A robot for coal mine geological survey

Abstract

The present invention discloses a coal mine geological survey robot, which relates to the technical field of coal mine geological survey equipment, and comprises a survey robot body, crawlers, driving wheels, a video collector and a radar sensor. The crawlers are arranged on both sides of the survey robot body, and the driving wheels are arranged inside the crawlers, and are used to drive the crawlers to move along the coal seam road surface of the mine. The video collector and the radar sensor are both arranged on the top of the survey robot body. The coal seam compacted or dense by the crawlers of the present invention can be broken and loosened by a flip plate, so that the survey robot body is more convenient for geological survey, and the unfavorable situation that the crawlers compact the geology can be overcome. The coal seam geology at different depths can be broken, so as to facilitate later survey, and whether the depth adjustment component is working can be controlled, so that the diameter of the flip plate can be adjusted while the rotating disk is rotating, without affecting the normal operation of the survey robot body.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine geological exploration equipment, in particular to a coal mine geological exploration robot. Background Art

[0002] The development and application of coal mine geological survey robots came into being against the background of the continuous extension of coal resource mining to deep areas and the growing demand for safe and efficient production in my country. As my country's main energy source, the development and utilization of coal resources are of great significance to my country's energy security. The development of robot technology, automatic control technology, sensor technology, etc. has provided new technical means for coal mine geological survey. Robots need to be equipped with a variety of sensors, such as geological radar, infrared detectors, acoustic wave detectors, etc., to collect geological data and analyze geological structures through data processing and recognition technology;

[0003] In the prior art, when a coal mine geological survey robot works in a coal seam in a mine, the tracks of the survey robot will compact the geology when moving on the ground. When the survey equipment needs to survey the geological surface, the surface needs to be crushed or even excavated. It is not easy for the survey robot to turn over the compacted soil when surveying the geology, or if the coal seam geological surface is relatively thick, the tracks of the survey robot will also find it difficult to loosen the soil, especially when crushing coal geological layers of different depths. Summary of the invention

[0004] The purpose of the present invention is to provide a robot for coal mine geological survey, so as to solve the problem proposed in the above-mentioned background technology that the tracks of the survey robot will compact the geology when moving on the ground, and the survey equipment needs to break or even excavate the surface when surveying the geological surface road surface. It is not easy for the survey robot to turn over the compacted land when surveying the geology, or the coal seam geological road surface is relatively thick, and the tracks of the survey robot are also difficult to loosen the land, especially for the problem that it is more difficult to break the coal geological layers at different depths.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A coal mine geological survey robot comprises a survey robot body, tracks, driving wheels, a video collector and a radar sensor, wherein the tracks are arranged on both sides of the survey robot body, and the driving wheels are arranged inside the tracks, and are used to drive the tracks to move along the coal seam road surface of the mine, and the video collector and the radar sensor are both arranged at the top of the survey robot body; both sides of the survey robot body and at the driving wheels are provided with reserved grooves, and a flipping structure is arranged inside the reserved grooves, and the flipping structure is used to flip the coal seam road surface of the mine, and the flipping structure comprises a driving shaft, and the driving wheel is connected to the power source of the driving wheel through the driving shaft, and the driving shaft is sleeved with a rotating disk outside, and the rotating disk rotates synchronously with the driving shaft, and the cylindrical surface of the rotating disk is provided with a plurality of rotating grooves, and a fixing rod and a flipping plate are arranged inside the rotating groove, and the fixing rod and the flipping plate are welded to each other, and the fixing rod is located inside the rotating disk, and the end of the flipping plate is provided with a chamfer, and the end of the flipping plate is in contact with the coal seam road surface of the mine.

[0007] As a preferred technical solution of the present invention, a placement groove is opened inside the rotating disk, a fixed end cover is installed on the end face of the placement groove, and the fixed end cover is fixed to the rotating disk by bolts, and the drive shaft passes through the interior of the fixed end cover.

[0008] As a preferred technical solution of the present invention, the driving shaft is connected to the rotating disk by welding or connecting keys, and the driving shaft is rotatably connected to the middle of the fixed end cover.

[0009] As a preferred technical solution of the present invention, the fixed rods and the flip plates are arranged in a circular array on the cylindrical surface of the rotating disk, and the end edge line of the flip plate is inclined between the center line of the rotating disk. The inclined flip plate is used to destroy the coal seam pavement of the crushing mine.

[0010] As a preferred technical solution of the present invention, an adjustment structure is provided inside and at the end surface of the rotating disk, and the adjustment structure includes a depth adjustment assembly, and the depth adjustment assembly includes two groups of fixing rings, the two groups of fixing rings are welded to the inside of the placement groove, and a first internal gear is provided between the two groups of fixing rings, and the center of the first internal gear and the two groups of fixing rings coincide with each other, and the cylindrical surface of each fixed rod is integrally manufactured with a rack, and the rack is located at the end surface of the first internal gear, and a rotating shaft is provided on one side of the rack of each fixed rod, and a first rotating gear is provided on the end surface of the rotating shaft, and the teeth of the first rotating gear are meshed with the first internal gear and the rack at the same time, and the first rotating gears rotate synchronously, and the ends of the fixed rods extend or retract synchronously, and the depth adjustment assembly rotates synchronously with the rotating disk.

[0011] As a preferred technical solution of the present invention, sliding grooves are provided on the end faces of the two groups of fixing rings and at the intersection with the fixing rod, the cylindrical surface of the fixing rod is slidingly connected to the inside of the sliding grooves of the two groups of fixing rings, and the sliding distance of the fixing rod along the sliding groove is greater than the depth inside the rotating groove.

[0012] As a preferred technical solution of the present invention, an annular matching groove is opened inside the placement groove, and the inside of the matching groove is movably connected with the first internal gear, the lowest end of the largest circle where each flip plate is located is located outside the track, and the lowest end of the smallest circle where each flip plate is located is located inside the track.

[0013] As a preferred technical solution of the present invention, the adjustment structure also includes a closed adjustment component, which includes a connecting shaft, which rotates synchronously with one of the first rotating gears, and the connecting shaft is manufactured integrally with the rotating shaft at the first rotating gear, and a second rotating gear is arranged at the end of the connecting shaft and located outside the fixed end cover, and at least two groups of electric push rods are arranged on the inner wall of the reserved groove and located at the position of the fixed end cover, and a second internal gear is installed between the ends of the electric push rods, the center of the second internal gear coincides with the center of the first internal gear, the interior of the second internal gear corresponds to the second rotating gear, and the second internal gear moves along the direction of the electric push rod.

[0014] As a preferred technical solution of the present invention, when the second internal gear is engaged with the second rotating gear, the position of the flip plate changes as the rotating disk rotates, or when the second internal gear is separated from the second rotating gear, the flip plate rotates with the rotating disk.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] A flipping structure is provided, and when the driving wheel rotates, the flipping plate can contact the coal seam road surface, and the coal seam compacted or dense by the crawler can be broken and loosened by the flipping plate, so that the main body of the survey robot is more convenient for geological survey, and the unfavorable situation that the crawler compacts the geology can be overcome;

[0017] A depth adjustment assembly is provided, and the rack of the fixed rod is meshed with the first rotating gear, and the position of the fixed rod inside the placement groove can be adjusted to determine the depth of the flap plate extending into the coal seam road surface, and the coal seam geology at different depths can be crushed, so as to facilitate later exploration;

[0018] A closed adjustment component is provided, which can adjust the positions of the second internal gear and the second rotating gear. The second rotating gear and the second internal gear can be meshed or separated, so as to control whether the depth adjustment component works, so that the diameter of the flip plate can be adjusted while the rotating disk rotates, without affecting the normal operation of the main body of the survey robot;

[0019] The closure adjustment component cooperates with the depth adjustment component to adjust the position of the flap as needed without affecting the position of the flap on the rotating disk. It is suitable for surveying in different occasions, especially for surveying locations where coal seams are relatively thick. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0021] Figure 1 This is a main structure diagram of a coal mine geological survey robot according to the present invention;

[0022] Figure 2 A schematic diagram of a crawler and a driving wheel for a coal mine geological survey robot according to the present invention;

[0023] Figure 3 A schematic diagram of a flipping structure of a coal mine geological survey robot according to the present invention;

[0024] Figure 4 It is a schematic diagram of a depth adjustment component and a closure adjustment component for a coal mine geological survey robot according to the present invention;

[0025] Figure 5 This is a schematic diagram of a depth adjustment component for a coal mine geological survey robot according to the present invention;

[0026] Figure 6 This is a schematic diagram of the first internal gear and the matching groove used in a coal mine geological survey robot of the present invention;

[0027] Figure 7 This is a schematic diagram of a closed adjustment component for a coal mine geological survey robot according to the present invention;

[0028] Figure 8 The present invention is a schematic diagram of the separation of the second internal gear and the second rotating gear of a coal mine geological survey robot.

[0029] In the figure: 1. main body of the survey robot; 2. crawler track; 3. driving wheel; 4. reserved groove; 5. flipping structure; 51. driving shaft; 52. rotating disk; 53. rotating groove; 54. fixing rod; 55. flipping plate; 56. placement groove; 57. fixed end cover; 6. adjustment structure; 610. depth adjustment assembly; 611. fixing ring; 612. first internal gear; 613. first rotating gear; 614. rack; 615. sliding groove; 616. rotating shaft; 617. matching groove; 620. closing adjustment assembly; 621. connecting shaft; 622. second rotating gear; 623. second internal gear; 624. electric push rod; 7. video collector; 8. radar sensor. DETAILED DESCRIPTION

[0030] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as "below other elements or features" or "below other elements or features" will then be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0031] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. Example

[0032] See also Figure 1-Figure 4As shown, a coal mine geological survey robot includes a survey robot body 1, crawlers 2, drive wheels 3, a video collector 7 and a radar sensor 8. The crawlers 2 are arranged on both sides of the survey robot body 1. The crawlers 2 include drive wheels 3, guide wheels, support wheels, and traction wheels. The drive wheels 3 are arranged inside the crawlers 2. The power source of the survey robot body 1 drives the drive wheels 3 of the crawlers 2 to rotate, so that the crawlers 2 can move forward. The drive wheels 3 are used to drive the crawlers 2 to move along the coal seam road surface of the mine, so that the survey robot body 1 is located in the mine and moves. The geological conditions in the mine can be surveyed. The video collector 7 and the radar sensor 8 are both arranged on the top of the survey robot body 1. When the survey robot body 1 is surveying inside the mine, the video collector 7 can be used to collect the front video, and the radar sensor 8 can be used to sense the front material or the distance. Reserved grooves 4 are provided on both sides of the survey robot body 1 and at the driving wheel 3. The width of the reserved groove 4 is adapted to the gap between the survey robot body 1 and the crawler 2. A flipping structure 5 is provided inside the reserved groove 4. The flipping structure 5 is used to flip the coal seam pavement of the mine, so as to facilitate the exploration of the coal seam pavement. The coal seam road surface can be broken by the flipping structure 5, so that the video collector 7 can sense the position of the ground, and the radar sensor 8 can sense the position of the ground in front. The flipping structure 5 includes a driving shaft 51, and the driving wheel 3 is connected to the power source of the driving wheel 3 through the driving shaft 51. The power source of the survey robot body 1 can drive the driving shaft 51 to rotate, so that the driving shaft 51 rotates synchronously with the rotating disk 52 and the driving wheel 3. The outer sleeve of the driving shaft 51 is provided with a rotating disk 52, and the rotating disk 52 rotates synchronously with the driving shaft 51. The cylindrical surface of the rotating disk 52 is provided with a plurality of rotating grooves 53. A fixed rod 54 and a flap plate 55 are provided inside the rotating groove 53. The shapes of the rotating groove 53 and the flap plate 55 are adapted to each other, and the rotating groove 53 and the flap plate 55 slide relative to each other. The fixed rod 54 and the flap plate 55 are welded to each other, and the fixed rod 54 is located inside the rotating disk 52. A chamfer is provided at the end of the flap plate 55, and the end of the flap plate 55 is in contact with the coal seam pavement of the mine. The chamfer of the end face of the flap plate 55 can be inserted into the pavement, so that the flap plate 55 can crush the coal seam of the mine, and the crawler 2 will not press the ground, thereby avoiding the ground compaction and difficult exploration.

[0033] See also Figure 3 and Figure 4As shown, a placement groove 56 is opened inside the rotating disk 52, and a fixed end cover 57 is installed on the end face of the placement groove 56, and the fixed end cover 57 is fixed to the rotating disk 52 by bolts. After the fixed end cover 57 and the rotating disk 52 are fixed together, there is a certain space inside the rotating disk 52, and the driving shaft 51 passes through the fixed end cover 57. When the driving shaft 51 drives the rotating disk 52 to rotate, the fixed end cover 57 can be rotated, so that when the crawler 2 moves, the rotating disk 52 can drive the exposed flip plate 55 to rotate, so that the flip plate 55 can loosen the compacted bottom surface, which is more convenient for surveying the geological conditions of the coal seam in the mine.

[0034] See also Figure 1-Figure 4 As shown, the driving shaft 51 and the rotating disk 52 are connected by welding or connecting keys. The driving shaft 51 is rotatably connected to the middle of the fixed end cover 57. When the rotating disk 52 and the driving shaft 51 are welded, the driving shaft 51 and the rotating disk 52 rotate synchronously. When the driving shaft 51 and the rotating disk 52 are connected by a connecting key, and the rotating disk 52 is located in the reserved groove 4 and is restricted when rotating, the driving shaft 51 and the rotating disk 52 can also rotate synchronously.

[0035] See also Figure 3 and Figure 4 As shown, the fixed rods 54 and the flip plates 55 are arranged in a circular array on the cylindrical surface of the rotating disk 52, so that when the driving wheel 3 rotates, the fixed rods 54 and the flip plates 55 arranged in a circular array rotate, so that each fixed rod 54 and the flip plates 55 can smoothly transition, and the end face edge line of the flip plate 55 is arranged obliquely to the generatrix of the rotating disk 52. The inclined flip plate 55 is used to destroy the coal seam road surface of the crushing mine. Since the flip plate 55 and the rotating disk 52 are arranged obliquely, the flip plate 55 can more easily crush the ground, and the inclination angle of the flip plate 55 and the rotating groove 53 can be adjusted in advance as needed.

[0036] It should be noted that when the survey robot body 1 moves along the mine tunnel, the survey robot body 1 can be used to survey the geology of the mine tunnel. At this time, the video collector 7 and radar sensor 8 on the top of the survey robot body 1 can collect the geological conditions of the coal mine, wherein the scene in the coal mine can be collected by the video collector 7, and the front distance in the coal mine can be collected by the radar sensor 8. When the driving wheel 3 rotates, the rotating disk 52 can be rotated, so that when the flip plate 55 is located inside the rotating groove 53, the edge of the flip plate 55 is exposed from the edge of the crawler 2, and the flip plate 55 can be inserted into the ground and break the ground. At this time, some coal seams compacted by the crawler 2 can be loosened, so that the survey robot body 1 is more convenient for geological survey and can overcome the unfavorable situation that the crawler 2 compacts the geology.

[0037] See also Figure 2 , Figure 4and Figure 5 As shown, an adjustment structure 6 is provided inside and at the end surface of the rotating disk 52, and the adjustment structure 6 includes a depth adjustment component 610, and the depth adjustment component 610 includes two sets of fixing rings 611, and the two sets of fixing rings 611 are welded to the inside of the placement groove 56, so that the fixing rod 54 can move along the fixing rings 611, and a first internal gear 612 is provided between the two sets of fixing rings 611, and the first internal gear 612 is rotatably connected to the inside of the placement groove 56, and the center of the first internal gear 612 and the two sets of fixing rings 611 coincide with each other, and the cylindrical surface of each fixing rod 54 is integrally manufactured with a rack 614, and the rack 614 is located at the end surface position of the first internal gear 612 to avoid mutual emission interference between the rack 614 and the first internal gear 612, and the rack 614 of each fixing rod 54 is A rotating shaft 616 is provided on each side, and a first rotating gear 613 is provided on the end face of the rotating shaft 616. The rotating shaft 616 and the first rotating gear 613 rotate synchronously, and the teeth of the first rotating gear 613 are meshed with the first internal gear 612 and the rack 614 at the same time. Each first rotating gear 613 rotates synchronously, and the end of each fixed rod 54 extends or retracts synchronously. The depth adjustment component 610 rotates synchronously with the rotating disk 52. When one of the first rotating gears 613 rotates, the first internal gear 612 can be rotated, so that the remaining first internal gears 612 drive the remaining first rotating gears 613 to rotate. At this time, each first rotating gear 613 is meshed with the rack 614 of each fixed rod 54, and the fixed rod 54 can be extended or retracted.

[0038] See also Figure 5 and Figure 6 As shown, sliding grooves 615 are provided on the end faces of the two sets of fixing rings 611 and at the intersections with the fixing rods 54. The cylindrical surfaces of the fixing rods 54 are slidably connected with the insides of the sliding grooves 615 of the two sets of fixing rings 611. When the first rotating gear 613 rotates, the rack 614 moves, so that the rack 614 moves along the sliding groove 615, and the sliding distance of the fixing rod 54 along the sliding groove 615 is greater than the depth of the rotating groove 53, and the fixing rod 54 can extend or retract from the rotating groove 53.

[0039] See also Figure 6 As shown, an annular matching groove 617 is opened inside the placement groove 56, and the inside of the matching groove 617 is movably connected with the first internal gear 612. The lowest end of the largest circle of each flip plate 55 is located outside the track 2, and the lowest end of the smallest circle of each flip plate 55 is located inside the track 2. When the flip plate 55 is extended, it can be exposed from the outside of the track 2, so that the depth of the flip plate 55 inserted into the coal seam geology can be adjusted. When the flip plate 55 is retracted into the fixed rod 54, the flip plate 55 will not damage the geology of the coal seam, and the coal seam geology at different depths can be crushed, so as to facilitate later exploration.

[0040] See also Figure 4 and Figure 7 and Figure 8 As shown, the adjustment structure 6 also includes a closing adjustment component 620, which includes a connecting shaft 621, which rotates synchronously with one of the first rotating gears 613, and the connecting shaft 621 is integrally manufactured with the rotating shaft 616 at the first rotating gear 613. The connecting shaft 621 passes through the interior of the fixed end cover 57, and the end of the connecting shaft 621 and the second rotating gear 622 are arranged outside the fixed end cover 57. The first rotating gear 613, the connecting shaft 621 and the second rotating gear 622 rotate synchronously, and at least two groups of electric push rods 624 are arranged on the inner wall of the reserved groove 4 and located at the position of the fixed end cover 57. The electric push rod 624 is installed on the inner wall of the reserved groove 4, and a second inner gear is installed between the ends of the electric push rod 624. Wheel 623, the center of the second internal gear 623 coincides with the center of the first internal gear 612, the interior of the second internal gear 623 corresponds to the second rotating gear 622, the second internal gear 623 moves along the direction of the electric push rod 624, the first internal gear 612 is meshed with the first rotating gear 613, when the rotating disk 52 rotates relative to the reserved slot 4, when the electric push rod 624 of the reserved slot 4 is extended, the second internal gear 623 can be placed in the second rotating gear 622, so that the second internal gear 623 and the second rotating gear 622 are meshed, the second rotating gear 622, the connecting shaft 621 and the first rotating gear 613 rotate synchronously, so that the depth adjustment assembly 610 can work, so as to adjust the extended length of the fixing rod 54.

[0041] See also Figure 7 and Figure 8 As shown, when the second internal gear 623 is meshed with the second rotating gear 622, the position of the flip plate 55 changes as the rotating disk 52 rotates. The position of the second internal gear 623 can be adjusted so that the second rotating gear 622 is meshed with the second internal gear 623, so that the depth adjustment assembly 610 and the flip structure 5 work, or when the second internal gear 623 is separated from the second rotating gear 622, the flip plate 55 rotates with the rotating disk 52, and when the electric push rod 624 is retracted, the second internal gear 623 can be moved away from the rotating disk 52, and the second internal gear 623 is separated from the second rotating gear 622. When the rotating disk 52 and the second rotating gear 622 rotate, the second rotating gear 622 and the second internal gear 623 will not interfere with each other.

[0042] It should be noted that when the fixing rod 54 is located inside the rotating groove 53, the extended length of the flip plate 55 is the shortest, the flip plate 55 is located inside the crawler 2, and the second internal gear 623 is separated from the second rotating gear 622. At this time, the depth adjustment component 610 and the flip structure 5 will not be driven to work, and the road surface of the coal mine will not be damaged; when it is necessary to extend the flip plate 55, the electric push rod 624 can be extended to push the second internal gear 623 to the second rotating gear 622, and the second internal gear 623 and the second rotating gear 622 are meshed with each other. At this time, the second rotating gear 622 can rotate around the connecting shaft 621. Since the second rotating gear 622 on the rotating disk 52 rotates with the driving shaft 51, the second rotating gear 622, the connecting shaft 621 and the first rotating gear 613 rotate synchronously, so that the depth adjustment component 610 can work normally, and the electric push rod 624 can be retracted after a certain number of rotations, so that the second internal gear 623 and the second rotating gear 613 are meshed with each other. The rotating gear 622 is separated. At this time, since the first rotating gear 613 and the rack 614 are meshed, the positions of the fixing rod 54 and the flip plate 55 will not change. When the flip plate 55 needs to be retracted, the second internal gear 623 and the second rotating gear 622 cooperate. At this time, the driving shaft 51 at the driving wheel 3 is rotated in the opposite direction, so that the second rotating gear 622 is rotated in the opposite direction, so that the second rotating gear 622 is located inside the second internal gear 623 and meshes, so that the first rotating gear 613 and the rack 614 can be moved in the opposite direction, so that the extended flip plate 55 can be retracted. When adjusted to a suitable position, the second internal gear 623 and the second rotating gear 622 can be separated. When the driving wheel 3 is operated again, the position of the flip plate 55 will not change. The position of the flip plate 55 can be adjusted as needed, and the position of the flip plate 55 on the rotating disk 52 will not be affected. It is suitable for exploration in different occasions, especially for exploration in positions where the coal seam is relatively thick.

[0043] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A coal mine geological survey robot, comprising a survey robot body (1), a crawler (2), a driving wheel (3), a video collector (7) and a radar sensor (8), wherein the crawler (2) is arranged on both sides of the survey robot body (1), and the driving wheel (3) is arranged inside the crawler (2) for driving the crawler (2) to move along the coal seam road surface of the mine, and the video collector (7) and the radar sensor (8) are both arranged on the top of the survey robot body (1); characterized in that: Reserved grooves (4) are provided on both sides of the survey robot body (1) and at the driving wheel (3). A turning structure (5) is provided inside the reserved groove (4). The turning structure (5) is used to turn over the coal seam road surface of the mine. The turning structure (5) comprises a driving shaft (51). The driving wheel (3) is connected to a power source of the driving wheel (3) via the driving shaft (51). A rotating disk (52) is sleeved on the outside of the driving shaft (51). The rotating disk (52) rotates synchronously with the driving shaft (51). A plurality of rotating grooves (53) are provided on the cylindrical surface of the rotating disk (52). A fixing rod (54) and a turning plate (55) are provided inside the rotating groove (53). The fixing rod (54) and the turning plate (55) are welded to each other, and the fixing rod (54) is located inside the rotating disk (52). A chamfer is provided at the end of the turning plate (55), and the end of the turning plate (55) contacts the coal seam road surface of the mine. An adjustment structure (6) is provided inside and on the end surface of the rotating disk (52). The adjustment structure (6) includes a depth adjustment assembly (610). The depth adjustment assembly (610) includes two sets of fixing rings (611). The two sets of fixing rings (611) are welded to the inside of the placement groove (56). A first internal gear (612) is provided between the two sets of fixing rings (611). The centers of the first internal gear (612) and the two sets of fixing rings (611) coincide with each other. A rack (614) is integrally manufactured on the cylindrical surface of each fixing rod (54). The rack (614) 614) is located at the end surface of the first internal gear (612), a rotating shaft (616) is provided on one side of the rack (614) of each fixed rod (54), and a first rotating gear (613) is provided on the end surface of the rotating shaft (616), and the teeth of the first rotating gear (613) are meshed with the first internal gear (612) and the rack (614) at the same time, and each first rotating gear (613) rotates synchronously, and the end of each fixed rod (54) extends or retracts synchronously, and the depth adjustment assembly (610) rotates synchronously with the rotating disk (52).

2. A coal mine geological survey robot according to claim 1, characterized in that: A placement groove (56) is provided inside the rotating disk (52), a fixed end cover (57) is installed on the end surface of the placement groove (56), and the fixed end cover (57) is fixed to the rotating disk (52) by bolts, and the driving shaft (51) passes through the interior of the fixed end cover (57).

3. A coal mine geological survey robot according to claim 2, characterized in that: The driving shaft (51) and the rotating disk (52) are connected by welding or by connecting keys, and the driving shaft (51) is rotatably connected to the middle of the fixed end cover (57).

4. A coal mine geological survey robot according to claim 3, characterized in that: The fixed rods (54) and the flaps (55) are arranged in a circular array on the cylindrical surface of the rotating disk (52), and the end surface edge lines of the flaps (55) are arranged obliquely between the generatrix of the rotating disk (52). The obliquely arranged flaps (55) are used to destroy and crush the coal seam road surface of the mine.

5. A coal mine geological survey robot according to claim 4, characterized in that: The end surfaces of the two groups of fixed rings (611) are provided with sliding grooves (615) at the intersections with the fixed rods (54); the cylindrical surfaces of the fixed rods (54) are slidably connected with the insides of the sliding grooves (615) of the two groups of fixed rings (611); and the sliding distance of the fixed rods (54) along the sliding grooves (615) is greater than the depth of the inside of the rotating grooves (53).

6. A coal mine geological survey robot according to claim 5, characterized in that: An annular matching groove (617) is provided inside the placement groove (56), and the inside of the matching groove (617) is movably connected to the first internal gear (612). The lowest end of the largest circle of each flip plate (55) is located outside the crawler (2), and the lowest end of the smallest circle of each flip plate (55) is located inside the crawler (2).

7. A coal mine geological survey robot according to claim 6, characterized in that: The adjustment structure (6) further comprises a closing adjustment component (620), wherein the closing adjustment component (620) comprises a connecting shaft (621), the connecting shaft (621) rotates synchronously with one of the first rotating gears (613), the connecting shaft (621) and the rotating shaft (616) at the first rotating gear (613) are manufactured in one piece, and a second rotating gear (622) is arranged at the end of the connecting shaft (621) and located outside the fixed end cover (57), and at least two groups of electric push rods (624) are arranged on the inner wall of the reserved groove (4) and located at the position of the fixed end cover (57), and a second internal gear (623) is installed between the ends of the electric push rods (624), the center of the second internal gear (623) coincides with the center of the first internal gear (612), the interior of the second internal gear (623) corresponds to the second rotating gear (622), and the second internal gear (623) moves along the direction of the electric push rod (624).

8. The coal mine geological survey robot according to claim 7, characterized in that: When the second internal gear (623) is meshed with the second rotating gear (622), the position of the flip plate (55) changes as the rotating disk (52) rotates, or when the second internal gear (623) is separated from the second rotating gear (622), the flip plate (55) rotates along with the rotating disk (52).

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