An explosion-proof robot joint rotary transmission device for coal mine and a use method thereof

Abstract

The application relates to a coal mine explosion-proof robot joint rotary transmission device and a use method thereof, and relates to the technical field of coal mine machinery. The device comprises an explosion-proof housing cover, an explosion-proof housing, a box body, a rotary shaft, a four-bar linkage mechanism, a ratchet transmission mechanism and a first driving part. The explosion-proof housing cover is installed at the end of the explosion-proof housing, the rotary shaft, the four-bar linkage mechanism and the first driving part are arranged in the interior of the explosion-proof housing, the output end of the first driving part is in transmission connection with the ratchet transmission mechanism installed on the four-bar linkage mechanism, one end of the four-bar linkage mechanism is connected with the ratchet transmission mechanism, and the other end is connected with the rotary shaft, and the output end of the rotary shaft is in transmission connection with the bevel gear in the interior of the box body. The device can solve the problems that the existing devices are generally insufficient in explosion-proof protection, poor in working condition adaptability, difficult to balance performance and safety and the like, and can meet the comprehensive requirements of joint explosion-proof safety, high power density, long service life and light weight in the underground coal mine.

Description

Technical Field

[0001] This invention relates to the field of coal mining machinery technology, specifically to an explosion-proof robot joint rotation transmission device for coal mines and its usage method. Background Technology

[0002] Robotic joint rotation transmission devices are core actuators of intelligent coal mining equipment, directly determining the motion accuracy and operational reliability of coal mining robots in underground operations. They are a crucial guarantee for achieving the "unmanned and intelligent" transformation of coal mining. Currently, coal mining robots are widely used in tunneling, inspection, and other scenarios, but their joint devices have long faced a dual bottleneck: the explosive environment of underground gas and coal dust, as well as harsh working conditions such as humidity and strong vibration, impose mandatory requirements on joint explosion-proof protection; while precise operation requires high power density and fast dynamic response characteristics. These two types of requirements inherently conflict.

[0003] The first bottleneck is the contradiction between explosion-proof and performance integration. According to the GB3836 series standards, joints must meet explosion-proof requirements. Although the traditional external heavy explosion-proof shell design can meet the standard, it significantly increases the size and weight of the joint and reduces the robot's flexibility. At the same time, the enclosed shell hinders heat dissipation, leading to motor performance degradation. The stacking of multiple modules and the stringent requirements for explosion-proof gaps also exacerbate the complexity of wiring and assembly deviations, increasing positioning errors.

[0004] The second bottleneck is the poor adaptability of existing technologies to various operating conditions. The application of mature industrial joints to coal mining scenarios has significant drawbacks: rigid drive joints lack explosion-proof design and their insufficient flexibility easily leads to collision sparks; elastic drive modules are complex to control and have slow response times, and elastic components are easily worn by dust; direct-drive joints have low torque density and cannot bear the operating load, and exposed motors do not meet explosion-proof requirements.

[0005] There is a significant technological gap in coal mine-specific joint technology: the explosion-proof design of general-purpose joints combined with simple explosion-proof covers is not certified and poses a safety hazard; new integrated modules are not optimized for gas environments and have high maintenance costs; and magnetic levitation drives are difficult to scale up due to weak load capacity, poor anti-interference capabilities, and high costs.

[0006] Therefore, how to propose a joint rotation transmission device for explosion-proof robots used in coal mines that can take into account both explosion-proof and motion performance, and its usage method, has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] To address at least one of the technical problems in the background art, the present invention provides an explosion-proof robot joint rotation transmission device for coal mines and its usage method, which can solve the problems of insufficient explosion-proof protection, poor adaptability to working conditions, and difficulty in balancing performance and safety that are common in existing devices. It can meet the comprehensive requirements of coal mines for joint explosion-proof safety, high power density, long life and lightweight.

[0008] To achieve the above objectives, the present invention provides a joint rotation transmission device for an explosion-proof robot used in coal mines, comprising: an explosion-proof housing cover, an explosion-proof housing, a housing, a rotating shaft, a four-bar linkage, a tooth-breaking transmission mechanism, and a first drive unit; the explosion-proof housing cover is installed at the end of the explosion-proof housing, and the rotating shaft, the four-bar linkage, and the first drive unit are all disposed inside the explosion-proof housing; the output end of the first drive unit is connected to the tooth-breaking transmission mechanism installed in the four-bar linkage, one end of the four-bar linkage is connected to the tooth-breaking transmission mechanism, and the other end is connected to the rotating shaft; the output end of the rotating shaft is connected to a bevel gear inside the housing.

[0009] Furthermore, the rotating shaft includes a copper sleeve and a drive shaft. The copper sleeve is embedded in the inner wall of the explosion-proof housing, and a rotating shaft explosion-proof cover is installed at one end near the housing. A second drive unit and a third drive unit are installed inside the copper sleeve. One end of the drive shaft is connected to the copper sleeve, and the other end is rotatably connected to the explosion-proof housing cover through a fixed deep groove ball bearing.

[0010] Furthermore, the first driving unit, the second driving unit, and the third driving unit have the same structure, each including: The motor, which is a two-phase hybrid stepper motor, is used to provide driving force; The speed reducer is assembled and connected to the motor. It is a precision planetary speed reducer that is matched with the motor and is used to increase the output torque and reduce the speed.

[0011] Furthermore, the four-bar linkage includes: A four-bar linkage base is installed between the first drive unit and the rotating shaft; The connecting rod is connected to the base of the four-bar linkage via a pin and a connecting rod connector, and is used to connect the driving rod and the driven rod of the four-bar linkage mechanism. The driven rod, which is mounted on the rotating shaft connector, is used to transmit the motion of the four-bar linkage to the rotating shaft; A deep groove ball bearing is fitted into the mounting hole of the four-link base to support the rotating shaft. Elastic retaining ring 1, elastic retaining ring 2, and elastic retaining ring 3 are used for axial fixing of deep groove ball bearing 1, broken tooth connecting parts, and spur gears, respectively.

[0012] Furthermore, the broken-tooth transmission mechanism includes: A spur gear is mounted on the motor stepped shaft three on the left side of the four-link base near the first drive unit. A broken gear is mounted on the drive rod in the middle of the four-bar linkage base and meshes with a spur gear. A broken tooth connector is installed on a broken tooth gear and is used to synchronize the rotation of the broken tooth gear and the driving rod of the four-bar linkage.

[0013] Furthermore, the housing is provided with housing hole one and housing hole two, and fixed deep groove ball bearing one, fixed deep groove ball bearing two, and fixed deep groove ball bearing three are installed inside the housing; One end of the motor stepped shaft 1, which is inserted into the housing hole 1, is connected to the output end of the second drive unit, and the other end is rotatably connected to the housing through a fixed deep groove ball bearing 1. A straight bevel gear set 1 is installed on the motor stepped shaft 1. One end of the motor stepped shaft two, which is inserted into the housing hole two, is connected to the output end of the third drive unit. A straight bevel gear set two is installed on the motor stepped shaft two. The first straight bevel gear set and the second straight bevel gear set mesh with the upper end face and the lower end face of the bevel gear, respectively. The upper and lower ends of the bevel gear axle are respectively equipped with a second fixed deep groove ball bearing and a third fixed deep groove ball bearing.

[0014] Furthermore, the edge of the explosion-proof cover of the rotating shaft is provided with a plurality of explosion-proof cover holes 1, and the explosion-proof cover of the rotating shaft is sealed and fastened to the rotating shaft at one of the explosion-proof cover holes by an internal hex screw; the middle part of the explosion-proof cover of the rotating shaft is provided with two explosion-proof cover holes 2, for the motor stepped shaft 1 and the motor stepped shaft 2 to extend out.

[0015] Furthermore, the broken gear and the broken tooth connector are connected by fitting the broken tooth connector hole one, broken tooth connector hole two, broken tooth connector hole three and screws.

[0016] A method for using a joint rotation transmission device for an explosion-proof robot in a coal mine includes the following steps: S1: The explosion-proof enclosure is installed around the first drive unit and the rotating shaft. A copper sleeve is installed between the rotating shaft and the inner wall of the explosion-proof enclosure. An explosion-proof cover for the rotating shaft is installed at the port where the rotating shaft passes through the explosion-proof enclosure. The explosion-proof enclosure cover is fastened to the end of the explosion-proof enclosure with high-strength screws. S2: Start the first drive unit, and its output power is transmitted to the broken gear through the spur gear. The broken gear drives the drive rod of the four-bar linkage to rotate through the broken gear connector. S3: Start the second and third drive units, and their power is transmitted to the first and second spur bevel gear sets via the first and second motor stepped shafts. S4: The four-bar linkage drives the driven link to move through the connecting rod. The driven link transmits the motion to the rotating shaft. At the same time, the first straight bevel gear set and the second straight bevel gear set transmit the power to the bevel gear, realizing the rotation angle control of the robot joint and the smooth output of torque.

[0017] The beneficial effects of this invention are as follows: Compared with existing technologies, this invention adapts to environmental safety requirements through the protective design of the explosion-proof shell; it combines a high-precision stepper motor and a precision planetary reducer to ensure both the accuracy and reliability of power output; the special design of the broken-tooth transmission mechanism enables intermittent rotational control of the joint, and the four-bar linkage improves the smoothness of motion transmission; the coordinated arrangement of multiple drive units enhances the power adaptability of joint rotation, and the overall structure is compact and highly protective, improving the applicability of robot joints in complex and dangerous working conditions. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the explosion-proof enclosure and its internal structure. Figure 3 This is a schematic diagram of a four-bar linkage mechanism; Figure 4 This is a schematic diagram of the broken tooth transmission mechanism. Figure 5 This is a schematic diagram of the rotating shaft and its internal structure. Figure 6 A schematic diagram of the first drive unit assembly; Figure 7 This is a schematic diagram of a broken-tooth transmission-four-bar linkage mechanism. Figure 8 This is a schematic diagram of the assembly of a spur bevel gear set with the gearbox housing. Figure 9 This is a schematic diagram of the fit between the stepped shaft and the bevel gear; Figure 10 Schematic diagram of the fastening structure for the explosion-proof enclosure cover; Figure 11 This is a flowchart illustrating the usage of the present invention.

[0019] In the diagram: 1-Explosion-proof enclosure cover, 2-Explosion-proof enclosure, 2.1-Copper sleeve, 3-Box body, 3.1-Fixed deep groove ball bearing one, 3.2-Box body hole one, 3.3-Fixed deep groove ball bearing two, 3.4-Box body hole two, 3.5-Motor stepped shaft one, 3.6-Straight bevel gear set one, 3.7-Fixed deep groove ball bearing three, 3.8-Motor stepped shaft two, 3.9-Straight bevel gear set two, 4-Rotating shaft, 4.1-Second drive unit, 4.2-Fixed deep groove ball bearing four, 4.3-Third drive unit, 4.4-Hex socket screw, 4.5-Rotating shaft explosion-proof cover, 4.6-Rotating shaft explosion-proof cover hole one 4.7 - Rotary shaft explosion-proof cover hole two; 5 - Four-bar linkage mechanism; 5.1 - Four-bar linkage base; 5.2 - Linkage; 5.3 - Pin; 5.4 - Linkage connector; 5.5 - Deep groove ball bearing one; 5.6 - Elastic retaining ring one; 5.7 - Broken tooth connector; 5.8 - Elastic retaining ring two; 5.9 - Spur gear; 5.10 - Motor stepped shaft three; 5.11 - Elastic retaining ring three; 5.12 - Broken tooth gear; 5.13 - Broken tooth connector hole one; 5.14 - Broken tooth connector hole two; 5.15 - Broken tooth connector hole three; 6 - First drive unit; 6.1 - Motor; 6.2 - Reducer; 7 - Bracket. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0023] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0025] To achieve the above objectives, such as Figures 1 to 10 As shown, this invention provides a joint rotation transmission device for an explosion-proof robot used in coal mines, comprising: an explosion-proof housing cover 1, an explosion-proof housing 2, a housing 3, a rotating shaft 4, a four-bar linkage 5, a broken-tooth transmission mechanism, and a first drive unit 6. The explosion-proof housing cover 1 is installed at the end of the explosion-proof housing 2 and is fastened to the explosion-proof housing with high-strength screws, used to seal and isolate internal components, ensure overall explosion-proof performance, and meet the safety requirements of explosive gas environments. The explosion-proof housing 2 is used to isolate internal electrical sparks / high temperatures and resist external impact vibrations. The rotating shaft 4, the four-bar linkage 5, and the first drive unit 6 are all located inside the explosion-proof housing 2; the output end of the first drive unit 6 is connected to the broken-tooth transmission mechanism installed in the four-bar linkage 5, one end of the four-bar linkage 5 is connected to the broken-tooth transmission mechanism, and the other end is connected to the rotating shaft 4; the output end of the rotating shaft 4 is connected to a bevel gear inside the housing 3. The explosion-proof enclosure 2 is used to prevent the danger of an external explosive gas environment caused by electrical sparks or high temperatures generated by internal electronic components due to malfunctions. At the same time, the explosion-proof enclosure has a high-strength structure to resist external impacts and vibrations.

[0026] The rotating shaft 4 includes a copper sleeve 2.1 and a drive shaft. The copper sleeve 2.1 is fitted into the inner wall of the explosion-proof housing 2, and a rotating shaft explosion-proof cover 4.5 is installed at one end near the housing 3. A second drive unit 4.1 and a third drive unit 4.3 are installed inside the copper sleeve 2.1 to provide driving force for the rotation of the upper and lower spur bevel gear sets. One end of the drive shaft is connected to the copper sleeve 2.1, and the other end is rotatably connected to the explosion-proof housing cover 1 via a fixed deep groove ball bearing 4.2. The copper sleeve 2.1 is used to reduce the frictional resistance during the rotation of the rotating shaft and to meet the explosion-proof requirements.

[0027] The first drive unit 6 is mounted inside the explosion-proof enclosure 2 via a bracket 7. The first drive unit 6, the second drive unit 4.1, and the third drive unit 4.3 have the same structure and all include: Motor 6.1 is a two-phase hybrid stepper motor that combines the core advantages of high precision, low heat generation, strong torque and high reliability, and is used to provide driving force. The reducer 6.2 is assembled and connected to the motor 6.1. It is a precision planetary reducer that matches the motor 6.1. It has the advantages of compact structure, small size and light weight. It is used to increase output torque and reduce speed.

[0028] The four-bar linkage 5 includes: The four-bar base 5.1 is installed between the first drive unit 6 and the rotating shaft 4, and is used to support and connect the broken tooth transmission mechanism and the four-bar mechanism. Link 5.2 is connected to the base of the four-bar linkage 5.1 via pin 5.3 and link connector 5.4. It is used to connect the driving link and the driven link of the four-bar linkage 5 and to connect and transmit motion. The driven rod is mounted on the rotating shaft connector and is used to transmit the motion of the four-bar linkage 5 to the rotating shaft 4; A deep groove ball bearing 5.5 is fitted into the mounting hole of the four-link base 5.1 to support the rotating shaft 4. Elastic retaining ring 1 (5.6), elastic retaining ring 2 (5.8), and elastic retaining ring 3 (5.11) are used for axial fixing of deep groove ball bearing 1 (5.5), broken tooth connector 5.7, and spur gear 5.9, respectively.

[0029] The broken tooth transmission mechanism includes: A spur gear 5.9 is mounted on the motor stepped shaft 5.10 on the left side of the four-link base 5.1 near the first drive unit 6, and is used to transmit the power output by the first drive unit to the broken gear. A broken gear 5.12 is mounted on the drive rod in the middle of the four-bar linkage base 5.1 and meshes with a spur gear 5.9. The broken tooth connector 5.7 is mounted on the broken tooth gear 5.12 and is used to synchronize the rotation of the broken tooth gear 5.12 and the driving rod of the four-bar linkage 5. It is used to transmit power to the driving rod of the four-bar linkage and achieve intermittent transmission through its special tooth profile design, thereby controlling the rotation angle of the joint.

[0030] The housing 3 is provided with housing hole 1 3.2 and housing hole 2 3.4, and fixed deep groove ball bearing 1 3.1, fixed deep groove ball bearing 2 3.3 and fixed deep groove ball bearing 3.7 are installed inside the housing 3; One end of the motor stepped shaft 3.5, which is inserted into the housing hole 3.2, is connected to the output end of the second drive unit 4.1, and the other end is rotatably connected to the housing 3 through a fixed deep groove ball bearing 3.1. A straight bevel gear set 3.6 is installed on the motor stepped shaft 3.5. One end of the motor stepped shaft 3.8, which is inserted into the housing hole 3.4, is connected to the output end of the third drive unit 4.3. A straight bevel gear set 3.9 is installed on the motor stepped shaft 3.8. The first straight bevel gear set 3.6 and the second straight bevel gear set 3.9 mesh with the upper and lower end faces of the bevel gear, respectively, to transmit power and achieve a smooth torque output. The bevel gear axle is equipped with a second fixed deep groove ball bearing 3.3 and a third fixed deep groove ball bearing 3.7, respectively.

[0031] The explosion-proof cover 4.5 of the rotating shaft has multiple explosion-proof cover holes 4.6 on its edge. The explosion-proof cover 4.5 of the rotating shaft is sealed and fastened to the rotating shaft 4 at the explosion-proof cover holes 4.6 by hexagon screws 4.4. The explosion-proof cover 4.5 of the rotating shaft has two explosion-proof cover holes 4.7 in its middle part for the motor stepped shaft 3.5 and the motor stepped shaft 3.8 to extend out.

[0032] The broken gear 5.12 and the broken tooth connector 5.7 are connected by fitting the broken tooth connector hole 1 5.13, the broken tooth connector hole 2 5.14, the broken tooth connector hole 3 5.15 and the bolt.

[0033] The assembly process of the device of the present invention is as follows: Step 1: Install the explosion-proof housing on the outside of the first drive unit and the rotating shaft connected to it. Relying on its high-strength structure, it can isolate the electrical sparks and high temperatures generated by the failure of internal electronic components, avoid causing danger to the external environment, and resist external impacts and vibrations. Step 2: Install a copper sleeve between the rotating shaft and the inner wall of the explosion-proof enclosure to reduce the frictional resistance when the rotating shaft rotates, while meeting the explosion-proof sealing requirements; Step 3: Connect the explosion-proof cover of the rotating shaft to the port of the explosion-proof housing with an Allen screw to complete the sealing and isolation of the rotating shaft. Step 4: Assemble the two-phase hybrid stepper motor and the matching precision planetary reducer to form the first drive unit. Install the drive unit on the first drive unit bracket inside the explosion-proof enclosure. Utilize the high precision and strong torque characteristics of the two-phase hybrid stepper motor to provide driving force, and increase the output torque and reduce the speed by taking advantage of the compact structure of the reducer. Step 5: Assemble the second and third drive units by combining the motor and reducer with the same specifications as the first drive unit, and install them inside the rotating shaft to provide driving force for the joint rotation of the upper and lower spur bevel gear sets; at the same time, install the housing on the outside of the two sets of spur bevel gears to complete the support and fixation of the gear sets; Step 6: Install spur gears and broken gears on the corresponding shafts of the four-bar linkage base and mesh them. Install the broken gear connector on the broken gear to synchronize the rotation of the broken gear and the four-bar linkage drive rod. Then connect the connecting rod to the connecting rod connector. At the same time, install the stepped shaft on the output end of the reducer of the second and third drive units and extend it outside the explosion-proof cover of the rotating shaft to cooperate with the bevel gear. During operation, the power of the first drive unit is transmitted to the broken gear through the spur gear. The special tooth shape of the broken gear achieves intermittent transmission, driving the four-bar linkage to operate. Finally, the stepped shaft transmits power to achieve smooth torque output and angle control of the joint.

[0034] Step 7: Install the explosion-proof enclosure cover onto the end of the explosion-proof enclosure and fasten it to the explosion-proof enclosure with high-strength screws to achieve overall sealing of the internal components.

[0035] refer to Figure 11 The present invention also provides a method for using a joint rotation transmission device for an explosion-proof robot in a coal mine, comprising the following steps: S1: The explosion-proof housing 2 is installed around the first drive unit 6 and the rotating shaft 4. A copper sleeve 2.1 is installed between the rotating shaft 4 and the inner wall of the explosion-proof housing 2. The rotating shaft explosion-proof cover 4.5 is installed at the port of the rotating shaft 4 that passes through the explosion-proof housing 2. The explosion-proof housing cover 1 is fastened to the end of the explosion-proof housing 2 with high-strength screws. S2: Start the first drive unit 6, whose output power is transmitted to the broken gear 5.12 through the spur gear 5.9. The broken gear 5.12 drives the drive rod of the four-bar linkage 5 to rotate through the broken gear connector 5.7. S3: Start the second drive unit 4.1 and the third drive unit 4.3, and their power is transmitted to the first straight bevel gear set 3.6 and the second straight bevel gear set 3.9 via the first motor stepped shaft 3.5 and the second motor stepped shaft 3.8; S4: The four-bar linkage 5 drives the driven link to move via link 5.2. The driven link transmits the motion to the rotating shaft 4. Simultaneously, the first spur bevel gear set 3.6 and the second spur bevel gear set 3.9 transmit power to the bevel gear, realizing the control of the robot joint rotation angle and smooth torque output. During the process, components such as the explosion-proof housing 2 and the copper sleeve 2.1 work together to ensure the explosion-proof sealing performance, preventing internal failures from causing external hazards.

[0036] This invention adapts to environmental safety requirements through the protective design of the explosion-proof shell; it combines a high-precision stepper motor and a precision planetary reducer to ensure both the accuracy and reliability of power output; the special design of the broken-tooth transmission mechanism enables intermittent rotational control of the joint, and the four-bar linkage improves the smoothness of motion transmission; the coordinated arrangement of multiple drive units enhances the power adaptability of joint rotation, and the overall structure is compact and highly protective, improving the applicability of robot joints in complex and dangerous working conditions.

[0037] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A joint rotation transmission device for an explosion-proof robot used in coal mines, characterized in that, include: The explosion-proof enclosure cover (1), explosion-proof enclosure (2), housing (3), rotating shaft (4), four-bar linkage (5), broken gear transmission mechanism and first drive unit (6); the explosion-proof enclosure cover (1) is installed at the end of the explosion-proof enclosure (2), and the rotating shaft (4), four-bar linkage (5) and first drive unit (6) are all located inside the explosion-proof enclosure (2); the output end of the first drive unit (6) is connected to the broken gear transmission mechanism installed on the four-bar linkage (5), one end of the four-bar linkage (5) is connected to the broken gear transmission mechanism, and the other end is connected to the rotating shaft (4); the output end of the rotating shaft (4) is connected to the bevel gear inside the housing (3); The rotating shaft (4) includes a copper sleeve (2.1) and a drive shaft. The copper sleeve (2.1) is fitted into the inner wall of the explosion-proof housing (2), and a rotating shaft explosion-proof cover (4.5) is installed at one end near the housing (3). A second drive part (4.1) and a third drive part (4.3) are installed inside the copper sleeve (2.1). One end of the drive shaft is connected to the copper sleeve (2.1), and the other end is rotatably connected to the explosion-proof housing cover (1) through a fixed deep groove ball bearing (4.2). The broken tooth transmission mechanism includes: A spur gear (5.9) is mounted on the motor stepped shaft three (5.10) on the left side of the four-bar base (5.1) near the first drive unit (6); A broken gear (5.12) is mounted on the drive rod in the middle of the four-bar linkage base (5.1) and meshes with a spur gear (5.9); A broken tooth connector (5.7) is installed on a broken tooth gear (5.12) and is used to synchronize the rotation of the broken tooth gear (5.12) and the drive rod of the four-bar linkage (5); The housing (3) is provided with housing hole one (3.2) and housing hole two (3.4), and fixed deep groove ball bearing one (3.1), fixed deep groove ball bearing two (3.3) and fixed deep groove ball bearing three (3.7) are installed inside the housing (3). One end of the motor stepped shaft (3.5) inserted in the housing hole (3.2) is connected to the output end of the second drive unit (4.1), and the other end is rotatably connected to the housing (3) through a fixed deep groove ball bearing (3.1). A straight bevel gear set (3.6) is installed on the motor stepped shaft (3.5). One end of the motor stepped shaft two (3.8) inserted in the housing hole two (3.4) is connected to the output end of the third drive unit (4.3), and a straight bevel gear set two (3.9) is installed on the motor stepped shaft two (3.8). The first straight bevel gear set (3.6) and the second straight bevel gear set (3.9) mesh with the upper and lower end faces of the bevel gear, respectively. The upper and lower ends of the bevel gear shaft are respectively equipped with a second fixed deep groove ball bearing (3.3) and a third fixed deep groove ball bearing (3.7).

2. The explosion-proof robot joint rotation transmission device for coal mines as described in claim 1, characterized in that, The first drive unit (6), the second drive unit (4.1), and the third drive unit (4.3) have the same structure and all include: The motor (6.1) is a two-phase hybrid stepper motor used to provide driving force; The reducer (6.2) is assembled and connected to the motor (6.1). It is a precision planetary reducer that matches the motor (6.1) and is used to increase the output torque and reduce the speed.

3. The explosion-proof robot joint rotation transmission device for coal mines as described in claim 2, characterized in that, The four-bar linkage (5) includes: A four-bar base (5.1) is installed between the first drive unit (6) and the rotating shaft (4); Link (5.2), which is connected to the base of the four-bar base (5.1) via a pin (5.3) and a link connector (5.4), is used to connect between the driving link and the driven link of the four-bar mechanism (5); The driven rod is mounted on the rotating shaft connector and is used to transmit the motion of the four-bar linkage (5) to the rotating shaft (4). Deep groove ball bearing 1 (5.5) is fitted into the mounting hole of the four-link base (5.1) to support the rotating shaft (4). Elastic retaining ring 1 (5.6), elastic retaining ring 2 (5.8), and elastic retaining ring 3 (5.11) are used to axially fix deep groove ball bearing 1 (5.5), broken tooth connector (5.7), and spur gear (5.9), respectively.

4. The explosion-proof robot joint rotation transmission device for coal mines as described in claim 3, characterized in that, The explosion-proof cover (4.5) of the rotating shaft has multiple explosion-proof cover holes (4.6) on its edge. The explosion-proof cover (4.5) of the rotating shaft is sealed and fastened to the rotating shaft (4) at the explosion-proof cover holes (4.6) of the rotating shaft by internal hexagon screws (4.4). The explosion-proof cover (4.5) of the rotating shaft has two explosion-proof cover holes (4.7) in the middle, which are used to extend the first step shaft (3.5) and the second step shaft (3.8) of the motor.

5. The explosion-proof robot joint rotation transmission device for coal mines as described in claim 3, characterized in that, The broken gear (5.12) and the broken connector (5.7) are connected by the engagement of the broken connector hole one (5.13), the broken connector hole two (5.14), the broken connector hole three (5.15) and the screw.

6. The method of using the explosion-proof robot joint rotation transmission device for coal mines as described in any one of claims 3-5, characterized in that, Includes the following steps: S1: The explosion-proof housing (2) is installed around the first drive unit (6) and the rotating shaft (4). A copper sleeve (2.1) is installed between the rotating shaft (4) and the inner wall of the explosion-proof housing (2). A rotating shaft explosion-proof cover (4.5) is installed at the port where the rotating shaft (4) passes through the explosion-proof housing (2). The explosion-proof housing cover (1) is fastened to the end of the explosion-proof housing (2) with high-strength screws. S2: Start the first drive unit (6), and its output power is transmitted to the broken gear (5.12) through the spur gear (5.9). The broken gear (5.12) drives the four-bar linkage (5) to rotate through the broken gear connector (5.7). S3: Start the second drive unit (4.1) and the third drive unit (4.3), and their power is transmitted to the first straight bevel gear set (3.6) and the second straight bevel gear set (3.9) via the first motor stepped shaft (3.5) and the second motor stepped shaft (3.8). S4: The four-bar linkage (5) drives the driven rod to move through the connecting rod (5.2). The driven rod transmits the motion to the rotating shaft (4). At the same time, the first straight bevel gear set (3.6) and the second straight bevel gear set (3.9) transmit the power to the bevel gear, thereby realizing the rotation angle control of the robot joint and the smooth output of torque.

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