Mining wheel type anti-explosion robot

Abstract

The invention relates to the technical field of mining underground carrying equipment, in particular to a mining wheel type explosion-proof robot which comprises a frame body, axles are symmetrically arranged on the two sides of the bottom of the frame body, driving motors and axles are installed in the middles and at the two ends of the axles respectively, tires are installed at the outer ends of the axles, and the mining wheel type explosion-proof robot further comprises transmission assemblies arranged in the axles; the damping adjusting mechanism comprises a hinge seat used for connecting the top face of the middle of the axle and the bottom face of the frame body and piston rods arranged on the top faces of the two ends of the axle, and the outer rings of the tops of the piston rods are sleeved with cylinder barrels; the two oil sludge separation assemblies are respectively communicated and connected with the cylinder barrels on the two sides through hydraulic oil pipes; the rotating speed and steering of the tires can be controlled through the transmission assembly, linear movement and steering of different turning radiuses of the frame body are achieved, the mining wheel type explosion-proof robot can have good flexibility and gradeability in a mine, and the trafficability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of underground mining transport equipment, and in particular to a wheeled explosion-proof robot for mining. Background Art

[0002] In coal mining operations, the performance of underground handling equipment is directly related to production efficiency and personnel safety; underground handling equipment in coal mines is mainly responsible for transporting materials such as coal, ore and waste rock. Among them, the mining wheeled explosion-proof robot is a self-propelled auxiliary transportation device, which is mainly used in daily auxiliary transportation operations in explosive and dangerous environments in coal mines. It can replace manual handling and transportation tasks in dangerous environments.

[0003] However, there are still many problems that need to be solved in the practical application of current mining wheeled explosion-proof robots; the underground environment of coal mines is harsh, with a large amount of dust and ore. During the operation of mining wheeled explosion-proof robots, the hydraulic oil inside the shock absorbing adjustment mechanism is very easy to mix with dust to form sludge, which will affect the stability of the shock absorbing adjustment mechanism, and then affect the overall operation stability of the robot and the safety of cargo transportation.

[0004] The above problems seriously restrict the widespread application and further development of mining wheeled explosion-proof robots in the field of coal mining, and urgently need to be solved through technological innovation; in view of this, we propose a mining wheeled explosion-proof robot. Summary of the invention

[0005] The purpose of the present invention is to solve the deficiencies mentioned in the above background technology and provide a wheeled explosion-proof robot for mining.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A wheeled explosion-proof robot for mining, comprising a frame body with axles symmetrically arranged on both sides of the bottom, a driving motor and a wheel axle are respectively installed at the middle and both ends of the axle, a tire is installed at the outer end of the wheel axle, and further comprising:

[0008] A transmission assembly, disposed inside the axle, for transmission connection between the output shaft of the drive motor and the wheel axle;

[0009] The shock-absorbing adjustment mechanism comprises an articulated seat for connecting the top surface of the middle part of the axle with the bottom surface of the frame body, and a piston rod arranged at the top surfaces of both ends of the axle, and the top outer ring of the piston rod is provided with a cylinder barrel for articulation with the frame body;

[0010] The two sludge separation components are respectively connected to the cylinder barrels on both sides through hydraulic oil pipes and are used for filtering impurities in the hydraulic oil.

[0011] Preferably, an active oil cylinder and a driven oil cylinder which are in communication are installed between the two oil sludge separation components, and a piston plate is installed in the inner cavity of the active oil cylinder for reciprocating movement, and the piston plate is used to adjust the flow direction of the hydraulic oil.

[0012] Preferably, the oil sludge separation assembly comprises a cylinder body with two interfaces at the top thereof respectively connected to the cylinder barrel and the slave cylinder, and a bottom shell is detachably mounted on the bottom of the cylinder body;

[0013] A first three-way pipe and a second three-way pipe are installed between the two interfaces in the cylinder, and a first one-way valve is installed between the first three-way pipe and the second three-way pipe;

[0014] A connecting pipe is installed at the branch of the first three-way pipe, a bracket for fixing the connecting pipe is installed at the bottom shell, and a second one-way valve is installed at the branch of the second three-way pipe.

[0015] Preferably, the cylinder is provided with a plurality of sealing plates inside, the sealing plates are provided with filter screen plates, and the connecting pipe is inserted into the plurality of sealing plates;

[0016] The sealing plate is provided with a plurality of notches, and the filter screen plates are inserted into the notches.

[0017] Preferably, a cone corresponding to the position of the connecting pipe is installed inside the bottom shell, and the cone is used to disperse the hydraulic oil;

[0018] A sealing ring block is installed inside the bottom shell for fitting against the inner wall of the cylinder.

[0019] Preferably, the transmission assembly comprises a planetary reducer arranged on the axle for being coaxially connected to the output shaft of the drive motor, and a first bevel gear is coaxially mounted on the sun gear shaft of the planetary reducer;

[0020] A second bevel gear is coaxially mounted on the wheel axle, and a universal joint transmission member is disposed on the axle and between the first bevel gear and the second bevel gear on both sides;

[0021] The two ends of the universal joint transmission member are provided with third bevel gears for respectively meshing with the first bevel gear and the second bevel gear.

[0022] Preferably, the active oil cylinder is provided with a guide sleeve installed thereon, a lead screw is rotatably installed in the lead screw, and one end of the lead screw is transmission-connected to the servo motor through a gear body;

[0023] A slider is threadedly mounted on the screw rod, a clamping plate is mounted below the slider, and the piston plate is detachably mounted on the clamping plate.

[0024] Preferably, guide bars are provided on the inner cavity wall of the driven oil cylinder. Bracket frames are installed at both ends of the guide bars, and a sliding seat is slidably installed on the guide bar between the two bracket frames;

[0025] A tapered hole is provided at the axis center of the sliding seat, and a sealing plug corresponding to the position of the tapered hole is installed on the inner side of the bracket frame.

[0026] Preferably, the universal coupling transmission member adopts a telescopic coupling.

[0027] Preferably, ultrasonic radars and lidar for sensing the environment and navigation are arranged around the vehicle frame body.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] 1. The mine wheeled explosion-proof robot can control the rotation speed and steering of the tires through the transmission component, realize the linear movement of the vehicle frame body, and turn with different turning radii, enabling the mine wheeled explosion-proof robot to have good flexibility and climbing ability in the mine.

[0030] 2. The shock absorption adjustment mechanism can improve the shock absorption function of the mine wheeled explosion-proof robot. At the same time, the active adjustment function of the shock absorption adjustment mechanism is beneficial to improving the passability of the mine wheeled explosion-proof robot in the complex ground environment in the mine tunnel;

[0031] 3. The sludge separation component provided can filter the hydraulic oil and effectively clean the sludge impurities inside the hydraulic oil. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The schematic diagrams in the specification forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0033] Figure 1 is the overall schematic diagram of the present invention;

[0034] Figure 2 is the three-dimensional diagram of the installation relationship between the axle and the tire in the present invention;

[0035] Figure 3 is the three-dimensional diagram of the axle in the present invention;

[0036] Figure 4 is the three-dimensional diagram of the transmission component in the present invention;

[0037] Figure 5 is the internal structure diagram of the planetary reducer in the present invention;

[0038] Figure 6 is the three-dimensional diagram of the universal coupling transmission member in the present invention;

[0039] Figure 7 is a perspective view of the shock absorption adjustment mechanism in the present invention;

[0040] Figure 8 is an internal structure diagram of the driven oil cylinder in the present invention;

[0041] Figure 9 is an exploded view of the driven oil cylinder in the present invention;

[0042] Figure 10 is a perspective view of the installation relationship among the retaining frame, sliding seat and sealing plug in the present invention;

[0043] Figure 11 is an internal structure diagram of the driving oil cylinder in the present invention;

[0044] Figure 12 is an exploded view of the driving oil cylinder in the present invention;

[0045] Figure 13 is an internal structure diagram of the cylinder body in the present invention;

[0046] Figure 14 is a perspective view of the installation relationship between the sealing plate and the filter mesh plate in the present invention.

[0047] The meanings of the various reference numerals in the figure are as follows:

[0048] 1. Frame body; 2. Axle; 3. Driving motor; 4. Wheel axle; 5. Tire; 6. Planetary reducer; 7. First bevel gear; 8. Second bevel gear; 9. Universal coupling transmission member; 10. Third bevel gear; 11. Ball joint connecting member; 12. Ultrasonic radar; 13. Lidar; 14. Hinge seat; 15. Piston rod; 16. Cylinder barrel; 17. Bracket; 18. Driven oil cylinder; 19. Guide bar; 20. Retaining frame; 21. Sliding seat; 22. Tapered hole; 23. Driving oil cylinder; 24. Sliding sleeve; 25. Lead screw; 26. Slide block; 27. Servo motor; 28. Gear body; 29. Clamp plate; 30. Piston plate; 31. Sealing plug; 32. Cylinder body; 33. Bottom shell; 34. First three-way pipe; 35. Second three-way pipe; 36. First check valve; 37. Second check valve; 38. Bracket; 39. Connecting pipe; 40. Cone; 41. Sealing ring block; 42. Sealing plate; 43. Notch; 44. Filter mesh plate. Detailed implementation manners

[0049] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0050] See also Figures 1 - 14 The present invention describes the above technical solution in detail through the following embodiments:

[0051] Example 1

[0052] like Figures 1 to 6 As shown, a mining wheeled explosion-proof robot according to an embodiment of the present invention comprises a frame body 1, axles 2 are symmetrically arranged on both sides of the bottom of the frame body 1, a driving motor 3 is arranged on the top of the axle 2 away from the frame body 1, and axles 4 are rotatably installed at both ends of the axle 2, and tires 5 are installed at the outer ends through the axles 4.

[0053] Specifically, this embodiment is provided with a transmission assembly to realize the movement of the tire 5, such as Figure 4 , Figure 5 The transmission assembly includes a planetary reducer 6 disposed in the inner cavity of the axle 2, and the planetary reducer 6 is connected to the output shaft of the drive motor 3, and as shown in FIG. Figure 5 In the structure shown, a first bevel gear 7 is coaxially installed at the sun gear shaft of the planetary reducer 6, and a second bevel gear 8 is coaxially installed on the wheel shaft 4. The first bevel gear 7 and the second bevel gear 8 are connected through a universal joint transmission member 9 with third bevel gears 10 installed at both ends; the universal joint transmission member 9 of this embodiment adopts a telescopic coupling to compensate for installation errors during the transmission process.

[0054] In this embodiment, the drive motors 3 on the two side axles 2 can be controlled separately, so that the output speeds of the drive motors 3 on both sides are different, which makes it easy to realize turning and moving operations, and is suitable for moving in narrow spaces. In this embodiment, the planetary reducer 6 is mainly used to reduce the speed of the drive motor 3 and increase the output torque to improve the accuracy and efficiency of the rotation of the drive tire 5, thereby improving the accuracy of the movement of the mining wheeled explosion-proof robot in the mine.

[0055] When the mine - used wheeled explosion - proof robot in this embodiment moves in a straight line, it is only necessary to control the conveying speed and direction of the driving motors 3 on both sides to be the same. The driving motor 3 is driven and decelerated by the planetary reducer 6, driving the first bevel gear 7 to rotate, and then driving the engaged third bevel gear 10 to rotate. Further, it drives the universal coupling transmission member 9 to rotate, and then drives the wheel shaft 4 to rotate through the meshing transmission of the third bevel gear 10 and the second bevel gear 8, so as to drive the driving tire 5 to rotate, providing sufficient and stable power for the movement of the mine - used wheeled explosion - proof robot and realizing the straight - line movement of the driving frame body 1.

[0056] When the mine - used wheeled explosion - proof robot makes a steering movement, control and adjust the output speed difference of the driving motors 3 on both sides, so that the speed difference is generated between the tires 5 on both sides, realizing that the frame body 1 can turn with different turning radii; by controlling and adjusting the speed and direction of the driving motors 3 on both sides, through the transmission of the planetary reducer 6 and the universal coupling transmission member 9 in the transmission assembly, the speed and steering of the tires 5 on the two axles 2 are controlled, realizing the straight - line movement and the movement mode of turning with different turning radii of the frame body 1, so that the mine - used wheeled explosion - proof robot has good flexibility and climbing ability in the mine; in this embodiment, through the gear transmission between the planetary reducer 6 and the universal coupling transmission member 9 set in the transmission assembly, a strong bearing capacity and flexible steering can be obtained, which is beneficial to improving and ensuring the working reliability of the explosion - proof robot.

[0057] As Figure 2 shown, a ball - pair connecting piece 11 is arranged at the bottom side of the middle part of one side of the axle 2 close to the frame body 1; the ball - pair connecting piece 11 is fixedly connected with the frame body 1; the axle 2 and the frame body 1 are movably connected through the arranged ball - pair connecting piece 11, which not only ensures the flexibility of the axle 2 but also improves the stability of the frame body 1.

[0058] As Figure 1 shown, ultrasonic radars 12 and lidar 13 are arranged around the frame body 1; through the arranged ultrasonic radars 12 and lidar 13, the working condition information can be monitored and collected in real time and fed back to the intelligent control center to realize different motion modes such as intelligent remote control, driverless, and automatic following, thereby improving the work efficiency and reducing the labor intensity of workers.

[0059] In other embodiments, an explosion - proof power supply box, an explosion - proof control box, a lifting module, and a fire - fighting module can also be arranged on the frame body 1; the explosion - proof power supply box can ensure the safety of the lithium - battery power supply box. Cooperating with the explosion - proof control box, it can ensure the safe use of the robot under Class I explosion - proof working conditions; through the arranged lifting module and fire - fighting module, when facing different working condition requirements, different module mechanism functions are switched and used, and different module mechanism functions are combined, so as to realize specific functions, greatly improving the flexible application and operation ability of the robot in the complex environment working conditions with deep occurrence.

[0060] Example 2

[0061] In this embodiment, it is considered that during use, due to the presence of a large amount of ore on the ground and the unevenness of the ground, frequent vibrations and bumps will occur when the mine - used wheeled explosion - proof robot moves in the mine. As a result, the goods transported on the top of the frame body 1 will also experience vibrations and bumps, causing the movement of the goods. Therefore, on the basis of Embodiment 1, the technical solution of Embodiment 2 is provided.

[0062] As Figure 2 、 Figure 3 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10 As shown in , a shock - absorption adjustment mechanism is provided on the axle 2. The shock - absorption adjustment mechanism includes a hinge seat 14 for connecting the middle top surface of the axle 2 and the bottom surface of the frame body 1. At the top surfaces of both ends of the axle 2, a piston rod 15 is installed. An outer sleeve of the top of the piston rod 15 is sleeved with a cylinder barrel 16 for hinging with the frame body 1. In this embodiment, an interface is opened on the cylinder barrel 16.

[0063] On one side of the top of the axle 2 away from the frame body 1, a bracket 17 is bolted. A slave oil cylinder 18 is installed on the bracket 17. Interfaces are provided at both ends of the slave oil cylinder 18. The interfaces at both ends of the cylinder barrel 16 are respectively connected in a conducting manner through oil pipes with the interfaces of the two slave oil cylinders 18. Hydraulic oil is filled in both the cylinder barrel 16 and the slave oil cylinder 18.

[0064] Specifically, as Figures 8 - 10 shown in , guide bars 19 are provided on the inner wall of the slave oil cylinder 18. Bracket frames 20 are installed at both ends of the guide bars 19. A sliding seat 21 is slidably installed in the middle of the slave oil cylinder 18. The sliding seat 21 is located between the two bracket frames 20. Tapered holes 22 are opened at both ends of the sliding seat 21. The middle parts of the two tapered holes 22 are connected. A sealing plug 31 that can be in sliding contact with the tapered holes 22 to form a sealing structure is installed in a threaded manner on the surface of the bracket frame 20 close to the sliding seat 21.

[0065] When the mine - used wheeled explosion - proof robot moves in the mine, when the axle 2 bumps up and down, through the sliding of the piston rod 15 in the cylinder barrel 16, the hydraulic oil inside the cylinder barrel 16 is pressed into the driven oil cylinder 18, and the hydraulic oil inside the driven oil cylinder 18 is sucked into the cylinder barrel 16. Thus, the up - and - down vibration of the axle 2 will be effectively absorbed and reduced by the movement and transportation of the hydraulic oil, thereby effectively reducing the vibration degree of the axle 2, and then effectively improving the stability of cargo transportation. The sliding seat 21 can slide inside the driven oil cylinder 18, and the tapered hole 22 can connect the two ends of the driven oil cylinder 18. So when the piston rods 15 on both sides slide inside the cylinder barrel 16, the hydraulic oil flows through the tapered hole 22 of the sliding seat 21 inside the driven oil cylinder 18, effectively providing a buffering effect, and then reducing the impact force generated when the tire 5 hits the protrusion. By setting the shock - absorption adjustment mechanism, the vibration and bump of the vehicle frame 1 during movement are reduced, ensuring the stability of the transported goods.

[0066] As Figures 7 to 12 shown, an active oil cylinder 23 is installed on the bracket 17. Interfaces are provided at the bottom ends of both sides of the active oil cylinder 23 and the bottom ends of both sides of the driven oil cylinder 18. The interface at the bottom of the active oil cylinder 23 is connected to the interface at the bottom of the driven oil cylinder 18 through an oil pipe. In this embodiment, a sliding sleeve 24 is fixedly connected to the top of the active oil cylinder 23. The inner cavity of the sliding sleeve 24 is communicated with the inner cavity of the active oil cylinder 23. A lead screw 25 is rotatably installed inside the sliding sleeve 24. The servo motor 27 drives the lead screw 25 to rotate, and based on the lead - screw principle, the movement of the slider 26 is realized. A clamping plate 29 is fixedly connected to the bottom surface of the slider 26. As Figure 11 shown, a piston plate 30 is installed in the middle of the clamping plate 29. The outer periphery of the piston plate 30 is in sliding contact with the inner wall of the active oil cylinder 23.

[0067] When the mine - used wheeled explosion - proof robot moves in the mine and encounters a relatively deep depression or a large protrusion and it is difficult for the robot to cross these obstacles; when the tire 5 at one end of the axle 2 moves to the depression, at this time, after the ultrasonic radar 12 and the lidar 13 detect the road surface condition, the servo motor 27 drives the lead screw 25 to rotate, driving the slider 26 to slide along the sliding sleeve 24. The slider 26 drives the clamping plate 29 and the piston plate 30 to slide towards the side of this tire 5, pushing the hydraulic oil inside the active oil cylinder 23 near one end of this tire 5 into the inside of the driven oil cylinder 18 near one end of this tire 5. At the same time, a negative pressure is generated inside the active oil cylinder 23 far from one end of this tire 5. When the hydraulic oil enters the driven oil cylinder 18, it will push the sliding seat 21 to slide towards the other end, pushing the hydraulic oil at this end of the driven oil cylinder 18 into the active oil cylinder 23 far from one end of this tire 5. When the tapered hole 22 of the sliding seat 21 cooperates with the sealing plug 31 for sealing, the hydraulic oil entering the inside of the driven oil cylinder 18 enters the cylinder barrel 16 on the side close to this tire 5, pushing the piston rod 15 on this side to extend. At the same time, the hydraulic oil inside the cylinder barrel 16 on the side far from this tire 5 will be sucked into the active oil cylinder 23 far from one end of this tire 5, making the axle 2 tilt actively downward towards the depression, so that the tire 5 contacts the bottom of the depression. At the same time, the height of the vehicle frame body 1 decreases, and further enables the mine - used wheeled explosion - proof robot to cross the depression smoothly.

[0068] When the mine - used wheeled explosion - proof robot encounters a large protrusion in the mine and the tire 5 at one end of the axle 2 moves to the protrusion, at this time, after the ultrasonic radar 12 and the lidar 13 detect the road surface condition, the servo motor 27 drives the lead screw 25 to rotate, driving the slider 26 to slide along the sliding sleeve 24. The slider 26 drives the clamping plate 29 and the piston plate 30 to slide towards the side far from this tire 5, pushing the hydraulic oil inside the active oil cylinder 23 far from one end of this tire 5 into the inside of the driven oil cylinder 18 far from one end of this tire 5. At the same time, a negative pressure is generated inside the active oil cylinder 23 near one end of this tire 5; when the hydraulic oil enters the driven oil cylinder 18, it will push the sliding seat 21 to slide towards the other end, pushing the hydraulic oil at this end of the driven oil cylinder 18 into the active oil cylinder 23 near one end of this tire 5. When the tapered hole 22 of the sliding seat 21 cooperates with the sealing plug 31 for sealing, the hydraulic oil entering the inside of the driven oil cylinder 18 enters the cylinder barrel 16 on the side far from this tire 5, pushing the piston rod 15 on this side to extend. At the same time, the hydraulic oil inside the cylinder barrel 16 on the side close to this tire 5 will be sucked into the active oil cylinder 23 far from one end of this tire 5, making the axle 2 tilt actively upward towards the protrusion, so that the tire 5 contacts the side of the protrusion. At the same time, the height of the vehicle frame body 1 increases, and further enables the mine - used wheeled explosion - proof robot to cross the protrusion smoothly; overall, the passability of the mine - used wheeled explosion - proof robot in the complex ground environment in the mine is improved.

[0069] Embodiment 3

[0070] Considering that there is a large amount of dust inside the mine tunnel, after the shock absorption adjustment mechanism moves for a long time, impurities will penetrate into the internal hydraulic oil and generate a large amount of sludge, which will affect the stability of the shock absorption adjustment mechanism and then affect the stability of the mine wheeled explosion-proof robot; Therefore, on the basis of Embodiment 2, the technical solution of Embodiment 3 is provided.

[0071] As Figure 7 , Figure 13 and Figure 14 shown, two sludge separation components are respectively connected to the two side cylinders 16 through hydraulic oil pipes for filtering oil and dirt impurities in the hydraulic oil; Specifically, the sludge separation component includes a cylinder body 32 whose top is fixedly connected to the bottom surface of the vehicle frame body 1; As Figure 13 shown in the structure, interfaces are provided on both sides of the top of the cylinder body 32, and the interfaces on both sides of the cylinder body 32 are respectively connected to the cylinder 16 and the driven oil cylinder 18, and a bottom shell 33 is bolted to the bottom end of the cylinder body 32.

[0072] As Figure 13 shown, in this embodiment, a first three-way pipe 34 and a second three-way pipe 35 are arranged at the top of the inner cavity of the cylinder body 32. Both the first three-way pipe 34 and the second three-way pipe 35 are composed of a horizontal main pipe and a downward branch pipe. Among them, the main pipes of the first three-way pipe 34, the main pipe of the second three-way pipe 35 and the interfaces of the cylinder body 32 are connected in series; And a first one-way valve 36 is arranged at one end of the main pipe of the second three-way pipe 35 close to the first three-way pipe 34, and a second one-way valve 37 is arranged on the branch pipe of the second three-way pipe 35.

[0073] The flow direction of the first one-way valve 36 is towards the first three-way pipe 34, and the flow direction of the second one-way valve 37 is towards the main pipe of the second three-way pipe 35; In this embodiment, a bracket 38 is fixedly connected to the middle of the bottom shell 33, a connecting pipe 39 is supported and installed in the middle of the bracket 38, the top end of the connecting pipe 39 is communicated with the bottom end of the branch pipe of the first three-way pipe 34, and five sealing plates 42 are arranged inside the cylinder body 32, and a plurality of filter mesh plates 44 are detachably installed on the sealing plates 42.

[0074] In this embodiment, a cone 40 is fixedly connected to the middle of the bottom shell 33, the cone 40 is aligned with the bottom end of the connecting pipe 39, and at the same time, in order to improve the sealing performance, a sealing ring block 41 is fixedly connected to the top surface of the bottom shell 33, and the outer wall of the sealing ring block 41 contacts the inner wall of the cylinder body 32 to obtain a sealing structure.

[0075] When the hydraulic oil inside the driven oil cylinder 18 is transported towards the cylinder barrel 16, when the hydraulic oil enters the inside of the cylinder body 32, the hydraulic oil first enters the main pipe of the second three-way pipe 35. Due to the blockage of the second one-way valve 37, the hydraulic oil enters the first three-way pipe 34 through the first one-way valve 36 and is directly transported into the cylinder barrel 16; when the hydraulic oil inside the cylinder barrel 16 is transported towards the driven oil cylinder 18, the hydraulic oil enters the inside of the cylinder body 32. After the hydraulic oil first enters the main pipe of the first three-way pipe 34, due to the blockage of the first one-way valve 36, the hydraulic oil is transported downward from the branch pipe of the first three-way pipe 34. The hydraulic oil then is discharged downward through the connecting pipe 39 to the bottom of the cylinder body 32. The hydraulic oil is blocked by the cone 40, causing the hydraulic oil to spread around; the hydraulic oil gradually rises inside the cylinder body 32, causing the hydraulic oil to pass through the multi-layer filter screen plate 44 for filtration. At the same time, the multi-layer filter screen plate 44 effectively reduces the occurrence of blockage of the filter screen plate 44.

[0076] The hydraulic oil filtered by the multi-layer filter screen plate 44 enters the main pipe of the second three-way pipe 35 through the second one-way valve 37 and is then transported into the driven oil cylinder 18; the sludge in the hydraulic oil precipitates into the sealing ring block 41 on the bottom shell 33 and between the multiple sealing plates 42; thereby effectively improving the cleanliness of the hydraulic oil and reducing the influence caused by the sludge in the hydraulic oil; through the set sludge separation component, the hydraulic cylinder is filtered and separated in real time, effectively cleaning the sludge impurities inside the hydraulic oil.

[0077] In summary, the working principle of the mine - used wheeled explosion - proof robot is as follows: when moving in a straight line, control the conveying speed and direction of the two - side drive motors 3 to be the same. The drive motors 3 drive the wheel axles 4 at both ends of the axle housing 2 to rotate through the transmission component, and then drive the tires 5 to rotate, realizing driving the vehicle frame body 1 to move in a straight line; when the mine - used wheeled explosion - proof robot makes a turning movement, control and adjust the output speed difference of the two - side drive motors 3, so that there is a speed difference between the two - side tires 5, realizing that the vehicle frame body 1 can turn with different turning radii, making the mine - used wheeled explosion - proof robot have good flexibility and climbing ability in the mine.

[0078] When the mine - used wheeled explosion - proof robot is on an uneven road section, through the set shock - absorption adjustment mechanism, the vibration and bump of the vehicle frame body 1 during movement are reduced, ensuring the stability of the transported goods, and making active adjustments, enabling the mine - used wheeled explosion - proof robot to pass through the uneven road section smoothly, thereby improving the passability of the mine - used wheeled explosion - proof robot in the complex ground environment in the mine tunnel.

[0079] And during the movement of the shock - absorption adjustment mechanism, the hydraulic oil will flow through the sludge separation component, and the sludge separation component filters the hydraulic oil in real time, effectively separating and filtering the sludge in the hydraulic oil; thereby effectively improving the cleanliness of the hydraulic oil and reducing the influence caused by the sludge in the hydraulic oil.

[0080] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0081] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced by the present invention.

Claims

1. A wheeled explosion-proof robot for mining, comprising a frame body (1) with axles (2) symmetrically arranged on both sides of the bottom, a driving motor (3) and a wheel axle (4) are respectively installed at the middle and both ends of the axle (2), and a tire (5) is installed at the outer end of the wheel axle (4), characterized in that: Also includes: A transmission assembly, arranged inside the axle (2) and used for transmission connection between the output shaft of the drive motor (3) and the wheel axle (4); The shock-absorbing adjustment mechanism comprises an articulated seat (14) for connecting the top surface of the middle part of the axle (2) and the bottom surface of the frame body (1), and a piston rod (15) arranged at the top surfaces of both ends of the axle (2), and the top outer ring of the piston rod (15) is provided with a cylinder (16) for articulating with the frame body (1); Two oil sludge separation components are respectively connected to the cylinder barrels (16) on both sides through hydraulic oil pipes and are used to filter impurities in the hydraulic oil.

2. The mining wheeled explosion-proof robot according to claim 1, characterized in that: An active oil cylinder (23) and a driven oil cylinder (18) are installed between the two oil sludge separation components. A piston plate (30) is installed in the inner cavity of the active oil cylinder (23) for reciprocating movement. The piston plate (30) is used to adjust the flow direction of the hydraulic oil.

3. The mining wheeled explosion-proof robot according to claim 2, characterized in that: The oil sludge separation assembly comprises a cylinder (32) with two interfaces at the top thereof respectively connected to the cylinder barrel (16) and the slave cylinder (18), and a bottom shell (33) is detachably mounted at the bottom of the cylinder (32); A first three-way pipe (34) and a second three-way pipe (35) are installed in the cylinder (16) between the two interfaces, and a first one-way valve (36) is installed between the first three-way pipe (34) and the second three-way pipe (35); A connecting pipe (39) is installed at the branch of the first three-way pipe (34), a bracket (38) for fixing the connecting pipe (39) is installed on the bottom shell (33), and a second one-way valve (37) is installed at the branch of the second three-way pipe (35).

4. The mining wheeled explosion-proof robot according to claim 3, characterized in that: The cylinder (32) is provided with a plurality of sealing plates (42) inside, the sealing plates (42) are provided with a filter screen plate (44), and the connecting pipe (39) is inserted into the plurality of sealing plates (42); The sealing plate (42) is provided with a plurality of notches (43), and the filter screen plate (44) is inserted into the notches (43).

5. The mining wheeled explosion-proof robot according to claim 4, characterized in that: A cone (40) corresponding to the position of the connecting pipe (39) is installed inside the bottom shell (33), and the cone (40) is used to disperse hydraulic oil; A sealing ring block (41) is installed inside the bottom shell (33) and is used to fit against the inner wall of the cylinder (32).

6. The mining wheeled explosion-proof robot according to claim 1, characterized in that: The transmission assembly comprises a planetary reducer (6) arranged on the axle (2) and used for being coaxially connected to the output shaft of the drive motor (3), and a first bevel gear (7) is coaxially mounted on the sun gear shaft of the planetary reducer (6); A second bevel gear (8) is coaxially mounted on the wheel shaft (4), and a universal joint transmission member (9) is provided on the axle (2) and located between the first bevel gear (7) and the second bevel gear (8) on both sides; The two ends of the universal joint transmission member (9) are provided with third bevel gears (10) for respectively meshing with the first bevel gear (7) and the second bevel gear (8).

7. The mining wheeled explosion-proof robot according to claim 2, characterized in that: The active oil cylinder (23) is provided with a guide sleeve (24) installed thereon, a screw rod (25) is rotatably installed in the sleeve (24), and one end of the screw rod (25) is transmission-connected to a servo motor (27) through a gear body (28); A slider (26) is threadedly mounted on the screw rod (25), a clamping plate (29) is mounted below the slider (26), and the piston plate (30) is detachably mounted on the clamping plate (29).

8. The mining wheeled explosion-proof robot according to claim 2, characterized in that: The inner cavity wall of the driven oil cylinder (18) is provided with a guide bar (19), and retaining frames (20) are installed at both ends of the guide bar (19), and a sliding seat (21) is slidably installed on the guide bar (19) between the two retaining frames (20); A tapered hole (22) is provided at the axis center of the sliding seat (21), and a sealing plug (31) corresponding to the position of the tapered hole (22) is installed on the inner side of the retaining frame (20).

9. The mining wheeled explosion-proof robot according to claim 6, characterized in that: The universal joint transmission member (9) adopts a telescopic coupling.

10. The mining wheeled explosion-proof robot according to claim 1, characterized in that: Ultrasonic radars (12) and laser radars (13) for sensing the environment and navigating are arranged around the vehicle frame (1).

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