Inspection robot for mining

Abstract

The invention discloses an inspection robot for mining, and relates to the technical field of inspection robots, the inspection robot comprises a robot main body, a main probe, a side probe and front wheels symmetrically and fixedly mounted on one side of the bottom of the robot main body, rear wheels are mounted on the other side of the bottom of the robot main body, and a top plate is fixedly connected to the top of the robot main body; a driving device and an alarm device are mounted on one side of the top of the top plate, the driving device is used for driving the rear wheels, a mounting plate is fixedly connected to the middle of the top of the top plate, the two side probes are symmetrically arranged, a detection mechanism is arranged on one side of the top of the top plate, and a cleaning mechanism is arranged on one side of the mounting plate. The middle of the top of the mounting plate is fixedly connected with a lower rod, and the problems that the inspection angle range of the device is limited, the inspection efficiency is not high, and the inspection quality is affected due to the fact that a camera lens is easily polluted due to much smoke dust in a mining area are solved.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to an inspection robot used for mining. Background Art

[0002] Inspection robots can replace or assist humans in performing inspection, patrol, security and other tasks. They can follow path planning and work requirements. Inspection robots are often used in mining operations.

[0003] For example, a patrol robot with the publication number CN112046633A includes: a vehicle body, a moving wheel is arranged at the bottom of the vehicle body; a moving mechanism, the moving mechanism is used to move the vehicle body along a preset route; an angle adjustment mechanism arranged on the vehicle body; a camera arranged on the angle adjustment mechanism, the angle adjustment mechanism can drive the camera to rotate to change its angle; a control unit, the control unit is connected to the mobile mechanism in communication, and a preset route can be designed according to the patrol demand. The function of the mobile mechanism enables the vehicle body to continuously move along the preset route to realize all-round patrol. In addition, the angle adjustment mechanism can drive the camera to rotate to change its angle, which is convenient for comprehensive patrol of the machine room, has strong applicability, effectively reduces the labor intensity of the monitoring personnel, and is more convenient for the personnel to monitor the machine room in real time. However, the device only performs patrol inspection through a single camera. When the camera rotates to one side, it is not convenient to detect the other side, so that the patrol angle range is limited, the patrol efficiency is not high, and due to the large amount of smoke and dust inside the mining area, it is also easy to cause pollution to the camera lens, thereby affecting the patrol quality.

[0004] Therefore, a patrol robot for mining is proposed to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection robot for mining, so as to solve the problems that the inspection angle range of the device is limited, the inspection efficiency is low, and due to the large amount of smoke and dust inside the mining area, it is easy to cause pollution to the camera lens, thereby affecting the inspection quality.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a patrol robot for mining, comprising a robot body, a main probe, a side probe and a front wheel symmetrically fixedly installed on one side of the bottom of the robot body, a rear wheel is installed on the other side of the bottom of the robot body, a top plate is fixedly connected to the top of the robot body, a driving device and an alarm device are installed on one side of the top of the top plate, and the driving device is used to drive the rear wheel; Also includes: A mounting plate is fixedly connected to the middle of the top of the top plate, two side probes are symmetrically arranged, a detection mechanism is arranged on one side of the top of the top plate, a cleaning mechanism is arranged on one side of the mounting plate, a lower rod is fixedly connected to the middle of the top of the mounting plate, and the main probe is installed on the top of the lower rod; The detection mechanism includes a rotating rod, the two ends of the rotating rod are respectively fixedly installed with the two front wheels, the outer side of the middle part of the rotating rod is fixedly connected with a main pulley, the outer side of the main pulley is wound with a belt, a fixing plate is symmetrically fixedly connected to one side of the top of the top plate, a reciprocating screw rod is rotatably connected to the inner side of the fixing plate, a connecting plate is symmetrically installed on the top of the top plate, and the reciprocating screw rod is fixedly connected to a connecting shaft through the connecting plate; The side where the two connecting shafts are close to each other is fixedly connected with a same secondary pulley, the secondary pulley is adaptively connected with the belt, the outer side of the reciprocating screw rod is sleeved with an adjustment sleeve, the bottom of the adjustment sleeve is fixedly connected with a limit block, the adjustment sleeve is threadedly connected with the reciprocating screw rod, and the top of the adjustment sleeve is fixedly connected with a push plate; The top of the mounting plate is symmetrically fixedly connected with a fixed rail, the interior of the fixed rail is slidably connected with a rack, one end of the rack is fixedly connected with an inclined block, the inclined surface of the inclined block abuts against the push plate, the top of the mounting plate is symmetrically installed with a bottom rod, and the side probe is fixedly installed on the top of the bottom rod; A gear is fixedly connected to the outer side of the bottom rod, and the gear is meshed with a rack. A baffle is fixedly connected to the top of the mounting plate away from the main probe, a return spring is installed between the rack and the baffle, and scraping plates are symmetrically installed on the front and rear sides of the top of the mounting plate. The cleaning mechanism includes a connecting rod and a rotating plate, the connecting rod is rotatably connected to the lower rod, the rotating plate is fixedly connected to the connecting rod, the rotating plate is located on the front side of the main probe, and the cleaning mechanism also includes a left connecting rod and a right connecting rod.

[0007] Preferably, a lower cover is fixedly connected to one side of the bottom of the robot body, the lower cover covers the outer side of the lower belt, the two connecting plates are located on the inner side of the two fixed plates, and the bottom of the connecting plate is fixedly connected to the top plate.

[0008] By adopting the above technical solution, the connecting plate is used to support the connecting shaft and the reciprocating screw rod, so that the connecting shaft and the reciprocating screw rod are driven to rotate by the pulley.

[0009] Preferably, an upper cover body is fixedly connected to the top of the top plate, the upper cover body is located on the outside of the upper belt, and the adjustment sleeve is located between the fixed plate and the connecting plate.

[0010] By adopting the above technical solution, the upper cover is used to protect the belt and reduce damage to the belt.

[0011] Preferably, the top of the top plate is symmetrically provided with limiting grooves, the limiting grooves are located below the limiting blocks, and the limiting blocks are slidably connected to the limiting grooves.

[0012] By adopting the above technical solution, the limiting block slides in the limiting groove to limit the adjusting sleeve, so that when the reciprocating screw rod rotates, the adjusting sleeve reciprocates.

[0013] Preferably, the rack is located between the gear and the fixed rail, the bottom end of the bottom rod is rotatably connected to the mounting plate, and the two ends of the return spring are fixedly connected to the baffle and the rack respectively.

[0014] By adopting the above technical solution, when the adjusting sleeve moves, it will drive the pushing plate to squeeze the inclined surface of the inclined block. The inclined block is squeezed and drives the rack to move toward the baffle. The rack compresses the reset spring, so that the reset spring assists the reset of the rack and the adjusting sleeve.

[0015] Preferably, a gauze layer is fixedly connected to one side of the scraping plate close to the fixed rail, and the gauze layer is located on the arc track of the lens head of the side probe, and the number of the scraping plates is the same as that of the side probes.

[0016] By adopting the above technical solution, when the side probe is swung to the maximum angle, it will contact the scraper plate, and the scraper plate will scrape and clean the lens of the side probe, thereby reducing the dirt on the lens of the side probe.

[0017] Preferably, a cleaning layer is fixedly connected to the upper portion of one side of the rotating plate close to the main probe, one end of the left connecting rod is fixedly connected to the pushing plate on one side, and one end of the right connecting rod is fixedly connected to the pushing plate on the other side.

[0018] By adopting the above technical solution, the movement of the push plate on one side drives the movement of the left connecting rod, and the movement of the push plate on the other side drives the movement of the right connecting rod.

[0019] Preferably, a lower sleeve is installed at the other end of the left connecting rod, and the lower sleeve is sleeved on the outer side of the rotating plate. An upper sleeve is installed at the other end of the right connecting rod, and the upper sleeve is slidably connected to the rotating plate.

[0020] By adopting the above technical solution, when the two pushing plates are close to each other, the upper sleeve and the lower sleeve are away from each other, and can drive the rotating plate to rotate with the connecting rod as the axis, and the rotating plate drives the cleaning layer to rotate, and the cleaning layer cleans the lens of the main probe.

[0021] Preferably, the connecting rod is located below the main probe, the left connecting rod is rotatably connected to the lower sleeve, the right connecting rod is rotatably connected to the upper sleeve, and the upper sleeve is located above the lower sleeve.

[0022] By adopting the above technical solution, when the two push plates move away from each other, the rotating plate will rotate in the opposite direction, thereby realizing intermittent cleaning of the main probe lens.

[0023] Compared with the prior art, the invention has the following beneficial effects: a detection mechanism and a cleaning mechanism are provided, and when the robot body moves forward, the detection range is increased, the detection blind spots are reduced, and the detection efficiency is improved through the front detection of the main probe and the side detection of the side probes on both sides, and at the same time, it is convenient to clean the lenses of the main probe and the side probes, reducing the adhesion of smoke and dust and improving the detection effect; 1. A detection mechanism is provided. The robot body drives the rear wheel to rotate through the driving device, and the front wheel rotates auxiliaryly. The rotation of the front wheel drives the rotating rod and the main pulley to rotate. The main pulley drives the slave pulley to rotate through the belt, and the slave pulley drives the connecting shaft and the reciprocating screw to rotate. The limit block slides in the limit groove to limit the adjustment sleeve, so that when the reciprocating screw rotates, the adjustment sleeve moves back and forth, and the reciprocating screw threads on both sides are in opposite directions, so that the adjustment sleeves on both sides will approach or move away at the same time. When the adjustment sleeve moves, it will drive the push plate to squeeze the inclined surface of the inclined block. The inclined block is squeezed and drives the rack to move in the direction of the baffle, and the rack The reset spring is compressed, and the rack drives the meshing gear to rotate. The rotation of the gear drives the bottom rod to rotate, and the bottom rod drives the top side probe to rotate. When the side probe swings to the maximum angle, it will contact the scraper plate. The scraper plate scrapes and cleans the lens of the side probe, reducing the dirt on the lens of the side probe. When the adjustment sleeve is reset, the elastic force of the reset spring drives the rack to reset and move, and the rack drives the gear to reverse, so that the side probe is reset, thereby realizing the reciprocating swing inspection of the side probe. Through the front detection of the main probe and the side detection of the side probes on both sides, the detection range is increased, the detection blind angle is reduced, and the detection efficiency is improved. 2. A cleaning mechanism is provided. The movement of the push plate on one side will drive the movement of the left connecting rod, and the movement of the push plate on the other side will drive the movement of the right connecting rod. When the two push plates are close to each other, the left connecting rod and the right connecting rod are close to each other, and the left connecting rod drives the lower sleeve to slide on the rotating plate, and the right connecting rod drives the upper sleeve to slide on the rotating plate. The upper sleeve and the lower sleeve are away from each other at this time, and can drive the rotating plate to rotate with the connecting rod as the axis. The rotating plate drives the cleaning layer to rotate, and the cleaning layer cleans the lens of the main probe. Similarly, when the two push plates are away from each other, the rotating plate will rotate in the opposite direction, thereby realizing intermittent cleaning of the main probe lens, solving the problem that the inspection angle range of the device is limited, the inspection efficiency is low, and due to the large amount of smoke and dust inside the mining area, it is also easy to cause pollution to the camera lens, thereby affecting the inspection quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the first three-dimensional overall structure of the present invention; Figure 2 It is a schematic diagram of a second three-dimensional overall structure of the present invention; Figure 3 This is a schematic diagram of the front wheel installation structure of the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5 For the present invention Figure 3 The enlarged structural diagram at B in the middle; Figure 6 This is a schematic diagram of the baffle installation structure of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at C in the middle; Figure 8 This is a schematic diagram of the angle adjustment of the side probe of the present invention; Fig. 9 This is a schematic diagram of the rack installation structure of the present invention; Fig.10 For the present invention Fig. 9 Enlarged structural diagram at point D in the middle.

[0025] In the figure: 1, robot body; 2, front wheel; 3, rear wheel; 4, top plate; 5, driving device; 6, mounting plate; 7, detection mechanism; 71, rotating rod; 72, main pulley; 73, belt; 74, lower cover; 75, fixing plate; 76, reciprocating screw rod; 77, connecting plate; 78, connecting shaft; 79, secondary pulley; 710, upper cover; 711, adjusting sleeve; 712, limit groove; 713, limit block; 714, push Moving plate; 715, inclined block; 716, fixed rail; 717, rack; 718, bottom rod; 719, gear; 720, baffle; 721, return spring; 722, scraper plate; 8, cleaning mechanism; 81, connecting rod; 82, rotating plate; 83, cleaning layer; 84, left connecting rod; 85, lower casing; 86, right connecting rod; 87, upper casing; 9, alarm device; 10, main probe; 11, side probe; 12, lower rod. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 10 The present invention provides a technical solution: a patrol robot for mining, comprising a robot body 1, a main probe 10, a side probe 11 and a front wheel 2 symmetrically fixedly installed on one side of the bottom of the robot body 1, a rear wheel 3 is installed on the other side of the bottom of the robot body 1, a top plate 4 is fixedly connected to the top of the robot body 1, a driving device 5 and an alarm device 9 are installed on one side of the top of the top plate 4, and the driving device 5 is used to drive the rear wheel 3.

[0028] A mounting plate 6 is fixedly connected to the middle of the top of the top plate 4 . Two side probes 11 are symmetrically arranged. A lower rod 12 is fixedly connected to the middle of the top of the mounting plate 6 . The main probe 10 is installed on the top of the lower rod 12 .

[0029] A detection mechanism 7 is provided on one side of the top of the top plate 4, and the detection mechanism 7 includes a rotating rod 71, and the two ends of the rotating rod 71 are respectively fixedly installed with the two front wheels 2, a main pulley 72 is fixedly connected to the outer side of the middle part of the rotating rod 71, and a belt 73 is wound around the outer side of the main pulley 72, a fixing plate 75 is symmetrically fixedly connected to one side of the top of the top plate 4, and a reciprocating screw rod 76 is rotatably connected to the inner side of the fixing plate 75, and a connecting plate 77 is symmetrically installed on the top of the top plate 4, and the reciprocating screw rod 76 passes through the connecting plate 77 and is fixedly connected to a connecting shaft 78.

[0030] A lower cover 74 is fixedly connected to one side of the bottom of the robot body 1 , and the lower cover 74 covers the outer side of the lower belt 73 . Two connecting plates 77 are located on the inner side of the two fixing plates 75 , and the bottom of the connecting plate 77 is fixedly connected to the top plate 4 .

[0031] The side where the two connecting shafts 78 are close to each other is fixedly connected with the same pulley 79, and the pulley 79 is adaptably connected to the belt 73. An adjusting sleeve 711 is sleeved on the outer side of the reciprocating screw rod 76, and the bottom of the adjusting sleeve 711 is fixedly connected to a limiting block 713. The adjusting sleeve 711 is threadedly connected to the reciprocating screw rod 76, and the top of the adjusting sleeve 711 is fixedly connected to a pushing plate 714.

[0032] The top of the top plate 4 is fixedly connected with an upper cover body 710, the upper cover body 710 is located on the outside of the upper belt 73, the adjustment sleeve 711 is located between the fixed plate 75 and the connecting plate 77, and the top of the top plate 4 is symmetrically provided with limiting grooves 712, the limiting grooves 712 are located below the limiting blocks 713, and the limiting blocks 713 are slidably connected to the limiting grooves 712.

[0033] A fixed rail 716 is symmetrically fixedly connected to the top of the mounting plate 6, a rack 717 is slidably connected inside the fixed rail 716, an inclined block 715 is fixedly connected to one end of the rack 717, the inclined surface of the inclined block 715 abuts against the push plate 714, a bottom rod 718 is symmetrically installed on the top of the mounting plate 6, and the side probe 11 is fixedly installed on the top of the bottom rod 718.

[0034] A gear 719 is fixedly connected to the outer side of the bottom rod 718, and the gear 719 is meshed with the rack 717. A baffle 720 is fixedly connected to the side of the top of the mounting plate 6 away from the main probe 10, and a return spring 721 is installed between the rack 717 and the baffle 720. Scraper plates 722 are symmetrically installed on the front and rear sides of the top of the mounting plate 6.

[0035] The rack 717 is located between the gear 719 and the fixed rail 716 , the bottom end of the bottom rod 718 is rotatably connected to the mounting plate 6 , and the two ends of the return spring 721 are fixedly connected to the baffle 720 and the rack 717 , respectively.

[0036] A gauze layer is fixedly connected to one side of the scraping plate 722 close to the fixed rail 716 , and the gauze layer is located on the arc track of the lens head of the side probe 11 . The number of the scraping plates 722 is the same as that of the side probe 11 .

[0037] Embodiment 1: Figure 1-Figure 8 As shown, a detection mechanism 7 is provided, the robot body 1 drives the rear wheel 3 to rotate through the driving device 5, and the front wheel 2 assists in rotation. The rotation of the front wheel 2 drives the rotating rod 71 and the main pulley 72 to rotate, and the main pulley 72 drives the slave pulley 79 to rotate through the belt 73, and the slave pulley 79 drives the connecting shaft 78 and the reciprocating screw 76 to rotate. The limit block 713 slides in the limit groove 712 and is used to limit the adjustment sleeve 711, so that when the reciprocating screw 76 rotates, the adjustment sleeve 711 reciprocates, and the thread directions of the reciprocating screws 76 on both sides are opposite, so that the adjustment sleeves 711 on both sides will approach or move away at the same time.

[0038] When the adjustment sleeve 711 moves, it will drive the push plate 714 to squeeze the inclined surface of the inclined block 715. The inclined block 715 is squeezed and drives the rack 717 to move in the direction of the baffle 720. The rack 717 compresses the reset spring 721, and the rack 717 drives the meshing gear 719 to rotate. The rotation of the gear 719 drives the bottom rod 718 to rotate, and the bottom rod 718 drives the top side probe 11 to rotate. When the side probe 11 swings to the maximum angle, it will contact the scraper plate 722. The scraper plate 722 scrapes and cleans the lens of the side probe 11, thereby reducing the dirt on the lens of the side probe 11.

[0039] When the adjustment sleeve 711 is reset, the elastic force of the reset spring 721 drives the rack 717 to reset and move, and the rack 717 drives the gear 719 to reverse, so that the side probe 11 is reset, thereby realizing the reciprocating swing inspection of the side probe 11. Through the front detection of the main probe 10 and the side detection of the side probes 11 on both sides, the detection range is improved, the detection blind angle is reduced, and the detection efficiency is improved.

[0040] A cleaning mechanism 8 is provided on one side of the mounting plate 6, and the cleaning mechanism 8 includes a connecting rod 81 and a rotating plate 82. The connecting rod 81 is rotatably connected to the lower rod 12, and the rotating plate 82 is fixedly connected to the connecting rod 81. The rotating plate 82 is located on the front side of the main probe 10. The cleaning mechanism 8 also includes a left connecting rod 84 and a right connecting rod 86.

[0041] A cleaning layer 83 is fixedly connected to the upper portion of one side of the rotating plate 82 close to the main probe 10 , one end of the left connecting rod 84 is fixedly connected to one side pushing plate 714 , and one end of the right connecting rod 86 is fixedly connected to the other side pushing plate 714 .

[0042] A lower sleeve 85 is mounted on the other end of the left connecting rod 84 , and the lower sleeve 85 is sleeved on the outer side of the rotating plate 82 . An upper sleeve 87 is mounted on the other end of the right connecting rod 86 , and the upper sleeve 87 is slidably connected to the rotating plate 82 .

[0043] The connecting rod 81 is located below the main probe 10 , the left connecting rod 84 is rotatably connected to the lower sleeve 85 , the right connecting rod 86 is rotatably connected to the upper sleeve 87 , and the upper sleeve 87 is located above the lower sleeve 85 .

[0044] Embodiment 2: Figure 9-10 As shown, a cleaning mechanism 8 is provided, and the movement of the push plate 714 on one side drives the left connecting rod 84 to move, and the movement of the push plate 714 on the other side drives the right connecting rod 86 to move. When the two push plates 714 are close to each other, the left connecting rod 84 and the right connecting rod 86 are close to each other, and the left connecting rod 84 drives the lower sleeve 85 to slide on the rotating plate 82, and the right connecting rod 86 drives the upper sleeve 87 to slide on the rotating plate 82. The upper sleeve 87 and the lower sleeve 85 are away from each other at this time, and can drive the rotating plate 82 to rotate with the connecting rod 81 as the axis, and the rotating plate 82 drives the cleaning layer 83 to rotate, and the cleaning layer 83 cleans the lens of the main probe 10. Similarly, when the two push plates 714 are away from each other, the rotating plate 82 will rotate in the opposite direction, thereby realizing intermittent cleaning of the lens of the main probe 10, solving the problem that the inspection angle range of the device is limited, the inspection efficiency is not high, and due to the large amount of smoke and dust inside the mining area, it is also easy to cause pollution to the camera lens, thereby affecting the inspection quality.

[0045] Working principle: When using the device, first, Figure 1-Figure 10 As shown, the robot body 1 drives the rear wheel 3 to rotate through the driving device 5, and the front wheel 2 assists in rotation. The rotation of the front wheel 2 drives the rotating rod 71 and the main pulley 72 to rotate. The main pulley 72 drives the slave pulley 79 to rotate through the belt 73. The slave pulley 79 drives the connecting shaft 78 and the reciprocating screw 76 to rotate. The limit block 713 slides in the limit groove 712 to limit the adjustment sleeve 711, so that when the reciprocating screw 76 rotates, the adjustment sleeve 711 reciprocates, and the thread directions of the reciprocating screws 76 on both sides are opposite, so that the adjustment sleeves 711 on both sides will approach or move away at the same time.

[0046] When the adjustment sleeve 711 moves, it will drive the push plate 714 to squeeze the inclined surface of the inclined block 715. The inclined block 715 is squeezed and drives the rack 717 to move in the direction of the baffle 720. The rack 717 compresses the reset spring 721, and the rack 717 drives the meshing gear 719 to rotate. The rotation of the gear 719 drives the bottom rod 718 to rotate, and the bottom rod 718 drives the top side probe 11 to rotate. When the side probe 11 swings to the maximum angle, it will contact the scraper plate 722. The scraper plate 722 scrapes and cleans the lens of the side probe 11, thereby reducing the dirt on the lens of the side probe 11.

[0047] When the adjustment sleeve 711 is reset, the elastic force of the reset spring 721 drives the rack 717 to reset and move, and the rack 717 drives the gear 719 to reverse, so that the side probe 11 is reset, thereby realizing the reciprocating swing inspection of the side probe 11.

[0048] The movement of the pushing plate 714 on one side will drive the left connecting rod 84 to move, and the movement of the pushing plate 714 on the other side will drive the right connecting rod 86 to move. When the two pushing plates 714 are close to each other, the left connecting rod 84 and the right connecting rod 86 are close to each other, and the left connecting rod 84 drives the lower sleeve 85 to slide on the rotating plate 82, and the right connecting rod 86 drives the upper sleeve 87 to slide on the rotating plate 82. The upper sleeve 87 and the lower sleeve 85 are now away from each other and can drive the rotating plate 82 to rotate with the connecting rod 81 as the axis. The rotating plate 82 drives the cleaning layer 83 to rotate, and the cleaning layer 83 cleans the lens of the main probe 10. Similarly, when the two pushing plates 714 are away from each other, the rotating plate 82 will rotate in the opposite direction, thereby realizing intermittent cleaning of the lens of the main probe 10.

[0049] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0050] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A patrol robot for mining, comprising a robot body (1), a main probe (10), a side probe (11), and a front wheel (2) symmetrically fixedly mounted on one side of the bottom of the robot body (1); a rear wheel (3) is mounted on the other side of the bottom of the robot body (1); a top plate (4) is fixedly connected to the top of the robot body (1); a driving device (5) and an alarm device (9) are mounted on one side of the top of the top plate (4); the driving device (5) is used to drive the rear wheel (3); It is characterized in that Also includes: A mounting plate (6) is fixedly connected to the middle of the top of the top plate (4), two side probes (11) are symmetrically arranged, a detection mechanism (7) is arranged on one side of the top of the top plate (4), a cleaning mechanism (8) is arranged on one side of the mounting plate (6), a lower rod (12) is fixedly connected to the middle of the top of the mounting plate (6), and the main probe (10) is installed on the top of the lower rod (12); The detection mechanism (7) comprises a rotating rod (71), the two ends of the rotating rod (71) are respectively fixedly mounted on the two front wheels (2), the outer side of the middle part of the rotating rod (71) is fixedly connected to a main pulley (72), the outer side of the main pulley (72) is wound with a belt (73), a fixing plate (75) is symmetrically fixedly connected to one side of the top of the top plate (4), a reciprocating screw rod (76) is rotatably connected to the inner side of the fixing plate (75), a connecting plate (77) is symmetrically mounted on the top of the top plate (4), and the reciprocating screw rod (76) passes through the connecting plate (77) and is fixedly connected to a connecting shaft (78); A same secondary pulley (79) is fixedly connected to the adjacent side of the two connecting shafts (78), the secondary pulley (79) is adaptively connected to the belt (73), an adjustment sleeve (711) is sleeved on the outer side of the reciprocating screw rod (76), a limit block (713) is fixedly connected to the bottom of the adjustment sleeve (711), the adjustment sleeve (711) is threadedly connected to the reciprocating screw rod (76), and a push plate (714) is fixedly connected to the top of the adjustment sleeve (711); The top of the mounting plate (6) is symmetrically fixedly connected with a fixed rail (716), the interior of the fixed rail (716) is slidably connected with a rack (717), one end of the rack (717) is fixedly connected with an inclined block (715), the inclined surface of the inclined block (715) is in contact with the push plate (714), the top of the mounting plate (6) is symmetrically installed with a bottom rod (718), and the side probe (11) is fixedly installed on the top of the bottom rod (718); A gear (719) is fixedly connected to the outer side of the bottom rod (718), and the gear (719) is meshingly connected to the rack (717). A baffle (720) is fixedly connected to the top of the mounting plate (6) away from the main probe (10), and a return spring (721) is installed between the rack (717) and the baffle (720). Scraping plates (722) are symmetrically installed on the front and rear sides of the top of the mounting plate (6); The cleaning mechanism (8) comprises a connecting rod (81) and a rotating plate (82), wherein the connecting rod (81) is rotatably connected to the lower rod (12), and the rotating plate (82) is fixedly connected to the connecting rod (81), and the rotating plate (82) is located on the front side of the main probe (10). The cleaning mechanism (8) further comprises a left connecting rod (84) and a right connecting rod (86).

2. The inspection robot for mining according to claim 1, characterized in that: A lower cover (74) is fixedly connected to one side of the bottom of the robot body (1), and the lower cover (74) covers the outer side of the lower belt (73). The two connecting plates (77) are located on the inner side of the two fixing plates (75), and the bottom of the connecting plate (77) is fixedly connected to the top plate (4).

3. The inspection robot for mining according to claim 1, characterized in that: An upper cover body (710) is fixedly connected to the top of the top plate (4); the upper cover body (710) is located outside the upper belt (73); and the adjustment sleeve (711) is located between the fixed plate (75) and the connecting plate (77).

4. The inspection robot for mining according to claim 1, characterized in that: The top of the top plate (4) is symmetrically provided with limiting grooves (712), the limiting grooves (712) are located below the limiting blocks (713), and the limiting blocks (713) are slidably connected to the limiting grooves (712).

5. The inspection robot for mining according to claim 1, characterized in that: The rack (717) is located between the gear (719) and the fixed rail (716), the bottom end of the bottom rod (718) is rotatably connected to the mounting plate (6), and the two ends of the return spring (721) are respectively fixedly connected to the baffle (720) and the rack (717).

6. The inspection robot for mining according to claim 1, characterized in that: A gauze layer is fixedly connected to one side of the scraping plate (722) close to the fixed rail (716), and the gauze layer is located on an arc-shaped track at the top of the lens of the side probe (11). The number of the scraping plates (722) is the same as that of the side probe (11).

7. The inspection robot for mining according to claim 1, characterized in that: A cleaning layer (83) is fixedly connected to the upper portion of one side of the rotating plate (82) close to the main probe (10), one end of the left connecting rod (84) is fixedly connected to the pushing plate (714) on one side, and one end of the right connecting rod (86) is fixedly connected to the pushing plate (714) on the other side.

8. The inspection robot for mining according to claim 7, characterized in that: The other end of the left connecting rod (84) is provided with a lower sleeve (85), the lower sleeve (85) being sleeved on the outside of the rotating plate (82), and the other end of the right connecting rod (86) is provided with an upper sleeve (87), the upper sleeve (87) being slidably connected to the rotating plate (82).

9. The inspection robot for mining according to claim 8, characterized in that: The connecting rod (81) is located below the main probe (10), the left connecting rod (84) is rotatably connected to the lower sleeve (85), the right connecting rod (86) is rotatably connected to the upper sleeve (87), and the upper sleeve (87) is located above the lower sleeve (85).

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