CN109693724B

CN109693724B - Walking type mine detection robot

Info

Publication number: CN109693724B
Application number: CN201910010931.2A
Authority: CN
Inventors: 迟明善; 刘晓燕; 王仲文
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2019-01-07
Filing date: 2019-01-07
Publication date: 2020-03-27
Anticipated expiration: 2039-01-07
Also published as: CN109693724A

Abstract

The invention belongs to the technical field of robots, and particularly relates to a walking type mine detection robot which comprises a box body; the device also comprises a travelling mechanism, a lifting mechanism, a first shaft, a fixing plate, a rotating mechanism, a battery pack, a searchlight, a camera, a signal transmitter, a laser scanner, an infrared distance meter, a life detector, a detection sensor and a controller. The first wheel is driven to rotate through the forward and reverse rotating motor, so that the second belt rotates, and the second wheel rotates through the mutual matching between the trapezoidal lugs on the second belt and the gear blocks on the second wheel, so that the third belt rotates; simultaneously, because telescopic cylinder both ends link firmly respectively at No. three belts and articulate in the push pedal for the push pedal promotes a fixed column and moves on vertical direction, through the lift of controlling a fixed column, carries out accurate detection to mine internal environment, thereby has improved the practicality of detection robot.

Description

Walking type mine detection robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a walking type mine detection robot.

Background

At present, China has become the first major world in coal production and consumption. Meanwhile, China is also the country with the most coal mine safety accidents, and the coal mine safety accidents cause serious property loss and severe social influence. The mine disaster reason and the mine disaster site situation are unknown, so that the situation that rescue workers are in distress in emergency rescue sometimes occurs. If automatic equipment capable of replacing people is adopted to go deep into a mine to detect the mine disaster position and the mine disaster site situation before rescue, high-efficiency rescue can be implemented on the premise of ensuring the safety of rescuers, and the loss of personnel and property is reduced to the maximum extent. Therefore, the development of the coal mine rescue detection robot is greatly necessary.

Also a walking mine detection robot's technical scheme has appeared among the prior art, chinese patent as application number 2016106825577 discloses a mine detection robot, including fixed steel sheet, laser emitter, laser scanner, camera, infrared distance meter, battery and gear, fixed steel sheet is connected with from the driving wheel, damping spring's lower extreme is provided with the main track, the upper end of supplementary track is provided with the gear, the inside of shell is provided with the battery, signal emitter's upper end is provided with control panel, laser emitter is linked together with laser scanner is inside, be provided with searchlight and camera on the fixed support post, and its lower extreme is provided with infrared distance meter.

The mine detection robot of the technical scheme can adjust the height of the detection equipment. However, in the technical scheme, the mine detection robot can shake during operation, so that the shooting of the camera on the internal environment of the mine is influenced; meanwhile, the height adjustment is very limited, so that the accurate detection of the detection robot on the internal environment of the mine is influenced; so that the technical solution is limited.

Disclosure of Invention

In order to make up the defects of the prior art, the problems that the detection robot shakes and the height is not easy to adjust during operation are solved; the invention provides a walking type mine detection robot.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a walking mine detection robot, which comprises a box body; the device also comprises a travelling mechanism, a lifting mechanism, a first shaft, a fixing plate, a rotating mechanism, a battery pack, a searchlight, a camera, a signal transmitter, a laser scanner, an infrared range finder, a life detector, a detection sensor and a controller; the controller is used for controlling the work of the detection robot; the box body is fixedly arranged on the fixing plate, high-temperature-resistant heat-insulation paint is sprayed on the outer side of the box body and used for resisting an external high-temperature environment, the searchlight is arranged outside the box body, and the searchlight is an explosion-proof searchlight and is connected with the battery pack; the box body is internally provided with a lifting mechanism and a battery pack, the battery pack is used for providing power for the detection robot, and the battery pack is externally provided with an explosion-proof shell which prevents the battery pack from exploding; the infrared distance measuring instrument and the life detecting instrument are respectively arranged on the lifting mechanism, the infrared distance measuring instrument is used for measuring the distance between the detection robot and the obstacle, and the life detecting instrument is used for detecting whether life characteristics exist in the mine or not; the fixed plate is sleeved on an outer ring of the first shaft, two ends of the first shaft are arranged on the traveling mechanism, and the detection robot travels through the traveling mechanism; the mine detection robot comprises a lifting mechanism, a camera, a laser transmitter, a laser scanner, a signal transmitter and detection sensors, wherein the lifting mechanism is rotatably installed on the lifting mechanism, the camera is used for shooting the mine environment, the laser scanner is used for three-dimensionally scanning the internal condition of a mine, the laser scanner is communicated with the interior of the laser transmitter, the detection sensors are respectively carbon monoxide, methane and oxygen sensors, the carbon monoxide, methane and oxygen sensors are respectively used for detecting the content of carbon monoxide, methane and oxygen in the mine, real-time and specific conditions in the mine are provided through the mutual matching of a searchlight, the camera, the signal transmitter, the laser scanner, an infrared distance meter, a life detection instrument and the detection sensors, and the detection robot immediately transmits positioning information and field pictures to ground personnel through the signal transmitter; wherein,

the travelling mechanism comprises a rotating wheel, a second shaft, a rotating ring and a first belt; the number of the rotating wheels is four; two ends of the second shaft are rotatably installed with the rotating wheels, and the rotating wheels on the same horizontal line are driven by the first belt; the number of the rotating rings is two, the two rotating rings are respectively sleeved on a second shaft, and two ends of the first shaft are arranged in the middle of the rotating rings; the first belt is a spliced belt and consists of a plurality of first elastic lantern rings, a plurality of second elastic lantern rings, a first double-head cylinder, a first electromagnet and a second electromagnet; an area is arranged inside the first elastic lantern ring, the first double-head cylinder is located in the area, two ends of the first double-head cylinder are fixedly connected to the side wall of the area, and first electromagnets are symmetrically arranged outside the first elastic lantern ring; a second electromagnet is symmetrically arranged outside the second elastic lantern ring, and the first electromagnet and the second electromagnet are attracted by magnetic force after being electrified;

the lifting mechanism comprises a first wheel, a second wheel, a third wheel, a fourth wheel, a second belt, a third belt, a mounting plate, a first plate, a push plate, a first fixing column and a telescopic cylinder; the first wheels are respectively rotatably arranged on the side wall of the box body through rotating shafts, a first wheel rotating shaft positioned on the left side is fixedly connected with an output shaft of a forward and reverse rotating motor, and the forward and reverse rotating motor is fixedly arranged on the outer side wall of the box body; the second belt is used for driving the first wheel and the second wheel, and a plurality of trapezoidal tooth blocks are uniformly arranged on the outer ring of the second belt; the second wheel is rotatably arranged on the side wall of the box body through a rotating shaft, a plurality of grooves are formed in the second wheel, tooth blocks matched with the trapezoidal convex teeth on the second belt are arranged in the grooves, two ends of each tooth block are fixedly connected to the side wall of each groove through springs, rigid collision between the trapezoidal convex teeth and the tooth blocks is avoided, and the second wheel is rotated through mutual matching among the second belt, the trapezoidal convex teeth and the tooth blocks; the number of the third wheels is two, the third wheels are symmetrically arranged, and the third wheels are rotatably arranged on the side wall of the box body through a rotating shaft; the third belt is used for driving the third wheel and the fourth wheel, the third belt on the left side is splayed, and the fourth wheel is sleeved on a rotating shaft of the second wheel and is positioned on the rear side of the second wheel; the two mounting plates are symmetrically arranged, the two mounting plates are fixedly connected to the side wall of the box body respectively, and grooves are formed in the two mounting plates; the push plate is positioned at the groove, one end of the push plate is fixedly connected to the groove wall through a spring, and the other end of the push plate supports one plate; one end of the first fixing column is rotatably connected with the rotating mechanism, and the other end of the first fixing column is fixedly connected to the first plate; telescopic cylinder one end articulates in the push pedal, and the telescopic cylinder other end articulates in No. three takes turns, through the mutually supporting between No. three wheels, No. four wheels, No. three belts and telescopic cylinder for the push pedal is gone up at vertical direction and is moved, thereby the lift of control fixed column No. one. When coal is adopted in a coal mine, mine disasters often occur in the coal mine, rescue workers suddenly enter a mine area to rescue in an emergency under the conditions that the mine disaster reason and the mine disaster site situation are unknown, and the rescue workers are in danger, so that a coal mine detection robot needs to be developed to detect a mine with the mine disasters; the mine detection vehicle in the prior art has the defects that on one hand, the mine detection vehicle shakes during operation to influence the shooting of a camera on the internal environment of a mine and influence the shooting picture; on the other hand, the height adjustment of the mine detection vehicle is very limited, so that the accurate detection of the detection vehicle on the internal environment of the mine is influenced; the invention is provided with a traveling mechanism, a lifting mechanism, a first shaft, a fixing plate, a rotating mechanism, a battery pack, a searchlight, a camera, a signal transmitter, a laser scanner, an infrared range finder, a life detector, a detection sensor and a controller; on one hand, a spliced first belt is adopted and consists of a plurality of first elastic sleeve rings, second elastic sleeve rings, a first double-head cylinder, a first electromagnet and a second electromagnet, the shake of the detection robot in operation is relieved through the expansion and contraction of the first double-head cylinder, meanwhile, the damaged part is selectively replaced according to the actual situation, the whole first belt is prevented from being scrapped, and therefore the practicability of the detection robot is improved; on the other hand, the first wheel is driven to rotate through the forward and reverse rotating motor, so that the second belt rotates, and the second wheel rotates through the mutual matching between the trapezoidal lugs on the second belt and the gear blocks on the second wheel, so that the third belt rotates; simultaneously, because telescopic cylinder both ends link firmly respectively at No. three belts and articulate in the push pedal for the push pedal promotes a fixed column and moves on vertical direction, through the lift of controlling a fixed column, carries out accurate detection to mine internal environment, thereby has improved the practicality of detection robot.

Firstly, driving a detection robot to walk through a controller, enabling the detection robot to enter a mine, assisting the detection robot to run and avoid obstacles through information obtained from a laser scanner, a camera and an infrared distance meter when the detection robot walks in the mine, searching whether life signs exist in the mine or not through a life detection instrument during the movement of the detection robot, and immediately transmitting positioning information and field pictures to ground rescue workers through a signal transmitter once the detection robot with the life signs exists; when the detection robot walks in a mine, the belt I is of a splicing structure and consists of a plurality of elastic lantern rings I, elastic lantern rings II, double-head cylinders I, electromagnets I and electromagnets II, and when the detection robot walks in the mine, the elastic lantern rings I and II are extruded, so that the double-head cylinders I in the elastic lantern rings I are contracted, and the detection robot is prevented from shaking during walking; the height of the first fixing column is adjusted in real time while the detection robot walks in the mine, so that the camera, the laser scanner and the detection sensor can accurately detect the interior of the mine; in the process of height adjustment of the first fixing column, when the position of the first fixing column is too low, the controller controls and drives the forward and reverse rotating motor to rotate, the first belt is enabled to rotate clockwise under the action of the forward and reverse rotating motor, and the second wheel is enabled to rotate anticlockwise due to the fact that the first belt is provided with the trapezoidal lugs and the second wheel is provided with the tooth blocks matched with the trapezoidal lugs; meanwhile, the fourth wheel is sleeved on the rotating shaft of the second wheel, the third wheel and the fourth wheel are driven by a third belt, the third belt on the left side is in splayed transmission, so that the third wheel on the left side rotates clockwise, the third wheel on the right side rotates against a potential needle, a push plate connected through a telescopic cylinder moves to one side far away from the groove, the push plate pushes the first plate to move to one side close to the top of the box body, and the first fixed column is lifted; when the position of the first fixing column is too high, the controller controls the forward and reverse rotating motor to be driven reversely to rotate; through the mutually supporting between a wheel, No. two wheels, No. two belts, No. three wheels, telescopic cylinder and push pedal for a board is to keeping away from box top one side motion, realizes the decline of a fixed column, through highly adjusting a fixed column, makes camera, laser scanner and detection sensor carry out accurate detection to the environment in the mine.

Preferably, the rotating mechanism comprises a second fixing column, a first air cylinder, a first rod, a mounting seat and a sliding block; a spiral groove is formed in the second fixing column, one end of the second fixing column is rotatably installed on the first fixing column, the other end of the second fixing column is fixedly connected with an installation seat, and a camera, a laser transmitter, a laser scanner, a signal transmitter and a detection sensor are installed on the installation seat; the sliding block is positioned in the spiral groove; a cylinder one end articulates on fixed column top outer wall, and the cylinder other end is articulated with a pole, and a pole tip articulates on the slider, through the flexible of a cylinder for the slider slides in the helicla flute, thereby makes No. two fixed columns rotate. In the process of shooting the environment in the mine through the camera and the laser scanner, shooting dead angles exist, so that the mastering of ground personnel on the whole environment in the mine is influenced; according to the invention, the rotating mechanism is arranged and comprises a second fixing column, a first air cylinder, a first rod, a mounting seat and a sliding block, on one hand, the first rod drives the sliding block to slide on a spiral groove on the second fixing column through the extension and retraction of the first air cylinder, and the second fixing column rotates by utilizing the sliding of the sliding block, so that the angles of the camera and the laser scanner are adjusted, the shooting dead angle is avoided, and ground personnel can integrally master the environment in a mine; on the other hand, in order to go on with the lift of a fixed column and the rotation of No. two fixed columns in step, acquire the gaseous power supply from the external world and act on the cylinder No. one, can cause the regulation time delay, the gaseous power supply that produces through the controller control telescopic cylinder is acted on the cylinder No. one, has both guaranteed the synchronization of regulation, has avoided the waste of gaseous power supply again, has improved the utilization ratio of resource.

Preferably, the mounting plate is provided with a first groove, the first groove is positioned on one side of the push plate, a side surface of the push plate close to the first groove is provided with a convex tooth, and a first spring is arranged in the first groove; a spring both ends are rotated and are installed on a groove lateral wall, reduce the friction through the mutually supporting between push pedal and a spring. When the push plate slides in the groove, a larger friction force exists between the push plate and the side wall of the groove, so that the service life of the push plate is influenced; according to the invention, the first spring is arranged, and the first spring is matched with the convex teeth on the side wall of the push plate, so that on one hand, the direct contact between the push plate and the side wall of the groove is avoided, the friction to the push plate is reduced, and the service life of the push plate is prolonged; on the other hand, the push plate slides in the slot, so that the first spring rotates, the rotating first spring accelerates the air flow at the slot, and the heat generated by the friction heat of the push plate is cooled, thereby prolonging the service life of the push plate.

Preferably, the fixed plate is provided with two adjusting mechanisms, and the two adjusting mechanisms are respectively positioned between the two belts I; the adjusting mechanism is used for adjusting the tightness of the first belt and comprises a first pulley, a second rod, a third rod and a second cylinder; the number of the first pulleys and the number of the second pulleys are two, the first pulleys are fixedly connected to the top surface of the fixing plate through fixing rods, the first pulleys and the second pulleys are both in contact with the inner side of the first belt, and the second pulleys are respectively hinged to the end portions of the second rods and the third rods through the fixing rods; the quantity of No. two poles and No. three poles is two at least, and the mutual articulated between No. two poles, and be located No. two poles of lower part and articulate on No. two pulley fixed poles, and be located No. two poles on upper portion unsettled to link firmly on the fixed plate bottom surface through No. two cylinders, the mutual articulated between No. three poles, be located No. three poles of upper portion and lower part and articulate respectively on fixed plate bottom surface and No. two pulley fixed poles, and every No. three poles and No. two middle parts of pole articulate each other. According to the invention, the tightness of the first belt is adjusted through the adjusting mechanism and the adjusting structure according to the specific situation of the mine ground, and if the mine ground is hard, the second cylinder is used for unfolding the second rods and the third rods, so that the first belt is tightened, and the phenomenon of abrasion caused by over-loosening of the first belt is avoided; if the texture on mine ground is softer, at this moment, make a plurality of No. two poles and No. three pole contractions through No. two cylinders, transfer the pine with a belt, avoid adhesion earth on a belt, reduce the abnormal pressure that earth caused on to a belt.

Preferably, the first shaft is a screw rod, two ends of the first shaft are rotatably arranged in the middle of the rotating ring, the fixing plate is sleeved on the outer ring of the first shaft through a screw rod nut, and the first shaft is provided with a driving mechanism; the driving mechanisms are arranged along the fixed plate in a centrosymmetric manner and comprise a third cylinder and a first rope; a rope one end winding is on an axle outer lane, and a rope other end links firmly at No. three cylinder tip, and No. three cylinders link firmly on the change, and through the mutually supporting between No. three cylinders and a rope make an axle rotate to make the fixed plate back and forth movement. Because the rugged areas exist in the mine, the detection robot is easy to tip over when walking in the rugged areas, and the operation of the detection robot is influenced; according to the invention, the driving mechanism is arranged, and the detection robot always walks on the plane through the mutual matching between the driving mechanism and the adjusting mechanism, so that the running stability of the detection robot is improved.

When the detection robot climbs to a high place, the detection robot can tilt backwards, at the moment, the third air cylinder on the rear side of the first shaft pulls the first rope to move to one side far away from the first shaft, and the third air cylinder on the front side of the first shaft moves to one side close to the first shaft, so that the first shaft rotates anticlockwise, the fixing plate moves to the right side, the second air cylinder pushes the second rods and the third rods to expand, the rotating wheel on the right side is separated from the ground, and the detection robot can walk on the plane through mutual matching among the left rotating wheel, the second pulleys and the first belt; when the detection robot is in operation to the low department, the detection robot can be to leaning forward, at this moment, No. three cylinders of an axle front side stimulate a rope to keeping away from an axle one side motion, No. three cylinders of an axle rear side are to being close to an axle one side motion, make an axle clockwise turning, thereby make the fixed plate move to the left side, and through adjustment of adjustment mechanism, make left turning wheel break away from ground, through right side turning wheel, the cooperation between No. two pulleys and a belt, make the detection robot like walking on the plane.

Preferably, the second elastic lantern ring consists of a first bag, a second bag and a first pipe; the first bag is communicated with the second bag through a first pipe, the second bag is in contact with the ground, clear water is filled in the first bag, and a pressure valve is arranged in the first bag. According to the invention, the second elastic lantern ring is composed of the first bag, the second bag and the first pipe, the driving mechanism drives the adjusting mechanism to run left and right, the second pulley extrudes the first bag, so that the pressure value in the first bag is increased, clean water in the first bag enters the second bag, the softness of the second bag is increased, and the temperature is reduced by friction heat generated between the second bag and the ground; when the second bag in contact with the ground is separated from the contact with the ground, the clean water entering the second bag flows back to the first bag.

The invention has the following beneficial effects:

1. the walking type mine detection robot is small in size and simple in structure, and the detection robot is prevented from shaking in the running process; and the running first belt adopts a splicing structure, and the damaged part is selectively replaced according to the actual condition, so that the whole first belt is prevented from being scrapped, the resource is saved, and the novel belt has larger market space.

2. According to the walking type mine detection robot, the first wheel is driven to rotate through the forward and reverse rotating motor, so that the second belt rotates, and the second wheel rotates through the mutual matching of the trapezoidal lugs on the second belt and the gear blocks on the second wheel, so that the third belt rotates; simultaneously, because telescopic cylinder both ends link firmly respectively at No. three belts and articulate in the push pedal for the push pedal promotes a fixed column and moves on vertical direction, through the lift of controlling a fixed column, carries out accurate detection to mine internal environment, thereby has improved the practicality of detection robot.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a front view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 1 at A;

FIG. 4 is an enlarged view of a portion of FIG. 1 at B;

FIG. 5 is a cross-sectional view of the case;

FIG. 6 is an enlarged view of a portion of FIG. 5 at C;

in the figure: the device comprises a box body 1, a traveling mechanism 2, a rotating wheel 21, a second shaft 22, a rotating ring 23, a first belt 24, a first elastic sleeve ring 241, a second elastic sleeve ring 242, a first double-head air cylinder 243, a first electromagnet 244, a second electromagnet 245, a first bag 246, a second bag 247, a first pipe 248, a lifting mechanism 3, a first wheel 31, a second wheel 32, a third wheel 33, a telescopic air cylinder 34, a second belt 35, a third belt 36, a mounting plate 37, a first spring 371, a first plate 38, a push plate 39, a first fixed column 391, a first shaft 4, a fixing plate 5, a rotating mechanism 6, a second fixed column 61, a first air cylinder 62, a first rod 63, a mounting seat 64, an adjusting mechanism 7, a first pulley 71, a second pulley 72, a second rod 73, a third rod 74, a second air cylinder 75, a driving mechanism 8, a third air cylinder 81 and a first rope 82.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 6, the walking type mine detection robot of the present invention comprises a box body 1; the device comprises a walking mechanism 2, a lifting mechanism 3, a first shaft 4, a fixing plate 5, a rotating mechanism 6, a battery pack, a searchlight, a camera, a signal transmitter, a laser scanner, an infrared distance meter, a life detector, a detection sensor and a controller; the controller is used for controlling the work of the detection robot; the box body 1 is fixedly arranged on the fixing plate 5, the high-temperature-resistant heat-insulation coating is sprayed on the outer side of the box body 1 and used for resisting an external high-temperature environment, the searchlight is arranged outside the box body 1, and the searchlight is an explosion-proof searchlight and is connected with the battery pack; the box body 1 is internally provided with a lifting mechanism 3 and a battery pack, the battery pack is used for providing power for the detection robot, and the battery pack is externally provided with an explosion-proof shell which prevents the battery pack from exploding; the infrared distance measuring instrument and the life detecting instrument are respectively arranged on the lifting mechanism 3, the infrared distance measuring instrument is used for measuring the distance between the detection robot and the obstacle, and the life detecting instrument is used for detecting whether life characteristics exist in the mine or not; the fixed plate 5 is sleeved on an outer ring of the first shaft 4, two ends of the first shaft 4 are installed on the traveling mechanism 2, and the detection robot travels through the traveling mechanism 2; the rotary mechanism 6 is rotatably arranged on the lifting mechanism 3, a camera, a laser transmitter, a laser scanner, a signal transmitter and detection sensors are arranged on the rotary mechanism 6, the camera is used for shooting the mine environment, the laser scanner is used for three-dimensionally scanning the internal condition of the mine, the laser scanner is communicated with the inside of the laser transmitter, the detection sensors are respectively carbon monoxide, methane and oxygen sensors, the carbon monoxide, methane and oxygen sensors respectively detect the contents of carbon monoxide, methane and oxygen in the mine, through the mutual cooperation of the searchlight, the camera, the signal transmitter, the laser scanner, the infrared range finder, the life detector and the detection sensor, the real-time and specific conditions in the mine are provided, the detection robot immediately transmits positioning information and a field picture to ground personnel through a signal transmitter; wherein,

the travelling mechanism 2 comprises a rotating wheel 21, a second shaft 22, a rotating ring 23 and a first belt 24; the number of the rotating wheels 21 is four; two ends of the second shaft 22 are rotatably mounted with the rotating wheel 21, and the rotating wheels 21 on the same horizontal line are driven by a first belt 24; the number of the rotating rings 23 is two, the two rotating rings 23 are respectively sleeved on the second shaft 22, and two ends of the first shaft 4 are arranged in the middle of the rotating rings 23; the first belt 24 is a splicing type belt, and the first belt 24 is composed of a plurality of first elastic lantern rings 241, a plurality of second elastic lantern rings 242, a first double-head cylinder 243, a first electromagnet 244 and a second electromagnet 245 respectively; an area is arranged inside the first elastic lantern ring 241, the first double-head cylinder 243 is located in the area, two ends of the first double-head cylinder 243 are fixedly connected to the side wall of the area, and first electromagnets 244 are symmetrically arranged outside the first elastic lantern ring 241; a second electromagnet 245 is symmetrically arranged outside the second elastic lantern ring 242, and the first electromagnet 244 and the second electromagnet 245 are attracted by magnetic force after being electrified;

the lifting mechanism 3 comprises a first wheel 31, a second wheel 32, a third wheel 33, a fourth wheel, a second belt 35, a third belt 36, a mounting plate 37, a first plate 38, a push plate 39, a first fixing column 391 and a telescopic cylinder 34; the number of the first wheels 31 is two, the two first wheels 31 are respectively rotatably installed on the side wall of the box body 1 through rotating shafts, the rotating shaft of the first wheel 31 positioned on the left side is fixedly connected with the output shaft of the forward and reverse rotating motor, and the forward and reverse rotating motor is fixedly installed on the outer side wall of the box body 1; the second belt 35 is used for driving the first wheel 31, and a plurality of trapezoidal tooth blocks are uniformly arranged on the outer ring of the second belt 35; the second wheel 32 is rotatably mounted on the side wall of the box body 1 through a rotating shaft, a plurality of grooves are formed in the second wheel 32, tooth blocks matched with the trapezoidal convex teeth on the second belt 35 are arranged in the grooves, two ends of each tooth block are fixedly connected to the side wall of each groove through springs, rigid collision between the trapezoidal convex teeth and the tooth blocks is avoided, and the second wheel 32 is rotated through mutual matching among the second belt 35, the trapezoidal convex teeth and the tooth blocks; the number of the third wheels 33 is two, the third wheels 33 are symmetrically arranged, and the third wheels 33 are rotatably arranged on the side wall of the box body 1 through a rotating shaft; the third belt 36 is used for driving the third wheel 33 and the fourth wheel, the third belt 36 on the left side is splayed, and the fourth wheel is sleeved on a rotating shaft of the second wheel 32 and is positioned on the rear side of the second wheel 32; the number of the mounting plates 37 is two, the mounting plates 37 are symmetrically arranged, the two mounting plates 37 are fixedly connected to the side wall of the box body 1 respectively, and the two mounting plates 37 are provided with grooves; the push plate 39 is positioned at the groove, one end of the push plate 39 is fixedly connected to the groove wall through a spring, and the other end of the push plate 39 supports the first plate 38; one end of the first fixed column 391 is rotatably connected with the rotating mechanism 6, and the other end of the first fixed column 391 is fixedly connected to the first plate 38; one end of the telescopic cylinder 34 is hinged to the push plate 39, the other end of the telescopic cylinder 34 is hinged to the third wheel 33, and the push plate 39 moves in the vertical direction through mutual matching of the third wheel 33, the fourth wheel, the third belt 36 and the telescopic cylinder 34, so that the lifting of the first fixing column 391 is controlled. When coal is adopted in a coal mine, mine disasters often occur in the coal mine, rescue workers suddenly enter a mine area to rescue in an emergency under the conditions that the mine disaster reason and the mine disaster site situation are unknown, and the rescue workers are in danger, so that a coal mine detection robot needs to be developed to detect a mine with the mine disasters; the mine detection vehicle in the prior art has the defects that on one hand, the mine detection vehicle shakes during operation to influence the shooting of a camera on the internal environment of a mine and influence the shooting picture; on the other hand, the height adjustment of the mine detection vehicle is very limited, so that the accurate detection of the detection vehicle on the internal environment of the mine is influenced; the invention is provided with a traveling mechanism 2, a lifting mechanism 3, a first shaft 4, a fixing plate 5, a rotating mechanism 6, a battery pack, a searchlight, a camera, a signal transmitter, a laser scanner, an infrared distance meter, a life detector, a detection sensor and a controller; on one hand, the spliced first belt 24 is adopted, and the first belt 24 is respectively composed of a plurality of first elastic sleeve rings 241, a plurality of second elastic sleeve rings 242, a first double-head cylinder 243, a first electromagnet 244 and a second electromagnet 245, the shaking of the detection robot in operation is relieved through the extension and retraction of the first double-head cylinder 243, meanwhile, the damaged part is selectively replaced according to the actual situation, the whole first belt 24 is prevented from being scrapped, and therefore the practicability of the detection robot is improved; on the other hand, the first wheel 31 is driven to rotate through the forward and reverse rotating motor, so that the second belt 35 rotates, and the second wheel 32 rotates through the mutual matching between the trapezoidal convex blocks on the second belt 35 and the tooth blocks on the second wheel 32, so that the third belt 36 rotates; meanwhile, the two ends of the telescopic cylinder 34 are fixedly connected to the third belt 36 and hinged to the push plate 39 respectively, so that the push plate 39 pushes the first fixing column 391 to move in the vertical direction, the internal environment of the mine is accurately detected by controlling the lifting of the first fixing column 391, and the practicability of the detection robot is improved.

Firstly, driving a detection robot to walk through a controller, enabling the detection robot to enter a mine, assisting the detection robot to run and avoid obstacles through information obtained from a laser scanner, a camera and an infrared distance meter when the detection robot walks in the mine, searching whether life signs exist in the mine or not through a life detection instrument during the movement of the detection robot, and immediately transmitting positioning information and field pictures to ground rescue workers through a signal transmitter once the detection robot with the life signs exists; when the detection robot walks in a mine, the first belt 24 is of a splicing structure and consists of a plurality of first elastic lantern rings 241, second elastic lantern rings 242, a first double-head cylinder 243, a first electromagnet 244 and a second electromagnet 245, and when the detection robot walks in the mine, the first elastic lantern rings 241 and the second elastic lantern rings 242 are extruded, so that the first double-head cylinder 243 in the first elastic lantern rings 241 contracts, and the detection robot is prevented from shaking during walking; the height of the first fixing column 391 is adjusted in real time while the detection robot walks in the mine, so that the camera, the laser scanner and the detection sensor can accurately detect the interior of the mine; in the process of adjusting the height of the first fixing column 391, when the position of the first fixing column 391 is too low, the controller controls and drives the forward and reverse motor to rotate, and the first belt 24 rotates clockwise under the action of the forward and reverse motor, and because the first belt 24 is provided with a plurality of trapezoidal lugs and the second wheel 32 is provided with tooth blocks matched with the trapezoidal lugs, the second wheel 32 rotates anticlockwise; meanwhile, the fourth wheel is sleeved on the rotating shaft of the second wheel 32, the third wheel 33 and the fourth wheel are driven by the third belt 36, the left third belt 36 is in splayed transmission, so that the left third wheel 33 rotates clockwise, the right third wheel 33 rotates against a potential needle, the push plate 39 connected by the telescopic cylinder 34 moves to one side far away from the groove, the push plate 39 pushes the first plate 38 to move to one side close to the top of the box body 1, and the first fixed column 391 is lifted; when the position of the first fixing column 391 is too high, the controller controls the forward and reverse rotating motor to be driven reversely to rotate; through the mutually supporting between a wheel 31, No. two wheels 32, No. two belts 35, No. three belts 36, No. three wheel 33, telescopic cylinder 34 and push pedal 39 for a board 38 is to keeping away from box 1 top one side motion, realizes the decline of a fixed column 391, adjusts through the height to a fixed column 391, makes camera, laser scanner and detection sensor carry out accurate detection to the environment in the mine.

As an embodiment of the present invention, the rotating mechanism 6 includes a second fixing column 61, a first air cylinder 62, a first rod 63, a mounting seat 64 and a sliding block; a spiral groove is formed in the second fixing column 61, one end of the second fixing column is rotatably mounted on the first fixing column 391, the other end of the second fixing column 61 is fixedly connected with the mounting seat 64, and the mounting seat 64 is provided with a camera, a laser transmitter, a laser scanner, a signal transmitter and a detection sensor; the sliding block is positioned in the spiral groove; no. one cylinder 62 one end articulates on a fixed column 391 top outer wall, and a cylinder 62 other end is articulated with a pole 63, and a pole 63 tip articulates on the slider, through the flexible of a cylinder 62 for the slider slides in the helicla flute, thereby makes No. two fixed columns 61 rotate. In the process of shooting the environment in the mine through the camera and the laser scanner, shooting dead angles exist, so that the mastering of ground personnel on the whole environment in the mine is influenced; according to the invention, the rotating mechanism 6 is arranged, and the rotating mechanism 6 comprises a second fixing column 61, a first air cylinder 62, a first rod 63, a mounting seat 64 and a sliding block, on one hand, the first rod 63 drives the sliding block to slide on a spiral groove on the second fixing column 61 through the extension and retraction of the first air cylinder 62, and the second fixing column 61 is rotated by the sliding of the sliding block, so that the angles of a camera and a laser scanner are adjusted, the shooting dead angle is avoided, and ground personnel can integrally master the environment in a mine; on the other hand, in order to synchronously lift the first fixing column 391 and rotate the second fixing column 61, the external gas power source is obtained to act on the first cylinder 62, so that adjustment delay is caused, the controller controls the telescopic cylinder 34 to stretch and contract to generate the gas power source to act on the first cylinder 62, the synchronization of adjustment is guaranteed, the waste of the gas power source is avoided, and the utilization rate of resources is improved.

As an embodiment of the present invention, a first groove is arranged on the mounting plate 37, the first groove is located on one side of the push plate 39, a convex tooth is arranged on one side surface of the push plate 39 close to the first groove, and a first spring 371 is arranged in the first groove; two ends of the first spring 371 are rotatably arranged on the side wall of the first groove, and friction is reduced through mutual matching between the push plate 39 and the first spring 371. When the push plate 39 slides in the slot, a large friction force exists between the push plate 39 and the side wall of the slot, which affects the service life of the push plate 39; according to the invention, the first spring 371 is arranged, and the first spring 371 is matched with convex teeth on the side wall of the push plate 39, so that on one hand, the push plate 39 is prevented from being directly contacted with the grooved side wall, the friction to the push plate 39 is reduced, and the service life of the push plate 39 is prolonged; on the other hand, the push plate 39 slides in the slot, so that the first spring 371 rotates, the rotating first spring 371 accelerates the air flow at the slot, and the heat generated by the friction heat of the push plate 39 is cooled, thereby prolonging the service life of the push plate 39.

As an embodiment of the present invention, the fixing plate 5 is provided with two adjusting mechanisms 7, and the two adjusting mechanisms 7 are respectively located between two first belts 24; the adjusting mechanism 7 is used for adjusting the tightness of the first belt 24, and the adjusting mechanism 7 comprises a first pulley 71, a second pulley 72, a second rod 73, a third rod 74 and a second cylinder 75; the number of the first pulleys 71 and the second pulleys 72 is two, the first pulleys 71 are fixedly connected to the top surface of the fixing plate 5 through fixing rods, the first pulleys 71 and the second pulleys 72 are both in contact with the inner side of the first belt 24, and the second pulleys 72 are respectively hinged to the end parts of the second rods 73 and the third rods 74 through the fixing rods; the number of the second rods 73 and the third rods 74 is at least two, the second rods 73 are hinged with each other, the second rods 73 located at the lowest part are hinged on the second pulley 72 fixing rod, the second rods 73 located at the highest part are suspended and are fixedly connected to the bottom surface of the fixing plate 5 through the second air cylinder 75, the third rods 74 are hinged with each other, the third rods 74 located at the highest part and the lowest part are hinged on the bottom surface of the fixing plate 5 and the second pulley 72 fixing rod respectively, and the middle parts of the third rods 74 and the second rods 73 are hinged with each other. According to the invention, the adjusting mechanism 7 is arranged, the tightness of the first belt 24 is adjusted according to the specific situation of the mine ground through the adjusting structure, if the mine ground is hard, the second cylinder 75 is used for expanding the second rods 73 and the third rods 74 to tighten the first belt 24, so that the phenomenon of abrasion caused by over-loosening of the first belt 24 is avoided; if the texture on mine ground is softer, at this moment, make No. two poles 73 of a plurality of and No. three pole 74 shrink through No. two cylinders 75, transfer loose No. one belt 24, avoid the adhesion earth on No. one belt 24, reduce the abnormal pressure that earth caused on to No. one belt 24.

As an embodiment of the invention, the first shaft 4 is a screw rod, two ends of the first shaft 4 are rotatably installed in the middle of the rotating ring 23, the fixing plate 5 is sleeved on the outer ring of the first shaft 4 through a screw nut, and the first shaft 4 is provided with a driving mechanism 8; the driving mechanism 8 is arranged along the fixing plate 5 in a central symmetry manner, and the driving mechanism 8 comprises a third cylinder 81 and a first rope 82; a rope 82 one end winding is on 4 outer circles on a axle, and a rope 82 other end links firmly No. three cylinder 81 tip, and No. three cylinder 81 links firmly on the change 23, makes axle 4 rotate through the mutually supporting between No. three cylinder 81 and a rope 82 to make the 5 round trip movements of fixed plate. Because the rugged areas exist in the mine, the detection robot is easy to tip over when walking in the rugged areas, and the operation of the detection robot is influenced; according to the invention, the driving mechanism 8 is arranged, and the detection robot can always walk on the plane through the mutual matching between the driving mechanism 8 and the adjusting mechanism 7, so that the running stability of the detection robot is improved.

When the detection robot climbs to a high place, the detection robot can tilt backwards, at the moment, the third air cylinder 81 on the rear side of the first shaft 4 pulls the first rope 82 to move to one side far away from the first shaft 4, the third air cylinder 81 on the front side of the first shaft 4 moves to one side close to the first shaft 4, the first shaft 4 rotates anticlockwise, the fixing plate 5 moves to the right side, the second air cylinder 75 pushes the second rods 73 and the third rods 74 to expand, the rotating wheel 21 on the right side is separated from the ground, and the detection robot can walk on the plane like through mutual matching among the left rotating wheel 21, the second pulleys 72 and the first belt 24; when the detection robot runs towards a lower position, the detection robot can lean forwards, at the moment, the third air cylinder 81 on the front side of the first shaft 4 pulls the first rope 82 to move towards one side away from the first shaft 4, the third air cylinder 81 on the rear side of the first shaft 4 moves towards one side close to the first shaft 4, the first shaft 4 rotates clockwise, the fixing plate 5 moves towards the left side, the left rotating wheel 21 is separated from the ground through adjustment of the adjusting mechanism 7, and the detection robot can walk on the plane like through matching among the right rotating wheel 21, the two second pulleys 72 and the first belt 24.

As an embodiment of the present invention, the second elastic collar 242 is composed of a first bag 246, a second bag 247 and a first tube 248; the first bag 246 is communicated with the second bag 247 through a first tube 248, the second bag 247 is in contact with the ground, clear water is filled in the first bag 246, and a pressure valve is arranged in the first bag 246. According to the invention, the second elastic lantern ring 242 is composed of the first bag 246, the second bag 247 and the first pipe 248, the adjusting mechanism 7 is driven to run left and right by the driving mechanism 8, the second pulley 72 extrudes the first bag 246, so that the pressure value in the first bag 246 is increased, clean water in the first bag 246 enters the second bag 247, the softness of the second bag 247 is increased, and the temperature of the second bag 247 and the ground is reduced by frictional heat; when the second-size bag 247 contacting with the ground is released from the contact with the ground, the clean water introduced into the second-size bag 247 flows back into the first-size bag 246.

When the detection robot works, firstly, the detection robot is driven to walk by the controller, so that the detection robot enters a mine, the detection robot assists in the operation of the detection robot and avoiding obstacles through information obtained from the laser scanner, the camera and the infrared distance meter when walking in the mine, and the life detection instrument always searches whether life signs exist in the mine or not in the motion of the detection robot, and once the life signs exist, the detection robot immediately transmits positioning information and field pictures to ground rescue workers through the signal transmitter; when the detection robot walks in a mine, the first belt 24 is of a splicing structure and consists of a plurality of first elastic lantern rings 241, second elastic lantern rings 242, a first double-head cylinder 243, a first electromagnet 244 and a second electromagnet 245, and when the detection robot walks in the mine, the first elastic lantern rings 241 and the second elastic lantern rings 242 are extruded, so that the first double-head cylinder 243 in the first elastic lantern rings 241 contracts, and the detection robot is prevented from shaking during walking; the height of the first fixing column 391 is adjusted in real time while the detection robot walks in the mine, so that the camera, the laser scanner and the detection sensor can accurately detect the interior of the mine; in the process of adjusting the height of the first fixing column 391, when the position of the first fixing column 391 is too low, the controller controls and drives the forward and reverse motor to rotate, and the first belt 24 rotates clockwise under the action of the forward and reverse motor, and because the first belt 24 is provided with a plurality of trapezoidal lugs and the second wheel 32 is provided with tooth blocks matched with the trapezoidal lugs, the second wheel 32 rotates anticlockwise; meanwhile, the fourth wheel is sleeved on the rotating shaft of the second wheel 32, the third wheel 33 and the fourth wheel are driven by the third belt 36, the left third belt 36 is in splayed transmission, so that the left third wheel 33 rotates clockwise, the right third wheel 33 rotates against a potential needle, the push plate 39 connected by the telescopic cylinder 34 moves to one side far away from the groove, the push plate 39 pushes the first plate 38 to move to one side close to the top of the box body 1, and the first fixed column 391 is lifted; when the position of the first fixing column 391 is too high, the controller controls the forward and reverse rotating motor to be driven reversely to rotate; through the mutually supporting between a wheel 31, No. two wheels 32, No. two belts 35, No. three belts 36, No. three wheel 33, telescopic cylinder 34 and push pedal 39 for a board 38 is to keeping away from box 1 top one side motion, realizes the decline of a fixed column 391, adjusts through the height to a fixed column 391, makes camera, laser scanner and detection sensor carry out accurate detection to the environment in the mine.

The front, the back, the left, the right, the upper and the lower are all based on figure 1 in the attached drawings of the specification, according to the standard of the observation angle of a person, the side of the device facing an observer is defined as the front, the left side of the observer is defined as the left, and the like.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.

Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present invention.

Claims

1. A walking type mine detection robot comprises a box body (1); the method is characterized in that: the device also comprises a travelling mechanism (2), a lifting mechanism (3), a first shaft (4), a fixing plate (5), a rotating mechanism (6), a battery pack, a searchlight, a camera, a signal transmitter, a laser scanner, an infrared distance meter, a life detector, a detection sensor and a controller; the controller is used for controlling the work of the detection robot; the box body (1) is fixedly arranged on the fixing plate (5), high-temperature-resistant heat-insulation paint is sprayed on the outer side of the box body (1) and used for resisting an external high-temperature environment, the searchlight is arranged on the outer side of the box body (1), and the searchlight is an explosion-proof searchlight and is connected with the battery pack; the box body (1) is internally provided with a lifting mechanism (3) and a battery pack, the battery pack is used for providing power for the detection robot, and the battery pack is externally provided with an explosion-proof shell which prevents the battery pack from exploding; the infrared distance meter and the life detection instrument are respectively arranged on the lifting mechanism (3), the infrared distance meter is used for measuring the distance between the detection robot and the obstacle, and the life detection instrument is used for detecting whether life characteristics exist in the mine or not; the fixed plate (5) is sleeved on the outer ring of the first shaft (4), two ends of the first shaft (4) are installed on the traveling mechanism (2), and the detection robot travels through the traveling mechanism (2); the rotary mechanism (6) is rotatably arranged on the lifting mechanism (3), a camera, a laser transmitter, a laser scanner, a signal transmitter and detection sensors are arranged on the rotary mechanism (6), the camera is used for shooting the mine environment, the laser scanner is used for three-dimensionally scanning the internal condition of the mine, the laser scanner is communicated with the inside of the laser transmitter, the detection sensors are respectively carbon monoxide, methane and oxygen sensors, the carbon monoxide, methane and oxygen sensors are respectively used for detecting the contents of carbon monoxide, methane and oxygen in the mine, through the mutual cooperation of the searchlight, the camera, the signal transmitter, the laser scanner, the infrared range finder, the life detector and the detection sensor, the real-time and specific conditions in the mine are provided, the detection robot immediately transmits positioning information and a field picture to ground personnel through a signal transmitter; wherein,

the travelling mechanism (2) comprises a rotating wheel (21), a second shaft (22), a rotating ring (23) and a first belt (24); the number of the rotating wheels (21) is four; two ends of the second shaft (22) are rotatably installed with the rotating wheel (21), and the rotating wheel (21) on the same horizontal line is driven by a first belt (24); the number of the rotating rings (23) is two, the two rotating rings (23) are respectively sleeved on the second shaft (22), and two ends of the first shaft (4) are arranged in the middle of the rotating rings (23); the first belt (24) is a splicing type belt, and the first belt (24) is composed of a plurality of first elastic lantern rings (241), a plurality of second elastic lantern rings (242), a first double-head cylinder (243), a first electromagnet (244) and a second electromagnet (245) respectively; an area is arranged in the first elastic lantern ring (241), the first double-head cylinder (243) is located in the area, two ends of the first double-head cylinder (243) are fixedly connected to the side wall of the area, and first electromagnets (244) are symmetrically arranged outside the first elastic lantern ring (241); a second electromagnet (245) is symmetrically arranged outside the second elastic lantern ring (242), and the first electromagnet (244) and the second electromagnet (245) are attracted by magnetic force after being electrified;

the lifting mechanism (3) comprises a first wheel (31), a second wheel (32), a third wheel (33), a fourth wheel, a second belt (35), a third belt (36), a mounting plate (37), a first plate (38), a push plate (39), a first fixing column (391) and a telescopic cylinder (34); the number of the first wheels (31) is two, the two first wheels (31) are respectively rotatably installed on the side wall of the box body (1) through rotating shafts, the rotating shaft of the first wheel (31) positioned on the left side is fixedly connected with the output shaft of the forward and reverse rotating motor, and the forward and reverse rotating motor is fixedly installed on the outer side wall of the box body (1); the second belt (35) is used for driving the first two wheels (31), and a plurality of trapezoidal tooth blocks are uniformly arranged on the outer ring of the second belt (35); the second wheel (32) is rotatably installed on the side wall of the box body (1) through a rotating shaft, a plurality of grooves are formed in the second wheel (32), tooth blocks matched with the trapezoidal convex teeth on the second belt (35) are arranged in the grooves, two ends of each tooth block are fixedly connected to the side wall of each groove through springs, and the second wheel (32) is rotated through mutual matching among the second belt (35), the trapezoidal convex teeth and the tooth blocks; the number of the third wheels (33) is two, the third wheels are symmetrically arranged, and the third wheels (33) are rotatably arranged on the side wall of the box body (1) through a rotating shaft; the third belt (36) is used for driving the third wheel (33) and the fourth wheel, the third belt (36) on the left side is splayed, and the fourth wheel is sleeved on a rotating shaft of the second wheel (32) and is positioned on the rear side of the second wheel (32); the number of the mounting plates (37) is two, the mounting plates are symmetrically arranged, the two mounting plates (37) are fixedly connected to the side wall of the box body (1) respectively, and the two mounting plates (37) are provided with grooves; the push plate (39) is positioned at the groove, one end of the push plate (39) is fixedly connected to the groove wall through a spring, and the other end of the push plate (39) supports one plate (38); one end of the first fixing column (391) is rotationally connected with the rotating mechanism (6), and the other end of the first fixing column (391) is fixedly connected to a first plate (38); telescopic cylinder (34) one end articulates on push pedal (39), and telescopic cylinder (34) other end articulates on No. three wheel (33), through the mutually supporting between No. three wheel (33), No. four wheel, No. three belt (36) and telescopic cylinder (34) for push pedal (39) are at the ascending and descending of vertical direction, thereby control a fixed column (391).

2. A walking mine detection robot according to claim 1, wherein: the rotating mechanism (6) comprises a second fixing column (61), a first air cylinder (62), a first rod (63), a mounting seat (64) and a sliding block; a spiral groove is formed in the second fixing column (61), one end of the second fixing column is rotatably installed on the first fixing column (391), the other end of the second fixing column (61) is fixedly connected with an installation seat (64), and a camera, a laser emitter, a laser scanner, a signal emitter and a detection sensor are installed on the installation seat (64); the sliding block is positioned in the spiral groove; no. one cylinder (62) one end articulates on fixed column (391) top outer wall, and a cylinder (62) other end is articulated with a pole (63), and a pole (63) tip articulates on the slider, through the flexible of a cylinder (62) for the slider slides in the helicla flute, thereby makes No. two fixed column (61) rotate.

3. A walking mine detection robot according to claim 1, wherein: a first groove is formed in the mounting plate (37), the first groove is located on one side of the push plate (39), a side face, close to the first groove, of the push plate (39) is provided with a convex tooth, and a first spring (371) is arranged in the first groove; the two ends of the first spring (371) are rotatably arranged on the side wall of the first groove, and friction is reduced through mutual matching between the push plate (39) and the first spring (371).

4. A walking mine detection robot according to claim 1, wherein: the fixed plate (5) is provided with two adjusting mechanisms (7), and the two adjusting mechanisms (7) are respectively positioned between the two first belts (24); the adjusting mechanism (7) is used for adjusting the tightness of the first belt (24), and the adjusting mechanism (7) comprises a first pulley (71), a second pulley (72), a second rod (73), a third rod (74) and a second cylinder (75); the number of the first pulleys (71) and the number of the second pulleys (72) are two, the first pulleys (71) are fixedly connected to the top surface of the fixing plate (5) through fixing rods, the first pulleys (71) and the second pulleys (72) are both in contact with the inner side of the first belt (24), and the second pulleys (72) are respectively hinged to the end portions of the second rod (73) and the third rod (74) through the fixing rods; the quantity of No. two pole (73) and No. three pole (74) is two at least, and articulated each other between No. two pole (73), and be located No. two pole (73) of bottommost and articulate on No. two pulley (72) dead lever, be located No. two pole (73) unsettled of topmost, and link firmly on fixed plate (5) bottom surface through No. two cylinder (75), articulated each other between No. three pole (74), be located No. three pole (74) of topmost and bottommost and articulate respectively on fixed plate (5) bottom surface and No. two pulley (72) dead lever, and every No. three pole (74) and the middle part of No. two pole (73) articulate each other.

5. A walking mine detection robot according to claim 1, wherein: the first shaft (4) is a screw rod, two ends of the first shaft (4) are rotatably arranged in the middle of the rotating ring (23), the fixing plate (5) is sleeved on the outer ring of the first shaft (4) through a screw rod nut, and the first shaft (4) is provided with a driving mechanism (8); the driving mechanisms (8) are arranged along the fixing plate (5) in a centrosymmetric manner, and each driving mechanism (8) comprises a third cylinder (81) and a first rope (82); a rope (82) one end winding is on a shaft (4) outer lane, and a rope (82) other end links firmly No. three cylinder (81) tip, and No. three cylinder (81) link firmly on change (23), makes a shaft (4) rotate through the mutually supporting between No. three cylinder (81) and a rope (82) to make fixed plate (5) back and forth movement.

6. A walking mine detection robot according to claim 1, wherein: the second elastic lantern ring (242) consists of a first bag (246), a second bag (247) and a first tube (248); the first bag (246) is communicated with the second bag (247) through a first tube (248), the second bag (247) is contacted with the ground, clear water is filled in the first bag (246), and a pressure valve is arranged in the first bag (246).