Intelligent inspection robot system of wind well based on adaptive umbrella support mechanism

Abstract

This invention discloses an intelligent inspection robot system for ventilation shafts based on an adaptive umbrella-shaped support mechanism; belonging to the technical field of mine safety and intelligent inspection equipment; its key technical features include a base, a lifting mechanism fixedly connected to the top of the base, a cable connected to the lifting mechanism, a robot body connected to the end of the cable away from the lifting mechanism, a rope-management mechanism on the front side of the lifting mechanism, and several umbrella-shaped adaptive support mechanisms arranged in a circular array fixedly connected to the outer wall of the robot body. This invention, through the adaptive umbrella-shaped support mechanism combined with an elastic telescopic rod and adjustment mechanism, can automatically adapt to changes in the diameter of the ventilation shaft and irregular shaft walls. Combined with rope-management and dust-removal components to ensure stable cable operation, the robot can stably attach, autonomously rise and fall, and achieve 360° inspection without blind spots, significantly improving operational stability and environmental adaptability under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of mine safety and intelligent inspection equipment technology, specifically to an intelligent inspection robot system for ventilation shafts based on an adaptive umbrella-shaped support mechanism. Background Technology

[0002] As the core infrastructure of the underground ventilation system, the structural integrity and operational status of mine ventilation shafts are directly related to the life safety of underground workers and the continuity of mine production. Currently, ventilation shaft inspections are still primarily conducted manually, which has several significant drawbacks: First, there are prominent safety risks: Inspectors must enter extremely dangerous environments such as deep wells and high altitudes, facing multiple safety hazards including falls, oxygen deficiency, exposure to harmful gases, and impacts from falling shaft walls, making it impossible to fully guarantee operational safety. Second, the quality and efficiency of inspections are low: Manual inspections rely on personnel moving on foot or using simple equipment, resulting in slow inspection speeds. For deep and complex ventilation shafts, a single inspection can take a significant amount of time. Furthermore, the inspection area is difficult to cover blind spots such as the top of the shaft, corners, and recesses, and the inspection results depend entirely on the inspectors' visual observation and experience, limiting their ability to identify subtle defects and leading to missed inspections and misjudgments, making it highly subjective. Third, data management lacks standardization: Inspection records are mostly presented in handwritten text and sketches, lacking objective and standardized digital data. This makes it impossible to accurately describe and trace the specific state and development trend of defects, hindering subsequent maintenance and management decisions for the ventilation shaft.

[0003] To address the shortcomings of manual inspections, some mechanized inspection equipment has been gradually developed and tested, such as track-mounted and wheeled inspection robots. However, these devices still have significant limitations in practical applications: track-mounted inspection robots require pre-installed dedicated tracks on the well wall, resulting in high installation costs and construction difficulties. Furthermore, once the tracks are laid, they cannot adapt to scenarios with varying well diameters, leading to poor versatility. Wheeled inspection robots mostly use fixed support components, which can only adapt to well wall environments with flat surfaces and fixed diameters. When encountering irregular well walls or protruding obstacles, they are prone to problems such as unstable support and wheel slippage, and in severe cases, jamming or falling, making it difficult to meet actual inspection needs in terms of reliability.

[0004] In existing technologies, neither traditional manual inspection nor mechanized inspection equipment can simultaneously meet the core requirements of ventilation shaft inspection for "adaptability to complex environments, high reliability operation, full coverage detection, and digital data acquisition." Therefore, developing an automated equipment that can adapt to changes in the shaft environment, possess stable operating capabilities, and achieve comprehensive and efficient digital inspection has become an urgent technical problem to be solved in the field of mine safety. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism. This technical solution resolves the problems mentioned in the background section.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism includes a base. A lifting mechanism is fixedly connected to the top of the base, and a cable is connected to the lifting mechanism. The end of the cable away from the lifting mechanism is connected to the robot body. A cable-managing mechanism is provided on the front side of the lifting mechanism. Several umbrella-shaped adaptive support mechanisms arranged in a circular array are fixedly connected to the outer wall of the robot body. A fisheye camera is installed at the center of the bottom of the robot body, and several lights are also installed at the bottom of the robot body. The umbrella-shaped adaptive support mechanism includes two mounting slots opened on the outer wall of the robot body and distributed vertically at intervals. Two support rods are hinged to the outer wall of the robot body and located between the two mounting slots and distributed vertically symmetrically. An elastic telescopic rod is connected inside the mounting slot through an adjustment mechanism. The other end of the elastic telescopic rod is hinged to one side of the support rod. A first mounting frame is fixedly connected to the end of the support rod away from the robot body. A first rotating shaft is rotatably connected inside the first mounting frame. A moving wheel is fixedly connected to the first rotating shaft. A drive unit is fixedly connected to the outer side of the first mounting frame, and the drive unit is connected to one end of the first rotating shaft.

[0008] Preferably, the lifting mechanism includes a second mounting bracket fixedly connected to the top of the base, a second rotating shaft rotatably connected inside the second mounting bracket, a winding drum fixedly connected to the second rotating shaft, a first motor fixedly connected to the outside of the second mounting bracket, and the output end of the first motor fixedly connected to one end of the second rotating shaft.

[0009] Preferably, the rope-managing mechanism includes two fixed plates fixedly connected to the front side of the second mounting frame and symmetrically distributed on the left and right. A reciprocating screw is rotatably connected between the two fixed plates. A second motor is fixedly connected to the outer side of one of the fixed plates. A first guide rod parallel to the reciprocating screw is fixedly connected between the two fixed plates. A movable frame is threaded onto the reciprocating screw. The movable frame is slidably connected to the first guide rod. Two symmetrically arranged first pulleys are rotatably connected inside the movable frame. A fixed frame is fixedly connected to the front side of the movable frame through a connecting frame. Two symmetrically distributed second pulleys are rotatably connected inside the fixed frame. A dust-removing component is provided between the movable frame and the fixed frame.

[0010] Preferably, the dust removal assembly includes a fixed ring fixedly connected to the front side of the movable frame, a rotating ring rotatably connected to the front side of the fixed ring, an outer toothed ring fixedly connected to the outer ring of the rotating ring, a rack fixedly connected between the two fixed plates, the outer toothed ring meshing with the rack, and a plurality of bristles evenly distributed on the inner ring of the rotating ring.

[0011] Preferably, the adjusting mechanism includes a partition plate fixedly connected inside the mounting groove. A ball screw is rotatably connected between one side of the partition plate and the inner wall of the mounting groove. A third motor is fixedly connected to the side of the partition plate away from the ball screw. The output end of the third motor is fixedly connected to one end of the ball screw. A second guide rod symmetrically distributed on both sides of the ball screw is also fixedly connected between one side of the partition plate and the inner wall of the mounting groove. A sliding sleeve is threaded onto the ball screw. The sliding sleeve is slidably connected to the second guide rod. One end of the elastic telescopic rod is hinged to the outside of the sliding sleeve.

[0012] Preferably, the elastic telescopic rod includes an outer rod hinged to the outside of the sliding sleeve, a sliding cavity is provided inside the outer rod, a slider is slidably connected in the sliding cavity, a sliding rod is fixedly connected to one side of the slider, a sliding hole adapted to the sliding rod is provided at the end of the outer rod away from the sliding sleeve, one end of the sliding rod extends through the sliding hole to the outside of the outer rod and is hinged to one side of the support rod, and a spring is fixedly connected to the side of the slider away from the sliding rod.

[0013] Preferably, the drive unit includes a fourth motor fixedly connected to the outside of the first mounting bracket, the output end of the fourth motor being fixedly connected to a first bevel gear via a transmission shaft, and one end of the first rotating shaft being fixedly connected to a second bevel gear meshing with the first bevel gear.

[0014] Preferably, the support rod is made of a lightweight, high-strength material, and the moving wheel is made of a non-slip, wear-resistant material with anti-slip textures on its surface to enhance friction.

[0015] Preferably, the robot body also integrates an auxiliary drive system, which forms a dual-power redundancy design with the lifting mechanism. This system is used to adjust the robot's posture, move autonomously, and get out of obstacles by adjusting the speed and direction of each moving wheel.

[0016] Preferably, the cable is used to provide stable power supply and wired data transmission for the robot system.

[0017] Compared with the prior art, the present invention provides an intelligent inspection robot system for ventilation shafts based on an adaptive umbrella-shaped support mechanism, which has the following beneficial effects:

[0018] 1. This invention uses an adaptive umbrella-shaped support mechanism in conjunction with an elastic telescopic rod and adjustment mechanism to automatically adapt to changes in the diameter of the ventilation shaft and irregular shaft walls. Combined with a rope and dust removal components, it ensures stable operation of the cable, enabling the robot to attach stably and lift autonomously, achieving 360° inspection without blind spots, and significantly improving the operational stability and environmental adaptability under complex working conditions.

[0019] 2. This invention adopts a dual-power redundancy design for the lifting mechanism and auxiliary drive system, combined with independent speed regulation and steering of the drive wheels to achieve attitude adjustment and autonomous escape. At the same time, it uses integrated cable power supply and data transmission, fisheye camera and full lighting coverage to achieve safe, efficient, digital intelligent inspection, completely replacing manual labor and eliminating the risks of high-altitude and high-risk operations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the robot body in this invention;

[0022] Figure 3 This is a schematic diagram of the lifting mechanism in this invention;

[0023] Figure 4 This is a schematic diagram of the rope-manipulating mechanism in this invention;

[0024] Figure 5 This is a schematic diagram of the structure of the dust removal component in this invention;

[0025] Figure 6 This is a cross-sectional view of the robot body in this invention;

[0026] Figure 7 In this invention Figure 6 A magnified structural diagram at point A;

[0027] Figure 8 This is a schematic diagram of the structure of the second guide rod in this invention;

[0028] Figure 9 In this invention Figure 8 A magnified structural diagram at point B.

[0029] The diagram is labeled as follows: 1. Base; 2. Lifting mechanism; 201. Second mounting bracket; 202. Second rotating shaft; 203. Winding drum; 204. First motor; 3. Cable; 4. Robot body; 5. Cable management mechanism; 501. Fixing plate; 502. Reciprocating lead screw; 503. Second motor; 504. First guide rod; 505. Moving frame; 506. First pulley; 507. Fixing frame; 508. Second pulley; 509. Dust removal assembly; 5091. Fixing ring; 5092. Rotating ring; 5093. External gear ring; 5094. Rack; 5095. Brush bristles; 6. 601. Umbrella-shaped adaptive support mechanism; 602. Mounting slot; 603. Support rod; 604. Adjustment mechanism; 605. Partition plate; 606. Ball screw; 607. Third motor; 608. Sliding sleeve; 609. Second guide rod; 6000. Elastic telescopic rod; 6001. Outer rod; 6002. Sliding block; 6003. Sliding rod; 6004. Spring; 6005. First mounting bracket; 6006. Moving wheel; 6007. Drive unit; 60071. Fourth motor; 60072. First bevel gear; 60073. Second bevel gear; 7. Fisheye camera; 8. Lighting lamp. Detailed Implementation

[0030] The following description is intended to disclose the invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious modifications will occur to those skilled in the art.

[0031] Example 1

[0032] Please refer to Figures 1 to 9As shown, the intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism includes a base 1. A lifting mechanism 2 is fixedly connected to the top of the base 1, and a cable 3 is connected to the lifting mechanism 2. The end of the cable 3 away from the lifting mechanism 2 is connected to the robot body 4. A cable-managing mechanism 5 is provided on the front side of the lifting mechanism 2. Several umbrella-shaped adaptive support mechanisms 6 arranged in a circular array are fixedly connected to the outer wall of the robot body 4. A fisheye camera 7 is installed at the center of the bottom of the robot body 4, and several lights 8 are also installed at the bottom of the robot body 4. The umbrella-shaped adaptive support mechanism 6 includes two anchors that are opened on the outer wall of the robot body 4 and are distributed vertically at intervals. The robot body 4 has two support rods 602 that are symmetrically distributed vertically and are hinged to the outer wall of the mounting slots 601. The interior of the mounting slots 601 is connected to an elastic telescopic rod 604 through an adjustment mechanism 603. The other end of the elastic telescopic rod 604 is hinged to one side of the support rod 602. The end of the support rod 602 away from the robot body 4 is fixedly connected to a first mounting frame 605. The interior of the first mounting frame 605 is rotatably connected to a first rotating shaft. A moving wheel 606 is fixedly connected to the first rotating shaft. The outer side of the first mounting frame 605 is fixedly connected to a drive unit 607, which is connected to one end of the first rotating shaft.

[0033] Those skilled in the art will understand that, in conjunction with external sensing and control systems and monitoring and data transmission systems, the robot body 4 is raised and lowered by the lifting mechanism 2 and the cable 3, the umbrella-shaped adaptive support mechanism 6 adaptively conforms to the well wall, the pressure sensor provides real-time feedback on the support clamping force, the distance sensor monitors the well diameter and wall condition, and the fisheye camera 7 and lighting 8 complete all-round image acquisition, realizing stable support, autonomous movement, visualization and digital full-coverage inspection within the ventilation shaft, ensuring the safety, integrity and environmental adaptability of the inspection from the overall structure.

[0034] Example 2

[0035] Furthermore, the lifting mechanism 2 includes a second mounting bracket 201 fixedly connected to the top of the base 1. A second rotating shaft 202 is rotatably connected inside the second mounting bracket 201. A winding drum 203 is fixedly connected to the second rotating shaft 202. A first motor 204 is fixedly connected to the outside of the second mounting bracket 201. The output end of the first motor 204 is fixedly connected to one end of the second rotating shaft 202.

[0036] As will be understood by those skilled in the art, the first motor 204 drives the second rotating shaft 202 and the winding drum 203 to rotate, thereby enabling the orderly winding and unwinding of the cable 3 and providing the main lifting power for the robot body 4. Combined with the real-time signal closed-loop control of the external sensing and control system, the lifting speed and position are controlled efficiently and accurately, avoiding shaking and jamming, and ensuring smooth and reliable inspection movement.

[0037] Example 3

[0038] Furthermore, the rope-managing mechanism 5 includes two fixed plates 501 fixedly connected to the front side of the second mounting frame 201 and symmetrically distributed on the left and right. A reciprocating screw 502 is rotatably connected between the two fixed plates 501. A second motor 503 is fixedly connected to the outer side of one of the fixed plates 501. A first guide rod 504 parallel to the reciprocating screw 502 is fixedly connected between the two fixed plates 501. A movable frame 505 is threadedly connected to the reciprocating screw 502. The movable frame 505 is slidably connected to the first guide rod 504. Two symmetrically arranged first pulleys 506 are rotatably connected inside the movable frame 505. A fixed frame 507 is fixedly connected to the front side of the movable frame 505 through a connecting frame. Two symmetrically distributed second pulleys 508 are rotatably connected inside the fixed frame 507. A dust-removing assembly 509 is provided between the movable frame 505 and the fixed frame 507.

[0039] Those skilled in the art will understand that the second motor 503 drives the reciprocating screw 502 to move the moving frame 505 back and forth along the first guide rod 504. The first pulley 506 and the second pulley 508 guide and straighten the cable 3, preventing the cable 3 from getting tangled or misaligned. Together with the dust removal component 509, the cable 3 is kept clean, ensuring stable power supply and data transmission, and improving the long-term reliability of the system.

[0040] Example 4

[0041] Furthermore, the dust removal assembly 509 includes a fixed ring 5091 fixedly connected to the front side of the movable frame 505, a rotating ring 5092 rotatably connected to the front side of the fixed ring 5091, an outer gear ring 5093 fixedly connected to the outer ring of the rotating ring 5092, a rack 5094 fixedly connected between the two fixed plates 501, the outer gear ring 5093 meshing with the rack 5094, and a number of bristles 5095 evenly distributed on the inner ring of the rotating ring 5092.

[0042] Those skilled in the art will understand that when the moving frame 505 moves, the outer gear ring 5093 meshes with the rack 5094 to drive the rotating ring 5092 to rotate, and the bristles 5095 automatically clean the dust and impurities on the surface of the cable 3, preventing dust from entering the pulley and winding drum and causing wear and jamming, ensuring stable and reliable power supply and wired data transmission for the cable 3, and extending the service life of the mechanism.

[0043] Example 5

[0044] Furthermore, the adjustment mechanism 603 includes a partition 6031 fixedly connected inside the mounting groove 601. A ball screw 6032 is rotatably connected between one side of the partition 6031 and the inner wall of the mounting groove 601. A third motor 6033 is fixedly connected to the side of the partition 6031 away from the ball screw 6032. The output end of the third motor 6033 is fixedly connected to one end of the ball screw 6032. A second guide rod 6035 symmetrically distributed on both sides of the ball screw 6032 is also fixedly connected between one side of the partition 6031 and the inner wall of the mounting groove 601. A sliding sleeve 6034 is threaded onto the ball screw 6032. The sliding sleeve 6034 is slidably connected to the second guide rod 6035. One end of the elastic telescopic rod 604 is hinged to the outside of the sliding sleeve 6034.

[0045] Those skilled in the art will understand that the third motor 6033 drives the ball screw 6032 to move the sliding sleeve 6034 along the second guide rod 6035, pushing the elastic telescopic rod 604 to adjust the angle and support radius of the support rod 602. Combined with the signals from the external pressure sensor and distance sensor, it achieves precise closed-loop control of the clamping force and support diameter, enabling the robot to adapt to different diameters and irregular well walls, and greatly improving its adaptability to complex working conditions.

[0046] Example 6

[0047] Furthermore, the elastic telescopic rod 604 includes an outer rod 6041 hinged to the outside of the sliding sleeve 6034. The outer rod 6041 has a sliding cavity inside, and a slider 6042 is slidably connected in the sliding cavity. A slider 6043 is fixedly connected to one side of the slider 6042. The end of the outer rod 6041 away from the sliding sleeve 6034 has a sliding hole adapted to the slider 6043. One end of the slider 6043 extends through the sliding hole to the outside of the outer rod 6041 and is hinged to one side of the support rod 602. A spring 6044 is fixedly connected to the side of the slider 6042 away from the slider 6043.

[0048] Those skilled in the art will understand that the spring 6044 provides elastic buffering and preload, automatically extending and compensating when encountering protrusions, depressions or obstacles in the well wall, keeping the moving wheel 606 stably attached to the well wall, and working with the adjustment mechanism 603 and the sensing system to achieve dynamic support, preventing slippage, support failure or even falling, and significantly improving passability and operational safety.

[0049] Example 7

[0050] Furthermore, the drive unit 607 includes a fourth motor 6071 fixedly connected to the outside of the first mounting bracket 605. The output end of the fourth motor 6071 is fixedly connected to a first bevel gear 6072 via a transmission shaft, and one end of the first rotating shaft is fixedly connected to a second bevel gear 6073 that meshes with the first bevel gear 6072.

[0051] As will be understood by those skilled in the art, the fourth motor 6071 drives the moving wheel 606 to rotate through a bevel gear pair. It has a compact structure and stable torque output, providing the robot with auxiliary walking and posture adjustment power. It can independently adjust speed and turn, meeting the needs of obstacle avoidance, getting out of trouble and fine posture control.

[0052] Example 8

[0053] Furthermore, the support rod 602 is made of lightweight, high-strength material, and the caster wheel 606 is made of non-slip, wear-resistant material with anti-slip textures on the surface to enhance friction.

[0054] Those skilled in the art will understand that the support rod 602 is made of lightweight, high-strength material, which reduces the robot's load while ensuring structural strength, and improves its movement flexibility and endurance; the moving wheel 606 is made of non-slip and wear-resistant material and has anti-slip texture, which increases the friction with the well wall. Combined with the pressure feedback of the sensing system, it avoids slipping and spinning on wet or rough walls, ensuring stable and reliable support and drive.

[0055] Example 9

[0056] Furthermore, the robot body 4 also integrates an auxiliary drive system, which forms a dual-power redundancy design with the lifting mechanism 2. This system is used to adjust the robot's posture, move autonomously, and get out of obstacles by adjusting the speed and direction of each moving wheel 606.

[0057] As will be understood by those skilled in the art, the robot body 4 integrates an auxiliary drive system, forming a dual-power redundancy design with the lifting mechanism 2. By independently controlling the rotation speed and steering of each moving wheel 606, and combining obstacle signals from the sensor system, it can achieve posture adjustment, autonomous movement, and obstacle escape. When the lifting mechanism 2 malfunctions or gets stuck, it can independently provide power to avoid downtime and the risk of falling, further improving the reliability and safety of the system.

[0058] Example 10

[0059] Furthermore, cable 3 is used simultaneously to provide stable power supply and wired data transmission for the robot system.

[0060] As those skilled in the art will understand, cable 3 is used for both stable power supply and wired data transmission. Together with external wireless redundant transmission, it forms a dual-link guarantee, transmitting the images and status data collected by fisheye camera 7, pressure sensor, and distance sensor back to the ground control center in real time. The transmission is stable, with low latency and strong anti-interference, enabling full traceability of inspection data and providing precise support for ventilation shaft maintenance decisions.

[0061] The working principle and usage process of this device are as follows: The second mounting bracket 201 of the lifting mechanism 2 is fixed to the base 1 and installed at the wellhead of the ventilation shaft. The first motor 204 is started to drive the second rotating shaft 202 and the winding drum 203 to release the cable 3. The cable 3 passes through the first pulley 506 and the second pulley 508 of the rope-managing mechanism 5 and connects to the robot body 4. The second motor 503 of the rope-managing mechanism 5 drives the reciprocating screw 502 to drive the moving frame 505 to move back and forth along the first guide rod 504. The rotating ring 5092 and the brush bristles 5095 of the dust-cleaning component 509 simultaneously clean and tidy the cable 3. During the lowering of the robot body 4, the adjustment mechanism 603 of the umbrella-shaped adaptive support mechanism 6 drives the ball screw 6032 through the third motor 6033 to drive the sliding sleeve 6034 to move, pushing the elastic telescopic rod 604 to unfold the support rod 602. The spring 6044 inside the elastic telescopic rod 604 provides cushioning, which, together with the external pressure, provides a buffer. Sensor and distance sensor signals enable the moving wheel 606 to adaptively conform to the well wall and maintain optimal clamping force. Upon reaching the inspection position, the fourth motor 6071 of the drive unit 607 drives the moving wheel 606 through the first bevel gear 6072 and the second bevel gear 6073 to provide auxiliary power, forming a dual power redundancy with the lifting mechanism 2 to achieve smooth lifting. The fisheye camera 7 at the bottom of the robot body 4 collects high-definition images of the well wall under the illumination of the lighting lamp 8, and the cable 3 simultaneously powers the entire system and transmits the images and sensor data back to the ground monitoring and data transmission system. When encountering obstacles, the adjustment mechanism 603 automatically adjusts the angle of the support rod 602, and the auxiliary drive system controls the moving wheel 606 to achieve attitude adjustment and autonomous obstacle avoidance. After the inspection is completed, the lifting mechanism 2 retracts the cable 3 to smoothly lift the robot body 4 to the wellhead, realizing fully automated, adaptive, highly reliable, and digital intelligent ventilation shaft inspection operations.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A ventilation shaft intelligent inspection robot system based on an adaptive umbrella-shaped support mechanism, comprising a base (1), characterized in that, A lifting mechanism (2) is fixedly connected to the top of the base (1). A cable (3) is connected to the lifting mechanism (2). The end of the cable (3) away from the lifting mechanism (2) is connected to the robot body (4). A rope-managing mechanism (5) is provided on the front side of the lifting mechanism (2). Several umbrella-shaped adaptive support mechanisms (6) arranged in a ring array are fixedly connected to the outer wall of the robot body (4). A fisheye camera (7) is installed at the bottom center of the robot body (4). Several lights (8) are also installed at the bottom of the robot body (4). The umbrella-shaped adaptive support mechanism (6) includes two mounting slots (601) opened on the outer wall of the robot body (4) and arranged vertically. The robot body ( 4) The outer wall is hinged with two support rods (602) located between two mounting slots (601) and symmetrically distributed vertically. The interior of the mounting slot (601) is connected to an elastic telescopic rod (604) through an adjustment mechanism (603). The other end of the elastic telescopic rod (604) is hinged to one side of the support rod (602). The end of the support rod (602) away from the robot body (4) is fixedly connected to a first mounting frame (605). The interior of the first mounting frame (605) is rotatably connected to a first rotating shaft. A moving wheel (606) is fixedly connected to the first rotating shaft. The outer side of the first mounting frame (605) is fixedly connected to a drive unit (607). The drive unit (607) is connected to one end of the first rotating shaft.

2. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 1, characterized in that, The lifting mechanism (2) includes a second mounting bracket (201) fixedly connected to the top of the base (1). A second rotating shaft (202) is rotatably connected inside the second mounting bracket (201). A winding drum (203) is fixedly connected to the second rotating shaft (202). A first motor (204) is fixedly connected to the outside of the second mounting bracket (201). The output end of the first motor (204) is fixedly connected to one end of the second rotating shaft (202).

3. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 2, characterized in that, The rope-managing mechanism (5) includes two fixed plates (501) fixedly connected to the front side of the second mounting frame (201) and symmetrically distributed on the left and right. A reciprocating screw (502) is rotatably connected between the two fixed plates (501). A second motor (503) is fixedly connected to the outside of one of the fixed plates (501). A first guide rod (504) parallel to the reciprocating screw (502) is fixedly connected between the two fixed plates (501). A movable frame (505) is threadedly connected to the reciprocating screw (502). The movable frame (505) is slidably connected to the first guide rod (504). Two symmetrically arranged first pulleys (506) are rotatably connected inside the movable frame (505). A fixed frame (507) is fixedly connected to the front side of the movable frame (505) through a connecting frame. Two symmetrically distributed second pulleys (508) are rotatably connected inside the fixed frame (507). A dust removal assembly (509) is provided between the movable frame (505) and the fixed frame (507).

4. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 3, characterized in that, The dust removal assembly (509) includes a fixed ring (5091) fixedly connected to the front side of the movable frame (505), a rotating ring (5092) rotatably connected to the front side of the fixed ring (5091), an outer gear ring (5093) fixedly connected to the outer ring of the rotating ring (5092), a rack (5094) fixedly connected between the two fixed plates (501), the outer gear ring (5093) meshing with the rack (5094), and a number of bristles (5095) evenly distributed on the inner ring of the rotating ring (5092).

5. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 1, characterized in that, The adjustment mechanism (603) includes a partition (6031) fixedly connected inside the mounting groove (601). A ball screw (6032) is rotatably connected between one side of the partition (6031) and the inner wall of the mounting groove (601). A third motor (6033) is fixedly connected to the side of the partition (6031) away from the ball screw (6032). The output end of the third motor (6033) is fixedly connected to one end of the ball screw (6032). A second guide rod (6035) symmetrically distributed on both sides of the ball screw (6032) is also fixedly connected between one side of the partition (6031) and the inner wall of the mounting groove (601). A sliding sleeve (6034) is threaded onto the ball screw (6032). The sliding sleeve (6034) is slidably connected to the second guide rod (6035). One end of the elastic telescopic rod (604) is hinged to the outside of the sliding sleeve (6034).

6. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 5, characterized in that, The elastic telescopic rod (604) includes an outer rod (6041) hinged to the outside of the sliding sleeve (6034). The outer rod (6041) has a sliding cavity inside, and a slider (6042) is slidably connected in the sliding cavity. A slider (6043) is fixedly connected to one side of the slider (6042). The outer rod (6041) has a sliding hole adapted to the slider (6043) at one end away from the sliding sleeve (6034). One end of the slider (6043) extends through the sliding hole to the outside of the outer rod (6041) and is hinged to one side of the support rod (602). A spring (6044) is fixedly connected to the side of the slider (6042) away from the slider (6043).

7. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 1, characterized in that, The drive unit (607) includes a fourth motor (6071) fixedly connected to the outside of the first mounting bracket (605). The output end of the fourth motor (6071) is fixedly connected to a first bevel gear (6072) via a transmission shaft. One end of the first rotating shaft is fixedly connected to a second bevel gear (6073) that meshes with the first bevel gear (6072).

8. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 1, characterized in that, The support rod (602) is made of lightweight and high-strength material, and the moving wheel (606) is made of non-slip and wear-resistant material with anti-slip textures on the surface to enhance friction.

9. The intelligent ventilation shaft inspection robot system based on an adaptive umbrella-shaped support mechanism according to claim 1, characterized in that, The robot body (4) also integrates an auxiliary drive system. The auxiliary drive system and the lifting mechanism (2) form a dual-power redundancy design, which is used to adjust the robot's posture, autonomous movement and obstacle escape by adjusting the rotation speed and direction of each moving wheel (606).

10. The intelligent inspection robot system for ventilation shafts based on an adaptive umbrella-shaped support mechanism according to claim 1, characterized in that, The cable (3) is used to provide stable power supply and wired data transmission for the robot system.

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