Underground coal mine emergency rescue robot and system

Abstract

The invention discloses a coal mine underground emergency rescue robot and system, and relates to the technical field of specialized robots. The robot comprises a crawler-type robot body, and the body comprises a vehicle body, a driving system and loading equipment. Swing arm wheel units capable of swinging are arranged at the front ends of the main crawlers on the two sides of the traveling system, a swing arm wheel driving shaft and an inducer adopt the independent movement design of a bearing empty sleeve, functional decoupling of obstacle crossing swing and crawler guiding is achieved, and the trafficability of complex terrains is greatly improved. The loading equipment comprises a three-dimensional laser scanning modeling module, a multi-gas detection module, a look-around camera, an infrared camera and the like, and can synchronously collect field three-dimensional space information, gas concentration, panoramic videos and infrared images. The robot can form a cooperative system with a rear control terminal and a command terminal, and real-time data fusion, three-dimensional situation presentation and intelligent analysis are achieved. The problem that an existing rescue robot is poor in terrain adaptability is solved.

Description

Technical Field

[0001] This invention relates to the field of special robot technology, and in particular to an emergency rescue robot and system for underground coal mines. Background Technology

[0002] Coal is a vital basic energy source, but underground coal mines have complex geological conditions, and safety accidents such as gas explosions, roof collapses, and fires occur frequently. After an accident, the underground environment often becomes an extremely dangerous environment, confined, filled with toxic and harmful gases, with extremely low visibility and severely damaged terrain. Traditional emergency rescue methods mainly rely on rescuers carrying equipment to enter the site for reconnaissance, which is not only inefficient but also exposes rescuers to enormous risks to their lives, such as secondary collapses, poisoning, and suffocation.

[0003] To reduce casualties, utilizing robots to conduct reconnaissance at disaster sites in place of personnel has become an industry consensus. Existing technologies, such as the tracked inspection and detection robot disclosed in CN116347029A, possess environmental parameter detection, video monitoring, and the ability to extend communication distance by deploying base stations. However, in actual mine disaster relief applications, these robots lack a clear representation of the spatial environment through 3D modeling, thus exhibiting significant shortcomings. Post-disaster unstructured environments such as pits and mine tunnels often accumulate large amounts of debris, forming extreme unstructured terrain such as ravines, steep slopes, and piles of rubble. Existing robots mostly have conventional tracked chassis with non-adjustable grounding configurations, limiting their obstacle-crossing ability and terrain adaptability. They are prone to getting stuck or overturning in front of complex obstacles, which may prevent vehicles from penetrating deep into the core area of ​​the accident to complete detection.

[0004] Therefore, there is an urgent need to provide a coal mine underground emergency rescue robot and system with good chassis mobility to overcome the shortcomings of existing technologies and improve the efficiency of emergency rescue. Summary of the Invention

[0005] The main objective of this invention is to propose an emergency rescue robot and system for underground coal mines, aiming to solve the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention proposes the following technical solution: On one hand, this invention proposes an emergency rescue robot for underground coal mines, comprising a tracked robot body, which includes a vehicle body, a driving system, and superstructure equipment mounted on the vehicle body. The driving system includes main tracked units respectively located on the left and right sides of the vehicle body. Each main tracked unit includes a drive wheel, an idler wheel, a track surrounding the drive wheel and the idler wheel, and at least one load-bearing wheel assembly connecting the vehicle body and the track. Each main tracked unit also has a swingable arm wheel unit at its front end. The swing arm wheel unit is connected to the output end of a rocker arm wheel reducer located at the front of the vehicle body via a swing arm wheel connecting shaft. The idler wheel is mounted on the swing arm wheel connecting shaft via a bearing, so that the rotation of the idler wheel is independent of the rotation of the swing arm wheel connecting shaft.

[0007] Preferably, the superstructure includes a 3D scanning and modeling module, a gas detection module, and a surround view system module. The 3D scanning and modeling module is fixedly installed in the middle of the vehicle's roof surface and is used to collect environmental spatial data and construct a 3D map; the gas detection module is fixedly installed on the vehicle's roof surface near the front end and is used to detect the ambient gas concentration in real time; the surround view system module includes cameras respectively set in the front, rear, left, and right positions of the vehicle's roof surface for collecting 360-degree panoramic images.

[0008] Preferably, the upper structure further includes a low visibility adaptation module, which includes at least one infrared camera installed on the top surface of the vehicle body near the front end and a lighting device installed at the front end of the vehicle body.

[0009] Preferably, the upper structure also includes a vehicle positioning system, which is located on the top surface of the vehicle body near the rear end and is used to provide the robot's position information.

[0010] Preferably, the swing arm wheel unit includes a main wheel and a secondary wheel, the main wheel being connected to the swing arm wheel connecting shaft; the swing arm wheel track is wrapped around the main wheel and the secondary wheel; the swing arm wheel structural component is connected between the main wheel and the secondary wheel, forming the support frame of the swing arm wheel unit.

[0011] Preferably, the load-bearing wheel assembly includes a load-bearing wheel and a load-bearing wheel frame for mounting the load-bearing wheel, the load-bearing wheel frame being mounted at the lower side of the vehicle body; the load-bearing wheel is in contact with the inner side of the track.

[0012] Preferably, the driving system further includes a tow wheel, which is mounted on the upper part of the side of the vehicle body via a tow wheel frame, and the tow wheel contacts the inner side of the track for tensioning the track.

[0013] Preferably, the superstructure also includes auxiliary equipment, including a warning light and a loudspeaker installed on the vehicle body.

[0014] Preferably, the front and rear ends of the vehicle body are respectively provided with tow hooks for connecting with other equipment.

[0015] Preferably, the 3D scanning and modeling module includes a 3D laser scanner and a base for mounting the 3D laser scanner, the base being fixed to the vehicle body.

[0016] Preferably, each camera in the surround view system module is fixed to the vehicle body by an independent mounting bracket.

[0017] On the other hand, the present invention provides a robot system including the above-mentioned coal mine underground emergency rescue robot, wherein a communication module is provided on the robot; a control terminal is signal-connected to the communication module of the robot and is used to receive data from the robot and send control commands to the robot; and a command terminal is signal-connected to the communication module of the robot and is used to receive and store all data from the robot.

[0018] Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: By designing a swing-arm wheel unit and employing an independent motion structure with the main track idler wheel ("axle-inserted axle"), the robot can actively adjust its front-end grounding posture. When facing a high platform, the swing-arm wheel unit can be raised to mount the platform for climbing assistance; when facing a deep ditch, the swing-arm wheel unit can be lowered as a forward fulcrum to prevent the entire vehicle from tipping over. This significantly improves the robot's mobility and survivability in extremely unstructured terrain such as boulders, broken beams, and steep slopes formed after a landslide, ensuring that it can penetrate deep into the core area of ​​an accident to perform its mission. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is an overall layout diagram of the robot provided by the present invention; Figure 2 This is a top view of the robot provided by the present invention; Figure 3 This is a chassis layout diagram of the robot provided by the present invention; Figure 4 A structural diagram of the robot's driving system provided by this invention; Figure 5 This is a diagram of the transmission mechanism of the rocker arm wheel unit in this invention.

[0021] Explanation of reference numerals: 1. Tracked unmanned chassis; 2. Surround view system module; 3. 3D scanning and modeling module; 4. Vehicle positioning system; 5. Gas detection module; 6. Low visibility adaptation module; 7. Data transmission module; 8. Auxiliary equipment; 11. Driving system; 1101. Drive wheel; 1102. Track; 1103. Load-bearing wheel frame; 1104. Load-bearing wheel; 1105. Rib plate; 1106. Trailer wheel; 11602. Trailer wheel frame; 1107. Idler wheel; 1108. Swing arm wheel unit; 11801. Main wheel; 11802. Secondary wheel; 11803. Swing arm wheel track; 11804. Swing arm wheel structural component one; 11805. Swing arm wheel structural component two; 11806. Connecting plate; 1109. Axle Components: 1111 Power module; 12 Vehicle body; 13 Chassis; 14 Drive motor; 15 Drive wheel reducer; 16 Drive wheel coupling; 17 Vehicle control module; 18 Communication module; 19 Rocker arm motor; 110 Rocker arm wheel reducer; 111 Rocker arm wheel connecting shaft; 201 Camera; 202 Mounting bracket; 301 3D laser scanner; 302 Base; 401 GNSS / INS combined positioning unit; 402 Bracket; 501 CD10 multi-gas detection device; 502 Bending plate; 601 Infrared camera; 602 High-definition headlight; 701 Communication antenna; 702 Signal transmission antenna; 801 Alarm light; 802 High-volume horn; 803 Tow hook. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0024] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0025] Combination Figures 1 to 5 As shown, on one hand, the present invention provides an emergency rescue robot for underground coal mines, the core of which is a tracked robot body. This body mainly consists of a tracked unmanned chassis 1 and various functional modules integrated on the chassis. These modules include: a surround view system module 2, a 3D scanning and modeling module 3, a vehicle positioning system 4, a gas detection module 5, a low visibility adaptation module 6, a data transmission module 7, and auxiliary equipment 8.

[0026] I. Tracked Unmanned Chassis 1 The tracked unmanned chassis 1 is the foundation for the robot's movement and load-bearing capacity, mainly comprising a driving system 11, a vehicle body 12, and a chassis 13. The vehicle body 12 forms the main structural frame of the robot, constructed from welded aluminum alloy, balancing strength and lightweight design. The chassis 13 is located beneath the vehicle body 12 and is used to mount the power and transmission components.

[0027] A drive motor 14 is mounted on the chassis 13, and the output end of the drive motor 14 is connected to the drive wheel reducer 15. The drive wheel reducer 15 transmits power to the drive wheel 1101 of the driving system 11 through the drive wheel coupling 16, thereby driving the entire chassis to move.

[0028] The vehicle control module 17 and communication module 18 are installed in the middle of the chassis 13. The vehicle control module 17 acts as the local brain, responsible for coordinating and controlling the movement of the tracked unmanned chassis 1 and the operation of various superstructure devices. The communication module 18 is responsible for establishing data links between the robot body and external control and command terminals.

[0029] The front end of the chassis 13 is specially designed with a rocker arm motor 19 and a rocker arm wheel reducer 110. The power output by the rocker arm motor 19 is reduced and increased in torque by the rocker arm wheel reducer 110, and then output through the rocker arm wheel connecting shafts 111 extending to the left and right to drive the swing arm wheel units 1108 on the left and right sides to swing.

[0030] II. Driving System 11 The driving system 11 is the key mechanism for the robot to move forward, backward, turn and overcome obstacles, and it is symmetrically arranged on both sides of the vehicle body 12.

[0031] The driving system 11 on each side mainly includes: drive wheel 1101, track 1102, load-bearing wheel frame 1103, load-bearing wheel 1104, stiffening plate 1105, towing wheel 1106, idler wheel 1107, and swing arm wheel unit 1108.

[0032] The drive wheel 1101 receives power through the drive wheel coupling 16, driving the track 1102 to rotate. Multiple load-bearing wheels 1104 are mounted on the lower side of the vehicle body 12 via load-bearing wheel frames 1103, supporting the weight of the vehicle body and transmitting pressure to the track 1102. Rib plates 1105 are used to strengthen the structural rigidity of the load-bearing wheel frames 1103. The power module 1111 can be rationally arranged inside the vehicle body 12, and the power module 1111 is used to power the entire robot.

[0033] The track roller 1106 is used to tension the track 1102 to prevent it from coming loose during movement. The track roller 1106 is mounted on the upper side of the vehicle body 12 via the track roller bracket 11602, and the track roller 1106 contacts the inner side of the track 1102.

[0034] The idler wheel 1107 is located at the front end of the driving system and mainly serves to guide the correct winding of the track 1102 and provide auxiliary support when turning.

[0035] The driving system 11 is equipped with a cover to prevent mud or dirt from entering the rotating parts of the driving system 11.

[0036] III. Design of the swing arm wheel unit 1108 and its linkage with the inducer wheel 1107 A core innovation of this invention lies in the design of the swing arm wheel unit 1108 and its motion decoupling from that of the inducer wheel 1107.

[0037] The swing arm wheel unit 1108 is an additional structure designed to improve the robot's mobility in harsh road conditions. It mainly consists of a main wheel 11801, a secondary wheel 11802, a swing arm wheel track 11803, and two swing arm wheel structural components 11804 and 11805, along with a connecting plate 11806, which serve as the structural framework. The swing arm wheel track 11803 is mounted on the cylindrical bodies of the main wheel 11801 and secondary wheel 11802. The swing arm wheel structural components 11804 and 11805 are made of aluminum alloy and are fixed into a robust integral frame by the connecting plate 11806 and fastening bolts. The main wheel 11801 and secondary wheel 11802 are mounted at both ends of this frame.

[0038] Key transmission relationships such as Figure 5As shown in the cross-sectional view, the end of the rocker arm wheel connecting shaft 111 is rotatably connected to the main wheel 11801 of the swing arm wheel unit 1108, and the rocker arm wheel connecting shaft 111 is fixedly connected to the rocker arm wheel structural component 11805. Therefore, when the rocker arm motor 19 drives the rocker arm wheel connecting shaft 111 to rotate forward and backward through the rocker arm wheel reducer 110, it can drive the entire swing arm wheel unit 1108 to swing up or down, thereby changing the robot's front-end grounding angle and ground clearance.

[0039] Meanwhile, the idler wheel 1107 is mounted on the rocker arm wheel connecting shaft 111 via a bearing 1109. This means that the idler wheel 1107 can rotate freely relative to the rocker arm wheel connecting shaft 111. When the robot moves, the track 1102 drives the idler wheel 1107 to rotate, while the rocker arm wheel unit 1108 swings independently. This "coincident axis but independent motion" design achieves a perfect separation and coordination between the active obstacle-crossing function of the rocker arm wheel and the guiding function of the idler wheel track, avoiding motion interference, and resulting in a clever and reliable structure.

[0040] IV. Integration of Upper-End Functional Modules like Figure 1 and Figure 2 As shown, various reconnaissance and sensing equipment are modularly integrated on the top surface of the vehicle body 12.

[0041] Surround view system module 2: It consists of four high-definition cameras 201 and their respective mounting brackets 202. The four mounting brackets 202 are fixed at the center positions of the front, rear, left, and right sides of the top surface of the vehicle body 12, respectively, so that the high-definition cameras 201 can collect 360-degree panoramic video images of the surroundings without blind spots.

[0042] 3D scanning and modeling module 3 consists of a 3D laser scanner 301 and a base 302. The base 302 is fixed to the geometric center of the upper surface of the vehicle body 12, and the 3D laser scanner 301 is mounted on the base 302. This module can quickly scan the surrounding environment when the robot is moving or stationary, generating high-precision 3D point cloud data for constructing a 3D digital model of the tunnel.

[0043] Vehicle positioning system 4: Composed of a GNSS / inertial navigation combined positioning unit 401 and a bracket 402. The bracket 402 is fixed to the rear of the upper surface of the vehicle body 12, located behind the 3D scanning and modeling module 3. This module can provide absolute position when satellite signals are available, and maintain relative positioning in the well without satellite signals by relying on inertial navigation, providing a coordinate reference for the robot's own position and 3D model.

[0044] Gas detection module 5: Employs a CD10 multi-gas detection device 501, which is mounted and fixed to the front of the upper surface of the vehicle body 12 via a bent plate 502. It can monitor the concentration of various hazardous gases such as methane, carbon monoxide, oxygen, and hydrogen sulfide in real time.

[0045] Low visibility adaptation module 6 includes an infrared thermal imaging camera 601 and two high-brightness LED high-definition headlights 602. The infrared camera 601 is mounted on the top surface of the vehicle body 12 near the front end for imaging in complete darkness or dense smoke. The high-definition headlights 602 provide strong illumination, improving visible light imaging performance under complex lighting conditions.

[0046] Data transmission module 7: includes a communication antenna 701 for remote communication and a signal transmission antenna 702 for other data links, both mounted side by side on the rear of the upper surface of the vehicle body 12.

[0047] Auxiliary equipment 8 includes an alarm light 801, a loudspeaker 802, and tow hooks 803. The alarm light 801 emits a conspicuous rotating red light during inspections. The loudspeaker 802 has both broadcasting and radio reception functions, capable of emitting sound signals over long distances and collecting ambient sounds. Two tow hooks 803 are installed at the front and two at the rear for lifting, towing, or dragging other items for the robot.

[0048] V. System Working Principle Following a coal mine accident, the robot system of this invention operates as follows: Deployment and Access: Rescue personnel transport the tracked robot to the underground entrance. Operators on the ground or inside the safety chamber control the robot to move towards the accident area via a control terminal (such as an explosion-proof tablet).

[0049] Maneuverability and Obstacle Crossing: When encountering obstacles during travel, the operator can control the rocker arm motor 19 to drive the swing arm wheel unit 1108 to swing. For example, when facing a high step, the swing arm wheel unit 1108 can be swung upwards first, so that its tracks touch the step surface, and then the main tracks exert force to pull the vehicle up the step. Throughout the process, the idler wheel 1107 rotates normally without affecting the guidance of the main tracks.

[0050] Comprehensive information collection: During the robot's movement, all upper-mounted devices work synchronously. The surround view system module 2 provides real-time panoramic video.

[0051] The 3D scanning and modeling module 3 continuously scans, builds and updates the 3D map of the area.

[0052] Gas detection module 5 monitors gas concentration in real time.

[0053] The low visibility adaptation module 6 ensures that effective images can be acquired under any lighting conditions.

[0054] The vehicle positioning system 4 provides the robot's real-time location.

[0055] Data fusion, transmission, and collaborative decision-making: All collected video streams, 3D point cloud data, gas concentration values, location information, etc., are transmitted back in real time via data transmission module 7. This data is not only displayed on the operator's control terminal to assist driving, but more importantly, it is transmitted synchronously and completely to the command terminal at the rear.

[0056] The command terminal runs dedicated rescue analysis software. This software renders 3D point cloud data into a visual model in real time, and integrates and annotates information such as the robot's real-time location and areas with excessive gas concentrations (represented by red clouds) onto the 3D model. Commanders can intuitively see where the tunnel has collapsed, the size of the space, the danger zones, and the location of the robot, thereby quickly assessing the situation, formulating or adjusting rescue plans, and guiding operators at the front through the intercom system.

[0057] Assisted Search and Rescue: During the search and rescue phase, the operator can activate the alarm light 801 and the loudspeaker 802 via the control terminal to emit audible and visual signals. The loudspeaker 802's radio reception function can attempt to capture possible cries for help or knocking sounds from underground, and, combined with the robot's position, provide clues for locating survivors.

[0058] The robot provided in this embodiment integrates the 3D laser scanning modeling module 3 with the multi-parameter gas detection module 5, the surround view system module 2, and the 3D scanning modeling module 3 into one unit. The robot can not only detect hazardous gas concentrations and transmit surrounding video, but also generate a 3D point cloud model of the accident scene in real time. This model can intuitively display the damage to the tunnel structure, spatial volume, and obstacle distribution, and is fused with gas concentration data (such as marking areas exceeding the standard in the 3D model), providing the command center with an unprecedented "God's-eye view" and decision-making basis, achieving a leap from "seeing" to "understanding" and "seeing everything."

[0059] A three-tiered architecture was constructed, consisting of the robot itself, a control terminal, and a command terminal. The operator focuses on robot driving and obstacle avoidance through the control terminal; all sensory data is synchronized to the command terminal, where dedicated software performs fusion processing, 3D reconstruction, and intelligent analysis (such as automatically assessing area hazards and generating feasible path suggestions). This synchronized information flow between the front and rear, with each component performing its specific function, significantly improves the speed of rescue response and the scientific rigor of decision-making.

[0060] By integrating an infrared thermal imaging camera and high-power lighting equipment, effective visual and spatial data can be acquired even in low-light or dense smoke environments. The robust vehicle body structure and sealed design enhance the equipment's reliability. Auxiliary alarm lights and a high-volume horn can be used to emit light and sound signals during search and rescue operations, enabling initial interaction with potential survivors.

[0061] In summary, this invention provides a complete and efficient emergency rescue solution for underground coal mines through comprehensive innovation in four aspects: chassis mobility, perception dimension, system synergy, and environmental adaptability. It can replace rescue personnel in entering the most dangerous areas, comprehensively, quickly, and accurately obtain key information, and provide a solid technical guarantee for scientific rescue and saving lives.

[0062] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A coal mine underground emergency rescue robot, comprising a tracked robot body, characterized in that: The tracked robot body includes a vehicle body (12), a driving system (11), and an upper structure installed on the vehicle body (12); The driving system (11) includes main track travel units respectively disposed on the left and right sides of the vehicle body (12). Each main track travel unit includes a drive wheel (1101), an idler wheel (1107), a track (1102) surrounding the drive wheel (1101) and the idler wheel (1107), and at least one load-bearing wheel assembly connected between the vehicle body (12) and the track (1102). Each of the main track travel units is also provided with a swing arm wheel unit (1108) at the front end. The swing arm wheel unit (1108) is connected to the output end of the rocker arm wheel reducer (110) located at the front of the vehicle body (12) through the swing arm wheel connecting shaft (111). The inducer wheel (1107) is mounted on the swing arm wheel connecting shaft (111) via a bearing (1109), so that the rotation of the inducer wheel (1107) is independent of the rotation of the swing arm wheel connecting shaft (111).

2. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The superstructure includes: The three-dimensional scanning and modeling module (3) is fixedly installed in the middle of the top surface of the vehicle body (12) and is used to collect environmental spatial data and build a three-dimensional map; The gas detection module (5) is fixedly installed on the top surface of the vehicle body (12) near the front end, and is used to detect the concentration of ambient gas in real time. The surround view system module (2) includes cameras (201) respectively set in the front, rear, left and right directions on the top of the vehicle body (12) for collecting 360-degree panoramic images.

3. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The upper structure also includes a low visibility adaptation module (6), which includes at least one infrared camera (601) installed on the top surface of the vehicle body (12) near the front end and a lighting device installed at the front end of the vehicle body (12).

4. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The upper equipment also includes a vehicle positioning system (4), which is located on the top surface of the vehicle body (12) near the rear end and is used to provide the robot's position information.

5. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The swing arm wheel unit (1108) includes: The main wheel (11801) and the auxiliary wheel (11802) are connected to the swing arm wheel connecting shaft (111); The swing arm wheel track (11803) is wrapped around the main wheel (11801) and the auxiliary wheel (11802); The swing arm wheel structural components (11804, 11805) are connected between the main wheel (11801) and the auxiliary wheel (11802) to form the support frame of the swing arm wheel unit (1108).

6. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The load-bearing wheel assembly includes a load-bearing wheel (1104) and a load-bearing wheel frame (1103) for mounting the load-bearing wheel (1104). The load-bearing wheel frame (1103) is mounted on the lower side of the vehicle body (12). The load-bearing wheel (1104) contacts the inner side of the track (1102).

7. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The driving system (11) also includes a tow wheel (1106), which is mounted on the upper part of the side of the vehicle body (12) via a tow wheel frame (11602) and the tow wheel (1106) contacts the inner side of the track (1102) for tensioning the track (1102).

8. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The superstructure also includes auxiliary equipment (8), which includes an alarm light (801) and a loudspeaker (802) installed on the vehicle body (12).

9. The coal mine underground emergency rescue robot according to claim 1, characterized in that, The front and rear ends of the vehicle body (12) are respectively provided with tow hooks (803) for connecting with other equipment.

10. A robot system, characterized in that, The coal mine underground emergency rescue robot, as described in any one of claims 1 to 9, is equipped with a communication module (18). The control terminal is signal-connected to the communication module (18) of the robot and is used to receive data from the robot and send control commands to the robot; The command terminal is connected to the communication module (18) of the robot and is used to receive and store all data from the robot.

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