A coal mine roadway inspection robot

Abstract

The present invention belongs to the technical field of coal mine safety inspection, and in particular relates to a coal mine roadway inspection robot, which includes a mounting base and a detection box. A laser emitter, a first receiving and transmitting component, and a second receiving and transmitting component are provided in the detection box. The mounting base has an arc-shaped structure that fits the side wall of the shaft. A lifting unit for driving the detection box to move along the axis direction of the shaft is provided on one side of the mounting base, and a protection unit for retracting and releasing the lifting unit is provided on the mounting base; the protection unit includes: a C-shaped protection baffle, and the C-shaped protection baffle is fixedly connected to the mounting base. The detection route on the inner wall of the shaft in the present invention is a spiral trajectory that rotates downward. Compared with the prior art, it can detect the inner wall of the coal mine roadway shaft more comprehensively and fully, avoid dead corners, reduce potential safety hazards, and can quickly judge the inclination angle of the roadway shaft by rotating the laser emitter, facilitating the subsequent development of safety protection work.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine safety inspection, and in particular relates to a coal mine roadway inspection robot. Background Art

[0002] Coal mine roadways are used for ore transportation, ventilation, drainage, and pedestrian passage for mining equipment to extract ore. The depth of coal mine roadways generally ranges from 100 meters to 800 meters, and some deep well coal roadways can reach below 800 meters. Moreover, the environment is complex and the space is narrow. It is safer and more reliable to use an inspection robot to replace manual inspection in coal mine roadways.

[0003] After retrieval, the application number CN202310569500.6 discloses a vertical shaft inspection robot for coal mines. A light source is continuously emitted by a laser emitter, and the light source is reflected and transmitted multiple times on a reflecting mirror surface and finally received by a receiving and transmitting component to detect and judge the deformation situation and position of the roadway shaft.

[0004] However, the above solution still has the following problems during operation:

[0005] 1. Since there is a large amount of dust in the coal mine roadway shaft, after the light emitted by the laser emitter is refracted multiple times, the irradiation distance is long, and affected by dust occlusion, the signal received by the receiving and transmitting component is weakened, and even the laser signal cannot be received.

[0006] 2. The environment in the coal mine is complex, and the roadway shaft is in a vertical state, and gravel may fall, which is likely to damage the inspection robot.

[0007] 3. Due to factors such as ground settlement, ground subsidence, and earthquakes, the underground rock and soil layers will also change, which will cause the roadway shaft to tilt and deform. The above solution can only detect the shaft deformation. When encountering the situation of shaft tilt, it is difficult to quickly judge the tilt situation, which is not conducive to the subsequent development of safety protection work. Summary of the Invention

[0008] The purpose of the present invention is to solve the problems raised in the above background art and provide a coal mine roadway inspection robot.

[0009] To achieve the above purpose, the present invention adopts the following technical solutions: A coal mine roadway inspection robot includes a mounting base and a detection box. A laser emitter, a first receiving and transmitting component, and a second receiving and transmitting component are provided in the detection box. The mounting base is in an arc-shaped structure that fits the side wall of the shaft. A lifting unit for driving the detection box to move along the axis direction of the shaft is provided on one side of the mounting base, and a protection unit for retracting and releasing the lifting unit is provided on the mounting base.

[0010] The protection unit includes:

[0011] C-shaped protective baffle, the C-shaped protective baffle is fixedly connected to the mounting seat;

[0012] Rhombic rotating bracket, the rhombic rotating bracket is composed of four straight rods hinged end to end, and one end of the rhombic rotating bracket is fixedly connected to the mounting seat;

[0013] Two threaded barrels, the two threaded barrels are respectively arranged at two middle rotating joints of the rhombic rotating bracket;

[0014] Bidirectional screw rod, the bidirectional screw rod is in threaded cooperation with the two threaded barrels, and a first motor for driving the bidirectional screw rod to rotate is arranged in the C-shaped protective baffle;

[0015] When the laser emitter works, the rhombic rotating bracket extends so that the detection box is located at the position of the central axis of the wellbore. When the laser emitter does not work, the rhombic rotating bracket folds and is stored in the C-shaped protective baffle;

[0016] The lifting unit includes:

[0017] Guide screw rod, the guide screw rod is arranged parallel to the axis of the wellbore, the guide screw rod passes through the detection box along the center line, and a positioning ring is fixedly sleeved on the guide screw rod, and the positioning ring is fixed to the rhombic rotating bracket;

[0018] Lifting nut, the lifting nut is rotatably connected to the detection box through a rotating seat, the lifting nut is in threaded cooperation with the guide screw rod, and a driving component for driving the lifting nut and the laser emitter to rotate is arranged in the detection box;

[0019] When the driving component operates, the lifting nut and the laser emitter rotate synchronously and in opposite directions. At this time, the detection route of the laser emitter on the inner wall of the wellbore is a spiral trajectory rotating downward.

[0020] Further, a chute is fixed in the C-shaped protective baffle, the bottom of the first motor is fixedly connected with a base, and the base is slidably connected to the chute.

[0021] Further, a U-shaped groove is opened in the middle of the C-shaped protective baffle. When the rhombic rotating bracket folds and is stored, the guide screw rod moves into the U-shaped groove.

[0022] Further, the bidirectional screw rod is composed of two screw rods with opposite thread directions. The two screw rods are respectively in threaded cooperation with the two threaded barrels. U-shaped notches are opened at the ends of the two screw rods close to each other. A damping cylinder is arranged between the two screw rods. Sliders matching the U-shaped notches are arranged at both ends of the damping cylinder. The sliders are slidably connected in the U-shaped notches, and the sliders are connected to the inner walls of the U-shaped notches through first springs. A limiting component for limiting the distance between the two screw rods is arranged in the damping cylinder.

[0023] Furthermore, the limit assembly includes a double-rod hydraulic cylinder installed in the damping cylinder, the output ends on both sides of the double-rod hydraulic cylinder are fixedly connected to the limit slide rod, a T-shaped slot is provided in the slider, the other end of the limit slide rod extends through the T-shaped slot, and two blocks are slidably connected in the T-shaped slot, the two blocks are connected by a second spring, and the two blocks are rotatably connected to the limit slide rod through a connecting rod, and a positioning groove matching the block is provided on the side wall of the U-shaped notch.

[0024] Furthermore, the driving assembly includes a second motor fixedly installed in the detection box, the output end of the second motor is interference fit with a driving gear, a driven gear is coaxially fixed on the lifting nut, the driven gear and the driving gear are meshed with each other, an annular bearing seat is fixed on the inner wall of the detection box, the inner ring of the annular bearing seat is fixedly connected to an annular mounting plate, an inner gear ring is fixedly connected to the annular mounting plate, the inner gear ring is meshed with the driving gear, and the laser transmitter, the first receiving and transmitting assembly and the second receiving and transmitting assembly are all arranged on the annular mounting plate.

[0025] Furthermore, the detection box is provided with lenses at the positions of the laser transmitter, the first receiving and transmitting component and the second receiving and transmitting component. When the laser transmitter is at the initial position, the laser signal is received through the first receiving and transmitting component.

[0026] Furthermore, a fixed plate is fixedly connected to the annular mounting plate, a sleeve is fixedly connected to the fixed plate, a rotating shaft is rotatably connected to the sleeve via a bearing, a third motor is installed on the fixed plate, the third motor is transmission-connected to the rotating shaft via a bevel gear set, the laser emitter is fixedly connected to the rotating shaft, and when the third motor drives the laser emitter to deflect, the laser signal is received by the second receiving and transmitting component.

[0027] Furthermore, guide rings are embedded in the top and bottom of the detection box, an annular groove is opened on the inner ring side wall of the guide ring, a shaft rod in the shape of a regular polygon is fixed in the annular groove, and each side of the shaft rod is rotatably connected to a roller.

[0028] Furthermore, dust-proof brushes are evenly distributed in a ring array on the inner ring side wall of the guide ring, and the dust-proof brushes are made of anti-static fiber material.

[0029] Compared with existing technologies, the advantages of this coal mine tunnel inspection robot are:

[0030] 1. The present invention can store the detection box by arranging a diamond-shaped rotating bracket, and effectively protects the stored detection box through a C-shaped protective baffle, thereby preventing damage caused by falling rocks in the coal mine tunnel shaft and extending its service life.

[0031] 2. By providing a damping cylinder and a first spring in the present invention, when the coal mine roadway shaft vibrates, the two screws can squeeze or stretch the first spring to form a damping and shock-absorbing effect, avoiding the diamond-shaped rotating bracket and the bidirectional screw from breaking under stress;

[0032] Moreover, by providing a double-rod hydraulic cylinder and a clamping block, when the diamond-shaped rotating bracket is adjusted by rotating the bidirectional screw to retract and extend, the clamping block can be inserted into the positioning groove, and the positions of the screw and the damping cylinder are fixed, avoiding the elastic deformation of the first spring from affecting the deformation adjustment of the diamond-shaped rotating bracket. After the diamond-shaped rotating bracket is adjusted, the clamping block is removed from the positioning groove, enabling the first spring to deform freely and play a shock-absorbing role.

[0033] 3. By providing a driving component in the present invention, the lifting nut and the laser emitter rotate synchronously and in opposite directions. At this time, the detection path of the laser emitter on the inner wall of the shaft is a spiral trajectory that rotates downward. Compared with the prior art, it can detect the inner wall of the coal mine roadway shaft more comprehensively and fully, avoid dead angles, and reduce potential safety hazards;

[0034] During operation, the detection box is located on the central axis of the roadway shaft. When the laser emitter operates, it rotates around the central axis of the roadway shaft, and the distance between it and the side wall of the roadway shaft is the same everywhere during detection. The laser does not need to be refracted multiple times, reducing the influence of dust in the roadway shaft on the laser blockage to ensure the detection effect.

[0035] 4. By providing a third motor and a second receiving and transmitting component in the present invention, when it is detected that the roadway shaft is inclined, the laser emitter is driven to rotate by the third motor. When the second receiving and transmitting component receives the laser signal, the rotation angle of the laser emitter is recorded, and the inclination angle of the roadway shaft can be quickly judged, facilitating the subsequent development of safety protection work.

[0036] 5. By providing a guide ring and a dust brush in the present invention, the guide ring can ensure that the detection box moves stably along the length direction of the guide screw. When the dust brush moves with the detection box, on the one hand, it can clean the surface of the guide screw to prevent jamming, and on the other hand, it can prevent dust from entering the detection box and avoid damaging components such as the laser emitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic structural diagram of a coal mine roadway inspection robot provided by the present invention;

[0038] Figure 2 is a schematic structural diagram of a protection unit in a coal mine roadway inspection robot provided by the present invention;

[0039] Figure 3 is a top view structural diagram of a protection unit in a coal mine roadway inspection robot provided by the present invention;

[0040] Figure 4 is Figure 3 The enlarged view at position A in

[0041] Figure 5 is Figure 4 The enlarged view at position B in

[0042] Figure 6 is the front structural schematic diagram of the lifting unit in a coal mine roadway inspection robot provided by the present invention;

[0043] Figure 7 is the structural schematic diagram of the laser emitter rotating component in a coal mine roadway inspection robot provided by the present invention;

[0044] Figure 8 is the schematic diagram of the detection work when the coal mine roadway shaft is inclined in a coal mine roadway inspection robot provided by the present invention;

[0045] Figure 9 is the structural schematic diagram of the guide ring in the coal mine roadway shaft of a coal mine roadway inspection robot provided by the present invention.

[0046] In the figure, 1 is the mounting seat, 2 is the detection box, 3 is the laser emitter, 4 is the first receiving and transmitting component, 5 is the second receiving and transmitting component, 6 is the C-shaped protective baffle, 7 is the diamond-shaped rotating bracket, 8 is the straight rod, 9 is the threaded cylinder, 10 is the bidirectional screw, 11 is the first motor, 12 is the guiding lead screw, 13 is the positioning ring, 14 is the lifting nut, 15 is the rotating seat, 16 is the sliding groove, 17 is the base, 18 is the U-shaped groove, 19 is the screw, 20 is the U-shaped notch, 21 is the damping cylinder, 22 is the slider, 23 is the first spring, 24 is the double-rod hydraulic cylinder, 25 is the limiting slide rod, 26 is the T-shaped groove, 27 is the clamping block, 28 is the second spring, 29 is the connecting rod, 30 is the positioning groove, 31 is the second motor, 32 is the driving gear, 33 is the driven gear, 34 is the annular bearing seat, 35 is the annular mounting plate, 36 is the internal gear ring, 37 is the lens, 38 is the fixing plate, 39 is the sleeve, 40 is the rotating shaft, 41 is the third motor, 42 is the helical gear set, 43 is the guide ring, 44 is the annular groove, 45 is the shaft rod, 46 is the roller, 47 is the dust brush, 48 is the coal mine roadway shaft, 49 is the reflecting mirror surface. Detailed implementation manners

[0047] The following embodiments are only for illustrative purposes and are not intended to limit the scope of the present invention.

[0048] Such as Figures 1-9As shown in the figure, a patrol robot for coal mine roadways includes a mounting base 1 and a detection box 2. The mounting base 1 is fixedly connected to the inner wall of the coal mine roadway shaft 48. The mounting base 1 is detachably fixed by bolts, which is convenient for the overall removal and maintenance of the robot. The detection box 2 is provided with a laser emitter 3, a first receiving and transmitting component 4 and a second receiving and transmitting component 5. The mounting base 1 is in an arc structure that fits the side wall of the shaft. One side of the mounting base 1 is provided with a lifting unit for driving the detection box 2 to move along the axis direction of the shaft, and the mounting base 1 is provided with a protection unit for retracting and releasing the lifting unit.

[0049] The protection unit includes a C-shaped protection baffle 6, a diamond-shaped rotating bracket 7, two threaded cylinders 9 and a bidirectional screw 10. The C-shaped protection baffle 6 is fixedly connected to the mounting base 1. The diamond-shaped rotating bracket 7 is composed of four straight rods 8 whose heads and tails are hinged to each other. One end of the diamond-shaped rotating bracket 7 is fixedly connected to the mounting base 1. The two threaded cylinders 9 are respectively arranged at two middle rotating joints of the diamond-shaped rotating bracket 7. The bidirectional screw 10 is in threaded cooperation with the two threaded cylinders 9, and a first motor 11 for driving the bidirectional screw 10 to rotate is arranged in the C-shaped protection baffle 6;

[0050] During specific operation, by the forward and reverse rotation of the first motor 11, the two threaded cylinders 9 are controlled to approach and separate from each other, and then the diamond-shaped rotating bracket will be folded and stored or unfolded. When the laser emitter 3 is working, the diamond-shaped rotating bracket 7 extends and unfolds so that the detection box 2 is located at the central axis position of the shaft. When the laser emitter 3 is not working, the diamond-shaped rotating bracket 7 is folded and stored in the C-shaped protection baffle 6. The C-shaped protection baffle 6 effectively protects the stored detection box 2, preventing damage caused by falling stones in the coal mine roadway shaft 48 and extending its service life;

[0051] A U-shaped groove 18 is opened in the middle of the C-shaped protection baffle 6. When the diamond-shaped rotating bracket 7 is folded and stored, the guiding screw rod 12 moves into the U-shaped groove 18. The function of the U-shaped groove 18 is to avoid interference and occlusion between the guiding screw rod 12 and the C-shaped protection baffle 6 when the detection box 2 is stored in the C-shaped protection baffle 6.

[0052] It should be noted that a sliding groove 16 is fixed in the C-shaped protection baffle 6. The bottom of the first motor 11 is fixedly connected with a base 17, and the base 17 is slidably connected to the sliding groove 16, so that when the diamond-shaped rotating bracket 7 is stored and adjusted, the first motor 11 can move along the sliding groove 16 for cooperation.

[0053] The bidirectional screw 10 is composed of two screws 19 with opposite thread directions. The two screws 19 are respectively in threaded fit with two threaded cylinders 9. U-shaped notches 20 are provided at one ends of the two screws 19 close to each other. A damping cylinder 21 is arranged between the two screws 19. Sliders 22 matching the U-shaped notches 20 are provided at both ends of the damping cylinder 21. The sliders 22 are slidably connected in the U-shaped notches 20, and the sliders 22 are connected to the inner walls of the U-shaped notches 20 through first springs 23. A limiting component for limiting the distance between the two screws 19 is arranged in the damping cylinder 21;

[0054] The limiting component includes a double-rod hydraulic cylinder 24 installed in the damping cylinder 21. Limiting slide rods 25 are fixedly connected to the output ends on both sides of the double-rod hydraulic cylinder 24. A T-shaped groove 26 is formed in the slider 22. The other ends of the limiting slide rods 25 penetrate and extend into the T-shaped groove 26. Two clamping blocks 27 are slidably connected in the T-shaped groove 26. The two clamping blocks 27 are connected through a second spring 28, and both clamping blocks 27 are rotatably connected to the limiting slide rods 25 through connecting rods 29. Positioning grooves 30 matching the clamping blocks 27 are provided on the side walls of the U-shaped notches 20. When the second spring 28 is in a natural state, the two clamping blocks 27 are located outside the positioning grooves 30;

[0055] During specific operation, by arranging the damping cylinder 21 and the first spring 23, when the coal mine roadway shaft 48 vibrates, the two screws 19 can squeeze or stretch the first spring 23 to form a damping and shock-absorbing effect, avoiding breakage of the diamond rotating support 7 and the bidirectional screw 10 under stress. And when the bidirectional screw rotates to adjust the retraction and extension of the diamond rotating support, the clamping blocks 27 are inserted into the positioning grooves 30, so that the positions of the screws 19 and the damping cylinder 21 are fixed, avoiding the influence of the elastic deformation of the first spring 23 on the deformation adjustment of the diamond rotating support 7. After the diamond rotating support 7 is adjusted, the clamping blocks 27 are removed from the positioning grooves 30, so that the first spring 23 can deform freely, playing a role in damping and shock absorption.

[0056] The lifting unit includes a guiding lead screw 12 and a lifting nut 14. The guiding lead screw 12 is arranged parallel to the axis of the shaft. The guiding lead screw 12 passes through the detection box 2 along the center line, and a positioning ring 13 is fixedly sleeved on the guiding lead screw 12. The positioning ring 13 is fixed to the diamond rotating support 7. The lifting nut 14 is rotatably connected to the detection box 2 through a rotating seat 15. The lifting nut 14 is in threaded fit with the guiding lead screw 12. A driving component for driving the lifting nut 14 and the laser emitter 3 to rotate is arranged in the detection box 2;

[0057] The driving assembly includes a second motor 31 fixedly mounted in the detection box 2, an output end of the second motor 31 is interference-fitted with a driving gear 32, a driven gear 33 is coaxially fixed on the lifting nut 14, the driven gear 33 and the driving gear 32 are meshed with each other, an annular bearing seat 34 is fixed on the inner wall of the detection box 2, the inner ring of the annular bearing seat 34 is fixedly connected to an annular mounting plate 35, an inner gear ring 36 is fixedly connected to the annular mounting plate 35, the inner gear ring 36 and the driving gear 32 are meshed with each other, and the laser transmitter 3, the first receiving and transmitting assembly 4 and the second receiving and transmitting assembly 5 are all arranged on the annular mounting plate 35;

[0058] The detection box 2 is provided with a lens 37 at the position of the laser transmitter 3, the first receiving transmission component 4 and the second receiving transmission component 5. When the laser transmitter 3 is at the initial position, the laser signal is received through the first receiving transmission component 4;

[0059] It should be noted that before detection, multiple reflective mirrors 49 need to be arranged on the inner wall of the coal mine tunnel shaft 48. When the driving component is running, the lifting nut 14 and the laser transmitter 3 rotate synchronously in the opposite direction. At this time, the detection route of the laser transmitter 3 on the inner wall of the shaft is a spiral trajectory rotating downward. When the laser emitted by the laser transmitter 3 irradiates the reflective mirror 49, the light path is reflected to the first receiving transmission component 4 for reception, and the receiving transmission component 1 transmits the signal to the external terminal for analysis and display. It should be noted that the reflective mirror 49 can be arranged at multiple points according to the detection needs, especially in the easy In the deformed area, since the sweeping trajectory of the laser emitter 3 is a spiral line, it can pass through each reflective mirror 49 in turn. Compared with the existing technology, it can more comprehensively and fully detect the inner wall of the coal mine tunnel shaft 48, avoid blind spots, and reduce safety hazards. When working, the detection box 2 is located on the central axis of the tunnel shaft. When the laser emitter is working, it rotates around the central axis of the tunnel shaft. During detection, the distance between it and the side wall of the tunnel shaft is consistent. The laser does not need to undergo multiple refractions, reducing the blocking effect of smoke and dust in the tunnel shaft on the laser, so as to ensure the detection effect.

[0060] A fixing plate 38 is fixedly connected to the annular mounting plate 35, a sleeve 39 is fixedly connected to the fixing plate 38, a rotating shaft 40 is rotatably connected in the sleeve 39 through a bearing, a third motor 41 is installed on the fixing plate 38, the third motor 41 is transmission-connected to the rotating shaft 40 through a bevel gear set 42, and the laser emitter 3 is fixedly connected to the rotating shaft 40. When the third motor 41 drives the laser emitter 3 to deflect, the laser signal is received by the second receiving and transmitting component 5. When a tilt is detected in the tunnel shaft, the laser emitter 3 is driven to rotate by the third motor 41. When the second receiving and transmitting component receives the laser signal, the rotation angle of the laser emitter 3 is recorded, so that the tilt angle of the tunnel shaft can be quickly determined, which is convenient for subsequent safety protection work.

[0061] Guide rings 43 are embedded at both the top and bottom of the detection box 2. An annular groove 44 is formed on the inner side wall of the inner ring of the guide ring 43. A shaft rod 45 in the shape of a regular polygon is fixed in the annular groove 44. Each side of the shaft rod 45 is rotatably connected with a roller 46. The guide ring 43 can ensure that the detection box 2 walks stably along the length direction of the guide screw rod 12.

[0062] Dust-proof brushes 47 are evenly distributed in an annular array on the inner side wall of the inner ring of the guide ring 43. The dust-proof brushes 47 are made of anti-static fiber materials to prevent static electricity generated by the friction between the dust-proof brushes 47 and the guide screw rod 12. When the dust-proof brushes 47 move with the detection box 2, on the one hand, they can clean the surface of the guide screw rod 12 to prevent jamming, and on the other hand, they can prevent dust from entering the detection box 2 and avoid damaging components such as the laser emitter 3.

[0063] When the present invention is working, the double-rod hydraulic cylinder 24 is started to push the two limit slide rods 25 to move in a direction away from each other. Then, through the connecting rod 29, the two clamping blocks 27 are pushed to move in a direction away from each other and move into the positioning groove 30 to fix the relative positions of the screw rod 19 and the damping cylinder 21, avoiding the influence of the elastic deformation of the first spring 23 on the deformation adjustment of the diamond-shaped rotating bracket 7. Then, the first motor 11 is driven to rotate the bidirectional screw rod 10 forward, so that the two threaded cylinders 9 move in a direction close to each other, causing the diamond-shaped rotating bracket 7 to extend, pushing the detection box 2 out of the C-shaped protective baffle 6 and moving it to the central axis position of the coal mine roadway shaft 48.

[0064] The second motor 31 is started to work. Since the driving gear 32 meshes with both the driven gear 33 and the internal gear ring 36, the lifting nut 14 and the annular mounting plate 35 can be driven to rotate synchronously in opposite directions. Also, because the lifting nut 14 is in threaded cooperation with the guide screw rod 12, the detection box 2 can be driven to move longitudinally along the coal mine roadway shaft 48. A plurality of reflecting mirrors 49 are arranged on the inner wall of the coal mine roadway shaft 48. When the driving assembly is running, the lifting nut 14 and the laser emitter 3 rotate synchronously in opposite directions. At this time, the detection route of the laser emitter 3 on the inner wall of the shaft is a spiral trajectory rotating downward. When the laser emitted by the laser emitter 3 irradiates on the reflecting mirror 49, the optical path is reflected to the first receiving and transmitting assembly 4 for reception (the optical path is as Figure 6As shown by the dashed line, the first receiving and transmitting component 4 transmits the signal to an external terminal for analysis and display. It should be noted that the reflecting mirrors 49 can be arranged at multiple points according to the detection requirements, especially in areas prone to deformation. Since the scanning trajectory of the laser emitter 3 is a helix, it can pass through each reflecting mirror 49 in sequence. Compared with the prior art, it can detect the inner wall of the coal mine roadway shaft 48 more comprehensively and fully, avoid dead angles, reduce potential safety hazards. Moreover, during operation, the detection box 2 is located on the central axis of the roadway shaft. When the laser emitter works, it rotates around the central axis of the roadway shaft, and the distance from it to each part of the side wall of the roadway shaft is the same during detection. The laser does not need to be refracted multiple times, reducing the influence of dust in the roadway shaft on the laser to ensure the detection effect;

[0065] When it is detected that the roadway shaft is inclined, the third motor 41 drives the rotating shaft 40 to rotate through the helical gear set 42, and then drives the laser emitter 3 to rotate until the second receiving and transmitting component 5 receives the laser signal, and then drives the laser emitter 3 to stop rotating. Record the rotation angle α of the laser emitter 3 at this time. The optical path is as Figure 8 shown by the dashed line, and by measuring the angle β of the received laser through the second receiving and transmitting component 5, the inclination angle λ of the roadway shaft can be quickly judged, which is convenient for the subsequent development of safety protection work;

[0066] The calculation method of the inclination angle of the coal mine roadway shaft 48 is as follows:

[0067] ;

[0068] After the detection is completed, the third motor 41 rotates in the reverse direction to reset the driving laser emitter 3, the second motor 31 rotates in the reverse direction, and the detection box 2 moves to the position directly opposite the upper C-shaped protective baffle 6. At this time, the first motor 11 rotates in the reverse direction to fold and store the diamond-shaped rotating bracket 7, so that the detection box 2 moves into the C-shaped protective baffle 6. The C-shaped protective baffle 6 effectively protects the stored detection box 2, prevents damage caused by falling rocks in the coal mine roadway shaft 48, and extends its service life. Then the double-rod hydraulic cylinder 24 contracts, and the two clamping blocks 27 are moved out of the positioning groove 30. At this time, the first spring 23 can deform freely, playing a role of damping and shock absorption.

[0069] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A coal mine roadway inspection robot, comprising a mounting base (1) and a detection box (2), the mounting base (1) is fixedly connected to the inner wall of the coal mine roadway shaft, and a laser emitter (3), a first receiving and transmitting component (4) and a second receiving and transmitting component (5) are arranged in the detection box (2), characterized in that, The mounting base (1) has an arc-shaped structure that fits the side wall of the wellbore. One side of the mounting base (1) is provided with a lifting unit for driving the detection box (2) to move along the axis of the wellbore, and the mounting base (1) is provided with a protection unit for retracting and extending the lifting unit; The protection unit includes: A C-shaped protection baffle (6), and the C-shaped protection baffle (6) is fixedly connected to the mounting base (1); A rhombic rotating bracket (7), and the rhombic rotating bracket (7) is composed of four straight rods (8) hinged end to end. One end of the rhombic rotating bracket (7) is fixedly connected to the mounting base (1); Two threaded cylinders (9), and the two threaded cylinders (9) are respectively arranged at two middle rotating joints of the rhombic rotating bracket (7); A bidirectional screw rod (10), and the bidirectional screw rod (10) is in threaded cooperation with the two threaded cylinders (9), and a first motor (11) for driving the bidirectional screw rod (10) to rotate is arranged in the C-shaped protection baffle (6); When the laser emitter (3) works, the rhombic rotating bracket (7) extends so that the detection box (2) is located at the central axis position of the wellbore. When the laser emitter (3) does not work, the rhombic rotating bracket (7) folds and is stored in the C-shaped protection baffle (6); The lifting unit includes: A guiding screw rod (12), and the guiding screw rod (12) is arranged parallel to the axis of the wellbore. The guiding screw rod (12) passes through the detection box (2) along the center line, and a positioning ring (13) is fixedly sleeved on the guiding screw rod (12), and the positioning ring (13) is fixed to the rhombic rotating bracket (7); A lifting nut (14), and the lifting nut (14) is rotatably connected to the detection box (2) through a rotating seat (15). The lifting nut (14) is in threaded cooperation with the guiding screw rod (12), and a driving component for driving the lifting nut (14) and the laser emitter (3) to rotate is arranged in the detection box (2); When the driving component operates, the lifting nut (14) and the laser emitter (3) rotate in the opposite direction synchronously. At this time, the detection route of the laser emitter (3) on the inner wall of the wellbore is a spiral trajectory rotating downward; The bidirectional screw rod (10) is composed of two screw rods (19) with opposite thread directions. The two screw rods (19) are respectively in threaded cooperation with the two threaded cylinders (9). U-shaped notches (20) are opened at one ends of the two screw rods (19) close to each other. A damping cylinder (21) is arranged between the two screw rods (19). Sliders (22) matching the U-shaped notches (20) are arranged at both ends of the damping cylinder (21). The sliders (22) are slidably connected in the U-shaped notches (20), and the sliders (22) are connected to the inner walls of the U-shaped notches (20) through first springs (23). A limiting component for limiting the distance between the two screw rods (19) is arranged in the damping cylinder (21); The limit assembly comprises a double-rod hydraulic cylinder (24) installed in the damping cylinder (21), the output ends on both sides of the double-rod hydraulic cylinder (24) are fixedly connected to the limit slide bar (25), the slider (22) is provided with a T-shaped slot (26), the other end of the limit slide bar (25) extends through the T-shaped slot (26), two clamping blocks (27) are slidably connected in the T-shaped slot (26), the two clamping blocks (27) are connected by a second spring (28), and the two clamping blocks (27) are rotatably connected to the limit slide bar (25) by a connecting rod (29), and the side wall of the U-shaped notch (20) is provided with a positioning slot (30) matching the clamping block (27), and when the second spring (28) is in a natural state, the two clamping blocks (27) are located outside the positioning slot (30).

2. The coal mine roadway inspection robot according to claim 1, wherein, A slide groove (16) is fixed inside the C-shaped protective baffle (6), a base (17) is fixedly connected to the bottom of the first motor (11), and the base (17) is slidably connected to the slide groove (16).

3. The coal mine roadway inspection robot according to claim 1, wherein, A U-shaped groove (18) is provided in the middle of the C-shaped protective baffle (6), and when the diamond-shaped rotating bracket (7) is folded and stored, the guide screw rod (12) moves into the U-shaped groove (18).

4. The coal mine roadway inspection robot according to claim 1, wherein The driving assembly comprises a second motor (31) fixedly mounted in the detection box (2); an output end of the second motor (31) is interference-fitted with a driving gear (32); a driven gear (33) is coaxially fixed on the lifting nut (14); the driven gear (33) and the driving gear (32) are meshed with each other; an annular bearing seat (34) is fixed on the inner wall of the detection box (2); the inner ring of the annular bearing seat (34) is fixedly connected to an annular mounting plate (35); an inner gear ring (36) is fixedly connected to the annular mounting plate (35); the inner gear ring (36) and the driving gear (32) are meshed with each other; and the laser transmitter (3), the first receiving and transmitting assembly (4) and the second receiving and transmitting assembly (5) are all arranged on the annular mounting plate (35).

5. The coal mine roadway inspection robot according to claim 4, wherein, The detection box (2) is provided with a lens (37) at the positions of the laser transmitter (3), the first receiving transmission component (4) and the second receiving transmission component (5); when the laser transmitter (3) is at an initial position, the laser signal is received through the first receiving transmission component (4).

6. The coal mine roadway inspection robot according to claim 5, wherein, The annular mounting plate (35) is fixedly connected to a fixing plate (38), the fixing plate (38) is fixedly connected to a sleeve (39), a rotating shaft (40) is rotatably connected in the sleeve (39) via a bearing, a third motor (41) is mounted on the fixing plate (38), the third motor (41) is transmission-connected to the rotating shaft (40) via a bevel gear set (42), the laser emitter (3) is fixedly connected to the rotating shaft (40), and when the third motor (41) drives the laser emitter (3) to deflect, the laser signal is received via the second receiving transmission component (5).

7. The coal mine roadway inspection robot according to claim 1, wherein Guide rings (43) are embedded at both the top and the bottom of the detection box (2). An annular groove (44) is formed in the inner side wall of the inner ring of the guide ring (43). A shaft rod (45) in a regular polygon shape is fixed in the annular groove (44). Each side of the shaft rod (45) is rotatably connected with a roller (46).

8. The coal mine roadway inspection robot according to claim 7, wherein, Dust-proof brushes (47) are evenly distributed in a circumferential array on the inner side wall of the inner ring of the guide ring (43). The dust-proof brushes (47) are made of antistatic fiber materials.

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