Mining auxiliary transportation device

Abstract

The invention discloses a mining auxiliary transportation device which comprises a robot dog and a basket, the robot dog comprises a trunk, a first walking part and a second walking part, the first walking part is arranged below the trunk and can rotate between a vertical position and a horizontal position relative to the trunk, and the second walking part is arranged below the trunk and can rotate between a vertical position and a horizontal position relative to the trunk. The second walking part is arranged on the first walking part and can rotate around the length direction of the first walking part relative to the first walking part, the robot dog has a first state and a second state, in the first state, the first walking part is located at a vertical position and drives the trunk to move, and in the second state, the first walking part is located at a horizontal position and drives the trunk to move; the second walking part rotates to drive the trunk to move, and the basket is detachably arranged on the trunk and used for storing materials. The mining auxiliary transportation device has the advantages of being small in size, high in operation efficiency and the like.

Description

Technical Field

[0001] The invention relates to a walking robot dog device for assisting manpower transportation in underground coal mines, in particular to an auxiliary transportation device with automatic terrain recognition and automatic switching between walking and crawler tracks. Background Art

[0002] In the related technologies, my country's coal mine underground auxiliary transportation equipment mainly uses traditional wheeled vehicles, such as rubber-wheeled vehicles, mine cars and other electromechanical equipment. Traditional transportation equipment is large in size and has high requirements for roads. It needs to lay tracks or pave the road. When encountering narrow spaces and original gravel roads, personnel are still required to carry materials and accessories on their backs. The work intensity of personnel is high and the safety risks are high. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the present invention provides a mining auxiliary transportation device with convenient transportation and high transportation efficiency.

[0005] According to an embodiment of the present invention, the mining auxiliary transportation device includes: a robot dog, which includes a trunk, a first walking part and a second walking part, the first walking part is arranged below the trunk and the first walking part is rotatable between a vertical position and a horizontal position relative to the trunk, the second walking part is arranged on the first walking part and is rotatable around the length direction of the first walking part relative to the first walking part, the robot dog has a first state and a second state, in the first state, the first walking part is in a vertical position and the first walking part drives the trunk to move, in the second state, the first walking part is in a horizontal position, and the second walking part rotates to drive the trunk to move; a basket, the basket is detachably arranged on the trunk, and the basket is used to store materials.

[0006] The mining auxiliary transportation device in the embodiment of the present invention is provided with a robot dog and a basket, so that the robot dog transports materials in the tunnel. The robot dog transportation has low requirements on roads and does not require laying tracks or paving roads, thereby reducing the transportation cost of materials. The robot dog can automatically switch between the first state and the second state according to different road conditions, thereby ensuring the transportation efficiency of the robot dog and reducing the transportation cost of materials.

[0007] In some embodiments, the first walking member includes a first rod and a second rod, the first rod is arranged on the torso and is movable relative to the torso around the width direction of the torso, the first rod is rotatably connected to the second rod, and the second walking member is arranged on the first rod. In the first state, the second rod is in a vertical position and the first rod and the second rod drive the torso to walk, and in the second state, the second rod is in a horizontal state so that the second walking member drives the torso to walk.

[0008] In some embodiments, the second walking member includes a motor, a first wheel, a second wheel and a conveyor belt. The first wheel and the second wheel are both rotatably disposed on the first walking member and the first wheel and the second wheel are relatively arranged with an interval along the length direction of the first walking member. The conveyor belt is sleeved on the first wheel and the second wheel. The motor is disposed on the first walking member and is connected to the first wheel so that the motor drives the first wheel to rotate to drive the transmission rotation.

[0009] In some embodiments, the cross-sectional area of ​​the inner circumference of the basket gradually decreases from top to bottom, and the basket is detachably mounted on the trunk.

[0010] In some embodiments, there are multiple first walking members, and the multiple first walking members are all arranged below the torso and spaced apart along the circumference of the torso, and / or, there are multiple second walking members, and the multiple second walking members are arranged on the multiple first walking members in a one-to-one correspondence.

[0011] In some embodiments, the robot dog of the mining auxiliary transportation device also includes a head and a controller, wherein the head is arranged on one side of the torso and the controller is arranged inside the head, and the controller is connected to the first walking member and the second walking member so that the controller controls the operation of the first walking member and the second walking member.

[0012] In some embodiments, the mining auxiliary transportation device further includes an infrared obstacle avoidance sensor, which is disposed on the torso and is used to detect whether there is an obstacle in front of the robot dog.

[0013] In some embodiments, the mining auxiliary transportation device also includes a camera and a lighting device, both of which are arranged on the torso. The camera is used to collect the environment around the robot dog to provide information for the remote control walking and autonomous walking of the robot dog, and the lighting device is used to provide lighting for the camera.

[0014] In some embodiments, the mining auxiliary transportation device further includes a detection radar, which is disposed on the trunk and is used for real-time detection of terrain and road conditions.

[0015] In some embodiments, the mining auxiliary transportation device further includes a communication component, which is disposed on the trunk and is used for collecting voice or making voice broadcasts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of a mining auxiliary transportation device according to an embodiment of the present invention.

[0017] 100. Auxiliary transportation devices for mining;

[0018] 1. Robot dog; 11. Trunk; 12. First walking part; 121. First rod; 122. Second rod; 13. Second walking part; 131. First wheel; 132. Second wheel; 133. Conveyor belt; 14. Head; 2. Car basket; 3. Infrared obstacle avoidance sensor; 4. Camera; 5. Communication component. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0020] The following describes a mining auxiliary transportation device 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0021] like Figure 1 As shown, the mining auxiliary transportation device 100 according to an embodiment of the present invention includes a robot dog 1 and a vehicle basket 2 .

[0022] The robot dog 1 includes a trunk 11, a first walking member 12 and a second walking member 13. The first walking member 12 is arranged below the trunk 11 and can rotate between a vertical position and a horizontal position relative to the trunk 11. The second walking member 13 is arranged on the first walking member 12 and can rotate around the length direction of the first walking member 12 relative to the first walking member 12. The robot dog 1 has a first state and a second state. In the first state, the first walking member 12 is in a vertical position and the first walking member 12 drives the trunk 11 to move. In the second state, the first walking member 12 is in a horizontal position, and the second walking member 13 rotates to drive the trunk 11 to move.

[0023] Specifically, Figure 1As shown, the trunk 11 is the main structural part of the robot dog 1, which contains a power supply, a motor, a reducer, a steering gear and other walking power systems. The first walking member 12 is arranged below the trunk 11 and can rotate in the front-back direction. The second walking member 13 is arranged on the outer peripheral side of the first walking member 12. When on a gravel road surface, a railroad road surface, a puddle road surface, or a coal mud road surface, the robot dog 1 is in a first state, the first walking member 12 is in a vertical state, and the upper end of the first walking member 12 swings in the front-back direction, so that the first walking member 12 imitates the gait of a dog so that the robot dog 1 can more flexibly cross complex terrain. When on a flat road surface, a road surface with a certain slope, a muddy road surface, or a soft road surface, the robot dog 1 is in a second state, the first walking member 12 is in a horizontal position, so that the second walking member 13 contacts the road surface, and the second walking member 13 rotates to drive the robot dog 1 to move quickly in the lane, providing a more stable walking posture for the robot dog 1 and ensuring the operation efficiency of the robot dog 1.

[0024] The basket 2 is detachably mounted on the trunk 11 and is used to store materials. Thus, materials (such as coal, maintenance tools, etc.) are transported through the basket 2.

[0025] The mining auxiliary transportation device 100 of the embodiment of the present invention is provided with a robot dog 1 and a basket 2, so that the robot dog 1 can transport materials in the tunnel. The robot dog 1 has low requirements on roads for transportation, and there is no need to lay tracks or pave roads, thereby reducing the transportation cost of materials. In addition, the first walking part 12 and the second walking part 13 of the robot dog 1 are provided so that the robot dog 1 can automatically switch between the first state and the second state according to different road conditions, thereby ensuring the transportation efficiency of the robot dog 1. There is no need for personnel to carry materials, etc., which reduces the workload of personnel and reduces the transportation cost of materials.

[0026] In some embodiments, the first walking member 12 includes a first rod 121 and a second rod 122. The first rod 121 is disposed on the trunk 11 and is relative to the trunk 11 and is circumferentially spaced in the width direction of the trunk 11 (eg, Figure 1 The first rod 121 and the second rod 122 are rotatably connected, and the second walking member 13 is arranged on the first rod 121. In the first state, the second rod 122 is in a vertical position and the first rod 121 and the second rod 122 drive the trunk 11 to walk. In the second state, the second rod 122 is in a horizontal state so that the second walking member 13 drives the trunk 11 to walk. Specifically, Figure 1As shown, the upper end of the first rod 121 is hinged on the trunk 11 and connected to the motor in the robot dog 1, so that the motor drives the first rod 121 to rotate in the front-back direction, the upper end of the second rod 122 is hinged on the lower end of the first rod 121, and the second walking member 13 is arranged on the outer peripheral surface of the second rod 122. In the first state, the first rod 121 extends from top to bottom and tilts from right to left, the second rod 122 extends from top to bottom and tilts from left to right, and the lower end of the second rod 122 is supported on the ground. The tilt design of the first rod 121 and the second rod 122 during vertical walking makes the first walking member 12 more stable during walking, thereby ensuring the movement efficiency of the robot dog 1. In the second state, the first rod 121 and the second rod 122 are both substantially in a horizontal state.

[0027] In some embodiments, the second walking member includes a motor (not shown), a first wheel 131, a second wheel 132 and a conveyor belt 133. The first wheel 131 and the second wheel 132 are both rotatably disposed on the first walking member 12 and the first wheel 131 and the second wheel 132 are rotatably disposed along the length direction of the first walking member 12 (such as Figure 1 The conveyor belt 133 is mounted on the first wheel 131 and the second wheel 132, and the motor is mounted on the first walking member 12 and connected to the first wheel 131, so that the motor drives the first wheel 131 to rotate and drive the conveyor to rotate. Figure 1 As shown, the first wheel 131 is a driving wheel, and the second wheel 132 is a driven wheel. The first wheel 131 and the second wheel 132 are arranged at intervals along the extension direction of the second rod 122 and are both rotatably arranged on the second rod 122. The conveyor belt 133 is annular and is sleeved on the first wheel 131 and the second wheel 132. The motor is fixed on the second rod 122 and the output shaft of the motor is connected to the first wheel 131, so that the first wheel 131 is driven to rotate by the motor. When the robot dog 1 is in the second state, the second rod 122 is in a horizontal state, so that the conveyor belt 133 is in contact with the ground, so that the conveyor belt 133 drives the robot dog 1 to move smoothly on the ground.

[0028] In some embodiments, the cross-sectional area of ​​the inner circumference of the basket 2 gradually decreases from top to bottom, and the basket 2 is detachably mounted on the trunk 11. Figure 1 As shown, the basket 2 is made of high-strength steel to ensure the strength and durability of the basket 2 and adapt to the complex working environment underground in a coal mine. The inner circumference of the basket 2 is a funnel shape with a cross-sectional area that gradually decreases from top to bottom, so as to facilitate rapid loading of coal or other materials and reduce loading and unloading time. The basket 2 is installed on the trunk 11 of the robot dog 1 by quick buckles or other convenient fixing methods, which is convenient for loading and unloading and replacement. When heavier goods need to be transported, the basket 2 can be moved down as a whole, replaced with an empty basket 2, and then other materials can be loaded to improve work efficiency.

[0029] In some embodiments, there are multiple first walking members 12, and the multiple first walking members 12 are all arranged below the trunk 11 and spaced apart along the circumference of the trunk 11, and / or, there are multiple second walking members 13, and the multiple second walking members 13 are arranged on the multiple first walking members 12 in a one-to-one correspondence. Figure 1 As shown, there are four first walking members 12, which are rotatably arranged under the trunk 11. The four first walking members 12 are divided into two groups. The two groups of first walking members 12 are spaced apart in the left-right direction, and each group of first walking members 12 includes two second walking members 13 spaced apart in the front-back direction. Thus, the robot dog 1 can run more stably. There are four second walking members 13, so that each first walking member 12 is provided with a second walking member 13, thereby ensuring the running efficiency and stability of the robot dog 1.

[0030] It is worth noting that the first walking member 12 of the robot dog 1 has the same structure as the walking member of the robot dog 1 in the prior art, and the present invention does not improve it, so the embodiment of the present invention will not be described in detail.

[0031] In some embodiments, the robot dog 1 further includes a head 14 and a controller (not shown in the figure), the head 14 is arranged on one side of the trunk 11 and the controller is arranged inside the head 14, and the controller is connected to the first walking member 12 and the second walking member 13 so that the controller controls the first walking member 12 and the second walking member 13 to work. Specifically, Figure 1 As shown, the head 14 is in the shape of a dog head and is fixedly mounted on the right side of the torso 11. The controller is mounted in the head 14, and the controller can communicate with the first walking member 12 and the second walking member 13. Thus, the first walking member 12 can be adjusted to work by the controller, or the second walking member 13 can be adjusted to work by the controller.

[0032] In some embodiments, the mining auxiliary transportation device 100 further includes an infrared obstacle avoidance sensor 3, which is disposed on the trunk 11 and is used to detect whether there is an obstacle in front of the robot dog 1. Specifically, Figure 1 As shown, the infrared obstacle avoidance sensor 3 is arranged on the right side of the torso 11. The infrared obstacle avoidance sensor 3 can be used to detect whether there is an obstacle in front of the robot dog 1. When the infrared obstacle avoidance sensor 3 detects an obstacle, the infrared obstacle avoidance sensor 3 transmits a signal to the controller. The controller will control the robot dog 1 to make corresponding decisions based on the received data, such as the robot dog 1 slowing down, turning or stopping, thereby improving the transportation efficiency of the mining auxiliary transportation device 100.

[0033] In some embodiments, the mining auxiliary transport device 100 further includes a camera 4 and a lighting unit (not shown in the figure), both of which are arranged on the trunk 11. The camera 4 is used to collect the environment around the robot dog 1 to provide information for the remote control walking and autonomous walking of the robot dog 1, and the lighting unit is used to provide lighting for the camera 4. Specifically, Figure 1 As shown, the camera 4 is a wide-angle camera, and the lighting component is a lighting lamp. The camera 4 and the lighting component are both arranged on the left side of the trunk 11. The camera 4 is used to shoot the surrounding objects in front of the robot dog 1, and upload the captured data to the controller. The controller controls the robot dog 1 to identify the path, avoid obstacles and detect the surrounding environment. The lighting component is used to illuminate the camera 4, which ensures the shooting efficiency of the camera 4. When the robot dog 1 recognizes that there are people around during operation, it can give voice prompts and other warning sounds. In case of sudden emergency, the surrounding staff can control the emergency stop by voice, which is safer in the dark conditions of coal mines. .

[0034] In some embodiments, the mining auxiliary transport device 100 further includes a detection radar (not shown in the figure), which is arranged on the trunk 11 and is used to detect the terrain and road conditions in real time. Figure 1 As shown, the detection radar is arranged on the left side of the trunk 11. The detection radar adopts ultrasonic terrain detection radar to avoid the risk of video image detection failure in the dark environment of the coal mine, thereby increasing the reliability of road environment recognition.

[0035] In some embodiments, the mining auxiliary transportation device 100 further includes a communication component 5, which is disposed on the trunk 11 and is used to collect voice or make voice broadcasts. Figure 1 As shown, the communication component 5 is a two-way communication speaker and is arranged on the right side of the torso 11, that is, it integrates a microphone voice collector and a voice playback speaker, and can perform voice control to communicate with the robot dog 1, and provide the robot dog 1 with operation instructions such as forward, backward, left, and right. For example: when the robot dog 1 is walking and encounters people around, it will give a voice warning "Assisting transportation, please pay attention" to remind.

[0036] It is worth noting that the robot dog 1 can switch between autonomous intelligent mode, human remote control mode, personnel following mode and voice command control mode. Different control modes can be switched according to different on-site environments, saving time and effort. When the battery of the robot dog 1 is low, it can automatically find a nearby charging power source and charge itself.

[0037] The following is combined with Figure 1 The mining auxiliary transportation device 100 according to the embodiment of the present invention is described in detail.

[0038] The auxiliary transport device 100 for mining is composed of Figure 1As shown, it includes a material transport basket 2 and a robot dog 1. The basket 2 is mainly used to load materials and accessories required for production. Below the basket 2 is the trunk 11 of the robot dog 1. The trunk 11 contains a power supply, a motor and a reducer, a steering gear and other walking power systems. A camera 4 and a lighting component are installed on the right end of the trunk 11 to provide lighting for the robot dog 1 when walking and collect video images at any time. An infrared obstacle avoidance sensor 3 is also installed to avoid collision with obstacles in front; a communication component 5 is installed for voice prompts and human-machine communication; the trunk 11 The front head 14 is a central controller, which mainly includes a control center CPU, a terrain information feedback system, a camera video recognition system, and an ultrasonic terrain detection radar, which are used for real-time detection of the terrain conditions in front when the robot dog 1 is walking; the first walking parts 12 are provided on both sides of the torso 11, so that the robot dog 1 can walk forward on gravel roads and narrow spaces; the second walking part 13 is installed on the second rod 122 of the first walking part 12. When encountering muddy or soft roads in the coal mine, the calves are automatically folded and retracted to make the tracks land stably and move forward relying on the tracks.

[0039] The basket 2 is made of a steel frame material and is in the shape of an inverted trapezoid with a larger top and a smaller bottom, which is convenient for loading goods. The basket 2 and the trunk 11 of the robot dog 1 below are fixed by an insert-type buckle, which is convenient for separating the two. When loading heavier goods, the material basket 2 can be moved down as a whole, and the empty basket 2 can be replaced to load other materials. This structure also falls within the protection scope of the claims of the present invention.

[0040] The trunk 11 of the robot dog 1 adopts relevant industry standards such as waterproof, dustproof, and explosion-proof. The trunk 11 contains a power supply, a motor, a reducer, a steering gear, and other walking power systems. Four legs capable of walking are connected to both sides of the trunk 11 body, and the steering gear shaft hole of the trunk 11 is fixedly connected to the four walking legs;

[0041] The camera 4 is a high-definition video collector. The main function of the wide-angle lens is to provide a wider field of view and capture more objects in the surrounding environment without moving backward. This feature is particularly useful in narrow environments. The collected data is used to provide information for the remote control and autonomous walking of the robot dog 1. The camera is integrated with the photo fill light system, and there is no need to set up a separate lighting lamp.

[0042] The communication component 5 is a two-way communication speaker, that is, it integrates a microphone voice collector and a voice playback speaker, which can be used for voice control to communicate with the robot dog 1 and provide the robot dog 1 with operation instructions such as forward, backward, left, right, etc.;

[0043] The controller is arranged on the head 14, and the sensor components of the central control system include a front shield, a control chip, an ultrasonic radar, an antenna, etc. The central control system communicates data with the camera 4, the communication speaker, the obstacle avoidance sensor and the infrared temperature sensor of the trunk 11 of the robot dog 1, analyzes the collected data in real time, and feeds back the processed instruction set to the power unit of the trunk 11 to control the walking of the robot dog 1.

[0044] The first wheel 131, the second wheel 132 and the conveyor belt are installed on the second rod 122 of the first walking member 12. The conveyor belt is made of lightweight rubber. The first walking member 12 can be folded automatically according to the information fed back by the terrain detection radar. After folding, the conveyor belt on the second rod 122 touches the ground and moves.

[0045] The operation and use process of the present invention is as follows: the material basket 2 of the mine auxiliary transport crawler self-sufficient robot dog 1 is filled with goods, the basket 2 is fixed to the torso 11 of the robot dog 1 through a quick buckle, the robot dog 1 is awakened by voice or remote control, and the robot dog 1 is given a forward instruction. The robot dog 1 will automatically select the first state or the second state according to the recognized road conditions. When the robot dog 1 encounters an obstacle during walking, it will automatically avoid or stop moving forward according to the information feedback from the infrared obstacle avoidance system. When the robot dog 1 is walking and encounters people around, it will give a voice warning "Assisting transportation, please pay attention" to remind.

[0046] The mining auxiliary transport device 100 of the embodiment of the present invention has the following advantages:

[0047] 1. The mining auxiliary transportation device 100 can make the auxiliary transportation of materials in coal mines convenient, labor-saving and fast. The first walking part 12 can pass smoothly on rough roads such as gravel, and the second walking part 13 can smoothly realize material transportation on muddy and soft roads. The robot dog 1 can also realize unmanned material transportation on unpaved roads in coal mines.

[0048] 2. For auxiliary transportation in coal mines, the robot dog 1 can select autonomous mode, remote control mode, personnel following mode and voice command control mode. When the personnel following mode is selected, the camera 4 will automatically identify the distance information between the front of the coal and the staff, and transmit the distance information to the central control system. The information is fed back to the central CPU, and the control system makes a judgment and then feeds back to the drive element.

[0049] 3. During the operation of the robot dog 1, the infrared obstacle avoidance sensor can detect whether there are obstacles around the robot dog 1, and transmit the detection information to the central control system in real time. After the central CPU processes the information, it makes a judgment and then feeds back to the drive element, thereby controlling the robot dog 1 to stop or avoid obstacles and realize the obstacle avoidance function.

[0050] 4. During the operation of the robot dog 1, the microphone pickup integrated on the speaker can collect external sound source information and transmit it to the central CPU for analysis. After the CPU makes a voice command judgment, it sends a feedback voice and feeds the command back to the driving element, thereby realizing the interactive two-way voice control function between the robot dog 1 and humans.

[0051] In the description of the present invention, it is to 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”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0055] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0056] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A mining auxiliary transport device, characterized in that: include: A robot dog, the robot dog comprising a trunk, a first walking member and a second walking member, the first walking member being arranged below the trunk and being rotatable between a vertical position and a horizontal position relative to the trunk, the second walking member being arranged on the first walking member and being rotatable relative to the first walking member around a length direction of the first walking member, the robot dog having a first state and a second state, in the first state, the first walking member is in a vertical position and the first walking member drives the trunk to move, in the second state, the first walking member is in a horizontal position, and the second walking member rotates to drive the trunk to move; A basket is detachably arranged on the trunk and is used for storing materials.

2. The mining auxiliary transportation device according to claim 1, characterized in that: The first walking member includes a first rod and a second rod, the first rod is arranged on the torso and is movable relative to the torso around the width direction of the torso, the first rod is rotatably connected to the second rod, and the second walking member is arranged on the first rod. In the first state, the second rod is in a vertical position and the first rod and the second rod drive the torso to walk, and in the second state, the second rod is in a horizontal state so that the second walking member drives the torso to walk.

3. The mining auxiliary transportation device according to claim 1, characterized in that: The second walking member includes a motor, a first wheel, a second wheel and a conveyor belt. The first wheel and the second wheel are both rotatably arranged on the first walking member and the first wheel and the second wheel are relatively arranged with an interval along the length direction of the first walking member. The conveyor belt is sleeved on the first wheel and the second wheel. The motor is arranged on the first walking member and is connected to the first wheel so that the motor drives the first wheel to rotate to drive the transmission rotation.

4. The mining auxiliary transportation device according to claim 1, characterized in that: The cross-sectional area of ​​the inner peripheral surface of the basket gradually decreases from top to bottom, and the basket is detachably arranged on the trunk.

5. The mining auxiliary transportation device according to claim 1, characterized in that: There are multiple first walking members, and the multiple first walking members are all arranged below the trunk and spaced apart along the circumference of the trunk, and / or there are multiple second walking members, and the multiple second walking members are arranged on the multiple first walking members in a one-to-one correspondence.

6. The mining auxiliary transportation device according to claim 1, characterized in that: The robot dog also includes a head and a controller, wherein the head is arranged on one side of the torso and the controller is arranged inside the head, and the controller is connected to the first walking member and the second walking member so that the controller controls the operation of the first walking member and the second walking member.

7. The mining auxiliary transportation device according to claim 1, characterized in that: It also includes an infrared obstacle avoidance sensor, which is arranged on the torso and is used to detect whether there is an obstacle in front of the robot dog.

8. The mining auxiliary transportation device according to claim 1, characterized in that: It also includes a camera and a lighting component, both of which are arranged on the torso. The camera is used to collect the environment around the robot dog to provide information for the remote control walking and autonomous walking of the robot dog, and the lighting component is used to provide lighting for the camera.

9. The mining auxiliary transportation device according to claim 1, characterized in that: It also includes a detection radar, which is arranged on the trunk and is used for real-time detection of terrain and road conditions.

10. The mining auxiliary transportation device according to claim 1, characterized in that: It also includes a communication component, which is arranged on the torso and is used to collect voice or make voice broadcasts.

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