A mine inspection and hazard elimination robot

Abstract

This invention discloses a mine inspection and hazard removal robot, comprising: a robot body; a tracked structure disposed on both sides of the robot body; an adjustment structure disposed on the upper end of the robot body, the output end of the adjustment structure having a frame with two placement slots on one side of the frame, and an industrial camera fixedly connected inside the placement slots; a dust blowing structure disposed on the upper end of the frame and corresponding to the position of the industrial camera lens; a lifting structure disposed inside the adjustment structure for raising and lowering the output end of the adjustment structure; a marking structure, two sets of marking structures symmetrically disposed on the upper end of the robot body; and a multi-layer sensor array fixedly connected to the upper end of the robot body. The advantages of this invention are: it not only ensures stable robot movement and increases the shooting angle and height of the industrial camera, but also allows for timely cleaning of the industrial camera and marking of abnormalities.

Description

Technical Field

[0001] This invention relates to the field of mine inspection technology, specifically a mine inspection hazard elimination robot. Background Technology

[0002] A mine shaft is a general term encompassing the mining areas, shafts, chambers, equipment, surface buildings, and structures that form an underground non-coal mine and coal mine production system. Sometimes, inclined shafts, vertical shafts, and adits in underground mine development are also referred to as mine shafts. Determining the size of each mine's mining area, its production capacity, and its service life is one of the key issues that must be addressed in the overall mine design.

[0003] Mine roadways mainly include: vertical roadways, horizontal roadways, inclined roadways, and chambers. Vertical roadways have their long axis perpendicular to the horizontal plane, such as vertical shafts, underground vertical shafts, and ore passes. Horizontal roadways have their long axis approximately parallel to the horizontal plane, such as adits, level tunnels, and stone gates. Inclined roadways have their long axis at an angle to the horizontal plane, such as inclined shafts, uphill shafts, downhill shafts, and branch inclined tunnels. Chambers are spatial structures with a large cross-section and relatively short length, excavated and constructed underground for specific purposes, such as winch rooms, pump rooms, substations, and coal bunkers.

[0004] In the unique environment of underground coal mines, the composition and quality of mine air change, the amount of coal dust and other combustible gases mixed in varies, and the air temperature also varies considerably. These factors can all cause methane to explode.

[0005] During underground operations, it is necessary to conduct inspections to detect the content of harmful gases and methane in the gas to ensure underground safety. However, when conducting inspections on inclined roadways, there may be a lot of coal chunks on the surface of the inclined roadway, which affects the normal operation of the inspection device. Chinese patent publication number CN115297251B discloses a monitoring device for underground inspection robots in coal mines, but it has the problem of limited monitoring range and has certain limitations.

[0006] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] The technical problem to be solved by this invention is to overcome the above-mentioned technical defects and provide a mine inspection and hazard elimination robot. It can not only ensure the robot's stable movement and increase the shooting angle and height of the industrial camera, but also clean the loose rocks on the roof of the mining area and roadway, identify risks, etc., and clean the industrial camera in a timely manner and mark abnormalities.

[0008] To solve the above problems, the technical solution of the present invention is: a mine inspection and hazard elimination robot, comprising: Robot body; Tracked structure, wherein the tracked structure is disposed on both sides of the robot body; An adjustment structure is provided on the upper part of the robot body. The output end of the adjustment structure is provided with a frame. Two placement slots are opened on one side of the frame, and an industrial camera is fixedly connected inside the placement slot. A dust blowing structure is provided at the upper end of the frame and corresponds to the position of the lens of the industrial camera. A lifting structure, which is disposed inside the adjustment structure, is used to raise or lower the output end of the adjustment structure. The two sets of the marker structures are symmetrically arranged on the upper end of the robot body. A multi-layer sensor array is fixedly connected to the upper part of the robot body.

[0009] Preferably, the adjustment structure includes: The base has a lifting plate that can slide up and down at its upper end. A support rod is fixedly connected to one end of the base, and a universal adapter ball is fixedly connected to the other end of the support rod. The lower end of the frame is movably connected to the universal adapter ball through a universal adapter ball seat. Two motors are fixedly connected to the two ends of the lifting plate symmetrically, and a connecting block is fixedly connected to the output end of each motor. An electric actuator, wherein the fixed end of the electric actuator is fixedly connected to a connecting block, and the telescopic end of the electric actuator is fixedly connected to a universal adapter ball, and one end of the frame is movably connected to the universal adapter ball through a universal adapter ball seat.

[0010] Preferably, the dust blowing structure includes: The housing is fixedly connected to the upper end of the frame and communicates with the placement slot; Motor 2 is fixedly connected to the outer end of the housing. A connecting rod 1 is fixedly provided at the output end of motor 2. The connecting rod 1 is located inside the housing. The other end of the connecting rod 1 is hinged to connecting rod 2. Link three, the upper end of which is hinged to the inside of the housing, and the lower end of which is fixedly connected to a mounting plate, and a miniature fan is fixedly connected inside the mounting plate, and the end of link two away from link one is hinged to the middle of link three, and the mounting plate is located above the lens of the industrial camera.

[0011] Preferably, the lifting structure includes: Slide 1 is fixedly connected to the lower end of the lifting plate. Slide 1 is slidably hinged to hinge block 2. One end of hinge block 2 is fixedly connected to support rod 1. The lower end of support rod is hinged to the upper end of the base. The second slide is fixedly connected to the upper end of the base. The second slide is slidably hinged to a hinge block, and the other end of the hinge block is fixedly connected to a support rod, and the other end of the support rod is hinged to the lower end of the lifting plate. A cylinder telescopic rod, the lower end of which is hinged to the upper end of the base.

[0012] Preferably, the first support rod and the second support rod are hinged together at the middle, and a crossbar is fixedly connected between the two second support rods. The upper extension end of the cylinder extension rod is hinged to the crossbar.

[0013] Preferably, the marker structure includes: A rotating disk, which is fixedly connected to the upper end of the robot body; Robotic arm one, which is rotatably connected to the upper end of the rotating disk; Robotic arm two, which is hinged to robotic arm one; Robotic arm three is hinged to robotic arm two, and a nozzle is fixedly connected to the other end of robotic arm three.

[0014] Preferably, the tracked movement structure includes an output wheel, a buffer wheel, and a track. The output wheel is rotatably connected to one end of the machine body. A support wheel one is provided between the two output wheels, and a support wheel two is provided below the two output wheels. A connecting plate is provided at one end of the buffer wheel. The upper end of the connecting plate is rotatably connected to one end of the machine body. A connecting rod is rotatably provided at one end of the connecting plate. A spring damper is provided at the other end of the connecting rod. A rotating shaft is provided at the other end of the spring damper. The rotating shaft is rotatably connected to the machine body. The track is sleeved on the output wheel, support wheel one, support wheel two, and buffer wheel.

[0015] Preferably, one end of the buffer wheel is rotatably connected to the connecting plate, and the inner side of the track is engaged with the output wheel, support wheel one, support wheel two and the buffer wheel. The inner side of the track is provided with guide ribs, and the output wheel, support wheel one, support wheel two and the buffer wheel are provided with an annular groove that matches the guide ribs.

[0016] Preferably, connecting ears are fixedly connected to the four corners of the upper end of the robot body.

[0017] Preferably, the multi-layer sensor array includes, but is not limited to: lidar sensors, millimeter-wave radar sensors, ultrasonic sensors, temperature sensors, and dust sensors.

[0018] The advantages of this invention compared to existing technologies are: 1. The rotation of the motor in this invention can drive the connecting block to rotate, which in turn drives the frame to rotate up and down through the electric push rod. The vertical angle of the industrial camera can be adjusted. The two electric push rods can extend and retract to different lengths, thereby allowing the frame to rotate in the horizontal direction. Universal adapter ball one and universal adapter ball two can ensure that the frame and the industrial camera can rotate at different angles. 2. The industrial camera of this invention is equipped with a protective cover on the outside to protect the camera and block some dust. When it is necessary to clean the dust on the lens surface, the second motor starts and drives the first connecting rod to rotate, so that the end of the second connecting rod connected to the first connecting rod makes a circular motion, and the other end of the second connecting rod drives the third connecting rod to swing back and forth. That is, the third connecting rod swings back and forth around the hinge point with the housing, thereby driving the miniature fan to swing, which can remove some dust from the lens surface and ensure the clarity of the industrial camera. 3. The tracked moving structure of the present invention is equipped with a buffer wheel. When the buffer wheel is vibrated, it drives the connecting plate to rotate. The rotation of the connecting plate transmits the vibration to the spring damper through the connecting rod. The spring damper absorbs the vibration and avoids damage to the robot and equipment. Attached Figure Description

[0019] Figure 1 This invention relates to an integrated three-dimensional inspection and hazard elimination robot for mines. Figure 1 .

[0020] Figure 2 This invention relates to an integrated three-dimensional inspection and hazard elimination robot for mines. Figure 1 .

[0021] Figure 3 This is a three-dimensional view of the internal structure of a mine inspection and hazard elimination robot according to the present invention.

[0022] Figure 4 This is an enlarged view of point A of the mine inspection and hazard elimination robot of the present invention.

[0023] Figure 5 This is an enlarged view of section B of the mine inspection and hazard elimination robot of the present invention.

[0024] Figure 6 This is an enlarged view of section C of the mine inspection and hazard elimination robot of the present invention.

[0025] Figure 7 This is a diagram of the internal structure of the base of a mine inspection and hazard elimination robot according to the present invention.

[0026] Figure 8 This is a system architecture diagram of a mine inspection and hazard elimination robot according to the present invention.

[0027] As shown in the figure: 1. Robot body; 2. Tracked movement structure; 201. Output wheel; 202. Support wheel one; 203. Connecting plate; 204. Buffer wheel; 205. Track; 206. Rotating shaft; 207. Spring damper; 208. Connecting rod; 209. Guide rib; 210. Support wheel two; 3. Connecting ear; 4. Frame; 5. Industrial camera; 6. Adjustment structure; 601. Base; 602. Lifting plate; 603. Motor one; 604. Connecting block; 605. Electric actuator; 606. Universal adapter ball one; 607. Support rod; 608. Universal adapter ball two; 7. Dust blowing structure; 701. Shell; 702. Connecting rod three; 703. Mounting plate; 704, Link 2; 705, Link 1; 706, Motor 2; 8, Lifting structure; 801, Slide groove 2; 802, Slide groove 1; 803, Hinge block 1; 804, Hinge block 2; 805, Support rod 1; 806, Support rod 2; 807, Cylinder telescopic rod; 808, Crossbar; 9, Marking structure; 901, U-shaped frame; 902, Slide groove; 903, Slider; 904, Rack; 905, Connecting block; 906, Rotating rod; 907, Gear; 908, Bevel gear 1; 909, Bevel gear 2; 910, Motor; 911, Grinding disc; 912, Dust cover; 913, Hose; 914, Vacuum cleaner; 10, Multi-layer sensor array. Detailed Implementation

[0028] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0029] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0030] To make the content of this invention easier to understand, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0031] Example 1 like Figures 1 to 8 As shown, a mine inspection and hazard removal robot includes a robot body 1. Connecting ears 3 are fixedly connected to the four corners of the upper end of the robot body 1, allowing external equipment such as cranes to place the robot underground through the connecting ears 3. Tracked structures 2 are located on both sides of the robot body 1. Compared to general mobile devices, tracked structures 2 have obstacle-crossing capabilities, enabling movement on uneven ground and better adaptability to terrain.

[0032] Tracked moving structure 2 includes output wheels 201, which are rotatably mounted on one end of the machine body 1. Two output wheels 201 are located on both sides of the upper end inside the track 205. A power system is installed inside the machine body 1, which controls the rotation of the output wheels 201. A support wheel 202 is installed between the two output wheels 201 and is rotatably connected to one end of the machine body 1. A support wheel 210 is rotatably mounted on one end of the machine body 1. The support wheel 202 and the support wheel 210 are used to support the track 205. The support wheel 210 is installed below the two output wheels 201. The upper end of the connecting plate 203... The buffer wheel 204 is rotatably mounted at one end of the machine body 1. A rotatable connecting plate 203 is mounted at one end of the buffer wheel 204. A rotatable connecting rod 208 is mounted at one end of the connecting plate 203. A spring damper 207 is mounted at the other end of the connecting rod 208. A rotating shaft 206 is mounted at the other end of the spring damper 207. The rotating shaft 206 is rotatably mounted at one end of the machine body 1. When the track 205 moves on the pit ground and generates vibration, the buffer wheel 204 is vibrated, causing the connecting plate 203 to rotate. The rotation of the connecting plate 203 transmits the vibration to the spring damper 207 through the connecting rod 208. The spring damper 207 absorbs the vibration force.

[0033] The track 205 is fitted onto the output wheel 201, support wheel 1 202, support wheel 210, and buffer wheel 204. The inner side of the track 205 is engaged with the output wheel 201, support wheel 1 202, support wheel 210, and buffer wheel 204. When the output wheel 201 rotates, it can drive the track 205 to drive. The inner side of the track 205 is equipped with guide ribs 209. The output wheel 201, support wheel 1 202, support wheel 210, and buffer wheel 204 are provided with annular grooves that match the guide ribs 209, which can ensure the stability of the connection between the track 205 and the output wheel 201, support wheel 1 202, support wheel 210, and buffer wheel 204.

[0034] The adjustment structure 6 is located on the upper part of the robot body 1. The output end of the adjustment structure 6 is equipped with a frame 4. Two placement slots are installed on one side of the frame 4. An industrial camera 5 is fixedly connected inside the placement slot. The adjustment structure 6 allows the frame 4 and the industrial camera 5 to rotate at multiple angles, which can increase the shooting angle of the industrial camera 5 and avoid blind spots.

[0035] The adjustment structure 6 includes a base 601, with a sliding lifting plate 602 mounted on the upper end of the base 601. A support rod 607 is fixedly connected to one end of the base 601, and a universal joint ball 608 is fixedly connected to the other end of the support rod 607. The lower end of the frame 4 is movably connected to the universal joint ball 608 via a universal joint ball seat. Two motors 603 are fixedly connected to the symmetrical ends of the lifting plate 602, and a connecting block 604 is fixedly connected to the output end of each motor 603. The fixed end of the electric push rod 605 is fixedly connected to the connecting block 604, and the telescopic end of the electric push rod 605 is fixedly connected to a universal joint ball 606. One end of the frame 4 is movably connected to the universal joint ball 606 via a universal joint ball seat. The rotation of motor 603 can drive the connecting block 604 to rotate, which in turn drives the frame 4 to rotate up and down through electric actuator 605. This can adjust the vertical angle of the industrial camera 5. The two electric actuators 605 can extend and retract to different lengths, thus allowing the frame 4 to rotate horizontally. Universal adapter ball 606 and universal adapter ball 608 can ensure that the frame 4 can rotate at different angles.

[0036] Two sets of marking structures 9 are symmetrically arranged on the upper end of the robot body 1. Each marking structure 9 includes a rotating disk 901, which is fixedly connected to the upper end of the robot body 1. A first robotic arm 902 is rotatably connected to the upper end of the rotating disk 901. A second robotic arm 903 is hinged to the first robotic arm 902. A third robotic arm 904 is hinged to the second robotic arm 903. A nozzle 905 is fixedly connected to the other end of the third robotic arm 904. When an abnormality is detected at a certain location, the nozzle 905 can be aligned with the abnormality and marked by controlling the rotating disk 901, the first robotic arm 902, the second robotic arm 903, and the third robotic arm 904. At the same time, the potential hazards on the top plate can also be cleaned.

[0037] The multi-layer sensor array 10 is fixedly connected to the upper end of the robot body 1. The multi-layer sensor array 10 includes, but is not limited to: lidar sensors, millimeter-wave radar sensors, ultrasonic sensors, temperature sensors, and dust sensors, for detecting anomalies.

[0038] Example 2 The dust blowing structure 7 is located on the upper end of the frame 4 and corresponds to the position of the lens of the industrial camera 5. The dust blowing structure 7 includes a housing 701, which is fixedly connected to the upper end of the frame 4 and communicates with the placement slot. The second motor 706 is fixedly connected to the outer end of the housing 701. The output end of the second motor 706 is fixedly mounted with a first connecting rod 705, which is located inside the housing 8. The other end of the first connecting rod 705 is hinged to a second connecting rod 704. The upper end of the third connecting rod 702 is hinged to the inside of the housing 701. The lower end of the third connecting rod 702 is fixedly connected to a mounting plate 703. A miniature fan is fixedly connected inside the mounting plate 703. The end of the second connecting rod 704 away from the first connecting rod 705 is hinged to the middle of the third connecting rod 702. The mounting plate 703 is located above the lens of the industrial camera 5. After motor 2 706 is started, it can drive connecting rod 1 705 to rotate, which causes the end of connecting rod 2 704 connected to connecting rod 1 705 to make circular motion. As a result, the other end of connecting rod 2 704 will drive connecting rod 3 702 to swing back and forth. That is, connecting rod 3 702 swings back and forth around the hinge point with housing 701, which drives the miniature fan of mounting plate 703 to swing, which can remove some dust from the lens surface.

[0039] Example 3 The lifting structure 8 is disposed inside the adjusting structure 6 and is used to raise and lower the output end of the adjusting structure 6. The lifting structure 8 includes a sliding groove 802, which is fixedly connected to the lower end of the lifting plate 602. A hinge block 804 is slidably hinged inside the sliding groove 802. A support rod 805 is fixedly connected to one end of the hinge block 804, and the lower end of the support rod 805 is hingedly connected to the upper end of the base 601. The sliding groove 801 is fixedly connected to the upper end of the base 601. A hinge block 803 is slidably hinged inside the sliding groove 801. A support rod 806 is fixedly connected to the other end of the hinge block 803, and the other end of the support rod 806 is hingedly connected to the lower end of the lifting plate 602. The lower end of the cylinder telescopic rod 807 is hingedly connected to the upper end of the base 601. The first support rod 805 and the second support rod 806 are hinged together at the middle. A crossbar 808 is fixedly connected between the two second support rods 806. The upper extension end of the cylinder telescopic rod 807 is hinged to the crossbar 808. When the cylinder telescopic rod 807 is activated, it extends, causing the crossbar 808 to move upward. This causes the angle at the hinge of the first support rod 805 and the second support rod 806 to change, resulting in the first hinge block 803 and the second hinge block 804 sliding inside the first slide groove 802 and the second slide groove 801, respectively. This raises the lifting plate 602, which in turn raises the adjusting structure 6 and the industrial camera 5, increasing the shooting range of the industrial camera 5.

[0040] In one embodiment of the present invention, a gas detector may also be installed on the robot body 1 for detecting toxic gases.

[0041] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0043] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A mine inspection and hazard elimination robot, characterized in that, include: Robot body (1); Track structure (2), the track structure (2) is disposed on both sides of the robot body (1); Adjustment structure (6), the adjustment structure (6) is set on the upper end of the robot body (1), the output end of the adjustment structure (6) is provided with a frame (4), two placement slots are opened on one side of the frame (4), and an industrial camera (5) is fixedly connected inside the placement slot. Dust blowing structure (7), the dust blowing structure (7) is set at the upper end of the frame (4) and corresponds to the position of the lens of the industrial camera (5); A lifting structure (8) is provided inside the adjusting structure (6) and is used to lift the output end of the adjusting structure (6); Marking structures (9), two sets of the marking structures (9) are symmetrically arranged on the upper end of the robot body (1); A multi-layer sensor array (10) is fixedly connected to the upper end of the robot body (1).

2. The mine inspection and hazard elimination robot according to claim 1, characterized in that: The adjustment structure (6) includes: The base (601) has a lifting plate (602) that can slide up and down at the upper end. One end of the base (601) is fixedly connected to a support rod (607), and the other end of the support rod (607) is fixedly connected to a universal adapter ball (608). The lower end of the frame (4) is movably connected to the universal adapter ball (608) through a universal adapter ball seat. Two motors (603) are fixedly connected to the two symmetrical ends of the lifting plate (602), and the output end of the motor (603) is fixedly connected to a connecting block (604). Electric actuator (605), the fixed end of the electric actuator (605) is fixedly connected to the connecting block (604), the telescopic end of the electric actuator (605) is fixedly connected to a universal adapter ball (606), and one end of the frame (4) is movably connected to the universal adapter ball (606) through a universal adapter ball seat.

3. The mine inspection and hazard elimination robot according to claim 1, characterized in that: The dust blowing structure (7) includes: The housing (701) is fixedly connected to the upper end of the frame 4 and communicates with the placement slot; Motor 2 (706) is fixedly connected to the outer end of housing (701). The output end of motor 2 (706) is fixedly provided with connecting rod 1 (705). Connecting rod 1 (705) is located inside housing (8). The other end of connecting rod 1 (705) is hinged to connecting rod 2 (704). Link 3 (702) is hinged to the inside of housing (701) at its upper end. A mounting plate (703) is fixedly connected to the lower end of link 3 (702). A miniature fan is fixedly connected inside the mounting plate (22). Link 2 (704) is hinged to the middle of link 3 (702) at its end away from link 1 (705). The mounting plate (703) is located above the lens of industrial camera (5).

4. The mine inspection and hazard elimination robot according to claim 2, characterized in that: The lifting structure (8) includes: Slide 1 (802), which is fixedly connected to the lower end of the lifting plate (602), and hinge block 2 (804) is slidably hinged inside slide 1 (802). One end of hinge block 2 (804) is fixedly connected to support rod 1 (805), and the lower end of support rod 1 (805) is hinged to the upper end of base (601). Slide 2 (801), which is fixedly connected to the upper end of the base (601), and hinge block 1 (803) is slidably hinged inside slide 2 (801). Support rod 2 (806) is fixedly connected to the other end of hinge block 1 (803), and the other end of support rod 2 (806) is hinged to the lower end of the lifting plate (602). A cylinder telescopic rod (807) is provided, the lower end of which is hinged to the upper end of the base (601).

5. A mine inspection and hazard elimination robot according to claim 4, characterized in that: The first support rod (805) and the second support rod (806) are hinged together at the middle, and a crossbar (808) is fixedly connected between the two second support rods (806). The upper extension end of the cylinder telescopic rod (807) is hinged to the crossbar (808).

6. The mine inspection and hazard elimination robot according to claim 1, characterized in that: The marker structure (9) includes: Rotary disk (901), which is fixedly connected to the upper end of the robot body (1); Robotic arm 1 (902), which is rotatably connected to the upper end of the rotating disk (901); Robotic arm two (903), which is hinged to robotic arm one (902); Robotic arm three (904) is hinged to robotic arm two (903), and a nozzle is fixedly connected to the other end of robotic arm three (904).

7. The mine inspection and hazard elimination robot according to claim 1, characterized in that: The tracked moving structure (2) includes an output wheel (201), a buffer wheel (204), and a track (205). The output wheel (201) is rotatably connected to one end of the machine body (1). A support wheel (202) is provided between the two output wheels (201), and a support wheel (210) is provided below the two output wheels (201). A connecting plate (203) is provided at one end of the buffer wheel (204). The upper end of the connecting plate (203) is rotatably connected to one end of the machine body (1). A connecting rod (208) is rotatably provided at one end of the connecting plate (203). A spring damper (207) is provided at the other end of the connecting rod (208). A rotating shaft (206) is provided at the other end of the spring damper (207). The rotating shaft (206) is rotatably connected to the machine body (1). The track (205) is sleeved on the output wheel (201), the support wheel (202), the support wheel (210), and the buffer wheel (204).

8. A mine inspection and hazard elimination robot according to claim 7, characterized in that: One end of the buffer wheel (204) is rotatably connected to the connecting plate (203). The inner side of the track (205) is engaged with the output wheel (201), the first support wheel (202), the second support wheel (210), and the buffer wheel (204). The inner side of the track (205) is provided with guide ribs (209). The output wheel (201), the first support wheel (202), the second support wheel (210), and the buffer wheel (204) are provided with an annular groove that matches the guide ribs (209).

9. A mine inspection and hazard elimination robot according to claim 1, characterized in that: Connecting ears (3) are fixedly connected to the four corners of the upper end of the robot body (1).

10. A mine inspection and hazard elimination robot according to claim 1, characterized in that: The multi-layer sensor array (10) includes, but is not limited to: lidar sensor, millimeter-wave radar sensor, ultrasonic sensor, temperature sensor and dust sensor.

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