CN101417674A - Coal mine down-hole searching and detecting robot moving apparatus - Google Patents

Coal mine down-hole searching and detecting robot moving apparatus Download PDF

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Publication number
CN101417674A
CN101417674A CNA2008100798798A CN200810079879A CN101417674A CN 101417674 A CN101417674 A CN 101417674A CN A2008100798798 A CNA2008100798798 A CN A2008100798798A CN 200810079879 A CN200810079879 A CN 200810079879A CN 101417674 A CN101417674 A CN 101417674A
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China
Prior art keywords
pivot arm
sensor
main
double linked
crawler belt
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CNA2008100798798A
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Chinese (zh)
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CN101417674B (en
Inventor
李元宗
周巍
董志国
王园宇
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太原理工大学
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Publication of CN101417674B publication Critical patent/CN101417674B/en

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Abstract

The invention discloses a moving apparatus for a robot used for coal-mine underground life searching and saving. The apparatus comprises a left track movement unit and a right track movement unit; a front rotary arm movement unit and a back rotary arm movement unit; and a sensor rotary arm and a corresponding control system. A track driving motor controls the main double-linked wheels respectively arranged on the left side and right side to rotate around a mandrel by 360 degrees; a rotary-arm driving motor controls main wiggle rods respectively arranged at the front and back ends to rotate around the mandrel and a truckle and a truckle bracket are adopted to drive the rotary arm to rise and fall so as to lead the front and back rotary arms to rotate in the vertical plane; and a sensor arranged on the sensor rotary arm is driven by a sensor rotary arm driving motor and a rotary rod driving motor to rotate around the axes by 360 degrees so as to regulate the spatial attitude of the sensor. The apparatus can run in the special underground environment which is full of obstacles in virtue of the better moving capability and reliability so as to construct a mechanical moving platform with the excellent flexibility and high reliability for realizing the functions of environment detecting, obstacle avoidance control, and the like.

Description

Coal mine down-hole searching and detecting robot moving apparatus
Technical field
The present invention relates to a kind of coal mine down-hole searching and detecting robot device, particularly have the searching and detecting robot moving apparatus of stronger obstacle climbing ability, good ground comformability and reliability.
Background technology
Coal is one of main energy sources, but because coal seam geological condition difference and the high gas accident of mine are many, has caused bigger property damage and personal casualty.Therefore, inventing a kind of coal mine down-hole searching and detecting robot is that prerequisite means and the essential tool that the laggard danger of robbing of gas explosion accident is surveyed takes place under the coal mine.
A lot of to barrier-surpassing robot running gear research both at home and abroad now, but the running gear design that is used for coal mine down-hole searching detection aspect also has big gap with practical application, and structural behaviour has much room for improvement.Patent of invention " a kind of composite structure robot device who is adapted to the various disorders environment " as China Science ﹠ Technology University, publication number is CN1775608A, integrated use is wheeled, two kinds of motion drive forms of crawler belt, and by structural distortion, make robot adapt to various condition of road surface, but mechanism is comparatively complicated, and does not consider that subsequent environments surveys, keeps away finishing of function such as barrier control, as the installation of various sensors.The patent of invention of Beijing Institute of Technology " small-sized four-peddrail mobile robot driving device ", publication number are CN101007548A, and this device is made of casing, the traveling crawler actuating device, swing arm drive device and the swing arm crawler components that are symmetrically arranged.The crawler belt of robot and swing arm have been saved complicated transmission device by the DC servo motor direct drive, but it is only applicable to ground and moves, and be relatively poor to the comformability at natural environment under the coal mine and disaster scene.
The applicant is after having investigated environment and disaster scene special under the coal mine, according to work under bad environment under the coal mine, the road surface is rugged and rough, obstacle is more, passage space is limited and irregular, or even non-structured characteristics, kinematic scheme, traffic potential and the constructional feature of existing searching and detecting robot have been carried out redesign and further improvement, a kind of running gear at particular surroundings under the coal mine has been proposed.
Summary of the invention
For solving searching and detecting robot walking problem in the particular surroundings under coal mine, the invention provides a kind of forward and backward two sections crawler belts can turn back up and down, the separately-driven three sections caterpillar robot running gears of left and right crawler belt, left and right crawler belt drives respectively, the flexible turning of implement device, the leading portion crawler belt is upwards turned back and can be made the smooth climb steps formula of device obstacle, and the back segment crawler belt turns down device is supported reposefully, turns over after avoiding.The concrete technical scheme that is adopted is as follows:
Coal mine down-hole searching and detecting robot moving apparatus of the present invention comprises the traveling crawler running gear of and arranged on left and right sides, forward and backward pivot arm running gear and sensor pivot arm, and its architectural feature is:
Described traveling crawler running gear, comprise main double linked wheel, crawler belt, from double linked wheel, track propulsion motor and gear case, its crawler belt is coated on main double linked wheel and from the outside of double linked wheel, driving main double linked wheel behind the track propulsion motor output end connection gear case rotates, be installed in the same side of another axle from double linked wheel, the transmission by crawler belt is synchronized with the movement with main double linked wheel;
Described pivot arm running gear is linked to each other by connecting panel by master and slave two parts and constitutes, comprise main double linked wheel, from double linked wheel, steamboat, little wheel support, main torsional pole, main auxiliary bar, from torsional pole, from auxiliary rod, pivot arm crawler belt, pivot arm drive motor and worm case, the pivot arm crawler belt is coated on outside double linked wheel inboard and the steamboat, sensor arm is fixedly mounted on the car body central authorities stay bearing plate, comprises dwang, dwang drive motor, sensor support base, sensor pivot arm, sensor pivot arm drive motor and harmonic speed reducer;
Described sensor pivot arm drive motor connects harmonic speed reducer deceleration rear drive sensor pivot arm and does 360 ° of rotations, and dwang also can be done 360 ° of rotations under the driving of dwang drive motor, realize that sensor is in the spatial attitude adjustment.
In the coal mine down-hole searching and detecting robot moving apparatus of the present invention, described crawler belt and pivot arm crawler belt are two-sided synchronous cog belts; Described main double linked wheel is installed in the same side of forward and backward axle respectively from double linked wheel, and by track propulsion motor-driven master double linked wheel, the transmission by crawler belt realizes that two-wheel is synchronized with the movement; Described pivot arm running gear is made up of master and slave two parts, its main torsional pole, main auxiliary bar, be connected in the two ends of axle respectively from torsional pole, from auxiliary rod, main torsional pole is driven by the pivot arm drive motor, and by connecting panel with link to each other from torsional pole, realize that master and slave two parts of pivot arm rotate synchronously around axle; Described roll adjustment bar two ends are connected with support by hexagonal nut, and regulate main double linked wheel, from the relative position of double linked wheel, play tensioning regulating action to crawler belt; One end of described main torsional pole, main auxiliary bar links to each other with connecting panel, and the other end is fixed on the little wheel support by hexagonal nut, the tensile force of adjustment nut scalable pivot arm crawler belt; Described sensor pivot arm and dwang are that motor-driven is done 360 ° of rotations, realize the adjustment of sensor spatial attitude, and the dwang photoelectric encoder is the feedback element of dwang position.
Coal mine down-hole searching and detecting robot moving apparatus of the present invention on the basis of existing technology, by to existing robot construction design and structural development, makes it can adapt to the various particular surroundingss that coal mine down-hole searching is surveyed.
Coal mine down-hole searching and detecting robot moving apparatus of the present invention, owing to adopt the sectional type crawler belt, directly constitute Athey wheel by main double linked wheel with from double linked wheel, and double linked wheel and steamboat constitute before, back pivot arm can be distinguished independent rotation in perpendicular, make apparatus of the present invention can adopt multiple move mode rugged and rough on the road surface, travel in the more colliery subsurface environment of obstacle, run into obstacle forwardly, hollow gully and various road conditions (flat road surface, soft surface, the tilted road surface that the gradient is bigger) all can pass through smoothly under the condition, has stronger obstacle climbing ability, well the ground comformability is environment detection, keeping away finishing of function such as barrier control etc., to have built a manoevreability good, the mechanical mobile platform that reliability is high.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention
Fig. 2 is a kind of enforcement structural front view of the present invention
Fig. 3 is a kind of enforcement structure birds-eye view of the present invention
Among the figure: 1: main double linked wheel 2: crawler belt 3: from double linked wheel 4: connecting plate 5: turning arm crawler belt 6: turning arm drive motors 7: dwang 8: dwang drive motors 9: sensor support base 10: sensor rotation arm 11: sensor rotation arm drive motors 12: gripper shoe 13: roll adjustment bar 14: track drive motor 15: support 16: torsional pole photoelectric encoder 17: worm gear case 18: axle 19: gear-box 20: from auxiliary rod 21: from torsional pole 22: steamboat support 23: steamboat, 24: main auxiliary bar 25: main torsional pole 26: revolving bed 27: harmonic speed reducer 28: dwang photoelectric encoder
The specific embodiment
Come the specific embodiment of the present invention is further detailed with embodiment below in conjunction with accompanying drawing, so that the professional and technical personnel is after having read present embodiment, can understand and grasp the architectural feature of apparatus of the present invention further, closely implement and apply apparatus of the present invention.
As Fig. 1, Fig. 2 and shown in Figure 3, coal mine down-hole searching and detecting robot moving apparatus comprises the traveling crawler running gear of and arranged on left and right sides, forward and backward pivot arm running gear and sensor arm.Wherein, the traveling crawler running gear comprise main double linked wheel 1, crawler belt 2, from double linked wheel 3, track propulsion motor 14 and gear case 19; Be coated on main double linked wheel 1, adopt two-sided synchronous cog belt from the crawler belt in double linked wheel 3 outsides, the inboard belt teeth of two-sided synchronous cog belt plays gearing, and the outside belt teeth of two-sided synchronous cog belt plays the crawler belt effect.The main double linked wheel motion of the control left and right sides after two track propulsion motors slow down by gear case respectively, can do 360 ° of rotations around axle 18, and utilize synchronous cog belt with the main double linked wheel that guarantees the same side with consistent from duplex opinion speed, robot utilizes the velocity contrast of the left and right sides can realize divertical motion.
Pivot arm is divided into master and slave two parts, links together by connecting panel 4, thereby realizes two-partly rising and falling synchronously.The A end running gear comprises steamboat 23, steamboat support 22, main torsional pole 25, main auxiliary bar 24, pivot arm crawler belt 5, pivot arm drive motor 6 and worm case 17; Secondary part comprises steamboat 23, steamboat support 22, from torsional pole 21 with from auxiliary rod 20, pivot arm crawler belt 5; The pivot arm crawler belt that is coated on double linked wheel inboard and the steamboat adopts two-sided synchronous cog belt, the main torsional pole at the forward and backward two ends of control rotated around axle after two pivot arm drive motor slowed down by worm and gear speed-reduction apparatus respectively, and drive rising and falling of forward and backward pivot arm by steamboat and steamboat support, thereby realize its radical function: 1. can translate into preceding pivot arm above the obstacle when the place ahead runs into obstacle, vehicle body is lifted clear an obstacle gradually; 2. the back pivot arm can be screwed into obliquity when clear an obstacle, plays a supportive role, and turns over behind the vehicle body when avoiding obstacle higher; 3. when advancing on smooth ground, forward and backward pivot arm can upwards be screwed into perpendicular to the ground, realizes rapid movement; 4. when advance in soft terrain or the narrower ground, hollow gully of width, forward and backward pivot arm can put down, and increases car body and ground-surface area of contact, rubs to strengthen, and minimizing is skidded; When 5, on the bigger bevelled road surface of the gradient, advancing, can play a supporting role the generation of the phenomenon that prevents to topple by rotating forward and backward pivot arm; In addition, adopt torsional pole photoelectric encoder 16 feedback elements, when clear an obstacle, by the control of control system implementation to the pivot arm position as the pivot arm position.
Sensor arm comprises dwang 7, dwang drive motor 8, sensor support base 9, sensor pivot arm 10, sensor pivot arm drive motor 11, torsional pole photoelectric encoder 16 and harmonic speed reducer 27.Sensor pivot arm drive motor 11 is done 360 ° of rotations by harmonic speed reducer 27 deceleration rear drive sensor pivot arms 10, and dwang 7 also can be done 360 ° of rotations under the driving of dwang drive motor 8, thereby realizes the attitude adjustment of sensor in the space.Torsional pole photoelectric encoder 16 is as the feedback element of pivot arm position.In addition, on the sensor pivot arm, can also add other sensor devices of perception ambient condition information, realize effective control, to strengthen the ability that it adapts to various complex environments under the coal mine to robot according to actual user demand.

Claims (7)

1. coal mine down-hole searching and detecting robot moving apparatus, it contains a left side, the traveling crawler running gear of right both sides, before, back pivot arm running gear and sensor pivot arm, it is characterized in that described traveling crawler running gear, comprise main double linked wheel (1), crawler belt (2), from double linked wheel (3), track propulsion motor (14) and gear case (19), its crawler belt (2) is coated on main double linked wheel (1) and from the outside of double linked wheel (3), track propulsion motor (14) mouth connection gear case (19) back drives main double linked wheel (1) and rotates, be installed in the same side of another axle from double linked wheel (3), the transmission by crawler belt (2) is synchronized with the movement with main double linked wheel (1); Described pivot arm running gear, by the master, constitute by connecting panel (4) is continuous from two parts, comprise main double linked wheel (1), from double linked wheel (3), steamboat (23), little wheel support (22), main torsional pole (25), main auxiliary bar (24), from torsional pole (21), from auxiliary rod (20), pivot arm crawler belt (5), pivot arm drive motor (6) and worm case (17), pivot arm crawler belt (5) is coated on outside double linked wheel inboard and the steamboat, sensor arm is fixedly mounted on car body central authorities' stay bearing plates (12), comprises dwang (7), dwang drive motor (8), sensor support base (9), sensor pivot arm (10), sensor pivot arm drive motor (11) and harmonic speed reducer (27); Described sensor pivot arm, connect harmonic speed reducer (27) deceleration rear drive sensor pivot arm (10) by drive motor (11) and do 360 ° of rotations, dwang (7) also can be done 360 ° of rotations under the driving of dwang drive motor (8), realize that sensor is in the spatial attitude adjustment.
2. the described coal mine down-hole searching and detecting robot moving apparatus of claim 1 is characterized in that crawler belt (2) and pivot arm crawler belt (5) are two-sided synchronous cog belts.
3. the described coal mine down-hole searching and detecting robot moving apparatus of claim 1, it is characterized in that main double linked wheel (1) and be installed in the same sides of forward and backward axle (18) from double linked wheel (3) respectively, by track propulsion motor-driven master double linked wheel (1), the transmission by crawler belt (2) realizes that two-wheel is synchronized with the movement.
4. the described coal mine down-hole searching and detecting robot moving apparatus of claim 1, it is characterized in that the pivot arm running gear is made up of master and slave two parts, main torsional pole (25), main auxiliary bar (24), be connected in the two ends of axle (18) respectively from torsional pole (21), from auxiliary rod (20), main torsional pole (25) is driven by pivot arm drive motor (6), and by connecting panel (4) with link to each other from torsional pole (21), realization pivot arm master and slave two parts are rotated synchronously around axle.
5. the described coal mine down-hole searching and detecting robot moving apparatus of claim 1, it is characterized in that roll adjustment bar (13) two ends are connected with support (15) by hexagonal nut, and regulate main double linked wheel (1), from the relative position of double linked wheel (3), play tensioning regulating action to crawler belt (2).
6. the described coal mine down-hole searching and detecting robot moving apparatus of claim 1, an end that it is characterized in that main torsional pole (25), main auxiliary bar (24) links to each other with connecting panel, the other end is fixed on the little wheel support by hexagonal nut, the tensile force of adjustment nut scalable pivot arm crawler belt.
7. the described coal mine down-hole searching and detecting robot moving apparatus of claim 1, it is characterized in that sensor pivot arm (10) and dwang (7) are that motor-driven is done 360 ° of rotations, realize the adjustment of sensor spatial attitude, dwang photoelectric encoder (28) is the feedback element of dwang position.
CN200810079879A 2008-11-20 2008-11-20 Coal mine down-hole searching and detecting robot moving apparatus CN101417674B (en)

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CN101923339A (en) * 2010-04-14 2010-12-22 唐山开诚机器人制造有限公司 Rescuing and detecting system of mother and son robots for mine
CN101979836A (en) * 2010-09-27 2011-02-23 西安科技大学 Second-level coal mine rescue robot system
CN102303653A (en) * 2011-06-09 2012-01-04 山西潞安环保能源开发股份有限公司 Unmanned reconnaissance device
CN101734295B (en) * 2010-02-03 2012-03-21 中国人民解放军国防科学技术大学 Deformed caterpillar robot
CN102407889A (en) * 2011-09-05 2012-04-11 哈尔滨工程大学 Dual-V-shaped variable-track obstacle crossing mechanism based on ellipse principle
CN102030047B (en) * 2009-09-25 2012-06-27 中国科学院沈阳自动化研究所 Detection robot for underground rescue of pressurized type coal mine
CN102601802A (en) * 2011-01-21 2012-07-25 中国矿业大学 Automatic resilient detection mechanism for coal mine detection robot
CN102700647A (en) * 2012-01-19 2012-10-03 龙梅 Mining rescue robot with function of automatic transmission
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
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CN104192219A (en) * 2014-08-21 2014-12-10 山东科技大学 Coal mine search and rescue robot and cognitive behavior search and rescue method thereof
CN104537945A (en) * 2015-01-09 2015-04-22 山东科技大学 Underground coal wall hole drilling robot simulation experiment machine and work method of underground coal wall hole drilling robot simulation experiment machine
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CN106567738A (en) * 2016-11-01 2017-04-19 河池学院 Mining detection robot
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CN108995658A (en) * 2018-07-16 2018-12-14 河南聚合科技有限公司 A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems
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CN109693724A (en) * 2019-01-07 2019-04-30 哈尔滨理工大学 A kind of walking Mine pit survey robot
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CN102030047B (en) * 2009-09-25 2012-06-27 中国科学院沈阳自动化研究所 Detection robot for underground rescue of pressurized type coal mine
CN101734295B (en) * 2010-02-03 2012-03-21 中国人民解放军国防科学技术大学 Deformed caterpillar robot
CN101923339A (en) * 2010-04-14 2010-12-22 唐山开诚机器人制造有限公司 Rescuing and detecting system of mother and son robots for mine
CN101979836A (en) * 2010-09-27 2011-02-23 西安科技大学 Second-level coal mine rescue robot system
CN101979836B (en) * 2010-09-27 2012-07-11 西安科技大学 Second-level coal mine rescue robot system
CN102601802A (en) * 2011-01-21 2012-07-25 中国矿业大学 Automatic resilient detection mechanism for coal mine detection robot
CN102303653A (en) * 2011-06-09 2012-01-04 山西潞安环保能源开发股份有限公司 Unmanned reconnaissance device
CN102407889A (en) * 2011-09-05 2012-04-11 哈尔滨工程大学 Dual-V-shaped variable-track obstacle crossing mechanism based on ellipse principle
CN102700647A (en) * 2012-01-19 2012-10-03 龙梅 Mining rescue robot with function of automatic transmission
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
CN103318288A (en) * 2013-06-03 2013-09-25 上海大学 Synchronous belt driving type full tracked robot
CN104192219A (en) * 2014-08-21 2014-12-10 山东科技大学 Coal mine search and rescue robot and cognitive behavior search and rescue method thereof
CN104554501A (en) * 2015-01-07 2015-04-29 上海大学 Crawler type drive device for narrow and small space
CN104537945A (en) * 2015-01-09 2015-04-22 山东科技大学 Underground coal wall hole drilling robot simulation experiment machine and work method of underground coal wall hole drilling robot simulation experiment machine
CN105584545A (en) * 2015-12-17 2016-05-18 嘉兴职业技术学院 Computer communication trolley based on multiple communication functions
CN105563451A (en) * 2016-01-20 2016-05-11 詹雨科 Intelligent following robot
CN105644699A (en) * 2016-03-26 2016-06-08 刘金松 Combined chain wheel equipment
CN106184439A (en) * 2016-08-18 2016-12-07 无锡百禾工业机器人有限公司 A kind of Mine pit survey robot
CN106567738A (en) * 2016-11-01 2017-04-19 河池学院 Mining detection robot
CN107651034A (en) * 2017-08-31 2018-02-02 北京精密机电控制设备研究所 A kind of integrated drive module of mobile robot
CN108325896A (en) * 2018-03-07 2018-07-27 陕西红枫电气有限公司 A kind of photovoltaic plate face sweeper
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