Mining gas inspection device

Abstract

The invention discloses a mining gas inspection device. The mining gas inspection device comprises a rubber-tyred vehicle; the electric drive mechanical arm is installed on the rubber wheel vehicle, and the electric drive mechanical arm can stretch out and draw back in the vertical direction; the gas sensor is mounted at the top of the electrically-driven mechanical arm and used for detecting the gas concentration; and the controller is installed on the rubber-tyred vehicle, the controller can control the electric drive mechanical arm to stretch out and draw back, and the gas sensor transmits collected gas concentration data to the controller in a wireless mode. By the adoption of the gas inspection device, a large number of gas sensors do not need to be arranged underground, and the arrangement cost and the maintenance cost can be saved; and the method can also adapt to underground complex and changeable terrains, and the detection flexibility is higher.

Description

Technical Field

[0001] The invention relates to the technical field of gas detection, and in particular to a mine gas inspection device. Background Art

[0002] The working environment in coal mines is harsh, and the air contains flammable and explosive gases such as gas. Therefore, it is necessary to detect the concentration of gas in the underground environment in real time to detect and prevent explosion accidents caused by gas accumulation as early as possible. At present, the concentration of gas in coal mines is still detected by manual handheld gas sensors. This method is not only labor-intensive, but also has low reliability of collected data and poses safety risks, especially in places where gas is easy to accumulate at the top of the tunnel. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a mine gas inspection device, in which a rubber-wheeled vehicle carrying a gas sensor moves in the tunnel to detect the gas concentration at any position. The detection height of the gas sensor can be changed by an electrically driven mechanical arm, which is beneficial to improving the work efficiency, data reliability and ease of use of gas detection.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a mine gas inspection device, comprising: a rubber-wheeled vehicle, and an electric-driven mechanical arm, the electric-driven mechanical arm is installed on the rubber-wheeled vehicle, and the electric-driven mechanical arm can be extended and retracted in the vertical direction; a gas sensor, the gas sensor is installed on the top of the electric-driven mechanical arm, and is used to detect the gas concentration; the controller is installed on the rubber-wheeled vehicle, the controller can control the extension and retraction of the electric-driven mechanical arm, and the gas sensor wirelessly transmits the collected gas concentration data to the controller.

[0005] Furthermore, the electrically driven robotic arm comprises: a bottom mounting plate, a first arm section, a second arm section, a third arm section, a fourth arm section and a top mounting plate, the bottom mounting plate is fixed on the rubber-wheeled vehicle, the first arm section is connected to the bottom mounting plate, the second arm section is movably connected to the first arm section, the third arm section is movably connected to the second arm section, the fourth arm section is movably connected to the third arm section, the top mounting plate is connected to the top end of the fourth arm section, and the gas sensor is fixed on the top mounting plate.

[0006] Furthermore, when the electrically-driven robotic arm is in a fully retracted state, the fourth arm section is located inside the third arm section, the third arm section is located inside the second arm section, and the second arm section is located inside the first arm section.

[0007] Furthermore, the electrically driven robotic arm also includes: a servo motor, a right-angle reducer and a ball screw, the servo motor is installed vertically on the side wall of the first arm section and passes through the side wall, the right-angle reducer and the ball screw are both installed inside the first arm section, one end of the ball screw is connected to the servo motor through the right-angle reducer, the second arm section is connected to the nut seat on the ball screw, and the other end of the ball screw is connected to the inner wall of the fourth arm section through a rolling bearing.

[0008] Furthermore, the electrically driven mechanical arm further comprises:

[0009] A first extending steel wire rope, one end of which is fixed to the outer wall of the right-angle reducer, and the other end is fixed to the bottom end of the side wall of the third section arm, and the middle part of the first extending steel wire rope is wound around a first guide pulley, and the first guide pulley is installed on the top end of the side wall of the second section arm;

[0010] A first retractable steel wire rope, one end of which is fixed to the top end of the side wall of the first section arm, and the other end is fixed to the bottom end of the side wall of the third section arm, the middle part of the first retractable steel wire rope is wound around the second guide pulley, and the second guide pulley is installed at the bottom end of the side wall of the second section arm.

[0011] Furthermore, the electrically driven mechanical arm further comprises:

[0012] A second extending steel wire rope, one end of which is fixed to the nut seat of the ball screw, and the other end is fixed to the bottom end of the side wall of the fourth arm, and the middle part of the second extending steel wire rope is wound around the third guide pulley, and the third guide pulley is installed on the top end of the side wall of the third arm;

[0013] A second retractable steel wire rope, one end of which is fixed to the top end of the side wall of the second arm section, and the other end is fixed to the bottom end of the side wall of the fourth arm section, and the middle portion of the second retractable steel wire rope is wound around the fourth guide pulley, and the fourth guide pulley is installed at the bottom end of the side wall of the third arm section.

[0014] Furthermore, the first section arm, the second section arm and the third section arm are all formed by splicing four arm plates, and two adjacent arm plates are fixed by a right-angle connector.

[0015] Furthermore, the fourth arm section is formed by splicing two long arm plates and two short arm plates, and the short arm plate is pressed between the two long arm plates and fixed with screws.

[0016] Furthermore, a first slider is provided at the top of the first arm, a second slider is provided at the top of the second arm, and a third slider is provided at the top of the third arm. The first slider is slidably matched with the second arm, the second slider is slidably matched with the third arm, and the third slider is slidably matched with the fourth arm.

[0017] Furthermore, when the electrically-driven robotic arm is in a fully retracted state, the top mounting plate fits against the top end of the first arm section.

[0018] The beneficial effect of the present invention is that the mine gas inspection device of the present invention can be moved underground with a rubber-wheeled vehicle carrying a gas sensor, can adapt to the complex terrain underground, and will not be restricted by the layout of underground tracks. The rubber-wheeled vehicle can move along the path of the position that needs to be detected. The electric-driven mechanical arm is retractable and can drive the gas sensor to change the detection height. The gas concentration data collected by the gas sensor is sent to the controller in real time by wireless transmission, and then transmitted to the display terminal by the controller. By adopting the gas inspection device of the present invention, there is no need to deploy a large number of gas sensors underground, which can save deployment costs and maintenance costs; it can also adapt to the complex and changeable terrain underground, and the detection flexibility is higher.

[0019] By improving the structure of the electric-driven robotic arm and adopting a ball screw combined with a wire rope drive method to achieve synchronous extension and retraction of each arm section, the structural compactness of the robotic arm can be greatly improved; the rolling bearing at the top of the ball screw is used in sliding cooperation with the fourth arm section to reduce the jitter of the ball screw head and improve the stability of the extension and retraction of the robotic arm.

[0020] Each section of the arm adopts a box splicing method, which can improve the convenience of internal component assembly; the double sealing method can effectively prevent dust from entering the interior of the robotic arm and ensure the normal operation of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a structural schematic diagram of a mine gas inspection device of the present invention.

[0023] Figure 2 It is a schematic diagram of the electrically driven mechanical arm of the present invention when it is fully extended.

[0024] Figure 3 It is a schematic diagram of the installation structure between the gas sensor of the present invention and the top installation plate.

[0025] Figure 4 It is a schematic diagram of the telescopic structure of the third boom of the present invention.

[0026] Figure 5 It is a schematic diagram of the telescopic structure of the second boom and the fourth boom of the present invention.

[0027] Figure 6 It is a schematic diagram of the installation structure of the rolling bearing of the present invention.

[0028] Figure 7 It is a structural schematic diagram of the arm plate splicing of the present invention.

[0029] Figure 8 It is a schematic diagram of the splicing structure of the fourth boom of the present invention.

[0030] Fig. 9 It is a schematic structural diagram of the first slider, the second slider and the third slider of the present invention.

[0031] In the figure: 1, rubber-wheeled vehicle; 2, electric drive mechanical arm; 3, gas sensor; 4, controller; 21, bottom mounting plate; 22, first arm section; 23, second arm section; 24, third arm section; 25, fourth arm section; 26, top mounting plate; 27, servo motor; 28, right-angle reducer; 29, ball screw; 210, rolling bearing; 211, first extending wire rope; 212, first guide pulley; 213, first retracting wire rope; 214, second guide pulley Slide; 215, second extending wire rope; 216, third guide pulley; 217, second retracting wire rope; 218, fourth guide pulley; 219, arm plate; 220, right-angle connector; 221, long arm plate; 222, short arm plate; 223, first slider; 224, second slider; 225, third slider; 226, wire rope fixing seat; 261, first mounting block; 291, nut seat; 2611, hook; 31, second mounting block; 311, buckle. DETAILED DESCRIPTION

[0032] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] like Figures 1 to 9 As shown, the mining gas inspection device of the present invention comprises: a rubber-wheeled vehicle 1, an electric-driven mechanical arm 2, a gas sensor 3 and a controller 4. The electric-driven mechanical arm 2 is installed on the rubber-wheeled vehicle 1, and the electric-driven mechanical arm 2 can be extended and retracted in the vertical direction; the gas sensor 3 is installed on the top of the electric-driven mechanical arm 2 to detect the gas concentration; the controller 4 is installed on the rubber-wheeled vehicle 1, and the controller 4 can control the extension and retraction of the electric-driven mechanical arm 2, and the gas sensor 3 wirelessly transmits the collected gas concentration data to the controller 4.

[0036] It should be noted that the rubber-wheeled vehicle 1 can move underground with the gas sensor 3, can adapt to the complex terrain underground, and will not be restricted by the layout of the underground track. The rubber-wheeled vehicle 1 can move along the path of the position that needs to be detected. The electric-driven mechanical arm 2 is retractable and can drive the gas sensor 3 to change the detection height. The gas concentration data collected by the gas sensor 3 is sent to the controller 4 in real time by wireless transmission, and then transmitted to the display terminal by the controller 4. The gas inspection device of the present invention does not need to be deployed in large numbers in the underground, which can save deployment costs and maintenance costs; it can also adapt to the complex and changeable terrain underground, and the detection flexibility is higher.

[0037] Specifically, the electric drive mechanical arm 2 includes: a bottom mounting plate 21, a first arm 22, a second arm 23, a third arm 24, a fourth arm 25 and a top mounting plate 26, wherein the bottom mounting plate 21 is fixed on the rubber-wheeled vehicle 1, the first arm 22 is connected to the bottom mounting plate 21, the second arm 23 is movably connected to the first arm 22, the third arm 24 is movably connected to the second arm 23, the fourth arm 25 is movably connected to the third arm 24, the top mounting plate 26 is connected to the top of the fourth arm 25, and the gas sensor 3 is fixed on the top mounting plate 26. The second arm 23, the third arm 24 and the fourth arm 25 can be synchronously extended and retracted, thereby driving the gas sensor 3 to reach a specified height for detection. Among them, the inner diameter of the first arm 22> the inner diameter of the second arm 23> the inner diameter of the third arm 24> the inner diameter of the fourth arm 25. The cross-sectional shapes of the four arms are all square. When the electric-drive robot arm 2 is in the fully retracted state, the fourth arm 25 is located inside the third arm 24 , the third arm 24 is located inside the second arm 23 , and the second arm 23 is located inside the first arm 22 .

[0038] Specifically, the top mounting plate 26 is fixedly connected to the top of the fourth arm 25 by screws, and a first mounting block 261 is fixedly connected to the top mounting plate 26, and a hook 2611 is provided on the first mounting block 261. The gas sensor 3 is fixed on the second mounting block 31, and a buckle 311 is provided on the second mounting block 31. During installation, the step surface of the second mounting block 31 is fitted with the step surface of the first mounting block 261, and then the buckle 311 is clamped with the hook 2611 to achieve the fixation of the gas sensor 3 and the electric drive mechanical arm 2. Since the gas sensor 3 needs to be taken down for charging after being used for a period of time, this installation structure facilitates the disassembly and assembly of the gas sensor 3.

[0039] The electric drive mechanical arm 2 also includes: a servo motor 27, a right angle reducer 28 and a ball screw 29. The servo motor 27 is installed vertically on the side wall of the first section arm 22 and penetrates the side wall. The right angle reducer 28 and the ball screw 29 are both installed inside the first section arm 22. One end of the ball screw 29 is connected to the servo motor 27 through the right angle reducer 28. The second section arm 23 is connected to the nut seat 291 on the ball screw 29. The other end of the ball screw 29 is connected to the inner wall of the fourth section arm 25 through the rolling bearing 210. When the servo motor 27 is working, it can drive the ball screw 29 to rotate, thereby driving the nut seat 291 to do linear motion to achieve the extension and retraction of the second section arm 22. Since the other end of the ball screw 29 is in a free state, the rolling bearing 210 can prevent the top of the ball screw 29 from shaking, which is conducive to improving the stability of the mechanical arm when it is extended and retracted.

[0040] The electric drive robot arm 2 also includes: a first extending wire rope 211 and a first retracting wire rope 213, one end of the first extending wire rope 211 is fixed to the outer wall of the right-angle reducer 28, and the other end is fixed to the bottom end of the side wall of the third section arm 24, the middle part of the first extending wire rope 211 is wound around the first guide pulley 212, and the first guide pulley 212 is installed at the top end of the side wall of the second section arm 23. One end of the first retracting wire rope 213 is fixed to the top end of the side wall of the first section arm 22, and the other end is fixed to the bottom end of the side wall of the third section arm 24, the middle part of the first retracting wire rope 213 is wound around the second guide pulley 214, and the second guide pulley 214 is installed at the bottom end of the side wall of the second section arm 23.

[0041] For example, one end of the first extending wire rope 211 is fixed to the outer wall of the right-angle reducer 28 through the wire rope fixing seat 226, and the other end is fixed to the bottom end of the side wall of the third section arm 24 through the wire rope fixing seat 226. Since the first guide pulley 212 is installed at the top of the inner wall of the second section arm 23, when the second section arm 23 is extended, the first guide pulley 212 moves with the second section arm 23. Since the position of the right-angle reducer 28 is fixed, when the first guide pulley 212 moves upward, the third section arm 24 will move upward and extend under the traction of the first extending wire rope 211. For example, one end of the first retracting wire rope 213 is fixed to the top of the inner wall of the first section arm 22 through the wire rope fixing seat 226, and the other end is fixed to the bottom end of the outer wall of the third section arm 24 through the wire rope fixing seat 226. The second guide pulley 214 is fixed to the bottom end of the second section arm 23. When the second boom 23 is retracted downward, the second guide pulley 214 will also move downward together. When the second guide pulley 214 moves downward, the third boom 24 will move downward and retract under the traction of the first retraction wire rope 213 .

[0042] The electric drive robot arm 2 further includes: a second extending wire rope 215 and a second retracting wire rope 217, one end of the second extending wire rope 215 is fixed to the nut seat 291 of the ball screw 29, and the other end is fixed to the bottom end of the side wall of the fourth section arm 25, the middle part of the second extending wire rope 215 is wound around the third guide pulley 216, and the third guide pulley 216 is installed at the top end of the side wall of the third section arm 24. One end of the second retracting wire rope 217 is fixed to the top end of the side wall of the second section arm 23, and the other end is fixed to the bottom end of the side wall of the fourth section arm 25, the middle part of the second retracting wire rope 217 is wound around the fourth guide pulley 218, and the fourth guide pulley 218 is installed at the bottom end of the side wall of the third section arm 24.

[0043] For example, one end of the second extending wire rope 215 is fixed to the nut seat 291 through the wire rope fixing seat 226, and the other end of the second extending wire rope 215 is fixed to the bottom end of the outer wall of the fourth section arm 25 through the wire rope fixing seat 226. The third guide pulley 216 is installed at the top end of the inner wall of the third section arm 24. When the third section arm 24 is extended, the third guide pulley 216 will also move upward together, and when the third guide pulley 216 moves upward, the fourth section arm 25 will also move upward and extend under the traction of the second extending wire rope 215. One end of the second retracting wire rope 217 is fixed to the top end of the inner wall of the second section arm 23 through the wire rope fixing seat 226, and the other end of the second retracting wire rope 217 is fixed to the bottom end of the outer wall of the fourth section arm 25 through the wire rope fixing seat 226, and the fourth guide pulley 218 is installed at the bottom end of the side wall of the third section arm 24. When the third boom 24 is retracted downward, the fourth guide pulley 218 will also move downward. When the fourth guide pulley 218 moves downward, under the traction of the second retracting wire rope 217, the fourth boom 25 can also move downward and retract.

[0044] That is to say, with the cooperation of the ball screw 29, multiple steel wire ropes, and multiple guide pulleys, the deployment and retraction of the electrically driven mechanical arm 2 are realized. Compared with other existing driving methods, the technical solution of the present invention makes full use of the spatial structure of the mechanical arm itself, improves the compactness of the structure, is conducive to reducing the overall size and volume of the mechanical arm, and saves costs.

[0045] Specifically, the first section arm 22, the second section arm 23, and the third section arm 24 are all spliced ​​together by four arm plates 219, and two adjacent arm plates 219 are fixed by right-angle connectors 220. The four arm plates 219 are spliced ​​together to form a cubic structure, and a right-angle connector 220 is placed at the connection between two mutually perpendicular arm plates 219, and then the two arm plates 219 are fixed to the two ends of the right-angle connector 220 with two screws. The first section arm 22, the second section arm 23, and the third section arm 24 adopt such a structure and splicing method, which is convenient for installing components inside the robot arm, especially for assembling steel wire ropes, and improves the convenience of assembly. The fourth section arm 25 is spliced ​​together by two long arm plates 221 and two short arm plates 222, and the short arm plate 221 is pressed between the two long arm plates 222 and fixed with screws. Since the ball screw 29 is inserted into the fourth arm 25 , the fourth arm 25 adopts such a structure and splicing method to ensure that there are no protruding parts inside the fourth arm 25 and to ensure that the fourth arm 25 and the rolling bearing 210 can slide relative to each other.

[0046] Specifically, a first slider 223 is provided at the top of the first arm 22, a second slider 224 is provided at the top of the second arm 23, and a third slider 225 is provided at the top of the third arm 24. The first slider 223 and the second arm 23 are slidably matched, the second slider 224 and the third arm 24 are slidably matched, and the third slider 225 and the fourth arm 25 are slidably matched. It should be noted that there are four first sliders 223, which are respectively arranged on the inner side of the top of the four arm plates 219, that is, the four first sliders 223 are arranged around the second arm 23, and the first slider 223 fits the arm plate 219 of the second arm 23, which can play a guiding role and a sealing role. There are also four second sliders 224 and three sliders 225, and the arrangement method and the role they play are similar to those of the first slider 223. The top end of the fourth arm 25 is connected to the top mounting plate 26. When the electric-driven mechanical arm 2 is in a fully retracted state, the top mounting plate 26 fits with the top end of the first arm 22 to achieve sealing of the entire electric-driven mechanical arm 2. In other words, the electric-driven mechanical arm 2 has a double sealing structure, one is that the arms are sealed by the slider, and the other is that the whole is sealed by the top mounting plate, which can effectively prevent dust and impurities in the underground environment from entering the mechanical arm and affecting the normal operation and service life of the mechanical arm.

[0047] In summary, the mine gas inspection device of the present invention, the rubber-wheeled vehicle 1 can move underground with the gas sensor 3, can adapt to the complex terrain underground, will not be restricted by the underground track layout, and the rubber-wheeled vehicle 1 can move along the path of the position to be detected. The electric-driven mechanical arm 2 is retractable and can drive the gas sensor 3 to change the detection height. The gas concentration data collected by the gas sensor 3 is sent to the controller 4 in real time by wireless transmission, and then transmitted to the display terminal by the controller 4. With the gas inspection device of the present invention, there is no need to lay a large number of gas sensors underground, which can save the cost of laying and maintenance; it can also adapt to the complex and changeable terrain underground, and the detection flexibility is higher. By improving the structure of the electric-driven mechanical arm 2, the synchronous extension and retraction of each section arm is realized by using the ball screw 29 combined with the steel wire rope driving method, which can greatly improve the structural compactness of the mechanical arm; the rolling bearing 210 at the top of the ball screw 29 is used to slide with the fourth section arm 25, which can reduce the shaking of the head of the ball screw 29 and improve the stability of the extension and retraction of the mechanical arm. Each section of the arm adopts a box splicing method, which can improve the convenience of internal component assembly; the double sealing method can effectively prevent dust from entering the interior of the robotic arm and ensure the normal operation of the robotic arm.

[0048] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A mining gas inspection device, characterized in that: include: Rubber-wheeled vehicle (1), and An electrically driven mechanical arm (2), the electrically driven mechanical arm (2) being mounted on the rubber-wheeled vehicle (1), and the electrically driven mechanical arm (2) being capable of extending and retracting in a vertical direction; A gas sensor (3), the gas sensor (3) being mounted on the top of the electrically driven mechanical arm (2) and being used to detect gas concentration; A controller (4), wherein the controller (4) is installed on the rubber-wheeled vehicle (1), and the controller (4) is capable of controlling the extension and retraction of the electric-driven mechanical arm (2), and the gas sensor (3) wirelessly transmits the collected gas concentration data to the controller (4).

2. The mining gas inspection device according to claim 1, characterized in that: The electrically driven mechanical arm (2) comprises: a bottom mounting plate (21), a first arm section (22), a second arm section (23), a third arm section (24), a fourth arm section (25) and a top mounting plate (26); the bottom mounting plate (21) is fixed on the rubber-wheeled vehicle (1); the first arm section (22) is connected to the bottom mounting plate (21); the second arm section (23) is movably connected to the first arm section (22); the third arm section (24) is movably connected to the second arm section (23); the fourth arm section (25) is movably connected to the third arm section (24); the top mounting plate (26) is connected to the top end of the fourth arm section (25); and the gas sensor (3) is fixed to the top mounting plate (26).

3. The mining gas inspection device according to claim 2, characterized in that: When the electrically driven mechanical arm (2) is in a fully retracted state, the fourth arm section (25) is located inside the third arm section (24), the third arm section (24) is located inside the second arm section (23), and the second arm section (23) is located inside the first arm section (22).

4. The mining gas inspection device according to claim 2, characterized in that: The electrically driven mechanical arm (2) further comprises: a servo motor (27), a right-angle reducer (28) and a ball screw (29); the servo motor (27) is installed vertically on the side wall of the first section arm (22) and penetrates the side wall; the right-angle reducer (28) and the ball screw (29) are both installed inside the first section arm (22); one end of the ball screw (29) is connected to the servo motor (27) via the right-angle reducer (28); the second section arm (23) is connected to a nut seat (291) on the ball screw (29); and the other end of the ball screw (29) is connected to the inner wall of the fourth section arm (25) via a rolling bearing (210).

5. The mining gas inspection device according to claim 4, characterized in that: The electrically driven mechanical arm (2) further comprises: A first extending steel wire rope (211), one end of the first extending steel wire rope (211) is fixed to the outer wall of the right-angle reducer (28), and the other end is fixed to the bottom end of the side wall of the third section arm (24), the middle part of the first extending steel wire rope (211) is wound around the first guide pulley (212), and the first guide pulley (212) is installed on the top end of the side wall of the second section arm (23); A first retractable steel wire rope (213), one end of which is fixed to the top end of the side wall of the first section arm (22), and the other end is fixed to the bottom end of the side wall of the third section arm (24), the middle part of the first retractable steel wire rope (213) is wound around a second guide pulley (214), and the second guide pulley (214) is installed at the bottom end of the side wall of the second section arm (23).

6. The mining gas inspection device according to claim 4, characterized in that: The electrically driven mechanical arm (2) further comprises: A second extending steel wire rope (215), one end of which is fixed to the nut seat (291) of the ball screw (29), and the other end of which is fixed to the bottom end of the side wall of the fourth arm (25), and the middle part of the second extending steel wire rope (215) is wound around the third guide pulley (216), and the third guide pulley (216) is installed on the top end of the side wall of the third arm (24); A second retractable steel wire rope (217), one end of which is fixed to the top end of the side wall of the second boom (23), and the other end of which is fixed to the bottom end of the side wall of the fourth boom (25); a middle portion of the second retractable steel wire rope (217) is wound around a fourth guide pulley (218), and the fourth guide pulley (218) is installed at the bottom end of the side wall of the third boom (24).

7. The mining gas inspection device according to claim 2, characterized in that: The first arm section (22), the second arm section (23) and the third arm section (24) are all formed by splicing four arm plates (219), and two adjacent arm plates (219) are fixed by a right-angle connector (220).

8. The mining gas inspection device according to claim 2, characterized in that: The fourth arm section (25) is formed by splicing two long arm plates (221) and two short arm plates (222); the short arm plate (221) is pressed between the two long arm plates (222) and fixed with screws.

9. The mining gas inspection device according to claim 2, characterized in that: A first slider (223) is provided at the top of the first arm (22), a second slider (224) is provided at the top of the second arm (23), and a third slider (225) is provided at the top of the third arm (24); the first slider (223) and the second arm (23) are slidably matched, the second slider (224) and the third arm (24) are slidably matched, and the third slider (225) and the fourth arm (25) are slidably matched.

10. The mining gas inspection device according to claim 3, characterized in that: When the electrically driven mechanical arm (2) is in a fully retracted state, the top mounting plate (26) fits against the top end of the first section arm (22).

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