Mining auxiliary transportation device

Abstract

The utility model discloses a mining auxiliary transportation device which comprises a robot dog and a basket, the robot dog comprises a trunk, a first walking piece and a second walking piece, the first walking piece is arranged below the trunk and can rotate between a vertical position and a horizontal position relative to the trunk, and the second walking piece is arranged below the trunk and can rotate between a vertical position and a horizontal position relative to the trunk. The second walking part is arranged on the first walking part and can rotate around the length direction of the first walking part relative to the first walking part, the robot dog has a first state and a second state, in the first state, the first walking part is located at a vertical position and drives the trunk to move, and in the second state, the first walking part is located at a horizontal position and drives the trunk to move; the second walking part rotates to drive the trunk to move, and the basket is detachably arranged on the trunk and used for storing materials. The mining auxiliary transportation device has the advantages of being small in size, high in operation efficiency and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of walking machine dog equipment of coal mine auxiliary manpower transport, in particular to a kind of auxiliary transport device with terrain automatic identification, walking and track automatic switching. BACKGROUND

[0002] In the related art, the coal mine auxiliary transport equipment in China is mainly traditional wheeled vehicles, such as rubber-tired vehicles, mine cars and other electromechanical equipment. The traditional transport equipment has a large volume and high requirements for the road, and requires laying tracks or paving roads. When encountering narrow spaces or original gravel roads, personnel are still needed to carry materials and accessories, which is labor-intensive and high-risk. SUMMARY

[0003] The utility model aims to at least solve one of the technical problems in the related art to some extent.

[0004] Therefore, the embodiment of the utility model provides a mine auxiliary transport device with convenient transportation and high transportation efficiency.

[0005] The mine auxiliary transport device according to the embodiment of the utility model comprises a robot dog, a first walking member and a second walking member. The first walking member is arranged below the torso and is rotatable relative to the torso between a vertical position and a horizontal position. The second walking member is arranged on the first walking member and is rotatable relative to the first walking member around the length direction of the first walking member. The robot dog has a first state and a second state. In the first state, the first walking member is in the vertical position and drives the torso to move. In the second state, the first walking member is in the horizontal position, and the second walking member is rotated to drive the torso to move. A basket is detachably arranged on the torso. The basket is used to store materials.

[0006] The mine auxiliary transport device according to the embodiment of the utility model sets the robot dog and the basket, so that the robot dog transports materials in the tunnel. The robot dog has low requirements for the road and does not need to lay tracks or pave roads, which reduces the transportation cost of materials. The robot dog can automatically switch between the first state and the second state according to different road conditions, which ensures the transportation efficiency of the robot dog and reduces the transportation cost of materials.

[0007] In some embodiments, the first walking member comprises a first rod and a second rod, the first rod is arranged on the trunk and is movable relative to the trunk around the width direction of the trunk, the first rod is rotatably connected with the second rod, and the second walking member is arranged on the first rod. In the first state, the second rod is in a vertical position, and the first rod and the second rod drive the trunk to walk. In the second state, the second rod is in a horizontal state, so that the second walking member drives the trunk to walk.

[0008] In some embodiments, the second walking member comprises a motor, a first wheel, a second wheel and a conveyor belt, the first wheel and the second wheel are rotatably arranged on the first walking member and are oppositely arranged along the length direction of the first walking member, the conveyor belt is sleeved on the first wheel and the second wheel, and the motor is arranged on the first walking member and connected with the first wheel, so that the motor drives the first wheel to rotate to drive the conveyor belt to rotate.

[0009] In some embodiments, the cross-sectional area of the inner circumferential surface of the basket gradually decreases from top to bottom, and the basket is detachably arranged on the trunk.

[0010] In some embodiments, the first walking member is a plurality of first walking members, the plurality of first walking members are arranged below the trunk and are spaced along the circumferential direction of the trunk, and / or the second walking member is a plurality of second walking members, the plurality of second walking members are arranged on the plurality of first walking members one by one.

[0011] In some embodiments, the mine auxiliary transportation device further comprises a head and a controller, the head is arranged on one side of the trunk, the controller is arranged in the head, the controller is connected with the first walking member and the second walking member, so that the controller controls the first walking member and the second walking member to work.

[0012] In some embodiments, the mine auxiliary transportation device further comprises an infrared obstacle avoidance sensor, the infrared obstacle avoidance sensor is arranged on the trunk, and the infrared obstacle avoidance sensor is used to detect whether there is an obstacle in front of the robot dog.

[0013] In some embodiments, the mine auxiliary transportation device further comprises a camera and a lighting member, the camera and the lighting member are arranged on the trunk, the camera is used to collect the environment around the robot dog to provide information for remote walking and autonomous walking of the robot dog, and the lighting member is used to provide lighting for the camera.

[0014] In some embodiments, the mine auxiliary transportation device further comprises a detection radar, the detection radar is arranged on the trunk and is used to detect the terrain in real time.

[0015] In some embodiments, the mine auxiliary transportation device further comprises a communication assembly arranged on the trunk, the communication assembly being used for collecting voice or making voice broadcast. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic view of a mine auxiliary transportation device according to an embodiment of the present application.

[0017] 100, mine auxiliary transportation device;

[0018] 1, robot dog; 11, trunk; 12, first walking member; 121, first rod; 122, second rod; 13, second walking member; 131, first wheel; 132, second wheel; 133, conveyor belt; 14, head; 2, basket; 3, infrared obstacle avoidance sensor; 4, camera member; 5, communication assembly. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0020] The mine auxiliary transportation device 100 according to an embodiment of the present application is described below with reference to the drawings.

[0021] As shown in Figure 1 , the mine auxiliary transportation device 100 according to an embodiment of the present application comprises a robot dog 1 and a basket 2.

[0022] The robot dog 1 comprises a trunk 11, a first walking member 12 and a second walking member 13, the first walking member 12 is arranged below the trunk 11 and is rotatable between a vertical position and a horizontal position relative to the trunk 11, the second walking member 13 is arranged on the first walking member 12 and is rotatable about the length direction of the first walking member 12 relative to the first walking member 12, the robot dog 1 has a first state and a second state, in the first state, the first walking member 12 is in the vertical position and drives the trunk 11 to move, in the second state, the first walking member 12 is in the horizontal position, and the second walking member 13 is rotated to drive the trunk 11 to move.

[0023] Specifically, as shown in Figure 1As shown, the trunk 11 is the main structural part of the robot dog 1, and internally contains a power supply, a motor, a reducer, a rudder, and other walking power systems. The first walking member 12 is arranged below the trunk 11 and is rotatable about the front-rear direction. The second walking member 13 is arranged on the outer circumferential side of the first walking member 12. When the robot dog 1 is on a gravel road, a rail road, a puddle road, or a coal slurry road, the robot dog 1 is in a first state, and the first walking member 12 is in a vertical state. The upper end of the first walking member 12 swings about the front-rear direction, so that the first walking member 12 simulates a canine gait to enable the robot dog 1 to more flexibly cross complex terrain. When the robot dog 1 is on a flat road, a certain slope road, a muddy road, or a soft road, the robot dog 1 is in a second state, and the first walking member 12 is in a horizontal position, so that the second walking member 13 is in contact with the road surface. The second walking member 13 rotates and in turn drives the robot dog 1 to move quickly in the tunnel, thereby providing a more stable walking posture for the robot dog 1 and ensuring the running efficiency of the robot dog 1.

[0024] The basket 2 is detachably arranged on the trunk 11 and is used to store materials. Thus, the basket 2 is used to transport materials (for example, coal, maintenance tools, etc.).

[0025] The mine auxiliary transport device 100 according to the embodiments of the present application is provided with the robot dog 1 and the basket 2, so that the robot dog 1 transports materials in the tunnel. The robot dog 1 has a small requirement for the road and does not need to be laid with tracks or paved with a road surface, thereby reducing the transportation cost of the materials. In addition, the first walking member 12 and the second walking member 13 of the robot dog 1 are arranged to enable the robot dog 1 to automatically switch between the first state and the second state according to different road conditions, thereby ensuring the transportation efficiency of the robot dog 1, reducing the work intensity of personnel, and reducing the transportation cost of the materials.

[0026] In some embodiments, the first walking member 12 includes a first rod 121 and a second rod 122. The first rod 121 is arranged on the trunk 11 and is movable relative to the trunk 11 about the width direction of the trunk 11 (for example, the front-rear direction as shown). Figure 1 The first rod 121 is rotatably connected to the second rod 122. The second walking member 13 is arranged on the first rod 121. In the first state, the second rod 122 is in a vertical position, and the first rod 121 and the second rod 122 drive the trunk 11 to walk. In the second state, the second rod 122 is in a horizontal state, so that the second walking member 13 drives the trunk 11 to walk. Specifically, Figure 1As shown, the upper end of the first rod 121 is hinged to the body 11 and connected to the motor inside the robot dog 1, so that the motor drives the first rod 121 to rotate in the front-back direction. The upper end of the second rod 122 is hinged to the lower end of the first rod 121. The second walking member 13 is provided on the outer circumference of the second rod 122. In the first state, the first rod 121 extends from top to bottom and tilts from right to left, and the second rod 122 extends from top to bottom and tilts from left to right. The lower end of the second rod 122 is supported on the ground. The tilting design of the first rod 121 and the second rod 122 when walking vertically makes the first walking member 12 more stable when walking, ensuring the movement efficiency of the robot dog 1. In the second state, the first rod 121 and the second rod 122 are both in a roughly horizontal state.

[0027] In some embodiments, the second traveling member includes a motor (not shown in the figure), a first wheel 131, a second wheel 132, and a conveyor belt 133. The first wheel 131 and the second wheel 132 are rotatably mounted on the first traveling member 12 and the first wheel 131 and the second wheel 132 are along the length direction of the first traveling member 12 (e.g., ...). Figure 1 As shown, the conveyor belt 133 is arranged at intervals in the left-right direction, and is fitted onto the first wheel 131 and the second wheel 132. A motor is mounted on the first traveling member 12 and connected to the first wheel 131, so that the motor drives the first wheel 131 to rotate, thereby driving the conveyor belt to rotate. Specifically, as shown... Figure 1 As shown, the first wheel 131 is the driving wheel, and the second wheel 132 is the driven wheel. The first wheel 131 and the second wheel 132 are spaced apart along the extension direction of the second rod 122 and are rotatably mounted on the second rod 122. The conveyor belt 133 is annular and is sleeved on the first wheel 131 and the second wheel 132. The motor is fixed on the second rod 122 and the output shaft of the motor is connected to the first wheel 131, thereby driving the first wheel 131 to rotate. When the robot dog 1 is in the second state, the second rod 122 is in a horizontal state, so that the conveyor belt 133 is in contact with the ground, thereby allowing the conveyor belt 133 to drive the robot dog 1 to move smoothly on the ground.

[0028] In some embodiments, the cross-sectional area of ​​the inner circumferential surface of the basket 2 gradually decreases from top to bottom, and the basket 2 is detachably mounted on the body 11. Specifically, as shown... Figure 1 As shown, the basket 2 is made of high-strength steel to ensure its strength and durability, adapting to the complex working environment of underground coal mines. The inner circumference of the basket 2 is funnel-shaped with a cross-sectional area that gradually decreases from top to bottom, which facilitates the rapid loading of coal or other materials and reduces loading and unloading time. The basket 2 is installed on the body 11 of the robot dog 1 by quick-release buckles or other convenient fixing methods, which facilitates loading, unloading and replacement. When it is necessary to move heavy goods, the basket 2 can be removed as a whole, replaced with an empty basket 2 and then loaded with other materials, improving work efficiency.

[0029] In some embodiments, the first walking member 12 is provided in plurality, the plurality of first walking members 12 are arranged below the trunk 11 and are spaced along the circumference of the trunk 11, and / or the second walking member 13 is provided in plurality, the plurality of second walking members 13 are correspondingly arranged on the plurality of first walking members 12. Specifically, as shown in Figure 1 the number of the first walking member 12 is four and each of the first walking members 12 is rotatably arranged below the trunk 11, the four first walking members 12 are divided into two groups, the two groups of first walking members 12 are spaced along the left-right direction, each group of first walking members 12 includes two second walking members 13 spaced along the front-back direction, thereby making the robot dog 1 run more stably, the number of the second walking member 13 is four, so that one second walking member 13 is arranged on each first walking member 12, thereby ensuring the running efficiency and stability of the robot dog 1.

[0030] It is worth mentioning that the first walking member 12 of the robot dog 1 is the same as the walking member structure of the robot dog 1 in the prior art, and the utility model is not improved, therefore, the embodiment of the utility model is not specifically described.

[0031] In some embodiments, the robot dog 1 further comprises a head 14 and a controller (not shown in the figure), the head 14 is arranged on one side of the trunk 11 and the controller is arranged in the head 14, the controller is connected with the first walking member 12 and the second walking member 13, so that the controller controls the first walking member 12 and the second walking member 13 to work. Specifically, as shown in Figure 1 the head 14 is in the shape of a dog head and is fixedly installed on the right side of the trunk 11, the controller is installed in the head 14, and the controller can be connected with the first walking member 12 and the second walking member 13, thereby adjusting the first walking member 12 to work through the controller, or adjusting the second walking member 13 to work through the controller.

[0032] In some embodiments, the mine auxiliary transport device 100 further comprises an infrared obstacle avoidance sensor 3, the infrared obstacle avoidance sensor 3 is arranged on the trunk 11, and the infrared obstacle avoidance sensor 3 is used for detecting whether there is an obstacle in front of the robot dog 1. Specifically, as shown in Figure 1 the infrared obstacle avoidance sensor 3 is arranged on the right side of the trunk 11, the infrared obstacle avoidance sensor 3 can be used for detecting whether there is an obstacle in front of the robot dog 1, when the infrared obstacle avoidance sensor 3 detects the obstacle, the infrared obstacle avoidance sensor 3 transmits a signal to the controller, and the controller controls the robot dog 1 to make a corresponding decision according to the received data, such as reducing speed, turning or stopping advancing, thereby improving the transport efficiency of the mine auxiliary transport device 100.

[0033] In some embodiments, the mine auxiliary transportation device 100 further comprises a camera 4 and a lighting device (not shown in the figure), both of which are arranged on the torso 11, the camera 4 is used to collect the environment around the robot dog 1 to provide information for the remote walking and autonomous walking of the robot dog 1, and the lighting device is used to provide lighting for the camera 4. Specifically, as shown in Figure 1 The camera 4 is a wide-angle camera, and the lighting device is a lighting lamp, both of which are arranged on the left side of the torso 11, the camera 4 is used to shoot the objects around the front of the robot dog 1, and the shot data is uploaded to the controller, the controller controls the robot dog 1 to identify the path, avoid obstacles and detect the surrounding environment, the lighting device is used to light the camera 4, which ensures the shooting efficiency of the camera 4, and when the robot dog 1 identifies people around during operation, a voice warning such as attention can be given, and when an emergency occurs, the surrounding staff can control the robot dog 1 to stop by voice, which is safer in the dark environment of the coal mine.

[0034] In some embodiments, the mine auxiliary transportation device 100 further comprises a detection radar (not shown in the figure), which is arranged on the torso 11 and is used to detect the terrain in real time. Specifically, as shown in Figure 1 The detection radar is arranged on the left side of the torso 11, and the detection radar adopts an ultrasonic terrain detection radar to avoid the risk of video image detection failure in the dark environment of the coal mine, thereby increasing the reliability of the road surface environment identification.

[0035] In some embodiments, the mine auxiliary transportation device 100 further comprises a communication assembly 5 arranged on the torso 11, which is used to collect voice or broadcast voice. Specifically, as shown in Figure 1 The communication assembly 5 is a two-way communication loudspeaker arranged on the right side of the torso 11, that is, a microphone voice collector and a voice playing loudspeaker are integrated, which can be used for voice control and dialogue with the robot dog 1 to provide operation instructions such as forward, backward, left and right for the robot dog 1, for example, when the robot dog 1 walks and encounters people around, a voice warning "auxiliary transportation is in progress, please pay attention" is given.

[0036] It is worth noting that the operation of the robot dog 1 can be switched between the autonomous intelligent mode, the human remote control mode, the personnel following mode and the voice instruction control mode, different control modes can be switched according to different site environments, which saves time and effort. When the power of the robot dog 1 is low, it can automatically find a nearby charging power source and charge autonomously.

[0037] The mine auxiliary transportation device 100 of the embodiments of the present application will be described in detail below with reference to the accompanying Figure 1 The mine auxiliary transportation device 100 of the embodiments of the present application will be described in detail below with reference to the accompanying

[0038] The mine auxiliary transportation device 100, which is constituted as Figure 1As shown, including transport material basket 2 and robot dog 1, basket 2 is mainly used for loading materials and other accessories required for production, and the lower part of the robot dog 1 is the trunk 11, which contains the power supply, motor and reducer, rudder and other walking power system inside, the right end of the trunk 11 is equipped with a camera 4 and a lighting device, which provides lighting for the robot dog 1 when walking and collects video images at any time, and an infrared obstacle avoidance sensor 3 is also provided to avoid collision with the front obstacles; a communication component 5 is installed for voice prompt and man-machine communication; the front head 14 of the trunk 11 is the central controller, mainly including control center CPU, terrain information feedback system, camera video recognition system and ultrasonic terrain detection radar, which is used for real-time detection of the front terrain when the robot dog 1 walks; the first walking part 12 is provided on both sides of the trunk 11, which steps forward on the gravel road and in the narrow space; the second walking part 13 is installed on the second rod 122 of the first walking part 12, which automatically folds back when the coal mine encounters muddy road and soft road, so that the track smoothly lands and relies on the track to move forward.

[0039] The basket 2 is made of steel frame material, which is in the shape of an inverted trapezoid with large upper and small lower, which is convenient for loading and transporting goods, and the basket 2 is inserted into the trunk 11 of the robot dog 1 below and is fixed by buckling, which is convenient for separation, when heavy goods are loaded, the material basket 2 can be moved down as a whole, and the empty basket 2 is replaced with other materials, which also belongs to the protection range of the utility model.

[0040] The trunk 11 of the robot dog 1 adopts the relevant industry standards of waterproof, dustproof and explosion-proof, and the trunk 11 contains the power supply, motor and reducer, rudder and other walking power system inside, and the trunk 11 is connected with four walking legs on both sides of the main body, and the rudder shaft hole of the trunk 11 is fixedly connected with the four walking legs;

[0041] The camera 4 is a high-definition video collector, and the wide-angle lens mainly provides a wider field of view to capture more objects in the surrounding environment without moving backward, which is particularly useful in narrow environments, and the collected data is used to provide information for remote walking and autonomous walking of the robot dog 1, and the camera and the photographing and lighting system are integrated together, without the need for a separate lighting lamp.

[0042] The communication component 5 is a two-way communication loudspeaker, which integrates a microphone voice collector and a voice playing loudspeaker, can conduct voice control and dialogue with the robot dog 1, and provides forward, backward, left and right operation instructions for the robot dog 1;

[0043] The controller is arranged at the head 14, and a sensor assembly of the central control system comprises a front shield, a control chip, an ultrasonic radar, an antenna and the like; the central control system is in data communication with a camera 4, a communication loudspeaker, an obstacle avoidance sensor and an infrared temperature sensor of the trunk 11 of the robot dog 1, analyzes collected data in real time, and feeds back a processed instruction set to a power part of the trunk 11 to control walking of the robot dog 1.

[0044] The first walking part 12 is provided with the first wheel 131, the second wheel 132 and a conveying belt on the second rod 122, the conveying belt is made of light rubber material, and the first walking part 12 can be folded according to information fed back by the terrain detection radar, and the conveying belt on the second rod 122 contacts the ground to walk after being folded;

[0045] In the operation process of the utility model, the material basket 2 of the mine auxiliary transport caterpillar type self-sufficient robot dog 1 is filled with goods, the basket 2 is fixed to the trunk 11 of the robot dog 1 through quick insertion buckling, the robot dog 1 is awakened in a voice or remote control mode, the robot dog 1 is given an advancing instruction, the robot dog 1 automatically selects the first state or the second state according to recognized road conditions, when the robot dog 1 encounters an obstacle in the walking process, the robot dog 1 automatically avoids or stops advancing according to information fed back by the infrared obstacle avoidance system, and when the robot dog 1 walks and encounters people around, the robot dog 1 gives a voice warning "auxiliary transportation is in progress, please pay attention" to remind.

[0046] The mine auxiliary transport device 100 has the following advantages.

[0047] 1. The mine auxiliary transport device 100 can conveniently, labor-savingly and quickly transport materials in a coal mine, the first walking part 12 can smoothly pass through rugged roads such as gravel, the second walking part 13 can smoothly realize material transportation on muddy and soft roads, and the robot dog 1 can realize unmanned material transportation on roads without paving in a coal mine.

[0048] 2. When auxiliary transportation is carried out in a coal mine, the robot dog 1 can select an autonomous mode, a remote control mode, a personnel following mode and a voice instruction control mode, when the personnel following mode is selected, the camera 4 automatically identifies distance information between the front of the coal and the staff, and transmits the distance information to the central control system, the information transmission is fed back to the central CPU, the control system makes a judgment and then feeds back to the driving element again.

[0049] 3. In the running process of the robot dog 1, the infrared obstacle avoidance sensor can detect whether there is an obstacle around the robot dog 1, and transmit the detected information to the central control system in real time, the central CPU processes the information, makes a judgment and then feeds back to the driving element again, so that the robot dog 1 is controlled to stop or avoid the obstacle, and the obstacle avoidance function is realized.

[0050] 4. In the process of running the robot dog 1, the sound source information of the outside can be collected through the microphone pickup integrated on the loudspeaker, and transmitted to the central CPU for analysis, and the CPU gives feedback after judging the voice instruction, and feeds back the instruction to the driving element, so as to realize the interactive two-way voice control function of the robot dog 1 and the human.

[0051] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model indicated or implied by the device or element must have a particular orientation, a particular orientation and operation, and therefore cannot be understood as limiting the utility model.

[0052] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0053] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication or interaction relationship of two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0054] In the utility model, unless otherwise specifically defined and limited, the first feature "on" or "under" the second feature can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0055] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled person in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0056] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and modifications to the above embodiments within the scope of the present application.

Claims

1. A mine auxiliary haulage device, characterized in that, The machine dog comprises a trunk, a first walking member and a second walking member, the first walking member is arranged below the trunk and is rotatable between a vertical position and a horizontal position relative to the trunk, the second walking member is arranged on the first walking member and is rotatable relative to the first walking member around the length direction of the first walking member, the machine dog has a first state and a second state, in the first state, the first walking member is in the vertical position and drives the trunk to move, in the second state, the first walking member is in the horizontal position, and the second walking member is rotated to drive the trunk to move; A basket is detachably arranged on the trunk, and the basket is used for storing materials. The first walking member comprises a first rod and a second rod, the first rod is arranged on the trunk and is movable relative to the trunk around the width direction of the trunk, the first rod is rotatably connected with the second rod, and the second walking member is arranged on the first rod, in the first state, the second rod is in the vertical position, and the first rod and the second rod drive the trunk to walk, in the second state, the second rod is in the horizontal state, so that the second walking member drives the trunk to walk.

2. The auxiliary mine haulage device of claim 1, wherein, The second walking member comprises a motor, a first wheel, a second wheel and a transmission belt, the first wheel and the second wheel are rotatably arranged on the first walking member and are oppositely arranged along the length direction of the first walking member, the transmission belt is sleeved on the first wheel and the second wheel, and the motor is arranged on the first walking member and connected with the first wheel, so that the motor drives the first wheel to rotate to drive the transmission belt to rotate.

3. The auxiliary mine haulage device of claim 1, wherein, The cross-sectional area of the inner circumferential surface of the basket gradually decreases from top to bottom, and the basket is detachably arranged on the trunk.

4. The auxiliary mine haulage device of claim 1, wherein, The first walking member is a plurality of first walking members, the plurality of first walking members are arranged below the trunk and are arranged at intervals along the circumferential direction of the trunk, and / or the second walking member is a plurality of second walking members, and the plurality of second walking members are arranged on the plurality of first walking members one by one.

5. The auxiliary mine haulage device of claim 1, wherein, The machine dog further comprises a head and a controller, the head is arranged on one side of the trunk, the controller is arranged in the head, the controller is connected with the first walking member and the second walking member, so that the controller controls the first walking member and the second walking member to work.

6. The auxiliary mine haulage device of claim 1, wherein, Further comprising an infrared obstacle avoidance sensor, the infrared obstacle avoidance sensor is arranged on the trunk, and the infrared obstacle avoidance sensor is used for detecting whether there is an obstacle in front of the machine dog.

7. The auxiliary mine haulage device of claim 1, wherein, Further comprising a camera and a lighting member, the camera and the lighting member are arranged on the trunk, the camera is used for collecting the environment around the machine dog to provide information for remote walking and autonomous walking of the machine dog, and the lighting member is used for providing illumination for the camera.

8. The auxiliary mine haulage device of claim 1, wherein, Further comprising a detection radar, the detection radar is arranged on the trunk and is used for real-time detection of terrain conditions.

9. The auxiliary mine haulage device of claim 1, wherein, Further comprising a communication assembly, the communication assembly is arranged on the trunk, and the communication assembly is used for collecting voice or performing voice broadcast.

10. The auxiliary mine haulage device of claim 1, wherein, ​

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