Underground coal mine inspection robot

Abstract

The invention relates to a coal mine underground inspection robot which comprises a robot body, a lifting assembly, a driving assembly, a mounting frame and a cleaning brush, and a camera is mounted above the robot body; the lifting assembly is mounted on the robot body, the lifting assembly, the driving assembly and the mounting frame are sequentially in transmission connection, and the cleaning brush is arranged at the end, away from the driving assembly, of the mounting frame. By arranging the lifting assembly, the driving assembly and the mounting frame which are in transmission connection in sequence, the cleaning brush is driven to move to the front side of the camera and is rotated to clean dust attached to the camera, so that shielding of the camera caused by dust accumulation is reduced, the camera shooting definition in the inspection process of the inspection robot is enhanced, and the inspection efficiency of the inspection robot is improved. Corrosion to the surface of the camera due to the fact that dust is attached to the camera for a long time is reduced, and the service life of the inspection robot body is prolonged; in addition, the lifting assembly can drive the cleaning brush to be away from the front side of the camera so as not to shield the camera.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection devices, and in particular to an underground coal mine inspection robot. Background Art

[0002] A coal mine refers to a place rich in coal resources where organized coal mining is carried out, while an underground coal mine refers to the space and environment where a series of operations such as coal excavation, transportation, ventilation and drainage are carried out underground during the coal mining process.

[0003] When mining underground in a coal mine, it is necessary to use an inspection robot to observe the underground environment of the coal mine. The inspection robot mainly includes a robot body and a camera. During use, the inspection robot is controlled and moved underground in the coal mine, and the surrounding environment is photographed and observed, thereby completing the inspection work underground in the coal mine. However, the environment underground in a coal mine is harsh, and dust accumulates on the surface of the camera, blocking the surface of the camera, resulting in poor clarity of the camera shooting. In the prior art, the camera is usually cleaned manually. If the cleaning is not timely, the clarity of the camera shooting will be affected. Summary of the invention

[0004] The invention provides an underground coal mine inspection robot, which is used to solve the technical problem in the prior art that manual cleaning of a camera is adopted, and if the cleaning is not timely, the clarity of the camera shooting will be affected.

[0005] The present invention provides an underground coal mine inspection robot, comprising a robot body, a lifting assembly, a driving assembly, a mounting frame and a cleaning brush, wherein a camera is mounted above the robot body; the lifting assembly is mounted on the robot body, the lifting assembly, the driving assembly and the mounting frame are sequentially connected by transmission, and the cleaning brush is arranged at one end of the mounting frame away from the driving assembly;

[0006] The lifting assembly and the driving assembly are configured as follows: the lifting assembly is used to drive the cleaning brush to move in a vertical direction to cover or move away from the camera; and the driving assembly is used to drive the cleaning brush to rotate to clean the camera.

[0007] Optionally, there are at least two cameras which are spaced apart along the first direction, and the lifting assembly is disposed between adjacent cameras;

[0008] The driving assembly includes a motor and a transmission assembly, the motor is installed at the power output end of the lifting assembly, the motor, the transmission assembly and the mounting frame are sequentially connected in transmission; the motor axis of the motor is along the second direction;

[0009] Wherein, the first direction, the second direction and the vertical direction are perpendicular to each other pairwise.

[0010] Optionally, the motor includes a motor body and a motor shaft, and a fan blade is fixedly arranged on the motor shaft; a flow guide cover is fixedly arranged on the motor body, the flow guide cover penetrates through the motor shaft and is located between the motor body and the fan blade, and one side of the flow guide cover facing the fan blade protrudes.

[0011] Optionally, a piston cylinder is installed on the robot body, and the piston cylinder is located at one end of the lifting assembly along the second direction and away from the motor; a piston rod is hermetically and slidably connected in the piston cylinder, and the piston rod is fixedly arranged at the power output end of the lifting assembly; the lower end of the piston cylinder is communicated with an air pipe.

[0012] The air pipe is configured such that when the lifting assembly drives the piston rod to move upward in the vertical direction, external gas enters the piston cylinder through the air pipe; when the lifting assembly drives the piston rod to move downward in the vertical direction, the gas in the piston cylinder is discharged through the air pipe to blow the dust on the upper surface of the robot body.

[0013] Optionally, the motor body is provided with a heat dissipation structure, and the heat dissipation structure includes a heat absorption plate and heat dissipation fins. There are at least two heat absorption plates which are spaced apart on the side wall surface of the motor body, and there are multiple heat dissipation fins which are spaced apart along the second direction on the heat absorption plate.

[0014] And / or, the transmission assembly includes a driving wheel, a driven wheel and transmission components respectively meshing with the driving wheel and the driven wheel. The driving wheel is fixedly arranged on the motor shaft of the motor, the driven wheel is pivotally connected to the robot body, there are at least two driven wheels which are spaced apart along the first direction, and the mounting bracket is fixedly arranged on the driven wheel.

[0015] Optionally, the heat dissipation structure further includes a heat dissipation pipe, the heat dissipation pipe is fixedly arranged on the heat dissipation fins and penetrates through a plurality of the heat dissipation fins, and a coolant is arranged in the heat dissipation pipe.

[0016] Optionally, the inspection robot includes an anti-collision structure, and the anti-collision structure includes a base, a support rod and a baffle. The base is fixedly arranged on the side wall surface of the robot body, the base is provided with a sliding groove, two sliders are slidably connected in the sliding groove, the first end of the support rod is pivotally connected to the slider, and the second end is pivotally connected to the baffle; springs are arranged on the side surfaces of the sliders and the side surfaces of the sliding groove, and the springs always have a tendency to drive the two sliders to approach each other to drive the baffle to move away from the base.

[0017] Optionally, an elastic plate is provided on the outer wall surface of the baffle, and the elastic plates are provided in plurality and are arranged at intervals along the length direction of the baffle; an elastic member is provided between the elastic plate and the baffle;

[0018] And / or, the inspection robot further comprises an early warning structure, the early warning structure comprising a bell and an elastic rod, the bell is mounted on the side wall of the robot body, one end of the elastic rod is fixed to the inner wall of the baffle, and the other end of the elastic rod is fixed with a rubber ball;

[0019] The elastic rod and the rubber ball are configured such that if the baffle moves in a direction close to the base, the elastic rod can drive the rubber ball to swing back and forth to continuously abut against and strike the outer wall surface of the bell.

[0020] Optionally, the mounting frame has a socket at one end away from the driving assembly, and the cleaning brush is fixed with a plug shaft, and the plug shaft is plugged into the socket;

[0021] And / or, the cleaning brush has a plurality of bristles, one end of the plurality of bristles is fixed to the mounting frame, and a connecting rod is fixed to the middle of the plurality of bristles.

[0022] Optionally, an elastic sheet is fixedly provided on the outer wall surface of the plug shaft, and the elastic sheet is provided in plurality and arranged at intervals along the circumferential direction of the plug shaft. The elastic sheet protrudes along the radial direction of the plug shaft and can abut against the plug hole.

[0023] The coal mine underground inspection robot provided by the present invention has at least the following beneficial technical effects:

[0024] By setting up a lifting assembly, a driving assembly and a mounting frame which are sequentially connected in transmission, the cleaning brush is driven to move to the front side of the camera and rotated to clean the dust attached to the camera, thereby reducing the obstruction of the camera caused by dust accumulation, thereby enhancing the clarity of the camera when shooting during the inspection of the inspection robot, and reducing the corrosion of the camera surface caused by dust attached to the camera for a long time, thereby increasing the service life of the inspection robot body; in addition, the lifting assembly can drive the cleaning brush away from the front side of the camera so as not to block the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the assembly of an underground coal mine inspection robot provided by an embodiment of the present invention;

[0026] Figure 2 A partial structural diagram of a coal mine underground inspection robot provided by an embodiment of the present invention Figure 1 ;

[0027] Figure 3Partial structural schematic diagram of an underground coal mine inspection robot provided by an embodiment of the present invention Figure 2 ;

[0028] Figure 4 Partial structural schematic diagram of an anti-collision structure in an underground coal mine inspection robot provided by an embodiment of the present invention;

[0029] Figure 5 For Figure 3 Partial enlarged structural schematic diagram of the circled part A in

[0030] Explanation of reference numerals:

[0031] 10, robot body; 110, camera; 20, lifting assembly; 30, driving assembly; 310, motor; 311, motor body; 312, motor shaft; 320, heat dissipation structure; 321, heat absorption plate; 322, heat sink; 323, heat dissipation pipe; 330, flow guide cover; 340, fan blade; 350, transmission assembly; 351, driving wheel; 352, driven wheel; 353, transmission component; 40, mounting bracket; 410, jack; 420, cleaning brush; 421, brush bristles; 430, insertion shaft; 440, connecting rod; 431, elastic sheet; 50, piston cylinder; 510, piston rod; 520, air pipe; 60, anti-collision structure; 610, base; 611, chute; 612, slider; 620, support rod; 630, baffle; 640, spring; 650, elastic plate; 660, elastic member; 710, bell; 720, elastic rod; 730, rubber ball. Detailed implementation manners

[0032] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following combines the attached Figure 1 —5 to make a detailed description of the specific embodiments of the present invention.

[0033] In the present invention, terms such as "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure.

[0034] In the present invention, terms such as "inside", "outside", "above", and "below" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0035] An embodiment of the present invention provides an underground coal mine inspection robot. Refer to the attached Figure 1, the underground inspection robot for coal mines includes a robot body 10, a lifting component 20, a driving component 30, a mounting frame 40, and a cleaning brush 420. A camera 110 is installed above the robot body 10; the lifting component 20 is installed on the robot body 10, and the lifting component 20, the driving component 30, and the mounting frame 40 are sequentially connected in transmission. The cleaning brush 420 is arranged at one end of the mounting frame 40 away from the driving component 30; the lifting component 20 and the driving component 30 are configured such that the lifting component 20 is used to drive the cleaning brush 420 to move in the vertical direction to block or move away from the camera 110; the driving component 30 is used to drive the cleaning brush 420 to rotate to clean the camera 110. It should be noted that as Figure 1 shown, the vertical direction is the OZ direction.

[0036] An underground inspection robot for coal mines provided by an embodiment of the present invention, by setting a lifting component 20, a driving component 30, and a mounting frame 40 that are sequentially connected in transmission, driving the cleaning brush 420 to move to the front side of the camera 110 and rotating the cleaning brush 420 to clean the dust attached to the camera 110, thereby reducing the blockage caused by dust accumulation to the camera 110, and further enhancing the clarity of the camera 110 during shooting in the inspection process of the inspection robot, as well as reducing the corrosion of the surface of the camera 110 caused by the long-term attachment of dust to the camera 110, thereby increasing the service life of the inspection robot body 10; in addition, the lifting component 20 can drive the cleaning brush 420 away from the front side of the camera 110 so as not to block the camera 110.

[0037] In an embodiment of the present invention, there are at least 2 cameras 110 and they are arranged at intervals along a first direction. For example, the number of cameras 110 can be 2, 3, or other numbers; the lifting component 20 is arranged between adjacent cameras 110; the driving component 30 includes a motor 310 and a transmission component 350. The motor 310 is installed at the power output end of the lifting component 20, and the motor 310, the transmission component 350, and the mounting frame 40 are sequentially connected in transmission; the motor shaft 312 of the motor 310 extends along a second direction; wherein, the first direction, the second direction, and the vertical direction are perpendicular to each other in pairs, and the second direction is the forward direction of the inspection robot. As Figure 1 shown, the first direction is the OX direction, the second direction is the OY direction, and the vertical direction is the OZ direction. With such a setting, multiple cameras 110 share one lifting component 20 and one driving component 30, with a compact structure and low cost.

[0038] In an embodiment of the present invention, see the appendix Figure 2, The transmission assembly 350 includes a driving wheel 351, a driven wheel 352, and a transmission component 353 meshing with the driving wheel 351 and the driven wheel 352 respectively. The driving wheel 351 is fixed on the motor shaft 312 of the motor 310, and the driven wheel 352 is pivotally connected to the robot body 10. The driven wheel 352 has at least two and is arranged at intervals in the first direction. For example, the driven wheel 352 has 2, 3 or other numbers, and the number of the driven wheels 352 corresponds one-to-one to the number of the cameras 110. The mounting bracket 40 is fixed on the driven wheel 352. It should be noted that the transmission assembly 350 can be a belt drive or a chain drive. With such a setting, it is realized that one motor 310 drives at least two cleaning brushes 420 to clean the camera 110 through the transmission assembly 350, with a compact structure and low cost.

[0039] In the embodiment of the present invention, the lifting assembly 20 can be an electric push rod, a cylinder or a linear module. For example, the lifting assembly 20 includes an electric push rod, and the motor 310 is installed at the power output end of the electric push rod. Specifically, a first connecting piece is fixed at the power output end of the electric push rod, and the motor 310 is installed at one end of the first connecting piece away from the electric push rod.

[0040] In the embodiment of the present invention, see the appendix Figure 2 , The motor 310 includes a motor body 311 and a motor shaft 312, and a fan blade 340 is fixed on the motor shaft 312; a guide cover 330 is fixed on the motor body 311, the guide cover 330 penetrates the motor shaft 312 and is located between the motor body 311 and the fan blade 340, and one side of the guide cover 330 facing the fan blade 340 protrudes. It should be noted that during the rotation of the motor shaft 312, the fan blade 340 can be driven to rotate. During the rotation of the fan blade 340, the dust swept by the cleaning brush 420 will be drawn out to the side close to the motor body 311. The guide cover 330 can guide the airflow generated by the rotation of the fan blade 340 to disperse the dust to both sides of the motor body 311 without contacting the surface of the motor 310. With such a setting, air is drawn through the rotation of the fan blade 340 to play a role in removing the dust swept by the cleaning brush 420, reducing the situation that the dust falls on the surface of the robot body 10 again; through the diversion of the guide cover 330, the wear of the surface of the motor body 311 by the dust can be reduced, thereby prolonging the service life of the motor 310.

[0041] In the embodiment of the present invention, see the appendix Figure 2, a piston cylinder 50 is installed on the robot body 10. The piston cylinder 50 is located at one end of the lifting assembly 20 along the second direction and away from the motor 310. A piston rod 510 is hermetically and slidably connected in the piston cylinder 50, and the piston rod 510 is fixedly arranged at the power output end of the lifting assembly 20. The lower end of the piston cylinder 50 is communicated with an air pipe 520. The air pipe 520 is configured such that when the lifting assembly 20 drives the piston rod 510 to move upward in the vertical direction, external gas enters the piston cylinder 50 through the air pipe 520; when the lifting assembly 20 drives the piston rod 510 to move downward in the vertical direction, the gas in the piston cylinder 50 is discharged through the air pipe 520 to purge the dust on the upper surface of the robot body 10. With such a setting, by driving the piston rod 510 to move downward in the vertical direction through the electric push rod, the piston rod 510 is driven to extrude the gas in the piston cylinder 50, which can clean the dust attached to the surface of the robot body 10, reduce the adhesion and accumulation of dust on the surface of the robot body 10, so as to reduce the corrosion caused to the robot body 10, and further extend the service life of the inspection robot.

[0042] In the embodiment of the present invention, the lifting assembly 20 includes an electric push rod. A second connecting member is fixedly arranged on the electric push rod, and the piston rod 510 is installed at one end of the second connecting member away from the electric push rod.

[0043] In the embodiment of the present invention, refer to the appendix Figure 3 , a heat dissipation structure 320 is provided on the motor body 311. The heat dissipation structure 320 includes a heat absorption plate 321 and heat dissipation fins 322. The heat absorption plate 321 has at least two and is spaced on the side wall surface of the motor body 311. For example, the heat absorption plate 321 has two, three or other numbers. Specifically, the heat absorption plate 321 has two and is spaced along the first direction; the heat dissipation fins 322 have a plurality and are spaced along the second direction on the heat absorption plate 321. With such a setting, during the operation of the motor 310, the heat absorption plate 321 absorbs the heat generated by the motor 310, and the heat absorption plate 321 conducts the heat to the heat dissipation fins 322, and the heat dissipation fins 322 release the heat to the outside; at the same time, the airflow generated by the rotation of the fan blade 340 will also contact the surface of the heat dissipation fins 322, thereby taking away part of the heat; in this process, by absorbing heat through the heat absorption plate 321, it can play a role in dissipating heat from the motor 310 during operation, enhancing the cooling effect on the motor 310; at the same time, by blowing air with the fan blade 340, the heat dissipation effect of the heat dissipation fins 322 can be further enhanced, and the cooling speed of the motor 310 can be increased.

[0044] In the embodiment of the present invention, refer to the appendix Figure 3, the heat dissipation structure 320 further includes a heat dissipation pipe 323. The heat dissipation pipe 323 is fixedly arranged on the heat dissipation fins 322 and penetrates through a plurality of heat dissipation fins 322. A coolant is provided inside the heat dissipation pipe 323. With such an arrangement, the heat dissipation fins 322 are connected in series through the heat dissipation pipe 323, which can evenly distribute the heat of the heat dissipation fins 322 themselves, improve the heat dissipation speed of the heat dissipation fins 322, and further improve the heat dissipation and cooling speed of the motor 310.

[0045] In the embodiment of the present invention, referring to the attached Figure 1 and Figure 4 , the inspection robot includes a collision prevention structure 60. The collision prevention structure 60 includes a base 610, a support rod 620, and a baffle 630. The base 610 is fixedly arranged on the side wall surface of the robot body 10. For example, the base 610 is fixedly arranged on the side wall surface of the robot body 10 along the second direction, and the second direction is the forward direction of the inspection robot; the base 610 can also be fixedly arranged on the side wall surface of the robot body 10 along the first direction; the base 610 is provided with a sliding groove 611, and two sliding blocks 612 are slidably connected in the sliding groove 611. The first end of the support rod 620 is pivotally connected to the sliding block 612, and the second end is pivotally connected to the baffle 630; springs 640 are provided on the side surfaces of the sliding blocks 612 and the side surfaces of the sliding groove 611, and the springs 640 always have a tendency to drive the two sliding blocks 612 to approach each other to drive the baffle 630 to move in a direction away from the base 610. It should be noted that the sliding groove 611 can be an integral structure; it can also be a split structure, and there are 2 sliding grooves 611 and they are arranged at intervals along the first direction. With such an arrangement, during the movement of the inspection robot, when the baffle 630 collides with an external object or an external object collides with the baffle 630, it forms a squeeze on the baffle 630, driving the support rod 620 to drive the sliding blocks 612 to move in the sliding groove 611 and move away from each other; at the same time, the sliding blocks 612 squeeze the springs 640, and the elastic potential energy stored in the springs 640 exerts a certain reaction force on the sliding blocks 612, buffering the external squeezing force and improving the safety of the inspection robot during operation.

[0046] In the embodiment of the present invention, referring to the attached Figure 4 , the outer wall surface of the baffle 630 is provided with elastic plates 650. There are multiple elastic plates 650 and they are arranged at intervals along the length direction of the baffle 630; an elastic member 660 is provided between the elastic plates 650 and the baffle 630. It should be noted that the elastic member 660 can be a spring 640 or a rubber rod. With such an arrangement, during the movement of the inspection robot, when the baffle 630 collides with an external object or an external object collides with the baffle 630, it first hits the elastic plates 650, and the elastic plates 650 and the elastic member 660 generate a certain deformation and generate a certain reaction force, further increasing the buffering effect of the baffle 630 on the external squeezing force and prolonging the service life of the baffle 630.

[0047] In the embodiment of the present invention, referring to the attached Figure 1 and Figure 4, the inspection robot further includes an early warning structure, which includes a bell 710 and an elastic rod 720. The bell 710 is installed on the side wall surface of the robot body 10. One end of the elastic rod 720 is fixedly arranged on the inner wall surface of the baffle 630, and a rubber ball 730 is fixedly arranged at the other end of the elastic rod 720. The elastic rod 720 and the rubber ball 730 are configured such that if the baffle 630 moves in the direction close to the base 610, the elastic rod 720 can drive the rubber ball 730 to swing back and forth to continuously abut against and knock on the outer wall surface of the bell 710. With such a setting, under the action of an external extrusion force, the baffle 630 moves towards the side of the base 610, and the rubber ball 730 can knock on the outer wall surface of the bell 710. At the same time, the elastic rod 720 bends, and the stored elastic potential energy will drive the rubber ball 730 to swing back and forth, causing it to continuously knock on the bell 710. The sound is emitted by the knocking of the rubber ball 730 on the bell 710 to remind the surrounding staff that the inspection robot has been collided with.

[0048] In the embodiment of the present invention, refer to the appendix Figure 5 , one end of the mounting bracket 40 away from the driving assembly 30 has a jack 410, and the cleaning brush 420 is fixedly provided with an insertion shaft 430, and the insertion shaft 430 is inserted into the jack 410. With such a setting, the disassembly is convenient and it is easy to replace the cleaning brush 420.

[0049] In the embodiment of the present invention, refer to the appendix Figure 5 , an elastic sheet 431 is fixedly arranged on the outer wall surface of the insertion shaft 430. There are a plurality of elastic sheets 431 and they are arranged at intervals along the circumferential direction of the insertion shaft 430. The elastic sheet 431 protrudes in the radial direction of the insertion shaft 430 and can abut against the jack 410. It should be noted that when the insertion shaft 430 is inserted into the jack 410, the elastic sheet 431 passes through the jack 410. At this time, the elastic sheet 431 is squeezed and fits against the side wall of the insertion shaft 430. When the elastic sheet 431 passes through the jack 410, it quickly resets by its own elasticity and abuts against the mounting bracket 40, thereby realizing the fixation of the cleaning brush 420. With such a setting, by inserting the insertion shaft 430 into the jack 410 for fixation, the convenience of disassembling and installing the cleaning brush 420 can be achieved.

[0050] In the embodiment of the present invention, refer to the appendix Figure 3 , the cleaning brush 420 has a plurality of bristles 421. One end of the plurality of bristles 421 is fixedly arranged on the mounting bracket 40, and a connecting rod 440 is fixedly arranged in the middle of the plurality of bristles 421. With such a setting, the concentration of the cleaning brush 420 during cleaning is increased, the situation of the bristles 421 being scattered during cleaning is reduced, and thus the cleaning effect of the cleaning brush 420 is increased.

[0051] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A coal mine underground inspection robot, characterized in that: The robot comprises a robot body (10), a lifting assembly (20), a driving assembly (30), a mounting frame (40) and a cleaning brush (420); a camera (110) is mounted above the robot body (10); the lifting assembly (20) is mounted on the robot body (10); the lifting assembly (20), the driving assembly (30) and the mounting frame (40) are sequentially connected in a transmission manner; and the cleaning brush (420) is arranged at one end of the mounting frame (40) away from the driving assembly (30); The lifting assembly (20) and the driving assembly (30) are configured as follows: the lifting assembly (20) is used to drive the cleaning brush (420) to move in a vertical direction to cover or move away from the camera (110); and the driving assembly (30) is used to drive the cleaning brush (420) to rotate to clean the camera (110).

2. The coal mine underground inspection robot according to claim 1, characterized in that: The cameras (110) have at least two and are arranged at intervals along a first direction, and the lifting assembly (20) is arranged between adjacent cameras (110); The driving assembly (30) comprises a motor (310) and a transmission assembly (350); the motor (310) is mounted on a power output end of the lifting assembly (20); the motor (310), the transmission assembly (350) and the mounting frame (40) are sequentially connected in a transmission manner; a motor shaft (312) of the motor (310) extends along a second direction; The first direction, the second direction and the vertical direction are perpendicular to each other.

3. The coal mine underground inspection robot according to claim 2, characterized in that: The motor (310) comprises a motor body (311) and a motor shaft (312), wherein the motor shaft (312) is fixedly provided with a fan blade (340); the motor body (311) is fixedly provided with a flow guide cover (330), wherein the flow guide cover (330) passes through the motor shaft (312) and is located between the motor body (311) and the fan blade (340), and the flow guide cover (330) protrudes toward one side of the fan blade (340).

4. The coal mine underground inspection robot according to claim 3, characterized in that: The robot body (10) is equipped with a piston cylinder (50), and the piston cylinder (50) is located at one end of the lifting component (20) along the second direction and away from the motor (310); a piston rod (510) is sealed and slidably connected inside the piston cylinder (50), and the piston rod (510) is fixedly arranged at the power output end of the lifting component (20); the lower end of the piston cylinder (50) is connected to an air pipe (520); The air pipe (520) is configured as follows: if the lifting component (20) drives the piston rod (510) to move upward in the vertical direction, external gas enters the piston cylinder (50) through the air pipe (520); if the lifting component (20) drives the piston rod (510) to move downward in the vertical direction, the gas in the piston cylinder (50) is discharged through the air pipe (520) to purge dust on the upper surface of the robot body (10).

5. The coal mine underground inspection robot according to any one of claims 2 to 4, characterized in that: The motor body (311) is provided with a heat dissipation structure (320), the heat dissipation structure (320) comprising a heat absorbing plate (321) and heat sinks (322), the heat absorbing plate (321) having at least two side wall surfaces spaced apart from each other on the motor body (311), and the heat sinks (322) having a plurality of side wall surfaces spaced apart from each other on the heat absorbing plate (321) along the second direction; And / or, the transmission assembly (350) includes a driving wheel (351), a driven wheel (352) and a transmission component (353) respectively meshed with the driving wheel (351) and the driven wheel (352), the driving wheel (351) is fixed to the motor shaft (312) of the motor (310), the driven wheel (352) is pivotally connected to the robot body (10), the driven wheels (352) have at least two and are spaced apart along the first direction, and the mounting frame (40) is fixed to the driven wheel (352).

6. The underground coal mine inspection robot according to claim 5, characterized in that: The heat dissipation structure (320) further comprises a heat dissipation pipe (323), wherein the heat dissipation pipe (323) is fixedly arranged on the heat dissipation fins (322) and penetrates through a plurality of the heat dissipation fins (322), and a coolant is arranged in the heat dissipation pipe (323).

7. The coal mine underground inspection robot according to any one of claims 1 to 4, characterized in that: The inspection robot comprises an anti-collision structure (60), and the anti-collision structure (60) comprises a base (610), a support rod (620) and a baffle (630). The base (610) is fixedly arranged on the side wall surface of the robot body (10), and the base (610) is provided with a slide groove (611). Two sliders (612) are slidably connected in the slide groove (611). The first end of the support rod (620) is pivotally connected to the slider (612), and the second end is pivotally connected to the baffle (630). The side surface of the slider (612) and the side surface of the slide groove (611) are provided with a spring (640), and the spring (640) always has the tendency to drive the two sliders (612) to approach each other so as to drive the baffle (630) to move in a direction away from the base (610).

8. The underground coal mine inspection robot according to claim 7, characterized in that: An elastic plate (650) is provided on the outer wall surface of the baffle (630), and the elastic plates (650) are multiple and are arranged at intervals along the length direction of the baffle (630); an elastic member (660) is provided between the elastic plate (650) and the baffle (630); And / or, the inspection robot further comprises an early warning structure, the early warning structure (74200) comprising a bell (710) and an elastic rod (720), the bell (710) being mounted on a side wall surface of the robot body (10), one end of the elastic rod (720) being fixedly mounted on an inner wall surface of the baffle (630), and the other end of the elastic rod (720) being fixedly mounted with a rubber ball (730); The elastic rod (720) and the rubber ball (730) are configured such that if the baffle (630) moves in a direction close to the base (610), the elastic rod (720) can drive the rubber ball (730) to swing back and forth so as to continuously abut against and strike the outer wall surface of the bell (710).

9. The underground coal mine inspection robot according to claim 1, characterized in that: The mounting frame (40) has a socket (410) at one end away from the driving assembly (30), and the cleaning brush (420) is fixed with an insertion shaft (430), and the insertion shaft (430) is inserted into the socket (410); And / or, the cleaning brush (420) has a plurality of bristles (421), one end of the plurality of bristles (421) is fixedly mounted on the mounting frame (40), and a connecting rod (440) is fixedly mounted in the middle of the plurality of bristles (421).

10. The underground coal mine inspection robot according to claim 9, characterized in that: An elastic sheet (431) is fixedly provided on the outer wall surface of the insertion shaft (430). The elastic sheets (431) are in plurality and are arranged at intervals along the circumferential direction of the insertion shaft (430). The elastic sheets (431) protrude along the radial direction of the insertion shaft (430) and can abut against the insertion hole (410).

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