Coal mine inspection robot

Abstract

The invention discloses a coal mine inspection robot, and relates to the technical field of inspection. The robot specifically comprises a robot body and two walking assemblies, and a cavity is formed in the robot body; the two walking assemblies are symmetrically arranged on the two sides of the cavity of the machine body. Each walking assembly comprises a walking motor, and the motor drives the wheels and the crawler belts through two sets of independent transmission chains respectively. And the first transmission chain always drives the wheels to realize wheel type walking. And the second transmission chain is controlled by an electromagnetic clutch, and drives a crawler mounted on the swing arm during connection, so that crawler-type auxiliary driving is realized. The robot can adjust the grounding state of the crawler belt through the swing arm and switch to wheel type or wheel-crawler combined type walking, so that the equipment can flexibly adjust the walking mode according to the terrain difference, the swing arm can be used for assisting obstacle crossing, and the environment adaptability is remarkably enhanced.

Description

Technical Field

[0001] This invention relates to the field of inspection technology, and in particular to a coal mine inspection robot. Background Technology

[0002] Coal mine inspection robots are autonomous or remotely controlled mobile robots specifically designed for underground coal mine environments. They primarily replace manual labor in conducting safety inspections, fault monitoring, and data collection of mine roadways, equipment, and the environment, thereby improving safety, reducing labor intensity, and enabling intelligent management.

[0003] Existing coal mine inspection robots mostly adopt tracked or wheeled configurations. Tracked inspection robots are well-adapted to underground coal mine surfaces, but due to friction within the tracks and the structural characteristics of the tracks themselves, their travel speed is often limited, significantly reducing their endurance and range. While wheeled robots offer improved flexibility and range, they struggle to navigate complex underground mine surfaces (such as steps and ditches). The vast majority of existing inspection robots still use a single tracked or wheeled chassis, failing to enable rapid or automatic switching between tracks and wheels. Furthermore, they cannot adapt to specific complex scenarios when faced with uncertain usage conditions, limiting their applicability.

[0004] Therefore, in this invention, the technical problem of limited applicability due to the single wheeled or tracked drive is addressed. Summary of the Invention

[0005] The main objective of this invention is to provide a coal mine inspection robot that optimizes the integrated design of the drive structure, integrates tracked and wheeled drive modes, and flexibly switches between wheeled or wheel-tracked hybrid drive modes according to different underground road conditions, thereby improving the robot's adaptability to complex working environments and expanding its applicable scenarios.

[0006] To achieve the above objectives, the present invention proposes a coal mine inspection robot, comprising: The fuselage contains an internal cavity; Two walking components are symmetrically positioned on both sides of the cavity of the fuselage, each walking component comprising: A walking motor is connected to the inner wall of the machine body; The output shaft assembly is rotatably connected to the side wall of the walking motor; The first spur gear set and the second spur gear set are both rotatably connected to the output shaft set; The first spur gear set is connected to an output shaft, and a wheel is connected to the end of the output shaft; The second spur gear set is used to drive the track, which is connected to the machine body and rotatably disposed in the axial direction of the wheel; The power of the walking motor is transmitted to the wheel through the first spur gear set, and then to the second spur gear set through a selectable transmission mechanism.

[0007] Furthermore, the output shaft of the walking motor is connected to a first bevel gear, and the inner wall of the machine body is rotatably connected to a second bevel gear. The second bevel gear is installed on the outer wall of the output shaft assembly. The walking motor drives the first spur gear assembly on the output shaft assembly to operate synchronously through the meshing first bevel gear and the second bevel gear.

[0008] Furthermore, the first bevel gear simultaneously meshes with two second bevel gears, one of which transmits power to the first spur gear set, and the other second bevel gear transmits power to the input end of the electromagnetic clutch via a transmission gear; the output end of the electromagnetic clutch is connected to the second spur gear set and is used to drive the second spur gear set when the electromagnetic clutch is engaged.

[0009] Furthermore, a swing arm assembly is rotatably connected to the outer wall of the output wheel shaft, and an adjustment assembly is built into the cavity of the machine body. The adjustment assembly is connected to the swing arm assembly and adjusts the rotation angle of the swing arm assembly along the axis of the output wheel shaft.

[0010] Furthermore, the swing arm assembly includes a drive wheel, a swing plate, at least two driven guide wheels, and a track. The swing plate is placed inside the track, and the drive wheel and the driven guide wheels are mounted on it. The drive wheel and the driven guide wheels mesh with the inner ring of the track. The adjustment assembly is connected to the swing plate.

[0011] Furthermore, the output end of the adjustment component is connected to a crankshaft, which is fixedly connected to the swing plate.

[0012] Furthermore, the crankshaft includes a worm shaft and a sub-shaft that are fixed to each other. The crankshaft is sleeved on the outside of the output wheel shaft and rotatedly connected to it. The end of the sub-shaft away from the worm shaft is connected to the swing plate. The crankshaft and the swing plate drive the swing arm assembly to adjust the angle.

[0013] Furthermore, a second tooth block is provided at one end of the worm shaft and the sub-shaft facing each other, and the worm shaft and the sub-shaft are connected alternately by the second tooth blocks. A third tooth block is provided at the end of the sub-shaft facing the swing plate, and the third tooth block is engaged with the swing plate.

[0014] Furthermore, grooves are provided on both sides of the swing plate, and the driving wheel and the driven guide wheel are placed in the corresponding grooves.

[0015] Furthermore, the adjustment assembly includes a swing arm motor, a reducer, a worm gear, and a worm wheel, all built into the body cavity. The swing arm motor, the reducer, the worm gear, and the worm wheel are sequentially connected in a transmission manner, and the crankshaft is connected at the axis of the worm wheel.

[0016] The above technical solution has the following advantages: The present invention provides walking components on both sides of the machine body. The walking components include a first gear set and a second gear set on one side of the machine body. Both the first gear set and the second gear set are located on the outer wall of the output shaft assembly, so that the walking motor can drive the first gear set to rotate, realizing the wheel movement of the machine body. The walking motor can also drive the second gear set to operate, thereby switching to the track walking mode. This allows the equipment to flexibly adjust its walking mode according to terrain differences, significantly enhancing its environmental adaptability.

[0017] This invention utilizes an electromagnetic clutch, a third bevel gear, and a fourth bevel gear to start and stop the track drive chain, facilitating switching between wheel-driven and wheel-track hybrid drive, and effectively reducing energy consumption. While the track drive chain is operating, the wheel drive chain remains active, with the wheels and tracks working in tandem to traverse complex terrain.

[0018] This invention features a swing arm assembly installed at the wheels. When facing complex road conditions such as rugged terrain and mud, the adjustment component can drive the swing arm assembly to rotate until the tracks are in contact with the ground, providing a larger support surface and stronger traction. Simultaneously, the swing arm can also act as an auxiliary lever, lifting the front or rear of the machine body. With the combined action of the wheels and powered tracks, it can overcome obstacles, improving the overall machine's passability and endurance. Attached Figure Description

[0019] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a first-state structural diagram of the present invention; Figure 2 This is a second-state structural diagram of the present invention; Figure 3 This is a partial structural diagram of the walking component of the present invention; Figure 4 This is a partial structural diagram of the walking component and the adjustment component of the present invention; Figure 5 This is a structural diagram of the swing arm assembly of the present invention; Figure 6 This is a structural diagram of the swing plate of the swing arm assembly of the present invention; Figure 7 This is an exploded view of the crankshaft and rotor of the present invention; Figure 8 This is an exploded view of the crankshaft of the present invention; Figure 9 This is a partial schematic diagram of the wheel drive chain of the present invention; Figure 10 This is a partial schematic diagram of the track drive chain of the present invention.

[0020] In the diagram: 1. Body; 2. Wheel; 3. Swing arm assembly; 31. Drive wheel; 32. Swing plate; 321. Sinkhole; 322. Tooth hole; 323. Chuck; 3231. First tooth block; 3232. Tooth groove; 33. Driven guide wheel; 34. Track; 4. Travel motor; 5. Adjustment assembly; 51. Swing arm motor; 52. Reducer; 53. Worm; 54. Worm wheel; 55. Output wheel shaft; 56. Crankshaft; 561. Worm shaft; 562. Sub-shaft; 563. Second tooth block; 564. Third tooth block; 6. Travel assembly; 61. First bevel gear; 62. Second bevel gear; 63. Transmission gear; 64. Electromagnetic clutch; 65. Third bevel gear; 66. Output shaft assembly; 67. First spur gear set; 68. Second spur gear set; 69. Fourth bevel gear. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following specific embodiments are only used to explain the invention and do not constitute a limitation thereof.

[0022] like Figures 1-4 As shown, a coal mine inspection robot includes a body 1 and two walking components 6. The body 1 has an internal cavity. The two walking components 6 are symmetrically arranged on both sides of the cavity of the body 1. Each walking component 6 includes a walking motor 4, an output shaft assembly 66, a first spur gear set 67, and a second spur gear set 68. The walking motor 4 is connected to the inner wall of the body 1. The first spur gear set 67 and the second spur gear set 68 are both rotatably connected to the output shaft assembly 66. The first spur gear set 67 is connected to an output wheel axle 55. The end of the output wheel axle 55 is connected to a wheel 2. The second spur gear set 68 is used to drive a track 34. The track 34 is connected to the body 1 and is rotatably arranged in the axial direction of the wheel 2. The power of the walking motor 4 is transmitted to the wheel 2 through the first spur gear set 67 and to the second spur gear set 68 through a set of selectable transmission mechanisms.

[0023] The output shaft assembly 66 comprises multiple parallel shafts rotatably connected to the side wall of the machine body 1 and perpendicular to the output shaft of the travel motor 4. The first spur gear set 67 and the second spur gear set 68 are both rotatably mounted on the output shaft assembly 66 and are both transmission chains composed of multiple gears. The travel motor 4 drives the first spur gear set 67 to rotate, or drives the first spur gear set 67 and the second spur gear set 68 to rotate. The first spur gear set 67 drives the wheel 2 to rotate, and the second spur gear set 68 drives the track 34 to rotate. The first spur gear set 67, i.e., the wheel 2 transmission chain of this invention, is located closer to the interior of the machine body 1, while the second spur gear set 68, i.e., the track transmission chain of this invention, is located closer to the side wall of the machine body 1.

[0024] Specifically, two walking components 6 are distributed on both sides of the body 1, and are used to control the walking function of different sides of the body 1 respectively. The structure of the walking components 6 is embedded in the cavity of the body 1 to avoid being exposed to the outside and affecting the transmission accuracy. In this invention, the walking motor 4 is used as the driving component of the walking components 6 to drive the walking components 6 to operate normally, thereby realizing the walking function of the body 1.

[0025] In this invention, the first spur gear set 67 transmits torque alternately from the travel motor 4 until it is transmitted to the output shaft 55. The output shaft 55 is connected to the wheel 2, forming a transmission chain consisting of the travel motor 4, the first spur gear set 67, and the output shaft 55, ultimately driving the wheel 2 to move. While the travel motor 4 drives the first spur gear set 67, it can also drive the first end of the second spur gear set 68 to rotate, causing multiple gear sets to mesh alternately on the output shaft set 66 to transmit torque.

[0026] like Figure 3 , Figure 4 , Figure 9 and Figure 10 As shown, the output shaft of the walking motor 4 is connected to a first bevel gear 61, and a second bevel gear 62 is rotatably connected to the inner wall of the body 1. The second bevel gear 62 is mounted on the outer wall of the output shaft assembly 66. The walking motor 4 drives the first spur gear set 67 on the output shaft assembly 66 to rotate synchronously through the meshing first bevel gear 61 and second bevel gear 62. The walking motor 4 is mounted on the top of the body 1, and its output shaft is connected to the first bevel gear 61. The first bevel gear 61 drives the second bevel gear 62 on one side, and the second bevel gear 62 is mounted on a single shaft at the edge of the output shaft assembly 66, forming a wheel 2 transmission chain. This chain consists of multiple gears: the walking motor 4, the first bevel gear 61, the second bevel gear 62, and the first spur gear set 67, ensuring the normal movement of the wheels 2. The wheel 2 transmission chain is as follows: Figure 9 As shown, the arrow indicates the direction of torque transmission in the drive chain of wheel 2.

[0027] Furthermore, the first bevel gear 61 simultaneously meshes with two second bevel gears 62, one of which transmits power to the first spur gear set 67, and the other second bevel gear 62 transmits power to the input end of the transmission mechanism through a transmission gear 63; the output end of the transmission mechanism is connected to the second spur gear set 68 for driving the second spur gear set 68 when the transmission mechanism is engaged. In this invention, the output torque of the walking motor 4 drives the first bevel gear 61 to rotate. The second bevel gear 62 located on one side of the machine body 1 drives the first spur gear 67 to rotate synchronously. The second bevel gear 62 located on the other side of the machine body 1 drives the transmission gear 63 to rotate. The input and output ends of the transmission mechanism are respectively equipped with a fourth bevel gear 69 and a third bevel gear 65. When the transmission mechanism is engaged, it drives the fourth bevel gear 69 to mesh with the tail end of the transmission gear 63, and the third bevel gear 65 to mesh with the head end of the second spur gear 68. This realizes the track transmission chain, namely the track transmission chain of the walking motor 4, the first bevel gear 61, the second bevel gear 62 of the cavity, the transmission gear 63, the fourth bevel gear 69, the third bevel gear 65, and the second spur gear 68. Figure 10 As shown, the arrow indicates the direction of torque transmission of the track drive chain, which can switch to track 34 mode. The on / off state of the transmission mechanism controls the movement and stationary state of the third bevel gear 65 and the second spur gear set 68, thus opening or closing the track drive chain. When the electromagnetic clutch 64 is engaged, torque is transmitted to the wheel 2 through the wheel 2 drive chain, and torque is transmitted to the track 34 through the track drive chain. When the track 34 drive chain is working, the wheel 2 drive chain is always in working state, and the track 34 and the wheel 2 operate independently.

[0028] like Figure 3 , Figure 4 and Figure 9 As shown, the power transmission path for the wheel 2 drive chain is as follows: the walking motor 4 drives the first bevel gear 61, which meshes with the second bevel gear 62 on one side, thereby driving the first spur gear set 67 to rotate. The first spur gear set 67 transmits power to the output wheel axle 55, ultimately driving the wheel 2 connected to the end of the output wheel axle 55 to rotate. This wheel 2 drive chain is always working, providing the robot with basic wheeled walking capability.

[0029] like Figure 10As shown, for the track drive chain, the power of the travel motor 4 is transmitted simultaneously to the first bevel gear 61 and the second bevel gear 62 via the first bevel gear 61. The second bevel gear 62 drives the transmission gear 63. A selectively engaging transmission mechanism is connected in series in this transmission path. Its input end meshes with the transmission gear 63 via the fourth bevel gear 69, and its output end meshes with the first end of the second spur gear set 68 via the third bevel gear 65. When track 34 needs to be driven, the selectively engaging transmission mechanism is activated, and power is transmitted sequentially through the second bevel gear 62, the transmission gear 63, the fourth bevel gear 69, the selectively engaging transmission mechanism, and the third bevel gear 65 to the second spur gear set 68, ultimately driving track 34 to rotate. When track 34 is not needed, the selectively engaging transmission mechanism is disengaged, and the track drive chain stops working. When the track drive chain is working, the wheel 2 drive chain is also in operation.

[0030] In the wheel 2 drive chain and the track drive chain, the gears of the two drive chains are independent of each other and are both coaxially arranged. The above-mentioned transmission mechanism preferably adopts an electromagnetic clutch 64, which can be replaced as needed, such as by replacing it with a pneumatic actuator or other components.

[0031] like Figure 1 , Figure 2 and Figure 5 As shown, a swing arm assembly 3 is rotatably connected to the outer wall of the output wheel axle 55. An adjustment assembly 5 is built into the cavity of the body 1. The adjustment assembly 5 is connected to the swing arm assembly 3 and adjusts the rotation angle of the swing arm assembly 3 along the axis of the output wheel axle 55. The adjustment assembly 5, built into the body 1, is used to drive the angle adjustment of the swing arm assembly 3. When encountering complex environments that prevent the wheel 2 from passing, the tilt angle of the swing arm assembly 3 can be adjusted by the adjustment assembly 5, allowing the swing arm assembly 3 to conform to the ground for support. This helps the wheel 2 pass through different complex terrains, such as... Figure 2 As shown, the swing arm assembly 3 of the present invention has a power output, that is, the track 34 of the swing arm assembly 3 is driven to rotate through the track transmission chain.

[0032] In this invention, the preferred swing arm assembly 3 includes a drive wheel 31, a swing plate 32, at least two driven guide wheels 33, and a track 34. The swing plate 32 is placed inside the track 34, and the drive wheel 31 and driven guide wheels 33 are mounted on it. The drive wheel 31 and driven guide wheels 33 mesh with the inner ring of the track 34. The adjusting assembly 5 is connected to the swing plate 32. The torque output by the adjusting assembly 5 drives the swing plate 32 to rotate, thereby driving the track 34 to rotate around the axis of the output wheel shaft 55, and ensuring that the track 34 is in contact with the ground, providing a larger support surface. When crossing an obstacle, the rotating swing plate 32 drives the track 34 to contact the ground. When the electromagnetic clutch 64 is engaged, the rotating track 34 and the wheel 2 work together to cross the obstacle. The drive wheel 31 engages with one end of the track 34. Multiple driven guide wheels 33 are provided to support the shape of the entire track 34. The swing plate 32 has the same shape as the track 34. Driven guide wheels 33 are installed at each corner of the swing plate 32 so that the driven guide wheels 33 can engage with the inner ring of the track 34, while preventing the track 34 from deviating.

[0033] In this invention, three driven guide wheels 33 are provided, so that the driven guide wheels 33 and the driving wheel 31 jointly support the entire track 34, forming a prismatic track 34. When it is necessary to cross an obstacle, the rotation angle of the swing plate 32 is adjusted by the adjustment component 5, so that one side of the track 34 is in contact with the ground, the wheel 2 continues to provide walking power, the track 34 is used to increase the friction with the ground, and the swing plate 32 acts as an auxiliary rod, which can lift the front wheel or the rear wheel of the machine body 1 to achieve the operation of crossing obstacles according to different states.

[0034] like Figures 5-7 As shown, the output end of the adjustment component 5 is connected to a crankshaft 56, which is connected to the swing plate 32. The crankshaft 56 is sleeved on the outer wall of the output wheel shaft 55 and is rotatably connected to the output wheel shaft 55. When the output end of the adjustment component 5 drives the crankshaft 56 to rotate, the crankshaft 56 drives the swing plate 32 to rotate around the axis of the output wheel shaft 55, so as to realize the rotation angle of the track 34 and make it contact the ground.

[0035] Furthermore, such as Figure 7 and Figure 8 As shown, the crankshaft 56 includes a worm shaft 561 and a sub-shaft 562 fixed to each other. The crankshaft 56 is sleeved on the outside of the output wheel shaft 55 and rotatably connected to it. The end of the sub-shaft 562 away from the worm shaft 561 is connected to the swing plate 32. The crankshaft 56 and the swing plate 32 drive the swing arm assembly 3 to adjust the angle. The worm shaft 561 and the sub-shaft 562 are both rotatably connected to the outer wall of the output wheel shaft 55 through bearings. The worm shaft 561 and the sub-shaft 562 are combined to form an n-shape, which facilitates the installation of a limit block on the inner wall of the machine body 1 to limit the swing amplitude of the swing arm assembly 3. Of course, mechanical and electrical protection must be added to the adjustment assembly 5, such as couplings and torque sensors.

[0036] Based on the above scheme, both the worm shaft 561 and the sub-shaft 562 have a second tooth block 563 at their respective ends facing each other. The worm shaft 561 and the sub-shaft 562 are interlocked through the second tooth blocks 563. A third tooth block 564 is provided at the end of the sub-shaft 562 facing the swing plate 32, and the third tooth block 564 is engaged with the swing plate 32. Both the worm shaft 561 and the sub-shaft 562 are provided with second tooth blocks 563, and they are interlocked through their respective second tooth blocks 563, ultimately secured with fasteners such as screws and rivets. This interlocking of teeth ensures the strength requirements of the shaft system and the accuracy of the transmission during the power transmission of the crankshaft 56.

[0037] The sub-shaft 562 can be directly fixed to one end of the swing plate 32 by screws, pins, etc. In this invention, a third tooth block 564 is provided at the end of the sub-shaft 562, and a toothed hole 322 is provided at the end of the swing plate 32. The sub-shaft 562 is directly snapped into the toothed hole 322 and locked and fixed by screws, pins, etc. In order to consider the size and structural strength of the third tooth block 564 and the toothed hole 322, the present invention adds an additional chuck 323 between the toothed hole 322 and the third tooth block 564, indirectly connecting the third tooth block 564 and the toothed hole 322, and can also adapt to different sizes.

[0038] Specifically, one side of the chuck 323 is provided with a toothed groove 3232, and the other side is provided with a first toothed block 3231. The toothed groove 3232 and the third toothed block 564 are interlocked and engaged. The first toothed block 3231 is used to be inserted into the toothed hole 322. Several screw or pin holes are provided on the first toothed block 3231 to facilitate fixing the third toothed block 564 to the chuck 323. The chuck 323 is fixed to the toothed hole 322.

[0039] like Figure 5 , Figure 7 and Figure 8 As shown, grooves 321 are provided on both sides of the swing plate 32, and the driving wheel 31 and the driven guide wheel 33 are placed in the corresponding grooves 321. Multiple grooves 321 are provided on the swing plate 32, the number of which is equal to the number of driving wheels 31 and driven guide wheels 33, to accommodate the driving wheels 31 or driven guide wheels 33, allowing the driving wheels 31 and driven guide wheels 33 to be better embedded in the swing plate 32, thus reducing the width of the overall swing arm assembly 3.

[0040] like Figures 2-5 As shown, in addition to the transmission method of the worm gear 54 and worm 53 mentioned above, the adjustment component 5 can also use a combination of bevel gears to drive the swing arm components 3 on both sides to achieve angle adjustment. The bevel gears on both sides are connected to the corresponding crankshafts 56, as specifically described in this invention. Figure 3As shown in the first bevel gear 61 and the second bevel gears 62 on both sides, the preferred adjustment component 5 of the present invention includes a swing arm motor 51, a reducer 52, a worm 53 and a worm wheel 54 built into the cavity of the body 1. The swing arm motor 51, the reducer 52, the worm 53 and the worm wheel 54 are connected in sequence for transmission, and the crankshaft 56 is connected at the axis of the worm wheel 54. The swing arm motor 51 is installed at the top of the body 1, and the reducer 52 is fixed on the output shaft of the swing arm motor 51. The output end of the reducer 52 drives the worm 53 to rotate. The worm 53 meshes with the worm wheel 54, and the axis of the worm wheel 54 is fixed to the crankshaft 56, thereby driving the swing arm assemblies 3 on both sides to achieve angle flipping adjustment. It should be noted that the present invention places the swing arm motor 51, reducer 52, worm 53 and worm wheel 54 at both ends of the forward direction of the body 1, and the walking assembly 6 is placed on both sides of the left and right direction of the body 1. Through reasonable spatial layout, they are integrated in the front, back, left and right of the cavity of the body 1, making full use of the cavity space of the body 1.

[0041] In this invention, the first end and the last end mentioned above represent the input end and the output end, respectively. For example, the first end of the first spur gear set 67 is the input gear of the gear set, and the last end of the first spur gear set 67 is the output gear of the gear set. The other gear sets are similar and will not be described in detail here.

[0042] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A coal mine inspection robot, characterized in that, include: The fuselage (1) has an internal cavity; Two walking components (6) are symmetrically positioned on both sides of the cavity of the fuselage (1), and each walking component (6) includes: The walking motor (4) is connected to the inner wall of the body (1); The output shaft assembly (66) is rotatably connected to the side wall of the walking motor (4); The first spur gear set (67) and the second spur gear set (68) are both rotatably connected to the output shaft set (66); The first spur gear set (67) is connected to an output shaft (55), and the end of the output shaft (55) is connected to a wheel (2); The second spur gear set (68) is used to drive the track (34), which is connected to the body (1) and is rotatably arranged in the axial direction of the wheel (2); The power of the walking motor (4) is transmitted to the wheel (2) through the first spur gear set (67), and the power is transmitted to the second spur gear set (68) through a set of selectively engaged transmission mechanisms.

2. The coal mine inspection robot as described in claim 1, characterized in that, The output shaft of the walking motor (4) is connected to a first bevel gear (61), and the inner wall of the body (1) is rotatably connected to a second bevel gear (62). The second bevel gear (62) is installed on the outer wall of the output shaft assembly (66). The walking motor (4) drives the first spur gear assembly (67) on the output shaft assembly (66) to operate synchronously through the meshing first bevel gear (61) and second bevel gear (62).

3. The coal mine inspection robot as described in claim 2, characterized in that, The first bevel gear (61) simultaneously meshes with two second bevel gears (62), one of which transmits power to the first spur gear set (67), and the other bevel gear (62) transmits power to the input end of the transmission mechanism through a transmission gear (63); the output end of the transmission mechanism is connected to the second spur gear set (68) for driving the second spur gear set (68) when the transmission mechanism is engaged.

4. The coal mine inspection robot as described in claim 1, characterized in that, A swing arm assembly (3) is rotatably connected to the outer wall of the output wheel shaft (55). An adjustment assembly (5) is built into the cavity of the body (1). The adjustment assembly (5) is connected to the swing arm assembly (3) and adjusts the rotation angle of the swing arm assembly (3) along the axis of the output wheel shaft (55).

5. The coal mine inspection robot as described in claim 4, characterized in that, The swing arm assembly (3) includes a drive wheel (31), a swing plate (32), at least two driven guide wheels (33), and a track (34). The swing plate (32) is placed inside the track (34), and the drive wheel (31) and the driven guide wheels (33) are mounted on it. The drive wheel (31) and the driven guide wheels (33) are engaged with the inner ring of the track (34). The adjustment assembly (5) is connected to the swing plate (32).

6. The coal mine inspection robot as described in claim 5, characterized in that, The output end of the adjustment component (5) is connected to a crankshaft (56), and the crankshaft (56) is fixedly connected to the swing plate (32).

7. The coal mine inspection robot as described in claim 6, characterized in that, The crankshaft (56) includes a worm shaft (561) and a sub-shaft (562) fixed to each other. The crankshaft (56) is sleeved on the outside of the output wheel shaft (55) and rotatedly connected to it. The end of the sub-shaft (562) away from the worm shaft (561) is connected to the swing plate (32). The crankshaft (56) and the swing plate (32) drive the swing arm assembly (3) to adjust the angle.

8. The coal mine inspection robot as described in claim 7, characterized in that, The worm shaft (561) and the sub-shaft (562) are each provided with a second tooth block (563) at one end facing each other. The worm shaft (561) and the sub-shaft (562) are interlocked through the second tooth blocks (563). The end of the sub-shaft (562) facing the swing plate (32) is provided with a third tooth block (564), which is engaged with the swing plate (32).

9. The coal mine inspection robot as described in claim 7, characterized in that, Both sides of the swing plate (32) are provided with sinkers (321), and the driving wheel (31) and the driven guide wheel (33) are placed in the corresponding sinkers (321).

10. The coal mine inspection robot as described in any one of claims 6 to 8, characterized in that, The adjustment assembly (5) includes a swing arm motor (51), a reducer (52), a worm (53) and a worm wheel (54) built into the cavity of the body (1). The swing arm motor (51), the reducer (52), the worm (53) and the worm wheel (54) are connected in sequence for transmission. The crankshaft (56) is connected at the axis of the worm wheel (54).

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