Automatic inspection device for underground coal mine gas concentration

Abstract

A coal mine underground gas concentration automatic inspection device disclosed by the present invention comprises a mounting pipe, a robot, a gas concentration detector, a positioner and a wireless signal transmission module, the mounting pipe is used for being mounted on a top plate of a roadway along the length direction of the roadway, and a plurality of air inlet holes are formed in the pipe wall of the mounting pipe; the robot is used for being arranged in the mounting pipe and can move back and forth in the length direction of the mounting pipe; the gas concentration detector is arranged on the robot, the positioner is arranged on the robot, and the wireless signal transmission module is in signal connection with the gas concentration detector and the positioner and is used for transmitting a detection result of the gas concentration detector and positioning information of the robot to a ground monitoring room in real time. The device can reach an area which cannot be covered by fixed detection equipment, detection blind areas are reduced, dynamic changes of gas are responded in time, data are transmitted in real time, and the ground can make a response rapidly.

Description

Technical Field

[0001] The present invention relates to the technical field of gas concentration detection, and in particular to an automatic inspection device for gas concentration in underground coal mines. Background Art

[0002] With increasing mining depths and intensification, the generation and accumulation of mine gas has become an increasingly prominent problem. Gas detection and control have become a top priority in coal mine safety management. Currently, underground coal mine gas monitoring relies primarily on fixed gas detection instruments, typically deployed at specific locations within the mine to monitor gas concentrations in real time. However, due to the complexity of the mine environment and the fluidity of gas, this fixed detection method has numerous limitations.

[0003] Fixed detection equipment cannot cover the entire mine tunnel, resulting in blind spots in some areas and making it impossible to accurately monitor the dynamic distribution of gas in real time. The confined space and harsh conditions within the mine tunnel make the installation and maintenance of fixed detection equipment challenging. Installing a large number of detection devices within the mine tunnel not only incurs high installation costs but also considerable maintenance expenses. Data transmission and processing delays associated with fixed detection equipment make real-time monitoring and control of gas difficult. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the embodiment of the present invention proposes an automatic inspection device for gas concentration in coal mines

[0006] An automatic inspection device for gas concentration in underground coal mines according to an embodiment of the present invention comprises a mounting pipe, a robot, a gas concentration detector, a locator, and a wireless signal transmission module. The mounting pipe is mounted on a roof of a tunnel along the longitudinal direction of the tunnel. The wall of the mounting pipe has a plurality of air inlet holes spaced along the longitudinal direction thereof. The air inlet holes are used to allow gas at the tunnel roof to enter the mounting pipe. The robot is mounted in the mounting pipe and is capable of reciprocating along the longitudinal direction of the mounting pipe. The gas concentration detector is mounted on the robot and is used to detect the gas concentration entering the mounting pipe. The locator is mounted on the robot and is used to locate the robot's position in the mounting pipe in real time.

[0007] The wireless signal transmission module is connected to the gas concentration detector and the locator signal, and is used to transmit the detection results of the gas concentration detector and the positioning information of the robot to the ground monitoring room in real time to obtain the gas concentration at different positions in the tunnel.

[0008] In some embodiments, the air inlet holes include a plurality of hole groups, the plurality of hole groups are spaced apart along the length direction of the mounting tube, and the hole groups include a plurality of air inlet holes spaced apart along the circumference of the mounting tube.

[0009] In some embodiments, the robot includes a shell, multiple running wheels and a drive assembly. The side wall of the shell is provided with multiple openings arranged at intervals along its circumference. The multiple openings correspond one-to-one to the multiple running wheels. The running wheels are rotatably connected to the shell. At least a portion of the running wheels is placed outside the shell through the openings and is used to stop on the inner wall of the mounting tube. The drive assembly is arranged in the shell to drive the running wheels to rotate.

[0010] In some embodiments, the shell is cylindrical, with a rounded corner between the outer circumference and the end surface of the shell, and the axis of the shell is perpendicular to the axis of the walking wheel.

[0011] In some embodiments, the drive assembly includes a motor and a worm, the motor is connected to the worm for driving the worm to rotate, the walking wheel is a turbine, and multiple turbines are arranged at intervals along the circumference of the worm and are connected to the worm.

[0012] In some embodiments, an elastic wear-resistant layer is provided on the outer peripheral surface of the turbine tooth.

[0013] In some embodiments, one end of the worm extends out of the outer shell, and the worm is provided with a cleaning rod located outside the outer shell. The tail end of the cleaning rod is provided with a cleaning piece. The rotation of the worm can drive the cleaning rod to rotate so that the cleaning piece cleans the inner wall of the mounting tube.

[0014] In some embodiments, a power supply and a wireless charging module are further included. The power supply and the wireless charging module are arranged in the shell. The wireless charging module is used to charge the power supply, and the power supply is used to supply power to the robot, the gas concentration detector, the locator and the wireless signal transmission module.

[0015] In some embodiments, the mounting tube is a plastic tube.

[0016] In some embodiments, the bending angle of the mounting tube during installation is less than or equal to 20°.

[0017] The automatic inspection device for underground coal mine gas concentration in the embodiment of the present invention can reach areas that cannot be covered by fixed detection equipment because the robot can move freely within the installation pipe, thereby reducing detection blind spots. Compared with fixed equipment, the robot can respond to dynamic changes in gas in a timely manner and transmit data in real time, allowing the ground monitoring room to react quickly. Although the installation of pipes and robots requires a certain initial investment, it can save costs in the long run compared to installing a large number of fixed detection equipment in the mine. Through real-time monitoring, abnormal gas concentrations can be detected in time, and measures such as ventilation or evacuation can be taken in time to reduce coal mine safety accidents. The robot can be remotely controlled and maintained, reducing manual maintenance work in harsh environments. The system can improve its performance by adding robots or improving detection technology, and is easy to upgrade and expand. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 2 is a schematic structural diagram of a mounting pipe according to an embodiment of the present invention.

[0019] Figure 2 It is a structural schematic diagram of an automatic inspection device for gas concentration in underground coal mines according to an embodiment of the present invention.

[0020] Figure 3 yes Figure 2 Enlarged schematic diagram of part A.

[0021] Figure 4 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.

[0022] Figure 5 is a cross-sectional view of a robot according to an embodiment of the present invention.

[0023] Reference numerals:

[0024] 100. Automatic inspection device for gas concentration in underground coal mines; 1. Mounting pipe; 101. Air inlet; 2. Robot; 201. Housing; 2011. Opening; 202. Travel wheel; 203. Drive assembly; 2031. Motor; 2032. Worm; 3. Gas concentration detector; 4. Positioner; 5. Wireless signal transmission module; 6. Cleaning rod; 7. Cleaning element; 8. Power supply; 9. Wireless charging module. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0026] like Figures 1 to 5As shown, the automatic inspection device 100 for coal mine gas concentration in an embodiment of the present invention includes a mounting pipe 1, a robot 2, a gas concentration detector 3, a locator 4, and a wireless signal transmission module 5. The mounting pipe 1 is used to be installed on the roof of the tunnel along the length direction of the tunnel. The wall of the mounting pipe 1 has a plurality of air inlet holes 101 arranged at intervals along its length direction. The air inlet holes 101 are used for gas at the top of the tunnel to enter the mounting pipe 1. The robot 2 is used to be arranged in the mounting pipe 1 and can move back and forth along the length direction of the mounting pipe 1. The gas concentration detector 3 is arranged on the robot 2 to detect the gas concentration entering the mounting pipe 1. The locator 4 is arranged on the robot 2 to locate the position information of the robot 2 in the mounting pipe 1 in real time.

[0027] The wireless signal transmission module 5 is connected to the gas concentration detector 3 and the locator 4 for transmitting the detection results of the gas concentration detector 3 and the positioning information of the robot 2 to the ground monitoring room in real time to obtain the gas concentration at different positions in the tunnel.

[0028] When in use, the automatic inspection device 100 for underground coal mine gas concentration in an embodiment of the present invention has a mounting tube 1 installed at the top of a tunnel, with air inlets 101 evenly distributed along the tube wall. These air inlets 101 allow gas from the tunnel top to enter the tube, ensuring that the detection device can access the gas in the tunnel. A robot 2, a mobile device operating within the mounting tube 1, is capable of reciprocating along the length of the tube. This allows the robot 2 to cover the entire tunnel, reducing blind spots. A gas concentration detector 3 is mounted on the robot 2 to detect the gas concentration entering the mounting tube 1 through the air inlets 101. This configuration allows the detector to move with the robot 2, enabling gas concentration monitoring at various locations in the tunnel. A locator 4 is also mounted on the robot 2 to monitor the robot 2's position within the mounting tube 1 in real time. A wireless signal transmission module 5 transmits data from the detector and locator 4 to a ground-based monitoring room in real time, enabling monitoring personnel to obtain real-time information on gas concentrations at various locations within the tunnel.

[0029] Since the robot 2 of the automatic inspection device 100 for underground coal mine gas concentration in the embodiment of the present invention can move freely within the installation pipe 1, it can reach areas that cannot be covered by fixed detection equipment, thereby reducing detection blind spots. Compared with fixed equipment, the robot 2 can respond to dynamic changes in gas in a timely manner and transmit data in real time, so that the ground monitoring room can respond quickly. Although the installation of the pipe 1 and the robot 2 requires a certain initial investment, it can save costs in the long run compared to installing a large number of fixed detection equipment in the mine. Through real-time monitoring, abnormal gas concentrations can be detected in time, and measures such as ventilation or evacuation can be taken in time to reduce coal mine safety accidents. The robot 2 can be remotely controlled and maintained, reducing manual maintenance work in harsh environments. The system can improve its performance by adding a robot 2 or improving detection technology, and is easy to upgrade and expand.

[0030] In some embodiments, the air inlet holes 101 include a plurality of hole groups, the plurality of hole groups are spaced apart along the length direction of the mounting tube 1 , and the hole groups include a plurality of air inlet holes 101 spaced apart along the circumference of the mounting tube 1 .

[0031] These hole groups are spaced apart along the length of the mounting tube 1 to ensure effective monitoring of gas concentration throughout the roadway. Within each hole group, the gas inlet holes 101 are spaced apart along the circumference of the mounting tube 1. This distribution helps collect gas from different directions, reducing monitoring errors caused by uneven gas distribution.

[0032] By grouping and circumferentially distributing the air inlets 101, they can more accurately reflect gas concentrations at different locations within the tunnel. Grouping and spacing the air inlets 101 helps reduce interference between airflows, thereby improving the accuracy of detection data. Thanks to the more rational layout of the air inlets 101, the data collected by the robot 2 better reflects the actual distribution of gas, providing higher-quality input for data analysis. This design makes the system more adaptable to tunnel shapes, sizes, and gas distribution characteristics, allowing it to better adapt to diverse mine environments.

[0033] In some embodiments, the robot 2 includes a housing 201, a plurality of running wheels 202, and a drive assembly 203. The sidewall of the housing 201 is provided with a plurality of openings 2011 spaced apart along its circumference. The openings 2011 correspond one-to-one with the running wheels 202, which are rotatably connected to the housing 201. At least a portion of the running wheels 202 is positioned outside the housing 201 through the openings 2011 and is configured to abut against the inner wall of the mounting tube 1. The drive assembly 203 is disposed within the housing 201 to drive the running wheels 202 to rotate.

[0034] like Figures 3 to 5As shown, the main structure of the robot 2 is used to protect the internal components. A plurality of openings 2011 are provided on the side wall of the shell 201. The robot 2 is equipped with a plurality of running wheels 202 for moving inside the mounting tube 1, and these running wheels 202 are evenly distributed at the openings 2011 on the side wall of the robot 2. Each running wheel 202 corresponds to an opening 2011 provided on the side wall of the shell 201, allowing the running wheel 202 to extend out of the shell 201 and contact the inner wall of the mounting tube 1. Located inside the shell 201, it is used to drive the running wheel 202 to rotate, thereby pushing the robot 2 to move inside the mounting tube 1. A portion of the running wheel 202 is placed outside the shell 201 through the opening 2011, and can stop on the inner wall of the mounting tube 1, providing stable support for the robot 2.

[0035] The design of the running wheels 202 allows the robot 2 to move freely within the mounting tube 1, including forward, backward, and turning, thereby increasing the range of motion and flexibility of the robot 2. The running wheels 202 can abut against the inner wall of the mounting tube 1, thus providing stable support for the robot 2 during movement and preventing it from sliding and flipping. The design of the running wheels 202 contacting the inner wall through the opening 2011 increases the contact area between the robot 2 and the mounting tube 1, helping to improve the reliability of the robot 2's movement and reduce the failure rate. The robot 2 can move to the designated location more quickly and accurately, improving the efficiency of detection.

[0036] In some embodiments, the housing 201 is cylindrical, with a rounded corner between the outer circumference and the end surface of the housing 201 , and the axis of the housing 201 is perpendicular to the axis of the walking wheel 202 .

[0037] The cylindrical design of the robot's housing 201 allows it to better adapt to the shape of the mounting tube 1, reducing friction and resistance during movement within the tube, thereby improving mobility. The rounded corners between the outer circumference and end faces of the housing 201 help reduce wear on the mounting tube 1 during movement, while also reducing noise and vibration. The axis of the housing 201 is perpendicular to the axis of the running wheels 202. This design ensures that the running wheels 202 are evenly distributed along the sides of the housing 201, providing stable support and driving force.

[0038] In some embodiments, the drive assembly 203 includes a motor 2031 and a worm 2032. The motor 2031 is connected to the worm 2032 to drive the worm 2032 to rotate. The walking wheel 202 is a turbine. Multiple turbines are arranged at intervals along the circumference of the worm 2032 and are connected to the worm 2032.

[0039] like Figure 3 and Figure 5As shown, the drive assembly 203 consists of a motor 2031 and a worm 2032. The motor 2031 is connected to the worm 2032, and drives the worm 2032 to rotate when the motor 2031 is running. The walking wheel 202 adopts a turbine design, which is usually used to cooperate with the worm 2032, and utilizes the deceleration and torque-increasing characteristics of the worm gear 2032 to increase the driving force. Multiple turbines are arranged at intervals along the circumference of the worm 2032, so that it can be ensured that during the driving process, each turbine can evenly share the power and improve the overall driving efficiency. The turbine is connected to the worm 2032 through a certain mechanical structure to ensure that when the worm 2032 rotates, the turbine can rotate accordingly, thereby propelling the robot 2 forward or backward.

[0040] The combination of the worm gear 2032 can provide a greater driving force, which helps the robot 2 overcome the friction and resistance in the mounting tube 1 and ensures its smooth movement in the tube. The deceleration and torque-increasing characteristics of the worm gear 2032 can convert the speed of the motor 2031 into a lower output speed, but provide greater torque, which is very useful for operation under heavy load conditions. The circumferential arrangement of multiple turbines can provide a more uniform driving force, thereby improving the movement stability of the robot 2 in the mounting tube 1. The design of the turbine can be adjusted according to the different diameters of the mounting tube 1 to improve the adaptability of the robot 2. The worm gear 2032 drive system has a simple structure and is easy to maintain, which improves the reliability of the entire gas detection system.

[0041] In some embodiments, an elastic wear-resistant layer is provided on the outer peripheral surface of the turbine tooth.

[0042] A layer of elastic material, typically highly wear-resistant, is applied to the outer surface of the turbine teeth. This material is designed to withstand prolonged use and wear. This elastic wear-resistant layer is designed to enhance the wear resistance of the turbine teeth, ensuring they remain stable during extended operation and movement of the robot 2. The elastic material is not only wear-resistant but also exhibits a degree of elasticity, reducing shock and vibration when the turbine teeth come into contact with the inner wall of the mounting tube 1, thereby reducing noise and protecting the turbine teeth and the mounting tube 1. The elastic wear-resistant layer significantly extends the service life of the turbine teeth, reducing the frequency of maintenance and replacement due to wear. Its elastic properties help absorb shock and vibration, reduce noise, and enhance the smooth operation of the robot 2. The elastic wear-resistant layer reduces direct contact between the turbine teeth and the inner wall of the mounting tube 1, protecting the tube and reducing wear. This wear-resistant layer minimizes efficiency losses caused by wear, ensuring that the robot 2 can move more efficiently within the mounting tube 1. The elastic wear-resistant layer can adapt to the varying shapes and materials of the inner wall of the mounting tube 1, enhancing the robot 2's adaptability and stability in complex environments. The wear-resistant layer extends the service life of the turbine teeth, reduces maintenance frequency and costs, and thus reduces the operating costs of the entire gas detection system.

[0043] In some embodiments, one end of the worm 2032 extends outside the housing 201, and the worm 2032 is provided with a cleaning rod 6 located outside the housing 201, and the tail end of the cleaning rod 6 is provided with a cleaning member 7. The rotation of the worm 2032 can drive the cleaning rod 6 to rotate, so that the cleaning member 7 cleans the inner wall of the mounting tube 1.

[0044] like Figure 4 and Figure 5 As shown, one end of the worm 2032 extends out of the housing 201 of the robot 2, allowing the cleaning rod 6 to be mounted on the worm 2032. Mounted on the worm 2032, the cleaning rod 6 rotates as the worm 2032 rotates. A cleaning member 7 is connected to the tail end of the cleaning rod 6. Located at the tail end of the cleaning rod 6, the cleaning member 7 is designed to clean the inner wall of the mounting tube 1. The cleaning member 7 is typically made of a wear-resistant material and effectively removes dust and dirt from the inner wall of the tube.

[0045] The cleaning element 7 removes impurities from the inner wall of the mounting tube 1, reducing friction and resistance during robot 2 movement and improving movement efficiency. A clean inner wall reduces wear caused by dirt and dust, thereby extending the service life of the mounting tube 1 and robot 2. A clean mounting tube 1 helps prevent malfunctions caused by dirt accumulation, improving the reliability of the entire gas detection system. The cleaning mechanism regularly cleans the inner wall of the mounting tube 1, reducing the need for manual cleaning and streamlining maintenance.

[0046] In some embodiments, a power supply 8 and a wireless charging module 9 are also included. The power supply 8 and the wireless charging module 9 are arranged in the shell 201. The wireless charging module 9 is used to charge the power supply 8, and the power supply 8 is used to supply power to the robot 2, the gas concentration detector 3, the locator 4 and the wireless signal transmission module 5.

[0047] like Figure 4 and Figure 5 As shown, the robot 2 has an integrated power supply system 8 for storing energy and supplying power to the robot 2, gas concentration detector 3, locator 4, and wireless signal transmission module 5. Along with the power supply 8, the robot 2 is also equipped with a wireless charging module 9. This module allows the robot 2 to receive power from the external power supply 8 wirelessly, without the need for a cable connection. The wireless charging module 9 eliminates the need for cables, allowing the robot 2 to move more freely within the mounting tube 1 without being restricted by cable length. Wireless charging reduces the use of cables in the mine and reduces safety risks caused by cable wear or damage. The integration of the wireless charging module 9 also facilitates maintenance of the robot 2, eliminating the need to replace or repair cables. Since the power supply 8 can be charged via the wireless charging module 9 when the robot 2 is not operating, the robot 2 can extend its operating time in the mine and improve its efficiency. Wireless charging reduces the risk of failure caused by cable connections and improves the reliability of the entire gas detection system.

[0048] In some embodiments, the mounting tube 1 is a plastic tube.

[0049] The installation pipe 1 is made of plastic material, such as polyethylene (PE), polyvinyl chloride (PVC), etc. These plastic materials generally have good corrosion resistance, pressure resistance and lightness. Compared with metal pipes, plastic pipes are lighter and easier to install and carry. Plastic pipes are not easily corroded by acidic gases, moisture and chemicals in the mine, and can maintain a long service life in the harsh mine environment. Plastic materials have good insulating properties, which can avoid conductivity problems caused by contact with moisture or acidic gases, thereby improving the safety of the system. Plastic pipes are usually connected by hot melting, bonding or other non-mechanical methods, making installation and replacement easier and faster.

[0050] In some embodiments, the bending angle of the mounting tube 1 during installation is less than or equal to 20°.

[0051] A smaller bending angle facilitates the movement of the robot 2 in the mounting tube 1 , and prevents the robot 2 from being stuck in the mounting tube 1 and unable to move due to the mounting tube 1 being bent at an excessively large angle, thereby improving the movement reliability of the robot 2 .

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0054] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0055] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0056] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0057] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An automatic inspection device (100) for gas concentration in underground coal mines, characterized in that: include: A mounting pipe (1), the mounting pipe (1) being installed on a roof of the tunnel along the longitudinal direction of the tunnel, the mounting pipe (1) having a plurality of air inlet holes (101) spaced apart along the longitudinal direction thereof on its wall, the air inlet holes (101) being used for gas at the tunnel roof to enter the mounting pipe (1); A robot (2), the robot (2) being arranged in the installation tube (1) and capable of reciprocating along the length direction of the installation tube (1); a gas concentration detector (3), the gas concentration detector (3) being arranged on the robot (2) and being used for detecting the concentration of gas entering the installation pipe (1); a locator (4), the locator (4) being provided on the robot (2) and being used for locating the position information of the robot (2) in the installation tube (1) in real time; A wireless signal transmission module (5) is connected to the gas concentration detector (3) and the locator (4) by signal, and is used to transmit the detection result of the gas concentration detector (3) and the positioning information of the robot (2) to the ground monitoring room in real time, so as to obtain the gas concentration at different positions in the tunnel.

2. The automatic inspection device (100) for underground coal mine gas concentration according to claim 1 is characterized in that: The air inlet holes (101) include a plurality of hole groups, the plurality of hole groups are spaced apart along the length direction of the mounting tube (1), and the hole groups include a plurality of air inlet holes (101) spaced apart along the circumference of the mounting tube (1).

3. The automatic inspection device (100) for underground coal mine gas concentration according to claim 1, characterized in that: The robot (2) comprises a housing (201), a plurality of running wheels (202) and a drive assembly (203); a plurality of openings (2011) arranged at intervals along its circumference are provided on a side wall of the housing (201); the plurality of openings (2011) correspond one-to-one to the plurality of running wheels (202); the running wheels (202) are rotatably connected to the housing (201); at least a portion of the running wheels (202) is placed outside the housing (201) through the openings (2011) and is used to stop against the inner wall of the mounting tube (1); the drive assembly (203) is arranged in the housing (201) and is used to drive the running wheels (202) to rotate.

4. The automatic inspection device (100) for underground coal mine gas concentration according to claim 3 is characterized in that: The housing (201) is cylindrical, and a rounded corner is formed between the outer peripheral surface and the end surface of the housing (201). The axis of the housing (201) is perpendicular to the axis of the running wheel (202).

5. The automatic inspection device (100) for underground coal mine gas concentration according to claim 4 is characterized in that: The driving assembly (203) includes a motor (2031) and a worm (2032), wherein the motor (2031) is connected to the worm (2032) for driving the worm (2032) to rotate, and the running wheel (202) is a turbine, wherein a plurality of turbines are arranged at intervals along the circumference of the worm (2032) and are cooperatively connected to the worm (2032).

6. The automatic inspection device (100) for underground coal mine gas concentration according to claim 5, characterized in that: An elastic wear-resistant layer is provided on the outer peripheral surface of the turbine tooth.

7. The automatic inspection device (100) for underground coal mine gas concentration according to claim 5, characterized in that: One end of the worm (2032) extends out of the housing (201); a cleaning rod (6) located outside the housing (201) is provided on the worm (2032); a cleaning member (7) is provided at the tail end of the cleaning rod (6); the rotation of the worm (2032) can drive the cleaning rod (6) to rotate, so that the cleaning member (7) cleans the inner wall of the mounting tube (1).

8. The automatic inspection device (100) for underground coal mine gas concentration according to claim 3 is characterized in that: The invention also includes a power supply (8) and a wireless charging module (9), wherein the power supply (8) and the wireless charging module (9) are arranged in the housing (201), the wireless charging module (9) is used to charge the power supply (8), and the power supply (8) is used to supply power to the robot (2), the gas concentration detector (3), the locator (4) and the wireless signal transmission module (5).

9. The automatic inspection device (100) for underground coal mine gas concentration according to claim 1, characterized in that: The installation pipe (1) is a plastic pipe.

10. The automatic inspection device (100) for underground coal mine gas concentration according to claim 1, characterized in that: The bending angle of the installation tube (1) during installation is less than or equal to 20°.

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