaped protrusion structure. Its core function is to increase the rigidity of the connecting cap 403 connected to the arm segment 401 and maintain the cylindrical outline of the rubber protective sleeve 406 fitted between the two arm segments 401. The rubber protective sleeve wraps between the two arm segments 401, with one end covering and supported by the C-shaped metal unit support ring 405, and the other end being annular. The protrusion 407, and the annular protrusion 407 expands and limits the movement. When the serpentine robotic arm 4 bends, the C-shaped metal unit support ring 405 supports the connecting cap 403 into a stable cylindrical profile. The support ring 405 and the annular protrusion 407 support both ends of the rubber protective sleeve 406, so that the rubber protective sleeve 406 can only bend evenly with the cylindrical surface of the arm body segment 401. This avoids the phenomenon of local stacking wrinkles and large gaps caused by wrinkles at the connection with the arm body segment 401 when the serpentine robotic arm 4 bends, which allows dust to enter its interior. At the same time, it prevents the rubber protective sleeve 406 from wrinkling due to compression and twisting, thus solving the problem that conventional flexible protective sleeves are prone to wrinkling, dust accumulation, and obstruction of the movement of the serpentine robotic arm 4.

[0047] Example 3

[0048] In this embodiment, combined with Figures 7-9As shown, the dust nozzles 402 have opposing inwardly inclined arc-shaped surfaces 4021 on both sides, with their inclined surfaces facing the outer wall of the arm segment 401. Each inwardly inclined arc-shaped surface 4021 has an inclined nozzle 4024. The air outlet range of each array of dust nozzles 402 on the outer wall of the arm segment 401 covers the surface of the rubber protective sleeve 406 and the gap between it and the arm segment 401. This not only allows the high-speed airflow ejected from the inclined nozzles 4024 to be directed to clean the gap between the rubber protective sleeve 406 and the arm segment 401, but also allows the airflow to be sprayed at an inclined posture around the surface of the arm segment 401 and the rubber protective sleeve 406. Each dust nozzle 402 has an end inclined arc-shaped surface 4022 and an outer arc-shaped surface 4022 in the direction of the annular array. The outer arc surface 4023 is covered by a beveled arc surface 4022 at the end, and the beveled arc surface 4022 at the end is provided with an end nozzle 4025 that points outward and is inclined outward. This allows the airflow from the inclined nozzle 4024 to cover a larger area of ​​the arm section 401 and the rubber protective sleeve 406, increasing the cleaning effect on the dust on the surface of the arm section 401 and the rubber protective sleeve 406. At the same time, by covering the outer arc surface 4023 of the next dustproof nozzle 402 in the annular array with the beveled arc surface 4022 at the end, the airflow can be ejected through the end nozzle 4025 and guided to the outer wall of the dustproof nozzle 402 by the outer arc surface 4023. The multiple dustproof nozzles 402 arranged in a circumferential array can clean each other.

[0049] In this embodiment, each dust nozzle 402 is provided with two inwardly inclined arc-shaped surfaces 4021 covering the gap between the rubber protective sleeve 406 and the arm segment 401. Each inwardly inclined arc-shaped surface 4021 is provided with an inclined nozzle 4024 at an angle. This not only allows the high-speed airflow ejected from the inclined nozzle 4024 to be directed towards the gap between the rubber protective sleeve 406 and the arm segment 401 for cleaning, but also allows the airflow to be sprayed at an angle around the surfaces of the arm segment 401 and the rubber protective sleeve 406. Furthermore, by providing multiple dust nozzles 402, preferably four, the inclined nozzles 4024 can be positioned to ensure that the airflow is directed towards the gap between the rubber protective sleeve 406 and the arm segment 401. The airflow ejected from the 24th nozzle covers a wider area of ​​the surface of the arm section 401 and the rubber protective sleeve 406, increasing the cleaning effect on the dust on the surface of the arm section 401 and the rubber protective sleeve 406. At the same time, the end sloping arc surface 4022 covers the outer arc surface 4023 of the next dustproof nozzle 402 in the annular array. The airflow can be ejected through the end nozzle 4025 and guided to the outer wall of the dustproof nozzle 402 by the outer arc surface 4023. The multiple dustproof nozzles 402 arranged in a circumferential array can clean each other and avoid the formation of airflow cleaning dead corners, which would cause dust to be adsorbed and accumulated in the gaps of the dustproof nozzles 402.

[0050] Example 4

[0051] In this embodiment, combined with Figures 1-6 As shown, a detection system 2 is installed on the top of the main body 1. The detection system 2 includes an integrated detection device 201. The main body 1 has a built-in motor corresponding to the integrated detection device 201. The integrated detection device 201 is fixedly connected to its output shaft. A laser radar camera 202 is threadedly installed on the top of the integrated detection device 201. An alarm 204 is fixed on the top of the main body 1.

[0052] The integrated detection device 201 consists of a rotating disk rotatably connected to the top of the main body 1, a support screw on the top of the rotating disk, and monitoring and sensing modules integrated on the outer surface of the support screw and arranged axially at intervals. The rotating disk is driven by a motor built into the main body 1 to achieve horizontal circumferential rotation of the integrated detection device 201, so as to adjust the scanning direction of the integrated detection device 201 and the lidar camera 202. Through the rotation adjustment of the rotating disk, the detection system 2 can perform an all-round scan of the robot's surrounding environment.

[0053] The monitoring and sensing module includes a lidar sensor, a gas sensor, an oxygen concentration sensor, a carbon dioxide concentration sensor, and a depth sensor, which are sequentially spaced along the axial direction on the outer surface of the support screw. Each monitoring and sensing module is equipped with a corresponding LED warning light 203. In the monitoring and sensing module, the lidar sensor scans the surrounding terrain in real time and fuses the data with the lidar camera 202 to improve the accuracy of spatial modeling. The gas sensor, oxygen concentration sensor, and carbon dioxide concentration sensor monitor the gas concentration, oxygen content, and carbon dioxide concentration in the mine, respectively. The data is analyzed by a microcontroller. If the detected value exceeds the safety threshold, an alarm 204 is triggered and the corresponding LED warning light 203 of the sensor is lit. The depth sensor is used to measure the vertical depth of the robot's current position and, combined with the positioning data of the robot body 1, generates spatial coordinate information inside the mine.

[0054] The robotic arm mechanism 3 specifically includes a multi-axis robotic arm 301, which is rotatably connected to the top of the main body 1 via a disc rotating shaft. The multi-axis robotic arm 301 is equipped with a drive device, and the multi-segment arm segments 401 are equipped with drive mechanisms to control the swinging or twisting of the multi-segment arm segments 401. The end of the multi-axis robotic arm 301 away from the main body 1 is rotatably connected to a connecting end shaft 302. A mounting platform 303 is fixedly connected to the outer wall of the connecting end shaft 302. The multi-axis robotic arm 301 is equipped with a drive device. The multi-axis robotic arm 301 can adopt an existing robotic arm device, and the drive device can be a motor. The rotation of the motor realizes the lifting and lowering between the arms. At the same time, a motor can also be set on the connecting end shaft 302 and the multi-axis robotic arm 301. The motor is fixed to the multi-axis robotic arm 301, and the output shaft is connected to the connecting end shaft 302. The rotation of the motor realizes the swinging of the snake-shaped robotic arm 4 on the connecting end shaft 302.

[0055] The robotic arm mechanism 3 adjusts the position of the snake-shaped robotic arm 4 via the multi-axis robotic arm 301. The snake-shaped robotic arm 4 can control the swinging or twisting of the multiple articulated arm segments 401 through the drive mechanism inside the multiple arm segments 401, allowing the head monitoring module 6 to enter confined spaces to detect environmental data. The head monitoring module 6 transmits the data to the storage module via a wireless module, while the alarm 204 and LED warning light 203 provide real-time warnings of dangerous situations. The drive mechanism inside the multiple arm segments 401 can also be a motor, such as... Figure 10 As shown, a drive motor 9 can be installed at the end of the arm segment 401. The drive motor 9 can be located inside the arm segment 401, with its output shaft extending outward to connect to the drive bevel gear 8. Adjacent arm segments 401 are rotatably connected by a pin 7. Each adjacent arm segment 401 has a protrusion and a recess, both with holes for the pin 7 to pass through. When adjacent arm segments 401 are connected, the protrusion is inserted into the recess, and the pin 7 passes through the hole. The pin 7 is rotatably connected to the protrusion on the arm segment 401 with the drive motor 9 and fixedly connected to the recess on the arm segment 401 without the drive motor 9. A driven bevel gear 10 is fixedly connected to shaft 7. The driven bevel gear 10 meshes with the driving bevel gear 8. When the drive motor 9 rotates, it can drive the adjacent arm segments 401 to swing through the pin shaft 7. Each arm segment 401 can be driven by the above-mentioned control method. Alternatively, it can be driven by existing methods, such as the serpentine robotic arm drive method described in the patent application number 202310958324.5. When using this drive method, the main air pipe 502 of this application can be staggered from each drive component to prevent mutual interference. The specific working process will not be described in detail. Please refer to the prior art.

[0056] The multiple arm segments 401 and the connecting cap 403 are connected in series and hinged. The multi-axis robotic arm 301 can be controlled to swing or twist through the drive device inside the multi-arm segments 401 and the drive mechanism inside the multi-arm segments 401. The head monitoring module 6 is threadedly installed on one of the arm segments 401 located at the end away from the connecting end shaft 302.

[0057] In this embodiment, the detection system 2 is installed on the top of the main body 1 and connected to the motor output shaft built into the main body 1. It has an integrated detection device 201 and a lidar camera 202 installed on the top of the integrated detection device 201. The lidar camera 202 is used to acquire three-dimensional point cloud data of the mine environment to assist robot navigation and obstacle recognition.

[0058] In the monitoring and sensing module, the lidar sensor scans the surrounding terrain in real time and fuses the data with the lidar camera 202 to improve the accuracy of spatial modeling. The gas sensor, oxygen concentration sensor, and carbon dioxide concentration sensor monitor the gas concentration, oxygen content, and carbon dioxide concentration in the mine, respectively. The data is analyzed by the microcontroller. If the detected value exceeds the safety threshold, the alarm 204 is triggered and the corresponding LED warning light 203 of the sensor is lit. The depth sensor is used to measure the vertical depth of the robot's current position. Combined with the positioning data of the main body 1, it generates spatial coordinate information inside the mine. The rotating disk is driven by the motor built into the main body 1 to achieve horizontal circular rotation of the integrated detection device 201 to adjust the scanning direction of the integrated detection device 201 and the lidar camera 202. Through the rotation adjustment of the rotating disk, the detection system 2 can perform an all-round scan of the robot's surrounding environment, further reducing blind spots and improving the comprehensiveness of mine safety monitoring.

[0059] The head monitoring module 6 integrates a microcontroller, a Bluetooth module, and a housing. Data is transmitted back via a wireless module, and data from the detection system 2 is transmitted to the storage module via a Bluetooth module. It is also synchronized and integrated with data from the infrared camera, sonar probe, etc. on the head monitoring module 6 to form a comprehensive monitoring report.

[0060] Once the robot arrives at the target area, the multi-axis robotic arm 301 consists of a rotating disk axis, a planar arm (upper arm and lower arm). The multi-axis robotic arm 301 moves to the designated position via the rotating disk axis and, after adjusting to the preset position, together transports the snake-shaped robotic arm 4 to the designated height. The snake-shaped robotic arm 4 freely twists and swings according to instructions. When the motor built into the planar arm lower arm receives an instruction, it can drive the arm segment 401 to twist around the axis. The maximum twist angle of a single joint is ±45°. The multi-stage arm achieves continuous twisting through a series transmission mechanism. Subsequent arm segments twist synchronously at each stage, forming a spiral propulsion posture. The multi-stage arm segments 401 of the snake-shaped robotic arm 4 twist and swing at each stage, carrying the head monitoring module 6 into narrow spaces or blind spots. The infrared camera and sonar probe of the head monitoring module 6 collect environmental information, and the metal detector identifies dangerous metal objects. The data is transmitted to the control system via the Bluetooth module for analysis and storage. After completing the data acquisition, the snake-shaped robotic arm 4 returns to its initial state.

[0061] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A mine inspection robot, comprising a body (1) and a robotic arm mechanism (3), characterized in that: The robotic arm mechanism (3) is located on the top of the body (1), and drive wheel sets (101) are provided on both sides of the body (1); The robotic arm mechanism (3) is equipped with a snake-shaped robotic arm (4), and a head monitoring module (6) is provided on the snake-shaped robotic arm (4); The robotic arm mechanism (3) is used to adjust the position of the snake-shaped robotic arm (4), which is used to drive the head monitoring module (6) to different monitoring points.

2. The mine inspection robot according to claim 1, characterized in that, The robotic arm mechanism (3) includes a multi-axis robotic arm (301), which is rotatably connected to the top of the body (1) via a disc rotating shaft. The end of the multi-axis robotic arm (301) away from the body (1) is rotatably connected to a connecting end shaft (302), and a mounting platform (303) is fixedly connected to the outer wall of the connecting end shaft (302).

3. The mine inspection robot according to claim 2, characterized in that, The snake-shaped robotic arm (4) is composed of multiple small arm segments (401) connected together; Each arm segment (401) is provided with a connecting cap (403) on the side away from the connecting end shaft (302). Each arm segment (401) is provided with a rubber protective sleeve (406) at the connection point. The outer wall of the connecting cap (403) is provided with an arc-shaped protrusion structure for supporting the strength of the connecting cap (403) itself and for expanding the rubber protective sleeve (406). The outer wall of each arm segment (401) is provided with an annular protrusion structure at the end of the outer wall of the previous arm segment (401) for expanding and positioning the end of the rubber protective sleeve (406) away from the connecting cap (403). Each arm section (401) has an air outlet on its outer wall pointing towards the surface of the rubber protective sleeve (406) where dust easily accumulates, as well as a nozzle structure in the gap between the sleeve and the arm section (401). A pulse airflow mechanism (5) is provided on the connecting end shaft (302). Its pipeline passes through multiple arm body segments (401) and is connected to the dust nozzle (402) through the air distribution port on the pipeline corresponding to the number of arm body segments (401). The pipeline is connected to the inner wall of the arm body segment (401).

4. The mine inspection robot according to claim 3, characterized in that, The multiple arm body segments (401) and connecting screw caps (403) are connected in series and hinged together. The first arm body segment (401) is connected to the connecting end shaft (302). The arm body segment (401) located at the end away from the connecting end shaft (302) is equipped with a head monitoring module (6).

5. The mine inspection robot according to claim 4, characterized in that, The outer wall of the connecting cap (403) is provided with a C-shaped slot (404). The arc-shaped protrusion structure is specifically a C-shaped metal unit support ring (405) that is snapped into the C-shaped slot (404). The annular protrusion structure is specifically an annular protrusion (407) fixed on the outer wall of each arm segment (401) near the end of the previous arm segment (401). The rubber protective sleeve (406) covers the connection between each two arm segments (401), and covers the connecting cap (403) and the annular protrusion (407). The annular protrusion (407) limits the expansion of the rubber protective sleeve (406). The inner wall of each arm segment (401) is provided with multiple inner connecting air boxes (408).

6. The mine inspection robot according to claim 5, characterized in that, The nozzle structure consists of multiple dustproof nozzles (402) fixed on the outer wall of the arm section (401), arranged in a circular array, and each dustproof nozzle (402) is connected to the corresponding internal connecting air box (408).

7. The mine inspection robot according to claim 6, characterized in that, The dust nozzles (402) are provided with opposing inwardly inclined arc-shaped surfaces (4021) on both sides, with their inclined surfaces facing the outer wall of the arm section (401). Each inwardly inclined arc-shaped surface (4021) has an inclined nozzle (4024) at its inclined surface. The air outlet range of each array of dust nozzles (402) on the outer wall of the arm section (401) covers the surface of the rubber protective sleeve (406) and the gap between it and the arm section (401). Each dust nozzle (402) has an end beveled arc surface (4022) and an outer arc surface (4023) in the direction of the annular array, and the end beveled arc surface (4022) covers the outer arc surface (4023) of the adjacent dust nozzle (402). The end beveled arc surface (4022) has an end spray hole (4025) that points to the surface of the outer arc surface (4023) of the adjacent dust nozzle (402) and is inclined outward.

8. The mine inspection robot according to claim 7, characterized in that, The pulse airflow mechanism (5) includes a pulse air pump (501) fixed on the mounting platform (303). Its output has multiple output ports corresponding to the number of dust nozzles (402). A main air pipe (502) is attached to the pump and passes through the connecting shaft (302) and multiple arm segments (401), extending to the last arm segment (401) furthest from the connecting shaft (302). The main air pipe (502) is engaged with the head monitoring module (6) and the arm segment (401). On the connecting side, each main air pipe (502) is fixed with an air pipe branch connector (503) corresponding to the number of arm body segments (401), which is snapped into and connected to the corresponding inner connecting air box (408). Between every two air pipe branch connectors (503) of the same main air pipe (502), the main air pipe (502) is in a bent state, and the bending amplitude of the main air pipe (502) between every two air pipe branch connectors (503) is adapted to the maximum bending and twisting amplitude of the snake-shaped robotic arm (4).

9. The mine inspection robot according to claim 8, characterized in that, The main body (1) is equipped with a detection system (2) on the top. The detection system (2) includes an integrated detection device (201). The main body (1) has a built-in motor corresponding to the integrated detection device (201). The integrated detection device (201) is fixedly connected to its output shaft. A laser radar camera (202) is threadedly installed on the top of the integrated detection device (201). An alarm (204) is fixed on the top of the main body (1).

10. The mine inspection robot according to claim 9, characterized in that, The integrated detection device (201) consists of a rotating disk rotatably connected to the top of the main body (1), a support screw on the top of the rotating disk, and monitoring and sensing modules integrated on the outer surface of the support screw and arranged axially at intervals. The monitoring and sensing modules include a lidar sensor, a gas sensor, an oxygen concentration sensor, a carbon dioxide concentration sensor, and a depth sensor that are sequentially and spaced along the axial direction on the outer surface of the support screw. Each monitoring and sensing module is provided with an LED warning light (203) corresponding to the sensor.

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