CN100410128C - Crawler type multiple joint hinged robot suitable for search and detection in coal mine - Google Patents

Crawler type multiple joint hinged robot suitable for search and detection in coal mine Download PDF

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Publication number
CN100410128C
CN100410128C CNB2006101508401A CN200610150840A CN100410128C CN 100410128 C CN100410128 C CN 100410128C CN B2006101508401 A CNB2006101508401 A CN B2006101508401A CN 200610150840 A CN200610150840 A CN 200610150840A CN 100410128 C CN100410128 C CN 100410128C
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module
robot
hinge
unit module
search
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CN1931653A (en
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赵杰
朱延河
臧希喆
刘刚峰
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Harbin Institute of technology robot Innovation Center Co.,Ltd.
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Harbin Institute of Technology
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Abstract

The present invention is crawler type multiple joint hinged robot suitable for searching and detecting in coal mine, and belongs to the field of robot technology. The robot of the present invention is superior to available ones, which have easy turnover and poor obstacle performance. The robot of the present invention has power source module, control and sensing module, loading module, head module, tail module and hinging unit module hinged to form snake shape, and each of the modules has crawler in the surface, with the crawler being controlled with the motor in separate modules. The robot has raised obstacle crossing capacity, powerful moving capacity, high reliability and rich sensing functions, and is suitable for searching and rescuing.

Description

A kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine
Technical field
The present invention relates to a kind of reconnaissance probe robot, particularly a kind of reconnaissance probe robot that conveniently is applicable to complex-terrain under the coal mine.
Background technology
Rarely has the application rescue robot in the accessory equipment of home and abroad colliery down-hole searching work at present.The MinBot-XA of U.S. DiscoverMiner company exploitation and MOLE are the present prototypes of only underground rescue robot in the world, but the former easily topples; The latter adopts cylindric wheel, and front and back two parts are connected by longitudinal axis, and there is not the problem of toppling in robot top and the bottom symmetrical configuration, but the limit decision of single robot length its limited obstacle climbing ability.
Summary of the invention
Search for the problem of location, telecommunication for environmental monitoring in the complex environment under the solution coal mine, personnel, the robot existence is easily toppled at having now, the drawback of obstacle climbing ability difference, the invention provides a kind of not only being difficult for topples, and has fabulous obstacle climbing ability and can pass through the crawler type multiple joint robot of narrow and small slit easily.
A kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine, it comprises power supply, control sensor and carrying body, described power supply, control sensor and carrying body are made unit module separately respectively, form power subsystem unit module 1, control sensing unit module 2 and mounted unit module 3, described robot also comprises head unit module 4, tail units module 5 and hinge driver element module 6, and being connected through the hinge between described each unit module, it is snakelike to become; Outside face at described each unit module all is provided with crawler belt 7, and described crawler belt 7 all passes through the electric machine control rotation of unit module separately.
Robot of the present invention can be crossed the higher obstacle of relative robot car body, pass through up and down in addition about all have obstacle to have only a narrow and small open space, cross over the long crack of relative robot car body, thereby the search and rescue task is carried out in the target approach zone.Therefore, robot of the present invention has extremely powerful locomotivity and reliability, and the perceptional function of horn of plenty provides the platform of a stalwartness, is beneficial to and applies.
Description of drawings
Fig. 1 is a robot integral structure of the present invention view when crooked, Fig. 2 is the linearly view of shape of robot integral structure of the present invention, Fig. 3 is the front view of the specific embodiment one described head module, Fig. 4 is the lateral plan of Fig. 3, Fig. 5 is the birds-eye view of Fig. 3, Fig. 6 is the specific embodiment one a described head module integral structure scheme drawing, Fig. 7 is the front view of the specific embodiment one described phantom piece, Fig. 8 is the lateral plan of Fig. 7, Fig. 9 is the birds-eye view of Fig. 7, Figure 10 is the specific embodiment one a described phantom piece integral structure scheme drawing, view when Figure 11 is a side crawler belt adherence ground boosting on the phantom piece, Figure 12 is that the side crawler belt on the phantom piece adheres to the view when sidewall is auxiliary turns, Figure 13 is the front view of the specific embodiment one described mounted unit module, Figure 14 is the lateral plan of Figure 13, Figure 15 is the birds-eye view of Figure 13, Figure 16 is the specific embodiment one a described mounted unit module whole structural representation, Figure 17 is the front view that initiatively cuts with scissors, Figure 18 is the lateral plan of Figure 17, Figure 19 is the birds-eye view of Figure 17, Figure 20 is the integral structure scheme drawing that initiatively cuts with scissors, Figure 21 is the structural representation of passive hinge, Figure 22 is the view when narrow and small slit is passed through in the crawler belt effect around the robot of the present invention, to be robot of the present invention praise view when crossing than high obstacle by the active hinge to Figure 23, the view of Figure 24 when to be robot of the present invention cross over than large fracture by hinge effect, Figure 25 is the passive hinge of robot of the present invention becomes passive flexible adaptation dissected terrain in conjunction with the active hinge a view.
The specific embodiment
The specific embodiment one: present embodiment is a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine, the technical scheme that is adopted is, the robot all component is divided into several modules, by hinge each module is connected to form slim-lined construction, make the machine human body adjust self attitude according to the fitfull landform, thereby cross big abrupt slope or zanjon, perhaps enter narrow zone and carry out the search and rescue task.With reference to Fig. 1, Fig. 2, the concrete structure of described robot comprises power supply, control sensor and carrying body, described power supply, control sensor and carrying body are made unit module separately respectively, form power subsystem unit module 1, control sensing unit module 2 and mounted unit module 3, described robot also comprises head unit module 4, tail units module 5 and hinge driver element module 6, and being connected through the hinge between described each unit module, it is snakelike to become; Outside face at described each unit module all is provided with crawler belt 7, and described crawler belt 7 all passes through the electric machine control of unit module separately and rotates, and adopts track structure, than the wheeled construction ground of fitting better, is beneficial to and produces friction-driven and advance.
Described head unit module 4 and tail units module 5 are separately positioned on the two ends (abbreviation head module) of snake-shaped robot, the head module structure is seen Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the upper surface of each head module and lower surface are respectively equipped with one group of crawler belt, the crawler belt of upper surface and the crawler belt of lower surface are driven by single motor synchronous, in the present embodiment, upper strata crawler belt and lower floor's crawler belt respectively are two, bilayer totally four crawler belts about promptly head unit module 4 and tail units module 5 have respectively.Because the individual layer crawler belt can cause further obstruction with front upper place obstacle volume below crawler belt in progradation, thereby present embodiment adopts double-deck crawler belt, like this can be rearward with the obstacle volume, advance in the mode of " excavation ".Simultaneously, because the space between the double-deck crawler belt is very little, so can prevent that big stone from falling into crawler belt and causing stuck.In addition, the advantage of two-layer crawler belt maximum is that also it can bore small space.
Described power subsystem unit module 1, control sensing unit module 2 and hinge driver element module 6 are referred to as the phantom piece, and with reference to Fig. 7, Fig. 8, Fig. 9 and Figure 10, the upper surface of phantom piece, lower surface and two sides all are respectively equipped with one group of crawler belt.In the present embodiment, the upper strata crawler belt is two, and lower floor's crawler belt is two, and the crawler belt of the upper and lower is driven by separately electric machine control respectively; Left track and right side crawler belt are respectively four, and the crawler belt of every side is by a motor-driven, so that turn to propelling.
The effect of side crawler belt is that in complicated bend tunnel, down-hole, the side crawler belt helps boosting and turns to.When big inclination takes place robot car body, following crawler belt is well during adherence ground, and the side crawler belt contacts and relative motion can be played the effect of boosting with ground-surface, with reference to Figure 11; When bigger turning, the side crawler belt has not only avoided car body stuck with contacting of wall, can also turn so that bigger propulsive effort is auxiliary, with reference to Figure 12.
Crawler belt on the described mounted unit module 3 is walked around the upper and lower surface of module, and with reference to Figure 13, Figure 14, Figure 15 and Figure 16, the described crawler belt of present embodiment is two and is distributed in the left side and the right side of module, and the crawler belt of both sides is respectively by separately motor individual drive; Also be provided with on described mounted unit module 3 and carry cabin 3-1, be provided with several sensing communication nodes 10 in the described lift-launch cabin 3-1, hatch door puts down and can discharge sensing communication node 10.Robot of the present invention adopts the multi-hop formula communication modes of particular design, carry several sensing communication nodes 10 in the mounted unit module 3 of crawler type multiple joint robot, because it is with a varied topography, be easy to cause the communication dead point, so crawler type multiple joint robot of the present invention can be placed a plurality of communication nodes 10 on the way in the process of conduct, each communication node 10 essence is a small scale robot, has simple motion mechanism, two cover rf receiver and transmitters (containing redundancy), sensor etc.Crawler type multiple joint robot of the present invention constitutes multihop network by the communication node that discharges on the way, can receive operator's instruction and field data is sent to the operator, guarantee that the communication between operator and the crawler type multiple joint robot is unimpeded, avoid the communication dead point, thereby supplement production and rescue personnel make a strategic decision promptly or implement and succour fast and effectively.
Described hinge driver element module 6 is two, and two hinge driver element modules 6 are connected with tail units module 5 with head unit module 4 respectively; Be connected by hinge 8 between described hinge driver element module 6 and the adjacent block, connect by hinge 9 between other modules with three degree of freedom with two-freedom.
In the present embodiment, hinge 8 with two-freedom is called initiatively hinge, its concrete structure is, with reference to Figure 17, Figure 18, Figure 19 and Figure 20, an orthogonal axle 8-1 is captiveed joint with No. two axle 8-2, the end of an axle 8-1 and No. two axle 8-2 is connected by between hinge and the adjacent block again, and described No. two axle 8-2 can drive by motor 8-3.Initiatively hinge can be realized praising and rotating its forward unit.Hinge 9 with three degree of freedom is called passive hinge, and its concrete structure is spherical hinge structure, and with reference to Figure 21, the two ends of described spherical hinge are connected with adjacent modules respectively, and passive hinge can the flexible adaptation landform.Initiatively hinge can change passive hinge into by motor 8-3 control, adapts to complex environment widely.By hinge each module is connected to form elongated serpentine configuration, the machine human body can be adjusted self attitude according to irregular terrain profiles, makes crawler belt effectively cover ground.
After the main passive hinge connection of joint process that crawler belt coats, has extremely powerful locomitivity all around.All around crawler belt can be respectively with the obstacle volume rearward, advance in the mode of " excavation ", bored narrower slit, with reference to Figure 22.To the praising of joint body, robot can be crossed up to the obstacle of two joint length (with reference to Figure 23), also can cross over the wide crack that reaches two joint length, with reference to Figure 24 by the active hinge.The active hinge of robot of the present invention switch to passive after and original passive hinge together can the flexible adaptation complexity dissected terrain, with reference to Figure 25.
During use, can adorn camera on robotic head unit module and tail units module, the camera arm has two degree of freedom, and terminal configuration has the CCD infrared camera of resilient protection, the needs that can passive adaptation go deep into observing in the slit.Camera is regained the action that process can realize wiping camera lens, is convenient to that camera lens keeps clean under many dust condition, thisly provides guarantee from maintenance measure for the harsh environment operation of robot down-hole.
In addition, robot of the present invention is not limited to described seven modules, thereby reality also can be synthesized different functions the quantity that reduces module on certain module when using, also all within protection scope of the present invention; As long as robot of the present invention becomes elongated snakelike, do not limit the front and back position relation between each module, therefore all within protection scope of the present invention.

Claims (7)

1. crawler type multiple joint hinged robot that is applicable to search and detection in coal mine, it comprises power supply, control sensor and carrying body, it is characterized in that described power supply, control sensor and carrying body are made unit module separately respectively, form power subsystem unit module (1), control sensing unit module (2) and mounted unit module (3), described robot also comprises head unit module (4), tail units module (5) and hinge driver element module (6), and being connected through the hinge between described each unit module, it is snakelike to become; Outside face at described each unit module all is provided with crawler belt (7), and described crawler belt (7) all passes through the electric machine control rotation of unit module separately.
2. a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine according to claim 1, it is characterized in that described head unit module (4) and tail units module (5) are separately positioned on the two ends of snake-shaped robot, and be respectively equipped with one group of crawler belt (7) at the upper surface and the lower surface of these two unit modules.
3. a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine according to claim 1, it is characterized in that the crawler belt (7) on the described mounted unit module (3) walks around the upper and lower surface of module, on described mounted unit module (3), also be provided with and carry cabin (3-1), be equipped with several sensing communication nodes (10) in the described lift-launch cabin (3-1).
4. a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine according to claim 1 is characterized in that upper surface, lower surface and two sides of described power subsystem unit module (1), control sensing unit module (2) and hinge driver element module (6) all are respectively equipped with one group of crawler belt (7).
5. according to claim 1,2,3 or 4 described a kind of crawler type multiple joint hinged robots that are applicable to search and detection in coal mine, it is characterized in that described hinge driver element module (6) is two, two hinge driver element modules (6) are connected with tail units module (5) with head unit module (4) respectively; Be connected by hinge (8) between described hinge driver element module (6) and the adjacent block, connect by hinge (9) between other modules with three degree of freedom with two-freedom.
6. a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine according to claim 5, the structure that it is characterized in that having the hinge (8) of two-freedom is, orthogonal diaxon (8-1) captive joint, the end of each axle (8-1) is connected by between hinge and the adjacent block again.
7. a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine according to claim 5, the structure that it is characterized in that having the hinge (9) of three degree of freedom is spherical hinge structure, and the two ends of described spherical hinge are connected with adjacent modules respectively.
CNB2006101508401A 2006-09-28 2006-09-28 Crawler type multiple joint hinged robot suitable for search and detection in coal mine Active CN100410128C (en)

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CN101265813B (en) * 2008-05-14 2010-04-14 哈尔滨工业大学 Mine searching multi-robot system based on wireless sensor network
CN101956564B (en) * 2010-07-27 2012-04-04 上海中为智能机器人有限公司 Autonomous intelligent detection multi-robot system for mine
CN102069490B (en) * 2010-11-17 2012-12-19 武汉理工大学 Quickly-detachable combined search and rescue robot
CN102700636A (en) * 2012-05-30 2012-10-03 上海大学 Crawler drive device capable of assisting search and rescue equipment in entering interiors of ruins or pipes
CN103507069A (en) * 2012-06-29 2014-01-15 新昌县冠阳技术开发有限公司 Modular device used for assembling multifunctional snakelike disaster relief robot
CN103754280B (en) * 2014-01-24 2016-03-02 哈尔滨工业大学 Overturn-preventing surrounding crawler-type mobile mechanism
CN103921854A (en) * 2014-04-03 2014-07-16 贵州詹阳动力重工有限公司 Train type caterpillar all-terrain vehicle
CN104554501A (en) * 2015-01-07 2015-04-29 上海大学 Crawler type drive device for narrow and small space
CN104811671B (en) * 2015-05-19 2018-03-30 国家电网公司 Movable-type intelligent video monitoring apparatus
CN105171716B (en) * 2015-09-01 2017-07-25 上海大学 A kind of multi-joint search and rescue robot
CN105109566B (en) * 2015-09-28 2017-05-17 东南大学 Cooperation stair climbing control method for caterpillar mobile robots
CN107116543B (en) * 2017-05-24 2020-05-26 哈尔滨工业大学 Modular reconfigurable snake-shaped robot
CN108748124A (en) * 2018-05-28 2018-11-06 中国科学院自动化研究所 Snake-shaped robot
CN109751048A (en) * 2019-01-17 2019-05-14 北京理工大学 A kind of snakelike bio-robot fracture-pore reservoir survey system and method
CN110065054B (en) * 2019-04-09 2021-03-16 中国科学院自动化研究所 Multi-section driving master-slave type snake-shaped robot
CN113043256A (en) * 2019-12-27 2021-06-29 沈阳新松机器人自动化股份有限公司 Snakelike joint crawler-type composite robot
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