Four-foot inspection robot for fully mechanized coal mining face of thin coal seam

Abstract

The invention relates to the technical field of robots, in particular to a four-foot inspection robot for a fully mechanized coal mining face of a thin seam. The quadruped robot comprises eight-connecting-rod bionic legs, a crankshaft position switching device, a transmission structure, an explosion-proof motor, an explosion-proof battery, a supporting structure and related matched parts. The robot can adapt to a thin coal seam environment with the height of about 1.5 m, two foot tracks of low leg lifting and high leg lifting can be freely switched, and the robot not only can freely move and cross obstacles in a narrow space, but also can effectively execute various monitoring tasks. The design fully considers the requirements of walking speed and obstacle crossing ability, and can stably and efficiently complete the inspection work of the fully mechanized coal mining face of the thin coal seam. The device is also suitable for other coal mine working faces with non-large dip angles, the working efficiency can be remarkably improved, the personnel risk is reduced, and the contribution is made to the safety and automation progress of coal mining.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a four-legged inspection robot for thin coal seam fully mechanized working face, and relates to but is not limited to thin coal seam fully mechanized working face inspection. BACKGROUND

[0002] The intelligent and unmanned development of coal mines has become an important direction of industry transformation and upgrading. The national policy vigorously promotes the research and development of coal mine robots, aiming to realize less people and unmanned in high-risk operations and improve the level of safety production. Although the links of coal mining and coal transportation have been automated, the inspection of equipment and environment still mainly relies on manual work, which has become a key bottleneck restricting the comprehensive landing of coal mine intelligence. Especially in the thin coal seam fully mechanized working face, due to the low mining height and narrow space, workers need to crouch or even crawl for a long time when detecting the machine, which has great labor intensity and faces multiple safety risks such as roof, mechanical movement, and gas. The operation environment is poor and the safety hidden danger is prominent. The existing inspection solutions have obvious limitations: track or wheeled inspection robots rely on fixed paths and are difficult to adapt to complex terrain and narrow space such as undulating floor, water accumulation, and floating coal accumulation in thin coal seam fully mechanized working face, and the inspection coverage is limited. While some ground four-legged robots with strong obstacle avoidance capability cannot adapt to underground environment and generally do not have mine explosion-proof performance, so they are difficult to be practically applied to underground environment.

[0003] Therefore, it is urgent to develop an explosion-proof four-legged inspection robot suitable for thin coal seam fully mechanized working face. SUMMARY

[0004] The present application discloses a four-legged inspection robot for thin coal seam fully mechanized working face, aiming to solve the technical problems that track or wheeled inspection robots are difficult to adapt to complex terrain and narrow space such as undulating floor, water accumulation, and floating coal accumulation in thin coal seam fully mechanized working face, and some ground four-legged robots with strong obstacle avoidance capability generally do not have mine explosion-proof performance, so they are difficult to be practically applied to underground environment. The robot has good terrain adaptability and flexibility, can walk autonomously in low and rugged environment, and breaks through the track limit. This scheme can significantly reduce the risk of personnel going down the well, improve the inspection quality and efficiency, provide key technical support for thin coal seam intelligence and unmanned, and help the sustainable development of coal mine safety and efficiency.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme: The quadruped inspection robot of the fully mechanized coal mining face of a thin coal seam comprises eight-link bionic legs, a crankshaft position switching device, a core transmission system, a support structure, an electric energy supply system and a sensor; four crankshaft position switching devices are symmetrically installed on both sides of the support structure, four eight-link bionic legs are respectively in transmission connection with the output discs in the crankshaft position switching devices, the core transmission system is arranged in the support structure, the electric energy supply system is installed above the support structure, and the sensor is installed above the electric energy supply system.

[0006] Further, the eight-link bionic leg comprises a crank, a crankshaft, a positioning shaft, a foot and a connecting rod, the eight-link bionic leg is in transmission connection with the crankshaft position switching device, and specifically, the crank is connected to the output disc of the crankshaft position switching device through the crankshaft.

[0007] Further, the crankshaft position switching device completes the pose switching of the crank of the eight-link bionic leg of the quadruped robot, and comprises a driving outer ring, a permanent magnet inner ring, an output disc, a transmission disc, a transmission shaft, an unlocking block, a planetary gear, a limiting wedge, a planetary gear output shaft and a central shaft; the driving outer ring is installed on the mounting hole, and the central gear of the permanent magnet inner ring, the output disc and the transmission disc are all installed on the central shaft.

[0008] Further, the central shaft is installed on the support structure through an auxiliary mounting hole, the transmission shaft is in rotary connection with the output disc and the transmission disc, the transmission disc is provided with a wedge guide rail and a limiting groove, the central gear is in meshing connection with the three planetary gears, the planetary gears are in rotary connection with the output disc through the planetary gear output shaft, the output disc is connected through the transmission shaft and the transmission disc, one end of the transmission shaft is connected with a universal joint, and the other end is connected with the crank.

[0009] Further, the core transmission system comprises an explosion-proof motor, a speed reducer and a universal joint transmission structure; the explosion-proof motor is installed in the support structure, the entire core transmission system has two explosion-proof motors, two speed reducers and four sets of universal joint transmission structures; the universal joint transmission structure comprises a transmission shaft, a middle universal joint input shaft, an end universal joint and a transmission shaft positioning hole.

[0010] Further, the support structure comprises an explosion-proof battery bottom plate, a support main body, a battery heat dissipation bottom plate, a line outlet of the explosion-proof motor, a mounting hole of the driving outer ring of the crankshaft position switching device, an auxiliary mounting hole of the central shaft of the crankshaft position switching device, an eight-link positioning shaft hole, a controller and related matched parts.

[0011] Further, the electric energy supply system comprises a battery shell, an explosion-proof battery and related matched parts.

[0012] Further, the sensor is installed above the electric energy supply system, collects and feeds back the information of the working face to the control center, and ensures that the fully mechanized mining is safely and efficiently performed.

[0013] Further, the operation process comprises the following steps: Step one, inspection and initialization of the thin coal seam four-legged inspection robot: when the controller judges that all sensor signals are normal, the four-legged robot is moved to the initial position; Step two, four-legged robot walking: the explosion-proof battery provides power for the explosion-proof motor, the explosion-proof motor generates torque, the reducer transmits torque, the universal joint transmission structure further transmits torque to the transmission shaft, and the torque is transmitted to the crank through the transmission shaft, the eight-link bionic legs have a low leg trajectory according to the characteristics of the connecting rods, the maximum leg lifting height is 50mm, the walking speed is greater than 10m / min, and the coordination of the four legs is that one explosion-proof motor controls two front legs and another explosion-proof motor controls two rear legs; Step three, four-legged robot obstacle mode switching: when the sensor detects that the height of the front obstacle exceeds the preset threshold, the controller starts the crank pose switching program, adjusts the current to control the outer ring to generate a magnetic field, the permanent magnet inner ring rotates under the action of the magnetic field, the unlocking block is arranged on the side of the inner ring close to the transmission disc, the unlocking block is squeezed away by rotating, the limiting wedge is retracted into the outer ring mounting groove, and the unlocking is completed, and under the action of the spring force, the limiting wedge is in contact with the wedge guide rail of the transmission disc, so that the position switching is completed and the self-locking is re-established; at the same time, the center gear of the permanent magnet inner ring is engaged with the planetary gear, the planetary gear is connected with the output disc through the planetary gear output shaft, the output disc is connected with the transmission disc through the transmission shaft, and the output disc and the transmission disc rotate synchronously to the corresponding position of the high leg lifting mode, so that the crank mounting pose of the eight-link leg is changed, and the foot end motion trajectory is switched to the high leg lifting mode, and the maximum leg lifting height is 180mm; Step four, four-legged robot walking trajectory switching: the controller adjusts the current to control the driving outer ring to generate a magnetic field, the permanent magnet inner ring rotates under the action of the magnetic field to unlock the unlocking block, the planetary gear controls the output disc and the transmission disc to rotate synchronously to the specified position through the planetary gear output shaft and the transmission shaft, the rotation direction is opposite to that in step three, and the crank is switched to the low leg lifting trajectory position; Step five, steps two to four are repeated to complete the working face walking work, and then charging or working on the next working face is performed; Step six, repeat the above steps.

[0014] Technical effects Compared with the prior art, the thin coal seam fully mechanized working face four-legged inspection robot provided by the present application has the following technical effects: 1. By setting the crank shaft position switching device, the crank mounting pose of the eight-link leg can be changed, the foot end motion trajectory is switched to the high leg lifting mode and the low leg lifting mode, and the complex terrain and narrow space of the thin coal seam fully mechanized working face floor undulation, water accumulation, floating coal accumulation and the like are adapted; 2. By setting the explosion-proof motor and explosion-proof battery, the inspection robot can be applied to the downhole environment, reducing the risk of personnel downhole, and improving the inspection quality and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of a four-legged inspection robot for a fully-mechanized working face in a thin coal seam.

[0016] Figure 2 It is a schematic diagram of the eight-link structure of the four-legged robot in the embodiment of the application.

[0017] Figure 3 It is a schematic diagram of the crank shaft position switching device structure of the four-legged robot in the embodiment of the application.

[0018] Figure 4 It is a two-dimensional diagram of the crank shaft position switching device structure of the four-legged robot in the embodiment of the application.

[0019] Figure 5 It is a schematic diagram of the core transmission system of the four-legged robot in the embodiment of the application.

[0020] Figure 6 It is a schematic diagram of the four-legged robot joint assembly in the embodiment of the application.

[0021] Figure 7 It is a schematic diagram of the support structure and other components of the four-legged robot in the embodiment of the application.

[0022] In the drawings: 1. Eight-link bionic leg; 1-1. Crank; 1-2. Positioning shaft; 1-3. Foot; 2. Crank shaft position switching device; 2-1. Drive outer ring; 2-2. Permanent magnet inner ring; 2-3. Output disc; 2-4. Transmission disc; 2-5. Transmission shaft; 2-6. Unlocking block; 2-7. Planetary gear; 2-8. Limiting wedge; 2-10. Limiting groove; 2-11. Planetary gear output shaft; 2-12. Center shaft; 2-13. Center gear; 2-14. Second unlocking block; 3. Core transmission system; 3-1. Explosion-proof motor; 3-2. Reducer; 3-3. Joint transmission structure; 3-3-1. Middle joint; 3-3-2. Input shaft; 3-3-3. End joint; 3-3-4. Transmission shaft positioning hole; 4. Support structure; 4-1. Explosion-proof battery bottom plate; 4-2. Support main body; 4-3. Battery heat dissipation bottom plate; 4-4. Circuit port; 4-5. Mounting hole; 4-6. Auxiliary mounting hole; 4-7. Eight-link positioning shaft hole; 5. Electric energy supply system; 5-1. Battery shell; 5-2. Explosion-proof battery; 6. Sensor. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application.

[0024] Referring to Figures 1-7 The thin seam fully mechanized working face four-legged inspection robot disclosed by the present application comprises eight-link bionic legs 1 of the robot, a crankshaft position switching device 2, a core transmission system 3, a support structure 4, an electric energy supply system 5 and a sensor 6. The eight-link bionic legs 1 are in transmission connection with an output disc 2-3, the crankshaft position switching device 2 is installed on both sides of the support structure 4, four eight-link bionic legs 1 and four crankshaft position switching devices 2 are arranged, an explosion-proof motor is arranged inside the support structure 4, the electric energy supply system 5 is installed above the support structure 4, and the sensor 6 is installed above the electric energy supply system 5. Referring to Figure 2 The eight-link bionic legs 1 comprise a crank 1-1, a crankshaft 2-5, a positioning shaft 1-2, a foot 1-3 and other matched components, the eight-link bionic legs 1 are in transmission connection with the crankshaft position switching device 2, and specifically, the crank 1-1 is connected with the crankshaft 2-5 which is rotationally connected to the output disc 2-3 of the crankshaft position switching device 2. When the output disc 2-3 rotates, the output disc 2-3 adjusts the position of the crankshaft 2-5.

[0025] Referring to Figures 3-4 The crankshaft position switching device 2 completes the pose switching of the crank 1-1 of the eight-link bionic legs 1 of the four-legged robot, the crankshaft position switching device 2 comprises a driving outer ring 2-1, a permanent magnet inner ring 2-2, an output disc 2-3, a transmission disc 2-4, a transmission shaft 2-5, an unlocking block 2-6, a planetary wheel 2-7, a limiting wedge block 2-8, a planetary wheel output shaft 2-11, a center shaft 2-12 and other related components, the driving outer ring 2-1 is installed on the mounting hole 4-5, the center gear 2-13 of the permanent magnet inner ring 2-2, the output disc 2-3 and the transmission disc 2-4 are all installed on the center shaft 2-12, the center shaft 2-12 is installed on the support structure 4 through the auxiliary mounting hole 4-6 and other components, wherein the transmission shaft 2-5 penetrates and is in rotational connection with the output disc 2-3 and the transmission disc 2-4, the wedge block guide rail 2-9 and the limiting groove 2-10 are arranged on the outer periphery of the transmission disc 2-4, the limiting wedge block 2-8 is arranged in the driving outer ring 2-1 in an extendable manner, a spring is arranged between the limiting wedge block 2-8 and the driving outer ring 2-1, the spring pushes the limiting wedge block 2-8 to abut against the limiting groove 2-10, and the limiting wedge block 2-8 is used for locking the transmission disc 2-4.

[0026] The unlocking block 2-6 is arranged on the inner ring 2-2 of the permanent magnet, and when the inner ring 2-2 of the permanent magnet drives the unlocking block 2-6 to rotate, the unlocking block 2-6 extrudes the limiting wedge 2-8 to disengage from the limiting groove 2-10, so as to realize the relative unlocking between the limiting wedge 2-8 and the transmission disc 2-4.

[0027] When the sun gear 2-13 rotates by an angle, the angle output by the three planetary gears 2-7 is smaller than the angle of rotation of the sun gear 2-13. The limiting groove 2-10 is wider than the limiting wedge 2-8, and the limiting groove 2-10 and the limiting wedge 2-8 have a gap therebetween. The unlocking block 2-6 only needs to push the limiting wedge 2-8 out to the wedge guide rail 2-9 by about 3 degrees, and the gap between the limiting groove 2-10 and the limiting wedge 2-8 is sized to ensure that the unlocking can be achieved.

[0028] The second unlocking block 2-14 and another limiting groove 2-10 are arranged on the inner ring 2-2 of the permanent magnet, and the second unlocking block 2-14 and the other limiting groove 2-10 are matched. By arranging two limiting grooves 2-10, the two-position positioning of the transmission disc 2-4 can be achieved, so as to realize the switching of two modes. By arranging the second unlocking block 2-14, the unlocking between the other limiting groove 2-10 and the limiting wedge 2-8 can be quickly achieved.

[0029] The end of the limiting wedge 2-8 is a two-slope surface, which is similar to a triangular prism. The two slopes are symmetrical, and when the limiting wedge 2-8 is clamped in the limiting groove 2-10, one side is in contact with the two slopes, and the tips have a rounded transition to ensure that the rotation will not be stuck. The other end of the slope does not contact the limiting groove 2-10, and the upper straight surface of the limiting wedge 2-8 contacts the limiting groove 2-10.

[0030] One side of the bottom of the limiting groove 2-10 is a straight surface plus a slope, and the other side is a straight surface. The slope is close to the bottom, and the direction of the slope is consistent with the direction of the limiting wedge 2-8. The specific direction depends on the unlocking rotation direction. The unlocking block 2-6 is rotated clockwise to unlock, and the second unlocking block 2-14 is rotated counterclockwise to unlock.

[0031] Permanent magnet inner ring 2-2 rotates clockwise, transmission disc 2-4 rotates counterclockwise and rotates at a slower speed than permanent magnet inner ring 2-2, and unlocking block 2-6 rotates clockwise as permanent magnet inner ring 2-2, unlocking block 2-6 is on the left, limiting wedge 2-8 is on the right, and the inclined surface of limiting groove 2-10 is on the right side, which is convenient for extrusion. Limiting wedge 2-8 slides on wedge guide rail 2-9, rotates to the specified position, and limiting wedge 2-8 is clamped into another limiting groove 2-10. Because permanent magnet inner ring 2-2 rotates clockwise and transmission disc 2-4 rotates counterclockwise, compared with the previous limiting groove 2-10, this limiting groove 2-10 is located on the right of the previous limiting groove 2-10. In this state, second unlocking block 2-14 is on the right of limiting wedge 2-8, and the next time the switch is returned to the original position, that is, permanent magnet inner ring 2-2 rotates counterclockwise and transmission disc 2-4 rotates clockwise. This ensures that unlocking block 2-6, second unlocking block 2-14 and limiting wedge 2-8 are almost next to each other every time the switch is prepared, which can quickly respond.

[0032] Sun gear 2-13 is engaged with three planetary gears 2-7, planetary gears 2-7 are connected with output disc 2-3 through planetary gear output shaft 2-11, output disc 2-3 is connected with transmission disc 2-4 through transmission shaft 2-5, one end of transmission shaft 2-5 is connected with universal joint 3-3-3, and the other end is connected with crank 1-1.

[0033] Referring to Figures 5-6 , the core transmission system 3 includes an explosion-proof motor 3-1, a speed reducer 3-2, a universal joint transmission structure 3-3 and other related parts; the explosion-proof motor 3-1 is installed inside the support structure 4, and the entire core transmission system 3 has two explosion-proof motors 3-1, two speed reducers 3-2, four sets of universal joint transmission structures 3-3 and other parts; the universal joint transmission structure includes a transmission shaft 2-5, a middle universal joint 3-3-1, an input shaft 3-3-2 and an end universal joint 3-3-3 connected with each other, and the input shaft 3-3-2 is provided with transmission shaft positioning holes 3-3-4 at both ends; the middle universal joint 3-3-1 is hingedly connected with the end universal joint 3-3-3 at both ends, and the two end universal joints 3-3-3 are respectively connected with the transmission shaft 2-5 and the input shaft 3-3-2 at the ends away from each other.

[0034] Referring to Figure 7 , the support structure 4 includes an explosion-proof battery bottom plate 4-1, a support main body 4-2, a battery heat dissipation bottom plate 4-3, a line opening 4-4 of the explosion-proof motor 3-1, mounting holes 4-5 of the drive outer ring 2-1 of the crank shaft position switching device 2, auxiliary mounting holes 4-6 of the central shaft 2-12 of the crank shaft position switching device 2, eight connecting rod positioning shaft holes 4-7, a controller and related supporting parts.

[0035] The electric energy supply system 5 includes a battery shell 5-1, an explosion-proof battery 5-2 and related supporting parts. The sensor 6 is installed above the power supply system 5, collects and feeds back the working face information to the control center, and ensures safe and efficient fully mechanized mining; In the embodiment, the robot can autonomously or remotely control to perform the follow-up detection task on the coal mining machine, hydraulic support and scraper conveyor in the fully mechanized working face; the robot travels along one side of the scraper conveyor or in the safety passage set among the hydraulic supports according to the preset inspection path or real-time scheduling instruction, realizes real-time monitoring and data acquisition of key equipment parameters such as the running state of the coal mining machine, the support pressure and posture of the hydraulic support, and the chain tension and running stability of the scraper conveyor; the inspection route supports dynamic adjustment, can be optimized in real time according to the advancing speed of the coal mining machine and the change of the working face, realizes the cooperative operation mode of "coal mining machine advancing and robot following and detecting", and realizes unmanned and intelligent inspection, effectively replaces the close-range inspection operation of manual work in harsh environment, and improves the safety mining efficiency and intelligent level of thin coal seam.

[0036] In the embodiment, the four-legged inspection robot of the thin coal seam working face has the same follow-up walking process method for each small working face; when following up any small working face, the following steps are included: Step one, inspection and initialization of the four-legged inspection robot of the thin coal seam: when the controller judges that all the signals of the sensors 6 are normal, the four-legged robot is moved to the initial position; Step two, follow-up walking of the four-legged robot: the explosion-proof battery 5-2 provides power for the explosion-proof motor 3-1, the explosion-proof motor 3-1 generates torque, the reducer 3-2 transmits torque, the universal joint transmission structure 3-3 further transmits torque to the transmission shaft 2-5, the torque is transmitted to the crank 1-1 through the transmission shaft 2-5, the foot trajectory of the eight-link bionic leg 1 is a low-lift leg trajectory according to the characteristics of its own link, the maximum leg lifting height is 50mm, the walking speed is greater than 10m / min, and the coordination of the four legs is that one explosion-proof motor 3-1 controls two front legs, and the other explosion-proof motor 3-1 controls two rear legs; Step three, four-legged robot obstacle mode switching: when the sensor detects that the height of the front obstacle exceeds the preset threshold, the controller starts the crank pose switching program, adjusts the current control outer ring 2-1 to generate a magnetic field, and the permanent magnet inner ring 2-2 rotates under the action of the magnetic field. The unlocking block 2-6 is arranged on the side of the inner ring close to the transmission disc, the unlocking block 2-6 is squeezed away by rotating, the limiting wedge 2-8 is retracted into the outer ring mounting slot, and the unlocking is completed. Under the action of the spring force, the limiting wedge 2-8 will be in the wedge guide 2-9 of the transmission disc 2-4, so as to facilitate the self-locking after the position switching is completed; at the same time, the center gear 2-13 of the permanent magnet inner ring 2-2 is engaged with the planetary gear 2-7, the planetary gear 2-7 is connected with the output disc (2-3) through the planetary gear output shaft (2-11), the output disc 2-3 is connected with the transmission disc 2-4 through the transmission shaft 2-5, and the output disc (2-3) and the transmission disc 2-4 rotate synchronously to the corresponding position of the high leg lifting mode, so as to change the installation pose of the crank 1-1 of the eight connecting rod legs 1, and switch the foot end motion track to the high leg lifting mode, the maximum leg lifting height is 180mm; Step four, four-legged robot walking track switching; the controller adjusts the current control drive outer ring 2-1 to generate a magnetic field, and the permanent magnet inner ring 2-2 rotates under the action of the magnetic field to make the second unlocking block 2-14 drive the limiting wedge 2-8 away from the limiting slot 2-10, and unlock the transmission disc 2-4. The planetary gear 2-7 controls the output disc 2-3 and the transmission disc 2-4 to rotate synchronously to reach the specified position through the planetary gear output shaft 2-11 and the transmission shaft 2-5, and the rotation direction is opposite to that of step three. The crank 1-1 is switched to the low leg lifting track position; Step five, repeat steps two to four to complete the work surface following machine work and then charge or work on the next work surface; Step six, repeat the above steps.

[0037] In this embodiment, the four-legged inspection robot walks through a working surface as a working cycle, and then charges and moves to the next working surface. The following steps are included; Step one, inspection and initialization: the controller performs comprehensive inspection on the four-legged inspection robot of the fully mechanized coal mining face in thin coal seam, including the normality of the signal connection with each sensor; when it is ensured that all systems and components are in normal working state, the four-legged inspection robot is moved to the initial set position, and the four-legged robot in thin coal seam is initialized; Step two, detection and preliminary planning of the electric energy supply system: the electric energy supply system of the four-legged inspection robot in thin coal seam is detected, it is evaluated whether the current electric quantity is sufficient to support the completion of the predetermined work surface task, the obstacle height to be crossed and the obstacle interval are determined, and the functions of the vision system and the control system are tested to ensure that the robot can safely and efficiently complete the task; Step three, follow-up machine detection: the four-legged robot follows the preset program or is controlled by a remote controller controlled by a related technician to detect the thin coal seam four-legged inspection robot along the preset trajectory, and the vision or radar system carried by the robot transmits the information of the working face to the technician in real time; Step four, power management and robot rotation: after the coal mining cycle is completed, if the thin coal seam four-legged inspection robot is found to be insufficient in power and difficult to complete the next work cycle, a new group of robots is selected to complete the work, the four-legged robot with insufficient power is charged and necessary maintenance is carried out, and through this rotation mechanism, even if a single robot has limited power, the entire system can still operate continuously; Step five, repeat the above steps.

[0038] The thin coal seam fully mechanized working face four-legged inspection robot provided by the application can change the crank mounting pose of the eight-link leg by setting a crank shaft position switching device, so that the foot end motion trajectory of the eight-link leg can be switched between the high-lift leg mode and the low-lift leg mode, and the thin coal seam fully mechanized working face can adapt to complex terrains such as undulating floor, water accumulation and floating coal accumulation and narrow spaces; by setting an explosion-proof motor and an explosion-proof battery, the inspection robot can be applied to the underground environment, reducing the risk of personnel going down the well and improving the inspection quality and efficiency.

[0039] The thin coal seam fully mechanized working face four-legged inspection robot provided by the application can adapt to a thin coal seam environment with a height of about one meter and three, can freely switch between low-lift leg and high-lift leg two foot trajectories, can not only freely move and overcome obstacles in narrow spaces, but also can effectively perform various monitoring tasks. Its design fully considers the requirements of walking speed and obstacle crossing ability, and can stably and efficiently complete the inspection work of the thin coal seam fully mechanized working face. The application is also applicable to other coal mine working faces with non-large inclination, can significantly improve the working efficiency, reduce the risk of personnel, and contribute to the safety and automation process of coal mining.

[0040] The above is only a preferred specific embodiment of the application, but the protection scope of the application is not limited thereto. The alternatives can be partial structure, device, method step alternatives, or complete technical solutions. According to the technical solutions and inventive concepts of the application, equivalent replacement or change should be covered within the protection scope of the application.

Claims

1. A quadruped inspection robot for a thin coal seam fully mechanized mining face, characterized in that, The quadruped inspection robot includes an eight-link bionic leg (1), a crankshaft position switching device (2), a core transmission system (3), a support structure (4), a power supply system (5), and a sensor (6). The four crankshaft position switching devices (2) are symmetrically installed on both sides of the support structure (4). The four eight-link bionic legs (1) are respectively connected to the output disks (2-3) in the crankshaft position switching device (2). The core transmission system (3) is set inside the support structure (4). The power supply system (5) is installed above the support structure (4). The sensor (6) is installed above the power supply system (5).

2. The four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 1, characterized in that, The eight-link bionic leg (1) includes a crank (1-1), a crankshaft (2-5), a positioning shaft (1-2), a foot (1-3), and a connecting rod. The crank (1-1) is connected to the output disk (2-3) of the crankshaft position switching device (2) via the crankshaft (2-5).

3. The four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 1, characterized in that, The crankshaft position switching device (2) completes the position switching of the crank (1-1) of the eight-link bionic leg (1) of the quadruped robot. The crankshaft position switching device (2) includes a drive outer ring (2-1), a permanent magnet inner ring (2-2), an output disk (2-3), a transmission disk (2-4), a transmission shaft (2-5), an unlocking block (2-6), a planetary gear (2-7), a limit wedge (2-8), a planetary gear output shaft (2-11), and a central shaft (2-12). The drive outer ring (2-1) is installed on the mounting hole (4-5), and the central gear (2-13), output disk (2-3), and transmission disk (2-4) of the permanent magnet inner ring (2-2) are all installed on the central shaft (2-12).

4. The four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 3, characterized in that, The central shaft (2-12) is mounted on the support structure (4) through the auxiliary mounting hole (4-6). The drive shaft (2-5) is rotatably connected to the output disk (2-3) and the drive disk (2-4). The drive disk (2-4) is provided with a wedge guide rail (2-9) and a limiting groove (2-10). The central gear (2-13) meshes with three planetary gears (2-7). The planetary gears (2-7) are rotatably connected to the output disk (2-3) through the planetary gear output shaft (2-11). The output disk (2-3) is connected to the drive disk (2-4) through the drive shaft (2-5). One end of the drive shaft (2-5) is connected to a universal joint (3-3-3), and the other end is connected to a crank (1-1).

5. A four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 1, characterized in that, The core transmission system (3) includes an explosion-proof motor (3-1), a reducer (3-2), and a universal joint transmission structure (3-3). The explosion-proof motor (3-1) is installed inside the support structure (4). The entire core transmission system (3) has two explosion-proof motors (3-1), two reducers (3-2), and four sets of universal joint transmission structures (3-3). The universal joint transmission structure includes a drive shaft (2-5) connected to each other, a middle universal joint (3-3-1), an input shaft (3-3-2), and an end universal joint (3-3-3). The input shaft (3-3-2) has drive shaft positioning holes (3-3-4) at both ends.

6. A four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 1, characterized in that, The support structure (4) includes an explosion-proof battery base plate (4-1), a support body (4-2), a battery heat dissipation base plate (4-3), a line port (4-4) for an explosion-proof motor (3-1), a mounting hole (4-5) for the drive outer ring (2-1) of the crankshaft position switching device (2), an auxiliary mounting hole (4-6) for the central shaft (2-12) of the crankshaft position switching device (2), an eight-link positioning shaft hole (4-7), and a controller.

7. A four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 1, characterized in that, The power supply system (5) includes a battery casing (5-1) and an explosion-proof battery (5-2).

8. A four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 1, characterized in that, The sensor (6) is installed above the power supply system (5) to collect and feed back information from the fully mechanized mining face.

9. A four-legged inspection robot for a thin coal seam fully mechanized mining face according to any one of claims 1-8, characterized in that, The quadruped inspection robot performs on-site inspections of the coal mining machine, hydraulic support, and scraper conveyor in the fully mechanized mining face, and conducts on-site inspections in several working face units.

10. A four-legged inspection robot for a thin coal seam fully mechanized mining face according to claim 9, characterized in that, When performing on-site inspection on any working face unit, the operation procedure includes the following steps: Step 1, Inspection and initialization of the four-legged inspection robot in thin coal seams: When the controller determines that the signals of each sensor (6) are normal, move the four-legged robot to the initial position; Step 2, Quadruped Robot Walking: Explosion-proof battery (5-2) provides power to explosion-proof motor (3-1), explosion-proof motor (3-1) generates torque, reducer (3-2) transmits torque, universal joint transmission structure (3-3) further transmits torque to drive shaft (2-5), and through drive shaft (2-5) transmits torque to crank (1-1). The eight-link bionic leg (1) has a low leg lift trajectory according to its own link characteristics, with a maximum leg lift height of 50mm and a walking speed greater than 10m / min. The coordination of the four legs is achieved by one explosion-proof motor (3-1) controlling two front legs and another explosion-proof motor (3-1) controlling two hind legs. Step 3: Obstacle Crossing Mode Switching for the Quadruped Robot: When the sensor detects that the height of the obstacle in front exceeds the preset threshold, the controller starts the crank posture switching program, adjusts the current to control the outer ring (2-1) to generate a magnetic field, and the permanent magnet inner ring (2-2) rotates under the action of the magnetic field. The unlocking block (2-6) is set on the side of the inner ring near the transmission disk. The unlocking block (2-6) pushes open the limiting wedge (2-8) by rotating, and the limiting wedge (2-8) retracts into the mounting groove of the outer ring, completing the unlocking. Under the action of the spring force, the limiting wedge (2-8) will press against the wedge guide rail (2-9) of the transmission disk (2-4). This facilitates relocking after the position is switched; at the same time, the central gear (2-13) of the permanent magnet inner ring (2-2) meshes with the planetary gear (2-7), the planetary gear (2-7) is connected to the output disk (2-3) through the planetary gear output shaft (2-11), the output disk (2-3) is connected to the transmission disk (2-4) through the transmission shaft (2-5), and the output disk (2-3) and the transmission disk (2-4) rotate synchronously to the corresponding position of the high leg raising mode, thereby changing the installation position of the crank (1-1) of the eight-link leg (1) and switching its foot movement trajectory to the high leg raising mode, with a maximum leg raising height of 180mm; Step 4: Switching the quadruped robot's walking trajectory; The controller adjusts the current to drive the outer ring (2-1) to generate a magnetic field. The permanent magnet inner ring (2-2) rotates under the action of the magnetic field, causing the second unlocking block (2-14) to drive the limit wedge (2-8) away from the limit groove (2-10), unlocking the transmission disk (2-4). The planetary gear (2-7) controls the output disk (2-3) and the transmission disk (2-4) to rotate synchronously to the designated position through the planetary gear output shaft (2-11) and the transmission shaft (2-5). The rotation direction is opposite to that in Step 3. The crank (1-1) switches to the low leg lifting trajectory position. Step 5: Repeat steps 2 to 4 multiple times. After completing the work on this work surface, charge the machine or start working on the next work surface. Step 6: Repeat the above steps.

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