CN101643096B - Coal mine rescue and detection robot - Google Patents
Coal mine rescue and detection robot Download PDFInfo
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- CN101643096B CN101643096B CN2008100127295A CN200810012729A CN101643096B CN 101643096 B CN101643096 B CN 101643096B CN 2008100127295 A CN2008100127295 A CN 2008100127295A CN 200810012729 A CN200810012729 A CN 200810012729A CN 101643096 B CN101643096 B CN 101643096B
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Abstract
The invention belongs to the technical field of robots and particularly provides a coal mine rescue and detection robot. The robot comprises a box body, driving wheels and an optical fiber collecting and releasing mechanism, wherein the driving wheels are arranged on two sides of the box body symmetrically and connected with a driving device arranged in the box body; and the optical fiber collecting and releasing mechanism is arranged in the box body, and the driving motors arranged in an optical fiber collecting mechanism and the driving device are electrically connected with a control system respectively. The robot is simple in structure and flexible; large-diameter wheels have excellent slope climbing and obstacle-navigation performance; a shock absorption device is arranged between the driving wheels and the box body, so the service life of the robot is prolonged under the condition that the work of the robot is not influenced; optical fibers for realizing data transmission between the robot and a control platform can be collected and released under the control of the optical fiber collecting mechanism, so the winding positions in the collection of the optical fibers are effectively controlled; and the vehicle body adopts an overall flameproof design and therefore can work in a region 1in an explosive gas atmosphere on mining accident site under a coal mine, and meanwhile, the vehicle body has dust-proof and water-proof performance.
Description
Technical field
The invention belongs to the Robotics field, specifically a kind of coal mine rescue and detection robot.
Background technology
Current, China has become first big country of world's coal production and consumption.Simultaneously, the maximum country of mine safety accidents takes place in China, and mine safety accidents has caused serious property damage and abominable social influence.Owing to mine disaster reason and mine disaster field condition are not clear, rescue group's wrecked situation in speedily carrying out rescue work happens occasionally.Survey mine disaster position and mine disaster field condition if before rescue, adopt alternative people's automation equipment to go deep into mine, just can under the prerequisite of guaranteeing rescue group's safety, implement the high efficiency rescue, reduce personnel and property damage to greatest extent.Therefore develop a kind of abilities such as the barrier of keeping away, obstacle detouring, leap irrigation canals and ditches, climbing that have, can have flame proof in the 1 district work of explosive gas atmosphere, sniffing robot dustproof, water repellant performance has become problem demanding prompt solution.
Summary of the invention
The object of the present invention is to provide a kind of coal mine rescue and detection robot, can be in the 1 district work of explosive gas atmosphere, have flame proof, dustproof, water repellant performance and keep away abilities such as barrier, obstacle detouring, leap irrigation canals and ditches, climbing.
The objective of the invention is to realize through following technical scheme:
The present invention includes casing, driving wheel and optical fiber jack, driving wheel is symmetricly set on the both sides of casing, is connected with actuating device in the casing; The optical fiber jack is installed in the casing, and the drive motor in optical fiber income mechanism and the actuating device is electrically connected with control system respectively.
Wherein: said actuating device has two, oppositely is installed in the casing each other, respectively the driving wheel of drive case both sides; Each actuating device includes first drive motor, planetary reducer, first axle drive shaft, drive sprocket, driven sprocket, drive balls chain and output shaft; First axle drive shaft is connected with first drive motor through planetary reducer, on first axle drive shaft, is arranged with drive sprocket; Output shaft is installed on the casing and by casing and passes, and traversing through end is provided with driving wheel, on output shaft, is arranged with driven sprocket, is connected with drive sprocket through the drive balls chain; Between driving wheel and casing, be provided with the shock absorption device that is installed on the casing; Shock absorption device comprises fixed support, travel(l)ing rest, pillar and spring, and fixed support is installed in the lateral surface of casing, is evenly equipped with through hole on the fixed support; Travel(l)ing rest comprises upper and lower platen and axle, and the two ends of axle are fixed in respectively on the upper and lower platen, and axle is provided with dividing plate, and the axle that has dividing plate is passed by through hole, can be in through hole crank motion; Through hole is interior, the both sides up and down of dividing plate are equipped with the spring that is connected on the dividing plate; Between the upper and lower platen of travel(l)ing rest, the pillar that is connected with output shaft is installed; Said optical fiber jack is installed in the independent tank body at rear portion in the casing; Comprise that optical fiber twines wheel disc, connecting rod, bent axle, planetary reduction gear, second drive motor, second axle drive shaft, worm screw, worm gear, spur gear and pendulum pawl; One end of second axle drive shaft links to each other with second drive motor through planetary reduction gear, and the other end is connected with the worm screw and first spur gear respectively; Worm gear be positioned at worm screw the top, with the worm mesh transmission, worm gear is provided with bent axle, bent axle through connecting rod with the pendulum pawl link to each other; Optical fiber twines wheel disc and is installed on the independent tank body, the end of wheel disc axle be arranged with worm screw on second spur gear of the first spur gear engaged transmission; The independent tank body is provided with guide rail, and the pendulum pawl can reciprocatingly be installed on the guide rail; Driving wheel is four, is symmetricly set on the both sides of casing; The diameter of driving wheel is greater than the height of casing.
Advantage of the present invention and good effect are:
1. simple in structure, flexible.Self structure of the present invention is simple, can in rugged environment, accomplish complicated work; Two driving wheels about two motors drive respectively, identical speed are realized moving forward and backward, and differential is realized turning.
2. the major diameter wheel has good climbing and obstacle performance.The present invention selects the major diameter driving wheel of diameter greater than the box body height for use, and such structure more helps walking under the topographic condition of complicacy, even tumble accidentally, also can not influence its walking function.
3. between driving wheel and casing, shock absorption device has been installed, when not influencing robot work, has been prolonged the service life of robot.
4. owing to can receiving serious echo in underworkings, wireless telecommunications disturb, and the rapid decay of signal, the present invention adopts Optical Fiber Transmission to substitute wireless telecommunications; The present invention carries optical cable and draw off gear, the autonomous optical cable of laying in traveling process; The optical fiber of realizing data transmission with control platform can be through optical fiber jack control folding and unfolding, the winding position in the time of having controlled the optical fiber recovery effectively.
5. car body is taked the design form of whole flame proof, carries out the flame proof design according to the requirement of 36 pairs of explosive gas atmosphere current consumers of GB38 equipment fully.The present invention can have dustproof, water repellant performance simultaneously in the on-the-spot 1 district work that contains explosive gas atmosphere of mine disaster under the coal mine.
Description of drawings
Fig. 1 is an integral installation distribution structure scheme drawing of the present invention;
Fig. 2 is the upward view of Fig. 1;
Fig. 3 is the structural representation of shock absorption device of the present invention;
Fig. 4 takes in the structural representation of mechanism for optical fiber of the present invention;
Fig. 5 is a control system diagram of circuit of the present invention;
Wherein: 1 is casing, and 2 is driving wheel, and 3 is first drive motor, and 4 is planetary reducer, and 5 is the optical fiber jack, and 6 is shock absorption device; 7 is output shaft, and 8 is driven sprocket, and 9 is the drive balls chain, and 10 is first axle drive shaft, and 11 is drive sprocket, and 12 is fixed support; 13 is travel(l)ing rest, and 14 is pillar, and 15 is spring, and 16 for optical fiber twines wheel disc, and 17 is connecting rod, and 18 is bent axle; 19 is planetary reduction gear, and 20 is second drive motor, and 21 is second axle drive shaft, and 22 is worm screw, and 23 is worm gear, and 24 is first spur gear; 25 are the pendulum pawl, and 26 is the high energy density lithium ion electrokinetic cell, and 27 is control system, and 28 is the wheel disc axle, and 29 is second spur gear, and 30 is dividing plate; 31 is through hole, and 32 is axle, and 33 is upper platen, and 34 is lower platen, and 35 is guide rail.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description.
Like Fig. 1, shown in Figure 2, the present invention includes casing 1, driving wheel 2 and optical fiber jack 5, driving wheel 2 has four; Be connected with the actuating device in the casing 1; Four driving wheels are symmetricly set on the both sides of casing 1, and each side has two driving wheels, and the diameter of driving wheel 2 is greater than the height of casing 1; Between driving wheel 2 and casing 1, be provided with the shock absorption device 6 that is installed on the casing 1.Optical fiber jack 5 is installed in the casing 1, also is provided with control system 27 in the casing 1, and optical fiber jack 5 is electrically connected with control system 27 respectively with actuating device.
Actuating device has two, oppositely is installed in the casing 1 each other, respectively the driving wheel of drive case 1 both sides; Each actuating device includes first drive motor 3, planetary reducer 4, first axle drive shaft 10, drive sprocket 11, driven sprocket 8, drive balls chain 9 and output shaft 7; The input shaft of planetary reducer 4 links to each other with first drive motor 3; The output axle head of planetary reducer 4 has endoporus, connects with first axle drive shaft, 10 keys; On first axle drive shaft 10, be arranged with drive sprocket 11, drive sprocket 11 and first axle drive shaft, 10 keys connect; Output shaft 7 links to each other with the shock absorption device 6 that is installed in casing 1 side through bearing; Output shaft 7 is passed by casing 1, and traversing through end is provided with driving wheel 2, on output shaft 7, is arranged with driven sprocket 8; Driven sprocket 8 connects with output shaft 7 keys, and drive sprocket 11 is connected with driven sprocket 8 through drive balls chain 9; First drive motor 3 is electrically connected with control system 27.
As shown in Figure 3, shock absorption device 6 comprises fixed support 12, travel(l)ing rest 13, pillar 14 and spring 15, and fixed support 12 is installed in the lateral surface of casing 1, is evenly equipped with two through holes 31 on the fixed support 12; Travel(l)ing rest 13 comprises 33,34 and two axles 32 of upper and lower platen, and axle 32 two ends are fixed in respectively on the upper and lower platen 33,34, and axle 32 is provided with dividing plate 30, and the axle 32 that has dividing plate 30 is passed by through hole 31, can be in through hole 31 crank motion; Dividing plate 30 is with through hole 31 separated into two parts, and each part is equipped with the spring 15 that is connected on the dividing plate 30, totally four on spring 15; At the upper and lower platen 33 of travel(l)ing rest 13, pillar 14 is installed between 34, be connected with output shaft 7 through bearing, can drive output shaft and move with respect to casing 1.
As shown in Figure 4; Optical fiber jack 5 is installed in the independent tank body at rear portion in the casing 1; Comprise that optical fiber twines wheel disc 16, connecting rod 17, bent axle 18, planetary reduction gear 19, second drive motor 20, second axle drive shaft 21, worm screw 22, worm gear 23, first and second spur gear 24,29 and pendulum pawl 25; The input shaft of planetary reduction gear 19 links to each other with second drive motor 20; The output axle head of planetary reduction gear 19 has endoporus, connects with second axle drive shaft, 21 keys, and the worm screw 22 and first spur gear 24 connect with second axle drive shaft, 21 keys respectively; Worm gear 23 be positioned at worm screw 22 the top, with worm screw 22 engaged transmission, the bent axle 18 that worm gear 23 is provided with and its key connects, bent axle 18 links to each other with pendulum pawl 25 through connecting rod 17, connecting rod 17 1 ends and bent axle 18 are hinged, the other end and to put pawl 25 hinged; Optical fiber twines wheel disc 16 and is connected with independent tank body sidewall on being fixed on casing 1 through bearing, the end of wheel disc axle 28 be arranged with second axle drive shaft 21 on second spur gear 29 of first spur gear, 24 engaged transmission; The independent tank body is provided with guide rail 35, and pendulum pawl 25 can reciprocatingly be installed on the guide rail 35 as slide block; Second drive motor 20 is electrically connected with control system 27.
The principle of the invention and working process are:
Control part of the present invention is made up of high energy density lithium ion electrokinetic cell 26 and control system 27 (control system of the present invention is a prior art); Can carry out motion control to coal mine rescue and detection robot, and twine optical fiber and control platform realization data transmission on the wheel disc 16 through being wrapped in optical fiber.As shown in Figure 5, during coal mine rescue and detection robot work, control system 27 starts, System self-test, if self check notes abnormalities, then motor is electric down, quits work; If self check is normal, robot is static in the original place, and fiber optic starts, and receives telecommand, if halt instruction, then motor is electric down, end-of-job; If not halt instruction is done robot according to telecommand to advance, retreated, action such as turning, and through information such as Optical Fiber Transmission video, car body states.The concrete working process of coal mine rescue and detection robot is: work after first drive motor 3 receives telecommand; Drive 10 rotations of first axle drive shaft through planetary reducer 4; The drive sprocket 11 that connects with first axle drive shaft, 10 keys together rotates under the drive of first axle drive shaft 10, and then drives driven sprockets 8 rotations through drive balls chain 9; Output shaft 7 connects with driven sprocket 8 keys, and under the drive of driven sprocket 8, output shaft 7 rotations drive driving wheel 2 rotations.When the driving wheel rotative speed of casing 1 left and right sides was identical, robot moved forward or backward; When the driving wheel rotative speed of casing 1 left and right sides not simultaneously, robot is turned.After receiving telecommand, second drive motor 20 works; Drive 21 rotations of second axle drive shaft through planetary reduction gear 19, with worm screw 22 and the speed rotation together under the drive of second axle drive shaft 21 of first spur gear 24 that second axle drive shaft, 21 keys connect, worm screw 22 and worm gear 23 engaged transmission; Drive worm gear 23 rotations; Worm gear 23 drives a bent axle-connecting rod-slide block mechanism, and pendulum pawl 25 is as slide block crank motion on guide rail 35, and optical fiber twines the winding position on the wheel disc 16 at optical fiber when reclaiming optical fiber in order to restriction; First spur gear 24 through with the engaged transmission of second spur gear 29; Drive optical fiber and twine wheel disc 16 rotations; The revolution ratio that optical fiber twines wheel disc 16 and bent axle 18 is preestablished by the transmitting ratio of worm gear 23 worm screws 22 and the transmitting ratio of spur gear 24, so that the winding position of optical fiber on optical fiber winding wheel disc 16 when controlling optical fiber effectively and reclaiming.
The tire of four driving wheels of the present invention is commercial product, purchases the mine anti-explosion tire that becomes the rubber Co., Ltd to produce in for Jiaozuo City is permanent, specification 4.00-12.
Claims (5)
1. coal mine rescue and detection robot, it is characterized in that: comprise casing (1), driving wheel (2) and optical fiber jack (5), driving wheel (2) is symmetricly set on the both sides of casing (1), is connected with actuating device in the casing (1); Optical fiber jack (5) is installed in the casing (1), and the drive motor in optical fiber jack (5) and the actuating device is electrically connected with control system (27) respectively; Said optical fiber jack (5) is installed on the independent tank body at the interior rear portion of casing (1); Comprise that optical fiber twines wheel disc (16), connecting rod (17), bent axle (18), planetary reduction gear (19), second drive motor (20), second axle drive shaft (21), worm screw (22), worm gear (23), spur gear and pendulum pawl (25); One end of second axle drive shaft (21) links to each other with second drive motor (20) through planetary reduction gear (19), and the other end is connected with worm screw (22) and first spur gear (24) respectively; Worm gear (23) be positioned at worm screw (22) the top, with worm screw (22) engaged transmission, worm gear (23) is provided with bent axle (18), bent axle (18) through connecting rod (17) with put pawl (25) and link to each other; Optical fiber twines wheel disc (16) and is installed on the independent tank body, and the end of wheel disc axle (28) is arranged with second spur gear (29) with last first spur gear of worm screw (22) (24) engaged transmission; The independent tank body is provided with guide rail (35), and pendulum pawl (25) can reciprocatingly be installed on the guide rail (35).
2. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: said actuating device has two, oppositely is installed in the casing (1) each other, respectively the driving wheel of drive case both sides; Each actuating device includes first drive motor (3), planetary reducer (4), first axle drive shaft (10), drive sprocket (11), driven sprocket (8), drive balls chain (9) and output shaft (7); First axle drive shaft (10) is connected with first drive motor (3) through planetary reducer (4), on first axle drive shaft (10), is arranged with drive sprocket (11); Output shaft (7) is installed in casing (1) and goes up and passed by casing (1), and traversing through end is provided with driving wheel (2), on output shaft (7), is arranged with driven sprocket (8), is connected with drive sprocket (11) through drive balls chain (9).
3. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: between driving wheel (2) and casing (1), be provided with the shock absorption device (6) that is installed on the casing (1).
4. by the described coal mine rescue and detection robot of claim 3; It is characterized in that: said shock absorption device (6) comprises fixed support (12), travel(l)ing rest (13), pillar (14) and spring (15); Fixed support (12) is installed in the lateral surface of casing (1), is evenly equipped with through hole (31) on the fixed support (12); Travel(l)ing rest (13) comprises upper and lower platen (33,34) and axle (32); The two ends of axle (32) are fixed in respectively on the upper and lower platen (33,34); Axle (32) is provided with dividing plate (30), and the axle (32) that has dividing plate (30) is passed by through hole (31), can be in through hole (31) crank motion; Through hole (31) is interior, the both sides up and down of dividing plate (30) are equipped with the said spring (15) that is connected on the dividing plate (30); Between the upper and lower platen (33,34) of travel(l)ing rest (13), the pillar (14) that is connected with output shaft (7) is installed.
5. by the described coal mine rescue and detection robot of claim 1, it is characterized in that: driving wheel (2) is four, is symmetricly set on the both sides of casing (1); The diameter of driving wheel (2) is greater than the height of casing (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100127295A CN101643096B (en) | 2008-08-08 | 2008-08-08 | Coal mine rescue and detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100127295A CN101643096B (en) | 2008-08-08 | 2008-08-08 | Coal mine rescue and detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN101643096A CN101643096A (en) | 2010-02-10 |
| CN101643096B true CN101643096B (en) | 2012-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100127295A Expired - Fee Related CN101643096B (en) | 2008-08-08 | 2008-08-08 | Coal mine rescue and detection robot |
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| Country | Link |
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| CN (1) | CN101643096B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2858884A1 (en) * | 2012-06-07 | 2015-04-15 | NEXTER Systems | Wheel rolling robot |
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| CN102787861B (en) * | 2011-05-19 | 2014-10-29 | 贾瑞清 | Anti-explosion robot for mine |
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| CN106080246A (en) * | 2016-07-26 | 2016-11-09 | 龙口市四平有限责任公司 | Mine direct current motor transport vehicle |
| CN106246219B (en) * | 2016-09-23 | 2018-06-05 | 湖南科技大学 | A kind of mine safety rescue robot |
| CN106427532A (en) * | 2016-10-27 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Car with small chassis |
| PL422865A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Mobile electric platform |
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| CN112904506B (en) * | 2021-01-22 | 2023-05-05 | 国网河南省电力公司新乡供电公司 | Yarn bundling device for preventing broken yarns from continuing during optical cable production |
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| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
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| CN1887535A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Mine disaster first-aid robot |
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- 2008-08-08 CN CN2008100127295A patent/CN101643096B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5142990A (en) * | 1990-06-11 | 1992-09-01 | Ecole Superieure Des Sciences Et Technologies De L'ingenieur De Nancy (Esstin) | Self-propelled and articulated vehicle with telescopic jacks to carry pipework inspection equipment |
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN2531967Y (en) * | 2002-01-15 | 2003-01-22 | 王加明 | Front driving device for electric tricycle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2858884A1 (en) * | 2012-06-07 | 2015-04-15 | NEXTER Systems | Wheel rolling robot |
| EP2858884B1 (en) * | 2012-06-07 | 2023-03-22 | NEXTER Systems | Rolling robot on wheels |
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| Publication number | Publication date |
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| CN101643096A (en) | 2010-02-10 |
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