Auxiliary rescue robot for seam opening in narrow space of underground coal mine

Abstract

The invention relates to the technical field of rescue robots, in particular to an auxiliary rescue robot for seam opening in a narrow space of an underground coal mine. Comprising an integrated explosion-proof box body, a crawler belt, a movable chassis of crawler belt double swing arms, a seam opening device, a left tripod supporting device, a right tripod supporting device, a middle lifting device, a pushing device, an oil pipe following device, a hydraulic power system, a left fender, a right fender, a rescue bag loosening device, a rescue bag and a multi-source detection sensing system. The mine rescue robot can pass through a narrow space zone, has the high climbing and obstacle crossing capacity, is further suitable for being used for auxiliary rescue through multiple terrains, meanwhile, in the rescue process, the surrounding environment can be monitored, vital signs under mine ruins can be detected, and the rescue efficiency is improved. Rescue personnel can make targeted rescue preparation through detection data, the rescue efficiency is improved while the rescue effect is guaranteed, and the life and property safety of trapped personnel can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue robots, and particularly to a seam-opening assisted rescue robot for narrow spaces in underground coal mines. Background Art

[0002] Coal mining operations are high-risk industries, and there are various hazard sources underground, including casualties caused by major mine disasters such as underground gas and coal dust explosions, mine fires, and water inrush from the roof and floor of the mine. These accidents occur frequently in coal mine production in China. Therefore, underground safety rescue is a long-term issue, and it is the expectation of all rescue personnel to use robots to assist rescue workers in rescue operations or only let robots complete rescue work.

[0003] In the past, when a mine accident occurred underground, rescue workers had to wear protective clothing. When toxic and harmful gases were detected at the accident site, they also had to carry oxygen cylinders and protective masks into the site. First, they had to search for survivors waiting for rescue, or find or judge whether there were people trapped in certain positions under the rocks through visual inspection or certain sounds at the disaster site. When it was determined that someone needed rescue, manual rescue workers used demolition tools to pry open obstacles to rescue the trapped people. This rescue method took a long time and was likely to miss the best rescue time, while also delaying the rescue efficiency.

[0004] To improve the rescue efficiency, relevant robots can be used to replace manual labor to complete some rescue work, such as monitoring the on-site environment and the location information of trapped people. Therefore, the inventor proposes a rescue robot that can assist or replace rescue workers to complete tasks such as seam-opening rescue and space jacking operations, providing a necessary working space for rescue workers and equipment to carry out rescue operations. Considering factors such as the shape and size of the seam-opening robot, the working environment, control requirements, and cost, a seam-opening robot with a compact structure, large load-bearing capacity, and flexible movement is designed to break through the limitations of the coal mine environment and expand the applicable space of the robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a seam-opening assisted rescue robot for narrow spaces in underground coal mines to solve the problems raised in the above background art.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A seam-opening assisted rescue robot for narrow spaces in underground coal mines includes an integrated explosion-proof box body, crawlers, a mobile chassis with crawler double swing arms, a seam-opening device, a left jacking device, a right jacking device, a middle lifting device, a pushing device, an oil pipe following device, a hydraulic power system, a left fender, a right fender, a rescue package release device, a rescue package, and a multi-source detection and sensing system;

[0007] The mobile chassis is the total carrier of the left tripod support device, right tripod support device, middle lifting device, pushing device, oil pipe following device at the front end, the rescue package release device at the rear end, and the multi-source detection and sensing system of the whole vehicle. The mobile chassis consists of an explosion-proof box body, a box cover, a crawler body, a front crawler swing arm, a rear crawler swing arm, an outgoing line box body, and a wiring horn mouth;

[0008] The middle part of the mobile chassis is composed of an explosion-proof box body and a box cover. On one side of the top of the front end of the box cover, an operation lamp is installed. At the rear end of the explosion-proof box body, a manual charging interface is provided. At the front end of the explosion-proof box body, a connecting block is provided. On the box cover, an outgoing line box body is arranged, and on the outgoing line box body, a wiring horn mouth is arranged. On both sides of the explosion-proof box body are the crawler bodies. At the front end of the crawler body is the front crawler swing arm, and at the rear end of the crawler body is the rear crawler swing arm.

[0009] As a further improvement of the present invention, the rubber crawler materials of the crawler body, the front crawler swing arm, and the rear crawler swing arm are flame-retardant rubber embedded with Kevlar fibers;

[0010] The seam opening device is installed on the middle lifting device at the front end of the mobile chassis. The seam opening device includes a first hydraulic cylinder and a seam opening fork. The main power of the seam opening device comes from the first hydraulic cylinder, and the seam opening fork is installed at the output end of the first hydraulic cylinder;

[0011] The middle lifting device includes a first bottom plate, rib plates, connecting plates, a large back plate, a second hydraulic cylinder, a first support frame, rolling wheels, and C-shaped grooves. At the rear end of the first bottom plate, there is a large back plate, which is connected to the first bottom plate through rib plates. On both sides of the rear end of the large back plate, there are first support frames. On both sides of the first support frames, there are connecting plates. At the rear ends of the first support frames, there are rolling wheels. The four rolling wheels are installed to roll in two C-shaped grooves. The driving source of the middle lifting device is the second hydraulic cylinder, which is located above the first support frame. Both sides of the middle lifting device are respectively connected to the pushing device.

[0012] As a further improvement of the present invention, there are two sets of pushing devices. At the front ends of the two sets of pushing devices, a left tripod support device and a right tripod support device are respectively installed. The pushing device and the seam opening device can move up and down together with the middle lifting device. When rescue is not required, the seam opening device, the left tripod support device, and the right tripod support device at the front end should walk together with the vehicle at a high position, which can enable the whole vehicle to climb slopes and cross obstacles efficiently. When reaching the rescue location, when looking for a gap and carrying out the rescue, the seam opening device, the left tripod support device, and the right tripod support device are put down together;

[0013] The left tripod support device and the right tripod support device are similar to the structure of a hydraulic jack. The right tripod support device includes a male quick-connect fitting, a one-way valve seat, a first support leg, a universal support seat, a clamp, a multi-section support rod, an intermediate cylinder body, a first guide rod, and a spherical buckle. A multi-section support rod is provided at the top of the intermediate cylinder body, a universal support seat is provided at the bottom of the intermediate cylinder body, a male quick-connect fitting is provided at the oil inlet of the intermediate cylinder body, a one-way valve seat is provided at the front end of the male quick-connect fitting, a first guide rod is installed in the middle part of the right tripod support device, the first guide rod and the clamp are fixed on the intermediate cylinder body of the right tripod support device, and a first support leg is welded on the intermediate cylinder body;

[0014] The pushing device includes a third hydraulic cylinder, a second guide rod, a fixed seat, a guide tube, and a female quick-connect fitting. The female quick-connect fitting and the male quick-connect fitting are installed in butt joint with each other. The guide tube and the first guide rod are installed in butt joint with each other. The output end of the third hydraulic cylinder is provided with a fixed seat, and the upper part of the fixed seat is inserted and installed with a second guide rod. The front end of the second guide rod is connected to the guide tube;

[0015] The left tripod support device and the right tripod support device are connected to the pushing device in a quick-lock manner. Before the rescue, the left tripod support device and the right tripod support device are quickly installed on the pushing device. The two locking methods of the male quick-connect fitting and the spherical buckle at the rear end of the guide rod can prevent the jacking device from falling off due to the impact force when the vehicle body travels on complex terrains.

[0016] As a further improvement of the present invention, the oil pipe following device includes a pipe clamping plate, a first roller, an oil pipe, a second roller, a third guide rod, a second support frame, a spring, a fixing plate, and a second bottom plate. The front end of the second bottom plate is connected to the bottom of the rear end of the fixed seat. The top of the rear end of the second bottom plate is provided with a second support frame. The upper part of the rear end of the second support frame is inserted and installed with a third guide rod. A fixing plate is provided at the rear end of the third guide rod. A spring is sleeved on the outer surface of the rear end of the third guide rod. A second roller is provided at the front end of the third guide rod. A pipe clamping plate is provided on one side of the front end of the second bottom plate. The other end of the pipe clamping plate is provided with a first roller. The first roller and the second roller jointly clamp and install the oil pipe in their wheel grooves. With the movement of the pushing device and the intermediate lifting device, the oil pipe can move back and forth and up and down.

[0017] As a further improvement of the present invention, when the front seam opening device, the left tripod support device, and the right tripod support device are operating, the front crawler swing arm and the rear crawler swing arm of the mobile chassis swing, so that the entire vehicle body is adjusted according to the position of the gap.

[0018] As a further improvement of the present invention, the hydraulic power system is located at the middle position of the mobile chassis and is the total power source for the third hydraulic cylinder in the sewing device, the middle lifting device, the left tripod support device, the right tripod support device, the pushing device, and the clamping hydraulic cylinder in the rescue package release device. The hydraulic power system is composed of an explosion-proof motor, an oil tank, a plate valve, a directional control valve, a mounting plate, and a dust cover for the hydraulic system. The mounting plate is installed between the hydraulic power system and the mobile chassis through screws. The explosion-proof motor is provided at the front end of the mounting plate, the oil tank is provided at the rear end of the mounting plate, the plate valve is provided at the top of the mounting plate, and the directional control valve is provided at the top of the plate valve. The outer surface of the hydraulic power system is sleeved with a dust cover for the hydraulic system.

[0019] As a further improvement of the present invention, the rescue package release device is located at the rear side of the mobile chassis and is fixed by screws. The rescue package release device consists of a clamping plate, a second support leg, a release slideway, a third bottom plate, a side plate, an L-shaped plate, a guide rod, a clamping hydraulic cylinder, and a rear back plate. A second support leg is provided at one side of the bottom of the third bottom plate. The bottom of the second support leg is connected to the box cover through screws. A release slideway is provided at the other side of the bottom of the third bottom plate. A side plate is provided at one end of the top of the third bottom plate. A rear back plate is provided at one side of the top of the third bottom plate. An L-shaped plate is provided at one end of the rear side of the rear back plate. A guide rod is inserted and installed through the upper part of one side of the L-shaped plate. A clamping hydraulic cylinder is installed through the lower part of one side of the L-shaped plate. The output end of the clamping hydraulic cylinder and one end of the guide rod are jointly provided with a clamping plate. The rescue package is clamped in this device. A rescue box body is placed inside the rescue package. An oxygen cylinder, physiological saline, a gauze box, and oral medicine are placed inside the rescue box body.

[0020] As a further improvement of the present invention, the multi-source detection and sensing system is used to monitor the parameters and states of each execution component of the robot, and to collect environmental point cloud information, depth image information, obstacle information, and on-site environmental information during the robot's travel, and upload the collected data to the visual remote control terminal through an antenna, and control the front-end operation of the robot through the visual remote control terminal.

[0021] As a further improvement of the present invention, the multi-source detection and sensing system includes a mine intrinsically safe lidar sensor, an emergency stop switch, an explosion-proof headlight, an audible and visual alarm, an explosion-proof dual-spectrum pan-tilt, a rear explosion-proof camera, a Class I intrinsically safe life radar detector, a mine intrinsically safe radar level sensor, a mine intrinsically safe multi-parameter gas sensor, an antenna, a microphone, and a speaker;

[0022] At the top of the rear end of the box cover, there is a first mounting plate. A support block is jointly provided between the first mounting plate and the box cover for installation and connection. On the right side of the top of the first mounting plate, there is an audible and visual alarm. On the first mounting plate to the left of the audible and visual alarm, there is a rear explosion-proof camera. On the first mounting plate to the left of the rear explosion-proof camera, there is an explosion-proof headlight;

[0023] The mine intrinsically safe laser radar sensor is located on the left side of the front end of the explosion-proof box body. The explosion-proof dual-spectrum pan-tilt are respectively arranged at the front end of the mobile chassis and the front end of the dust-proof cover of the hydraulic system. The mine intrinsically safe multi-parameter gas sensor is arranged at the rear side of the middle part of the mobile chassis and is located on the wire outlet box body. The rear explosion-proof camera is installed and arranged at the rear end of the mobile chassis;

[0024] As a further improvement of the present invention, on both sides of the explosion-proof box body, there are respectively a left fender and a right fender. The left fender and the right fender are located above the crawler body. In the middle of the upper surface of the left fender, there is an emergency stop switch. At the rear end of the upper surface of the right fender, there is a Class I intrinsically safe life radar detector. At the front and rear ends of the upper surfaces of the right fender and the left fender, there are mine intrinsically safe radar level sensors. The scanning distance of its explosion-proof ultrasonic obstacle avoidance sensor is 0 - 15m, and the scanning area is -30° - 30°. A support frame is jointly provided between the mine intrinsically safe radar level sensor and the right fender as well as the left fender for installation and connection;

[0025] The speaker is located at the front end of the right fender, behind the mine intrinsically safe radar level sensor, and at the same time on the left side of the mine intrinsically safe multi-parameter gas sensor and is fixed by screws. The pick-up is located at the front end of the right fender, and at the same time in the middle of the side where the mine intrinsically safe radar level sensor and the Class I intrinsically safe life radar detector are directly close to each other. A pick-up support frame is jointly provided between the pick-up and the right fender for installation and connection.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] The present invention can pass through narrow space areas and has strong climbing and obstacle-crossing capabilities, and thus is suitable for multi-terrain passage for auxiliary rescue use, avoiding the problem of difficult passage in the face of complex terrains and delaying the rescue efficiency, which is beneficial to providing efficient rescue help to the trapped personnel. At the same time, during the traveling process, it can monitor the surrounding environment on the traveling route and detect the vital signs under the mine ruins, and transmit the detection data to the rescue personnel. At this time, the rescue personnel can make targeted rescue preparations based on the detection data, and thus improve the rescue efficiency while ensuring the rescue effect, which is beneficial to protecting the life and property safety of the trapped personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the accompanying drawings.

[0029] Figure 1 Front view of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0030] Figure 2 Top view of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0031] Figure 3 Rear view of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0032] Figure 4 Front view of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0033] Figure 5 Three-dimensional view of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines Figure 1 ;

[0034] Figure 6 Three-dimensional view of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines Figure 2 ;

[0035] Figure 7 Three-dimensional view of the chassis of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines Figure 1 ;

[0036] Figure 8 Three-dimensional view of the chassis of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines Figure 2 ;

[0037] Figure 9 Hydraulic system diagram of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0038] Figure 10 Diagram of the rescue package loosening device of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0039] Figure 11 Diagram of the rescue package of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0040] Figure 12 Diagram of the seam-opening device of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0041] Figure 13 Diagram of the middle lifting device of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0042] Figure 14 Diagram of the left tripod support device of the seam-opening auxiliary rescue robot for narrow spaces underground in coal mines;

[0043] Figure 15It is a diagram of the right tripod support device of the seam-opening auxiliary rescue robot in the narrow space underground in coal mines;

[0044] Figure 16 It is a three-dimensional diagram of the right tripod support device of the seam-opening auxiliary rescue robot in the narrow space underground in coal mines;

[0045] Figure 17 It is a three-dimensional diagram of the oil pipe follow-up device and the pushing device of the seam-opening auxiliary rescue robot in the narrow space underground in coal mines.

[0046] In the figure: 1. Left tripod support device; 2. Seaming start device; 2.1 Seaming start fork; 2.2 First hydraulic cylinder; 3. Middle lifting device; 3.1 First bottom plate; 3.2 Rib plate; 3.3 Connecting plate; 3.4 Large back plate; 3.5 Second hydraulic cylinder; 3.6 First support frame; 3.7 Rolling wheel; 3.8 C-shaped groove; 4. Right tripod support device; 4.1 Male quick-connect joint; 4.2 Check valve seat; 4.3 First support leg; 4.4 Universal support seat; 4.5 Clamp; 4.6 Multi-section support rod; 4.7 Middle cylinder body; 4.8 First guide rod; 4.9 Spherical buckle; 5. Working lamp; 6. Pushing device; 6.1 Third hydraulic cylinder; 6.2 Second guide rod; 6.3 Fixed seat; 6.4 Guide tube; 6.5 Female quick-connect joint; 7. Mine intrinsically safe radar level sensor; 8. Pickup; 9. Pickup bracket; 10. Oil pipe following device; 10.1 Pipe clamping plate; 10.2 First roller; 10.3 Oil pipe; 10.4 Second roller; 10.5 Third guide rod; 10.6 Second support frame; 10.7 Spring; 10.8 Fixed plate; 10.9 Second bottom plate; 11. Class I intrinsically safe life radar detector; 12. Mobile chassis; 12.1 Front track swing arm; 12.2 Track main body; 12.3 Rear track swing arm; 12.4 Box cover; 12.5 Connecting block; 12.6 Cable outlet box body; 12.7 Wiring horn mouth; 12.8 Explosion-proof box body; 12.9 Manual charging interface; 13. Mine intrinsically safe lidar sensor; 14. Explosion-proof dual-spectrum pan-tilt; 15. Hydraulic system dust cover; 16. Speaker; 17. Antenna; 18. Mine intrinsically safe multi-parameter gas sensor; 19. Rescue kit; 19.1 Rescue box body; 19.2 Normal saline; 19.3 Gauze box; 19.4 Oxygen cylinder; 19.5 Oral medicine; 20. Rescue kit release device; 20.1 Clamping plate; 20.2 Second support leg; 20.3 Release slideway; 20.4 Third bottom plate; 20.5 Side plate; 20.6 L-shaped plate; 20.7 Guide rod; 20.8 Clamping hydraulic cylinder; 20.9 Rear back plate; 21. Right fender; 22. Acoustic and optical alarm; 23. Rear explosion-proof camera; 24. First mounting plate; 25. Support block; 26. Explosion-proof headlight; 27. Support frame; 28. Emergency stop switch; 29. Left fender; 30. Hydraulic power system; 30.1 Explosion-proof motor; 30.2 Second mounting plate; 30.3 Directional valve; 30.4 Plate valve; 30.5 Fuel tank. Detailed implementation mode

[0047] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0048] Please refer to Figure 1-17 As shown, a seam-starting auxiliary rescue robot for narrow spaces underground in coal mines includes a mobile chassis 12 integrating an explosion-proof box body, crawlers, and crawler double swing arms, a seam-starting device 2, a left tripod support device 1, a right tripod support device 4, an intermediate lifting device 3, a pushing device 6, an oil pipe following device 10, a hydraulic power system 30, a left fender 29, a right fender 21, a rescue package release device 20, a rescue package 19, and various sensor assemblies of a multi-source detection and sensing system;

[0049] The mobile chassis 12 is the total carrier of the left tripod support device 1, right tripod support device 4, intermediate lifting device 3, pushing device 6, oil pipe following device 10 at the front end, the rescue package release device 20 at the rear end, and various sensor assemblies of the multi-source detection and sensing system for the whole vehicle. The mobile chassis 12 includes an explosion-proof box body 12.8, a box cover 12.4, a crawler body 12.2, a front crawler swing arm 12.1, a rear crawler swing arm 12.3, an outgoing line box body 12.6, and a wiring horn mouth 12.7;

[0050] The middle part of the mobile chassis 12 is composed of an explosion-proof box body 12.8 and a box cover 12.4. One side of the top of the front end of the box cover 12.4 is equipped with an operation lamp 5. The rear end of the explosion-proof box body 12.8 is provided with a manual charging interface 12.9. The front end of the explosion-proof box body 12.8 is provided with a connection block 12.5. An outgoing line box body 12.6 is arranged on the box cover 12.4, and a wiring horn mouth 12.7 is arranged on the outgoing line box body 12.6. The two sides of the explosion-proof box body 12.8 are crawler bodies 12.2. The front end of the crawler body 12.2 is a front crawler swing arm 12.1, and the rear end of the crawler body 12.2 is a rear crawler swing arm 12.3. The rubber crawlers of the crawler body 12.2, front crawler swing arm 12.1, and rear crawler swing arm 12.3 are made of flame-retardant rubber embedded with Kevlar fiber.

[0051] The entire mobile chassis needs to be analyzed by finite element using software. The strength of the explosion-proof box body should meet the requirements specified by GB\T3836, and the whole vehicle body can be lightened under such requirements. In this way, the weight of the whole vehicle is light, which can prevent secondary cave-ins during rescue. Secondly, the light weight can increase the battery life of the vehicle and the length of the rescue time. At the same time, the strength of the front crawler swing arm and rear crawler swing arm also meets the strength requirements for the whole vehicle rescue.

[0052] The starting sewing device 2 is installed on the middle lifting device 3 at the front end of the mobile chassis 12. The starting sewing device 2 includes a first hydraulic cylinder 2.2 and a starting sewing fork 2.1. The main power source of the starting sewing device 2 is the first hydraulic cylinder 2.2, and the starting sewing fork 2.1 is installed at the output end of the first hydraulic cylinder 2.2.

[0053] The middle lifting device 3 includes a first bottom plate 3.1, a rib plate 3.2, a connecting plate 3.3, a large back plate 3.4, a second hydraulic cylinder 3.5, a first support frame 3.6, a rolling wheel 3.7 and a C-shaped groove 3.8. A large back plate 3.4 is provided at the rear end of the first bottom plate 3.1. The large back plate 3.4 is connected to the first bottom plate 3.1 through the rib plate 3.2. First support frames 3.6 are provided on both sides of the rear end of the large back plate 3.4. Connecting plates 3.3 are provided on both sides of the first support frame 3.6. Rolling wheels 3.7 are provided at the rear ends of the first support frames 3.6. The four rolling wheels 3.7 are installed to roll in two C-shaped grooves 3.8. The driving source of the middle lifting device 3 is the second hydraulic cylinder 3.5. The second hydraulic cylinder 3.5 is located at the upper part of the first support frame 3.6. Both sides of the middle lifting device 3 are respectively connected to the pushing device 6.

[0054] There are two sets of pushing devices 6. The left side tripod support device 1 and the right side tripod support device 4 are respectively installed at the front ends of the two sets of pushing devices 6. The pushing device 6 and the starting sewing device 2 can move up and down together with the middle lifting device 3. When rescue is not required, the starting sewing device 2 and the left side tripod support device 1 and the right side tripod support device 4 at the front end should travel together with the vehicle at a high position, which can enable the whole vehicle to climb slopes and cross obstacles efficiently. When reaching the place where rescue is needed, when looking for a gap and carrying out the rescue, the starting sewing device 2 and the left side tripod support device 1 and the right side tripod support device 4 are put down together;

[0055] The left side tripod support device 1 and the right side tripod support device 4 are similar to the structure of a hydraulic jack. The right side tripod support device 4 includes a male quick-connect fitting 4.1, a one-way valve seat 4.2, a first support leg 4.3, a universal support seat 4.4, a clamp 4.5, a multi-section support rod 4.6, a middle cylinder body 4.7, a first guide rod 4.8 and a spherical buckle 4.9. A multi-section support rod 4.6 is provided at the top of the middle cylinder body 4.7. A universal support seat 4.4 is provided at the bottom of the middle cylinder body 4.7. A male quick-connect fitting 4.1 is provided at the oil inlet of the middle cylinder body 4.7. A one-way valve seat 4.2 is provided at the front end of the male quick-connect fitting 4.1. The middle part of the right side tripod support device 4 is installed with a first guide rod 4.8. The first guide rod 4.8 and the clamp 4.5 are fixed on the middle cylinder body 4.7 of the right side tripod support device 4. A first support leg 4.3 is welded on the middle cylinder body 4.7 to prevent this device from tilting and overturning in multiple directions during the tripod support process;

[0056] The pushing device 6 includes a third hydraulic cylinder 6.1, a second guide rod 6.2, a fixing seat 6.3, a guide tube 6.4 and a female end of a quick-connection connector 6.5. The female end of the quick-connection connector 6.5 is connected to the male end of the quick-connection connector 4.1, and the guide tube 6.4 is connected to the first guide rod 4.8. The output end of the third hydraulic cylinder 6.1 is installed with a fixing seat 6.3, and the upper part of the fixing seat 6.3 is penetrated and inserted with a second guide rod 6.2, and the front end of the second guide rod 6.2 is connected to the guide tube 6.4;

[0057] The left tripod support device 1 and the right tripod support device 4 are connected to the pushing device 6 by a quick lock. Before rescue, the left tripod support device 1 and the right tripod support device 4 are quickly installed on the pushing device 6. The two locking methods of the quick-plug connector male end 4.1 and the spherical buckle 4.9 at the rear end of the guide rod 4.8 can prevent the jacking device from falling off due to impact when the vehicle body is driving on complex terrain.

[0058] The oil pipe tracking device 10 includes a clamping plate 10.1, a first roller 10.2, an oil pipe 10.3, a second roller 10.4, a third guide rod 10.5, a second support frame 10.6, a spring 10.7, a fixing plate 10.8 and a second bottom plate 10.9. The front end of the second bottom plate 10.9 is connected to the rear end bottom of the fixing seat 6.3. The second support frame 10.6 is provided at the top of the rear end of the second bottom plate 10.9. The third guide rod 10.5 is inserted and installed through the upper part of the rear end of the second support frame 10.6. The rear end of the third guide rod 10.5 is provided with a fixing plate 10.8. .5 is sleeved with a spring 10.7 on the outer surface of the rear end, a second roller 10.4 is provided at the front end of the third guide rod 10.5, a tube clamping plate 10.1 is provided on one side of the front end of the second bottom plate 10.9, a first roller 10.2 is provided at the other end of the tube clamping plate 10.1, the first roller 10.2 and the second roller 10.4, and the wheel grooves of the first roller 10.2 and the second roller 10.4 are jointly clamped with an oil pipe 10.3, and the oil pipe following device 10 moves with the pushing device 6 and the intermediate lifting device 3, and the oil pipe 10.3 can move forward and backward and up and down, thereby constraining the movement direction of the oil pipe.

[0059] When the front seam-opening device 2 and the left tripod-supporting device 1 and the right tripod-supporting device 4 are in operation, the front crawler swing arm 12.1 and the rear crawler swing arm 12.3 of the mobile chassis 12 swing, so that the entire vehicle body is adjusted according to the gap position.

[0060] The hydraulic power system 30 is located at the middle position of the mobile chassis 12 and is the total power source for the third hydraulic cylinder 6.1 in the sewing device 2, the middle lifting device 3, the left tripod support device 1, the right tripod support device 4, the pushing device 6, and the clamping hydraulic cylinder 20.8 in the rescue package release device 20. The hydraulic power system 30 is composed of an explosion-proof motor 30.1, an oil tank 30.5, a plate valve 30.4, a directional control valve 30.3, a mounting plate 30.2, and a hydraulic system dust cover 15. The mounting plate 30.2 is installed between the hydraulic power system 30 and the mobile chassis 12 by screws. The front end of the mounting plate 30.2 is provided with the explosion-proof motor 30.1, the rear end of the mounting plate 30.2 is provided with the oil tank 30.5, the top of the mounting plate 30.2 is provided with the plate valve 30.4, the top of the plate valve 30.4 is provided with the directional control valve 30.3, and the outer surface of the hydraulic power system 30 is sleeved with the hydraulic system dust cover 15.

[0061] The rescue package release device 20 is located at the rear side of the mobile chassis 12 and is fixed by screws. The rescue package release device 20 is composed of a clamping plate 20.1, a second support leg 20.2, a release slideway 20.3, a third bottom plate 20.4, a side plate 20.5, an L-shaped plate 20.6, a guide rod 20.7, a clamping hydraulic cylinder 20.8, and a rear back plate 20.9. One side of the bottom of the third bottom plate 20.4 is provided with the second support leg 20.2, and the bottom of the second support leg 20.2 is connected to the box cover 12.4 by screws. The other side of the bottom of the third bottom plate 20.4 is provided with the release slideway 20.3. One end of the top of the third bottom plate 20.4 is provided with the side plate 20.5. One side of the top of the third bottom plate 20.4 is provided with the rear back plate 20.9. One end of the rear side of the rear back plate 20.9 is provided with the L-shaped plate 20.6. The upper part of one side of the L-shaped plate 20.6 is penetrated and installed with the guide rod 20.7, and the lower part of one side of the L-shaped plate 20.6 is penetrated and installed with the clamping hydraulic cylinder 20.8. The output end of the clamping hydraulic cylinder 20.8 and one end of the guide rod 20.7 are jointly provided with the clamping plate 20.1, and the rescue package 19 is clamped in this device. A rescue box body 19.1 is placed inside the rescue package 19, and an oxygen cylinder 19.4, physiological saline 19.2, a gauze box 19.3, and oral medicine 19.5 are placed inside the rescue box body 19.1, which are used for physical energy supply and injury treatment when the trapped people escape.

[0062] The various sensor assemblies of the multi-source detection and sensing system are used to monitor the parameters and states of the various execution components of the robot, and to collect the environmental point cloud information, depth image information, obstacle information, and on-site environment information during the robot's travel, and upload the collected data to the visual remote control terminal through the antenna 17, and control the front-end operation of the robot through the visual remote control terminal;

[0063] The multi-source detection and sensing system includes a mine-intrinsic safety type lidar sensor 13, an emergency stop switch 28, an explosion-proof headlight 26, an audible and visual alarm 22, an explosion-proof dual-spectrum pan-tilt 14, a rear explosion-proof camera 23, a Class I intrinsic safety type life radar detector 11, a mine-intrinsic safety type radar level sensor 7, a mine-intrinsic safety type multi-parameter gas sensor 18, an antenna 17, a pick-up 8, and a speaker 16;

[0064] At the top of the rear end of the box cover 12.4, there is a first mounting plate 24. A support block 25 is jointly provided between the first mounting plate 24 and the box cover 12.4 for installation and connection. On the right side of the top of the first mounting plate 24, there is an audible and visual alarm 22. On the first mounting plate 24 to the left of the audible and visual alarm 22, there is a rear explosion-proof camera 23. On the first mounting plate 24 to the left of the rear explosion-proof camera 23, there is an explosion-proof headlight 26;

[0065] The mine-intrinsic safety type lidar sensor 13 is located on the left side of the front end of the explosion-proof box body 12.8. It is a 3D lidar product used for spatial distance measurement and position perception information collection. It can achieve precise distance detection of surrounding environmental targets and rapid data processing, and has functions of point cloud data output and clock synchronization. The explosion-proof dual-spectrum pan-tilt 14 is respectively arranged at the front end of the mobile chassis 12 and the front end of the hydraulic system dust cover 15. The mine-intrinsic safety type multi-parameter gas sensor 18 is arranged at the rear side of the middle end of the mobile chassis 12 and is located on the wire outlet box body 12.6. The mine-intrinsic safety type multi-parameter gas sensor can be used in coal mines or other places with methane gas, carbon monoxide gas, and oxygen gas. It has functions of monitoring three parameters of environmental methane concentration, carbon monoxide concentration, and oxygen concentration, automatically converting the corresponding monitored parameters into wireless signals and transmitting them to the mating equipment, and locally displaying methane concentration value, carbon monoxide concentration value, oxygen concentration value, and environmental temperature value, and giving an audible and visual alarm when over-limit. It is suitable for fixed use in places such as coal mine working faces, upper corners, mechanical and electrical chambers, and return air roadways. The rear explosion-proof camera 23 is installed at the rear end of the mobile chassis 12. The rear explosion-proof camera and the dual-spectrum pan-tilt are used to collect video data of the robot operating environment and the temperature change in the environment, and can be used for monitoring of fire and high-temperature scenarios.

[0066] On both sides of the explosion-proof box body 12.8, there are respectively a left fender 29 and a right fender 21. The left fender 29 and the right fender 21 are located above the crawler body 12.2. Their function is to prevent mud, water or sand and stones from splashing onto the vehicle body when the whole vehicle is moving forward, so as not to damage various sensors at the upper end. In the middle of the upper surface of the left fender 29, there is an emergency stop switch 28. At the rear end of the upper surface of the right fender 21, there is a Class I intrinsically safe life radar detector 11. This radar is based on low-frequency ultra-wideband radar technology, uses heartbeat signals and breathing signals as the characteristics of human life parameters, obtains the two-dimensional coordinates of the living body, realizes the detection of the living body in a weak motion or static state buried under a mine or in a ruins, and displays the position of the living body, ensuring the detection effect to the greatest extent. This product has a significant role in emergency rescue under a mine or in a ruins. At the front and rear ends of the upper surfaces of the right fender 21 and the left fender 29, there are mine intrinsically safe radar level sensors 7. The scanning distance of its explosion-proof ultrasonic obstacle avoidance sensor is 0 to 15 m, and the scanning area is -30° to 30°. It can detect obstacles through ultrasonic waves to ensure the normal operation of the robot. Between the mine intrinsically safe radar level sensor 7, the right fender 21 and the left fender 29, there is a support frame 27 for installation and connection;

[0067] The speaker 16 is located at the front end of the right fender 21, at the rear side of the mine intrinsically safe radar level sensor 7, and at the same time on the left side of the mine intrinsically safe multi-parameter gas sensor 18, and is fixed by screws. The microphone 8 is located at the front end of the right fender 21. It is used in combination with the speaker to pick up the sound in the voice intercom. At the same time, it is located in the middle of the side where the mine intrinsically safe radar level sensor 7 and the Class I intrinsically safe life radar detector 11 are directly close to each other. Between the microphone 8 and the right fender 21, there is a microphone support frame 9 for installation and connection.

[0068] The above-disclosed preferred embodiments of the present invention are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to only the specific embodiments. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An auxiliary rescue robot for starting seams in narrow spaces underground in coal mines, characterized in that, It includes an integrated explosion-proof box body, crawlers, a mobile chassis (12) with crawler double swing arms, a sewing starting device (2), a left tripod support device (1), a right tripod support device (4), a middle lifting device (3), a pushing device (6), a tubing following device (10), a hydraulic power system (30), a left fender (29), a right fender (21), a rescue kit release device (20), a rescue kit (19), and a multi-source detection and sensing system; The mobile chassis (12) is the general carrier of the left tripod support device (1), the right tripod support device (4), the middle lifting device (3), the pushing device (6), the tubing following device (10) at the front end, the rescue kit release device (20) and the multi-source detection and sensing system at the rear end. The mobile chassis (12) includes an explosion-proof box body (12.8), a box cover (12.4), a crawler main body (12.2), a front crawler swing arm (12.1), a rear crawler swing arm (12.3), a wire outlet box body (12.6), and a wiring nozzle (12.7); The middle part of the mobile chassis (12) is composed of an explosion-proof box body (12.8) and a box cover (12.4). On one side of the top of the front end of the box cover (12.4), an operation lamp (5) is installed. At the rear end of the explosion-proof box body (12.8), a manual charging interface (12.9) is provided. At the front end of the explosion-proof box body (12.8), a connecting block (12.5) is provided. On the box cover (12.4), a wire outlet box body (12.6) is provided. On the wire outlet box body (12.6), a wiring nozzle (12.7) is provided. On both sides of the explosion-proof box body (12.8) are the crawler main body (12.2). At the front end of the crawler main body (12.2) is the front crawler swing arm (12.1). At the rear end of the crawler main body (12.2) is the rear crawler swing arm (12.3).

2. The seam-starting auxiliary rescue robot for narrow spaces in underground coal mines according to claim 1, characterized in that, The rubber crawler materials of the crawler main body (12.2), the front crawler swing arm (12.1), and the rear crawler swing arm (12.3) are all flame-retardant rubber embedded with Kevlar fibers; The sewing starting device (2) is installed on the middle lifting device (3) at the front end of the mobile chassis (12). The sewing starting device (2) includes a first hydraulic cylinder (2.2) and a sewing starting fork (2.1). The main power of the sewing starting device (2) comes from the first hydraulic cylinder (2.2). The sewing starting fork (2.1) is installed at the output end of the first hydraulic cylinder (2.2); The middle lifting device (3) includes a first bottom plate (3.1), rib plates (3.2), connecting plates (3.3), a large back plate (3.4), a second hydraulic cylinder (3.5), a first support frame (3.6), rolling wheels (3.7) and C-shaped grooves (3.8). A large back plate (3.4) is provided at the rear end of the first bottom plate (3.1). The large back plate (3.4) is connected to the first bottom plate (3.1) through rib plates (3.2). First support frames (3.6) are provided on both sides of the rear end of the large back plate (3.4). Connecting plates (3.3) are provided on both sides of the first support frame (3.6). Rolling wheels (3.7) are provided at the rear ends of the first support frames (3.6). The four rolling wheels (3.7) are rotatably installed in two C-shaped grooves (3.8). The driving source of the middle lifting device (3) is the second hydraulic cylinder (3.5). The second hydraulic cylinder (3.5) is located above the first support frame (3.6). Both sides of the middle lifting device (3) are respectively connected to the pushing device (6).

3. The auxiliary rescue robot for starting seams in narrow spaces underground in coal mines according to claim 1, wherein There are two sets of the pushing devices (6). The left side tripod support device (1) and the right side tripod support device (4) are respectively installed at the front ends of the two sets of the pushing devices (6). The pushing devices (6) and the seam starting device (2) move up and down together with the middle lifting device (3). When rescue is not required, the front seam starting device (2), the left side tripod support device (1) and the right side tripod support device (4) should travel together with the vehicle at a high position, enabling the whole vehicle to efficiently climb slopes and cross obstacles. When reaching the location where rescue is needed, looking for a gap and carrying out the rescue, the seam starting device (2), the left side tripod support device (1) and the right side tripod support device (4) are put down together; The right side tripod support device (4) includes a male quick connector end (4.1), a one-way valve seat (4.2), a first support leg (4.3), a universal support seat (4.4), a clamp (4.5), a multi-section support rod (4.6), an intermediate cylinder body (4.7), a first guide rod (4.8) and a spherical buckle (4.9). A multi-section support rod (4.6) is provided at the top of the intermediate cylinder body (4.7). A universal support seat (4.4) is provided at the bottom of the intermediate cylinder body (4.7). A male quick connector end (4.1) is provided at the oil inlet of the intermediate cylinder body (4.7). A one-way valve seat (4.2) is provided at the front end of the male quick connector end (4.1). The first guide rod (4.8) is installed in the middle part of the right side tripod support device (4). The first guide rod (4.8) and the clamp (4.5) are fixed on the intermediate cylinder body (4.7) of the right side tripod support device (4). A first support leg (4.3) is welded on the intermediate cylinder body (4.7); The pushing device (6) comprises a third hydraulic cylinder (6.1), a second guide rod (6.2), a fixing seat (6.3), a guide tube (6.4) and a female end of a quick-connection connector (6.5); the female end of the quick-connection connector (6.5) and the male end of the quick-connection connector (4.1) are butt-jointed and installed with each other; the guide tube (6.4) and the first guide rod (4.8) are butt-jointed and installed with each other; the output end of the third hydraulic cylinder (6.1) is installed with a fixing seat (6.3); the upper part of the fixing seat (6.3) is penetrated and inserted with a second guide rod (6.2); the front end of the second guide rod (6.2) is connected to the guide tube (6.4); The left tripod support device (1) and the right tripod support device (4) are connected to the pushing device (6) by means of a quick lock. Before rescue, the left tripod support device (1) and the right tripod support device (4) are quickly installed on the pushing device (6). The male end (4.1) of the quick-insert connector and the spherical buckle (4.9) at the rear end of the guide rod (4.8) are two-way locking.

4. The seam-starting auxiliary rescue robot for narrow spaces in coal mines according to claim 1, characterized in that, The oil pipe tracking device (10) comprises a clamping plate (10.1), a first roller (10.2), an oil pipe (10.3), a second roller (10.4), a third guide rod (10.5), a second support frame (10.6), a spring (10.7), a fixing plate (10.8) and a second bottom plate (10.9); the front end of the second bottom plate (10.9) is connected to the rear end bottom of the fixing seat (6.3); the top of the rear end of the second bottom plate (10.9) is provided with a second support frame (10.6); the upper part of the rear end of the second support frame (10.6) is penetrated and installed with a third guide rod (10.5); the rear end of the third guide rod (10.5) is provided with a fixing A fixed plate (10.8), a spring (10.7) is sleeved on the outer surface of the rear end of the third guide rod (10.5), a second roller (10.4) is provided at the front end of the third guide rod (10.5), a tube clamping plate (10.1) is provided on one side of the front end of the second bottom plate (10.9), a first roller (10.2) is provided at the other end of the tube clamping plate (10.1), the first roller (10.2) and the second roller (10.4), and an oil pipe (10.3) is installed in the wheel grooves of the first roller (10.2) and the second roller (10.4), and the oil pipe following device (10) moves with the pushing device (6) and the intermediate lifting device (3).

5. A seam-starting auxiliary rescue robot for narrow spaces in underground coal mines according to claim 1, characterized in that, When the front seam-forming device (2) and the left tripod-supporting device (1) and the right tripod-supporting device (4) are in operation, the front crawler swing arm (12.1) and the rear crawler swing arm (12.3) of the mobile chassis (12) swing, so that the entire vehicle body is adjusted according to the gap position.

6. The auxiliary rescue robot for starting seams in narrow spaces underground in coal mines according to claim 1, wherein, The hydraulic power system (30) is located at the middle position of the mobile chassis (12) and is the total power source for the third hydraulic cylinder (6.1) in the sewing device (2), the middle lifting device (3), the left tripod support device (1), the right tripod support device (4), and the pushing device (6), and the clamping hydraulic cylinder (20.8) in the rescue package release device (20). The hydraulic power system (30) is composed of an explosion-proof motor (30.1), an oil tank (30.5), a plate valve (30.4), a directional control valve (30.3), a mounting plate (30.2), and a dust cover (15) for the hydraulic system. The mounting plate (30.2) is installed between the hydraulic power system (30) and the mobile chassis (12) by screws. The explosion-proof motor (30.1) is provided at the front end of the mounting plate (30.2), the oil tank (30.5) is provided at the rear end of the mounting plate (30.2), the plate valve (30.4) is provided at the top of the mounting plate (30.2), and the directional control valve (30.3) is provided at the top of the plate valve (30.4). The dust cover (15) for the hydraulic system is sleeved and installed on the outer surface of the hydraulic power system (30).

7. The auxiliary rescue robot for starting seams in narrow spaces underground in coal mines according to claim 1, characterized in that, The rescue package release device (20) is located at the rear side of the mobile chassis (12) and is fixed by screws. The rescue package release device (20) is composed of a clamping plate (20.1), a second support leg (20.2), a release slideway (20.3), a third bottom plate (20.4), a side plate (20.5), an L-shaped plate (20.6), a guide rod (20.7), a clamping hydraulic cylinder (20.8), and a backrest plate (20.9). A second support leg (20.2) is provided at one side of the bottom of the third bottom plate (20.4), and the bottom of the second support leg (20.2) is connected to the box cover (12.4) by screws. A release slideway (20.3) is provided at the other side of the bottom of the third bottom plate (20.4). A side plate (20.5) is provided at one end of the top of the third bottom plate (20.4), and a backrest plate (20.9) is provided at one side of the top of the third bottom plate (20.4). An L-shaped plate (20.6) is provided at one end of the rear side of the backrest plate (20.9). A guide rod (20.7) is inserted and installed through the upper part of one side of the L-shaped plate (20.6), and a clamping hydraulic cylinder (20.8) is installed through the lower part of one side of the L-shaped plate (20.6). A clamping plate (20.1) is provided at the output end of the clamping hydraulic cylinder (20.8) and one end of the guide rod (20.7). The rescue package (19) is clamped in this device. A rescue box body (19.1) is placed inside the rescue package (19), and an oxygen cylinder (19.4), physiological saline (19.2), a gauze box (19.3), and oral medicine (19.5) are placed inside the rescue box body (19.1).

8. The auxiliary rescue robot for starting seams in narrow spaces underground in coal mines according to claim 1, characterized in that, The multi-source detection and sensing system is used to monitor the parameters and states of the various execution components of the robot, and to collect environmental point cloud information, depth image information, obstacle information, and on-site environmental information during the robot's movement. The collected data is uploaded to the visual remote control terminal through the antenna (17), and the robot's front-end operation is controlled through the visual remote control terminal.

9. The seam-starting auxiliary rescue robot for narrow spaces in coal mines according to claim 8, characterized in that, The multi-source detection and sensing system includes a mine intrinsically safe lidar sensor (13), an emergency stop switch (28), an explosion-proof headlight (26), an audible and visual alarm (22), an explosion-proof dual-spectrum pan-tilt (14), a rear explosion-proof camera (23), a Class I intrinsically safe life radar detector (11), a mine intrinsically safe radar level sensor (7), a mine intrinsically safe multi-parameter gas sensor (18), an antenna (17), a microphone (8), and a speaker (16); At the top of the rear end of the box cover (12.4), there is a first mounting plate (24). A support block (25) is provided between the first mounting plate (24) and the box cover (12.4) for installation and connection. An audible and visual alarm (22) is provided on the upper right side of the first mounting plate (24). A rear explosion-proof camera (23) is provided on the first mounting plate (24) to the left of the audible and visual alarm (22). An explosion-proof headlight (26) is provided on the first mounting plate (24) to the left of the rear explosion-proof camera (23); The mine intrinsically safe lidar sensor (13) is located on the left side of the front end of the explosion-proof box body (12.8). The explosion-proof dual-spectrum pan-tilt (14) is respectively arranged at the front end of the mobile chassis (12) and the front end of the hydraulic system dust cover (15). The mine intrinsically safe multi-parameter gas sensor (18) is arranged at the rear side of the middle end of the mobile chassis (12) and is located on the wire outlet box body (12.6). The rear explosion-proof camera (23) is installed and arranged at the rear end of the mobile chassis (12); 10. The seam-starting auxiliary rescue robot for narrow spaces in coal mines according to claim 8, characterized in that, On both sides of the explosion-proof box body (12.8), there are a left fender (29) and a right fender (21) respectively. The left fender (29) and the right fender (21) are located above the crawler body (12.2). An emergency stop switch (28) is provided in the middle of the upper surface of the left fender (29). A Class I intrinsically safe life radar detector (11) is provided at the rear end of the upper surface of the right fender (21). Mine intrinsically safe radar level sensors (7) are provided at both the front and rear ends of the upper surfaces of the right fender (21) and the left fender (29). The scanning distance of its explosion-proof ultrasonic obstacle avoidance sensor is 0 - 15m, and the scanning area is -30° - 30°. A support frame (27) is provided between the mine intrinsically safe radar level sensor (7) and the right fender (21) and the left fender (29) for installation and connection; The loudspeaker (16) is located at the front end of the right fender (21), behind the intrinsically safe mine radar level sensor (7), and is fixed by screws on the left side of the intrinsically safe mine multi-parameter gas sensor (18). The pickup (8) is located at the front end of the right fender (21), and is in the middle of the side where the intrinsically safe mine radar level sensor (7) is directly close to the Class I intrinsically safe life radar detector (11). A pickup bracket (9) is provided between the pickup (8) and the right fender (21) for installation and connection.

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