Self-propelled coal mine auxiliary operation robot and control method based on roadway anchor network

Abstract

This invention discloses a self-propelled coal mine auxiliary operation robot based on a roadway anchor network and its control method. The robot includes a body structure, a walking mechanism, and a gripping robotic arm. The body structure comprises a chassis, a shell, and a multi-sensor fusion module, integrating various sensors and controllers. The walking mechanism includes two pairs of telescopic climbing structures and a pair of intermediate foot auxiliary structures, symmetrically distributed on the chassis, and is driven by rotary motors, swing motors, etc., to achieve movement. The gripping robotic arm includes a robotic arm assembly and a mechanical claw, capable of performing gripping actions. The control method is based on the robot. In the initial state, each structure grips the anchor bolts. The multi-sensor fusion module analyzes the environment, and the controller receives instructions to control the movement of the walking mechanism, coordinating with the robotic arm for material handling. For scenarios such as translation, right-angle wall climbing, and turning, corresponding step-by-step control processes are designed. This invention improves the robot's adaptability, safety, and efficiency in complex mine environments and can be applied to roadway inspection, transportation, and other scenarios.

Description

Technical Field

[0001] This invention relates to the technical field of mining robots, and more particularly to a self-propelled coal mine auxiliary operation robot based on roadway anchor network and its control method. Background Technology

[0002] The underground environment of coal mines is highly complex and risky. Its unique geological conditions, spatial constraints, and harsh working conditions, such as high coal dust concentration, high humidity, and significant temperature fluctuations, place stringent demands on the safety, stability, and adaptability of operating equipment. As key equipment for improving the efficiency of underground coal mine operations, reducing manual labor intensity, and ensuring operational safety, the technological development and application of auxiliary operating robots have always been a research focus in the mining industry.

[0003] Currently, spider-type climbing robots developed for coal mine roadway environments still face numerous technical bottlenecks in practical applications, mainly in the following aspects: First, insufficient environmental adaptability: The complex terrain inside roadways, with uneven distribution of anchor bolts, numerous roadway corners, and narrow spaces, causes existing robots to easily experience jamming and deviation during climbing, resulting in low stability and movement efficiency, and even the risk of falling, severely restricting the continuity of operations. Second, poor durability and reliability: Coal dust particles in underground mines are fine and abrasive, and long-term adhesion will accelerate the wear of the robot's moving parts; at the same time, high temperature and high humidity environments can easily lead to circuit aging and sensor malfunction, significantly shortening the equipment's lifespan and increasing the probability of failure. In addition, existing robots lack real-time monitoring and feedback mechanisms for core components, such as stepper motor operating temperature, climbing gripping force, and robotic arm load, making it impossible to identify abnormal states in a timely manner, which may lead to the escalation of equipment failures or even induce safety accidents.

[0004] Therefore, in order to address the above problems, there is an urgent need to develop a new type of roadway anchor mesh climbing auxiliary operation robot with high flexibility, strong environmental adaptability and reliable safety performance, so as to solve the problem of operation in the complex environment of coal mines and ensure production safety and efficiency. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a self-propelled coal mine auxiliary operation robot and its control method based on roadway anchor nets. This robot can significantly improve the robot's adaptability, operational safety, and work efficiency in complex mine roadway environments, and can be widely applied to roadway inspection, anchor net maintenance, material transportation, and other scenarios.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a self-propelled coal mine auxiliary operation robot based on roadway anchor network, including a body mechanism, a walking mechanism and a gripping mechanical arm;

[0007] The body structure includes a chassis, a shell, and a multi-sensor fusion module. The shell covers and is fixed to the top wall of the chassis, and the multi-sensor fusion module is located at the front end of the chassis for environmental perception and motion control.

[0008] The walking mechanism includes two pairs of telescopic climbing structures and a pair of intermediate foot auxiliary structures symmetrically installed at the bottom of the body mechanism. The telescopic climbing structures can extend and retract to grasp the anchor bolts in the tunnel. The intermediate foot auxiliary structures are used to assist in posture adjustment. The telescopic climbing structures and the intermediate foot auxiliary structures work together to enable the robot to move on the anchor bolt network in the tunnel. The gripping robotic arm is installed on the body mechanism and is used to grip and transport items.

[0009] Furthermore, four rotary motors and two swing motors are fixed to the bottom of the chassis. The four rotary motors correspond one-to-one with the telescopic climbing structure. The output shaft of each rotary motor is coaxially fixed with a rudder disk I. One end of the telescopic climbing structure is mounted on the rudder disk I. A gripping motor is fixed to the bottom of the chassis. The output shaft of the gripping motor is coaxially fixed with a rudder disk II. The gripping robotic arm is mounted on the rudder disk II.

[0010] The swing motor is fixed to the bottom of the chassis. The two swing motors correspond one-to-one with the intermediate foot auxiliary structure. One end of the output shaft of each swing motor is fixed with a blade, and one end of the intermediate foot auxiliary structure is mounted on the blade.

[0011] Furthermore, the telescopic climbing structure includes a telescopic rod assembly, an electric chuck I, a front motor, and a rear motor; the rear motor is mounted on the rudder disk I, the axis of the output shaft between the rear motor and the rotary motor is perpendicular, the output shaft of the rear motor is connected to one end of the telescopic rod assembly, the end of the telescopic rod assembly away from the rear motor is connected to the housing of the front motor, and the output shaft of the front motor is connected to the electric chuck I;

[0012] The telescopic rod assembly includes an outer rod body, an inner rod body, a telescopic drive motor, a drive gear, and several driven gears. A groove is formed on one side wall of the outer rod body for the inner rod body to pass through. The inner rod body slides through the groove into the outer rod body. The telescopic drive motor is bolted to the inner rod body, and its output shaft is coaxially fixed with the drive gear. Several driven gears are rotatably mounted on the inner rod body. The drive gear and driven gears are the same size. Both the drive gear and driven gears are located within the groove of the outer rod body, and the inner wall of the groove of the outer rod body forms a rack portion that meshes with the drive gear and driven gears. The telescopic drive motor drives the drive gear to rotate, and the drive gear meshes with the rack portion of the outer rod body, thereby driving the outer rod body to slide relative to the inner rod body, achieving the telescopic function.

[0013] Furthermore, the intermediate foot auxiliary structure includes a swing arm, an electric chuck II, and an angle motor. One end of the swing arm is fixedly mounted on the blade, and the angle motor is fixedly mounted on the end of the swing arm away from the blade by bolts. The output end of the angle motor is connected and fixed to the outer wall of the electric chuck II.

[0014] Furthermore, the gripping robotic arm includes a robotic arm assembly and a robotic claw. One end of the robotic arm assembly is connected to the rudder disk II, and the other end is connected to the robotic claw. The robotic claw includes a claw disk, a clamping drive motor, and two clamping rod assemblies. The two clamping rod assemblies are symmetrically mounted on the claw disk. Each clamping rod assembly includes a drive rod, a connecting rod, and a claw rod. One end of the drive rod is hinged to the claw rod, and the other end has a gear portion integrally formed. The gear portion is rotatably connected to the claw disk. The gear portions of the two clamping rod assemblies mesh with each other. One end of the connecting rod is hinged to the middle of the claw rod, and the other end is rotatably connected to the claw disk. The clamping drive motor is fixed to the claw disk by bolts, and its output shaft is coaxially connected to one of the gear portions.

[0015] This invention also provides a control method for a self-propelled coal mine auxiliary operation robot. The method includes the following steps: Initially, the auxiliary operation robot is stationary on the roadway anchor network. The four electric chucks I of the telescopic climbing structure and the two electric chucks II of the intermediate foot auxiliary structure are all attached to the anchors. A multi-sensor fusion module at the front end of the auxiliary operation robot's body analyzes the environment. The auxiliary operation robot receives signal commands from the multi-sensor fusion module via a control board on its chassis, controlling the walking mechanism to move and cooperating with the gripping robotic arm to transport items.

[0016] Furthermore, when the walking mechanism receives a forward or backward translation command, the control method for the auxiliary robot is as follows:

[0017] Step-a1: First, release the electric chuck I of the telescopic climbing structure that is in the gripping state in the direction of travel. Then, through the telescopic drive motor, drive the telescopic rod assembly to extend and, under the coordinated angle control of the front and rear motors, grip the next anchor rod in the direction of travel.

[0018] Step-a2: The electric chuck I of the telescopic climbing structure, which is in a gripping state at the rear end of the travel direction, is released. The telescopic drive motor drives the telescopic rod assembly to shorten, and under the coordinated angle control of the front and rear motors, it grips the next anchor rod in the travel direction.

[0019] Step-a3: The electric chuck II of the two intermediate foot auxiliary structures releases the anchor rods, and the telescopic rod groups of each telescopic climbing structure in the front and rear directions are adjusted to their initial lengths, thereby causing the drive mechanism to move forward;

[0020] Step-a4: The electric chuck II of the two intermediate foot auxiliary structures clamps the anchor bolt;

[0021] Step-a5: Repeat steps Step-a1 to Step-a4 above to achieve the parallel movement function of the auxiliary robot.

[0022] Furthermore, when the walking mechanism receives a command to encounter a right-angled wall in the tunnel, the control method for the auxiliary robot is as follows:

[0023] Step-b1: The electric chuck I of the telescopic climbing structure near the corner of the tunnel is released. The telescopic drive motor drives the telescopic rod assembly to extend and, with the coordinated angle control of the front and rear motors, grabs the anchor rod on the side wall of the tunnel to be reached.

[0024] Step-b2: The electric chuck II of the two intermediate foot auxiliary structures releases its grip on the anchor bolt.

[0025] Step-b3: Adjust the length of the telescopic rods of the two pairs of telescopic climbing structures so that the chassis of the body mechanism is parallel to the side wall of the tunnel to be reached;

[0026] Step-b4: The electric chuck II of the two intermediate foot auxiliary structures clamps the anchor bolt on the side wall of the roadway to be reached under the coordinated control of the angle motor and the swing motor.

[0027] Step-b5: The electric chuck I of the telescopic climbing structure away from the corner of the alley is released. The telescopic drive motor drives the telescopic rod assembly to shorten. Under the coordinated angle control of the front and rear motors, it grabs the anchor rod on the side wall of the alley to be reached, thereby realizing the function of assisting the robot to climb the right-angle wall.

[0028] Furthermore, when the walking mechanism receives a turning or U-turn command, the control method for the auxiliary robot is as follows:

[0029] Step-c1: The electric chuck II of the two intermediate foot auxiliary structures releases its grip on the anchor bolt;

[0030] Step-c2: The electric chucks I of each telescopic climbing structure release their grip on the anchor rods in sequence. After the rotary motor drives the telescopic climbing structure to deflect to the required angle, it grips the anchor rods under the coordinated control of the telescopic drive motor, the front motor, and the rear motor, thereby completing the turning or U-turn operation.

[0031] The beneficial effects of this invention are:

[0032] 1. Compared with traditional climbing-type auxiliary operation robots, the solution of this invention is specifically designed for anchor bolt mesh roadways and can adapt to the harsh environment of high coal dust, high humidity and large temperature fluctuations in underground coal mines; its two pairs of gear and rack telescopic arms can move across the anchor bolt mesh, breaking the limitation of the range of motion, and can be widely used in roadway inspection, anchor bolt mesh maintenance, material transportation and other scenarios to ensure the continuity of operation in complex environments.

[0033] 2. The front end of the body structure of this invention integrates a multi-sensor fusion module. Through multi-sensor information fusion technology, it provides the robot with accurate positioning information and tunnel environment data, realizes multi-sensor fusion positioning, improves the perception and judgment ability of complex tunnel environment, and reduces problems such as jamming and deviation.

[0034] 3. This invention is equipped with a movable gripping robotic arm connected to the chassis. Compared with traditional robots, it adds obstacle picking and clearing and material transfer functions, enhances the practicality of the equipment, can directly participate in underground auxiliary operations, reduce manual labor intensity, and improve overall operation efficiency.

[0035] 4. This invention optimizes the design of the rack and pinion telescopic arm, and achieves flexible switching of multiple angles through dual stepper motor drive of the front motor and the rear motor; combined with the coordinated cooperation of the middle foot auxiliary structure, the robot has the functions of climbing right-angle walls and turning and turning around, solving the problem of traditional robots moving in alley corners and narrow spaces. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the auxiliary operation robot according to an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram illustrating the walking mechanism according to an embodiment of the present invention.

[0038] Figure 3 This is a schematic diagram illustrating a telescopic climbing structure according to an embodiment of the present invention.

[0039] Figure 4 This is a schematic diagram illustrating a gripping robotic arm according to an embodiment of the present invention.

[0040] Figure 5 This is a schematic diagram illustrating the body structure in an embodiment of the present invention.

[0041] Figure 6 This is a schematic diagram of an auxiliary robot placed on an anchor net, according to an embodiment of the present invention.

[0042] Figure 7 This is a schematic diagram of the movement of the auxiliary operation robot on a right-angle wall according to an embodiment of the present invention.

[0043] In the diagram: 1. Body structure; 11. Chassis; 111. Rotary motor; 112. Swing motor; 113. Grasping motor; 114. Steering wheel I; 115. Steering wheel II; 116. Blade; 12. Outer shell; 2. Walking mechanism; 21. Telescopic climbing structure; 211. Electric chuck I; 212. Front motor; 213. Rear motor; 214. Outer rod; 215. Inner rod; 216. Telescopic drive motor; 217. Drive gear 218. Wheel; 219. Driven gear; 220. Rack section; 221. Intermediate foot auxiliary structure; 222. Electric chuck II; 222. Swing arm; 3. Gripping robotic arm; 31. Robotic arm assembly; 311. Base; 312. Intermediate arm; 313. Upper arm; 314. Steering arm; 32. Mechanical gripper; 321. Gripper disc; 322. Clamping drive motor; 323. Drive rod; 324. Connecting rod; 325. Gripper bar; 326. Gear section. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0045] This invention discloses a self-propelled coal mine auxiliary operation robot based on roadway anchor network.

[0046] Reference Figure 1 and Figure 2 A self-propelled coal mine auxiliary operation robot based on roadway anchor network, including body mechanism 1, walking mechanism 2 and grasping mechanical arm 3;

[0047] The body structure 1 includes a chassis 11, a shell 12, and a multi-sensor fusion module. The shell 12 covers and is fixed to the top wall of the chassis 11 to provide protection. The multi-sensor fusion module is located at the front end of the chassis 11 and includes a vision sensor, an infrared sensor, a lidar sensor, an inertial sensor, a power supply, and a controller.

[0048] The walking mechanism 2 includes two pairs of telescopic climbing structures 21 and a pair of intermediate foot auxiliary structures 22. Each pair of telescopic climbing structures 21 and intermediate foot auxiliary structures 22 are distributed in a mirror symmetrical manner about the center of the chassis 11.

[0049] Reference Figure 5Four rotary motors 111 and two swing motors 112 are fixed to the bottom of the chassis 11 by bolts. The four rotary motors 111 correspond one-to-one with the telescopic climbing structure 21. The rotation axis of each rotary motor 111 is perpendicular to the plane of the chassis 11. The output shaft of each rotary motor 111 is coaxially fixed with a rudder disk I 114. One end of the telescopic climbing structure 21 is installed on the rudder disk I 114. A gripping motor 113 is fixed to the bottom of the chassis 11 by bolts. The output shaft of the gripping motor 113 is coaxially fixed with a rudder disk II 115. The gripping robotic arm 3 is installed on the rudder disk II 115.

[0050] The swing motor 112 is fixed to the bottom of the chassis 11 by bolts, and the rotation axis of the swing motor 112 is parallel to the plane of the chassis 11. The two swing motors 112 correspond one-to-one with the intermediate foot auxiliary structure 22. One end of the output shaft of each swing motor 112 is fixed with a blade 116, and one end of the intermediate foot auxiliary structure 22 is mounted on the blade 116.

[0051] Reference Figure 3 The telescopic climbing structure 21 includes a telescopic rod assembly, an electric chuck I 211, a front motor 212, and a rear motor 213. The rear motor 213 is mounted on the rudder disk I 114. The axis of the output shaft between the rear motor 213 and the rotary motor 111 is perpendicular to each other. The output shaft of the rear motor 213 is connected to one end of the telescopic rod assembly. The end of the telescopic rod assembly away from the rear motor 213 is connected to the housing of the front motor 212. The output shaft of the front motor 212 is connected to the electric chuck I 211.

[0052] The telescopic rod assembly includes an outer rod 214, an inner rod 215, a telescopic drive motor 216, a drive gear 217, and several driven gears 218. A groove is provided on one side wall of the outer rod 214 for the inner rod 215 to pass through. The inner rod 215 slides through the groove and is inserted into the outer rod 214. The telescopic drive motor 216 is bolted to the inner rod 215. The output shaft of the telescopic drive motor 216 is coaxially fixed with the drive gear 217. Several driven gears 218 are rotatably mounted on the inner rod 215. The drive gear 217 and the driven gears 218 are the same size. The drive gear 217 and the driven gears 218 are both located in the groove of the outer rod 214, and the inner wall of the groove of the outer rod 214 forms a rack portion 219 that meshes with the drive gear 217 and the driven gears 218. The telescopic drive motor 216 drives the drive gear 217 to rotate. The drive gear 217 meshes with the rack portion 219 of the outer rod 214, thereby driving the outer rod 214 to slide relative to the inner rod 215, thus realizing the telescopic function.

[0053] Reference Figure 2The intermediate foot auxiliary structure 22 includes a swing arm 222, an electric chuck II 221, and an angle motor. One end of the swing arm 222 is fixedly mounted on the blade 116. The angle motor is fixedly mounted on the end of the swing arm 222 away from the blade 116 by bolts. The output end of the angle motor is connected and fixed to the outer wall of the electric chuck II 221, which can drive the electric chuck II 221 to rotate and adjust the angle orientation of the electric chuck II 221 to ensure that the electric chuck II 221 can be smoothly aligned and clamped to the anchor rod.

[0054] Reference Figure 4 The gripping robotic arm 3 includes a robotic arm assembly 31 and a robotic gripper 32. One end of the robotic arm assembly 31 is connected to the rudder disk II 115, and the other end is connected to the robotic gripper 32. The robotic arm assembly 31 adopts the existing arm arm assembly structure of a robotic arm, which can drive the robotic gripper 32 to perform multi-degree-of-freedom movements. It includes a base 311, an intermediate arm 312, an upper arm 313, and a steering arm 314 that are rotatably connected in sequence. The robotic gripper 32 is mounted on the steering arm 314.

[0055] The mechanical gripper 32 includes a gripper disc 321, a clamping drive motor 322, and two sets of clamping rods. The two sets of clamping rods are symmetrically mounted on the gripper disc 321. Each clamping rod set includes a drive rod 323, a connecting rod 324, and a gripper bar 325. One end of the drive rod 323 is hinged to the gripper bar 325, and the other end has an integrally formed gear part 326. The gear part 326 is rotatably connected to the gripper disc 321, and the gear parts 326 of the two clamping rod sets mesh with each other. One end of the connecting rod 324 is hinged to the middle of the gripper bar 325, and the other end is rotatably connected to the gripper disc 321. The clamping drive motor 322 is fixed to the gripper disc 321 by bolts, and its output shaft is coaxially connected to one of the gear parts 326. By driving the gear part 326 to rotate, it drives the two gripper bars 325 to perform opening and closing movements.

[0056] Furthermore, the mechanical gripper 32 of the gripping robotic arm 3 is detachably connected to the robotic arm assembly 31, so that different types or sizes of mechanical grippers can be replaced to adapt to different operational needs.

[0057] This invention also discloses a control method for a self-propelled coal mine auxiliary operation robot, comprising the following steps: Initially, the auxiliary operation robot is placed statically on the roadway anchor net, and the four electric chucks I 211 of the telescopic climbing structure 21 and the two electric chucks II 221 of the intermediate foot auxiliary structure 22 are all attached to the anchor; the multi-sensor fusion module set at the front end of the auxiliary operation robot's body mechanism 1 analyzes the environment, and the auxiliary operation robot receives the signal instructions from the multi-sensor fusion module from the control board on the chassis 11 to control the walking mechanism 2 to move, and cooperates with the gripping robotic arm 3 to transport items.

[0058] When the walking mechanism 2 receives a forward or backward translation command, the control method of the auxiliary robot is as follows:

[0059] Step-a1: First, release the electric chuck I 211 of the telescopic climbing structure 21 which is in the gripping state in the direction of travel. Then, through the telescopic drive motor 216, drive the telescopic rod assembly to extend and, under the coordinated angle control of the front motor 212 and the rear motor 213, grip the next anchor rod in the direction of travel.

[0060] Step-a2: The electric chuck I 211 of the telescopic climbing structure 21, which is in a gripping state at the rear end of the travel direction, is released. The telescopic drive motor 216 drives the telescopic rod group to shorten, and under the coordinated angle control of the front motor 212 and the rear motor 213, it grips the next anchor rod in the travel direction.

[0061] Step-a3: The electric chuck II 221 of the two intermediate foot auxiliary structures 22 releases the anchor rods, and the telescopic rod groups of each telescopic climbing structure 21 in the front and rear directions are adjusted to their initial lengths, thereby causing the drive mechanism to move forward;

[0062] Step-a4: The electric chuck II 221 of the two intermediate foot auxiliary structures 22 clamps the anchor bolt;

[0063] Step-a5: Repeat steps Step-a1 to Step-a4 above to achieve the parallel movement function of the auxiliary robot.

[0064] When the walking mechanism 2 receives a command to encounter a right-angle wall in the alley, the control method for the auxiliary robot is as follows:

[0065] Step-b1: The electric chuck I 211 of the telescopic climbing structure 21 near the corner of the tunnel is released. The telescopic drive motor 216 drives the telescopic rod assembly to extend and, under the coordinated angle control of the front motor 212 and the rear motor 213, grabs the anchor rod on the side wall of the tunnel to be reached.

[0066] Step-b2: The electric chuck II 221 of the two intermediate foot auxiliary structures 22 releases its grip on the anchor bolt.

[0067] Step-b3: Adjust the length of the telescopic rods of the two pairs of telescopic climbing structures 21 so that the chassis 11 of the body mechanism 1 is adjusted to be parallel to the side wall of the tunnel to be reached.

[0068] Step-b4: The electric chuck II 221 of the two intermediate foot auxiliary structures 22 clamps the anchor bolt on the side wall of the roadway to be reached under the coordinated control of the angle motor and the swing motor 112.

[0069] Step-b5: The electric chuck I 211 of the telescopic climbing structure 21, which is away from the corner of the alley, is released. The telescopic drive motor 216 drives the telescopic rod assembly to shorten. Under the coordinated angle control of the front motor 212 and the rear motor 213, it grabs the anchor rod on the side wall of the alley to be reached, thereby realizing the function of assisting the robot to climb the right-angle wall.

[0070] When the walking mechanism 2 receives a turning or U-turn command, the control method for the auxiliary robot is as follows:

[0071] Step-c1: The electric chuck II 221 of the two intermediate foot auxiliary structures 22 releases its grip on the anchor bolt;

[0072] Step-c2: The electric chucks I 211 of each telescopic climbing structure 21 release their grip on the anchor rods in sequence. The rotary motor 111 drives the telescopic climbing structure 21 to deflect to the required angle. Under the coordinated control of the telescopic drive motor 216, the front motor 212 and the rear motor 213, the anchor rods are gripped, thereby completing the turning or U-turn operation.

[0073] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A self-propelled coal mine auxiliary operation robot based on roadway anchor network, characterized in that: It includes a body structure (1), a walking mechanism (2), and a gripping robotic arm (3); The body structure (1) includes a chassis (11), a shell (12) and a multi-sensor fusion module. The shell (12) covers and is fixed to the top wall of the chassis (11). The multi-sensor fusion module is located at the front end of the chassis (11) and is used for environmental perception and motion control. The walking mechanism (2) includes two pairs of telescopic climbing structures (21) and a pair of intermediate foot auxiliary structures (22) symmetrically installed at the bottom of the body mechanism (1). The telescopic climbing structures (21) can extend and retract to grab the roadway anchor rods. The intermediate foot auxiliary structures (22) are used to assist in posture adjustment. The telescopic climbing structures (21) and the intermediate foot auxiliary structures (22) cooperate to enable the robot to move on the roadway anchor rod network. The gripping robotic arm (3) is installed on the body mechanism (1) and is used to grip and transport items. Four rotary motors (111) and two swing motors (112) are fixed to the bottom of the chassis (11). The four rotary motors (111) correspond one-to-one with the telescopic climbing structure (21). The output shaft of each rotary motor (111) is coaxially fixed with a rudder disk I (114). One end of the telescopic climbing structure (21) is mounted on the rudder disk I (114). A gripping motor (113) is fixed to the bottom of the chassis (11). The output shaft of the gripping motor (113) is coaxially fixed with a rudder disk II (115). The gripping robotic arm (3) is mounted on the rudder disk II (115). The swing motor (112) is fixed at the bottom of the chassis (11). The two swing motors (112) correspond one-to-one with the intermediate foot auxiliary structure (22). One end of the output shaft of each swing motor (112) is fixed with a blade (116). One end of the intermediate foot auxiliary structure (22) is mounted on the blade (116). The telescopic climbing structure (21) includes a telescopic rod assembly, an electric chuck I (211), a front motor (212), and a rear motor (213); the rear motor (213) is mounted on the rudder disk I (114), the output shaft of the rear motor (213) is perpendicular to the axis of the rotary motor (111), the output shaft of the rear motor (213) is connected to one end of the telescopic rod assembly, the end of the telescopic rod assembly away from the rear motor (213) is connected to the housing of the front motor (212), and the output shaft of the front motor (212) is connected to the electric chuck I (211); The telescopic rod assembly includes an outer rod body (214), an inner rod body (215), a telescopic drive motor (216), a drive gear (217), and several driven gears (218). A groove is provided on one side wall of the outer rod body (214) for the inner rod body (215) to pass through. The inner rod body (215) slides through the groove into the outer rod body (214). The telescopic drive motor (216) is bolted to the inner rod body (215). The output shaft of the telescopic drive motor (216) is coaxially fixed with the drive gear (217). Several driven gears (218) are rotatably mounted on the inner rod body (214). 15) The driving gear (217) and the driven gear (218) are the same size. The driving gear (217) and the driven gear (218) are both located in the groove of the outer rod (214), and the inner wall of the groove of the outer rod (214) is formed with a rack portion (219) that meshes with the driving gear (217) and the driven gear (218). The telescopic drive motor (216) drives the driving gear (217) to rotate. The driving gear (217) meshes with the rack portion (219) of the outer rod (214), thereby driving the outer rod (214) to slide relative to the inner rod (215) to realize the telescopic function. The intermediate foot auxiliary structure (22) includes a swing arm (222), an electric chuck II (221), and an angle motor. One end of the swing arm (222) is fixedly mounted on the blade (116). The angle motor is fixedly mounted on the end of the swing arm (222) away from the blade (116) by bolts. The output end of the angle motor is connected and fixed to the outer wall of the electric chuck II (221).

2. The self-propelled coal mine auxiliary operation robot based on roadway anchor network according to claim 1, characterized in that: The gripping robotic arm (3) includes a robotic arm assembly (31) and a robotic gripper (32). One end of the robotic arm assembly (31) is connected to the rudder disk II (115), and the other end is connected to the robotic gripper (32). The robotic gripper (32) includes a gripper disk (321), a clamping drive motor (322), and two clamping rod assemblies. The two clamping rod assemblies are symmetrically mounted on the gripper disk (321). Each clamping rod assembly includes a drive rod (323), a connecting rod (324), and a gripper rod (325). The drive rod (323) One end of the clamping rod (324) is hinged to the claw rod (325), and the other end is integrally formed with a gear part (326). The gear part (326) is rotatably connected to the claw disk (321). The gear parts (326) of the two clamping rod groups mesh with each other. One end of the connecting rod (324) is hinged to the middle of the claw rod (325), and the other end is rotatably connected to the claw disk (321). The clamping drive motor (322) is fixed to the claw disk (321) by bolts, and its output shaft is coaxially connected to one of the gear parts (326).

3. A control method for a self-propelled coal mine auxiliary operation robot, characterized in that: The self-propelled coal mine auxiliary operation robot described in claim 2 includes the following steps: Initially, the auxiliary operation robot is placed statically on the roadway anchor net, and the four electric chucks I (211) of the telescopic climbing structure (21) and the two electric chucks II (221) of the intermediate foot auxiliary structure (22) are all attached to the anchor; the multi-sensor fusion module set at the front end of the auxiliary operation robot body mechanism (1) analyzes the environment, and the auxiliary operation robot receives the signal instructions from the multi-sensor fusion module from the control board on the chassis (11) to control the walking mechanism (2) to move, and cooperate with the gripping mechanical arm (3) to transport items.

4. The control method for a self-propelled coal mine auxiliary operation robot according to claim 3, characterized in that: When the walking mechanism (2) receives a forward or backward translation command, the control method of the auxiliary robot is as follows: Step-a1: First, release the electric chuck I (211) of the telescopic climbing structure (21) which is in a gripping state in the direction of travel. Then, through the telescopic drive motor (216), drive the telescopic rod group to extend and, under the coordinated angle control of the front motor (212) and the rear motor (213), grip the next anchor rod in the direction of travel. Step-a2: The electric chuck I (211) of the telescopic climbing structure (21) in the rear end of the travel direction is released, and the telescopic rod group is driven to shorten by the telescopic drive motor (216), and under the coordinated angle control of the front motor (212) and the rear motor (213), it grabs the next anchor rod in the travel direction. Step-a3: The electric chuck II (221) of the two intermediate foot auxiliary structures (22) releases the anchor rod, and the telescopic rod groups of each telescopic climbing structure (21) in the front and rear directions are adjusted to the initial length, so that the drive mechanism moves forward; Step-a4: The electric chuck II (221) of the two intermediate foot auxiliary structures (22) clamps the anchor rod; Step-a5: Repeat steps Step-a1 to Step-a4 above to achieve the parallel movement function of the auxiliary robot.

5. The control method for a self-propelled coal mine auxiliary operation robot according to claim 4, characterized in that: When the walking mechanism (2) receives a command to encounter a right-angle wall in the alley, the control method of the auxiliary robot is as follows: Step-b1: The electric chuck I (211) of the telescopic climbing structure (21) near the corner of the tunnel is released, and the telescopic rod group is driven to extend by the telescopic drive motor (216), and under the coordinated angle control of the front motor (212) and the rear motor (213), it grabs the anchor rod on the side wall of the tunnel to be reached. Step-b2: The electric chuck II (221) of the two intermediate foot auxiliary structures (22) releases its grip on the anchor bolt. Step-b3: Adjust the length of the telescopic rods of the two pairs of telescopic climbing structures (21) so that the chassis (11) of the body mechanism (1) is adjusted to be parallel to the side wall of the tunnel to be reached. Step-b4: The electric chuck II (221) of the two intermediate foot auxiliary structures (22) clamps the anchor rod on the side wall of the tunnel to be reached under the coordinated control of the angle motor and the swing motor (112); Step-b5: The electric chuck I (211) of the telescopic climbing structure (21) away from the corner of the alley is released. The telescopic drive motor (216) drives the telescopic rod group to shorten. Under the coordinated angle control of the front motor (212) and the rear motor (213), it grabs the anchor rod on the side wall of the alley to be reached, thereby realizing the function of assisting the robot to climb the right-angle wall.

6. The control method for a self-propelled coal mine auxiliary operation robot according to claim 5, characterized in that: When the walking mechanism (2) receives a turning or U-turn command, the control method of the auxiliary robot is as follows: Step-c1: The electric chuck II (221) of the two intermediate foot auxiliary structures (22) releases its grip on the anchor bolt; Step-c2: The electric chuck I (211) of each telescopic climbing structure (21) releases its grip on the anchor rod in sequence. The rotary motor (111) drives the telescopic climbing structure (21) to deflect to the required angle. Under the coordinated control of the telescopic drive motor (216), the front motor (212) and the rear motor (213), the anchor rod is gripped, thereby completing the turning or U-turn operation.

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