Remote control type coal mine intelligent tunneling robot

Abstract

The present application relates to a kind of remote control type coal mine intelligent tunneling robot, specifically relates to the technical field of excavating robot, including tunneling robot body, the side of tunneling robot body is equipped with concentricity monitoring mechanism, the bottom of tunneling robot body is equipped with auxiliary mechanism for removing impurities;The present application is provided with screw rod, sliding support, extrusion piece, connecting pipe, transmission pipe and universal spray head, the airflow sprayed can clean the surface of remote camera fixedly connected on the two sides of the outer wall of tunneling robot body, by setting sleeve, knock rod, return spring, extrusion block, limiting plate and impurity removal rod, so that impurity removal and tunneling operation can be realized cooperation work, avoid shutdown caused by blockage, improve the continuity and stability of tunneling, by setting detection probe, connecting arm one, connecting arm two, threaded cylinder, screw rod, press type trigger alarm and support spring, the real-time state monitoring and safety early warning of tunneling process can be realized, significantly improve the safety and reliability of operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavating robots, and particularly relates to a remote control type intelligent coal mine excavating robot. BACKGROUND

[0002] In the traditional coal mine excavating operation, artificial control or semi-automatic excavating equipment is usually used for breaking and transporting rock and coal seam. Although some equipment has a certain degree of mechanization, in the complex and high dust concentration underground environment, there are still problems of low operation safety and poor operation continuity. In particular, in the excavating process, coal dust and rock debris are easily attached to the surface of the monitoring camera lens, causing the remote control vision to be blurred, affecting the operator's judgment and operation accuracy, and increasing the risk in the excavating process. Meanwhile, in the excavating channel, large stone or coal blocks are easy to enter the conveying or excavating path, causing the equipment to be blocked, which not only forces the equipment to stop for manual cleaning, but also may cause damage to the conveying mechanism or the excavating drill bit, seriously affecting the excavating efficiency.

[0003] In addition, the axial concentricity of the existing excavating drill bit is prone to deviation after long-term use, and lacks real-time monitoring and alarm mechanism. When the concentricity is abnormal, it is often found after the drill bit breaks or the excavating trajectory deviates, which exists a great safety hazard. SUMMARY

[0004] (I) Technical problems to be solved

[0005] In order to solve the above problems of the prior art, the present application provides a remote control type intelligent coal mine excavating robot, which solves the problems of poor dust removal, easy blockage and lack of monitoring in the traditional coal mine excavating.

[0006] (II) Technical scheme

[0007] In order to achieve the above purpose, the main technical scheme adopted by the present application is as follows:

[0008] A remote control type intelligent coal mine excavating robot, comprising an excavating robot body, a concentricity monitoring mechanism is arranged on one side of the excavating robot body, and a foreign matter removal auxiliary mechanism is arranged at the bottom of the excavating robot body, the concentricity monitoring mechanism comprises a detection probe, a connecting arm one, a connecting arm two, a press type trigger alarm and a threaded cylinder, the top end of the detection probe is fixedly connected with the connecting arm one, the inner side of the connecting arm one is fixedly connected with one end of the connecting arm two, and the threaded cylinder is rotationally connected to the inner side of the connecting arm two, the foreign matter removal auxiliary mechanism comprises a support frame, a lead screw, a sliding support, a limiting plate and a foreign matter removal rod, the two ends of the lead screw are rotationally connected to the inner wall of the support frame, the two ends of the lead screw are threadedly connected with the two sliding supports, the inner side of the support frame is fixedly connected with the limiting plate, and the bottom end of the limiting plate is fixedly connected with the top end of the foreign matter removal rod.

[0009] The middle part of the tunneling robot body is connected with a conveying belt, one side of the tunneling robot body is connected with a tunneling support arm, the inner side of the tunneling support arm is connected with a tunneling drill bit, one side of the tunneling robot body is connected with a bucket, and the bottom end of the support frame is fixedly connected to the top end of the bucket.

[0010] The threads at the two ends of the lead screw are opposite, the middle part of the tunneling robot body is connected with a remote control module, the top end of each of the two sliding supports is fixedly connected with a pressing piece, and one side of the support frame is fixedly connected with a motor.

[0011] The output end of the motor penetrates through the support frame and is fixedly connected with one end of the lead screw, the sliding support is slidingly connected to the inner side of the support frame, the bottom end of the sliding support is fixedly connected with a sleeve, the inner wall of the sleeve is vertically slidingly connected with a knocking rod, and the middle part of the knocking rod is sleeved with a return spring.

[0012] One end of the return spring is fixedly connected to the inner wall of the sleeve, the other end of the return spring is fixedly connected to the inner side of the knocking rod, and the top end of the limiting plate is fixedly connected with a pressing block.

[0013] The top end of the support frame is fixedly connected with an inflatable air bag, the two sides of the inflatable air bag are connected with one-way valves, the top end of the inflatable air bag is fixedly connected with two connecting pipes, one end of each of the two connecting pipes is fixedly connected with a transmission pipe, and the top end of each of the two transmission pipes is rotatably connected with a universal nozzle.

[0014] The outer wall of the tunneling robot body is fixedly connected with support rods on the two sides, the two support rods are fixedly connected with remote cameras at one end, the two transmission pipes are fixedly sleeved with fixed plates on the outside, and one end of each of the two fixed plates is fixedly connected to the outer wall of the tunneling robot body on the two sides.

[0015] The inner side of the tunneling drill bit is fixedly connected with a protective sleeve, the outer side of the tunneling support arm is provided with a mounting box, the bottom end of the mounting box is provided with a sliding groove, the middle part of the detection probe is slidingly connected to the inner wall of the sliding groove, and the outer side of the detection probe is located between the protective sleeve and the output end of the tunneling support arm.

[0016] The inner side of the threaded cylinder is threadedly connected with a screw rod, one end of the screw rod is attached to the trigger end of the press-type trigger alarm, and the press-type trigger alarm is electrically connected with the remote control module.

[0017] The inner side of the connecting arm one is fixedly connected with a support spring, one end of the support spring is fixedly connected to the inner side of the mounting box, the outer side of the mounting box is fixedly connected with a fixed rod, and the fixed rod is fixedly connected to the outer side of the tunneling support arm.

[0018] (Three) beneficial effects

[0019] The beneficial effects of the present application are:

[0020] 1. In the present application, through the cooperation of the lead screw, sliding support, extrusion piece, connecting pipe, transmission pipe and universal nozzle, during use, when the motor drives the lead screw to rotate, the two ends of the lead screw have opposite thread directions, which can make the two sliding supports move synchronously towards or away from each other, and the extrusion piece fixedly connected to the top end of the sliding support can periodically extrude the inflatable air bag located at the top end of the support frame during movement, so that the air inside the inflatable air bag is guided into the connecting pipe through the one-way valves on both sides, and then transported to the universal nozzle through the transmission pipe for spraying, the airflow sprayed out can clean the surface of the remote camera fixedly connected to the two sides of the outer wall of the tunneling robot body, which can effectively remove dust and rock debris and other dust attachments, prevent the remote camera lens from being blurred, and thus ensure the clarity and real-time performance of the remote monitoring image, the structure can continuously maintain the visibility of the camera in a high-dust environment during tunneling operation, reduce the remote control errors caused by dust blocking, improve the accuracy and safety of tunneling operation, and avoid frequent manual cleaning of the camera, thereby improving the operation efficiency.

[0021] 2. In the present application, through the cooperation of the sleeve, knocking rod, reset spring, extrusion block, limiting plate and impurity removal rod, during the movement of the sliding support driven by the lead screw, when the sliding support reaches the position of the limiting plate, the vertically slidingly connected knocking rod in the bottom end of the sleeve will be impacted by the extrusion block and knock down the limiting plate, causing the limiting plate to vibrate and drive the impurity removal rod fixedly connected to the bottom end of the limiting plate to vibrate simultaneously, the vibration of the impurity removal rod can separate, shake off and intercept large stone blocks in the tunneling channel that enter the impurity removal area, preventing them from directly entering the conveyor belt or the rear of the tunneling drill bit to cause blockage, thereby reducing the frequency of manual cleaning of the blockage, for the large stone blocks intercepted by the impurity removal rod, the user can use remote control to drive the tunneling support arm to crush the stone blocks with the tunneling drill bit, and the crushed stone blocks can smoothly pass through the impurity removal area for continuous conveying, the cooperation of the structure enables the impurity removal and tunneling operation to work together, avoids downtime caused by blockage, improves the continuity and stability of tunneling, reduces the risk of workers entering the dangerous area to handle blockage, and has high practicality and safety.

[0022] 3. In the application, through the cooperation of the detection probe, the connecting arm one, the connecting arm two, the threaded cylinder, the screw rod, the press type trigger alarm and the supporting spring, in the process of normal rotation of the boring bit, the detection probe is located between the protective sleeve and the boring bit for real-time monitoring of the concentricity, when the concentricity of the boring bit is abnormal due to collision or wear, the detection probe will be extruded by the eccentric rotating drill bit, thereby driving the connecting arm one and the connecting arm two fixedly connected therewith to displace, driving the threaded cylinder to rotate, making the screw rod connected with the inner side of the threaded cylinder move in the axial direction and extrude the trigger end of the press type trigger alarm, after the alarm is triggered, a signal will be sent to the remote control module, reminding the operator that the boring bit has abnormal concentricity, so that timely adjustment or shutdown measures can be taken to prevent equipment damage or boring trajectory deviation, at the same time, the inner side of the connecting arm one is fixedly connected with the supporting spring, one end of the supporting spring is connected to the inner side of the mounting box, when the detection probe is slightly shaken or has a slight deviation, the supporting spring can provide a rebound buffer force to avoid false triggering and improve the stability and accuracy of detection, the structure can realize real-time state monitoring and safety warning during boring, and significantly improve the safety and reliability of operation. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of the application;

[0024] Figure 2 is a structural schematic diagram of the bottom of the application;

[0025] Figure 3 is a structural schematic diagram of the application; Figure 2 is an enlarged view of A in the application;

[0026] Figure 4 is a structural schematic diagram of the bucket part of the application;

[0027] Figure 5 is an enlarged view of B in the application; Figure 4

[0028] Figure 6 is a structural exploded view of the bucket part of the application;

[0029] Figure 7 is an enlarged view of C in the application; Figure 6

[0030] is a structural exploded view of the mounting box part of the application; Figure 8

[0031] is an enlarged view of D in the application. Figure 9 Figure 8 LEGEND

[0032]

[0033] ​​​1. Tunneling robot body; 2, conveying belt; 3, tunneling drill bit; 4, bucket; 5, tunneling support arm; 6, impurity removal auxiliary mechanism; 601, support frame; 602, remote camera; 603, support rod; 604, transmission pipe; 605, universal spray head; 606, fixed plate; 607, connecting pipe; 608, extrusion piece; 609, motor; 610, sliding support; 611, extrusion block; 612, impurity removal rod; 613, limiting plate; 614, one-way valve; 615, inflatable air bag; 616, lead screw; 617, sleeve; 618, reset spring; 619, knocking rod; 7, concentricity monitoring mechanism; 701, mounting box; 702, protective sleeve; 703, fixed rod; 704, detection probe; 705, press-type trigger alarm; 706, sliding groove; 707, connecting arm one; 708, support spring; 709, screw; 710, threaded cylinder; 711, connecting arm two; 8, remote control module. DETAILED DESCRIPTION

[0034] In order to better explain the present application, so as to be understood, the present application is described in detail below by specific embodiments, combined with the drawings.

[0035] Please refer to Figures 1 to 9As shown, the remote control type coal mine intelligent tunneling robot of the present application comprises a tunneling robot body 1, a concentricity monitoring mechanism 7 is arranged on one side of the tunneling robot body 1, and a impurity removal auxiliary mechanism 6 is arranged at the bottom of the tunneling robot body 1. The concentricity monitoring mechanism 7 comprises a detection probe 704, a connecting arm one 707, a connecting arm two 711, a press type trigger alarm 705 and a threaded cylinder 710. The top end of the detection probe 704 is fixedly connected with the connecting arm one 707. The inner side of the connecting arm one 707 is fixedly connected with one end of the connecting arm two 711. The threaded cylinder 710 is rotationally connected with the inner side of the connecting arm two 711. The impurity removal auxiliary mechanism 6 comprises a support frame 601, a lead screw 616, a sliding support 610, a limiting plate 613 and an impurity removal rod 612. The two ends of the lead screw 616 are rotationally connected with the inner wall of the support frame 601. The two ends of the lead screw 616 are threadedly connected with the two sliding supports 610. The inner side of the support frame 601 is fixedly connected with the limiting plate 613. The bottom end of the limiting plate 613 is fixedly connected with the top end of the impurity removal rod 612. In the actual implementation process, when the motor 609 drives the lead screw 616 to rotate, the sliding support 610 moves synchronously under the thread action of the lead screw 616. The top end extrusion piece 608 generates airflow through the compression of the inflation air bag 615. The airflow enters the universal spray head 605 through the connecting pipe 607 and the transmission pipe 604 and is sprayed out, which can clean the surface dust of the remote camera 602, so that the remote camera 602 can maintain a clear field of view in the high dust environment of tunneling. At the same time, the knocking rod 619 in the bottom sleeve 617 of the sliding support 610 moves to knock the limiting plate 613 in cooperation with the extrusion block 611 under the action of the reset spring 618, so that the impurity removal rod 612 vibrates to automatically separate large stone blocks. Compared with the traditional equipment which needs manual cleaning or separate vibration, the present application can realize synchronous operation of impurity removal and cleaning of the remote camera 602, improve work efficiency and safety.

[0036] Optionally, the middle part of the tunneling robot body 1 is connected with a conveyor belt 2. One side of the tunneling robot body 1 is connected with a tunneling support arm 5. The inner side of the tunneling support arm 5 is connected with a tunneling drill bit 3. One side of the tunneling robot body 1 is connected with a shovel 4. The bottom end of the support frame 601 is fixedly connected with the top end of the shovel 4. In the actual implementation process, after the tunneling drill bit 3 breaks the rock, the broken stones are quickly conveyed to the designated area through the conveyor belt 2. The shovel 4 and the support frame 601 jointly stabilize the entire impurity removal and crushing mechanism. When the sliding support 610 moves, the impurity removal rod 612 vibrates to discharge large stone blocks. The reset spring 618 and the extrusion block 611 cooperatively ensure that the impurity removal action is controllable and continuous. Compared with the traditional tunneling equipment in which conveying and crushing are separated or manual auxiliary operation is needed, the present application can realize synchronous operation of material crushing, impurity removal and conveying, improve tunneling efficiency, reduce blockage and downtime frequency, effectively reduce the risk of workers contacting dangerous areas, and maintain the stability of the tunneling drill bit 3 and the impurity removal system, thereby improving overall operation safety.

[0037] Optionally, the threads of the screw rods 616 at both ends are opposite, the middle part of the tunneling robot body 1 is connected with a remote control module 8, the top ends of the two sliding supports 610 are fixedly connected with extrusion pieces 608, and one side of the support frame 601 is fixedly connected with a motor 609. In actual implementation process, when the motor 609 drives the screw rods 616 to rotate, the bidirectional thread design makes the two sliding supports 610 move back to the same direction synchronously, drives the top extrusion pieces 608 to compress the inflatable air bags 615, airflow enters the universal spray head 605 through the connecting pipe 607 and the transmission pipe 604 and is sprayed out, the surface of the remote camera 602 can be cleaned in real time during tunneling, dust is prevented from shielding the field of view, and meanwhile the movement of the sliding supports 610 makes the knocking rods 619 in the bottom sleeves 617 vibrate the limiting plates 613 and the impurity removing rods 612 under the action of the return springs 618 and the extrusion blocks 611, so that large stone blocks are automatically screened and removed. Compared with the traditional manual cleaning or fixed vibration device, the dust on the remote camera 602 can be removed automatically and continuously, the operation stability and the remote control precision are improved, and the safety and continuity of tunneling operation are ensured.

[0038] Optionally, the output end of the motor 609 penetrates through the support frame 601 and is fixedly connected with one end of the screw rod 616, the sliding support 610 is slidingly connected to the inner side of the support frame 601, the bottom end of the sliding support 610 is fixedly connected with the sleeve 617, the inner wall of the sleeve 617 is vertically slidingly connected with the knocking rod 619, and the middle part of the knocking rod 619 is sleeved with the return spring 618. In actual implementation process, during the movement of the sliding support 610, the knocking rod 619 in the bottom sleeve 617 cooperates with the extrusion block 611 to generate impact under the action of the return spring 618, so that the limiting plate 613 and the impurity removing rod 612 vibrate, large stone blocks are automatically removed, the vibration intensity of the impurity removing rod 612 can be adjusted according to the rotation speed of the screw rod 616 and the acting force of the extrusion piece 608, compared with the traditional single vibration or manual intervention, the automatic impurity removal is realized through mechanical linkage, the continuity of tunneling operation is ensured, the return spring 618 provides buffering to prevent accidental triggering, and the structural stability and impurity removal efficiency are improved.

[0039] Optionally, one end of the reset spring 618 is fixedly connected to the inner wall of the sleeve 617, the other end of the reset spring 618 is fixedly connected to the inner side of the knocking rod 619, and the top end of the limiting plate 613 is fixedly connected with the extrusion block 611. In the actual implementation process, the reset spring 618 cooperates with the extrusion block 611 to generate a controlled impact force during the movement of the sliding support 610, drives the impurity removal rod 612 to vibrate to remove large stone blocks, and ensures that the impurity removal action is continuous and smooth, prevents the support frame 601 or the sliding support 610 from being abnormally stressed due to excessive impact force, and compared with the uneven or easily damaged structure of the traditional equipment for removing impurities, the present application can efficiently and continuously remove impurities during tunneling, while reducing equipment maintenance cost, improving tunneling efficiency and safety, and realizing automatic operation in cooperation with the remote control module 8.

[0040] Optionally, the top end of the support frame 601 is fixedly connected with the inflatable air bag 615, the two sides of the inflatable air bag 615 are connected with the one-way valve 614, the top end of the inflatable air bag 615 is fixedly connected with two connecting pipes 607, one end of each of the two connecting pipes 607 is fixedly connected with a transmission pipe 604, and the top end of each of the two transmission pipes 604 is rotatably connected with a universal nozzle 605. In the actual implementation process, the movement of the sliding support 610 drives the extrusion piece 608 to compress the inflatable air bag 615, airflow is transported to the universal nozzle 605 through the connecting pipe 607 and the transmission pipe 604 and sprayed out, which can continuously clean the surface dust of the remote camera 602, ensure the clear vision of the remote camera 602, and realize dust removal and impurity removal simultaneously during tunneling operation in combination with the vibration impurity removal function of the impurity removal rod 612, compared with the traditional equipment which needs to be cleaned regularly or operated separately, the present application realizes operation automation and synchronization, improves remote control efficiency, ensures the safety, continuity and stability of tunneling operation, and reduces the number of equipment downtime.

[0041] Optionally, the two sides of the outer wall of the tunneling robot body 1 are fixedly connected with support rods 603, one end of each of the two support rods 603 is fixedly connected with a remote camera 602, the outer part of each of the two transmission pipes 604 is fixedly sleeved with a fixed plate 606, and one end of each of the two fixed plates 606 is fixedly connected to the two sides of the outer wall of the tunneling robot body 1. In the actual implementation process, the support rods 603 and the fixed plates 606 stably fix the remote camera 602 and the transmission pipe 604, so that the remote camera 602 remains in a stable position even when the tunneling drill bit 3 and the impurity removal rod 612 are vibrating, and the dust can be automatically cleaned in combination with the blowing structure of the inflatable air bag 615, compared with the traditional equipment in which the remote camera 602 is easily deviated or blocked by dust, the present application can ensure the stable and continuous monitoring of the remote camera 602, improve the remote control precision, and assist in efficiently and cooperatively completing the impurity removal and tunneling operation, reduce the frequency of manual maintenance, and improve the overall operation safety and efficiency.

[0042] Optionally, the inner side of the tunneling drill bit 3 is fixedly connected with a protective sleeve 702, the outer side of the tunneling support arm 5 is provided with a mounting box 701, the bottom end of the mounting box 701 is provided with a sliding groove 706, the middle part of the detection probe 704 is slidingly connected to the inner wall of the sliding groove 706, and the outer side of the detection probe 704 is located between the protective sleeve 702 and the output end of the tunneling support arm 5. In the actual implementation process, the detection probe 704 can move axially eccentrically in the sliding groove 706, and when the concentricity is abnormal, the connecting arm is triggered to move, so that the threaded cylinder 710 rotates to drive the screw rod 709 to press the press trigger alarm 705 to send a signal. Compared with the traditional need for manual regular detection of drill bit concentricity or monitoring delay, the present application can monitor the drill bit concentricity in real time during the tunneling operation, improve the operation safety, and at the same time, the supporting spring 708 provides buffering to avoid false triggering caused by slight vibration, improve the detection stability and accuracy, and ensure that the remote control personnel can know the drill bit state in time.

[0043] Optionally, the inner side of the threaded cylinder 710 is threadedly connected with the screw rod 709, one end of the screw rod 709 is attached to the trigger end of the press trigger alarm 705, and the press trigger alarm 705 is electrically connected with the remote control module 8. In the actual implementation process, when the detection probe 704 senses the drill bit eccentricity, the connecting arm drives the threaded cylinder 710 to rotate, the screw rod 709 presses the trigger alarm to send an alarm signal, and at the same time, the remote control module 8 receives the signal to automatically remind the operator to adjust the tunneling drill bit 3. Compared with the traditional manual monitoring or delayed alarm, the present application can realize real-time early warning, help the operator to intervene in time, reduce the risk of equipment damage, improve the safety and reliability of the tunneling operation, and at the same time, ensure the continuity of the impurity removal and drill bit operation.

[0044] Optionally, the inner side of the connecting arm one 707 is fixedly connected with the supporting spring 708, one end of the supporting spring 708 is fixedly connected to the inner side of the mounting box 701, the outer side of the mounting box 701 is fixedly connected with the fixed rod 703, and the fixed rod 703 is fixedly connected to the outer side of the tunneling support arm 5. In the actual implementation process, the supporting spring 708 provides buffering action to the connecting arm one 707, so that the detection probe 704 does not trigger the alarm in the case of slight vibration or non-abnormal eccentricity, and at the same time, ensures that the alarm can be accurately triggered when the drill bit actually eccentric, compared with the traditional monitoring structure which is prone to false alarm or lacks buffering, the present application can improve the monitoring accuracy and stability while maintaining high sensitivity, so that the remote control personnel can obtain the real drill bit concentricity information in time, and ensure the safety of the tunneling operation and the service life of the equipment.

[0045] Principle: in use, the motor 609 drive screw 616 rotation, due to the screw 616 both ends of the opposite direction of the thread, so that the two sliding support 610 in the process of screw 616 rotation generates synchronous movement of the opposite or back, sliding support 610 top fixed connection extrusion piece 608 in the process of movement will be in contact with the support frame 601 top fixed connection air bag 615 and extrusion, so that the air inside the air bag 615 is compressed and through both sides of the check valve 614 into the connecting pipe 607, again through the transmission pipe 604 to the universal nozzle 605, from the universal nozzle 605 jet air flow, can be on the two sides of the tunneling robot body 1 fixed connection remote camera 602 surface blowing, effectively remove dust, ensure the remote camera 602 shooting clarity, facilitate the operator to observe the tunneling site situation, in the process of sliding support 610, its bottom fixed connection sleeve 617 inside vertical sliding connection has knocking bar 619, knocking bar 619 middle sleeve has reset spring 618, reset spring 618 one end fixed connection in sleeve 617 inner wall, the other end is fixedly connected to the inside of the knocking bar 619, when the sliding support 610 moves to the limit plate 613 position, the bottom of the knocking bar 619 is impacted under the action of the extrusion block 611, generates downward instantaneous displacement, thus knocking on the limit plate 613, cause the limit plate 613 vibration, drive the fixed connection with it impurity removal rod 612 vibration, the vibration of the impurity removal rod 612 can be in front of the impurity removal auxiliary mechanism 6 channel larger block stone is shaken off and separated, avoid its directly into the conveyor belt 2 or tunneling channel, prevent jam, for the larger stone intercepted by the impurity removal rod 612, the user can remote control tunneling support arm 5 drive tunneling drill bit 3 to carry on the crushing treatment, the crushed stone can smoothly through the impurity removal area, improve the tunneling continuity, the present invention also is provided with concentricity monitoring mechanism 7, for detecting the concentricity state of tunneling drill bit 3 in work, detection probe 704 is installed at the output end of tunneling support arm 5, between the protective sleeve 702 and tunneling drill bit 3, when tunneling drill bit 3 rotates if eccentric, detection probe 704 will be unevenly extruded by the track, thus drive the connection arm one 707 and the fixed connection of the connection arm two 711 generates displacement, the inside of the connection arm two 711 rotation connection screw cylinder 710 is driven to rotate in the process, make its inside screw connection screw rod 709 moves along the axial direction, screw rod 709 front end is attached to the trigger end of the press type trigger alarm 705, and press trigger, trigger signal is transmitted to the remote control module 8 through electrical connection, thus remind the operator tunneling drill bit 3 concentricity appears abnormal, in order to prevent the false trigger caused by slight vibration or non concentricity in the process of tunneling, the inside of the connection arm one 707 is fixedly connected with support spring 708, support spring 708 one end is fixedly connected to the inside of the installation box 701, the other end is connected to the connection arm one 707,The structure can provide buffering and rebounding force when the detection probe 704 is slightly pressed under non-exceptional conditions, avoid false triggering of the alarm signal, and improve monitoring accuracy. In summary, the remote control type coal mine intelligent tunneling robot of the present application can realize periodic extrusion and airflow injection of the inflatable air bag 615 by moving the sliding support 610 driven by the lead screw 616, thereby removing dust on the surface of the remote camera 602 and ensuring the remote monitoring field of view. The vibration of the impurity removal rod 612 is realized by the cooperation of the knocking rod 619 and the limiting plate 613, and the pre-screening of large stone blocks is realized, and the crushing treatment is realized in cooperation with the tunneling drill bit 3, thereby preventing blockage. The working state of the tunneling drill bit 3 is monitored in real time by the concentricity monitoring mechanism 7, and an alarm is sent in time when an abnormality occurs, thereby ensuring the safety and efficiency of tunneling. The system has three functions of dust removal, impurity removal and safety monitoring in the coal mine tunneling environment, and significantly improves the stability and safety of remote control tunneling operation.

[0046] The basic principles and main features of the present application are shown and described above, and the advantages of the present application are shown and described above, and the standard parts used in the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and drawings, and the specific connection mode of each part adopts the conventional bolt rivet, welding and other conventional means in the prior art, and the mechanical, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.

[0047] The above only describes the embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent transformation or direct or indirect application in the related technical field based on the content of the specification and drawings of the present application is also included in the patent protection scope of the present application.

Claims

1. A remote control type coal mine intelligent tunneling robot, comprising a tunneling robot body, characterized in that: The side of the tunneling robot body is provided with a concentricity monitoring mechanism, and the bottom of the tunneling robot body is provided with a impurity removal auxiliary mechanism, the concentricity monitoring mechanism comprises a detection probe, a connecting arm one, a connecting arm two, a pressing trigger alarm and a threaded barrel, the top end of the detection probe is fixedly connected with the connecting arm one, the inner side of the connecting arm one is fixedly connected with one end of the connecting arm two, and the threaded barrel is rotationally connected with the inner side of the connecting arm two, the impurity removal auxiliary mechanism comprises a support frame, a lead screw, a sliding support, a limiting plate and an impurity removal rod, both ends of the lead screw are rotationally connected with the inner walls of the support frame, both ends of the lead screw are threadedly connected with the two sliding supports, the inner side of the support frame is fixedly connected with the limiting plate, and the bottom end of the limiting plate is fixedly connected with the top end of the impurity removal rod. The threads of the two ends of the lead screw are opposite, the middle part of the tunneling robot body is connected with a remote control module, the top end of each of the two sliding supports is fixedly connected with a extrusion piece, one side of the support frame is fixedly connected with a motor, the output end of the motor penetrates through the support frame and is fixedly connected with one end of the lead screw, the sliding support is slidingly connected with the inner side of the support frame, the bottom end of the sliding support is fixedly connected with a sleeve, the inner wall of the sleeve is vertically slidingly connected with a knocking rod, the middle part of the knocking rod is sleeved with a return spring, one end of the return spring is fixedly connected with the inner wall of the sleeve, and the other end of the return spring is fixedly connected with the inner side of the knocking rod, and the top end of the limiting plate is fixedly connected with an extrusion block. The middle part of the tunneling robot body is connected with a conveying belt, one side of the tunneling robot body is connected with a tunneling support arm, the inner side of the tunneling support arm is connected with a tunneling drill bit, and one side of the tunneling robot body is connected with a shovel. The top end of the support frame is fixedly connected with an inflatable air bag, the two sides of the inflatable air bag are connected with one-way valves, the top end of the inflatable air bag is fixedly connected with two connecting pipes, one end of each of the two connecting pipes is fixedly connected with a transmission pipe, and the top end of each of the two transmission pipes is rotationally connected with a universal nozzle. The outer walls of the tunneling robot body are fixedly connected with support rods on the two sides, one end of each of the two support rods is fixedly connected with a remote camera, and the outer sides of the two transmission pipes are fixedly sleeved with fixed plates, and one end of each of the two fixed plates is fixedly connected to the outer walls of the tunneling robot body on the two sides.

2. The remote control intelligent tunneling robot for coal mine according to claim 1, characterized in that: The inner side of the tunneling drill bit is fixedly connected with a protective sleeve, the outer side of the tunneling support arm is provided with a mounting box, the bottom end of the mounting box is provided with a sliding groove, the middle part of the detection probe is slidingly connected to the inner wall of the sliding groove, and the outer side of the detection probe is arranged between the protective sleeve and the output end of the tunneling support arm.

3. The remote control intelligent tunneling robot for coal mine according to claim 2, characterized in that: The inner side of the threaded barrel is threadedly connected with a screw rod, one end of the screw rod is attached to the trigger end of the pressing trigger alarm, and the pressing trigger alarm is electrically connected with the remote control module.

4. The remote control intelligent tunneling robot for coal mine according to claim 3, characterized in that: The inner side of the connecting arm one is fixedly connected with a supporting spring, one end of the supporting spring is fixedly connected to the inner side of the mounting box, the outer side of the mounting box is fixedly connected with a fixed rod, and the fixed rod is fixedly connected to the outer side of the tunneling support arm.

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