Mine inspection device

Abstract

The invention discloses a mine inspection device, which comprises a metamorphic rack, a rack driving assembly, a track driving assembly and a ground moving assembly, and is characterized in that the metamorphic rack is arranged, four first connecting rods, two second connecting rods and four third connecting rods are oppositely arranged, and adjacent structures are hinged to form a frame structure, so that different working states are formed; the machine frame driving assemblies are used for driving the multi-section structure of the metamorphic machine frame to be folded or unfolded, the machine frame driving assemblies are oppositely arranged so that the machine frame driving assemblies can approach and clamp a rail to operate and move in the folded state, and when the metamorphic machine frame is unfolded, the unfolding area in the unfolded state is utilized, so that the metamorphic machine frame is folded or unfolded. The metamorphic machine frame can move on the ground through the ground moving assembly, the unfolding and folding states of a single platform and the double-area moving capacity of a track in a mine tunnel and the ground are achieved, the adaptability to different moving areas in the mine tunnel is improved, and the mine inspection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of mine inspection equipment technology, and in particular to a mine inspection device. Background Technology

[0002] Coal mines present a complex underground environment with numerous critical equipment and facilities used for production, transportation, and safety. Their stable operation is the cornerstone of safe coal mine production. To ensure the normal operation of these equipment and facilities, regular inspections of roadways, tracks, pipelines, and ventilation systems are necessary. Traditional inspection work relies mainly on manual labor, which is not only inefficient and labor-intensive, but also poses a serious threat to the personal safety of inspection personnel in dangerous areas such as gas accumulation and roof collapse.

[0003] Coal mine inspection robots can perform inspection tasks in harsh environments with high temperature, high humidity, and toxic and harmful substances, effectively reducing safety risks. Existing inspection robots often have limited functions and forms, either limited to running on preset rails, which, although covering a wide range, cannot cope with emergency inspection needs when the rails are damaged or derailed; or they are only ground mobile robots, which, although flexible, cannot utilize the existing underground rail system for efficient and stable long-distance cruising.

[0004] The fragmentation of this function and its applicable scope means that in order to achieve comprehensive inspection of a fixed area underground, it is often necessary to deploy multiple robots of different types, which results in high equipment costs, complex system coordination, and monitoring blind spots. Summary of the Invention

[0005] Therefore, there is a need to provide a mine inspection device to address the problems of fragmented functions and applicable scope of existing inspection equipment, which makes it difficult to achieve comprehensive inspection of fixed areas underground, resulting in high equipment costs, complex system coordination, and monitoring blind spots.

[0006] To achieve the above objectives, the inventors provide a mine inspection device, including a variable-cell frame, a frame drive assembly, a track drive assembly, and a ground movement assembly;

[0007] The variable cell frame includes four first links, two second links, four third links, an inner drive rope, and an outer drive rope. The third links are hinged in pairs and arranged opposite each other. The two ends of the hinged third links are respectively hinged to the first links. The second links are hinged between the first links. The inner drive rope is slidably connected to the inner side of the variable cell frame, and the outer drive rope is slidably connected to the outer side of the variable cell frame.

[0008] The frame drive assembly is connected to the inner drive rope and the outer drive rope, and is used to pull the inner drive rope and release the outer drive rope, or release the inner drive rope and pull the inner drive rope, so that the first link and the second link can move closer to or further away from each other.

[0009] The track drive assembly is disposed opposite to the first or second link of the variable cell frame, and is used to contact or disengage from the track;

[0010] The ground moving component is connected to the variable cell frame and is positioned downwards from the variable cell frame.

[0011] In a preferred embodiment of this application, the frame drive assembly includes a drive motor, an outer winding drum, and an inner winding drum. The drive motor is connected to the outer and inner winding drums via gears, driving them to rotate in opposite directions. The outer winding drum is connected to one end of an outer drive rope, and the inner winding drum is connected to one end of an inner drive rope. By configuring the drive motor, outer winding drum, and inner winding drum, and relying on a single drive motor to drive and connect the outer and inner winding drums, the outer and inner winding drums can operate simultaneously in either the forward or reverse direction, enabling simultaneous operation of the inner and outer drive ropes. This allows for the simultaneous unfolding or folding control of the variable-cell frame, simplifying the linkage structure of the frame drive assembly.

[0012] In a preferred embodiment of this application, the number of frame drive assemblies is two, with the inner winding drums of the two frame drive assemblies respectively connected to both ends of the inner drive rope, and the outer winding drums of the two frame drive assemblies respectively connected to both ends of the outer drive rope.

[0013] In a preferred embodiment of this application, the track drive assembly includes a first drive roller and a second drive roller. The first drive roller and the second drive roller are disposed on a first link or a second link disposed opposite to each other on the variable-cell frame, and a track contact area is formed between the first drive roller and the second drive roller.

[0014] In a preferred embodiment of this application, a limiting frame is provided on the first, second, or third link of the variable-cell frame. The limiting frame contacts or disengages from adjacent first, second, or third links. By providing the limiting frame on the variable-cell frame, the positioning angle of adjacent first, second, or third links in the folded or unfolded state is limited by the area restricted by the limiting protrusion.

[0015] In a preferred embodiment of this application, a guide limiting slider is provided on at least one side of the inner or outer side of the variable cell frame, and the inner drive rope or outer drive rope is disposed between the variable cell frame and the guide limiting slider. By providing the guide limiting slider, the inner drive rope or outer drive rope is disposed between the variable cell frame and the guide limiting slider, which facilitates maintaining its relative position inside or outside the variable cell frame when the inner drive rope or outer drive rope is pulled, guides the sliding state, ensures the stability of the expansion and contraction of the variable cell frame, and reduces external scratching and wear of the inner drive rope or outer drive rope.

[0016] In a preferred embodiment of this application, the variable-cell rack further includes an electronic component cavity. By providing an electronic component cavity, it is convenient to integrate the power supply, circuit board, and electrical appliances into a single space, ensuring that they do not affect the extension and retraction of the variable-cell rack or the operation of the equipment, and avoiding interference.

[0017] In a preferred embodiment of this application, the variable-cell frame further includes a detection module, which is electrically connected to the electronic component cavity. By providing the detection module, it is convenient to detect, identify, and judge the environment, routes, and signals.

[0018] In a preferred embodiment of this application, the track drive assembly has two or more drive units on each side, and the drive units are arranged along the length of the variable-cell frame. By setting the number of drive units on each side of the track drive assembly to two or more, and the drive units being arranged along the length of the variable-cell frame, it is easier to increase the contact area with the track by relying on the arranged track drive assemblies, thereby improving the stability of the mine inspection device when moving on the track.

[0019] In a preferred embodiment of this application, the track drive assembly and the ground movement assembly are selected from hub motors.

[0020] Unlike existing technologies, the above technical solution has the following advantages: by setting up a variable-cell frame, four first links, two second links, and four third links are arranged opposite each other, and adjacent structures are hinged to form a frame structure, forming different working states. The frame drive assembly is used to drive the multi-segment structure of the variable-cell frame to fold or unfold. The relative arrangement of the frame drive assembly allows it to approach and clamp the track for operation and movement in the folded state. In the unfolded state, the unfolded area of ​​the variable-cell frame allows it to move on the ground using the ground movement assembly, realizing the unfolded and folded states of a single platform, and the dual-area movement capability of the track and the ground in the mine tunnel, improving the adaptability to different movement areas in the mine tunnel and improving the efficiency of mine inspection. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the mine inspection device in an embodiment of the present invention;

[0022] Figure 2 This is a top view of the mine inspection device in its deployed state according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the folded state of the mine inspection device in an embodiment of the present invention;

[0024] Figure 4 This is a detailed structural diagram of the rack drive assembly in an embodiment of the present invention;

[0025] Figure 5 This is a side view of the folded state of the variable-cell frame in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 10. Variable cell frame;

[0028] 11. First link; 12. Second link; 13. Third link;

[0029] 14. Guide and limit slider; 15. Electronic component cavity; 16. Detection module;

[0030] 17. Limiting bracket;

[0031] 20. Rack drive assembly;

[0032] 21. Internal drive rope; 22. External drive rope; 23. Drive motor;

[0033] 24. Outer winding spool; 25. Inner winding spool;

[0034] 30. Track drive assembly;

[0035] 31. First drive roller; 32. Second drive roller;

[0036] 40. Ground moving components. Detailed Implementation

[0037] To explain in detail the technical content, structural features, objectives, and effects of the technical solution, the following description is provided in conjunction with specific embodiments and accompanying drawings.

[0038] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0039] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0040] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0041] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0042] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0043] Similar to the interpretation in the Patent Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also interpreted in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0044] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0045] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0046] Please refer to the following: Figures 1 to 5 The present invention provides a mine inspection device, including a variable-cell frame 10, a frame drive assembly 20, a track drive assembly 30, and a ground movement assembly 40.

[0047] The variable cell frame 10 includes four first links 11, two second links 12, four third links 13, an inner drive rope 21, and an outer drive rope 22. The third links 13 are hinged in pairs and arranged opposite each other. The two ends of the three links 13 are respectively hinged to the first links 11. The second links 12 are hinged between the first links 11. The inner drive rope 21 is slidably connected to the inner side of the variable cell frame 10, and the outer drive rope 22 is slidably connected to the outer side of the variable cell frame 10, so that the first links 11, second links 12, and third links 13 are hinged to form a closed loop structure.

[0048] The frame drive assembly 20 is connected to the inner drive rope 21 and the outer drive rope 22. In this embodiment, the frame drive assembly 20 is disposed on the first connecting rod 11; in other embodiments, it may be disposed on the second connecting rod 12. It is used to pull the inner drive rope 21 and release the outer drive rope 22, or to release the inner drive rope 21 and pull the inner drive rope 22, so that the first connecting rod 11 and the second connecting rod 12 can move closer or further apart, forming a frame or folded structure.

[0049] The track drive assembly 30 is disposed opposite to the first link 11 or the second link 12 of the variable cell frame 10. In this embodiment, it is disposed on the second link 12, but in other embodiments, it may be disposed on the first link 11. It is used to contact or disengage from the track. The ground moving assembly 40 is connected to the variable cell frame 10. In this embodiment, it is connected to the first link 11, but in other embodiments, it may be disposed on the second link 12 and positioned downwards from the variable cell frame 10.

[0050] According to the above structure, during the actual use of the mine inspection device, when it is moving on the ground, the first link 11 and the second link 12 of the variable-cell frame 10 tighten the inner drive rope 21 toward the frame drive assembly 20, and are pulled open when the outer drive rope 22 is released. Furthermore, when the first link 11, the second link 12, and the third link 13 rotate along the hinge point, the variable-cell frame 10 forms an unfolded frame structure under the constraint of the contact point or limiting block, for example, with the first link 11 and the second link 12 perpendicular to each other. This forms the working state of the mine inspection device moving on the ground, relying on the ground moving assembly 40 to contact the ground and perform movement processing.

[0051] When the mine inspection device needs to be transferred to the track for track-oriented operation, the mine inspection device moves to the top of the slope or the docking section where the track is lowered, so that the track drive components 30 located on both sides of the variable-cell frame 10 are positioned on both sides of the track. The track can be an I-beam, a rectangular track, or a grooved structure. At this time, the frame drive component 20 releases the inner drive rope 21 and tightens the outer drive rope 22. The first link 11, the second link 12, and the third link 13 of the variable-cell frame 10 rotate along the hinge point and move closer to each other, forming a folded frame structure variable-cell frame 10. The track drive components 30, which are positioned opposite each other on the variable-cell frame 10, move closer to each other and reach the predetermined contact area of ​​the track. Then, the track drive components 30 work to move on the track. By setting up a variable-cell frame 10, four first links 11, two second links 12, and four third links 13 are arranged opposite each other, and adjacent structures are hinged to form a frame structure, which can form different working states. The frame drive assembly 20 is used to drive the multi-segment structure of the variable-cell frame 10 to fold or unfold. The relative arrangement of the frame drive assembly 20 allows it to approach and clamp the track for operation and movement in the folded state. In the unfolded state, the variable-cell frame 10 can use the unfolded area to move on the ground using the ground movement assembly 40, realizing the unfolded and folded states of a single platform, and the dual-area movement capability of the track and the ground in the mine tunnel, improving the adaptability to different movement areas in the mine tunnel and improving the efficiency of mine inspection.

[0052] In the above embodiments, when a single frame drive assembly 20 is used, one end of the inner drive rope 21 and the outer drive rope 22 are connected to the first link 11, the second link 12, or the third link 13 of the variable frame 10, and the other end is connected to the frame drive assembly 20. Furthermore, the inner drive rope 21 and the outer drive rope 22 are slidably connected to at least two structures on the first link 11, the second link 12, or the third link 13. In this embodiment, the inner drive rope 21 and the outer drive rope 22 are slidably connected to the first link 11 and the second link 12.

[0053] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, the frame drive assembly 20 includes a drive motor 23, an outer winding drum 24, and an inner winding drum 25. The drive motor 23 is connected to the outer winding drum 24 and the inner winding drum 25 via gears, driving them to rotate in opposite directions. The outer winding drum 24 is connected to one end of the outer drive rope 22, and the inner winding drum 25 is connected to one end of the inner drive rope 21. By configuring the drive motor 23, the outer winding drum 24, and the inner winding drum 25, and relying on a single drive motor 23 to connect the outer winding drum 24 and the inner winding drum 25 via gears, the outer winding drum 24 and the inner winding drum 25 can operate simultaneously in either the forward or reverse direction, enabling simultaneous operation of the inner drive rope 21 and the outer drive rope 22. This allows for the unfolding or folding control of the variable-cell frame 10, simplifying the linkage structure of the frame drive assembly 20.

[0054] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, the number of frame drive assemblies 20 is two. The inner winding drums 25 of the two frame drive assemblies 20 are respectively connected to both ends of the inner drive rope 21, and the outer winding drums 24 of the two frame drive assemblies 20 are respectively connected to both ends of the outer drive rope 22. During the driving process, the two frame drive assemblies 20 can work simultaneously, improving the unfolding or folding efficiency.

[0055] In other embodiments, the number of rack drive assemblies 20 can be three or four. By providing more rack drive assemblies 20 on the variable-cell rack 10, it is easier to drive both sides of the variable-cell rack 10, thereby further improving efficiency.

[0056] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, the track drive assembly 30 includes a first drive roller 31 and a second drive roller 32. The first drive roller 31 and the second drive roller 32 are disposed on a first connecting rod 11 or a second connecting rod 12 disposed opposite to each other on the variable-cell frame 10, and a track contact area is formed between the first drive roller 31 and the second drive roller 32.

[0057] Please refer to the following: Figures 1 to 5In a preferred embodiment of this application, a limiting frame 17 is provided on the first link 11, the second link 12, or the third link 13 of the variable-cell frame 10. The limiting frame 17 contacts or disengages from adjacent first links 11, second links 12, or third links 13. By providing the limiting frame 17 on the variable-cell frame 10, the positioning angle of adjacent first links 11, second links 12, or third links 13 in the folded or unfolded state is limited by the area restricted by the limiting protrusion. During operation, the abutment positioning operation is achieved by the end of the first link 11, second link 12, or third link 13 contacting the limiting frame 17 on the adjacent hinge structure.

[0058] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, a guide and limiting slider 14 is provided on at least one side of the inner or outer side of the variable cell frame 10, and the inner drive rope 21 or the outer drive rope 22 is disposed between the variable cell frame 10 and the guide and limiting slider 14. By providing the guide and limiting slider 14, the inner drive rope 21 or the outer drive rope 22 is disposed between the variable cell frame 10 and the guide and limiting slider 14, which facilitates maintaining the relative position of the inner drive rope 21 or the outer drive rope 22 on the inner or outer side of the variable cell frame 10 when the inner drive rope 21 or the outer drive rope 22 is pulled, and guides the sliding state, ensuring the stability of the expansion and contraction of the variable cell frame 10, and reducing the external scratching and wear of the inner drive rope 21 or the outer drive rope 22.

[0059] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, the variable-cell frame 10 further includes an electronics cavity 15. By providing the electronics cavity 15, it is convenient to integrate the power supply, circuit board, and electrical appliances into a single space, ensuring that they do not affect the extension and retraction of the variable-cell frame 10 or the operation of the equipment, thus avoiding interference.

[0060] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, the variable-cell frame 10 further includes a detection module 16, which is electrically connected to the electronic component cavity 15. Specifically, the detection module 16 can be a structure such as a camera, infrared detector, millimeter-wave radar, or thermal imaging camera. By setting up the detection module 16, it is convenient to detect, identify, and judge the environment, routes, and signals.

[0061] Please refer to the following: Figures 1 to 5In a preferred embodiment of this application, the track drive assembly 30 has two or more drive units on each side, and the drive units are arranged along the length direction of the variable-cell frame 10. By setting the number of drive units on each side of the track drive assembly 30 to two or more, and the drive units being arranged along the length direction of the variable-cell frame 10, it is convenient to increase the contact area with the track by relying on the arranged track drive assemblies 30, thereby improving the stability of the mine inspection device when moving on the track.

[0062] Please refer to the following: Figures 1 to 5 In a preferred embodiment of this application, the track drive assembly 30 and the ground moving assembly 40 are selected as hub motors.

[0063] In the above embodiments, in order to adapt to the rotation of the first link 11, the second link 12 and the third link 13 of the variable cell frame 10 along the hinge point, when the first link 11, the second link 12 and the third link 13 are hinged at the hinge point, they can rely on the sliding groove provided along the length direction to achieve sliding connection with the hinge point, or perform positioning adaptation by rotating at the corresponding angle before use.

[0064] In the above embodiment, the third link 13 can be slidably connected to the first link 11 in the length direction by a bracket. During the folding and unfolding process, the hinge points of two adjacent third links 13 can follow the angle change of the first link 11, so that the third link 13 follows its adjacent first link 11 to rotate, thereby realizing the folding and unfolding process.

[0065] In the above embodiment, the third link 13 can also be slidably connected to the inner drive rope 21 and the outer drive rope 22, and one end is connected to the area near the hinge point of the two third links. The angle rotation control of the third link 13 is achieved by the sliding and end pulling process of the inner drive rope 21 and the outer drive rope 22.

[0066] In the above embodiment, the inner side of the variable cell frame 10 is the side of the first link 11, the second link 12 and the third link 13 facing the center point on the horizontal plane of the variable cell frame 10.

[0067] The outer side of the variable cell frame 10 is the side on the horizontal plane of the variable cell frame 10 where the first link 11, the second link 12, and the third link 13 face in the opposite direction to the center point.

[0068] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of the present invention, or equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of patent protection of the present invention.

Claims

1. A mine inspection device, characterized in that, This includes a modular frame, frame drive assembly, track drive assembly, and ground movement assembly; The variable cell frame includes four first links, two second links, four third links, an inner drive rope, and an outer drive rope. The third links are hinged in pairs and arranged opposite each other. The two ends of the hinged third links are respectively hinged to the first links. The second links are hinged between the first links. The inner drive rope is slidably connected to the inner side of the variable cell frame, and the outer drive rope is slidably connected to the outer side of the variable cell frame. The frame drive assembly is connected to the inner drive rope and the outer drive rope, and is used to pull the inner drive rope and release the outer drive rope, or release the inner drive rope and pull the inner drive rope, so that the first link and the second link can move closer to or further away from each other. The track drive assembly is disposed opposite to the first or second link of the variable cell frame, and is used to contact or disengage from the track; The ground moving component is connected to the variable cell frame and is positioned downwards from the variable cell frame.

2. The mine inspection device according to claim 1, characterized in that, The frame drive assembly includes a drive motor, an outer winding drum, and an inner winding drum. The drive motor is connected to the outer winding drum and the inner winding drum via gears, driving the outer winding drum and the inner winding drum to rotate in opposite directions. The outer winding drum is connected to one end of an outer drive rope, and the inner winding drum is connected to one end of an inner drive rope.

3. A mine inspection device according to claim 2, characterized in that, The number of frame drive assemblies is two, with the inner winding drums of the two frame drive assemblies respectively connected to both ends of the inner drive rope, and the outer winding drums of the two frame drive assemblies respectively connected to both ends of the outer drive rope.

4. A mine inspection device according to claim 1, characterized in that, The track drive assembly includes a first drive roller and a second drive roller. The first drive roller and the second drive roller are disposed on a first link or a second link that is disposed opposite to each other on the variable-cell frame, and a track contact area is formed between the first drive roller and the second drive roller.

5. A mine inspection device according to claim 1, characterized in that, The first, second, or third link of the variable cell frame is provided with a limiting frame, which contacts or disengages from the adjacent first, second, or third link.

6. A mine inspection device according to claim 1, characterized in that, The variable cell frame is provided with a guide limiting slider on at least one side of its inner or outer side, and the inner drive rope or the outer drive rope is disposed between the variable cell frame and the guide limiting slider.

7. A mine inspection device according to claim 1, characterized in that, The variable-cell frame also includes an electronics cavity.

8. A mine inspection device according to claim 7, characterized in that, The variable cell frame also includes a detection module, which is electrically connected to the electronic component cavity.

9. A mine inspection device according to claim 1, characterized in that, The track drive assembly has two or more drive units on each side, and the drive units are arranged along the length of the variable-cell frame.

10. A mine inspection device according to claim 1, characterized in that, The track drive assembly and the ground movement assembly are selected from hub motors.

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