Intelligent robotic mine scanning device

Abstract

This application relates to an intelligent robot mine scanning device, belonging to the technical field of mine scanning. It includes a walking component and a fixed chamber, the fixed chamber being mounted on the walking component. Symmetrically arranged on the fixed chamber are anti-collision components to prevent falling objects from hitting it. Symmetrically arranged at the top of the fixed chamber are connecting components. The anti-collision components and the connecting components are hydraulically connected. A collection component is installed inside the fixed chamber. When a falling object hits the anti-collision component, the connecting components open, allowing the object to fall into the collection component. Rotating components are installed on the sides of the fixed chamber, and scanning modules for detecting the mine are mounted on these rotating components. This application effectively reduces the exposure time of personnel in hazardous areas and improves the automation level and overall efficiency of mine scanning operations.

Description

Technical Field

[0001] This application relates to the technical field of mine scanning, and in particular to an intelligent robot mine scanning device. Background Technology

[0002] In underground operations such as mining and tunnel construction, the geological environment is complex, and falling objects such as rocks and boulders are frequent, posing a serious threat to the safety of workers and equipment. Traditional mining scanning and detection equipment consists of fixed scanning modules and manual inspection equipment. Manual inspection requires close contact with high-risk areas and is susceptible to impact from falling objects. Fixed equipment cannot dynamically avoid risks and is easily damaged by falling objects during operation. At the same time, the fixed scanning modules have blind spots and cannot meet the comprehensive scanning needs of multi-angle and dynamic areas in complex mining environments. Manual inspection is inefficient, and data collection is inaccurate, making it difficult to achieve real-time and accurate geological data monitoring. Summary of the Invention

[0003] To address the issues that fixed scanning modules and manual inspection equipment in mines are susceptible to damage from falling objects, resulting in high equipment failure rates, and that fixed scanning modules have blind spots that cannot meet the comprehensive scanning requirements in complex mining environments, this application provides an intelligent robotic mine scanning device.

[0004] This application provides an intelligent robot mine scanning device, which adopts the following technical solution:

[0005] A smart robot for scanning mines includes a walking component and a fixed chamber. The fixed chamber is mounted on the walking component. Symmetrically arranged on the fixed chamber are anti-collision components to prevent falling objects from hitting it. Symmetrically arranged on the top of the fixed chamber are connecting components. The anti-collision components and the connecting components are linked by hydraulic transmission or mechanical linkage. A collection component is installed inside the fixed chamber. When a falling object hits the anti-collision component, the connecting components open to allow the falling object to fall into the collection component. Rotating components are installed on the sides of the fixed chamber, and scanning modules for detecting the mine are arranged on the rotating components.

[0006] By adopting the above technical solutions, the walking component provides the device with mobility, enabling it to flexibly avoid dangerous areas and mitigate the risk of fixed equipment being hit by falling objects. The linkage between the anti-collision component and the connecting component allows for a rapid response at the moment of impact from falling objects. By opening a channel through the connecting component, the falling object is guided into the collection component, reducing the probability of equipment damage. The rotating component drives the scanning module to rotate at multiple angles, working in conjunction with the scanning module to achieve comprehensive and high-precision scanning and detection of the mining environment. Compared with traditional manual inspections or fixed equipment, this improves scanning efficiency and the completeness of data acquisition, effectively ensuring equipment safety and operational accuracy.

[0007] Optionally, the anti-smashing component includes a support plate and an anti-smashing plate. One side of the support plate is installed on the top outside the fixed compartment, and the other side is hinged to the anti-smashing plate. A first adjusting cylinder is installed on the top outside the fixed compartment. A first partition is provided inside the first adjusting cylinder to divide it into a first rod-type cavity and a first rodless cavity. A first adjusting rod is slidably arranged in the first rod-type cavity. One end of the first adjusting rod is connected to the first partition, and the other end is slidably connected to the anti-smashing plate. An adjusting pipe is connected to the first rodless cavity. The other end of the adjusting pipe is connected to the communicating component, and a one-way valve is provided on the adjusting pipe.

[0008] By adopting the above technical solution, the support plate provides a stable support foundation for the anti-smashing plate, allowing it to rotate flexibly around the hinge point. When the anti-smashing plate is impacted by a falling object, the first adjusting rod slides in the first rod-side cavity, squeezing the medium in the first rodless cavity. The medium flows unidirectionally into the connecting component through the adjusting pipe, triggering the action of the connecting component. By combining mechanical force with hydraulic (or pneumatic) transmission, the force on the anti-smashing plate is converted into the opening power of the connecting component, achieving a fast and sensitive linkage response, ensuring that the collection operation is started at the moment of impact of the falling object.

[0009] Optionally, a slide rail is provided on the side of the anti-smashing plate near the fixed compartment, a slider is slidably provided on the slide rail, the first adjusting rod is rotatably provided on the slider, a plurality of first springs are provided between the anti-smashing plate and the top of the fixed compartment, a first elastic element is provided in the first rodless cavity, one end of the first elastic element is connected to the first adjusting cylinder, and the other end is connected to the first partition.

[0010] By adopting the above technical solution, the cooperation between the slide rail and the slider limits the movement trajectory of the first adjusting rod, ensuring that it slides smoothly when subjected to force and avoiding linkage failure due to deviation; the first spring provides a reset force for the anti-smashing plate, allowing it to quickly return to its original position after being subjected to force, maintaining the continuity of the anti-smashing function; the first elastic element can buffer the sliding impact of the first adjusting rod, preventing sudden pressure changes from damaging the internal structure, while also assisting in the stable transmission of the medium in the regulating tube, ensuring the reliability and stability of the linkage between the anti-smashing component and the connecting component.

[0011] Optionally, the collection component includes a first mounting plate and a second mounting plate installed in the fixed compartment, the falling object falls between the first mounting plate and the second mounting plate, and the connecting component is located between the first mounting plate and the second mounting plate;

[0012] The connecting component includes an opening and closing plate and a second adjusting cylinder hinged to the top of the fixed chamber. One end of the anti-smashing plate is connected to a guide plate to guide the falling object between the first mounting plate and the second mounting plate. The second adjusting cylinder is rotatably mounted on the first mounting plate or the second mounting plate. A second partition is provided inside the second adjusting cylinder to divide it into a second rod-type cavity and a second rodless cavity. A second adjusting rod is slidably disposed in the second rod-type cavity. One end of the second adjusting rod is connected to the second partition, and the other end is rotatably connected to the opening and closing plate. The other end of the adjusting tube is connected to the second rod-type cavity.

[0013] By adopting the above technical solution, the first mounting plate and the second mounting plate constitute a falling object collection area, providing space for storing foreign objects; the opening and closing plate rotates around the hinge point under the drive of the second adjusting rod, opening or closing the connecting channel; the guide plate accurately guides the falling objects to the collection area, preventing foreign objects from scattering or blocking the channel; the second adjusting cylinder receives the medium pressure transmitted by the anti-smashing component, pushes the second adjusting rod to move, and then controls the action of the opening and closing plate, realizing a complete closed loop from anti-smashing triggering to foreign object collection, ensuring that falling objects are collected quickly and orderly.

[0014] Optionally, multiple second springs are installed between the first mounting plate and the opening / closing plate, and between the second mounting plate and the opening / closing plate. A second elastic element is provided in the second rodless cavity. One end of the second elastic element is connected to the second adjusting cylinder, and the other end is connected to the second partition plate.

[0015] By adopting the above technical solution, the second spring provides a restoring force to the opening and closing plate, so that it automatically closes after the falling object is collected, maintaining the sealing of the fixed compartment; the second elastic element buffers the impact of the movement of the second adjusting rod, reducing structural damage caused by excessive movement of the opening and closing plate, and at the same time assists in adjusting the opening speed and angle of the opening and closing plate, ensuring that the falling object falls smoothly into the collection area, improving the stability and service life of the collection component.

[0016] Optionally, the rotating assembly includes a base plate, on which a first driving member is mounted at one end and a second driving member is mounted at the other end. The output ends of the first driving member and the second driving member are coaxially connected to a first rotating shaft. The end of the first rotating shaft near the first driving member is connected to a first support via a sleeve. A bracket and a first bevel gear are sleeved on the first rotating shaft. The scanning module is mounted on the bracket. The first bevel gear is meshed with and connected to a second bevel gear. A second rotating shaft is mounted on the bracket. The second rotating shaft is mounted in the extension direction of the central axis of the second bevel gear. A second support is sleeved on the end of the first rotating shaft near the second driving member.

[0017] By adopting the above technical solution, the first driving component and the second driving component drive the first rotating shaft to rotate respectively. The first rotating shaft is stably supported by the sleeve and the support, reducing the shaking during rotation. The meshing transmission of the first bevel gear and the second bevel gear converts the rotational motion of the first rotating shaft into the vertical rotation of the second rotating shaft, driving the support to rotate at multiple angles. This structure enables the scanning module to flexibly adjust the detection angle in the horizontal and vertical directions. In conjunction with the scanning module, it can achieve 360-degree scanning of the mining environment without blind spots, greatly improving the comprehensiveness and accuracy of data acquisition.

[0018] Optionally, the scanning module is located below the anti-smashing component, and the scanning module includes a lidar and a camera, both of which are mounted on the bracket.

[0019] By adopting the above technical solution, the anti-smashing component provides a protective barrier for the scanning module, the lidar quickly acquires three-dimensional data of the mine terrain by emitting laser beams, and the camera captures environmental images in real time. The combination of the two enables the synchronous collection of multi-dimensional information such as the mine's geological structure, cracks, and rockfall hazards, providing richer and more accurate monitoring data for mining operations, and assisting in decision-making and risk warning.

[0020] Optionally, a control component is provided inside the fixed chamber, and the control component is electrically connected to the rotating component and the scanning module respectively.

[0021] By adopting the above technical solution, the control component receives data collected by the scanning module in real time, analyzes mine environmental information and generates processing instructions; by controlling the rotation speed and direction of the first and second driving components, the detection angle and range of the scanning module are precisely adjusted; at the same time, the control component can also monitor the status of the anti-collision component and the connecting component to ensure that all components work together and realize the automated and intelligent operation of scanning, protection and collection functions.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] This intelligent robotic mining scanning device achieves flexible movement through its walking components. It utilizes anti-collision, connecting, and collecting components to form a protective and collection system that resists impacts from falling objects and handles hazardous materials, ensuring stable operation of the device in high-risk mining environments. Simultaneously, the rotating components drive the scanning module to complete a comprehensive survey of the mining environment, forming an automated operation system that integrates protection, collection, and data acquisition. All components work collaboratively, requiring no frequent manual intervention, which reduces the exposure time of personnel in hazardous areas and improves the automation level and overall efficiency of mining scanning operations.

[0024] The rotating component drives the scanning module to rotate at multiple angles. Combined with the complementary monitoring of lidar and cameras, it enables three-dimensional and high-precision scanning of the mining environment, solving the problems of numerous blind spots and limited data in traditional equipment, and providing more reliable data support for mine safety assessment. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of an embodiment of this application;

[0026] Figure 2 This is a partial structural schematic diagram of an embodiment of this application;

[0027] Figure 3 This is a top view of an embodiment of this application;

[0028] Figure 4 yes Figure 3 Sectional view of AA;

[0029] Figure 5 yes Figure 3 Sectional view of BB;

[0030] Figure 6 yes Figure 5 Enlarged view of section C;

[0031] Figure 7 This is a schematic diagram of the structure of the rotating component and the scanning module in the embodiments of this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Walking assembly; 11. First walking wheel; 12. Second walking wheel; 13. Track plate; 2. Fixed compartment; 3. Anti-smashing assembly; 31. Support plate; 32. Anti-smashing plate; 33. First adjusting cylinder; 331. First partition; 332. First adjusting rod; 333. First elastic element; 34. Adjusting tube; 35. First spring; 4. Connecting assembly; 41. Opening and closing plate; 42. Guide plate; 43. Second adjusting cylinder; 431. Second partition 432. Second adjusting rod; 433. Second elastic element; 5. Collection assembly; 51. First mounting plate; 52. Second mounting plate; 6. Rotating assembly; 61. Base plate; 62. First driving component; 63. Second driving component; 64. First rotating shaft; 641. Sleeve; 642. First support; 643. Bracket; 644. Second support; 645. First bevel gear; 65. Second rotating shaft; 66. Second bevel gear; 7. Scanning module. Detailed Implementation

[0034] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0035] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0038] This application discloses an intelligent robot mine scanning device, referring to... Figure 1 and Figure 2 The intelligent robot mine scanning device includes a walking component 1 and a fixed chamber 2. The fixed chamber 2 is mounted on the walking component 1. Anti-smashing components 3 are symmetrically arranged on the fixed chamber 2 to prevent falling objects from hitting it. Connecting components 4 are symmetrically arranged on the top of the fixed chamber 2. The anti-smashing components 3 and the connecting components 4 are linked by hydraulic transmission or mechanical linkage. A collection component 5 is installed inside the fixed chamber 2. When a falling object hits the anti-smashing component 3, the connecting components 4 open to allow the falling object to fall into the collection component 5. Rotating components 6 are installed on the sides of the fixed chamber 2. A scanning module 7 for detecting the mine is installed on the rotating components 6.

[0039] The walking component 1 in this intelligent robotic mining scanning device provides mobility, enabling it to move freely in complex mining environments and improving its environmental adaptability and operational safety. The fixed chamber 2 provides a stable mounting foundation for the anti-collision component 3, the connecting component 4, the collecting component 5, and the rotating component 6, ensuring the orderly cooperation of each functional module while protecting the internal electronic components from external interference and damage.

[0040] The anti-smashing component 3 can monitor falling objects above the fixed chamber 2 in real time. When impacted, it triggers a linkage mechanism. This mechanism uses structural deformation or stress on the anti-smashing component 3 to convert the impact force of the falling object into the driving force for the connecting component 4, preventing the object from directly impacting the fixed chamber 2 and protecting the core components of the device. The connecting component 4 is linked with the anti-smashing component 3. Upon receiving the power transmitted from the anti-smashing component 3, it opens a channel, creating a path to the collecting component 5, allowing falling objects to smoothly enter the collecting component 5. The collecting component 5 receives and collects falling objects from the connecting component 4, preventing them from accumulating around the device or causing secondary damage. It also facilitates subsequent unified cleaning, reducing manual intervention.

[0041] The rotating component 6 can drive the scanning module 7 to rotate at multiple angles, expanding the detection range of the scanning module 7 and realizing a comprehensive, multi-view scanning of the mining environment, ensuring that there are no blind spots in the information collection of the mining area. The scanning module 7 is used to detect the mining environment, collect relevant data and image information such as topography and geological structure, provide data support for mining planning, safety assessment and other work, and help staff to discover potential hazards in a timely manner.

[0042] This intelligent robotic mining scanning device achieves flexible movement through the walking component 1. It utilizes the anti-collision component 3, the connecting component 4, and the collecting component 5 to form a protective and collecting system, resisting the impact of falling objects and handling hazardous materials, ensuring the stable operation of the device in high-risk mining environments. At the same time, the rotating component 6 drives the scanning module 7 to complete a comprehensive detection of the mining environment, forming an automated operation system that integrates protection, collection, and data acquisition. The components work together without frequent manual intervention, which reduces the exposure time of personnel in dangerous areas and improves the automation level and overall efficiency of mining scanning operations.

[0043] For details, please refer to Figures 1-6 The anti-smashing component 3 includes a support plate 31 and an anti-smashing plate 32. One side of the support plate 31 is installed on the top of the fixed compartment 2, and the other side is hinged to the anti-smashing plate 32. A first adjusting cylinder 33 is installed on the top of the fixed compartment 2. A first partition 331 is provided inside the first adjusting cylinder 33 to divide it into a first rod chamber and a first rodless chamber. A first adjusting rod 332 is slidably arranged in the first rod chamber. One end of the first adjusting rod 332 is connected to the first partition 331, and the other end is slidably connected to the anti-smashing plate 32. An adjusting pipe 34 is connected to the first rodless chamber. The other end of the adjusting pipe 34 is connected to the connecting component 4. A one-way valve is provided on the adjusting pipe 34.

[0044] The support plate 31 serves as the basic support structure for the anti-smashing plate 32. One end is firmly installed on the top of the fixed compartment 2, and the other end is hinged to the anti-smashing plate 32. It provides a fulcrum for the rotation of the anti-smashing plate 32 and bears the force on the anti-smashing plate 32 during operation. This ensures that the anti-smashing plate 32 can rotate flexibly around the hinge point when it is impacted by falling objects, and at the same time effectively transmits the impact force to the stable structure of the fixed compartment 2, providing a reliable basic guarantee for the anti-smashing function.

[0045] The anti-smashing plate 32 is in direct contact with the falling object. It absorbs and disperses the impact force of the falling object by rotating itself, and at the same time converts the impact force into the power to drive the connecting component 4, triggering subsequent hydraulic or mechanical transmission, so as to realize the linkage response of protection and collection functions, and effectively protect the core components of the equipment.

[0046] The first regulating cylinder 33 is divided into a first rod chamber and a first rodless chamber by a first partition 331. The first rodless chamber contains a medium. In cooperation with the first regulating rod 332, the mechanical movement of the anti-smashing plate 32 is converted into hydraulic or pneumatic pressure changes, and the power is stored and transmitted. When the first regulating rod 332 slides in the first rod chamber, it compresses the medium (liquid or gas) in the first rodless chamber, causing the medium to flow through the regulating pipe 34 to the connecting component 4. Its sealing structure ensures stable transmission of medium pressure, providing a reliable power source for opening the connecting component 4.

[0047] The first partition 331 separates the first rod-type chamber and the first rodless chamber of the first regulating cylinder 33, guides the movement direction of the first regulating rod 332, and controls the pressure change of the medium in the first rodless chamber, ensuring that the medium is only squeezed to the first rodless chamber side when the first regulating rod 332 slides, thus avoiding pressure dispersion; by precisely separating the chambers, the pressure change in the first rodless chamber is proportional to the force on the anti-smashing plate 32, thereby achieving precise triggering control of the connecting component 4.

[0048] The first adjusting rod 332 connects the anti-smashing plate 32 and the first adjusting cylinder 33, converting the rotational displacement of the anti-smashing plate 32 into linear sliding within the first rod-loaded cavity, thereby compressing the medium within the first rodless cavity. The sliding stroke of the first adjusting rod 332 is related to the force applied to the anti-smashing plate 32, ensuring the accuracy and stability of pressure transmission.

[0049] The regulating pipe 34 serves as a medium transmission channel, connecting the first rodless chamber of the first regulating cylinder 33 to the connecting component 4. It transmits pressure changes within the first rodless chamber to the connecting component 4, ensuring rapid and stable medium delivery and timely transmission of the power from the anti-smashing component 3 to the connecting component 4. In conjunction with a check valve, it prevents medium backflow, ensuring the unidirectionality and reliability of the pressure drive. The check valve restricts the direction of medium flow, allowing only the medium to flow from the rodless chamber of the first regulating cylinder 33 to the connecting component 4, preventing pressure backflow and ensuring that after the anti-smashing component 3 is triggered, the pressure can continuously and stably drive the connecting component 4 to operate.

[0050] A slide rail is provided on the side of the anti-smashing plate 32 near the fixed chamber 2. A slider is slidably mounted on the slide rail, and a first adjusting rod 332 is rotatably mounted on the slider. Multiple first springs 35 are provided between the anti-smashing plate 32 and the top of the fixed chamber 2. A first elastic element 333 is provided in the first rodless cavity. One end of the first elastic element 333 is connected to the first adjusting cylinder 33, and the other end is connected to the first partition 331. The slide rail provides a linear sliding track for the slider. The slider is rotatably connected to the first adjusting rod 332, guiding the movement direction of the first adjusting rod 332. This ensures that when the anti-smashing plate 32 is subjected to force and rotates, the first adjusting rod 332 slides only along the slide rail direction, avoiding transmission deviation caused by shaking and ensuring the stability and accuracy of hydraulic power transmission.

[0051] The rotational connection between the first adjusting rod 332 and the slider allows relative rotation between the first adjusting rod 332 and the slider, adapting to changes in the rotation angle of the anti-smashing plate 32. When the anti-smashing plate 32 rotates around the hinge point, the first adjusting rod 332 can slide with the slider and adjust the angle synchronously, avoiding structural jamming or stress concentration caused by rigid connection and improving transmission flexibility.

[0052] The first spring 35 between the anti-smashing plate 32 and the top of the fixed chamber 2 provides elastic support force, assisting the anti-smashing plate 32 in resetting after it rotates under force. After the impact force of the falling object disappears, the first spring 35 releases elastic potential energy, pushing the anti-smashing plate 32 back to its initial position, allowing the anti-smashing assembly 3 to repeatedly respond to subsequent impacts and maintain continuous protection capability. The first elastic element 333 in the first rodless cavity provides buffering and resetting force. When the first adjusting rod 332 slides and squeezes the medium in the first rodless cavity, the first elastic element 333 absorbs part of the impact force, avoiding pressure changes that could damage the hydraulic system. When the anti-smashing plate 32 resets, the first elastic element 333 pushes the first partition 331 and the first adjusting rod 332 back, allowing the medium in the first rodless cavity to flow back (or the air pressure to recover), preparing for the next linkage response.

[0053] The collection component 5 includes a first mounting plate 51 and a second mounting plate 52 installed in the fixed compartment 2. The falling object falls between the first mounting plate 51 and the second mounting plate 52. The connecting component 4 is located between the first mounting plate 51 and the second mounting plate 52.

[0054] The connecting component 4 includes an opening and closing plate 41 hinged to the top of the fixed chamber 2 and a second adjusting cylinder 43. One end of the anti-smashing plate 32 is connected to a guide plate 42 to guide the falling object between the first mounting plate 51 and the second mounting plate 52. The second adjusting cylinder 43 is rotatably mounted on the first mounting plate 51 or the second mounting plate 52. A second partition 431 is provided inside the second adjusting cylinder 43 to divide it into a second rod chamber and a second rodless chamber. A second adjusting rod 432 is slidably mounted in the second rod chamber. One end of the second adjusting rod 432 is connected to the second partition 431, and the other end is rotatably connected to the opening and closing plate 41. The other end of the adjusting tube 34 is connected to the second rod chamber.

[0055] The first mounting plate 51 and the second mounting plate 52 serve as the main structure of the collection component 5, and are arranged parallel to each other within the fixed chamber 2 to form a space for accommodating falling objects; they also provide an installation base for the connecting component 4. The opening and closing plate 41 serves as the opening and closing component of the connecting component 4. By rotating, it opens or closes the channel between the top of the fixed chamber 2 and the collection area. When the anti-smashing component 3 is triggered, the opening and closing plate 41 rotates to open the channel, allowing falling objects to fall into the collection area through the channel; when not in operation, the channel is closed to prevent dust and debris from entering the fixed chamber 2 and affecting the operation of the equipment.

[0056] The second adjusting cylinder 43 cooperates with the second adjusting rod 432 to convert the hydraulic power transmitted by the anti-smashing component 3 into the rotational power of the opening and closing plate 41. The hydraulic medium (liquid or gas) delivered by the adjusting pipe 34 enters the second rod chamber, pushing the second adjusting rod 432 to slide, thereby driving the opening and closing plate 41 to rotate. The rotating installation of the second adjusting cylinder 43 can ensure that the opening and closing plate 41 moves flexibly and adapts to the opening requirements of different angles.

[0057] The second baffle 431 controls the direction of pressure transmission of the hydraulic medium, ensuring that the hydraulic medium only exerts a unidirectional thrust on the second adjusting rod 432, allowing the opening and closing plate 41 to open stably under pressure. Simultaneously, the baffle structure limits the travel of the adjusting rod, precisely controlling the rotation angle of the opening and closing plate 41. The second adjusting rod 432 converts hydraulic power into mechanical thrust, driving the opening and closing plate 41 to rotate around the hinge point. Through sliding motion, the thrust is transmitted, and in conjunction with the rotating connection, ensuring that the opening and closing plate 41 can open or close smoothly and reliably, avoiding jamming or impact caused by rigid connections.

[0058] The guide plate 42 swings as the anti-smashing plate 32 rotates, guiding the falling object to move towards the collection area between the first mounting plate 51 and the second mounting plate 52. This can change the trajectory of the falling object, preventing it from splashing in all directions or deviating from the collection area due to impact, ensuring that the falling object falls accurately into the designated position, and improving collection efficiency and reliability.

[0059] The regulating pipe 34 is connected to the second rod chamber to transmit the hydraulic power output from the first regulating cylinder 33 of the anti-smashing component 3 to the second regulating cylinder 43 of the connecting component 4, thus establishing a power transmission path between the anti-smashing component 3 and the connecting component 4. This allows the hydraulic medium to quickly and stably drive the opening and closing plate 41 to move after the anti-smashing plate 32 is triggered by force, achieving real-time and continuous linkage response.

[0060] Multiple second springs are installed between the first mounting plate 51 and the opening / closing plate 41, and between the second mounting plate 52 and the opening / closing plate 41. A second elastic element 433 is provided in the second rodless cavity. One end of the second elastic element 433 is connected to the second adjusting cylinder 43, and the other end is connected to the second partition plate 431. The second springs are used to connect the opening / closing plate 41 with the first mounting plate 51 and the second mounting plate 52, providing elastic support and restoring force. When the opening / closing plate 41 opens or closes, the second springs absorb mechanical impact, preventing the opening / closing plate 41 from colliding hard with the mounting plate, protecting the structural integrity. After the hydraulic power is lost, the second springs release elastic potential energy, pushing the opening / closing plate 41 back to the initial closed state, ensuring reliable sealing of the top passage of the fixed chamber 2, and preventing dust or foreign objects from entering.

[0061] The second elastic element 433 provides buffering and reset power. When the hydraulic medium pushes the second adjusting rod 432 to slide, the second elastic element 433 absorbs part of the pressure fluctuation, reducing structural damage caused by excessive movement of the opening and closing plate 41. When the hydraulic power is removed, the second elastic element 433 pushes the second partition 431 and the second adjusting rod 432 back, assisting the opening and closing plate 41 to reset, while storing elastic potential energy for the next linkage.

[0062] The second spring and the second elastic element 433 optimize the motion characteristics of the opening and closing plate 41 through a dual elastic structure, balance the power input and mechanical load, ensure that the opening and closing plate 41 is subjected to force smoothly during opening and responds quickly during resetting, and reduce functional abnormalities caused by the failure of a single elastic element.

[0063] refer to Figure 1 and Figure 7 The rotating assembly 6 includes a base plate 61. A first driving member 62 is mounted on one end of the base plate 61, and a second driving member 63 is mounted on the other end. The output ends of the first driving member 62 and the second driving member 63 are coaxially connected to a first rotating shaft 64. The end of the first rotating shaft 64 near the first driving member 62 is connected to a first support 642 through a sleeve 641. A bracket 643 and a first bevel gear 645 are sleeved on the first rotating shaft 64. The scanning module 7 is mounted on the bracket 643. The first bevel gear 645 is meshed with and connected to a second bevel gear 66. The second rotating shaft 65 is mounted on the bracket 643 and is installed in the extension direction of the central axis of the second bevel gear 66. The end of the first rotating shaft 64 near the second driving member 63 is sleeved with a second support 644.

[0064] The base plate 61 is used to fix the first driving member 62, the second driving member 63 and the support, providing an installation platform for the entire rotation system. The first driving member 62 and the second driving member 63 respectively output rotational power and drive the first rotating shaft 64 and the second bevel gear 66 to rotate, realizing multi-dimensional motion control of the scanning module 7. The first driving member 62 directly drives the first rotating shaft 64 to rotate, controlling the horizontal rotation of the scanning module 7; the second driving member 63 drives the second rotating shaft 65 through the transmission mechanism, controlling the vertical rotation of the scanning module 7. The two work together to achieve omnidirectional scanning.

[0065] The first rotating shaft 64 connects the first driving component 62 with the bracket 643 and the first bevel gear 645, transmitting rotational power. The coaxial arrangement ensures efficient power transmission. The first rotating shaft 64 drives the bracket 643 and the first bevel gear 645 to rotate synchronously, achieving horizontal angle adjustment of the scanning module 7. The sleeve 641 cooperates with the first support 642 and the second support 644. The sleeve 641 supports the first rotating shaft 64 and reduces radial wobble during rotation, lowering the rotational inertia and wear of the first rotating shaft 64, ensuring the stability and accuracy of the scanning module 7 during rotation.

[0066] The bracket 643 can fix the scanning module 7 and connect to the first rotating shaft 64 and the second rotating shaft 65 to transmit the rotation power, ensuring that the scanning module 7 rotates horizontally with the first rotating shaft 64 and can achieve vertical angle adjustment through the second rotating shaft 65, forming a multi-axis rotation linkage structure.

[0067] The first bevel gear 645 and the second bevel gear 66 mesh to convert the horizontal rotational power of the first rotating shaft 64 into the vertical rotational power of the second rotating shaft 65, achieving a 90° change in the direction of power transmission. This allows the scanning module 7 to rotate horizontally while simultaneously driving the second rotating shaft 65 via the second bevel gear 66, thus adjusting the vertical angle and expanding the scanning range. The second rotating shaft 65 transmits the vertical rotational power, which, driven by the second bevel gear 66, causes the scanning module 7 to rotate around its vertical axis, enabling pitch angle scanning of the mining environment and compensating for the blind spots of horizontal rotation.

[0068] The scanning module 7 is located below the anti-collision component 3. The scanning module 7 includes a lidar and a camera, both mounted on the bracket 643. Positioning the scanning module 7 below the anti-collision component 3 utilizes the component as a physical barrier to provide direct protection, reducing the risk of damage to precision components such as the lidar and camera due to impact, and ensuring the continuous effectiveness of the detection function. When the scanning module 7 is not equipped with the anti-collision component 3, a protective plate can be installed to protect it, ensuring stable operation and extending its service life.

[0069] LiDAR (Light Detection and Ranging) constructs 3D point cloud data of the mining environment by emitting laser beams and receiving reflected signals. This enables high-precision measurement of terrain, distance, and contour information, rapidly generating a 3D model of the mine, and accurately identifying subtle geological features such as cracks, depressions, and protrusions. This provides quantitative data support for mine stability analysis and mining planning. Cameras collect real-time images of the mining environment, capturing dynamic changes such as falling object trajectories and equipment operating status. This provides intuitive visual data, assisting manual or control systems in identifying potential risks, such as loose rocks or abnormal dust. The data from cameras and LiDAR complement each other, enhancing the comprehensiveness of environmental perception. The LiDAR and camera are integrated and mounted on bracket 643, ensuring synchronous movement driven by rotating component 6. This maintains a fixed relative position between the LiDAR and camera, ensuring spatial consistency of the two types of detection data, facilitating subsequent data fusion and analysis, and improving the accuracy of the scanning results.

[0070] The fixed chamber 2 is equipped with a control component, which is electrically connected to the rotating component 6 and the scanning module 7 respectively. The control component can receive external commands and process internal sensor data, and coordinate the operation of the rotating component 6 and the scanning module 7. Through preset programs or real-time commands, the control component can precisely control the rotation angle and speed of the rotating component 6 and the working mode of the scanning module 7, so as to realize the automated execution of the detection task and avoid the delay and error of manual intervention.

[0071] The control component can send control signals to the first drive unit 62 and the second drive unit 63 to adjust their speed, direction, and start / stop status. It can also dynamically adjust the detection angle of the scanning module 7 according to scanning requirements, such as increasing the scanning frequency or expanding the detection range in high-risk areas to ensure targeted and efficient data acquisition. The control component controls the startup, data acquisition frequency, and transmission path of the lidar and camera, and receives their feedback detection data, achieving coordinated control of multiple sensors. For example, it can synchronously trigger the lidar and camera to acquire data from the same area, ensuring spatiotemporal alignment of the data. Simultaneously, it preprocesses real-time data (such as filtering noise and extracting features) to improve data usability.

[0072] The walking component 1 can adopt a wheeled or tracked structure, and achieve forward, backward, and turning movements through a motor or other drive components. In this application, the walking mechanism includes a base, with first walking wheels 11 driven to both sides of one end of the base, and second walking wheels 12 driven to both sides of the other end. Track plates 13 are wound around the first and second walking wheels 11 and 12, and idler wheels, road wheels, and track support wheels are also provided inside the track plates 13. This part is prior art, and this application will not describe the tracked walking mechanism in detail here. Alternatively, the walking mechanism can also be a base and rollers located at the bottom of the base.

[0073] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent robot mine scanning device, characterized in that: The device includes a walking component (1) and a fixed compartment (2). The fixed compartment (2) is installed on the walking component (1). The fixed compartment (2) is symmetrically provided with anti-smashing components (3) to prevent falling objects from hitting the fixed compartment (2). The top of the fixed compartment (2) is symmetrically provided with a connecting component (4). The anti-smashing components (3) and the connecting component (4) are linked by hydraulic transmission. The fixed compartment (2) is provided with a collection component (5). When a falling object hits the anti-smashing component (3), the connecting component (4) opens to allow the falling object to fall into the collection component (5). The sides of the fixed compartment (2) are all provided with rotating components (6). The rotating components (6) are provided with a scanning module (7) for detecting the mine. The anti-smashing component (3) includes a support plate (31) and an anti-smashing plate (32). One side of the support plate (31) is installed on the top outside of the fixed chamber (2), and the other side is hinged to the anti-smashing plate (32). A first adjusting cylinder (33) is installed on the top outside of the fixed chamber (2). A first partition (331) is provided inside the first adjusting cylinder (33) to divide it into a first rod chamber and a first rodless chamber. A first adjusting rod (332) is slidably arranged in the first rod chamber. One end of the first adjusting rod (332) is connected to the first partition (331), and the other end is slidably connected to the anti-smashing plate (32). An adjusting pipe (34) is connected to the first rodless chamber. The other end of the adjusting pipe (34) is connected to the communicating component (4). A one-way valve is provided on the adjusting pipe (34). The collecting component (5) includes a first mounting plate (51) and a second mounting plate (52) installed in the fixed compartment (2), the falling object falls between the first mounting plate (51) and the second mounting plate (52), and the connecting component (4) is located between the first mounting plate (51) and the second mounting plate (52). The connecting component (4) includes an opening and closing plate (41) hinged to the top of the fixed chamber (2) and a second adjusting cylinder (43). One end of the anti-smashing plate (32) is connected to a guide plate (42) to guide the falling object to the space between the first mounting plate (51) and the second mounting plate (52). The second adjusting cylinder (43) is rotatably mounted on the first mounting plate (51) or the second mounting plate (52). A second partition (431) is provided inside the second adjusting cylinder (43) to divide it into a second rod chamber and a second rodless chamber. A second adjusting rod (432) is slidably mounted inside the second rod chamber. One end of the second adjusting rod (432) is connected to the second partition (431), and the other end is rotatably connected to the opening and closing plate (41). The other end of the adjusting tube (34) is connected to the second rod chamber.

2. The intelligent robot mine scanning device according to claim 1, characterized in that: The anti-smashing plate (32) is provided with a slide rail on the side near the fixed chamber (2), and a slider is slidably provided on the slide rail. The first adjusting rod (332) is rotatably provided on the slider. A plurality of first springs (35) are provided between the anti-smashing plate (32) and the top of the fixed chamber (2). A first elastic element (333) is provided in the first rodless cavity. One end of the first elastic element (333) is connected to the first adjusting cylinder (33), and the other end is connected to the first partition (331).

3. The intelligent robot mine scanning device according to claim 1, characterized in that: Multiple second springs are installed between the first mounting plate (51) and the opening and closing plate (41), and between the second mounting plate (52) and the opening and closing plate (41). A second elastic element (433) is provided in the second rodless cavity. One end of the second elastic element (433) is connected to the second adjusting cylinder (43), and the other end is connected to the second partition plate (431).

4. The intelligent robot mine scanning device according to claim 1, characterized in that: The rotating assembly (6) includes a base plate (61). A first driving member (62) is mounted on one end of the base plate (61), and a second driving member (63) is mounted on the other end. The output ends of the first driving member (62) and the second driving member (63) are coaxially connected to a first rotating shaft (64). The first rotating shaft (64) is connected to a first support (642) via a sleeve (641) at one end near the first driving member (62). A bracket (643) and a first bevel gear (645) are sleeved on the first rotating shaft (64). The scanning module (7) is mounted on the bracket (643). The first bevel gear (645) is meshed with and connected to a second bevel gear (66). The second rotating shaft (65) is mounted on the bracket (643). The second rotating shaft (65) is mounted in the extension direction of the central axis of the second bevel gear (66). A second support (644) is sleeved on one end of the first rotating shaft (64) near the second driving member (63).

5. The intelligent robot mine scanning device according to claim 4, characterized in that: The scanning module (7) is located below the anti-smashing component (3). The scanning module (7) includes a laser radar and a camera. Both the laser radar and the camera are mounted on the bracket (643).

6. The intelligent robot mining scanning device according to claim 1, characterized in that: The fixed chamber (2) is equipped with a control component, which is electrically connected to the rotating component (6) and the scanning module (7).

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