An underground coal mine inspection robot and a use method thereof

Abstract

The present application relates to the technical field of coal mine underground robot, specifically to a coal mine underground inspection robot and a use method thereof; the coal mine underground inspection robot comprises a robot body, a grabbing system, a local perception subsystem, a global perception system, a walking system and an explosion-proof battery system which are connected to the robot body; the walking system comprises a supporting leg and a support inside the supporting leg; a driving wheel driven by a plunger motor is rotationally connected to the top of the support; guide wheels are rotationally connected to the front and rear positions of the bottom of the support; supporting wheels are rotationally connected to the two sides of the support close to the middle positions; according to the environmental requirements of the ground, the first hydraulic cylinder is driven to move the push plate upward or downward, so that the crawler body can protrude the anti-skid strips on the soft road surface to improve the ground adhesion, retract on the hard road surface to protect the ground, and achieve the energy-saving purpose, so that the present application can be applied to different driving environments.

Description

Technical Field

[0001] This invention relates to the field of underground coal mine robots, specifically to an underground coal mine inspection robot and its usage method. Background Technology

[0002] In the process of intelligent development of coal mines, the fully mechanized tunneling face, as one of the most complex and highest-risk areas in underground operations, places stringent demands on the adaptability and functionality of inspection equipment. Our team's patent application, "A Multifunctional Inspection Robot Device and Method of Use for Fully Mechanized Tunneling Faces" (Patent No.: 2023114453398), proposes an integrated solution for the complex working conditions of fully mechanized tunneling faces, including high dust levels, low illumination, rugged roadways, and numerous obstacles. The inspection robot device involved in this patent integrates a servo manipulator gripping system, a hybrid manipulator and its end-effector local perception subsystem, the robot body and its global perception subsystem, a walking system, and an explosion-proof battery system. This enables autonomous walking in complex environments, obstacle clearing, and all-around perception of key components of multiple equipment. It effectively solves the problems of weak information fusion capabilities, numerous blind spots, and limited obstacle-crossing capabilities of traditional inspection robots, providing important technical support for unmanned underground inspection in coal mines.

[0003] The walking system in this patent employs a tracked design with integrated anti-slip strips on the track surface. Its core purpose is to increase friction and traction with the muddy, slippery tunnel floor, ensuring stable movement of the robot on steep, rugged tunnel faces and preventing slippage or getting stuck. This design demonstrates excellent adaptability to the typical soft, slippery conditions of underground coal mines, ensuring the continuity of inspection operations.

[0004] However, in practical applications, it was found that the anti-slip structure of this tracked walking system has certain limitations: because the anti-slip strips and tracks are a fixed, integrally formed structure, their protrusion height and shape cannot be adjusted according to changes in the working environment. When the robot needs to travel on hard surfaces (such as underground cement-paved transport channels, equipment maintenance platforms, etc.), the protruding anti-slip strips will generate severe friction with the ground. On the one hand, this significantly increases the robot's running resistance, leading to increased energy consumption and reduced endurance; on the other hand, the hard anti-slip strips are prone to scratching and damaging hard surfaces, affecting the integrity of underground infrastructure. In addition, for surfaces with different coefficients of friction (such as dry coal seam floors and waterlogged roadways, loose coal gangue and flat cement floors), the fixed shape of the anti-slip strips cannot simultaneously meet the requirements of "high grip" and "low resistance," resulting in limited adaptability of the robot to diverse working conditions and an inability to maintain optimal operating conditions in different work scenarios.

[0005] Therefore, optimizing the anti-slip structure of the inspection robot's walking system so that it can flexibly adjust its anti-slip performance according to different ground conditions has become a key technical issue for further improving the environmental adaptability of underground coal mine inspection robots. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies, this invention proposes a coal mine underground inspection robot and its usage method. According to the environmental requirements of the ground, this invention drives the first hydraulic cylinder to move the push plate up or down, so that the track body can protrude anti-slip strips on soft ground to improve grip, and retract on hard ground to protect the ground and achieve energy saving. This makes the invention applicable to different driving environments.

[0007] The technical solution adopted by this invention to solve its technical problem is as follows: A coal mine underground inspection robot, comprising a robot body and a gripping system, a local perception subsystem, a global perception system, a walking system, and an explosion-proof battery system connected to the robot body; the walking system includes outriggers and supports on the inner sides of the outriggers; a drive wheel driven by a piston motor is rotatably connected to the top of the support; guide wheels are rotatably connected to the front and rear positions of the bottom of the support; support wheels are rotatably connected to the sides of the support near the middle; the drive wheel, guide wheels, and outer walls of the support wheels are connected by a transmission mechanism. The track body is made of rubber; a trapezoidal plate is embedded in the inner side of the track body along the transmission direction; adjacent trapezoidal plates are hinged; the outer surface of the trapezoidal plate is provided with anti-slip grooves; the outer surface of the track body is provided with track grooves corresponding to the anti-slip grooves; an anti-slip strip is slidably connected in the anti-slip groove; the anti-slip strip is connected to the bottom of the anti-slip groove by a tension spring; a drive block is fixedly connected to the inner side of the anti-slip strip; a drive groove for the drive block to move is provided at the bottom of the anti-slip groove; a push plate is fixedly connected to the lower surface of the bracket by a first hydraulic cylinder; and meshing grooves for the drive block to be inserted are evenly provided on the outer wall of the drive wheel.

[0008] Preferably, the push plate is inclined upwards at both ends and fixedly connected to the guide plate; the two guide plates are in an inverted V-shape.

[0009] Preferably, the push plate is provided with a rolling groove running through it from top to bottom; the rolling groove is elongated and its length direction is consistent with the length direction of the push plate; the width of the rolling groove in the left-right direction is greater than the width of the drive block in the left-right direction; and the inner walls of the left and right sides of the rolling groove are rotatably connected to rollers.

[0010] Preferably, the distance between adjacent rollers forms a return gap; the drive block can enter and exit the return gap.

[0011] Preferably, a supplementary plate is provided between the left and right rotating rollers in the rolling groove; the upper end of the supplementary plate is fixed to the bottom of the bracket by a second hydraulic cylinder.

[0012] Preferably, baffles are provided on the left and right sides of the guide plate; the track groove is adapted to the anti-slip strip; the anti-slip strip is slidably and sealed to the anti-slip groove; the drive block is slidably and sealed to the drive groove; and the top of the drive block is connected to the internal space of the anti-slip groove through a pressure relief hole.

[0013] Preferably, the top outer wall of the track body is provided with an arc-shaped plate; the arc-shaped plate is fixedly connected to the left and right support plates that are rotatably connected to the drive wheel; the arc-shaped plate is in contact with the outer surface of the track body.

[0014] Preferably, the end of the arc-shaped plate curves outward, and the end of the arc-shaped plate is provided with a beveled edge facing the left and right sides.

[0015] A method for using an underground coal mine inspection robot, applicable to the aforementioned underground coal mine inspection robot, comprising the following steps:

[0016] S1: The piston motor in the walking system drives the drive wheel to rotate, and the drive wheel, together with the drive block, drives the track body to rotate around the drive wheel, the idler wheel and the support wheel.

[0017] S2: When driving on soft road surfaces, the first hydraulic cylinder will drive the push plate to move down, the second hydraulic cylinder will drive the supplementary plate to move down selectively, and the drive block will drive the anti-slip strip to extend out of the outer surface of the track body under the pressure of the guide plate.

[0018] S3: When driving on a hard surface, the first hydraulic cylinder will drive the push plate to move up, so that the drive block passes over the push plate along with the track body, and the outer end of the anti-slip strip is flush with the outer surface of the track body.

[0019] S4: Debris on the surface of the track body is scraped off by the end of the arc plate. The arc plate limits the outward movement of the anti-slip strip. The drive block is inserted into the meshing groove to realize the cyclic transmission between the track body and the drive wheel.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. According to the environmental requirements of the ground, the present invention drives the first hydraulic cylinder to move the push plate up or down, so that the track body can protrude anti-slip strips on soft road surfaces to improve grip, and retract on hard road surfaces to protect the ground and achieve energy saving, making the present invention applicable to different driving environments.

[0022] 2. The drive block of the present invention will move downward under the guidance of the arc-shaped outer wall of the roller. During the downward movement of the drive block, it will drive the anti-slip strip to extend out of the track groove again. As the drive block passes the push plate, it will repeatedly drive the anti-slip strip to extend and retract the track groove, thereby causing the ground to be continuously impacted, achieving compaction of the ground and making the ground driving more stable.

[0023] 3. The anti-slip strip of the present invention will smoothly enter the inner side of the arc plate along with the track body. The debris and other materials on the surface of the track body are scraped off by the inclined edge of the end of the arc plate. After entering the inner side of the arc plate, the anti-slip strip is blocked and limited by the arc plate, so that the anti-slip strip cannot extend out of the anti-slip groove. This prevents the drive block from sliding in the drive groove, ensuring that the drive block can smoothly insert into the meshing groove and maintain a stable transmission effect with the meshing groove. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 This is a perspective view of the walking system in this invention;

[0027] Figure 3 yes Figure 2 A 3D view without the track body;

[0028] Figure 4 yes Figure 3 Enlarged view of point A in the middle;

[0029] Figure 5 This is a perspective view of the push plate and guide plate in this invention;

[0030] Figure 6 This is a perspective view of the track body and the drive wheel in this invention;

[0031] Figure 7 This is a perspective view of the track body in this invention;

[0032] Figure 8 This is a partial cross-sectional view of the track body in this invention;

[0033] Figure 9 yes Figure 8 Enlarged view of a portion of the image;

[0034] Figure 10 yes Figure 9 Sectional view at point BB;

[0035] Figure 11 This is a flowchart of the method of using the present invention.

[0036] In the diagram: 1. Robot body; 2. Grasping system; 3. Local perception subsystem; 4. Global perception system; 5. Explosion-proof battery system; 6. Support leg; 7. Guide wheel; 71. Support wheel; 72. First hydraulic cylinder; 73. Push plate; 74. Guide plate; 75. Baffle; 751. Rolling groove; 76. Rotary roller; 77. Return gap; 78. Supplementary plate; 79. Second hydraulic cylinder; 791. Drive wheel; 8. Engagement groove; 81. Track body; 91. Trapezoidal plate; 92. Anti-slip groove; 93. Track groove; 94. Anti-slip strip; 95. Tension spring; 96. Drive block; 961. Pressure relief hole; 97. Drive groove; 98. Arc plate; 981. Support plate; 982. Hydraulic side. Detailed Implementation

[0037] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0038] like Figures 1 to 11 As shown, the present invention includes the following embodiments:

[0039] Example 1: A coal mine underground inspection robot includes a robot body 1 and a gripping system 2, a local perception subsystem 3, a global perception system 4, a walking system, and an explosion-proof battery system 5 connected to the robot body 1; the walking system includes outriggers 6 and supports 7 on the inner side of the outriggers 6; the top of the support 7 is rotatably connected to a drive wheel 8 driven by a piston motor (not shown in the figure); the bottom of the support 7 is rotatably connected to guide wheels 71 at the front and rear positions; the two sides of the support 7 are rotatably connected to support wheels 72 near the middle; the outer walls of the drive wheel 8, guide wheels 71, and support wheels 72 are connected to a rubber track body 9; the track body 9... A trapezoidal plate 91 is embedded on the inner side along the transmission direction; adjacent trapezoidal plates 91 are hinged; an anti-slip groove 92 is provided on the outer surface of the trapezoidal plate 91; a track groove 93 corresponding to the anti-slip groove 92 is provided on the outer surface of the track body 9; an anti-slip strip 94 is slidably connected in the anti-slip groove 92; the anti-slip strip 94 is connected to the bottom of the anti-slip groove 92 by a tension spring 95; a drive block 96 is fixedly connected to the inner side of the anti-slip strip 94; a drive groove 97 for the drive block 96 to move is provided at the bottom of the anti-slip groove 92; a push plate 74 is fixedly connected to the lower surface of the bracket 7 by a first hydraulic cylinder 73; and engagement grooves 81 for the drive block 96 to be inserted are evenly provided on the outer wall of the drive wheel 8.

[0040] In this embodiment, the push plate 74 is inclined upwards and fixed to the guide plate 75; the two guide plates 75 are in an inverted V-shape.

[0041] The robot body 1 is the basic structure supporting the grasping system 2, local perception subsystem 3, global perception system 4, walking system, and explosion-proof battery system 5. The grasping system 2 is used to complete grasping and clearing operations based on the obstacle location information obtained by the global perception system 4. The local perception subsystem 3 is used to perceive information such as sound, images, temperature, humidity, and gas concentration inside key components of the tunneling equipment through relevant sensors. The global perception system 4 is used to acquire global information such as the tunnel environment, obstacles, external equipment status, and the robot's own position through sensors. The explosion-proof battery system 5 provides power to the robot and ensures the battery's safe operation in the hazardous underground environment through an explosion-proof protection structure. During robot walking... On soft surfaces, the extension of the first hydraulic cylinder 73 causes the push plate 74 to move downwards. During this downward movement, the guide plate 75 also moves downwards. The push plate 74 pushes the lower drive block 96 away from the support 7, causing it to slide along the drive groove 97. This movement in turn causes the anti-slip strip 94 to slide along the anti-slip groove 92. As the anti-slip strip 94 moves away from the support 7, it overcomes the tension of the corresponding tension spring 95, causing it to protrude from the track groove 93. This increases the grip of the track body 9 on the soft ground, improving the transmission effect of the track body 9 and making the robot's movement more stable. The drive block 96 on the trapezoidal plate 91 near the drive wheel 8 engages... Within the meshing groove 81 on the outer wall of the drive wheel 8, the drive wheel 8 is driven by a piston motor. The piston motor's driving principle is existing technology and will not be elaborated further. During the rotation of the drive wheel 8, it drives the track body 9 for transmission. The track body 9 drives multiple trapezoidal plates 91 to move along with the track body 9. The drive blocks 96 located outside the area below the push plate 74 protrude from the drive groove 97 to ensure meshing transmission with the drive wheel 8. When the track body 9 drives the drive blocks 96 into the area of ​​the push plate 74, the drive blocks 96 first contact the guide plates 75 at the front and rear ends of the push plate 74. The guide plates 75 press the drive blocks 96, causing the anti-slip strips 94 to protrude from the track grooves 93. Below the push plate 74, the anti-slip strips 94 protrude from the track body 9. When the drive block 96 moves away from below the push plate 74 and the guide plate 75, the tension spring 95 pulls the anti-slip strips 94 back into the anti-slip groove 92. The outer end of the anti-slip strip 94 is flush with the outer wall of the track body 9. The debris attached to the anti-slip strip 94 is scraped off by the opening of the track groove 93 to achieve self-cleaning of the anti-slip strip 94 and ensure the anti-slip effect of the anti-slip strip 94 next time. During the process of the tension spring 95 pulling the anti-slip strip 94 back into place, the anti-slip strip 94 will drive the drive block 96 to extend out of the drive groove 97 again, so that the drive block 96 protrudes from the inner side of the track body 9 again to meet the subsequent transmission requirements with the drive wheel 8.If the robot is walking on a hard surface, the first hydraulic cylinder 73 is shortened, which causes the push plate 74 to move upward. During the upward movement of the push plate 74, the guide plate 75 will also move upward. In this way, the track body 9 will not come into contact with the push plate 74 and the guide plate 75 when it moves the drive block 96 below the push plate 74. This ensures that the drive block 96 is not pushed by the push plate 74, and keeps the outer surface of the track body 9 in contact with the ground flush with the anti-slip strip 94. This prevents the anti-slip strip 94 from protruding from the track body 9 and causing damage to the ground. At the same time, it reduces resistance and achieves the purpose of energy saving.

[0042] According to the environmental requirements of the ground, the present invention drives the first hydraulic cylinder 73 to move the push plate 74 up or down, so that the track body 9 can protrude the anti-slip strip 94 on soft road surface to improve grip, and retract on hard road surface to protect the ground and achieve energy saving. This makes the present invention applicable to different driving environments.

[0043] Example 2: The push plate 74 is provided with a rolling groove 76 running through it vertically; the rolling groove 76 is elongated and its length direction is consistent with the length direction of the push plate 74; the width of the rolling groove 76 in the left and right direction is greater than the width of the drive block 96 in the left and right direction; the inner walls of the left and right sides of the rolling groove 76 are rotatably connected to the rotating rollers 77.

[0044] In this embodiment, the spacing between adjacent front and rear rollers 77 forms a return gap 78; the drive block 96 can enter and move out of the return gap 78.

[0045] During the transmission process of the drive wheel 8 driving the track body 9, when encountering a hard surface, the push plate 74 is shortened and lifted by the first hydraulic cylinder 73, so that the drive block 96 does not contact the push plate 74 as the track body 9 is driven. When encountering a soft surface, the push plate 74 is extended and lowered by the first hydraulic cylinder 73 until it is in contact with the inner side of the track body 9. The degree to which the push plate 74 moves downward directly affects the degree to which the anti-slip strip 94 extends out of the track body 9, meeting the needs of different ground surfaces. Before the track body 9 drives the drive block 96 into the range of the push plate 74, it passes through the guide plate 75. Under the guidance of the guide plate 75, the drive block 96 is pressed, causing the anti-slip strip 94 to slide in the anti-slip groove 92. The anti-slip strip 94 protrudes from the outer surface of the track body 9, and the drive block 96 is pressed into the drive groove 97. The drive block 96 then enters the range of the push plate 74 from the guide plate 75. The push plate 74 is provided with rolling grooves 76 running vertically through it, and a rotating roller 77 is rotatably connected within the rolling grooves 76. During the contact between the roller 77 and the drive block 96, the running friction of the drive block 96 is reduced, thus reducing the running resistance of the track body 9. When the drive block 96 passes one of the rollers 77, it will enter the return gap 78. After entering the return gap 78, the drive block 96 will be pulled upward by the tension spring 95. During the upward movement of the drive block 96, it will cause the anti-slip strip 94 to retract into the track groove 93. As the drive block 96 moves away from the return gap 78, the drive block 96 will move along the arc of the roller 77. As the outer wall guide moves downward, the drive block 96 will cause the anti-slip strip 94 to extend out of the track groove 93 again during the downward movement. As the drive block 96 passes the push plate 74, it will repeatedly cause the anti-slip strip 94 to extend and retract the track groove 93, thereby causing the ground to be continuously impacted, thus compacting the ground and making the ground travel more stable. When the drive block 96 moves away from directly under the push plate 74, the tension spring 95 will pull the drive block 96 upward and cause the anti-slip strip 94 to retract completely into the track groove 93.

[0046] Example 3: A supplementary plate 79 is provided between the left and right rotating rollers 77 in the rolling groove 76; the upper end of the supplementary plate 79 is fixed to the bottom of the bracket 7 by a second hydraulic cylinder 791.

[0047] When the second hydraulic cylinder 791 extends and moves the supplementary plate 79 downward into the rolling groove 76, if the lower edge of the supplementary plate 79 is flush with the lower outer wall of the roller 77, the drive block 96 entering the lower surface of the push plate 74 is restricted by the supplementary plate 79, so that the drive block 96 can only roll in contact with the roller 77 and cannot enter the return gap 78. Thus, the anti-slip strip 94 is always in a state of extending beyond the outer surface of the track body 9 within the range of the push plate 74. If the second hydraulic cylinder 791 shortens and moves the supplementary plate 79 upward out of the rolling groove 76, the drive block 96 is not restricted by the supplementary plate 79 within the range of the push plate 74, so that the drive block 96 can enter the return gap 78. The drive block 96 drives the anti-slip strip 94 to extend and retract back and forth under the cooperation of the tension spring 95 and the roller 77. This embodiment changes the state of the anti-slip strip 94 extending beyond the outer surface of the track body 9 by changing the position of the supplementary plate 79 in the rolling groove 76, so as to meet different ground driving environments.

[0048] Example 4: The guide plate 75 is provided with baffles 751 on the left and right sides; the track groove 93 is adapted to the anti-slip strip 94; the anti-slip strip 94 is slidably and sealed to the anti-slip groove 92; the drive block 96 is slidably and sealed to the drive groove 97; the top of the drive block 96 is connected to the internal space of the anti-slip groove 92 through the pressure relief hole 961.

[0049] When the anti-slip strip 94 and the anti-slip groove 92 are connected in a sliding seal, and the track groove 93 is adapted to the anti-slip strip 94, impurities on the surface of the anti-slip strip 94 are scraped off by the anti-slip groove 92 or the track groove 93 during the process of the anti-slip strip 94 retracting into the anti-slip groove 92. The drive block 96 is connected in a sliding seal with the drive groove 97 to prevent impurities from entering the anti-slip groove 92. During the process of the drive block 96 being squeezed and moved downward by the guide plate 75, the drive block 96 will drive the anti-slip strip 94 to move downward, and the outside gas will enter through the pressure relief hole 961. Gas is replenished into the anti-slip groove 92. Since the air intake position of the pressure relief hole 961 is located at the top of the drive block 96, the drive block 96 is blocked by the baffles 751 on the left and right sides during the compression of the guide plate 75, thereby preventing the surrounding debris from affecting the air intake of the pressure relief hole 961. The baffles 751 also serve to limit the left and right sides of the drive block 96, making the transmission of the track body 9 more stable. In addition, the cross-section of the drive groove 97 can be set to be larger to ensure that the anti-slip strip 94 can push out the debris in time after it enters the anti-slip groove 92.

[0050] Example 5: An arc-shaped plate 98 is provided on the top outer wall of the track body 9; the arc-shaped plate 98 is fixedly connected to the left and right support plates 981 that are rotatably connected to the drive wheel 8; the arc-shaped plate 98 is in contact with the outer surface of the track body 9.

[0051] Example 6: The end of the arc-shaped plate 98 is curved outward, and the end of the arc-shaped plate 98 is provided with a beveled edge 982 facing the left and right sides.

[0052] During the transmission process of the track body 9, the track body 9 drives the trapezoidal plate 91 to move along with the track body 9. The anti-slip strip 94 is kept flush with the outer wall of the track body 9 under the action of the tension spring 95. Before the drive block 96 on the inner side of the track body 9 enters the meshing groove 81 of the drive wheel 8, the outer surface of the track body 9 enters the range of the arc plate 98. The end of the arc plate 98 is raised outward to avoid the anti-slip strip 94 from not completely returning to its original position and causing jamming. As the track body 9 smoothly enters the inner side of the arc plate 98, the debris and other materials on the surface of the track body 9 are scraped off by the inclined edge 982 at the end of the arc plate 98. After entering the inner side of the arc plate 98, the anti-slip strip 94 is blocked and limited by the arc plate 98, so that the anti-slip strip 94 cannot extend out of the anti-slip groove 92. This prevents the drive block 96 from sliding in the drive groove 97, ensuring that the drive block 96 can smoothly insert into the meshing groove 81 and maintain a stable transmission effect with the meshing groove 81.

[0053] Example 7: A method for using an underground coal mine inspection robot. This method is applicable to the above-mentioned underground coal mine inspection robot, and the steps of the method are as follows:

[0054] S1: The piston motor in the walking system drives the drive wheel 8 to rotate. The drive wheel 8, together with the drive block 96, drives the track body 9 to rotate around the drive wheel 8, the idler wheel 71 and the support wheel 72.

[0055] S2: When driving on a soft road surface, the first hydraulic cylinder 73 will drive the push plate 74 to move down, the second hydraulic cylinder 791 will drive the supplementary plate 79 to move down selectively, and the drive block 96 will drive the anti-slip strip 94 to extend out of the outer surface of the track body 9 under the pressure of the guide plate 75.

[0056] S3: When driving on a hard road surface, the first hydraulic cylinder 73 will drive the push plate 74 to move upward, so that the drive block 96 passes over the push plate 74 along with the track body 9, and the outer end of the anti-slip strip 94 is flush with the outer surface of the track body 9.

[0057] S4: Debris on the surface of the track body 9 is scraped off by the end of the arc plate 98. The arc plate 98 limits the outward movement of the anti-slip strip 94. The drive block 96 will be inserted into the meshing groove 81 to realize the cyclic transmission between the track body 9 and the drive wheel 8.

[0058] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coal mine underground inspection robot, comprising a robot body and a grabbing system, a local perception subsystem, a global perception system, a walking system, an explosion-proof battery system connected on the robot body; the walking system comprises a support leg and a support inside the support leg; the top of the support is rotationally connected with a driving wheel driven by a plunger motor; the bottom of the support is rotationally connected with a guide wheel in front and back positions; the two sides of the support close to the middle position are rotationally connected with a supporting wheel; the outer walls of the driving wheel, the guide wheel and the supporting wheel are transmissionally connected with a rubber material track body; characterized in that: The tractive body is embedded with trapezoidal plates along the transmission direction; adjacent trapezoidal plates are hinged; the outer surface of the trapezoidal plate is provided with anti-skid grooves; the outer surface of the tractive body is provided with tractive grooves corresponding to the anti-skid grooves; the anti-skid grooves are slidably connected with anti-skid strips; the anti-skid strips are connected with the bottom of the anti-skid grooves through tension springs; the inner side of the anti-skid strip is fixedly connected with a driving block; the bottom of the anti-skid groove is provided with a driving groove for the driving block to move; the lower surface of the bracket is fixedly connected with a push plate through a first hydraulic cylinder; the outer wall of the driving wheel is uniformly provided with engagement grooves for the driving block to insert; The front and rear ends of the push plate are upwardly inclined and fixedly connected with guide plates; the two guide plates are in an inverted V shape; The push plate is provided with a rolling groove vertically and longitudinally; the rolling groove is long strip-shaped, and the length direction is consistent with the length direction of the push plate; the width of the rolling groove in the left-right direction is greater than the width of the driving block in the left-right direction; the left and right inner walls of the rolling groove are rotatably connected with rotating rollers; The distance between the adjacent rotating rollers forms a return gap; the driving block can enter and move out of the return gap; The left rotating roller and the right rotating roller in the rolling groove are provided with a supplementary plate; the upper end of the supplementary plate is fixedly connected with the bottom of the bracket through a second hydraulic cylinder.

2. The coal mine underground inspection robot according to claim 1, characterized in that: The left and right sides of the guide plate are provided with baffles; the tractive groove is adapted to the anti-skid strip; the anti-skid strip and the anti-skid groove are slidably and sealingly connected; the driving block and the driving groove are slidably and sealingly connected; the top of the driving block and the internal space of the anti-skid groove are connected through a pressure relief hole.

3. The coal mine underground inspection robot according to claim 1, characterized in that: The top outer wall of the tractive body is provided with an arc-shaped plate; the arc-shaped plate is fixedly connected with a support plate rotatably connected with the driving wheel; the arc-shaped plate is in contact with the outer surface of the tractive body.

4. The coal mine underground inspection robot according to claim 3, characterized in that: The end of the arc-shaped plate is outwardly raised, and the end of the arc-shaped plate is provided with a bevel towards the left and right sides.

5. A method of using a coal mine inspection robot, the method being applicable to the coal mine inspection robot of any one of claims 1-4, characterized in that: The steps of the method are as follows: S1: The plunger motor in the walking system drives the driving wheel to rotate, which drives the tractive body to rotate around the driving wheel, the guide wheel and the supporting wheel; S2: In the case of driving on soft road surface, the first hydraulic cylinder drives the push plate to move downward, the second hydraulic cylinder selectively drives the supplementary plate to move downward, and the driving block drives the anti-skid strip to extend out of the outer surface of the tractive body under the extrusion of the guide plate; S3: In the case of driving on hard road surface, the first hydraulic cylinder drives the push plate to move upward, so that the driving block moves with the tractive body over the push plate, and the outer end of the anti-skid strip is flush with the outer surface of the tractive body; S4: The debris on the surface of the tractive body is scraped off by the end of the arc-shaped plate, the arc-shaped plate limits the outward movement of the anti-skid strip, the driving block is inserted into the engagement groove, and the cyclic transmission of the tractive body and the driving wheel is realized.

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