CN101975079A - Carrying robot for coal mine rescue - Google Patents
Carrying robot for coal mine rescue Download PDFInfo
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- CN101975079A CN101975079A CN 201010295915 CN201010295915A CN101975079A CN 101975079 A CN101975079 A CN 101975079A CN 201010295915 CN201010295915 CN 201010295915 CN 201010295915 A CN201010295915 A CN 201010295915A CN 101975079 A CN101975079 A CN 101975079A
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Abstract
The invention discloses a carrying robot for coal mine rescue. The robot comprises a robot body I, a robot storage bin, a bin door switch drive mechanism, a walking mechanism I and a driving mechanism I thereof, an environment information monitoring unit I, an independent navigation unit I, a remote control unit I, a distance measuring unit I, an automatic troubleshooting mechanism on the robot body I and a control system, wherein the bin door switch drive mechanism, the automatic troubleshooting mechanism and the drive mechanism I are controlled by the control system I and connected with the control system I respectively. The carrying robot has the advantages of compact structure, reasonable design, convenient assembly and disassembly, convenient use and operation, high intelligence degree, reliable working performance and strong motion capability, can run along the underground rail of the coal mine automatically or by a manual remote control mode after explosion accidents happens underground of the coal mine. The robot is suitable for conveying detection robots quickly and efficiently between the parking lot of a coal mine shaft and the accident location and detecting the environment in the tunnel.
Description
Technical field
The present invention relates to a kind of coalmine rescue robot, especially relate to a kind of coalmine rescue delivery robot.
Background technology
Coal is the main primary energy of China, coal accounts for more than 2/3 in the structure of consumer demand of China's primary energy production always for a long time, according to sustainable development of China energy strategy research report, the proportion that expects coal in the year two thousand fifty China's primary energy consumption still accounts for about 50%.Thereby can conclude that coal will be main energy sources and the basic industry that supports the Chinese national economy development in the long term from now on.But the exploitation of well-known coal is again a high risk industries, and the coal accident is of common occurrence, and China is particularly outstanding, compares with coal production and mine disaster death toll, and 1,000,000 tons of death rates in colliery of China are more than 100 times of world average level.Therefore be necessary to develop a kind of down-hole that is used for gas takes place, dust explosion, after the accidents such as landslide, can replace the people in time to enter the scene of the accident, obtain scene of the accident scene and gas, dust concentration, temperature, humidity is isoparametric to have autonomous moving, the coalmine rescue robot system of Based Intelligent Control, the scene of the accident information of utilizing robot to gather, in time, the firsthand information of the scene of the accident is provided for the ground rescue personnel exactly, both can be and carried out the colliery emergency management and rescue effectively, reducing casualties and property loss provides authentic communication, can be the rule that spreads of scientifically analyzing gas explosion catastrophe fire in period mist again, the research of aspects such as the condition of the conversion of disaster accident and expansion and factor provides initial data under the multiple disaster coupling condition.
Nowadays, research field has all been done a large amount of further investigations to the coalmine rescue robot system both at home and abroad, but because the coalmine rescue robot is the research field of an intersection, it relates to multi-door subject and technology such as machinery, control, sensing detection, information signal processing, pattern-recognition, artificial intelligence and computer.The coalmine rescue robot should be able to go deep into the scene of the accident, continuous motion in structure, semi-structured environment, and the kind of coal mining accident has multiple, should conduct a research according to the difference of accident kind.The gas explosion accident of one of four kinds of major accidents that take place with the colliery is an example, and it mostly occurs at distance well head work plane far away, and coal mining accident requires robot must arrive the scene of the accident fast, in time, exactly after taking place.The home and abroad colliery rescue robot does not still have the relevant report that is applied to actual rescue at present, its research mainly concentrates on aspect wheeled or the single robot of crawler type, wherein wheeled robot is the adhesive tape type wheel, and the high temperature that is not suitable for after blasting has fiery real current situation; Caterpillar mobile robot adaptation to the ground situation is stronger, but its speed of service is slower, and power consumption is bigger, and its travel mechanism and the power supply of providing for oneself all are not suitable for from well head and rapidly move to the scene of the accident, and the rescue demand returned of safety.
Continuous expansion along with the robot application field, multi-robot system has caused scholars' generally attention, whether and important factor of structure multi-robot system is an architecture Design, reasonable because the quality of systematic function depends on structure to a great extent.The architecture of individual robot is the basic composition unit of multi-robot system, and therefore, the architecture of studying individual robot is the very important research direction of research multirobot.Multi-robot system is done as a whole consideration, and the architecture of multi-robot system can be divided into centralized and distributing, and distributed structure is further divided into layer-stepping and distributed two kinds.How the multirobot architecture is studied exactly according to task type, definite robot population model and appropriate correlations such as robot individual capability; And the rescue robot architecture is answered correlation between each ingredient and function distribution in the primary study robot system, determine the information flow relation and the computation structure in logic of robot system, that is the general structure of information processing and control system in the robot system, this can obtain actual effectively key technologies for application for the coalmine rescue robot.
Coal mining accident is in the majority with down-hole accident, and the average mining depth in big-and-middle-sized colliery has reached more than 400 meters, the mining conditions complexity.In these mines, all use the rail transport of different modes until the shaft station from the following crossheading of coal-face, rail transport can fully adapt to the variation of transportation range and the bending in tunnel, applied widely, can be used for entry, also can be used for inclined shaft.Along with the development of coal mining technology and the increasing of mining rate, new down-hole means of transportation constantly occurs, but rail transport still existence in a large number in the mine transportation, the one, because rail transport is one of main means of transportation of gurmy haulage drift; The 2nd, even if because all using in the exploiting field of transporter transportation, the transportation of material and equipment still needs to use rail transport, therefore rail transport is still the main mode of transporting under the coal mine at present, and the existence of rail transport also provides primary condition for the operation of delivery robot of the present invention in the down-hole.
In recent years, the China's coal-mine accident takes place frequently, and the coalmine rescue level is backward relatively, and various rescue works are still based on manually.Although many units have carried out the various robots that are used for the coal mining accident rescue, developed various model machines, there is no and be applied to actual report, its main cause is that the above-mentioned key technology of coalmine rescue robot is not solved yet preferably.In addition, inclement condition under the coal mine, the place where the accident occurred is far away apart from well head, also is that the restriction robot is in one of key factor of down-hole application.After under coal mine explosion accident taking place, underground orbit can be subjected to influence in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit all can be aggravated the interaction force between wheel track to some extent, influence robot motion's performance.Therefore, require the delivery robot should have certain mobility, stability and curve negotiation ability.
Summary of the invention
Technical problem to be solved by this invention is at above-mentioned deficiency of the prior art, provide a kind of coalmine rescue to deliver robot, its compact conformation, reasonable in design, use easy and simple to handle, intelligent degree height and reliable working performance, the speed of service is fast, locomitivity is strong, under the situation that adapts to complicated geographical environment under the coal mine, after under coal mine explosion accident taking place, can make full use of the existing conveying track in down-hole, quickly and efficiently sniffing robot is transported to apart from the scene of the accident the most nearby, and can monitors the environment in the tunnel.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of coalmine rescue delivers robot, it is characterized in that: comprise robot body one, be laid in the robot body one and the robot storage compartment that supplies sniffing robot to deposit, be installed on the door of described robot storage compartment and drive the door driving mechanism for switches of described door switch, be installed in the robot body one and can be along the walking mechanism one of the existing transport channel walking of being laid in the underworkings of colliery, the driving mechanism one that walking mechanism one is driven, environmental information monitoring means one, independent navigation unit one, range cells one, be installed in automatic row on the robot body one hinder mechanism and respectively with environmental information monitoring means one, the control system one that range cells one and independent navigation unit one join, described door driving mechanism for switches, described walking mechanism one, driving mechanism one, environmental information monitoring means one, range cells one, independent navigation unit one and control system one are installed in the robot body one; Described door driving mechanism for switches, automatic row barrier mechanism and driving mechanism one is controlled by control system one and the three is all joined with control system one.
Above-mentioned coalmine rescue delivers robot, it is characterized in that: the track of described existing transport channel for being made up of the rail of two parallel layings; Described walking mechanism one comprises front axle train and the rear axle train that one in front and one in back is installed in robot body one below, connects by sprocket wheel between described front axle train and the described rear axle train; Described front axle train comprises front axle, is installed in the near front wheel and the off-front wheel at two ends, the front axle left and right sides respectively, described rear axle train comprises with the hind axle of the parallel laying of front axle and is installed in the left rear wheel at two ends, the hind axle left and right sides respectively and off hind wheel is formed, and described the near front wheel, off-front wheel, left rear wheel and off hind wheel are the rail wheel that structure is corresponding with the structure of rail and can move forward and backward along rail.
Above-mentioned coalmine rescue delivers robot, it is characterized in that: described rail wheel comprises wheel rim and the coaxial wheel rim that is laid in described wheel rim inboard, the tread of wheel rim is that taper tread and described taper tread ecto-entad are downward-sloping gradually, the gradient of described taper tread is 1: 20, and the shape of cross section of described rail wheel is the T font.
Above-mentioned coalmine rescue delivers robot, it is characterized in that: the left and right end portions of described front axle and hind axle is installed in respectively in the bearing support that is installed on below, robot body one left and right sides.
Above-mentioned coalmine rescue delivers robot, and it is characterized in that: described robot body one is provided with the robot storage compartment that is used to deposit sniffing robot; The outer shape of described robot body one is a cuboid, described robot storage compartment be shaped as cuboid, and be provided with in the robot body one described door opened after with sniffing robot by the undercarriage that is transferred to ground in the robot storage compartment, described undercarriage is driven by the undercarriage driving mechanism that is laid in the robot body one, and described undercarriage driving mechanism is controlled by control system one and itself and control system one are joined.
Above-mentioned coalmine rescue delivers robot, it is characterized in that: also comprise the check mechanism that is installed in the robot body one, described check mechanism is electric brake device or Pneumatic brake device;
Described electric brake device comprises braking motor, join with the power output shaft of braking motor and the brake bar that drives by braking motor and on-position under four bearing shells being close to the wheel rim outside of the near front wheel, off-front wheel, left rear wheel and off hind wheel respectively, four described bearing shells join by transmission component and brake bar respectively and drive by brake bar and move, and four described bearing shells are respectively and the near front wheel, off-front wheel, left front bearing shell, left back bearing shell, right front bearing shell and right back bearing shell that left rear wheel is relative with the off hind wheel position;
Two brake cylinders about described Pneumatic brake device comprises, under former and later two horizontal moving sliders that drive by brake cylinder and the on-position respectively with the near front wheel, off-front wheel, four bearing shells that the wheel rim outside of left rear wheel and off hind wheel is close to, about two brake cylinders be respectively left hand cylinder and right cylinder, described brake cylinder is to be laid with the piston that former and later two laterally move in two-way cylinder and the described two-way cylinder, former and later two pistons join with former and later two horizontal moving sliders respectively and former and later two pistons drive former and later two horizontal moving sliders respectively and carry out laterally moving, and four described bearing shells are respectively and the near front wheel, off-front wheel, the left front bearing shell that left rear wheel is relative with the off hind wheel position, left back bearing shell, right front bearing shell and right back bearing shell; Left front bearing shell and left rear axle watt-minute are not joined by longitudinal rod and former and later two horizontal moving sliders of being driven by left hand cylinder, and right front bearing shell and right back bearing shell join by longitudinal rod and former and later two horizontal moving sliders that driven by right cylinder respectively.
Above-mentioned coalmine rescue delivery robot is characterized in that: be equipped with between described robot body one and the walking mechanism one with the weight of robot body one equably elasticity be passed to the buffer that is connected on the rail.
Above-mentioned coalmine rescue delivers robot, it is characterized in that: the quantity of described connection buffer is that two and two connection buffers are respectively and are laid in being connected buffer one and being laid in and being connected buffer two outside off-front wheel and the off hind wheel of the near front wheel and the left rear wheel outside, described connection buffer one identical with the structure that is connected buffer two and the two be the bilateral symmetry laying; The W shape connecting rod buffer gear that described connection buffer one includes preceding buffer structure, back buffer structure and is made up of four connecting rods, buffer structure comprises that the horizontal rubber pad that is laid in robot body one bottom and pad are contained in the vertical rubber pad between described horizontal rubber pad and the near front wheel middle and upper part or the left rear wheel middle and upper part before described, and the structure of described buffer structure afterwards is identical with the structure of preceding buffer structure; Four described connecting rods are respectively connecting rod one, connecting rod two, connecting rod three and connecting rod four from front to back, the bottom of connecting rod one is fixedly mounted between the front side middle part of the near front wheel and its upper end and the robot body one transition bearing one is installed, the bottom of connecting rod two and connecting rod three is fixedly mounted on respectively between the middle part, front side of the rear side middle part of the near front wheel and left rear wheel and the upper end of the two and the robot body one transition bearing two is installed, and the bottom of connecting rod four is fixedly mounted in the middle part of the rear side of left rear wheel and between its upper end and the robot body one the transition bearing is installed
Above-mentioned coalmine rescue delivery robot is characterized in that: also comprise all the memory cell and the wireless communication unit one that join with control system one, described control system one is joined by wireless communication unit one and the Remote equipment that rest on the ground.
Above-mentioned coalmine rescue delivers robot, it is characterized in that: also comprise the internal inspection system of joining with control system one and robot body one forward-and-rearward obstacle information being detected in real time, a pair of described internal inspection system of control system institute detection information carry out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one; Described internal inspection system comprises the anterior detecting unit that is laid in robot body one front portion and is laid in the rear portion detecting unit at robot body one rear portion, described anterior detecting unit and rear portion detecting unit include the many set detecting devices that whether exist obstruction and existing obstruction to detect in real time apart from the size of the distance of one of robot body and described obstruction to robot body one the place ahead and rear, and each is organized described checkout gear and includes a sonac and an infrared sensor, and described sonac and infrared sensor all join with control system one.
The present invention compared with prior art has the following advantages:
1, is applicable to accident rescue under the coal mine, the wheeled travel mechanism of its track can make full use of under the coal mine existing conveying track, makes the delivery robot have characteristics such as translational speed is fast, high temperature resistant, fire-resistant, and the concrete condition that can adapt to track is as upward slope, descending, curve, track switch etc.; Its rectangular capable casing can deliver the secondary sniffing robot, can load the battery of larger capacity again, makes it have the long working time, and is easy to realize waterproof and dustproof and explosion-proof.
2, modularized design, easy accessibility makes robot architecture's compactness and easy accessibility, down-hole blast and both can directly enter the down-hole from ground after the accident, also can assemble the back in the parking lot, down-hole fast and use.At ordinary times can also be as a mobile device, autonomous operation is monitored downhole conditions under coal mine.
3, have simple row and hinder function, can remove the obstruction of the certain volume that is scattered on the track.
4, has the landing gear that can allow the secondary robot leave and return.
5, have check mechanism, it can standard be parked on the track as special circumstances.
6, reasonable in design, intelligent degree height, locomitivity is strong, and under the effect of tractive force during orbiting, improper phenomenon such as do not derail and topple and its have certain mobility, stability and curve negotiation ability.
7, practical value height, the present invention is directed to coal mining accident mostly occurs in the present situation in distance well head work plane zone far away, the architecture of two-stage coalmine rescue robot system has creatively been proposed, the present invention adopts wheel formula travel mechanism for first order robot and its, and second level robot is that sniffing robot adopts more piece track structure and its to be transferred near the accident nidus by the present invention; After the down-hole has an accident, the present invention carry second level robot along the down-hole existing conveying track run to can move apart from accident spot the most nearby, when the present invention is stoped by obstruction or track is damaged, can not continue reach, then open door, second level sniffing robot leaves the present invention from a suitable orientation and utilizes the independent navigation of himself, autonomous function such as move to continue to move ahead, and moves to the position that the down-hole takes place near accident; Sensors such as CCD camera, ultrasonic distance measuring apparatus and gas, carbon monoxide, oxygen, temperature, humidity tester all are housed in the two-stage robot, robot is from the beginning autonomous operation, utilize the sensor that himself carries, the environmental information around can detecting at any time, and handle and record.
In sum, compact conformation of the present invention, reasonable in design, use easy and simple to handle, intelligent degree height and reliable working performance, the speed of service is fast, locomitivity is strong, after generation explosion accident and underground orbit are subjected to a certain degree influencing under coal mine, still can move along track circuit.Thereby can effectively solve inclement condition under the coal mine, place where the accident occurred apart from defective and deficiencies such as well head are far away, crawler type rescue robot moving range is limited.In the actual use, under coal mine, after the generation explosion accident, can make full use of the existing conveying track in down-hole, quickly and efficiently sniffing robot is transported to apart from the scene of the accident the most nearby, and can monitor the environment in the tunnel; Simultaneously, the present invention can move in orbit back and forth, and after underground orbit was subjected to influencing in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit can not influence exercise performance of the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is an external structure schematic diagram of the present invention.
Fig. 2 is a user mode reference diagram of the present invention.
Fig. 3 is an internal construction schematic diagram of the present invention.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the vertical view of Fig. 3.
Fig. 6 is a circuit block diagram of the present invention.
Fig. 7 is the structural representation of rail wheel that the present invention adopts.
Fig. 8 is the perspective view of electric brake device that the present invention adopts.
Fig. 9 is the user mode reference diagram of electric brake device that the present invention adopts.
Figure 10 is the vertical view of Fig. 9.
Figure 11 adopts the perspective view that connects buffer two for the present invention.
Figure 12 adopts the user mode reference diagram of Pneumatic brake device for the present invention.
Figure 13 is the vertical view of Figure 12.
Description of reference numerals:
1-delivers robot; 1-1-robot body one; 1-2-robot storage compartment;
1-3-door driving mechanism for switches; 1-4-walking mechanism one; The 1-41-front axle;
1-42-the near front wheel; The 1-43-off-front wheel; The 1-44-hind axle;
The 1-45-left rear wheel; The 1-46-off hind wheel; The 1-48-bearing support;
1-481-bearing support housing; The 1-482-roller bearing; The 1-483-inside race;
1-5-driving mechanism one; The 1-6-environmental information is monitored single 1-7-control system one;
Unit one;
1-8-independent navigation unit one; 1-9-arranges barrier mechanism automatically; 1-10-range cells one;
The 2-sniffing robot; The 3-rail; The 4-wheel rim;
The 5-wheel rim; The 6-undercarriage; 7-undercarriage driving mechanism;
The 8-braking motor; The 9-brake bar; The left front bearing shell of 10-1-;
The left back bearing shell of 10-2-; The right front bearing shell of 10-3-; The right back bearing shell of 10-4-;
11-1-transmission component one; Longitudinal rod behind the longitudinal rod 11-12-before the 11-11-
One; One;
11-13-transversal stretching connecting rod one; 11-14-drive link one; 11-2-transmission component two;
Longitudinal rod two before the 11-21-; Longitudinal rod 11-23-transversal stretching connects behind the 11-22-
Two; Bar two;
11-24-drive link two; Buffer structure before the 12-1-; Buffer structure behind the 12-2-;
12-3-connecting rod one; 12-4-connecting rod two; 12-5-connecting rod three;
12-6-connecting rod four; 13-1-transition bearing one; 13-2-transition bearing two;
13-3-transition bearing three; The 14-memory cell; The 15-wireless communication unit
One;
Sprocket wheel before the 18-1-; Sprocket wheel behind the 18-2-; The 18-3-chain;
The 19-elastic supporting bar; 20-1-mount pad one; 20-2-mount pad two;
The 21-level is to chute; The 22-holder; The 23-connection fastener;
The 24-sonac; The 25-infrared sensor; The 26-brake cylinder;
The horizontal moving slider of 27-; The 28-longitudinal rod; The 29-piston.
The specific embodiment
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and a kind of coalmine rescue shown in Figure 6 deliver robot, comprise robot body one 1-1, be laid in robot body one 1-1 and the storage compartment 1-2 of robot that supplies sniffing robot 2 to deposit, be installed on the door of the described storage compartment 1-2 of robot and drive the door driving mechanism for switches 1-3 of described door switch, be installed in robot body one 1-1 and can be along walking mechanism one 1-4 of the existing transport channel walking of being laid in the underworkings of colliery, driving mechanism one 1-5 that walking mechanism one 1-4 is driven, environmental information monitoring means one 1-6, independent navigation unit one 1-8, range cells one 1-10, be installed in automatic row on robot body one 1-1 hinder the 1-9 of mechanism and respectively with environmental information monitoring means one 1-6, control system one 1-7 that range cells one 1-10 and independent navigation unit one 1-8 join, described door driving mechanism for switches 1-3, described walking mechanism one 1-4, driving mechanism one 1-5, environmental information monitoring means one 1-6, range cells one 1-10, independent navigation unit one 1-8 and control system one 1-7 are installed in robot body one 1-1.Described door driving mechanism for switches 1-3, the automatic row barrier 1-9 of mechanism and driving mechanism one 1-5 controls by control system one 1-7 and the three is all joined with control system one 1-7.
In the present embodiment, be integrated with generalized information system under the coal mine in described independent navigation unit one 1-8, the path search algorithm of basic GIS and self-align algorithm, the present invention in view of the above can the calculating optimum track route, and definite self-position.
In the actual use, described existing transport channel is the track of being made up of the rail 3 of two parallel layings.Described walking mechanism one 1-4 comprises front axle train and the rear axle train that one in front and one in back is installed in robot body one 1-1 below, connects by sprocket wheel between described front axle train and the described rear axle train.Described front axle train comprises front axle 1-41, is installed in the near front wheel 1-42 and the off-front wheel 1-43 at two ends, the front axle 1-41 left and right sides respectively, described rear axle train comprises that and the hind axle 1-44 of the parallel laying of front axle 1-41 and the left rear wheel 1-45 and the off hind wheel 1-46 that are installed in two ends, the hind axle 1-44 left and right sides respectively forms, and described the near front wheel 1-42, off-front wheel 1-43, left rear wheel 1-45 and off hind wheel 1-46 are the rail wheel that structure is corresponding with the structure of rail 3 and can move forward and backward along rail 3.
In the present embodiment, described sprocket wheel comprises and is laid in chain 18-3 and the respectively preceding sprocket wheel 18-1 of coaxial package on front axle 1-41 and hind axle 1-44 and back sprocket wheel 18-2 respectively, before described chain 18-3 is wrapped on sprocket wheel 18-1 and the back sprocket wheel 18-2.
As shown in Figure 7, described rail wheel comprises wheel rim 4 and the coaxial wheel rim 5 that is laid in described wheel rim 4 inboards, the tread of wheel rim 5 is that taper tread and described taper tread ecto-entad are downward-sloping gradually, and the gradient of described taper tread is 1: 20, and the shape of cross section of described rail wheel is the T font.During practical operation, the diameter of described wheel rim 4 is Φ 430mm ± 20mm, and the diameter of described wheel rim 5 is Φ 485mm ± 20mm, and the transverse width of described wheel rim 5 is 32mm ± 3mm.In the present embodiment, the specification of described rail 3 is 24kg/m.The diameter of described wheel rim 4 is Φ 430mm, and the diameter of described wheel rim 5 is Φ 485mm, and the transverse width of described wheel rim 5 is 32mm.
In the present embodiment, described front axle wheel is that driving wheel system and described rear axle wheel are driven pulley system, and described front axle 1-41 joins by transmission mechanism and driving mechanism one 1-5, and described driving mechanism one 1-5 is the protected against explosion DC series motor.
The left and right end portions of described front axle 1-41 and hind axle 1-44 is installed in respectively in the bearing support 1-48 that is installed on below, the robot body one 1-1 left and right sides.In the present embodiment, the described bearing support housing of described bearing support 1-48 1-481, the two row roller bearing 1-482 up and down that are installed in bearing support housing 1-481 inside, coaxial package are at the inside race 1-483 of bearing support housing 1-481 inboard, and the axle journal of described front axle 1-41 or hind axle 1-44 is installed in the inside race 1-483.All fill up between the top of described bearing support housing 1-481 and outside portion and robot body one 1-1 Rubber shock-absorbing pad is housed.
Described robot body one 1-1 is provided with the storage compartment 1-2 of robot that is used to deposit sniffing robot 2.The outer shape of described robot body one 1-1 is a cuboid, the described storage compartment 1-2 of robot is shaped as cuboid, and be provided with in robot body one 1-1 described door opened after with sniffing robot 2 by the undercarriage 6 that is transferred to ground in the storage compartment 1-2 of robot, described undercarriage 6 is driven by the undercarriage driving mechanism 7 that is laid in robot body one 1-1, and described undercarriage driving mechanism 7 is controlled by control system one 1-7 and itself and control system one 1-7 join.
During actual processing and fabricating, described robot body one 1-1 and the storage compartment 1-2 of robot form a monolithic cube car body, described monolithic cube car body inside is divided into two parts up and down by dividing plate, and described dividing plate top is that the storage compartment 1-2 of robot and its underpart are robot body one 1-1.In the present embodiment, described range cells one 1-10 is a laser range finder.
Described sniffing robot 2 comprises robot body two, be installed in the walking mechanism two in the robot body two, the driving mechanism two that walking mechanism two is driven, environmental information monitoring means two, independent navigation unit two, range cells two and respectively with environmental information monitoring means two, the control system two that range cells two and independent navigation unit two join, described driving mechanism two, environmental information monitoring means two, independent navigation unit two, range cells two and control system two are installed in the robot body two, and described driving mechanism two is controlled by control system two and itself and control system two are joined.
In addition, the present invention also comprises the check mechanism that is installed in robot body one 1-1, and described check mechanism is electric brake device or Pneumatic brake device.
As Fig. 8, shown in Figure 9, in the present embodiment, described electric brake device comprises braking motor 8, under brake bar 9 that joins with the power output shaft of braking motor 8 and drive by braking motor 8 and the on-position respectively with the near front wheel 1-42, off-front wheel 1-43, four bearing shells that the wheel rim outside of left rear wheel 1-45 and off hind wheel 1-46 is close to, four described bearing shells join by transmission component and brake bar 9 respectively and drive by brake bar 9 and move, and four described bearing shells are respectively and the near front wheel 1-42, off-front wheel 1-43, the left front bearing shell 10-1 that left rear wheel 1-45 is relative with off hind wheel 1-46 position, left back bearing shell 10-2, right front bearing shell 10-3 and right back bearing shell 10-4.
In the present embodiment, described brake bar 9 be level to lay and the longitudinal centre line of the central axis of brake bar 9 and robot body one 1-1 perpendicular.The quantity of described transmission component be two groups and two groups of transmission components be respectively transmission component one 11-1 that is laid in middle part between the near front wheel 1-42 and the left rear wheel 1-45 and be laid in off-front wheel 1-43 with off hind wheel 1-46 between transmission component two 11-2, described transmission component one 11-1 and transmission component two 11-2 are the bilateral symmetry laying.Described transmission component one 11-1 comprise back longitudinal rod one 11-12 of longitudinal rod one 11-11 rear side before preceding longitudinal rod one 11-11, parallel being laid in and be connected before between longitudinal rod one 11-11 and the longitudinal rod one 11-12 bottom, back and can be synchronously flexible transversal stretching connecting rod one 11-13 in both sides forwards, backwards, join by drive link one 11-14 between the left part of the top of longitudinal rod one 11-11 and brake bar 9 before described, described left front bearing shell 10-1 and left back bearing shell 10-2 are installed in respectively on preceding longitudinal rod one 11-11 and back longitudinal rod one 11-12.Described transmission component two 11-2 comprise back longitudinal rod two 11-22 of longitudinal rod two 11-21 rear sides before preceding longitudinal rod two 11-21, parallel being laid in and be connected before between longitudinal rod two 11-21 and the longitudinal rod two 11-22 bottom, back and can be synchronously flexible transversal stretching connecting rod two 11-23 in both sides forwards, backwards, join by drive link two 11-24 between the right part of the top of longitudinal rod two 11-21 and brake bar 9 before described, described right front bearing shell 10-3 and right back bearing shell 10-4 are installed in respectively on preceding longitudinal rod two 11-21 and back longitudinal rod two 11-22.Between longitudinal rod one 11-11 and back longitudinal rod one 11-12 and between preceding longitudinal rod two 11-21 and back longitudinal rod two 11-22 elastic supporting bar 19 is installed all before described.
In the present embodiment, longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 are installed in robot body one 1-1 bottom by mount pad one 20-1 respectively before described, back longitudinal rod one 11-12 and back longitudinal rod two 11-22 are installed in robot body one 1-1 bottom by mount pad two 20-2 respectively, have level to chute on described mount pad one 20-1, the upper end spiral-lock of preceding longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 described level on chute 21 and the upper end of preceding longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 can move around to chute 21 front and back along described level.Described brake bar 9 is installed on robot body one 1-1 by holder 22, is connected by connection fastener 23 between described brake bar 9 and the holder 22.
In the actual use, also can adopt the Pneumatic brake device.In conjunction with Figure 12, Figure 13, two brake cylinders 26 about described Pneumatic brake device comprises, under former and later two horizontal moving sliders 27 that drive by brake cylinder 26 and the on-position respectively with the near front wheel 1-42, off-front wheel 1-43, four bearing shells that the wheel rim outside of left rear wheel 1-45 and off hind wheel 1-46 is close to, about two brake cylinders 26 be respectively left hand cylinder and right cylinder, described brake cylinder 26 is for being laid with the piston 29 that former and later two laterally move in two-way cylinder and the described two-way cylinder, former and later two pistons 29 join with former and later two horizontal moving sliders 27 respectively and former and later two pistons 29 drive former and later two horizontal moving sliders 27 respectively and carry out laterally moving, and four described bearing shells are respectively and the near front wheel 1-42, off-front wheel 1-43, the left front bearing shell 10-1 that left rear wheel 1-45 is relative with off hind wheel 1-46 position, left back bearing shell 10-2, right front bearing shell 10-3 and right back bearing shell 10-4.Described left front bearing shell 10-1 and left back bearing shell 10-2 join by longitudinal rod 28 and former and later two horizontal moving sliders 27 that driven by left hand cylinder respectively, and right front bearing shell 10-3 and right back bearing shell 10-4 join by longitudinal rod 28 and former and later two horizontal moving sliders 27 that driven by right cylinder respectively.
In conjunction with Figure 10 and Figure 11, be equipped with between described robot body one 1-1 and walking mechanism one 1-4 with the weight of robot body one 1-1 equably elasticity be passed to the buffer that is connected on the rail 3.
In the present embodiment, the quantity of described connection buffer is that two and two connection buffers are laid in to be respectively and are laid in being connected buffer one 12-1 and being laid in and being connected buffer two 12-2 outside off-front wheel 1-43 and the off hind wheel 1-46 of the near front wheel 1-42 and the left rear wheel 1-45 outside in the position respectively, described connection buffer one 12-1 identical with the structure that is connected buffer two 12-2 and the two be the bilateral symmetry laying.The W shape connecting rod buffer gear that described connection buffer one 12-1 includes preceding buffer structure 12-1, back buffer structure 12-2 and is made up of four connecting rods, buffer structure 12-1 comprises that the horizontal rubber pad that is laid in robot body one 1-1 bottom and pad are contained in the vertical rubber pad between described horizontal rubber pad and the near front wheel 1-42 middle and upper part or the left rear wheel 1-45 middle and upper part before described, and the structure of described buffer structure 12-2 afterwards is identical with the structure of preceding buffer structure 12-1.Four described connecting rods are respectively connecting rod one 12-3 from front to back, connecting rod two 12-4, connecting rod three 12-5 and connecting rod four 12-6, the bottom of connecting rod one 12-3 is fixedly mounted between the front side middle part of the near front wheel 1-42 and its upper end and robot body one 1-1 transition bearing one 13-1 is installed, the bottom of connecting rod two 12-4 and connecting rod three 12-5 is fixedly mounted on respectively between the middle part, front side of the rear side middle part of the near front wheel 1-42 and left rear wheel 1-45 and the upper end of the two and robot body one 1-1 transition bearing two 13-2 is installed, and the bottom of connecting rod four 12-6 is fixedly mounted in the middle part of the rear side of left rear wheel 1-45 and between its upper end and robot body one 1-1 transition bearing three 13-3 is installed.To sum up, described connection buffer is by Connection Element, buffer element (buffer structure 12-1 and back buffer structure 12-2 promptly) with all carry element (being W shape connecting rod buffer gear) and form.
Simultaneously, the present invention also comprises the internal inspection system of joining with control system one 1-7 and robot body one 1-1 forward-and-rearward obstacle information being detected in real time, control system one 1-7 described internal inspection system institute detection information is carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one 1-8; Described internal inspection system comprises anterior detecting unit that is laid in robot body one 1-1 front portion and the rear portion detecting unit that is laid in robot body one 1-1 rear portion, described anterior detecting unit and rear portion detecting unit include the many set detecting devices that whether exist obstruction and existing obstruction to detect in real time apart from the size of distance between robot body one 1-1 and described obstruction to robot body one 1-1 the place ahead and rear, and each is organized described checkout gear and includes a sonac 24 and an infrared sensor 25, and described sonac 24 and infrared sensor 25 all join with control system one 1-7.In the actual use, many set detecting devices in described anterior detecting unit and the rear portion detecting unit all are laid on the same horizon and are laid in the downside of robot body one 1-1 front and rear, and the many set detecting devices in described anterior detecting unit and the rear portion detecting unit are even laying.
In the present embodiment, the present invention also comprises all memory cell 14 and the wireless communication unit 1 that joins with control system one 1-7, in the actual mechanical process, the staff who rest on the ground can send remote control signal so that the present invention is carried out remote control to control system one 1-7 by described Remote equipment and wireless communication unit 1, simultaneously in the running of the present invention, by wireless communication unit 1 with its real-time institute detection signal synchronous driving to ground Remote equipment.Described sniffing robot 2 also comprises all memory cell two and the wireless communication unit two that joins with control system two.In addition, in the actual use, carry out two-way communication by wireless communication unit 1 and wireless communication unit 2 17 between the present invention and the sniffing robot 2, realize that promptly the present invention carries out automatic control function to sniffing robot 2, and the control system two of sniffing robot 2 with its duty and real-time detected parameters synchronous driving to control system one 1-7 of the present invention.In the actual moving process of the present invention, the relevant environment parameter in the operation coal mine roadway is detected in real time and carries out synchronous recording, in case of necessity institute's detection information is sent to the Remote equipment on ground by wireless communication unit 1; When the present invention is stoped by obstruction or track is damaged can not continue to move forward the time, then open door, sniffing robot 2 leaves robot body one 1-1 by undercarriage 6 from a suitable orientation, utilize the independent navigation of himself, autonomous function such as move to continue to move ahead, move to position that the down-hole takes place near accident and the relevant environment parameter of accident nidus is detected in real time and carries out synchronous recording, in case of necessity institute's detection information is sent to ground by wireless communication unit.In addition, in the actual moving process, the present invention is under the effect of tractive force during orbiting, derailing and improper phenomenon such as topple can not take place, after then under coal mine explosion accident taking place, underground orbit can be subjected to influence in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit all can be aggravated the interaction force between wheel track to some extent, influence exercise performance of the present invention, then the present invention has certain mobility, stability and curve negotiation ability.
In sum, the present invention includes autonomous navigation system (being independent navigation unit one 1-8), remote control system (i.e. wireless communication unit 1 and the wireless communication unit 2 17 that joins with control system one 1-7 and control system two respectively, and be laid in ground program-controlled equipment), kinetic control system (i.e. control system one 1-7 that driving mechanism one 1-5 is controlled) and detection system (being environmental information monitoring means one 1-6 and internal inspection system).The image collecting device that described environmental information monitoring means one 1-6 comprises the checkout gear that information such as the carbon monoxide that is used to detect in the underworkings of colliery, oxygen, gas, temperature detect in real time and is laid in that described robot body one 1-1 goes up and the image information in the underworkings of colliery is gathered in real time, described image collector is changed to ccd video camera.There are Department of Geography's communication system and shortest path and the searching algorithm that spreads all over the path under the coal mine in described independent navigation unit one 1-8, in the actual moving process of the present invention, whether described internal inspection system exists obstruction and existing obstruction to detect in real time apart from the distance between robot body one 1-1 and the size of described obstruction to robot body one 1-1 the place ahead and rear in real time, and information synchronization is detected in institute be sent to control system one 1-7 and carry out analyzing and processing, and control system one 1-7 to independent navigation unit one 1-8, is made that the analysis processing result synchronous driving detour still to start according to the analysis processing result of control system one 1-7 by independent navigation unit one 1-8 again and arranges the route programming result that the barrier 1-9 of mechanism arranges barrier automatically.Described control system one 1-7 receives the route programming result of independent navigation unit one 1-8 and is positioned at the telecommand of the long-range program-controlled equipment on ground, control robot body one 1-1 realizes moving ahead, retreat, stop, crossing track switch, opening door, lifting undercarriage etc. and move along track, and internal inspection system is used to detect direct of travel traffic information of the present invention in sum.
In addition, in the present embodiment, all fixedly connected between the described storage compartment 1-2 of robot, walking mechanism one 1-4, driving mechanism one 1-5, undercarriage 6, described check mechanism and described connection buffer and robot body one 1-1 by bolt, thereby easy accessibility, in the actual use, each assembly of the present invention can be transported to coal mining well down-hole after, again each assembly is assembled, that is to say, finish assembling process of the present invention in the down-hole.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.
Claims (10)
1. a coalmine rescue delivers robot, it is characterized in that: comprise robot body one (1-1), be laid in the robot body one (1-1) and the robot storage compartment (1-2) that supplies sniffing robot (2) to deposit, be installed on the door of described robot storage compartment (1-2) and drive the door driving mechanism for switches (1-3) of described door switch, be installed in the robot body one (1-1) and can be along the walking mechanism one (1-4) of the existing transport channel walking of being laid in the underworkings of colliery, the driving mechanism one (1-5) that walking mechanism one (1-4) is driven, environmental information monitoring means one (1-6), independent navigation unit one (1-8), range cells one (1-10), be installed in automatic row on the robot body one (1-1) hinder mechanism (1-9) and respectively with environmental information monitoring means one (1-6), the control system one (1-7) that range cells one (1-10) and independent navigation unit one (1-8) join, described door driving mechanism for switches (1-3), described walking mechanism one (1-4), driving mechanism one (1-5), environmental information monitoring means one (1-6), range cells one (1-10), independent navigation unit one (1-8) and control system one (1-7) are installed in the robot body one (1-1); Described door driving mechanism for switches (1-3), automatic row barrier mechanism (1-9) and driving mechanism one (1-5) is controlled by control system one (1-7) and the three is all joined with control system one (1-7).
2. according to the described coalmine rescue delivery of claim 1 robot, it is characterized in that: the track of described existing transport channel for forming by the rail (3) of two parallel layings; Described walking mechanism one (1-4) comprises front axle train and the rear axle train that one in front and one in back is installed in robot body one (1-1) below, connects by sprocket wheel between described front axle train and the described rear axle train; Described front axle train comprises front axle (1-41), is installed in the near front wheel (1-42) and the off-front wheel (1-43) at front axle (1-41) two ends, the left and right sides respectively, described rear axle train comprises that and the hind axle (1-44) of the parallel laying of front axle (1-41) and the left rear wheel (1-45) and the off hind wheel (1-46) that are installed in hind axle (1-44) two ends, the left and right sides respectively forms, and described the near front wheel (1-42), off-front wheel (1-43), left rear wheel (1-45) and off hind wheel (1-46) are the rail wheel that structure is corresponding with the structure of rail (3) and can move forward and backward along rail (3).
3. according to the described coalmine rescue delivery of claim 2 robot, it is characterized in that: described rail wheel comprises wheel rim (4) and the coaxial inboard wheel rim (5) of described wheel rim (4) that is laid in, the tread of wheel rim (5) is that taper tread and described taper tread ecto-entad are downward-sloping gradually, the gradient of described taper tread is 1: 20, and the shape of cross section of described rail wheel is the T font.
4. deliver robot according to claim 2 or 3 described coalmine rescues, it is characterized in that: the left and right end portions of described front axle (1-41) and hind axle (1-44) is installed in respectively in the bearing support (1-48) that is installed on below, robot body one (1-1) left and right sides.
5. deliver robot according to claim 2 or 3 described coalmine rescues, it is characterized in that: described robot body one (1-1) is provided with the robot storage compartment (1-2) that is used to deposit sniffing robot (2); The outer shape of described robot body one (1-1) is a cuboid, described robot storage compartment (1-2) be shaped as cuboid, and be provided with in the robot body one (1-1) described door opened after with sniffing robot (2) by the undercarriage (6) that is transferred to ground in the robot storage compartment (1-2), described undercarriage (6) is driven by the undercarriage driving mechanism (7) that is laid in the robot body one (1-1), and described undercarriage driving mechanism (7) is controlled by control system one (1-7) and itself and control system one (1-7) are joined.
6. deliver robot according to claim 2 or 3 described coalmine rescues, it is characterized in that: also comprise the check mechanism that is installed in the robot body one (1-1), described check mechanism is electric brake device or Pneumatic brake device;
Described electric brake device comprises braking motor (8), under brake bar (9) that joins with the power output shaft of braking motor (8) and drive by braking motor (8) and the on-position respectively with the near front wheel (1-42), off-front wheel (1-43), four bearing shells that the wheel rim outside of left rear wheel (1-45) and off hind wheel (1-46) is close to, four described bearing shells join by transmission component and brake bar (9) respectively and drive by brake bar (9) and move, and four described bearing shells are respectively and the near front wheel (1-42), off-front wheel (1-43), the left front bearing shell (10-1) that left rear wheel (1-45) is relative with off hind wheel (1-46) position, left back bearing shell (10-2), right front bearing shell (10-3) and right back bearing shell (10-4);
Two brake cylinders (26) about described Pneumatic brake device comprises, under former and later two horizontal moving sliders (27) that drive by brake cylinder (26) and the on-position respectively with the near front wheel (1-42), off-front wheel (1-43), four bearing shells that the wheel rim outside of left rear wheel (1-45) and off hind wheel (1-46) is close to, about two brake cylinders (26) be respectively left hand cylinder and right cylinder, described brake cylinder (26) is for being laid with the piston (29) that former and later two laterally move in two-way cylinder and the described two-way cylinder, former and later two pistons (29) join with former and later two horizontal moving sliders (27) respectively and former and later two pistons (29) drive former and later two horizontal moving sliders (27) respectively and carry out laterally moving, and four described bearing shells are respectively and the near front wheel (1-42), off-front wheel (1-43), the left front bearing shell (10-1) that left rear wheel (1-45) is relative with off hind wheel (1-46) position, left back bearing shell (10-2), right front bearing shell (10-3) and right back bearing shell (10-4); Left front bearing shell (10-1) and left back bearing shell (10-2) join by longitudinal rod (28) and former and later two horizontal moving sliders (27) of being driven by left hand cylinder respectively, and right front bearing shell (10-3) and right back bearing shell (10-4) join by longitudinal rod (28) and former and later two horizontal moving sliders (27) of being driven by right cylinder respectively.
7. according to claim 2 or 3 described coalmine rescues delivery robot, it is characterized in that: be equipped with between described robot body one (1-1) and the walking mechanism one (1-4) with the weight of robot body one (1-1) equably elasticity be passed to the buffer that is connected on the rail (3).
8. according to the described coalmine rescue delivery of claim 7 robot, it is characterized in that: the quantity of described connection buffer is that two and two connection buffers are respectively and are laid in being connected buffer one (12-1) and being laid in and being connected buffer two (12-2) outside off-front wheel (1-43) and the off hind wheel (1-46) of the near front wheel (1-42) and left rear wheel (1-45) outside, described connection buffer one (12-1) identical with the structure that is connected buffer two (12-2) and the two be the bilateral symmetry laying; The W shape connecting rod buffer gear that described connection buffer one (12-1) includes preceding buffer structure (12-1), back buffer structure (12-2) and is made up of four connecting rods, buffer structure (12-1) comprises that the horizontal rubber pad that is laid in robot body one (1-1) bottom and pad are contained in the vertical rubber pad between described horizontal rubber pad and the near front wheel (1-42) middle and upper part or left rear wheel (1-45) middle and upper part before described, and the structure of described buffer structure (12-2) afterwards is identical with the structure of preceding buffer structure (12-1); Four described connecting rods are respectively connecting rod one (12-3) from front to back, connecting rod two (12-4), connecting rod three (12-5) and connecting rod four (12-6), the bottom of connecting rod one (12-3) is fixedly mounted between the front side middle part of the near front wheel (1-42) and its upper end and the robot body one (1-1) transition bearing one (13-1) is installed, the bottom of connecting rod two (12-4) and connecting rod three (12-5) is fixedly mounted on respectively between the middle part, front side of the rear side middle part of the near front wheel (1-42) and left rear wheel (1-45) and upper end of the two and the robot body one (1-1) transition bearing two (13-2) is installed, and the bottom of connecting rod four (12-6) is fixedly mounted in the middle part of the rear side of left rear wheel (1-45) and between its upper end and the robot body one (1-1) transition bearing three (13-3) is installed.
9. deliver robot according to claim 2 or 3 described coalmine rescues, it is characterized in that: also comprise all the memory cell (14) and the wireless communication unit one (15) that join with control system one (1-7), described control system one (1-7) is joined by wireless communication unit one (15) and the Remote equipment that rest on the ground.
10. deliver robot according to claim 2 or 3 described coalmine rescues, it is characterized in that: also comprise the internal inspection system of joining with control system one (1-7) and robot body one (1-1) forward-and-rearward obstacle information being detected in real time, control system one (1-7) described internal inspection system institute detection information is carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one (1-8); Described internal inspection system comprises the rear portion detecting unit that is laid in the anterior anterior detecting unit of robot body one (1-1) and is laid in robot body one (1-1) rear portion, described anterior detecting unit and rear portion detecting unit include the many set detecting devices that whether exist obstruction and existing obstruction to detect in real time apart from the size of distance between robot body one (1-1) and described obstruction to robot body one (1-1) the place ahead and rear, and each is organized described checkout gear and includes a sonac (24) and an infrared sensor (25), and described sonac (24) and infrared sensor (25) all join with control system one (1-7).
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| CN2010102959151A CN101975079B (en) | 2010-09-27 | 2010-09-27 | Carrying robot for coal mine rescue |
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| CN2010102959151A CN101975079B (en) | 2010-09-27 | 2010-09-27 | Carrying robot for coal mine rescue |
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| CN103372276B (en) * | 2013-07-24 | 2016-01-20 | 深圳市贝特尔机电有限公司 | A kind of device on firefighting robot |
| CN104514580B (en) * | 2013-09-28 | 2016-09-07 | 沈阳新松机器人自动化股份有限公司 | A kind of colliery underground robotic explorer |
| CN104514580A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Underground exploration robot for coal mine |
| CN104811671A (en) * | 2015-05-19 | 2015-07-29 | 国家电网公司 | Mobile intelligent video monitoring device |
| CN104929681A (en) * | 2015-05-21 | 2015-09-23 | 魏国强 | Robotic train for mine disaster relief |
| CN108020271A (en) * | 2018-02-05 | 2018-05-11 | 刘春梅 | A kind of intelligent monitor system for downhole safety |
| CN108020271B (en) * | 2018-02-05 | 2024-04-19 | 西藏谦诚信息科技有限公司 | Intelligent monitoring system for underground safety |
| CN108757018A (en) * | 2018-08-28 | 2018-11-06 | 谢响玲 | A kind of self-service rescue storehouse of coal mine |
| AU2021203405B1 (en) * | 2021-01-06 | 2021-11-11 | Tiandi Science & Technology Co.,Ltd | Method for controlling unmanned transport vehicle, and unmanned transport vehicle |
| CN113898401A (en) * | 2021-09-09 | 2022-01-07 | 上海申传电气股份有限公司 | Cloud-vehicle-rail cooperative intelligent management and control system for underground electric locomotive |
| CN113898401B (en) * | 2021-09-09 | 2024-01-26 | 上海申传电气股份有限公司 | Cloud-vehicle-rail cooperative intelligent management and control system for underground motor vehicle |
| WO2023184612A1 (en) * | 2022-03-29 | 2023-10-05 | 安徽理工大学 | Underwater robot for mine water seepage rescue |
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