Intrinsically safe hoisting rail type inspection robot for coal mine

Abstract

The invention relates to an intrinsically safe hoisting rail type inspection robot for a coal mine. The inspection robot comprises a main body control case, a front-back guide supporting mechanism, a main body driving mechanism, a horizontal clamping mechanism and an externally-hung intrinsically safe sensor. The main body control case comprises a bottom plate capable of being opened and closed, the battery fixing bins are arranged at the front end and the rear end of the main body control case correspondingly, rapid replacement and upgrading are allowed through the modular design of batteries and sensors, and the adaptability and flexibility of the system are improved; and meanwhile, due to the arrangement of the flexible guide wheels, the robot is kept stable when running on the curve, and the running safety is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment for coal mines, and in particular relates to an intrinsically safe hoisting rail-type inspection robot for coal mines. Background Art

[0002] At present, in the production process of coal mines, belt conveyors are widely used as the main transportation mechanism for coal transportation. Due to the harsh working environment and large span, it is easy to fail to effectively monitor the entire field for a long time through manual inspection and fixed-point camera monitoring, which leads to various accident risks, such as slipping, deviation, tearing, belt breakage and fire, which greatly threaten the safety and production of coal mines. On the other hand, during the operation of the monorail crane, before the locomotive starts, it is impossible to predict the track conditions and surrounding environment in advance. At present, some coal mines use regular manual inspections or do not have a clear inspection plan. At present, because the commonly used explosion-proof track inspection equipment needs to be replaced by the lower rail, or the existing intrinsically safe inspection instrument has a low protection level and cannot go to the working surface as needed, there are certain risks in the operation of the monorail crane. Therefore, it has become a demand to develop a robot that can be used for belt conveyor inspection and monorail crane outpost detection at the same time. Summary of the invention

[0003] (I) Purpose of the invention

[0004] In order to overcome the above shortcomings, the purpose of the present invention is to provide an intrinsically safe hoisting rail-mounted inspection robot for coal mines to solve the above technical problems.

[0005] (II) Technical solution

[0006] To achieve the above objectives, the technical solutions provided by this application are as follows:

[0007] An intrinsically safe hoisting rail inspection robot for coal mines, comprising a main control chassis, a front and rear guide support mechanism, a main drive mechanism, a horizontal clamping mechanism and an external intrinsically safe sensor

[0008] The main control box includes an openable bottom plate, and the battery fixing compartments are arranged at the front and rear ends of the main control box respectively, and the required aviation plugs for connection are contained inside. An ultrasonic sensor and a parking space indicator light are arranged at the lower part of the battery fixing compartment; an RFID sensor is arranged at the upper part of the main control box, and its sensing antenna part is protruded from the outside of the main control box through a protective shell;

[0009] The front and rear guide support mechanisms are arranged on both sides of the horizontal clamping mechanism, and the front and rear guide support mechanisms include a swivel support seat mounted on the main control chassis and two guide wheels arranged oppositely, the guide wheels are rotatably mounted on the support vertical arm, the bottom of the support vertical arm is mounted on the swivel support seat through a lower clamping mechanism, and the swivel support seat is provided with two oppositely arranged flexible guide wheel assemblies;

[0010] The main driving mechanism includes two driving gear boxes slidably arranged on the linear slide rails, and the driving shaft of the driving gear box is connected to the rubber-coated driving wheel through the driving wheel connecting seat;

[0011] The horizontal clamping mechanism is located in the middle of the front and rear guide support mechanisms, and includes two drive shafts, each of which is provided with a rubber-coated drive wheel. Each of the drive shafts passes through the chassis and the clamping seat, and each of the clamping seats is clamped by external pressure strips located at the front and rear ends respectively. The outer end of one of the clamping seats is connected to the clamping adjuster, and the inner end of each of the clamping seats is provided with a rack, which is meshed with the middle clamping gear. When the clamping gear rotates, the two clamping seats move relative to or oppositely.

[0012] The bottom plate is connected into a whole by a cross hinge structure. The bottom plate is connected into a whole by a cross hinge structure. The cross hinge structure includes a chassis mounting plate fixedly connected to the bottom of the chassis and a bottom plate mounting plate fixedly connected to the bottom plate. A movable support arm is rotatably provided on the chassis mounting plate, and the end of the movable support arm is slidably set in a sliding groove of the bottom plate mounting plate. A movable auxiliary arm is rotatably provided on the bottom plate mounting plate, and the end of the movable auxiliary arm is slidably set in the sliding groove of the chassis mounting plate. The movable support arm and the movable auxiliary arm are cross-arranged.

[0013] The lower clamping mechanism includes a clamping optical axis that crosses the guide support mechanism, two lower clamping bearing wheels are sleeved on the clamping optical axis, and the middle of the lower clamping bearing wheels is spaced by a shaft sleeve, and the two ends of the clamping optical axis are installed on a clamping slider, and the clamping slider is sleeved on a clamping shaft, and the clamping shaft is installed on an optical axis fixing block. A clamping spring is provided on the clamping shaft, one side of the clamping spring is fixed on the optical axis fixing block, and the other side of the clamping spring is fixed on the clamping slider.

[0014] The main driving mechanism comprises an electromagnetic brake assembly, a driving gear is arranged in the driving gear box, the driving gear is connected to the driving motor, and the driving gear is connected to the driving shaft.

[0015] The top of the clamping seat is provided with a skeleton oil seal to facilitate the sealing of the output drive shaft end, the bottom of the clamping seat is provided with a rubber ring, and the clamping seat is installed on the chassis through pressure strips on both sides.

[0016] The external intrinsically safe sensors include intrinsically safe gas sensors for mining, intrinsically safe cameras for mining and intrinsically safe cross-sectional scanners for mining.

[0017] The clamping regulator comprises a C-shaped groove arranged on the clamping seat and an adjusting seat installed on the chassis. An adjusting rod is threadedly provided on the adjusting seat, and the end of the adjusting rod is rotatably connected to the C-shaped groove.

[0018] The flexible guide wheel assembly is installed on both sides of the guide wheel. The flexible guide wheel assembly includes two flexible guide wheels arranged opposite to each other. The flexible guide wheels are installed on the pressing slide block through flexible springs.

[0019] Beneficial effects:

[0020] 1. The modular design of batteries and sensors allows for quick replacement and upgrade, improving the adaptability and flexibility of the system;

[0021] 2. The setting of flexible guide wheels enables the robot to maintain stability when driving on curves, thus improving driving safety;

[0022] 3. The setting of the lower clamping bearing wheel enhances the robot's passability and adaptability to uneven tracks;

[0023] 4. The application of ultrasonic sensors enables the robot to avoid obstacles or turn according to the needs of the task, improving the work efficiency. The cooperation of RFID sensors and encoders realizes the precise positioning of the robot and the accurate execution of the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2 It is a structural diagram of the installation of the main driving structure in the main control chassis according to an embodiment of the present invention;

[0026] Figure 3 is a structural diagram of a main control chassis according to an embodiment of the present invention;

[0027] Figure 4 is a bottom structural diagram of a main chassis after it is opened according to an embodiment of the present invention;

[0028] Figure 5 is a structural diagram of a cross hinge according to an embodiment of the present invention;

[0029] Figure 6 is a structural diagram of a front and rear guide support mechanism according to an embodiment of the present invention;

[0030] Figure 7is a front view of a front and rear guide support mechanism according to an embodiment of the present invention;

[0031] Figure 8 is a structural diagram of a main driving mechanism according to an embodiment of the present invention;

[0032] Fig. 9 This is a structural diagram of a horizontal clamp according to an embodiment of the present invention;

[0033] Fig.10 1 is a structural diagram of a skeleton oil seal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following is a detailed description of the present invention in conjunction with the specific implementation methods and with reference to the attached drawings. Figure 1-10 , the present invention is further described in detail. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concept of the present invention.

[0035] An intrinsically safe hoisting rail inspection robot for coal mines, comprising a main control chassis 1, a front and rear guide support mechanism 2, a main drive mechanism 3, a horizontal clamping mechanism 4 and an external intrinsically safe sensor 5

[0036] The main control chassis 1 includes an openable bottom plate 1-2, which is connected into a whole by a cross hinge structure, wherein the cross hinge structure 1-4 is symmetrically placed here. The battery fixing compartments 1-5 are respectively arranged at the front and rear ends of the main control chassis 1, and the side of the chassis is provided with a battery compartment cover 1-3, which can more conveniently and quickly replace the battery, and contains the required aviation plug for connection inside, which has a waterproof effect. An ultrasonic sensor 1-7 and a parking space indicator light 1-8 are arranged at the lower part of the battery fixing compartment; an RFID sensor 1-6 is arranged at the upper part of the main control chassis, and its sensing antenna part is protruded from the outside of the main control chassis 1 by being covered with a protective shell; the RFID sensor, ultrasonic sensor, buzzer, indicator light and screen switch button installed on the main control chassis 1 are used for external perception and real-time information feedback of the robot during operation.

[0037] The main control chassis adopts 304 stainless steel full metal shell with spray painting to ensure that the shell protection level reaches IP65 level, so as to effectively protect and improve the service life of the internal intrinsically safe control circuit, and adopts a cross hinge structure on the bottom plate and the main shell part where the control part is placed. The two fixed shaft holes and the cross shaft holes at the left plate end of the main shell realize the fixed point of one side being rotatable, and the other end adopts a long slot hole to make the shaft passing through it slide upward, so as to ensure that the bottom plate where the control part is placed below can be horizontally lowered and flipped along the left plate of the main shell, and finally suspended at the lower end of the robot main shell, so that the robot bottom plate can be hung on the robot main shell during debugging and wiring, so as to facilitate the installation and debugging of the robot control system and to be horizontally installed and pressed when the bottom side plate is closed, and at the same time provide more choices for the selection of materials for the built-in main drive mechanism, so as to effectively reduce the overall weight of the robot; in addition, RFID sensors, front and rear ultrasonic sensors, buzzers, indicator lights and screen switch buttons are installed on the shell at the same time, which are used for external perception and real-time information feedback of the robot during operation.

[0038] The bottom plate is connected into a whole by a cross hinge structure, and the cross hinge structure includes a chassis mounting plate 1-10 fixedly connected to the bottom of the chassis and a bottom plate mounting plate 1-13 fixedly connected to the bottom plate, a movable arm 1-12 is rotatably provided on the chassis mounting plate 1-10, and the end of the movable arm 1-12 is slidably set in the sliding groove of the bottom plate mounting plate 1-13, and a movable auxiliary arm 1-11 is rotatably provided on the bottom plate mounting plate 1-13, and the end of the movable auxiliary arm 1-11 is slidably set in the sliding groove of the chassis mounting plate 1-10, and the movable arm 1-11 and the movable auxiliary arm 1-12 are cross-arranged. When in use, as the bottom plate is opened and closed, the movable arm and the movable auxiliary arm move in the movable groove respectively, ensuring the smooth opening and closing of the bottom plate.

[0039] The front and rear guide support mechanisms 2 are arranged on both sides of the horizontal clamping mechanism 4, and the front and rear guide support mechanisms 2 include a swivel support seat 2-9 installed on the main control chassis 1 and two relatively arranged guide wheels 2-1, and the guide wheels 2-1 are rotatably installed on the supporting vertical arm 2-2, and the bottom of the supporting vertical arm 2-2 is installed on the swivel support seat 2-9 through a lower clamping mechanism, and the swivel support seat 2-9 is provided with two relatively arranged flexible guide wheel assemblies.

[0040] The flexible guide wheel assembly is installed on both sides of the guide wheel 2-1, and the flexible guide wheel assembly includes two relatively arranged flexible guide wheels 2-10, and the flexible guide wheel 2-10 is installed on the pressing slide block 2-4 through a flexible spring 2-11. The arrangement of the flexible guide wheel assembly improves the stability during turning.

[0041] The lower clamping mechanism includes a clamping optical axis 2-8 that crosses the guide support mechanism, and two lower clamping bearing wheels 2-5 are sleeved on the clamping optical axis 2-8. The lower clamping bearing wheels 2-5 are spaced in the middle by a sleeve. The spacing between the bearing wheels 2-5 is modified by adjusting the length of the sleeve to match different lower track connectors. Both ends of the clamping optical axis 2-8 are installed on a clamping slider 2-4, and the clamping slider 2-4 is sleeved on a clamping shaft 2-6. The clamping shaft 2-6 is installed on an optical axis fixing block 2-7. The optical axis fixing block 2-7 is set on a swivel support seat 2-9. A clamping spring is provided on the clamping shaft 2-6, and one side of the clamping spring is fixed on the optical axis fixing block 2-7, and the other side of the clamping spring is fixed on the clamping slider 2-4. A flexible and adaptive compression mechanism is formed, so that the clamping mechanism can automatically shrink and always remain compressed on the bottom surface of the track when it is on an uneven track or encounters an obstacle. At the same time, the compression force of the spring also keeps the guide wheel on the track at all times.

[0042] The guide wheel is pressed down to the inner bottom surface of the track, which supports the robot as a whole and allows the robot to be suspended on the track. At the same time, the flexible guide wheel assemblies on both sides of the guide wheel can ensure that the guide wheel always remains in a stable position to avoid derailment. At the same time, it cooperates with the lower slewing support seat mechanism to achieve real-time turning along the track. The lower clamping mechanism located at the bottom can ensure that the guide wheel group remains in the inner bottom surface of the track for stable operation, further ensuring the stability of the robot during operation.

[0043] The main driving mechanism 3 includes two driving gear boxes 3-1 slidingly arranged on the linear slide rails 3-7, the linear slide rails 3-7 are installed in the main control chassis 1, the driving shaft 3-2 of the driving gear box 3-1 is connected to the rubber-coated driving wheel 3-5 through the driving wheel connecting seat 3-6, and the main driving mechanism 3 includes an electromagnetic brake assembly 3-4, and a driving gear is arranged in the driving gear box 3-1, the driving gear is connected to the driving motor, and the driving gear is connected to the driving shaft. The driving motor drives the driving shaft to rotate through the driving gear, thereby driving the rubber-coated driving wheel to rotate, thereby realizing the movement of the inspection robot.

[0044] The main driving mechanism is driven by multiple intrinsically safe motors and cooperates with multiple electromagnetic brakes to achieve conventional motion movements. The electromagnetic brakes can be used to achieve emergency braking in case of unexpected power failure during operation. It also serves as an auxiliary mechanism for slope parking. The gearbox part is made of aluminum alloy, and the output shaft passes through the main control chassis and is exposed to the outside.

[0045] The horizontal clamping mechanism is located in the middle of the front and rear guide support mechanisms, and includes two drive shafts 3-2, each of which is provided with a rubber-coated drive wheel 3-5. Each of the drive shafts 3-2 passes through the chassis and the clamping seat 4-2. Each of the clamping seats 4-2 is clamped by an external pressure strip 4-3 located at the front and rear ends, respectively. The outer end of one of the clamping seats 4-2 is connected to the clamping adjuster, and the inner end of the clamping seat 4-2 is provided with a rack, which is meshed with the middle clamping gear 4-1. When the clamping gear 4-1 rotates, the two clamping seats 4-2 move relative to or oppositely, so that the distance between the two drive wheels can be adjusted, and the applicability is wider.

[0046] The clamping regulator includes a C-shaped groove arranged on the clamping seat 4-2 and an adjusting seat 4-5 installed on the chassis, and an adjusting rod 4-4 is threadedly connected to the adjusting seat 4-5, and the end of the adjusting rod 4-4 is rotatably connected to the C-shaped groove.

[0047] The adjusting seat 4-5 is fixed on the chassis. When the adjusting rod 4-4 is rotated, the adjusting rod cooperates with the thread to extend or pull out. Since the other end of the adjusting rod 4-4 is connected to the C-shaped groove of the clamping seat, the sliding of the clamping seat at this end can be achieved by rotating the adjusting rod 4-4. The other end of the clamping seat is equipped with a rack, which is meshed with the middle clamping gear 4-1, so that the middle clamping gear 4-1 rotates with the movement of the clamping seat, and the other end of the clamping gear 4-1 is meshed with the clamping seat at the other end, so that the clamping seat at the other end cooperates with the rotation and sliding of the middle clamping gear 4-1. At the same time, since the racks of the two clamping seats are respectively located on both sides of the gear, the two clamping seats can be made to move in opposite directions. On the other hand, in order to ensure that the two clamping seats are respectively kept in a clamping state with the gear in real time, a rectangular protrusion is provided in the middle of the pressure strip 4-3, so that it maintains a thrust on the rack parts of the clamping seats on both sides.

[0048] The top of the clamping seat 4-2 is provided with a skeleton oil seal 4-6 to facilitate the sealing of the output drive shaft end. The skeleton oil seal 4-6 is located at the top of the clamping seat 4-2 and is placed on the auxiliary bearing. When the drive shaft 3-2 passes through the clamping seat 4-2, it also passes through the auxiliary bearing and the skeleton oil seal 4-6, thereby achieving the sealing of the output end of the drive shaft 3-2. A rubber ring is provided at the bottom of the clamping seat 4-2, and the clamping seat is mounted on the chassis through the pressure strips on both sides.

[0049] The above-mentioned intrinsically safe battery for coal mines and external intrinsically safe sensors are modular external parts, which can be switched as needed. The intrinsically safe battery for coal mines is placed on the inner side of the battery compartment in front and behind the main control chassis, and is connected through multiple aviation plugs to achieve multi-channel intrinsically safe outputs. The outer cover of the battery compartment of the main control chassis is fixed with anti-lost quick-release screws, which can be replaced in real time according to the battery power, solving the current problem that charging cannot be carried out in conventional tunnels in the mine; the external intrinsically safe sensors include but are not limited to the intrinsically safe encoder for coal mines mounted on the upper part, the intrinsically safe dual-light / single-light camera for coal mines and the intrinsically safe gas sensor for coal mines.

[0050] When the robot is traveling on the track normally, the guide wheel is close to the lower edge of the inner wall of the track and moves horizontally along the track. When the track enters a curve, the flexible guide wheels at both ends of the guide wheel generate lateral flexible support through the springs configured thereon, thereby realizing stable turning of the robot. When the robot moves to a downhill curve, the robot body is light in weight and the clamping force of the driving wheel in the middle of the robot is large, so there is a possibility that the robot will tilt its head. In order to maintain the stability of the robot guide wheel on the lower edge of the track, the lower clamping bearing wheel on the guide support mechanism is always close to the lower bottom surface of the track. At the same time, the spring part of the lower clamping bearing wheel is used to further increase the passability and adaptability when the lower bottom surface of the track is uneven.

[0051] Before the robot moves, the driving part of the robot needs to be clamped. Before the robot starts, the driving wheel of the robot driving part needs to be adjusted horizontally by adjusting the clamping adjustment screws located on the upper part of the main control chassis to avoid the problem that the robot cannot be effectively driven due to too small clamping force.

[0052] When the robot is walking normally, the RFID sensor located at the front end of the robot can locate the robot by scanning the RFID patch attached to the bottom of the track. At the same time, it can also guide the robot to complete the operation tasks and stroke calibration of the corresponding points through identification, and cooperate with the encoder part on the rear end of the robot to record and correct the driving distance, so that the robot can display the corresponding position information on its host computer in real time, further ensuring the robot's precise walking and the position accuracy of fixed-point operations. On the other hand, through the distance measurement of the ultrasonic sensor carried, the robot can choose whether to stop the alarm or turn according to the needs of the operation task.

[0053] When the robot body is powered by intrinsically safe batteries for coal mines, the battery itself is used as an independent module instead of being fixed in the robot body. In this way, the robot can maintain long-term continuous work. When the battery is exhausted, you only need to open the screws on the inner outer end cover of the battery compartment located in front and behind the main control chassis to replace the battery connected inside by a waterproof aviation plug. At the same time, this method also solves the problem of difficulty in charging the robot underground.

[0054] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intrinsically safe hoisting rail inspection robot for coal mines, characterized in that: It includes a main control chassis, front and rear guide support mechanisms, a main drive mechanism, a horizontal clamping mechanism and an external intrinsically safe sensor. The main control box includes an openable bottom plate, and the battery fixing compartments are arranged at the front and rear ends of the main control box respectively, and the required aviation plugs for connection are contained inside. An ultrasonic sensor and a parking space indicator light are arranged at the lower part of the battery fixing compartment; an RFID sensor is arranged at the upper part of the main control box, and its sensing antenna part is protruded from the outside of the main control box through a protective shell; The front and rear guide support mechanisms are arranged on both sides of the horizontal clamping mechanism, and the front and rear guide support mechanisms include a swivel support seat mounted on the main control chassis and two guide wheels arranged oppositely, the guide wheels are rotatably mounted on the support vertical arm, the bottom of the support vertical arm is mounted on the swivel support seat through a lower clamping mechanism, and the swivel support seat is provided with two oppositely arranged flexible guide wheel assemblies; The main driving mechanism includes two driving gear boxes slidably arranged on the linear slide rails, and the driving shaft of the driving gear box is connected to the rubber-coated driving wheel through the driving wheel connecting seat; The horizontal clamping mechanism is located in the middle of the front and rear guide support mechanisms, and includes two drive shafts, each of which is provided with a rubber-coated drive wheel. Each of the drive shafts passes through the chassis and the clamping seat, and each of the clamping seats is clamped by external pressure strips located at the front and rear ends respectively. The outer end of one of the clamping seats is connected to the clamping adjuster, and the inner end of each of the clamping seats is provided with a rack, which is meshed with the middle clamping gear. When the clamping gear rotates, the two clamping seats move relative to or oppositely.

2. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The base plate is connected into a whole through a cross hinge structure, and the cross hinge structure includes a chassis mounting plate fixedly connected to the bottom of the chassis and a base plate mounting plate fixedly connected to the base plate. A movable support arm is rotatably provided on the chassis mounting plate, and the end of the movable support arm is slidably set in a sliding groove of the base plate mounting plate. A movable auxiliary arm is rotatably provided on the base plate mounting plate, and the end of the movable auxiliary arm is slidably set in the sliding groove of the chassis mounting plate. The movable support arm and the movable auxiliary arm are cross-arranged.

3. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The lower clamping mechanism includes a clamping optical axis that crosses the guide support mechanism, two lower clamping bearing wheels are sleeved on the clamping optical axis, and the middle of the lower clamping bearing wheels is spaced by a shaft sleeve, and the two ends of the clamping optical axis are installed on a clamping slider, and the clamping slider is sleeved on a clamping shaft, and the clamping shaft is installed on an optical axis fixing block. A clamping spring is provided on the clamping shaft, one side of the clamping spring is fixed on the optical axis fixing block, and the other side of the clamping spring is fixed on the clamping slider.

4. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The main driving mechanism comprises an electromagnetic brake assembly, a driving gear is arranged in the driving gear box, the driving gear is connected to the driving motor, and the driving gear is connected to the driving shaft.

5. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The top of the clamping seat is provided with a skeleton oil seal to facilitate the sealing of the output drive shaft end, the bottom of the clamping seat is provided with a rubber ring, and the clamping seat is installed on the chassis through pressure strips on both sides.

6. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The external intrinsically safe sensors include intrinsically safe gas sensors for mining, intrinsically safe cameras for mining and intrinsically safe cross-sectional scanners for mining.

7. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The clamping regulator comprises a C-shaped groove arranged on the clamping seat and an adjusting seat installed on the chassis. An adjusting rod is threadedly provided on the adjusting seat, and the end of the adjusting rod is rotatably connected to the C-shaped groove.

8. The intrinsically safe hoisting rail inspection robot for coal mines according to claim 1, characterized in that: The flexible guide wheel assembly is installed on both sides of the guide wheel. The flexible guide wheel assembly includes two flexible guide wheels arranged opposite to each other. The flexible guide wheels are installed on the pressing slide block through flexible springs.

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