Mining explosion-proof autonomous inspection robot and emergency rescue device

Abstract

The invention discloses a mining explosion-proof autonomous inspection robot and an emergency rescue device, and particularly relates to the field of mining inspection robots, the mining explosion-proof autonomous inspection robot comprises a moving track, a supporting aluminum frame is fixedly connected to the moving track, a plurality of explosion-proof partition plates are fixedly connected to the periphery of the supporting aluminum frame, and a mounting platform deck is fixedly connected to the top of the supporting aluminum frame; a controller is fixedly connected into the supporting aluminum frame and used for controlling work of all the electronic elements, a rotating assembly is installed in the supporting aluminum frame, the output end of the rotating assembly is connected with a rotary table, the rotary table is rotationally connected with the installation carrying table, and the rotating assembly is used for driving the rotary table to rotate. By adopting the multifunctional quick connector structure, quick switching and multifunctional integration of the tail end execution tool are achieved, the use efficiency of the robot is remarkably improved, the robot can quickly switch roles under the emergency situation, effective treatment measures are taken in time, and the safety of the robot is improved. And the practical value and the comprehensive efficiency of the robot in a complex mine environment are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of mining inspection robot technology, and more specifically, to a mining explosion-proof autonomous inspection robot and emergency rescue device. Background Technology

[0002] The mine explosion-proof autonomous inspection robot is an intelligent safety equipment developed specifically for high-risk mining environments. It integrates environmental monitoring, autonomous operation, and emergency response. Its explosion-proof body can penetrate into dangerous areas such as gas and dust. Through multiple sensors, it monitors gas concentration, temperature, and equipment status in real time and uses AI algorithms to analyze potential risks. This device not only replaces manual labor in completing repetitive inspection tasks, significantly reducing safety risks, but also becomes a core piece of equipment for intelligent upgrading of mines with its all-weather and high-precision characteristics. It meets stringent explosion-proof standards such as GB3836, providing "zero-distance" safety assurance for underground operations.

[0003] Traditional mine-use explosion-proof autonomous inspection robots and emergency rescue devices can often only perform a single preset task, such as basic environmental inspection or simple emergency operations. They lack multi-functional integration and task adaptability. In actual mine operations, this functional limitation makes it impossible for robots to cope with complex and ever-changing operational needs. When environmental monitoring, equipment operation, and emergency rescue are required simultaneously on site, single-function robots are inadequate. Furthermore, in the event of a sudden accident, the fixed functional configuration makes it impossible for robots to quickly adjust their operation mode according to the situation on site. Often, it is necessary to dispatch robots with different functions or wait for human intervention, which not only reduces operational efficiency but may also cause the best opportunity to deal with the situation to be missed, seriously restricting the practical value of robots in the complex environment of mines.

[0004] In summary, to improve the practicality of robots, it is necessary to address the problem that traditional mining equipment has limited functionality and cannot cope with emergencies, which not only reduces operational efficiency but may also cause the best response time to be missed. The goal is to enable robots to automatically change the appropriate end effector under different task requirements. Summary of the Invention

[0005] The problem that the mine explosion-proof autonomous inspection robot and emergency rescue device provided by the present invention are to solve is that traditional mining equipment has a single function and cannot cope with emergencies, which not only reduces the efficiency of operation, but may also miss the best time to deal with the situation.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a mine explosion-proof autonomous inspection robot and emergency rescue device, comprising a mobile track, a supporting aluminum frame fixedly connected to the mobile track, several explosion-proof partitions fixedly connected to the periphery of the supporting aluminum frame, a mounting platform fixedly connected to the top of the supporting aluminum frame, a controller fixedly connected inside the supporting aluminum frame, the controller being used to control the operation of various electronic components, a rotating assembly installed inside the supporting aluminum frame, a turntable connected to the output end of the rotating assembly, the turntable and the mounting platform being rotatably connected, the rotating assembly being used to drive the turntable to rotate, a robotic arm fixedly connected to the turntable, a second motor fixedly connected to the power output end of the robotic arm, a quick connector fixedly connected to the output end of the second motor, the second motor being used to drive the quick connector to rotate, a central docking hole being provided on the quick connector, and an end effector installed in the central docking hole.

[0007] In a preferred embodiment, the rotating assembly includes a first motor fixedly connected within a supporting aluminum frame, a worm fixedly connected to the output end of the first motor, and a worm wheel meshing with one side of the worm. The worm wheel and the turntable are fixedly connected, and the first motor is used to drive the worm to rotate.

[0008] In a preferred embodiment, the quick connector has an annular mating groove, and an annular magnetic strip is fixedly connected inside the annular mating groove.

[0009] In a preferred embodiment, the quick connector is equipped with a clamping assembly, the output end of which is connected to two symmetrical wedge blocks. The wedge blocks are slidably connected in an annular mating groove, and a slide rod is slidably connected between the two symmetrical wedge blocks.

[0010] In a preferred embodiment, the clamping assembly includes a first electric push rod fixedly connected to the quick connector, a carriage fixedly connected to the output end of the first electric push rod, two rotating rods rotatably connected at one end to both sides of the carriage, and an L-shaped connecting rod rotatably connected at one end to the other end of the rotating rod. The other end of the L-shaped connecting rod is fixedly connected to a wedge block, and the L-shaped connecting rod is slidably connected to the quick connector. The first electric push rod is used to drive the carriage to move in a preset direction.

[0011] In a preferred embodiment, the quick connector has several gas channels, and the outlet end of each gas channel is fixedly connected to a nozzle.

[0012] In a preferred embodiment, a compressed air tank is fixedly connected to the mounting platform, and a flexible air supply pipe is fixedly connected between the compressed air tank and the air inlet end of the gas channel. A control valve is fixedly connected to the flexible air supply pipe.

[0013] In a preferred embodiment, a number of lighting lamps, reflective strips, and ultrasonic detectors are fixedly connected to the mounting platform. The lighting lamps are used to convert electrical energy into light energy to illuminate the mine environment, and the ultrasonic detectors are used to emit ultrasonic waves to detect obstacles and transmit electrical signals to the controller.

[0014] In a preferred embodiment, a second electric push rod is fixedly connected to the mounting platform, and an inspection camera is fixedly connected to the output end of the second electric push rod. The second electric push rod is used to drive the inspection camera to move in the vertical direction, and the inspection camera is used to take pictures and detect the mine environment and transmit electrical signals to the controller.

[0015] The beneficial effects of this invention are as follows: 1. This invention adopts a multi-functional quick-connect structure, which realizes the rapid switching and multi-functional integration of end effectors. This enables the robot to automatically change the corresponding end effector under different task requirements, which not only significantly improves the robot's utilization efficiency, but also enables it to quickly switch roles in sudden emergency situations and take timely and effective measures. This greatly enhances the robot's practical value and comprehensive effectiveness in complex mining environments.

[0016] 2. This invention greatly improves the success rate and efficiency of docking through the quick-connect method of "magnetic pre-alignment and mechanical clamping". It also provides a stable and reliable rigid locking force that far exceeds the magnetic attraction force, ensuring that the end effector will never loosen or fall off when facing heavy-load and high-vibration tasks such as valve tightening and demolition. While ensuring the speed of tool switching, it fundamentally ensures the safety and reliability of the operation process.

[0017] 3. This invention effectively eliminates the risk of short circuits, poor contact, and electric sparks caused by dust bridging or contamination by setting a nozzle on the quick connector and performing air cleaning before docking. This strictly meets the explosion-proof requirements of mines. At the same time, the clean interface also reduces mechanical wear, ensuring accurate and reliable physical connection for each docking.

[0018] 4. By adopting a timing control method of "completing mechanical docking first and then establishing electrical connection", this invention eliminates the safety hazards caused by poor contact and arc discharge during the hot plugging and unplugging process in the traditional method, ensuring that the end effector is in the optimal working position when it receives power supply, and effectively avoiding electrical faults and equipment damage caused by insufficient engagement. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the mounting platform structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the controller structure of the present invention.

[0022] Figure 4 This is a schematic diagram of the rotating component structure of the present invention.

[0023] Figure 5 This is a schematic diagram of the second motor structure of the present invention.

[0024] Figure 6 This is a schematic diagram of the quick connector structure of the present invention.

[0025] Figure 7 This is a schematic diagram of the nozzle structure of the present invention.

[0026] Figure 8 This is a schematic diagram of the wedge block structure of the present invention.

[0027] The attached diagram is labeled as follows: 1. Moving track; 2. Supporting aluminum frame; 3. Explosion-proof partition; 4. Mounting platform; 5. Lighting lamp; 6. Reflective strip; 7. Ultrasonic detector; 8. Controller; 901. First motor; 902. Worm gear; 903. Worm wheel; 10. Turntable; 11. Robotic arm; 12. Second motor; 13. Quick connector; 1301. Center docking hole; 1302. Annular docking groove; 1303. Gas channel; 14. End effector; 15. Annular magnetic strip; 1601. First electric push rod; 1602. Slide; 1603. Rotating rod; 1604. L-shaped connecting rod; 17. Wedge block; 18. Slide rod; 19. Nozzle; 20. Compressed gas tank; 21. Flexible gas pipe; 22. Control valve; 23. Second electric push rod; 24. Inspection camera. Detailed Implementation

[0028] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0029] Refer to the instruction manual appendix Figures 1 to 8A mine-use explosion-proof autonomous inspection robot and emergency rescue device includes a mobile track 1, a supporting aluminum frame 2 fixedly connected to the mobile track 1, several explosion-proof partitions 3 fixedly connected to the periphery of the supporting aluminum frame 2, a mounting platform 4 fixedly connected to the top of the supporting aluminum frame 2, a controller 8 fixedly connected inside the supporting aluminum frame 2, the controller 8 being used to control the operation of various electronic components, a rotating assembly installed inside the supporting aluminum frame 2, a turntable 10 connected to the output end of the rotating assembly, the turntable 10 and the mounting platform 4 being rotatably connected, the rotating assembly being used to drive the turntable 10 to rotate, a robotic arm 11 fixedly connected to the turntable 10, a second motor 12 fixedly connected to the power output end of the robotic arm 11, a quick connector 13 fixedly connected to the output end of the second motor 12, the second motor 12 being used to drive the quick connector 13 to rotate, a center docking hole 1301 being opened on the quick connector 13, and an end effector 14 being installed in the center docking hole 1301.

[0030] It should be noted that the mobile track 1 serves as the robot's mobile chassis, responsible for providing strong traction and mobility on complex and rugged mine surfaces. The track material is made of anti-static, flame-retardant, and high-strength engineering materials to prevent sparks from friction and adapt to harsh environments. A lightweight support aluminum frame 2 is installed on top of the mobile track 1, and multiple explosion-proof baffles 3 are installed around the support aluminum frame 2. This not only effectively controls the overall weight of the device, but also prevents the flame and explosion energy from being transferred to the flammable and explosive mine atmosphere outside the shell when electrical sparks are generated inside the robot due to circuit failures, thereby preventing secondary accidents.

[0031] It is worth noting that the robotic arm 11 is a multi-joint explosion-proof design robotic arm 11. Each joint is driven by an explosion-proof motor and reducer, allowing it to perform complex movements such as extension, lifting, and rotation to adapt to the working needs in the narrow space of the mine. Furthermore, a second motor 12 and a quick connector 13 are installed at the working end of the robotic arm 11. The quick connector 13 is used to automatically change the end effector 14 according to the task requirements. The central docking hole 1301 opened on the quick connector 13 not only serves as a mechanical positioning reference, but also integrates electrical pathways (such as power contacts, data communication buses, etc.), which can complete the transmission of power and the connection of signals after docking.

[0032] Refer to the instruction manual appendix Figure 4 The rotating assembly includes a first motor 901 fixedly connected in the supporting aluminum frame 2, a worm 902 fixedly connected to the output end of the first motor 901, and a worm wheel 903 meshing with one side of the worm 902. The worm wheel 903 is fixedly connected to the turntable 10. The first motor 901 is used to drive the worm 902 to rotate.

[0033] It should be noted that the first motor 901 is installed inside the supporting aluminum frame 2 and rotates through the turntable 10 driven by the worm gear 903 and worm 902, thereby enabling the robotic arm 11 to work in multiple directions. The worm gear 903 and worm 902 are size-matched and have self-locking characteristics, which ensures stable power transmission while preventing the robotic arm 11 from deviating during operation.

[0034] Refer to the instruction manual appendix Figure 6 The quick connector 13 has an annular docking groove 1302, and an annular magnetic strip 15 is fixedly connected inside the annular docking groove 1302.

[0035] It should be noted that the diameter and depth of the annular docking groove 1302 are precision machined to ensure that the corresponding docking flange on the end effector 14 can be tightly embedded. The corresponding docking flange on the end effector 14 is made of magnetic metal material, which generates magnetic attraction with the annular magnetic strip 15 to perform initial positioning of the end effector 14. Furthermore, the strong magnetic force can generate a certain "self-guiding" effect at the moment of docking, actively correcting minor alignment deviations and improving the docking success rate.

[0036] Refer to the instruction manual appendix Figure 8 The quick connector 13 is equipped with a clamping assembly. The output end of the clamping assembly is connected to two symmetrical wedge blocks 17. The wedge blocks 17 are slidably connected in the annular docking groove 1302. A slide rod 18 is slidably connected between the two symmetrical wedge blocks 17.

[0037] It should be noted that the clamping assembly is the main locking mechanism of the quick connector 13 after the initial docking is completed. It provides a stable and reliable mechanical locking force that far exceeds the magnetic attraction force, in order to cope with the huge torsional torque and vibration generated by the robotic arm 11 when performing complex operations, and to prevent the end effector from loosening or falling off.

[0038] It is worth noting that the annular docking groove 1302 has a certain amount of movable space. Two wedge blocks 17 slide symmetrically radially within this movable space, with their inclined surfaces arranged opposite each other. At the same time, the docking point of the end effector 14 is also machined with an inclined surface that matches the wedge blocks 17. When locking is required, the clamping assembly pushes the two wedge blocks 17 to move towards the center synchronously. At this time, the inclined surface of the wedge block 17 will squeeze the corresponding inclined surface on the docking flange of the end effector 14, thereby generating a strong, centripetal clamping force. This force firmly "locks" the end effector 14 onto the quick connector 13, and the slide rod 18 passes through the two wedge blocks 17, forcing the two wedge blocks 17 to achieve completely synchronous symmetrical movement.

[0039] Refer to the instruction manual appendix Figure 8The clamping assembly includes a first electric push rod 1601 fixedly connected to the quick connector 13, a slide 1602 fixedly connected to the output end of the first electric push rod 1601, two rotating rods 1603 rotatably connected at one end to both sides of the slide 1602, and an L-shaped connecting rod 1604 rotatably connected at one end to the other end of the rotating rod 1603. The other end of the L-shaped connecting rod 1604 is fixedly connected to the wedge block 17, and the L-shaped connecting rod 1604 is slidably connected to the quick connector 13. The first electric push rod 1601 is used to drive the slide 1602 to move in a preset direction.

[0040] It should be noted that the first electric push rod 1601 is installed on the quick connector 13. Through the rotation points on both sides of the slide 1602, the single axial motion is decomposed into two symmetrical, expandable (retractable) rotational motions, so that the rotating rod 1603 rotates around the end point of the slide 1602, thereby realizing the radial displacement of the L-shaped connecting rod 1604. The long side of the L-shaped connecting rod 1604 is connected to the slide 1602, and the short side is connected to the wedge block 17.

[0041] It is worth noting that during clamping, the first electric push rod 1601 pushes the slide 1602 upward, and the slide 1602 pushes the upper ends of the two rotating rods 1603, forcing the rotating rods 1603 to retract inward around their hinge points. The upper ends of the rotating rods 1603 then push the L-shaped connecting rod 1604 inward, thereby pushing the wedge block 17 inward to complete the mechanical clamping. When releasing, the process is completely reversed. By using the linkage mechanism and lever principle, the output force of the first electric push rod 1601 is amplified to achieve a greater clamping force.

[0042] Refer to the instruction manual appendix Figure 6 and Figure 7 The quick connector 13 has several gas channels 1303, and the outlet end of the gas channel 1303 is fixedly connected to the nozzle 19.

[0043] It should be noted that the gas channel 1303 is integrated inside the quick connector 13, intersecting with the aforementioned structural channels without affecting each other, and the number of gas outlets of the gas channel 1303 corresponds one-to-one with the number of nozzles 19, and the sizes are compatible.

[0044] Refer to the instruction manual appendix Figure 3 A compressed air tank 20 is fixedly connected to the mounting platform 4. A flexible air supply pipe 21 is fixedly connected between the compressed air tank 20 and the air inlet end of the gas channel 1303. A control valve 22 is fixedly connected to the flexible air supply pipe 21.

[0045] It should be noted that the compressed air tank 20 stores dry and clean compressed inert gas to provide cleaning power. When the control valve 22 is opened, the compressed air tank 20 releases a high-pressure airflow, which is ejected from the nozzle 19 after passing through the flexible air supply pipe 21 and the gas channel 1303. This air jet action, just before the final docking action is triggered, powerfully blows away the electrical contacts, mechanical positioning surfaces, and other areas on the docking flange of the end effector 14, thoroughly cleaning the dust, moisture, and impurities attached to them.

[0046] Refer to the instruction manual appendix Figure 2 Several lighting lamps 5, reflective strips 6, and several ultrasonic detectors 7 are fixedly connected to the mounting platform 4. The lighting lamps 5 are used to convert electrical energy into light energy to illuminate the mine environment. The ultrasonic detectors 7 are used to emit ultrasonic waves to detect obstacles and transmit electrical signals to the controller 8.

[0047] It should be noted that the lamp body of the lighting lamp 5 adopts an explosion-proof structure to ensure that its surface temperature will not ignite flammable gases, and the lamp cover has high strength and high light transmittance, which can withstand possible collisions underground. The reflective strip 6 is used to ensure that the robot can be quickly detected by personnel or other equipment at a distance even when its own lighting is off or malfunctioning, effectively preventing collision accidents. The ultrasonic detector 7 accurately calculates the distance between the robot and obstacles by emitting ultrasonic waves and receiving the echoes returned after encountering objects. The three work together to enable the robot to perform tasks safely and efficiently in the complex and dynamic mine environment.

[0048] Refer to the instruction manual appendix Figure 1 A second electric push rod 23 is fixedly connected to the mounting platform 4. An inspection camera 24 is fixedly connected to the output end of the second electric push rod 23. The second electric push rod 23 is used to drive the inspection camera 24 to move in the vertical direction. The inspection camera 24 is used to take pictures of the mine environment and transmit electrical signals to the controller 8.

[0049] It should be noted that the second electric push rod 23 serves as the power source for precisely controlling the height of the inspection camera 24. The inspection camera 24 integrates a visible light sensor and a thermal imaging (infrared) sensor, which can detect overheating hazards in a timely manner and achieve early warning of fires.

[0050] Working principle: Step S1: The mobile track 1 drives the entire device to move autonomously within the mine. At the same time, the ultrasonic detector 7 continuously detects surrounding obstacles, the lighting 5 provides illumination for the travel path and environment, and the reflective strip 6 ensures that it can be clearly identified by external personnel or equipment to ensure basic movement safety. When a detailed inspection of specific equipment or environment is required, the second electric push rod 23 is activated to raise the inspection camera 24 to a suitable height. It uses its visible light and thermal imaging sensors to conduct inspections and collect data. If an abnormality is found and rescue is required, the controller 8 analyzes the detected situation and issues a work instruction. Step S2: The first motor 901 is turned on, driving the worm gear 902 to rotate the worm wheel 903 and the turntable 10, thereby adjusting the robotic arm 11 to roughly face the target work position. Then the multi-joint robotic arm 11 performs fine movements to accurately position the quick connector 13 in front of the end effector 14 to be installed. Step S3: Control valve 22 is opened, and the clean inert gas in compressed gas tank 20 is sprayed out from nozzle 19 through flexible gas pipe 21 and gas channel 1303 in quick connector 13 to purge the mating flange of end effector 14 and ensure that the connection interface is clean. Then, quick connector 13 approaches end effector 14 under the drive of robotic arm 11, and the annular magnetic strip 15 in annular docking groove 1302 generates magnetic force to initially attract and align it. Step S4: After the initial positioning is completed, the first electric push rod 1601 pushes the slide 1602, the slide 1602 drives the two rotating rods 1603 to move, the rotating rods 1603 then drive the L-shaped connecting rod 1604 to slide radially on the quick connector 13, and the L-shaped connecting rod 1604 finally pushes the two wedge blocks 17, which are forced to be synchronized by the slide rod 18, to move towards the center. The inclined structure generates a strong mechanical locking force to firmly lock the end actuator 14. Step S5: After this mechanical installation is completed, the electrical path integrated in the center docking hole 1301 of the quick connector 13 is connected to the end effector 14 to realize power transmission and signal connection. At this point, the robot is ready. The second motor 12 can drive the entire quick connector 13 and the locked end effector 14 to rotate to perform operations such as turning valves. The robotic arm 11 is responsible for completing the final work tasks such as clearing obstacles and demolition, and the inspection camera 24 provides real-time feedback on the site situation, forming a complete work closed loop.

[0051] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A mine-use explosion-proof autonomous inspection robot and emergency rescue device, characterized in that: The utility model provides mobile track (1), mobile track (1) is fixedly connected with support aluminum frame (2), support aluminum frame (2) periphery fixedly connected with a plurality of explosion -proof baffle (3), support aluminum frame (2) top fixedly connected with installation platform (4), support aluminum frame (2) fixedly connected with controller (8) in, controller (8) is used for controlling the work of each electronic component, support aluminum frame (2) is installed with rotating assembly, the output of rotating assembly is connected with rotary table (10), rotary table (10) and installation platform (4) rotationally connected, rotating assembly is used to drive rotary table (10) rotation, rotary table (10) fixedly connected with mechanical arm (11), the power output of mechanical arm (11) is fixedly connected with second motor (12), the output of second motor (12) is fixedly connected with quick -release connector (13), and second motor (12) is used to drive quick -release connector (13) rotation, and quick -release connector (13) is opened with center docking hole (1301), and center docking hole (1301) is installed with end effector (14).

2. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 1, characterized in that: Rotating assembly includes first motor (901) fixedly connected in support aluminum frame (2), worm (902) fixedly connected at the output of first motor (901) and worm wheel (903) engagedly connected on one side of worm (902), worm wheel (903) and rotary table (10) are fixedly connected, and first motor (901) is used to drive worm (902) rotation.

3. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 1, characterized in that: Ring -shaped docking groove (1302) is fixedly connected with annular magnetic attraction strip (15) in quick -release connector (13).

4. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 3, characterized in that: Quick -release connector (13) is installed with clamping assembly, the output of clamping assembly is connected with two symmetrical wedge blocks (17), wedge block (17) is slidably connected in ring -shaped docking groove (1302), and the sliding rod (18) is slidably connected between two symmetrical wedge blocks (17).

5. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 4, characterized in that: Clamping assembly includes first electric push rod (1601) fixedly connected on quick -release connector (13), sliding frame (1602) fixedly connected at the output of first electric push rod (1601), two one end rotationally connected on both sides of sliding frame (1602) rotationally connected in the other end of L type connecting rod (1604) of one end rotationally connected in the other end of rotation rod (1603), the other end of L type connecting rod (1604) and wedge block (17) are fixedly connected, and L type connecting rod (1604) and quick -release connector (13) are slidably connected, and first electric push rod (1601) is used to drive sliding frame (1602) moves along the preset direction.

6. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 1, characterized in that: Quick -release connector (1303) is provided with a plurality of gas passages in, and the gas outlet of gas passage (1303) is fixedly connected with spray head (19).

7. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 6, characterized in that: The compressed gas tank (20) is fixedly connected on installation platform (4), and the flexible gas conveying pipe (21) is fixedly connected between the gas inlet of gas passage (1303) and the control valve (22) is fixedly connected on the flexible gas conveying pipe (21).

8. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 1, characterized in that: The mounting platform (4) is fixedly connected with a plurality of lighting lamps (5), a reflecting strip (6) and a plurality of ultrasonic detectors (7), the lighting lamps (5) are used for converting electric energy into light energy to illuminate the environment in the mine, and the ultrasonic detectors (7) are used for emitting ultrasonic waves to detect obstacles and transmit electric signals to the controller (8).

9. The mine explosion-proof autonomous inspection robot and emergency rescue device according to claim 1, characterized in that: The mounting platform (4) is fixedly connected with a second electric push rod (23), the output end of the second electric push rod (23) is fixedly connected with a patrol camera (24), the second electric push rod (23) is used for driving the patrol camera (24) to move in the vertical direction, and the patrol camera (24) is used for taking photos to detect the environment in the mine and transmitting electric signals to the controller (8).

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