Monorail crane transportation robot for coal mine under complex geological conditions

Abstract

The invention relates to the technical field of monorail cranes, in particular to a monorail crane transportation robot for coal mines under complex geological conditions, which comprises a road condition detection mechanism, an obstacle detection mechanism and a control mechanism, the turning detection assembly comprises two detection shells used for detecting turning, and the inner top walls of the two detection shells are each provided with a plurality of rectangular resistance plates. According to the turning detection assembly, through a slide rheostat composed of a rectangular resistance plate and a conductive rod, and a structure of a plurality of fixed springs and an elastic flexible plate, the elastic flexible plate can be deformed at the first time when the power shell enters the turning of the track, and then the conductive rod is driven by the elastic flexible plate to slide on the rectangular resistance plate; when it is detected that the track enters the turning position, the rotating speed of the motor is immediately reduced through the PLC, and a brake plate stretches out to assist in speed reduction through the repulsive force effect of an electromagnetic plate and a permanent magnet plate in the brake mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of monorail cranes, and in particular to a monorail crane transportation robot for coal mines under complex geological conditions. Background Art

[0002] A mining area refers to an area rich in coal resources, which is usually divided into two types: underground coal mines and open-pit coal mines. Underground coal mines are suitable for situations where the coal seams are far away from the surface. In this case, underground tunnels are used to mine coal. Open-pit coal mines are suitable for situations where the coal seams are close to the surface. In this case, the surface soil is directly stripped off to mine coal. In China, the vast majority of coal mines are underground coal mines.

[0003] Due to the complexity of mines, various auxiliary equipment is used to help transport coal during mining. Auxiliary transportation of coal mines is an important part of the mine production system, and it undertakes the transportation of personnel, equipment and materials. Auxiliary transportation is divided into rail transportation (monorail crane, electric locomotive, rope traction vehicle, rail car, etc.) and trackless transportation (trackless rubber-wheeled vehicle, support transport vehicle, etc.). Among them, since monorail crane transportation can be arranged and operated in a variety of irregular terrains and environments, it does not require complicated track design and installation, and is suitable for various complex underground environments. Therefore, rail cranes are often used for transportation in mines. For example, a monorail crane transportation robot for coal mines with complex geological conditions disclosed in application number CN202110806457.1 uses a monorail crane for transportation in the mine.

[0004] However, during the transportation process of the existing monorail crane, due to the complexity of the mine, the hanging rails often have bends. The large turning radius may cause the mine car or conveying equipment on the track to generate excessive centrifugal force when turning, increasing the risk of rollover or derailment. Therefore, the radius is minimized as much as possible during design to ensure the stability of the equipment when turning. However, there is still a certain radius. Therefore, when using the monorail crane to transport to the bend, the load box below will still shake due to inertia. Although the existing monorail crane transportation device is transported through a pre-set route system to adjust the speed, although the speed can be adjusted according to the pre-settings, it may be affected by signal interference from various equipment or system failures in complex environments, and thus cannot accurately adjust the speed. Therefore, it lacks real-time monitoring and automatic response capabilities. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a monorail crane transport robot for coal mines under complex geological conditions, which can effectively solve the problem that the prior art cannot adaptively and accurately control the transport speed.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention provides a coal mine monorail crane transportation robot in complex geological conditions, comprising: A road condition detection mechanism, the road condition detection mechanism comprising a turn detection component and an obstacle detection component; The turning detection assembly comprises two detection shells for detecting turning, the inner top walls of the two detection shells are each provided with a plurality of rectangular resistor plates, the inner walls on both sides of each detection shell are each provided with an elastic flexible plate, and the top of the elastic flexible plate is fixedly connected with a plurality of conductive rods respectively in sliding contact with each rectangular resistor plate; The obstacle detection component includes a cleaning frame for detecting and clearing obstacles, a plurality of telescopic grooves are opened on an outer wall of one side of the cleaning frame, and a cleaning plate is slidably connected to the inner wall of each telescopic groove, one end of the cleaning plate is fixedly connected to a cleaning head for detecting and clearing obstacles, the other end of each cleaning plate is fixedly connected to a connecting spring, and the other ends of multiple connecting springs are fixedly connected to a pressure sensor.

[0007] Preferably, it also includes a hanging rail, and the hanging rail is an I-shaped, a tooth plate is fixedly provided at the bottom end of the hanging rail, and a power transportation mechanism is provided on the outer wall of the hanging rail. The power transportation mechanism includes a power frame slidably arranged on the outer wall of the hanging rail, and the upper half of the power frame is slidably arranged in the middle recess of the hanging rail, and the outer wall of the lower half of the power frame is fixedly connected to a motor, and the output end of the motor is fixedly connected to a rotating rod, and the outer wall of the rotating rod is fixedly connected to a first gear meshing with the tooth plate.

[0008] Preferably, the turning detection component also includes an elastic telescopic rod fixedly connected to the outer wall of the power frame, and the telescopic end of the elastic telescopic rod is fixedly connected to the outer wall of one of the detection shells, the outer wall of the other end of the power frame is fixedly connected to a connecting rod, and the other end of the connecting rod is fixedly connected to the outer wall of the other detection shell, the inner wall of the detection shell connected to one of the elastic telescopic rods is rotatably connected to a second gear meshing with a toothed plate, the appearance of the detection shell is consistent with the appearance of the power frame but the size is inconsistent, an arc-shaped resistor plate is embedded in the inner wall of the telescopic end of the elastic telescopic rod, and the bottom end of the telescopic end of the elastic telescopic rod is fixedly connected to an extension plate, and the outer wall of the extension plate is fixedly connected to a conductive sheet that is in sliding contact with the resistor plate, the conductive sheet and the arc-shaped resistor plate are electrically connected to a PLC controller to form a first detection circuit, the conductive sheet and the arc-shaped resistor plate constitute a first sliding rheostat, and during the sliding process of the conductive sheet on the arc-shaped resistor plate toward the power frame, the resistance of the first sliding rheostat in the first detection circuit gradually decreases.

[0009] Preferably, a plurality of fixed springs are fixedly connected to the inner wall of the detection shell, and the other end of the fixed spring is fixedly connected to the outer wall of the elastic flexible plate, and the conductive rod, the rectangular resistor plate and the PLC controller are electrically connected to form a second detection circuit, and the conductive rod and the rectangular resistor plate constitute a second sliding rheostat, and during the sliding process of the conductive rod on the rectangular resistor plate toward the outside, the resistance of the second sliding rheostat in the second detection circuit gradually decreases.

[0010] Preferably, the obstacle detection component also includes a connecting column fixedly connected to the outer wall of the cleaning frame on one side close to the detection shell, the other end of the connecting column is fixedly connected to a support plate, two symmetrical fixed columns are fixedly connected between the support plate and the detection shell, the outer wall of the support plate on one side close to the connecting column is fixedly connected to the pressure sensor, and the pressure sensor corresponds to the telescopic slot one by one, and the PLC controller is electrically connected to the pressure sensor signal to form a third detection circuit.

[0011] Preferably, it also includes a braking mechanism, which includes a placement cavity opened inside the hanging rail, and the inner walls on both sides of the hanging rail are provided with a plurality of staggered and symmetrical braking grooves, and two braking grooves form a group, and a plurality of rotating rods are rotatably connected to the inner wall of the placement cavity, and the rotating rods are located between each group of braking grooves, and the outer walls of the rotating rods are fixedly connected to connecting plates, and the outer walls on both sides of the connecting plates are staggered and symmetrically hinged with brake plates slidably connected to the braking grooves, a plurality of electromagnetic plates are fixedly connected to the inner wall on one side of the placement cavity, and a permanent magnet plate that magnetically repels the electromagnetic plate is fixedly connected to the outer wall on the side opposite to the electromagnetic plate, and a reset spring is fixedly connected to the outer wall of the connecting plate away from the electromagnetic plate and the inner wall of the placement cavity, and the PLC controller is electrically connected to the electromagnetic plate to form a braking circuit.

[0012] Preferably, two symmetrical blocking plates are elastically hinged on the outer walls of the opposite sides of the power frame, and the outer walls of the blocking plates are in contact with or separated from the outer walls of the brake plates.

[0013] Preferably, the bottom end of the power frame is fixedly connected to a fixing frame, the bottom end of the fixing frame is plugged with a bearing block, the bottom end of the bearing block is fixedly connected to a bearing box, and the fixing frame and the bearing block are detachably connected by bolts.

[0014] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects: 1. The turning detection component uses a sliding rheostat composed of a rectangular resistor plate and a conductive rod, as well as a structure of multiple fixed springs and elastic flexible plates. The elastic flexible plate can be deformed as soon as the power shell enters the turning point of the track, and then the conductive rod is driven to slide on the rectangular resistor plate through the elastic flexible plate to achieve the effect of detecting the bending change of the track. When entering the turning point is detected, the motor speed is immediately reduced through the PLC controller, and the brake plate is extended to assist in deceleration through the repulsive force of the electromagnetic plate and the permanent magnet plate in the brake mechanism. At the same time, the elastically hinged blocking plate in the power frame is in continuous contact with the brake plate and then separated to further assist in deceleration, thereby ensuring the stability of the carrier box at the turning point.

[0015] 2. When the obstacle detection component detects a larger or more adhesive obstacle through the cleaning frame, cleaning head and pressure sensor, the movement of the cleaning head will squeeze the connecting spring, and then send a pressure signal to the PLC controller through the pressure sensor. At the same time, the second gear rotates on the tooth plate, detects the obstacle on the tooth plate and sends a signal to the PLC controller through the change of the first sliding rheostat. This real-time obstacle detection and early warning mechanism can promptly notify the staff to deal with it before the obstacle causes more serious equipment damage or transportation interruption, thereby ensuring the safety and continuity of the transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a partial cross-sectional three-dimensional structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the obstacle detection component of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the detection shell of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the power frame of the present invention; Figure 6 It is a schematic diagram of the cross-sectional three-dimensional structure of the elastic telescopic rod of the present invention; Figure 7 For the present invention Figure 6 Schematic diagram of the enlarged structure of part A.

[0018] Figure numerals: 1, road condition detection mechanism; 11, turn detection assembly; 111, detection shell; 112, rectangular resistor plate; 113, elastic flexible plate; 114, conductive rod; 115, elastic telescopic rod; 116, connecting rod; 117, second gear; 118, arc resistor plate; 119, extension plate; 1110, conductive sheet; 1111, fixing spring; 12, obstacle detection assembly; 121, cleaning frame; 122, telescopic slot; 123, cleaning plate; 124, cleaning head; 125, connection Spring; 126, pressure sensor; 127, connecting column; 128, support plate; 129, fixed column; 2, brake mechanism; 21, placement chamber; 22, brake groove; 23, rotating rod; 24, connecting plate; 25, brake plate; 26, electromagnetic plate; 27, permanent magnet plate; 28, reset spring; 29, blocking plate; 3, hanging rail; 4, tooth plate; 5, power transportation mechanism; 51, power frame; 52, motor; 53, rotating rod; 54, first gear; 6, fixed frame; 7, bearing block; 8, bearing box. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0020] The present invention will be further described below in conjunction with embodiments.

[0021] Example: Refer to Figures 1 to 6 , a coal mine monorail crane transportation robot with complex geological conditions, comprising: a road condition detection mechanism 1, the road condition detection mechanism 1 includes a turning detection component 11 and an obstacle detection component 12; The following specific structure can be used to detect the turning of the track, refer to Figure 1 , Figure 4 , Figure 6 The turning detection assembly 11 includes two detection shells 111 for detecting turning, the inner top walls of the two detection shells 111 are provided with a plurality of rectangular resistor plates 112, the inner walls of both sides of each detection shell 111 are provided with an elastic flexible plate 113, and the top of the elastic flexible plate 113 is fixedly connected with a plurality of conductive rods 114 that are in sliding contact with each rectangular resistor plate 112 respectively; The turning detection assembly 11 further includes an elastic telescopic rod 115 fixedly connected to the outer wall of the power frame 51, and the telescopic end of the elastic telescopic rod 115 is fixedly connected to the outer wall of one of the detection shells 111, and the outer wall of the other end of the power frame 51 is fixedly connected to a connecting rod 116, and the other end of the connecting rod 116 is fixedly connected to the outer wall of another detection shell 111, and the inner wall of the detection shell 111 connected to one of the elastic telescopic rods 115 is rotatably connected to a second gear 117 meshing with the toothed plate 4, the shape of the detection shell 111 is consistent with the shape of the power frame 51 but the size is inconsistent, and the inner wall of the telescopic end of the elastic telescopic rod 115 is embedded with an arc-shaped resistor plate 118 , and the bottom end of the telescopic end of the elastic telescopic rod 115 is fixedly connected with an extension plate 119, and the outer wall of the extension plate 119 is fixedly connected with a conductive sheet 1110 that is in sliding contact with the resistor plate, the conductive sheet 1110 and the arc-shaped resistor plate 118 are electrically connected with a PLC controller to form a first detection circuit, the conductive sheet 1110 and the arc-shaped resistor plate 118 constitute a first sliding rheostat, and when the conductive sheet 1110 slides on the arc-shaped resistor plate 118 toward the power frame 51, the resistance of the first sliding rheostat in the first detection circuit gradually decreases, and the spring inside the elastic telescopic rod 115 is pre-set so that it will not be compressed when the detection shell 111 is pushed normally to move.

[0022] Among them, the inner wall of the detection shell 111 is fixedly connected with multiple fixed springs 1111, and the other end of the fixed spring 1111 is fixedly connected to the outer wall of the elastic flexible plate 113, and the conductive rod 114 and the rectangular resistor plate 112 are connected with the PLC controller electrical signal to form a second detection circuit, and the conductive rod 114 and the rectangular resistor plate 112 constitute a second sliding rheostat. During the sliding process of the conductive rod 114 on the rectangular resistor plate 112 toward the power frame 51, the resistance of the second sliding rheostat in the second detection circuit gradually decreases. The elastic flexible plate 113 can automatically reset after a small bend and after the force disappears due to its elasticity.

[0023] The obstacles on the track can be detected through the following specific structure, refer to Figure 3 The obstacle detection component 12 includes a cleaning frame 121 for detecting and clearing obstacles. A plurality of telescopic grooves 122 are provided on one side of the outer wall of the cleaning frame 121. A cleaning plate 123 is slidably connected to the inner wall of each telescopic groove 122. A cleaning head 124 for detecting and clearing obstacles is fixedly connected to one end of the cleaning plate 123. A connecting spring 125 is fixedly connected to the other end of the cleaning plate 123. A pressure sensor 126 is fixedly connected to the other end of the connecting spring 125. Among them, the obstacle detection component 12 also includes a connecting column 127 fixedly connected to the outer wall of the cleaning frame 121 close to the detection shell 111, and the other end of the connecting column 127 is fixedly connected to a support plate 128. Two symmetrical fixed columns 129 are fixedly connected between the support plate 128 and the detection shell 111. The outer wall of the support plate 128 close to the connecting column 127 is fixedly connected to the pressure sensor 126, and the pressure sensor 126 corresponds one-to-one to the telescopic slot 122. The PLC controller is electrically connected to the pressure sensor 126 to form a third detection circuit.

[0024] Among them, it also includes an I-shaped hanging rail 3, a tooth plate 4 is fixedly provided at the bottom end of the hanging rail 3, and a power transportation mechanism 5 is provided on the outer wall of the hanging rail 3. The power transportation mechanism 5 includes a power frame 51 slidably set on the outer wall of the hanging rail 3, and the upper half of the power frame 51 is slidably set in the middle recess of the hanging rail 3, and the outer wall of the lower half of the power frame 51 is fixedly connected to a motor 52, and the output end of the motor 52 is fixedly connected to a rotating rod 53, and the outer wall of the rotating rod 53 is fixedly connected to a first gear 54 meshing with the tooth plate 4.

[0025] The brake mechanism 2 is used to assist the power frame in decelerating. Figure 5 , also includes a brake mechanism 2, the brake mechanism 2 also includes a placement cavity 21 opened inside the hanging rail 3, the inner walls on both sides of the hanging rail 3 are provided with a plurality of staggered symmetrical brake grooves 22, and two adjacent brake grooves 22 form a group, a plurality of rotating rods 23 are rotatably connected to the inner wall of the placement cavity 21, the rotating rods 23 are located between each group of brake grooves 22, the outer wall of the rotating rod 23 is fixedly connected to a connecting plate 24, the outer walls on both sides of the connecting plate 24 are staggered and symmetrically hinged with brake plates 25 slidably connected to the brake grooves 22, a plurality of electromagnetic plates 26 are fixedly connected to the inner wall of one side of the placement cavity 21, and The outer wall on the side opposite to the connecting plate 24 and the electromagnetic plate 26 is fixedly connected with a permanent magnet plate 27 that magnetically repels the electromagnetic plate 26. The outer wall on the side of the connecting plate 24 away from the electromagnetic plate 26 and the inner wall of the placement chamber 21 are jointly fixedly connected with a return spring 28. The PLC controller is electrically connected to the electromagnetic plate 26 to form a braking circuit. The outer wall on the opposite side of the power frame 51 is elastically hinged with two symmetrical blocking plates 29, and the outer wall of the blocking plate 29 is in contact with or separated from the outer wall of the brake plate 25. The continuous contact and separation of the blocking plate 29 and the brake plate 25 can accelerate the reduction speed of the power frame 51.

[0026] Among them, the bottom end of the power frame 51 is fixedly connected to the fixed frame 6, the bottom end of the fixed frame 6 is plugged with a bearing block 7, the bottom end of the bearing block 7 is fixedly connected to the bearing box 8, and the fixed frame 6 and the bearing block 7 are detachably connected by bolts; when transportation is needed in the mine, the goods are first placed in the bearing box 8, and then the bearing block 7 is inserted into the fixed frame 6, and then the two are fixed together by screws and nuts.

[0027] The working principle of the present invention is as follows: By starting the motor 52, the motor 52 drives the rotating rod 53 to rotate, thereby causing the first gear 54 to move forward on the toothed plate 4, thereby driving the carrying box 8 below and the goods inside thereof to be transported outward. During the transportation process, the detection shells 111 on both sides of the power frame 51 are driven to move synchronously through the elastic telescopic rod 115 and the connecting rod 116.

[0028] During the process of the detection shell 111 moving forward, the cleaning frame 121 is pushed by pushing the fixed column 129, the support plate 128, and the connecting column 127, and then the small particles or other obstacles in the hanging rail 3 are cleaned through the cleaning head 124. When encountering some obstacles that cannot be cleaned, such obstacles may have high adhesion and adhere to the surface of the hanging rail 3, making it difficult for the cleaning head 124 to peel them off. Since the cleaning frame 121 is pushed to move forward continuously, the cleaning head 124 will slowly move backward, and then squeeze the spring, and the pressure sensor 126 is squeezed by the spring. The pressure sensor 126 sends an electrical signal to the PLC controller, and then the PLC controller sends an alarm to the staff, so that the staff can perform maintenance.

[0029] At the same time, the detection shell 111 can also be used to detect when the hanging rail 3 will turn. The specific detection method is as follows: when the power frame 51 pushes the detection shell 111 to move forward, when encountering a turn, the fixed spring 1111 squeezes the elastic flexible plate 113, which will make the elastic flexible plate 113 fit tightly to the surface of the hanging rail 3. When the hanging rail 3 has a turn, the front end of the elastic flexible plate 113 will bend along with the hanging rail 3, thereby driving the conductive rod 114 to move on the rectangular resistor plate 112, thereby changing the current passing through the second sliding rheostat, and then the current detection module in the PLC controller performs real-time detection of the current passing through the second sliding rheostat. When a current change is detected, it means that the turning point has been entered. Therefore, the PLC controller immediately reduces the speed of the motor 52 to cause the power frame 51 to decelerate urgently. At the same time, the electromagnetic plate 26 is energized through the PLC controller, and the repulsive force of the electromagnetic plate 26 on the permanent magnet plate 27 causes the permanent magnet plate 27 to drive that side of the connecting plate 24 to extend outward, thereby causing the brake plate 25 to extend outward. Through the lever principle, the other side of the connecting plate 24 also drives the brake plate 25 to extend outward, and then the elastically hinged blocking plate 29 in the power frame 51 hits the surface of the brake plate 25 to assist the power frame 51 in slowing down, thereby ensuring that the carrying box 8 can pass stably.

[0030] At the same time, the second gear 117 rotates on the tooth plate 4 to detect whether there is an obstacle on the tooth plate 4, as follows: When there is no obstacle on the tooth plate 4, the second gear 117 can pass through the tooth plate 4 normally. When there is an obstacle, the second gear 117 cannot continue to move on the tooth plate 4, and will encounter greater resistance or be completely unable to pass. Therefore, the detection shell 111 cannot continue to move forward, and then the elastic telescopic rod 115 is squeezed, which will cause the bottom end of the telescopic end of the elastic telescopic rod 115 to drive the extension plate 119 and the conductive sheet 1110 to slide on the arc-shaped resistor plate 118, and then the current detection module in the PLC controller is used to detect the current passing through the first sliding rheostat. When a large change in the current is detected, it means that there is an obstacle on the tooth plate 4, and then the PLC controller sends an alarm to the staff to enable the staff to perform maintenance.

[0031] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A monorail crane transport robot for coal mines with complex geological conditions, characterized in that: It comprises a road condition detection mechanism (1), wherein the road condition detection mechanism (1) comprises a turning detection component (11) and an obstacle detection component (12); The turning detection assembly (11) comprises two detection shells (111) for detecting turning, the inner top walls of the two detection shells (111) are each provided with a plurality of rectangular resistor plates (112), the inner walls on both sides of each detection shell (111) are each provided with an elastic flexible plate (113), and the top of each elastic flexible plate (113) is fixedly connected with a plurality of conductive rods (114) which are in sliding contact with each rectangular resistor plate (112); The obstacle detection component (12) comprises a cleaning frame (121) for detecting and clearing obstacles; a plurality of telescopic slots (122) are provided on an outer wall of one side of the cleaning frame (121); the inner wall of each telescopic slot (122) is slidably connected to a cleaning plate (123); one end of the cleaning plate (123) is fixedly connected to a cleaning head (124) for detecting and clearing obstacles; the other end of the cleaning plate (123) is fixedly connected to a connecting spring (125); the other end of the connecting spring (125) is fixedly connected to a pressure sensor (126).

2. The monorail crane transport robot for coal mines with complex geological conditions according to claim 1, characterized in that: It also includes an I-shaped hanging rail (3), a tooth plate (4) is fixedly arranged at the bottom end of the hanging rail (3), and a power transportation mechanism (5) is arranged on the outer wall of the hanging rail (3). The power transportation mechanism (5) includes a power frame (51) slidably arranged on the outer wall of the hanging rail (3), the upper half of the power frame (51) is slidably arranged in a middle recess of the hanging rail (3), the outer wall of the lower half of the power frame (51) is fixedly connected to a motor (52), the output end of the motor (52) is fixedly connected to a rotating rod (53), and the outer wall of the rotating rod (53) is fixedly connected to a first gear (54) meshing with the tooth plate (4).

3. The monorail crane transportation robot for coal mines with complex geological conditions according to claim 2, characterized in that: The turning detection assembly (11) further comprises an elastic telescopic rod (115) fixedly connected to the outer wall of the power frame (51), and the telescopic end of the elastic telescopic rod (115) is fixedly connected to the outer wall of one of the detection shells (111); the outer wall of the other end of the power frame (51) is fixedly connected to a connecting rod (116); the other end of the connecting rod (116) is fixedly connected to the outer wall of the other detection shell (111); the inner wall of the detection shell (111) connected to one of the elastic telescopic rods (115) is rotatably connected to a second gear (117) meshing with the toothed plate (4); the appearance of the detection shell (111) is consistent with that of the power frame (51) but the size is different; An arc-shaped resistor plate (118) is embedded in the inner wall of the telescopic end of the retractable rod (115), and an extension plate (119) is fixedly connected to the bottom end of the telescopic end of the elastic telescopic rod (115), and a conductive sheet (1110) in sliding contact with the resistor plate is fixedly connected to the outer wall of the extension plate (119); the conductive sheet (1110) and the arc-shaped resistor plate (118) are electrically connected to a PLC controller to form a first detection circuit; the conductive sheet (1110) and the arc-shaped resistor plate (118) constitute a first sliding rheostat; and during the sliding process of the conductive sheet (1110) on the arc-shaped resistor plate (118) toward the power frame (51), the resistance of the first sliding rheostat in the first detection circuit gradually decreases.

4. The monorail crane transportation robot for coal mines with complex geological conditions according to claim 3, characterized in that: A plurality of fixed springs (1111) are fixedly connected to the inner wall of the detection shell (111), and the other ends of the fixed springs (1111) are fixedly connected to the outer wall of the elastic flexible plate (113), and the conductive rod (114), the rectangular resistor plate (112) and the PLC controller are electrically connected to form a second detection loop, the conductive rod (114) and the rectangular resistor plate (112) constitute a second sliding rheostat, and during the process of the conductive rod (114) sliding outward on the rectangular resistor plate (112), the resistance of the second sliding rheostat in the second detection loop gradually decreases.

5. The monorail crane transportation robot for coal mines with complex geological conditions according to claim 4, characterized in that: The obstacle detection component (12) further comprises a connecting column (127) fixedly connected to an outer wall of a side of the cleaning frame (121) close to the detection shell (111); the other end of the connecting column (127) is fixedly connected to a support plate (128); two symmetrical fixing columns (129) are fixedly connected between the support plate (128) and the detection shell (111); an outer wall of a side of the support plate (128) close to the connecting column (127) is fixedly connected to a pressure sensor (126); the pressure sensor (126) corresponds to the telescopic slot (122) in a one-to-one manner; and the PLC controller is electrically signal-connected to the pressure sensor (126) to form a third detection loop.

6. The monorail crane transportation robot for coal mines with complex geological conditions according to claim 3, characterized in that: The invention also comprises a braking mechanism (2), wherein the braking mechanism (2) further comprises a placement cavity (21) opened inside the hanging rail (3), wherein the inner walls on both sides of the hanging rail (3) are provided with a plurality of staggered and symmetrical braking grooves (22), and two adjacent braking grooves (22) form a group, wherein a plurality of rotating rods (23) are rotatably connected to the inner wall of the placement cavity (21), wherein the rotating rods (23) are located between each group of braking grooves (22), and the outer walls of the rotating rods (23) are fixedly connected to connecting plates (24), wherein the outer walls on both sides of the connecting plates (24) are staggered and symmetrical. A brake plate (25) is hingedly connected to the brake groove (22) in a sliding manner, a plurality of electromagnetic plates (26) are fixedly connected to the inner wall of one side of the placement chamber (21), and a permanent magnetic plate (27) that magnetically repels the electromagnetic plate (26) is fixedly connected to the outer wall of the connecting plate (24) on the side opposite to the electromagnetic plate (26), a return spring (28) is fixedly connected to the outer wall of the connecting plate (24) on the side away from the electromagnetic plate (26) and the inner wall of the placement chamber (21), and the PLC controller is electrically connected to the electromagnetic plate (26) to form a brake circuit.

7. The monorail crane transportation robot for coal mines with complex geological conditions according to claim 6, characterized in that: Two symmetrical blocking plates (29) are elastically hingedly connected to the outer walls of the opposite sides of the power frame (51), and the outer walls of the blocking plates (29) are in contact with or separated from the outer wall of the brake plate (25).

8. The monorail crane transportation robot for coal mines with complex geological conditions according to claim 2, characterized in that: The bottom end of the power frame (51) is fixedly connected to a fixing frame (6), the bottom end of the fixing frame (6) is plugged with a bearing block (7), the bottom end of the bearing block (7) is fixedly connected to a bearing box (8), and the fixing frame (6) and the bearing block (7) are detachably connected via bolts.

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