Monitoring device for underground coal mine inspection robot

Abstract

The invention relates to the technical field of robots, in particular to a monitoring device for a coal mine underground inspection robot, and aims to solve the problems that floating objects in air and dust on the surface of a protective cover and water mist on the inner wall of the protective cover are inconvenient to collect and clean in the inspection process of an underground inspection robot in the prior art. The advancing part comprises a vehicle body and a base mounted at the top of the vehicle body, and a motor and a storage battery for driving the vehicle body to advance are mounted in the base; the monitoring part comprises a mounting disc mounted at the top of the base, and a camera shooting mechanism and a cleaning mechanism which are mounted on the bottom surface of the mounting disc, and a gas sensor is further mounted on the bottom surface of the mounting disc; and the collecting part is mounted at the top of the mounting disc and is used for collecting floating objects in underground air while the cleaning mechanism works. According to the device, floating objects in air can be conveniently collected, and dust on the outer surface of the protective cover and water mist on the inner surface of the protective cover can be effectively removed.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a monitoring device for an underground coal mine inspection robot. Background Art

[0002] Because it is located underground, the working space underground in coal mines is relatively small. However, there are often many mechanical equipment used for mining, which leads to a poor visual environment and high temperature underground, making safety accidents prone to occur. Therefore, real-time monitoring underground plays a vital role in the safe production of coal mining faces.

[0003] At present, when detecting the environment underground in a coal mine, a special inspection robot is often used. The robot is equipped with a corresponding camera, gas sensor or scanner to analyze the morphology and air composition of the underground. However, the air underground is often turbid and there is a lot of dust or floating objects in the air. In order to prevent the camera from being invaded by dust, a common method is to set a protective cover on the outside of the camera. However, dust is also easily attached to the surface of the protective cover, and water mist condenses on the inner wall of the protective cover due to the temperature difference, thereby affecting the shooting field of view. At the same time, the existing inspection robots cannot simply and effectively collect floating objects in the air. For this reason, this scheme proposes a monitoring device for an underground coal mine inspection robot. Summary of the invention

[0004] The present invention provides a monitoring device for an underground coal mine inspection robot, which solves the problem that the underground inspection robot in the prior art is inconvenient to collect floating objects in the air and clean dust on the surface of the protective cover and water mist on the inner wall of the protective cover during the inspection process.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A monitoring device for an underground coal mine inspection robot, comprising:

[0007] The traveling part includes a vehicle body and a base installed on the top of the vehicle body, wherein a motor and a battery for driving the vehicle body to travel are installed inside the base;

[0008] The monitoring part includes a mounting plate installed on the top of the base, a camera mechanism and a cleaning mechanism installed on the bottom of the mounting plate, a mounting cavity is provided inside the mounting plate, and a gas sensor is also installed on the bottom of the mounting plate;

[0009] A collecting part, which is mounted on the top of the mounting plate and is used to collect floating objects in the air underground while the cleaning mechanism is working;

[0010] The camera mechanism comprises a camera mounted on the bottom surface of the mounting plate and a protective cover arranged on the periphery of the camera, the top of the protective cover is fixedly connected to the bottom surface of the mounting plate, and a detachable sealing plate is installed at the bottom of the protective cover, and a plurality of air holes are opened on the sealing plate;

[0011] The cleaning mechanism includes a transmission gear ring rotatably sleeved on the top of the outer periphery of the protective cover, a first scraper fixed on the bottom surface of the transmission gear ring, an annular tube installed on the bottom surface of the mounting plate, a hot air box installed in the mounting cavity, and an air delivery component installed on the top surface of the mounting plate, wherein the annular tube is located on the inner side of the protective cover, and the annular tube sleeve is arranged on the outer side of the camera, and a plurality of air outlets are provided on the bottom surface of the annular tube, the air outlet of the hot air box is connected to the annular tube through a pipeline, and the air delivery component is connected to the air inlet of the hot air box;

[0012] The collecting part comprises a fixed gear ring rotatably connected to the top surface of the mounting plate, a top plate mounted on the top surface of the fixed gear ring through a supporting column, a collecting cylinder mounted on the outer periphery of the supporting column, and a first filter screen mounted at the tail of the collecting cylinder, wherein the number of the supporting column and the collecting cylinder is at least two;

[0013] A driving part is also installed on the mounting plate, and the driving part is drivingly connected with the transmission gear ring and the fixed gear ring so as to drive the fixed gear ring to rotate simultaneously with the driving transmission gear ring.

[0014] Through the above technical solution, not only can the floating objects in the air be collected conveniently while the vehicle is moving, but also the dust on the outer surface of the protective cover and the water mist on the inner surface of the protective cover can be effectively removed, thereby ensuring that the camera has a clear field of view.

[0015] As a further improvement of the above scheme, the driving part includes a transmission shaft rotatably connected to the top surface of the mounting disk and a transmission motor installed on the outer periphery of the mounting disk for driving the transmission shaft to rotate, the bottom of the transmission shaft passes through the mounting cavity and extends to the bottom of the mounting disk, one end of the output shaft of the transmission motor extends into the mounting cavity and is connected to the transmission shaft, the driving part also includes a driven gear fixed to the top of the transmission shaft and a transmission gear fixed to the bottom of the rotating shaft, the driven gear is meshed with the inner ring of the fixed gear ring, and the transmission gear is meshed with the outer ring of the transmission gear ring.

[0016] Through the above technical solution, the transmission gear ring and the fixed gear ring can be driven to rotate simultaneously through the rotation of the motor.

[0017] As a further improvement of the above scheme, the air delivery mechanism includes an air cylinder installed on the top surface of the mounting plate, a piston plate installed in the air cylinder, a piston rod fixed on the outer wall of one side of the piston plate, and a fixed frame fixed on the other end of the piston rod. An air intake pipe and an air delivery pipe are installed at the tail of the air cylinder, and a one-way valve is installed on the air intake pipe and the air delivery pipe. One end of the air delivery pipe is connected to the air inlet of the hot air box. A toggle column is fixed at a position on the top surface of the driven gear that deviates from the center of the circle, and the fixed frame is movably sleeved on the outer periphery of the toggle column.

[0018] Through the above technical solution, the rotation of the driven gear can drive the fixed frame to move back and forth, and then drive the piston rod to move back and forth, so that the air cylinder can continuously input the outside air into the hot air box.

[0019] As a further improvement of the above solution, a filter cover is installed at the inlet of the air intake pipe, and a second filter screen is installed at the inlet of the filter cover.

[0020] Through the above technical solution, the air entering the air intake pipe can be filtered.

[0021] As a further improvement of the above scheme, a rotating shaft is rotatably connected inside the filter cover, a fan is installed on the rotating shaft, one end of the rotating shaft extends to the outside of the first filter and is fixed with a second scraper, and one side of the second scraper abuts against the surface of the second filter.

[0022] Through the above technical solution, the flow of air entering the air intake pipe can be used to drive the fan to rotate, and finally drive the second scraper to rotate, so as to clean up the dust attached to the surface of the second filter.

[0023] As a further improvement of the above scheme, the first scraper is a hollow structure, and a plurality of air injection holes facing the protective cover are provided on one long side of the first scraper, a hollow fixing ring is sleeved on the top of the outer periphery of the protective cover, the inner ring of the transmission gear ring is provided with a mounting groove coaxially arranged therewith, the outer periphery of the fixing ring is engaged in the mounting groove, and the outer periphery of the fixing ring is provided with an air delivery hole connected to the mounting groove, the bottom of the mounting groove is provided with a connecting hole connected to the inside of the first scraper, and the ring tube and the fixing ring are connected via a connecting tube.

[0024] Through the above technical solution, the air in the annular tube can be input into the first scraper, so that the dust on the outer surface of the protective cover can be blown away, and the water mist on the outer surface of the protective cover can also be dried.

[0025] As a further improvement of the above scheme, the inner ring of the fixed gear ring is meshed with the driven gear, the collecting cylinder is an arc-shaped cylinder and is coaxially arranged with the fixed gear ring, and the first filter screen is threadedly sleeved on the outer periphery of the tail of the collecting cylinder.

[0026] The above technical solution makes it easy to disassemble and assemble the first filter.

[0027] As a further improvement of the above solution, a scanner is installed on the top surface of the top plate, and a searchlight is installed on the head of the mounting plate.

[0028] Through the above technical solution, a scanner is used to scan the underground morphology.

[0029] As a further improvement of the above solution, the bottom inner wall of the sealing plate is an upwardly protruding umbrella-shaped structure, and a protective net is installed in the air vent.

[0030] Through the above technical solution, the protective net can prevent external dust from entering the protective cover, and the upward protrusion of the top surface of the sealing plate makes it easier for water droplets falling on the sealing plate to be discharged from the air vents.

[0031] As a further improvement of the above solution, the outer periphery of the sealing plate is provided with an external thread, and the inner ring of the protective cover is provided with an internal thread matching the external thread.

[0032] The above technical solution can facilitate the disassembly and assembly of the sealing plate.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. Through the setting of the cleaning mechanism, not only can the dust attached to the outer surface of the protective cover be removed, but also the water mist formed on the inner wall of the protective cover can be eliminated, thereby ensuring that the camera has a clearer field of view.

[0035] 2. Through the cooperation between the collecting part and the cleaning mechanism, the collecting cylinder can be driven to rotate while cleaning the dust on the outer surface of the protective cover, so that the floating objects in the air can be poured into the collecting cylinder, and then the floating objects in the air can be filtered out through the setting of the filter, thereby achieving the purpose of collecting the floating objects in the air.

[0036] 3. By setting the first scraper as a hollow structure and connecting the interior of the first scraper with the interior of the ring tube, air is ejected from the air jet holes while the first scraper rotates, thereby further removing water mist and dust on the outside of the protective cover.

[0037] 4. Through the cooperation between the second scraper and the fan, the second scraper can be driven to rotate in the process of sucking outside air into the air cylinder, so that the dust attached to the surface of the filter can be scraped off to ensure that the filter has good air permeability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A perspective view of the present invention;

[0039] Figure 2 for Figure 1 A schematic diagram of the structure of the monitoring unit and the collection unit in FIG.

[0040] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0041] Figure 4 It is a schematic diagram of the structure of the gas transmission mechanism and the collecting tube in the present invention;

[0042] Figure 5 This is a bottom view of the monitoring unit;

[0043] Figure 6 is a cross-sectional view of the filter cover and the air intake pipe;

[0044] Figure 7 It is a front cross-sectional view of the monitoring unit;

[0045] Figure 8 This is an enlarged view of A in Sun 7;

[0046] Fig. 9 It is a front view of the present invention.

[0047] Description of main symbols:

[0048] 1. Car body; 2. Base; 3. Protective cover; 4. Mounting plate; 5. First scraper; 6. Gas sensor; 7. Searchlight; 8. Fixed gear ring; 9. Top plate; 10. Collecting tube; 11. First filter screen; 12. Scanner; 13. Air cylinder; 14. Piston rod; 15. Fixed frame; 16. Jet hole; 17. Filter cover; 18. Driven gear; 19. Intake pipe; 20. Rotating shaft; 21. Second scraper; 22. Air pipe; 23. Steering column; 24. Air vent; 25. Transmission gear; 26. Transmission gear ring; 27. Fan; 28. Ring pipe; 29. ​​Camera; 30. Transmission shaft; 31. Hot air box; 32. Fixed ring; 33. Connecting hole; 34. Connecting pipe; 35. Sealing plate. DETAILED DESCRIPTION

[0049] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0050] Embodiment 1:

[0051] Please combine Figure 1 - Fig. 9 , a monitoring device for an underground coal mine inspection robot of this embodiment includes:

[0052] The traveling part comprises a vehicle body 1 and a base 2 installed on the top of the vehicle body 1. A driving motor and a battery for driving the vehicle body 1 are installed inside the base 2. The battery is used to supply power to the driving motor.

[0053] The monitoring part includes a mounting plate 4 mounted on the top of the base 2, a camera mechanism and a cleaning mechanism mounted on the bottom of the mounting plate 4, a mounting cavity is provided inside the mounting plate 4, a gas sensor 6 is also mounted on the bottom of the mounting plate 4, the gas sensor 6 is electrically connected to the battery, and the gas sensor 6 is used to analyze and measure the components in the air in the coal mine, the camera mechanism includes a camera 29 mounted on the bottom of the mounting plate 4 and a protective cover 3 arranged on the periphery of the camera 29, the top of the protective cover 3 is fixedly connected to the bottom of the mounting plate 4, and the protective cover 3 is a cylindrical mechanism, a detachable sealing plate 35 is mounted on the bottom of the protective cover 3, and the sealing plate 35 is provided on the bottom of the protective cover 3. A plurality of air holes 24 are provided on the plate 35, and the bottom inner wall of the sealing plate 35 is an upwardly protruding umbrella-shaped structure, a protective net is installed in the air holes 24, an outer thread is provided on the outer periphery of the sealing plate 35, an inner thread matching the outer thread is provided on the inner ring of the protective cover 3, a protrusion is fixed on the bottom surface of the protective cover 3, and the setting of the protrusion can be conveniently used to rotate the sealing plate 35, and the protective cover 3 can prevent dust in the air from adhering to the surface of the camera 29, and the setting of the air holes 24 is convenient for draining out the water vapor inside the protective cover 3, and the detachable sealing plate 35 is convenient for maintenance personnel to inspect the camera 29 inside the protective cover 3.

[0054] The cleaning mechanism includes a transmission gear ring 26 rotatably sleeved on the top of the outer periphery of the protective cover 3, a first scraper 5 fixed to the bottom surface of the transmission gear ring 26, an annular tube 28 installed on the bottom surface of the mounting plate 4, a hot air box 31 installed in the mounting cavity and an air delivery component installed on the top surface of the mounting plate 4. The first scraper 5 is arranged along the axial direction of the protective cover 3, and the length of the first scraper 5 is greater than the length of the protective cover 3. The number of the first scrapers 5 is set to two, and the two first scrapers 5 are on the same straight line with a diameter of the transmission gear ring 26. The annular tube 28 is located on the inner side of the protective cover 3, and the annular tube 28 is sleeved on the outer side of the camera 29. The bottom surface of the annular tube 28 is provided with There are multiple air outlets, the air outlet of the hot air box 31 is connected to the ring tube 28 through a pipeline, and the air supply component is connected to the air inlet of the hot air box 31. After the air supply component inputs the air into the hot air box 31, the air is heated by the hot air box 31 and then input into the ring tube 28. Finally, the hot air is discharged from the air outlet, so that the water mist on the inner wall of the protective cover 3 can be dried to avoid it affecting the field of view of the camera 29. At the same time, after driving the transmission ring gear 26, the first scraper 5 can rotate around the outer periphery of the protective cover 3, so that the dust attached to the outer periphery of the protective cover 3 can be scraped off, ensuring that the protective cover will not be blocked by dust.

[0055] The collecting part is installed on the top of the mounting plate 4 and is used to collect floating objects in the underground air while the cleaning mechanism is working. The collecting part includes a fixed gear ring 8 rotatably connected to the top surface of the mounting plate 4, a top plate 9 installed on the top surface of the fixed gear ring 8 through a supporting column, a collecting tube 10 installed on the outer periphery of the supporting column, and a first filter screen 11 installed at the tail of the collecting tube 10. The number of the supporting column and the collecting tube 10 is at least two. The collecting tube 10 is an arc tube and is coaxially arranged with the fixed gear ring 8. The first filter screen 11 is threadedly sleeved on the outer periphery of the tail of the collecting tube 10. After the fixed gear ring 8 rotates, it will drive the top plate 9 and the supporting column to rotate at the same time, so that the collecting tube 10 also rotates synchronously. After the collecting tube 10 rotates, air will be poured into the collecting tube 10, and then the floating objects in the air poured into the collecting tube 10 will be filtered down through the first filter screen 11, so as to achieve the purpose of collecting floating objects in the air. After the first filter screen 11 is unscrewed from the tail of the collecting tube 10, the floating objects collected in the collecting tube 10 can be cleaned.

[0056] A scanner 12 is installed on the top surface of the roof 9. The scanner 12 is a three-dimensional laser scanner. When the roof 9 rotates, the interior of the coal mine is scanned. A searchlight 7 is installed on the head of the mounting plate 4, and the searchlight 7 can be used for lighting, thereby ensuring that the camera 29 can obtain a clearer picture.

[0057] A driving part is also installed on the mounting disk 4, and the driving part is connected with the transmission ring gear 26 and the fixed ring gear 8 in transmission, so as to drive the fixed ring gear 8 to rotate simultaneously while driving the transmission ring gear 26 to rotate. The driving part includes a transmission shaft 30 rotatably connected to the top surface of the mounting disk 4 and a transmission motor installed on the outer periphery of the mounting disk 4 for driving the transmission shaft 30 to rotate. The bottom of the transmission shaft 30 passes through the mounting cavity and extends to the bottom of the mounting disk 4. One end of the output shaft of the transmission motor extends into the mounting cavity and is fixed with a driving bevel gear. The outer periphery of the portion of the transmission shaft 30 located in the mounting cavity is sleeved with a driven bevel gear meshing with the driving bevel gear. The part also includes a driven gear 18 fixed on the top of the transmission shaft 30 and a transmission gear 25 fixed on the bottom of the rotating shaft 20. The driven gear 18 is meshed with the inner ring of the fixed gear ring 8, and the transmission gear 25 is meshed with the outer ring of the transmission gear ring 26. When the transmission motor rotates, it drives the transmission shaft 30 to rotate. When the transmission shaft 30 rotates, it can drive the driven gear 18 and the transmission gear 25 to rotate at the same time. When the driven gear 18 rotates, it can drive the fixed gear ring 8 to rotate. When the transmission gear 25 rotates, it can drive the transmission gear ring 26 to rotate, so that the first scraper 5 can also drive the collecting barrel 10 to rotate while rotating.

[0058] The implementation principle of this embodiment is as follows: after the monitoring device is put into the coal mine, the searchlight 7, the gas sensor 6 and the scanner 12 are turned on, and then the transmission motor is started, and then the vehicle body 1 is driven to move underground. After the transmission motor rotates, it drives the transmission shaft 30 to rotate, so that the driven gear 18 and the transmission gear 25 rotate at the same time, and the driven gear 18 rotates and drives the fixed gear ring 8 to rotate, and the transmission gear 25 rotates and drives the transmission gear ring 26 to rotate, and the fixed gear ring 8 rotates and drives the top plate 9 and the support column to rotate synchronously, so that the scanner 12 can perform a 360-degree scan of the underground terrain, and the collection tube 10 rotates with the support column at the same time, so that the dust in the air underground can be filtered through the first filter screen 11 and collected inside the collection tube 10, and at the same time, the transmission gear ring 26 rotates and drives the first scraper 5 to rotate around the outer surface of the protective cover 3, so that the dust attached to the outer surface of the protective cover 3 can be scraped off;

[0059] While the fixed gear ring 8 rotates, the air supply component is opened, and the air supply component inputs air into the hot air box 31. The air is then heated by the hot air box 31 and then input into the ring tube 28. Finally, the hot air is discharged from the air outlet, thereby drying the water mist on the inner wall of the protective cover 3 to prevent it from affecting the field of view of the camera 29.

[0060] Embodiment 2:

[0061] Combination Figure 1 - Figure 4 , Figure 7 and Fig. 9 , based on the embodiment 1, the present embodiment is further improved in that: the gas delivery mechanism includes an air cylinder 13 mounted on the top surface of the mounting plate 4, a piston plate mounted in the air cylinder 13, a piston rod 14 fixed on the outer wall of one side of the piston plate, and a fixed frame 15 fixed on the other end of the piston rod 14, an air intake pipe 19 and an air delivery pipe 22 are mounted at the tail of the air cylinder 13, and a one-way valve is mounted on both the air intake pipe 19 and the air delivery pipe 22, one end of the air delivery pipe 22 is connected to the air inlet of the hot air box 31, a toggle column 23 is fixed at a position of the top surface of the driven gear 18 deviating from the center of the circle, the fixed frame 15 is movably sleeved on the outer periphery of the toggle column 23, the inner side length of the fixed frame 15 is greater than the rotation diameter of the toggle column 23, and the long sides of both sides of the fixed frame 15 are in contact with the outer periphery of the toggle column 23, and the inner ring of the fixed gear ring 8 is meshed with the driven gear.

[0062] The working principle of this embodiment is as follows: while the driven gear 18 rotates, the fixed frame 15 is driven to move back and forth through the toggle column 23, thereby driving the piston rod 14 and the piston plate to move back and forth along the axial direction of the air cylinder 13, and then the air cylinder 13 can be used to suck the outside air into the air cylinder 13 through the air intake pipe 19, and then the air in the air cylinder 13 is pressed into the hot air box 31 through the air supply pipe 22, so that air can be automatically input into the hot air box 31 while the first scraper 5 rotates, thereby completing the function of removing the dust on the outer surface of the protective cover 3 while also removing the water mist on the inner surface of the protective cover 3.

[0063] Embodiment 3:

[0064] Combination Figure 2-4 and Figure 6 Based on the embodiments 1-2, the present embodiment is further improved in that a filter cover 17 is installed at the entrance of the air inlet pipe 19, and a second filter screen is installed at the entrance of the filter cover 17. The setting of the second filter screen can prevent dust in the air from entering the interior of the air cylinder 13.

[0065] A rotating shaft 20 is rotatably connected inside the filter cover 17, and a fan 27 is installed on the rotating shaft 20. One end of the rotating shaft 20 extends to the outside of the second filter and is fixed with a second scraper 21. One side of the second scraper 21 abuts against the surface of the second filter. When the outside air enters the air cylinder 13 through the air inlet pipe 19, the airflow will drive the fan 27 to rotate. After the fan 27 rotates, it drives the rotating shaft 20 to rotate. After the rotating shaft 20 rotates, it drives the second scraper 21 to rotate, so that the dust attached to the surface of the second filter can be scraped off.

[0066] The working principle of this embodiment is as follows: when the piston plate moves to the side away from the air inlet pipe 19, the outside air will be sucked into the air cylinder 13 through the air inlet pipe 19. At this time, the air will first pass through the filter cover 17, so that the dust in the air can be filtered out by the second filter screen. The filtered air will then pass through the fan 27 and finally enter the air cylinder 13. When the air passes through the fan 27, it will drive the fan 27 to rotate, and then drive the second scraper 21 to rotate, so that the dust attached to the surface of the second filter screen can be scraped off.

[0067] Embodiment 4:

[0068] Combination Figure 1 , Figure 2 , Figure 5 and Figure 7 - Fig. 9The present embodiment is further improved on the basis of the embodiments 1-3 in that: the first scraper 5 is a hollow structure, and a plurality of air injection holes 16 facing the protective cover 3 are provided on one long side of the first scraper 5, a hollow fixing ring 32 is sleeved on the top of the outer periphery of the protective cover 3, the inner ring of the transmission gear ring 26 is provided with a mounting groove coaxially arranged therewith, the outer periphery of the fixing ring 32 is engaged in the mounting groove, and the outer periphery of the fixing ring 32 is provided with an air delivery hole connected with the mounting groove, the bottom of the mounting groove is provided with a connecting hole 33 connected with the inside of the first scraper 5, and the ring pipe 28 is connected with the fixing ring 32 through a connecting pipe 34.

[0069] The working principle of this embodiment is as follows: after the air exhausted through the hot air box 31 enters the annular tube 28, a part of the air will be input into the mounting groove through the connecting tube 34, and the air entering the mounting groove will be input into the first scraper 5 through the air supply hole, and finally ejected from the air jet hole 16, so that the dust on the outer wall of the protective cover 3 can be blown away, and the water vapor on the outer surface of the protective cover 3 can also be blown dry.

[0070] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A monitoring device for an underground coal mine inspection robot, characterized in that: include: The traveling part includes a vehicle body and a base installed on the top of the vehicle body, wherein a motor and a battery for driving the vehicle body to travel are installed inside the base; The monitoring part includes a mounting plate installed on the top of the base, a camera mechanism and a cleaning mechanism installed on the bottom of the mounting plate, a mounting cavity is provided inside the mounting plate, and a gas sensor is also installed on the bottom of the mounting plate; A collecting part, which is mounted on the top of the mounting plate and is used to collect floating objects in the air underground while the cleaning mechanism is working; The camera mechanism includes a camera mounted on the bottom surface of the mounting plate and a protective cover arranged on the periphery of the camera, the top of the protective cover is fixedly connected to the bottom surface of the mounting plate, and a detachable sealing plate is installed on the bottom of the protective cover, and a plurality of air holes are opened on the sealing plate; The cleaning mechanism includes a transmission gear ring rotatably sleeved on the top of the outer periphery of the protective cover, a first scraper fixed on the bottom surface of the transmission gear ring, an annular tube installed on the bottom surface of the mounting plate, a hot air box installed in the mounting cavity, and an air delivery component installed on the top surface of the mounting plate, wherein the annular tube is located on the inner side of the protective cover, and the annular tube sleeve is arranged on the outer side of the camera, and a plurality of air outlets are provided on the bottom surface of the annular tube, the air outlet of the hot air box is connected to the annular tube through a pipeline, and the air delivery component is connected to the air inlet of the hot air box; The collecting part comprises a fixed gear ring rotatably connected to the top surface of the mounting plate, a top plate mounted on the top surface of the fixed gear ring through a supporting column, a collecting cylinder mounted on the outer periphery of the supporting column, and a first filter screen mounted at the tail of the collecting cylinder, wherein the number of the supporting column and the collecting cylinder is at least two; A driving part is also installed on the mounting plate, and the driving part is drivingly connected with the transmission gear ring and the fixed gear ring so as to drive the fixed gear ring to rotate simultaneously with the driving transmission gear ring.

2. A monitoring device for an underground coal mine inspection robot according to claim 1, characterized in that: The driving part includes a transmission shaft rotatably connected to the top surface of the mounting plate and a transmission motor installed on the outer periphery of the mounting plate for driving the transmission shaft to rotate, the bottom of the transmission shaft passes through the mounting cavity and extends to the bottom of the mounting plate, one end of the output shaft of the transmission motor extends into the mounting cavity and is connected to the transmission shaft for transmission, the driving part also includes a driven gear fixed to the top of the transmission shaft and a transmission gear fixed to the bottom of the rotating shaft, the driven gear is meshed with the inner ring of the fixed gear ring, and the transmission gear is meshed with the outer ring of the transmission gear ring.

3. A monitoring device for an underground coal mine inspection robot according to claim 2, characterized in that: The air delivery mechanism includes an air cylinder installed on the top surface of the mounting plate, a piston plate installed in the air cylinder, a piston rod fixed on the outer wall of one side of the piston plate, and a fixing frame fixed on the other end of the piston rod. An air intake pipe and an air delivery pipe are installed at the tail of the air cylinder, and a one-way valve is installed on both the air intake pipe and the air delivery pipe. One end of the air delivery pipe is connected to the air inlet of the hot air box. A toggle column is fixed at a position deviating from the center of the top surface of the driven gear, and the fixing frame is movably sleeved on the outer periphery of the toggle column.

4. A monitoring device for an underground coal mine inspection robot according to claim 3, characterized in that: A filter cover is installed at the inlet of the air inlet pipe, and a second filter screen is installed at the inlet of the filter cover.

5. A monitoring device for an underground coal mine inspection robot according to claim 4, characterized in that: A rotating shaft is rotatably connected in the filter cover, a fan is installed on the rotating shaft, one end of the rotating shaft extends to the outside of the first filter and is fixed with a second scraper, and one side of the second scraper abuts against the surface of the second filter.

6. A monitoring device for an underground coal mine inspection robot according to claim 1, characterized in that: The first scraper is a hollow structure, and a plurality of air injection holes facing the protective cover are provided on one long side of the first scraper. A hollow fixing ring is sleeved on the top of the outer periphery of the protective cover. The inner ring of the transmission gear ring is provided with a mounting groove coaxially arranged therewith. The outer periphery of the fixing ring is engaged in the mounting groove, and an air delivery hole connected to the mounting groove is provided on the outer periphery of the fixing ring. A connecting hole connected to the inside of the first scraper is provided at the bottom of the mounting groove, and the ring tube is connected to the fixing ring through a connecting tube.

7. A monitoring device for an underground coal mine inspection robot according to claim 1, characterized in that: The collecting cylinder is an arc-shaped cylinder and is coaxially arranged with the fixed gear ring. The first filter screen is threadedly sleeved on the outer periphery of the tail of the collecting cylinder.

8. The monitoring device for an underground coal mine inspection robot according to claim 1, characterized in that: A scanner is installed on the top surface of the top plate, and a searchlight is installed on the head of the installation plate.

9. The monitoring device for an underground coal mine inspection robot according to claim 1, characterized in that: The bottom inner wall of the sealing plate is an upwardly protruding umbrella-shaped structure, and a protective net is installed in the air vent.

10. The monitoring device for an underground coal mine inspection robot according to claim 1, characterized in that: The outer periphery of the sealing plate is provided with an external thread, and the inner ring of the protective cover is provided with an internal thread matching the external thread.

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