CN101979836B - Second-level coal mine rescue robot system - Google Patents

Second-level coal mine rescue robot system Download PDF

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Publication number
CN101979836B
CN101979836B CN2010102959043A CN201010295904A CN101979836B CN 101979836 B CN101979836 B CN 101979836B CN 2010102959043 A CN2010102959043 A CN 2010102959043A CN 201010295904 A CN201010295904 A CN 201010295904A CN 101979836 B CN101979836 B CN 101979836B
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robot
wheel
unit
robot body
swing arm
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CN101979836A (en
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马宏伟
魏娟
于洋
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Xian University of Science and Technology
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Xian University of Science and Technology
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Abstract

The invention discloses a second-level coal mine rescue robot system. The system comprises a detection robot and a carrying robot, wherein the detection robot detects related environmental information at a place where a coal mine accident occurs in real time; the carrying robot transports the detection robot to a place nearby the place where the coal mine accident occurs from the ground along the existing transportation channel which is formed in a coal mine underground tunnel and synchronously detects related environmental information in the coal mine underground tunnel in real time in the transportation process; and the carrying robot is a wheel robot and the detection robot is a crawler robot. The system has a reasonable design, high intelligentization degree and reliable working performance and is convenient to use and operate; and the carrying robot and the detection robot second-level robot system effectively solves the problems that: the underground conditions of a coal mine are severe, the place where the accident occurs is far away from a well head, the crawler rescue robot has a limited moving range and cannot effectively monitor the environmental information of the place where the accident occurs, and the like.

Description

Two-stage coalmine rescue robot system
Technical field
The present invention relates to a kind of coalmine rescue and use robot, especially relate to a kind of two-stage coalmine rescue robot system.
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 be used for the down-hole accidents such as gas, dust explosion, landslide take place after; Can replace the people in time to get into the scene of the accident; Obtain scene of the accident scene and gas, dust concentration, temperature, humidity isoparametric have independently move, the coalmine rescue robot system of Based Intelligent Control; The scene of the accident information of utilizing robot to gather; The firsthand information of the scene of the accident in time, 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, and the research that can be the aspects such as condition and factor of the conversion that spreads disaster accident under rule, the multiple disaster coupling condition of scientifically analyzing gas explosion catastrophe fire in period property mist and expansion again provides initial data.
Nowadays at present; 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 apart from well head working face 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 further is divided into layer-stepping and distributed two kinds.How the multirobot architecture is studied according to task type exactly, definite robot population model and appropriate correlations such as robot individual capability; And the rescue robot architecture is answered correlation between each part and function distribution in the primary study robot system; Confirm 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 effective 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, and mining conditions is complicated.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 need be used 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 main with manual work still.Although many units have carried out the various robots that are used for the coal mining accident rescue, developed various model machines, all not meet 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 receive 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 to above-mentioned deficiency of the prior art; A kind of two-stage coalmine rescue robot system is provided; It is reasonable in design, use is easy and simple to handle, intelligent degree height and reliable working performance, adopt delivery robot and sniffing robot two-stage robot system efficiently solve inclement condition under the coal mine, place where the accident occurred apart from well head far, crawler type rescue robot moving range is limited can not defective and deficiency such as effectively monitor to the place where the accident occurred environmental information.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of two-stage coalmine rescue robot system; It is characterized in that: comprise sniffing robot that the relevant environment information to the coal mining accident nidus detects in real time and be transported to coal mining accident nidus near by ground sniffing robot and transport the delivery robot that synchronously the relevant environment information in the underworkings of colliery is detected in real time in the process along the existing transport channel of being laid in the underworkings of colliery; Carry out two-way communication with communication between said sniffing robot and the delivery robot; The artificial wheel formula of said delivery machine robot, said sniffing robot is a caterpillar type robot.
Above-mentioned two-stage coalmine rescue robot system; It is characterized in that: said delivery robot comprises robot body one, be laid in the robot body one and supply robot storage compartment that sniffing robot deposits, on the door that is installed in said robot storage compartment and drive said door switch door driving mechanism for switches, the driving mechanism one, environmental information monitoring means one, independent navigation unit one, the range cells one that are installed in the robot body one and can drive along the walking mechanism one of the existing transport channel walking of being laid in the underworkings of colliery, to walking mechanism one, be installed in the control system one that automatic row on the robot body one hinders mechanism, wireless communication unit one and joins with environmental information monitoring means one, range cells one and independent navigation unit one respectively, said door driving mechanism for switches, said 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; Said 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, said wireless communication unit one and control system one join;
The driving mechanism two that said sniffing robot comprises robot body two, be installed in walking mechanism two in the robot body two, walking mechanism two is driven, environmental information monitoring means two, independent navigation unit two, range cells two, wireless communication unit two and the control system two of joining with environmental information monitoring means two, range cells two and independent navigation unit two respectively; Said 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; Said driving mechanism two is controlled by control system two and itself and control system two join, and said wireless communication unit two joins with control system two; Carry out two-way communication through wireless communication unit one and wireless communication unit two between said control system one and the control system two, and said control system one carries out two-way communication through wireless communication unit one and wireless communication unit two and ground Remote equipment respectively with control system two.
Above-mentioned two-stage coalmine rescue robot system is characterized in that: the track of said existing transport channel for being made up of the rail of two parallel layings; Said 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 through sprocket wheel between said front axle train and the said rear axle train; Said front axle train comprises front axle, is installed in the near front wheel and the off-front wheel of front axle right ends respectively; Said rear axle train comprises with the hind axle of the parallel laying of front axle and the left rear wheel and the off hind wheel that are installed in the hind axle right ends respectively and forming, and said 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 two-stage coalmine rescue robot system is characterized in that: the left and right end portions of said front axle and hind axle is installed in respectively in the bearing block that is installed on below, robot body one left and right sides.
Above-mentioned two-stage coalmine rescue robot system is characterized in that: said robot body one is provided with the robot storage compartment that is used to deposit sniffing robot; The outer shape of said robot body one is a cuboid; Said robot storage compartment be shaped as cuboid; And be provided with in the robot body one said door opened after with sniffing robot by the undercarriage that is transferred to ground in the robot storage compartment; Said undercarriage is driven by the undercarriage driving mechanism that is laid in the robot body one, and said undercarriage driving mechanism is controlled by control system one and itself and control system one join.
Above-mentioned two-stage coalmine rescue robot system is characterized in that: said sniffing robot is a six-DOF robot; Said walking mechanism two comprises left main track unit and the right main track unit that is installed in robot body two left and right sides respectively and is laid in robot body two left forward, right front portion, left rearward and right back left front swing arm unit, right front swing arm unit, left back swing arm unit and right back swing arm unit respectively that said left front swing arm unit and left back swing arm unit are left-right symmetric with right front swing arm unit and right back swing arm unit respectively and lay; Main track unit in a said left side and right main track unit are all joined with driving mechanism two; Said left front swing arm unit and left back swing arm unit all are in transmission connection with left main track unit and the two moves by the main track unit drive in a left side; Said right front swing arm unit and right back swing arm unit all are in transmission connection with right main track unit and the two moves by the main track unit drive in the right side; Said sniffing robot also comprises four swing arm driving motors that join and drive with left front swing arm unit, right front swing arm unit, left back swing arm unit and right back swing arm unit respectively; Four swing arm driving motors all join with control system two and control by control system two, and four swing arm driving motors are corresponding to be driven left front swing arm unit, right front swing arm unit, left back swing arm unit and right back swing arm unit respectively and carry out 360 ° of swings around axis separately.
Above-mentioned two-stage coalmine rescue robot system is characterized in that: said delivery robot also comprises the brake apparatus that is installed in the robot body one, and said brake apparatus is electric brake device or Pneumatic brake device;
Said 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 said bearing shells join through transmission component and brake bar respectively and drive by brake bar and move, and four said 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;
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 under two brake cylinders about said Pneumatic brake device comprises, former and later two horizontal moving sliders that drive by brake cylinder and the on-position; About two brake cylinders be respectively left hand cylinder and right cylinder; Said brake cylinder is to be laid with the piston that former and later two laterally move in two-way cylinder and the said 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 said 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; Left front bearing shell and left rear axle watt-minute are not joined through 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 through longitudinal rod and former and later two horizontal moving sliders that driven by right cylinder respectively.
Above-mentioned two-stage coalmine rescue robot system is characterized in that: be equipped with between said robot body one and the walking mechanism one with the weight of robot body one equably elasticity be passed to the connection cushioning device on the rail.
Above-mentioned two-stage coalmine rescue robot system; It is characterized in that: the quantity of said connection cushioning device is that two and two connection cushioning device are respectively the connection cushioning device one that is laid in the near front wheel and the left rear wheel outside and are laid in the connection cushioning device two of off-front wheel with the off hind wheel outside, the structure of said connection cushioning device one and connection cushioning device two identical and the two be the left-right symmetric laying; The W shape connecting rod buffer gear that said connection cushioning device one includes preceding buffer structure, back buffer structure and is made up of four connecting rods; Buffer structure comprises that the horizontal rubber blanket and the pad that are laid in robot body one bottom are contained in the vertical rubber blanket between said horizontal rubber blanket and the near front wheel middle and upper part or the left rear wheel middle and upper part before said, and the structure of said back buffer structure is identical with the structure of preceding buffer structure; Four said 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 front side middle part and its upper end and the robot body one of the near front wheel transition bearing one is installed; The bottom of connecting rod two and connecting rod three is fixedly mounted on respectively between middle part, front side and the upper end of the two and the robot body one of rear side middle part and left rear wheel of the near front wheel 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 transition bearing three is installed.
Above-mentioned two-stage coalmine rescue robot system; It is characterized in that: said delivery robot also comprises the internal inspection system one of joining with control system one and robot body one forward-and-rearward obstacle information being detected in real time, control system detection information of a pair of said internal inspection system carry out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one; Said internal inspection system one comprises anterior detecting unit one that is laid in robot body one front portion and the rear portion detecting unit one that is laid in robot body one rear portion; Said anterior detecting unit one and rear portion detecting unit one include the many set detecting devices one that whether exist barrier and existing barrier to detect in real time apart from the size of the distance of one of robot body and said barrier to robot body one the place ahead and rear; And each is organized said checkout gear one and includes a sonac one and an infrared sensor one, and said sonac one all joins with control system one with infrared sensor one;
Said sniffing robot also comprises the internal inspection system two of joining with control system two and robot body two forward-and-rearward obstacle informations being detected in real time, control system two detection information of two pairs of said internal inspection system carry out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit two; Said internal inspection system two comprises anterior detecting unit two that is laid in robot body two front portions and the rear portion detecting unit two that is laid in robot body two rear portions; Said anterior detecting unit two and rear portion detecting unit two include the many set detecting devices two that whether exist barrier and existing barrier to detect in real time apart from the size of the distance of two of robot bodies and said barrier to robot body two the place aheads and rear; And each is organized said checkout gear two and includes a sonac two and an infrared sensor two, and said sonac two all joins with control system two with infrared sensor two.。
The present invention compared with prior art has the following advantages:
1, reasonable in design and reliable working performance; The present invention is directed to coal mining accident mostly occurs in the present situation apart from well head working face zone far away; The architecture of two-stage coalmine rescue robot system has creatively been proposed; First order robot---the delivery robot adopts wheel formula travel mechanism, and second level robot---sniffing robot adopts the more piece track structure; After the down-hole has an accident; First order robot carry second level robot along the down-hole existing conveying track run to can move apart from accident spot the most nearby, first order robot can not continue reach if stoped or track is damaged by barrier; Then open door; Second level robot leaves first order robot from a suitable orientation, 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 detection at any time, and handle and record.
2, delivery robot reasonable in design and result of use is good, locomitivity is strong; The delivery robot is under the effect of tractive force during orbiting; Improper phenomenons such as can not derailing and topple and its have certain mobility, stability and curve negotiation ability; Thereby after explosion accident and underground orbit take place under coal mine receiving influence in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit can not influence the exercise performance of delivery robot.To sum up; The delivery robot is applicable to the 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 like 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.
3, the perfect in shape and function and the reliable working performance of delivery robot; It can not only be along track with the certain speed even running; And the concrete condition that can adapt to track like upward slope, descending, curve, track switch etc., has simple row to hinder function simultaneously; Can remove the barrier of the certain volume that is scattered on the track, and have the landing gear that can let the secondary robot leave and return.In addition, the delivery robot has brake apparatus, and it can certainly be parked on the track like special circumstances.Thereby, delivery robot reasonable in design, intelligent degree is high, and 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.
4, the delivery robot adopts modularized design, and easy accessibility makes robot architecture's compactness and easy accessibility, down-hole blast and both can directly get into 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.
5, delivery robot compact conformation, easy and simple to handle, intelligent degree height and reliable working performance, the speed of service is fast, locomitivity is strong, after explosion accident and underground orbit take place under coal mine receiving to a certain degree influence, 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 received in various degree influence, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit can not influence exercise performance of the present invention.
6, sniffing robot is designed to the swing arm caterpillar mobile robot; Thereby it is when having acted on multiple mobile robot's advantage; Fully take into account movement environment to motional effects, adopt different motion modes for different movement environments, Different Exercise Mode has different advantages.Sniffing robot has very strong kinetic stability, mobility, flexibility, also has very strong characteristics such as environmental suitability simultaneously.Can be according to the variation of surrounding environment adjustment athletic posture, reach the optimal selection and the operating efficiency of the highest motion.
7, practical value height and popularizing application prospect are extensive; Have very high economic benefit and social benefit; The present invention can make full use of existing conveying track under the coal mine; Give full play to the characteristics of wheeled mobile robot and caterpillar mobile robot, defective and deficiency such as it is far away apart from well head to have solved accident spot preferably, and crawler type rescue robot moving range is limited.The present invention is directed to coal mining accident mostly occurs in the present situation apart from well head working face 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 through 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 damaged by barrier prevention or track, 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 detection at any time, and handle and record.
In sum; The present invention is reasonable in design, use is easy and simple to handle, intelligent degree height and reliable working performance, adopt delivery robot and sniffing robot two-stage robot system efficiently solve inclement condition under the coal mine, place where the accident occurred apart from well head far, crawler type rescue robot moving range is limited can not defective and deficiency such as effectively monitor to the place where the accident occurred environmental information.
Through accompanying drawing and embodiment, technical scheme of the present invention is done further detailed description below.
Description of drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a user mode reference diagram of the present invention.
Fig. 3 delivers the internal structure sketch map of robot for the present invention.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the vertical view of Fig. 3.
Fig. 6 delivers the circuit block diagram of robot for the present invention.
Fig. 7 by the present invention deliver robot the structural representation of employing rail wheel.
Fig. 8 by the present invention deliver robot the perspective view of employing electric brake device.
Fig. 9 by the present invention deliver robot the user mode reference diagram of employing electric brake device.
Figure 10 is the vertical view of Fig. 9.
Figure 11 by the present invention deliver robot the perspective view of employing connection cushioning device two.
Figure 12 is the perspective view of sniffing robot of the present invention.
Figure 13 is the side portion structure sketch map of sniffing robot of the present invention.
Figure 14 is the vertical view of Figure 13.
Figure 15 is the circuit block diagram of sniffing robot of the present invention.
Figure 16 by the present invention deliver robot the user mode reference diagram of employing Pneumatic brake device.
Figure 17 is the vertical view of Figure 16.
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 block;
1-481-bearing block 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-and is controlled 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;
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;
24-sonac one; 25-infrared sensor one; 27-sonac two;
28-infrared sensor two; The 29-brake cylinder; The horizontal moving slider of 30-;
The 31-longitudinal rod; The 32-piston.
The specific embodiment
Like Fig. 1, a kind of two-stage coalmine rescue robot system shown in Figure 2; Comprise sniffing robot 2 that the relevant environment information to the coal mining accident nidus detects in real time and be transported to coal mining accident nidus near by ground sniffing robot 2 and transport the delivery robot 1 that synchronously the relevant environment information in the underworkings of colliery is detected in real time in the process along the existing transport channel of being laid in the underworkings of colliery; Carry out two-way communication with communication between said sniffing robot 2 and the delivery robot 1; Said delivery robot 1 is a wheel formula robot, and said sniffing robot 2 is a caterpillar type robot.
In conjunction with Fig. 3, Fig. 4, Fig. 5 and Fig. 6; Said delivery robot 1 comprises robot body one 1-1, be laid in robot body one 1-1 and supply the storage compartment 1-2 of robot that sniffing robot 2 deposits, on the door that is installed in the said storage compartment 1-2 of robot and drive said door switch door driving mechanism for switches 1-3, driving mechanism one 1-5, environmental information monitoring means one 1-6, independent navigation unit one 1-8, range cells one 1-10 that are installed in robot body one 1-1 and can drive along walking mechanism one 1-4 of the existing transport channel walking of being laid in the underworkings of colliery, to walking mechanism one 1-4, be installed in one 1-7 of control system that automatic row on robot body one 1-1 hinders the 1-9 of mechanism, wireless communication unit 1 and joins with environmental information monitoring means one 1-6, range cells one 1-10 and independent navigation unit one 1-8 respectively, said door driving mechanism for switches 1-3, said 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 one 1-7 of control system are installed in robot body one 1-1.Said door driving mechanism for switches 1-3, the automatic row barrier 1-9 of mechanism and driving mechanism one 1-5 controls by one 1-7 of control system and the three is all joined with one 1-7 of control system, said wireless communication unit 1 and one 1-7 of control system join.Be integrated with generalized information system under the coal mine in said independent navigation unit one 1-8, based on path search algorithm and the self-align algorithm of GIS, the delivery robot in view of the above can the calculating optimum track route, and definite self-position.
In conjunction with Figure 12, Figure 13, Figure 14 and Figure 15; Driving mechanism two 2-3 that said sniffing robot 2 comprises robot body two 2-1, be installed in walking mechanism two 2-2 in robot body two 2-1, walking mechanism two 2-2 are driven, environmental information monitoring means two 2-4, independent navigation unit two 2-5, range cells two 2-6, wireless communication unit 2 17 and two 2-7 of control system that join with environmental information monitoring means two 2-4, range cells two 2-6 and independent navigation unit two 2-5 respectively; Said driving mechanism two 2-3, environmental information monitoring means two 2-4, independent navigation unit two 2-5, range cells two 2-6 and two 2-7 of control system are installed in robot body two 2-1; Said driving mechanism two 2-3 are controlled by two 2-7 of control system and itself and two 2-7 of control system join, and said wireless communication unit 2 17 joins with two 2-7 of control system.Carry out two-way communication through wireless communication unit 1 and wireless communication unit 2 17 between said control one 1-7 of system and two 2-7 of control system, and said control one 1-7 of system carries out two-way communication through wireless communication unit 1 and wireless communication unit 2 17 and ground Remote equipment respectively with two 2-7 of control system.
In the present embodiment, all be integrated with the GPS locating module in said independent navigation unit one 1-8 and independent navigation unit two 2-5, have positioning function.
In the present embodiment, said sniffing robot 2 is a six-DOF robot.Said walking mechanism two 2-2 comprise left main track unit 2-21 and the right main track unit 2-22 that is installed in the robot body two 2-1 left and right sides respectively and are laid in robot body two 2-1 left forward, right front portion, left rearward and right back left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 respectively that said left front swing arm unit 2-23 and left back swing arm unit 2-25 are left-right symmetric with right front swing arm unit 2-24 and right back swing arm unit 2-26 respectively and lay.Main track unit 2-21 in a said left side and right main track unit 2-22 all join with driving mechanism two 2-3.Said left front swing arm unit 2-23 and left back swing arm unit 2-25 all are in transmission connection with left main track unit 2-21 and the two moves by the main track unit 2-21 drive in a left side; Said right front swing arm unit 2-24 and right back swing arm unit 2-26 all are in transmission connection with right main track unit 2-22 and the two moves by the main track unit 2-22 drive in the right side.Said sniffing robot 2 also comprises four swing arm driving motors 6 that join and drive with left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 respectively; Four swing arm driving motors all join with two 2-7 of control system and control by two 2-7 of control system, and four swing arm driving motors are corresponding to be driven left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 respectively and carry out 360 ° of swings around axis separately.
To sum up; Said sniffing robot 2 has 6 frees degree; I.e. two translational degree of freedom and four swing frees degree; Driving mechanism two 2-3 comprise two main drive motor and four swing arm driving motors that respectively left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 driven of respectively the main track unit 2-21 in a left side and right main track unit 2-22 being driven, and two main drive motors and four swing arm driving motors all are laid in robot body two 2-1.Two main drive motors join with the power transmission shaft of main track unit 2-21 in a left side and right main track unit 2-22 behind reduction box respectively, and correspondingly four swing arm driving motors join with left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 behind reduction box respectively.In the actual use; Sniffing robot 2 directly drives six crawler belts (being respectively left main track unit 2-21, right main track unit 2-22, left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26) motion of reeling through two main drive motors and four swing arm driving motors after slowing down; Translational motion with crawler belt coiling motion changing into robot; Produce two translational degree of freedom and a revolution free degree, realize that sniffing robot 2 planar moves.Particularly, four swing arm driving motors drive four swing arms respectively, are that the axle center realizes rotating with rotary middle spindle separately, produce four rotary freedoms.
Thereby; During actual motion; Above-mentioned swing arm caterpillar mobile robot is that sniffing robot 2 is when having acted on multiple mobile robot's advantage; Fully take into account movement environment to motional effects, adopt different motion modes for different movement environments, Different Exercise Mode has different advantages.Sniffing robot has very strong kinetic stability, mobility, flexibility, also has very strong characteristics such as environmental suitability simultaneously.Can be according to the variation of surrounding environment adjustment athletic posture, reach the optimal selection and the operating efficiency of the highest motion.
In the actual use, said existing transport channel is the track of being made up of the rail 3 of two parallel layings.Said 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 through sprocket wheel between said front axle train and the said rear axle train.Said front axle train comprises front axle 1-41, is installed in the near front wheel 1-42 and the off-front wheel 1-43 of front axle 1-41 right ends respectively; Said 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 right ends respectively forms, and said 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, said 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 said chain 18-3 is wrapped in sprocket wheel 18-1 with after on the sprocket wheel 18-2.
As shown in Figure 7; Said rail wheel comprises wheel rim 4 and the coaxial wheel rim 5 that is laid in said wheel rim 4 inboards; The tread of wheel rim 5 is that taper tread and said taper tread ecto-entad are downward-sloping gradually, and the gradient of said taper tread is 1: 20, and the shape of cross section of said rail wheel is the T font.During practical operation, the diameter of said wheel rim 4 is Φ 430mm ± 20mm, and the diameter of said wheel rim 5 is Φ 485mm ± 20mm, and the transverse width of said wheel rim 5 is 32mm ± 3mm.In the present embodiment, the specification of said rail 3 is 24kg/m.The diameter of said wheel rim 4 is Φ 430mm, and the diameter of said wheel rim 5 is Φ 485mm, and the transverse width of said wheel rim 5 is 32mm.
In the present embodiment, said front axle train is that active train and said rear axle train are driven train, and said front axle 1-41 joins through transmission mechanism and driving mechanism one 1-5, and said driving mechanism one 1-5 is the protected against explosion DC series motor.
The left and right end portions of said front axle 1-41 and hind axle 1-44 is installed in respectively in the bearing block 1-48 that is installed on below, the robot body one 1-1 left and right sides.In the present embodiment; The said bearing block housing of said bearing block 1-48 1-481, the two row roller bearing 1-482 up and down that are installed in bearing block housing 1-481 inside, coaxial package are at the inboard inside race 1-483 of bearing block housing 1-481, and the axle journal of said front axle 1-41 or hind axle 1-44 is installed in the inside race 1-483.All fill up between the top of said bearing block housing 1-481 and outside portion and robot body one 1-1 Rubber shock-absorbing pad is housed.
Said 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 said robot body one 1-1 is a cuboid; The said storage compartment 1-2 of robot is shaped as cuboid; And be provided with in robot body one 1-1 said door opened after with sniffing robot 2 by the undercarriage 6 that is transferred to ground in the storage compartment 1-2 of robot; Said undercarriage 6 is driven by the undercarriage driving mechanism 7 that is laid in robot body one 1-1, and said undercarriage driving mechanism 7 is controlled by one 1-7 of control system and itself and one 1-7 of control system join.
During actual processing and fabricating; Said robot body one 1-1 and the storage compartment 1-2 of robot form a monoblock type cube car body; Said monoblock type cube car body inside is divided into two parts up and down through dividing plate, and said 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, said range cells one 1-10 and range cells two 2-6 are laser range finder.
Simultaneously, said delivery robot 1 also comprises the brake apparatus that is installed in robot body one 1-1, and said brake apparatus is electric brake device or Pneumatic brake device.Like Fig. 8, shown in Figure 9; In the present embodiment; Said electric brake device comprises braking motor 8, join with the power output shaft of braking motor 8 and the brake bar 9 that drives by braking motor 8 and on-position under four bearing shells being close to the wheel rim outside of the near front wheel 1-42, off-front wheel 1-43, left rear wheel 1-45 and off hind wheel 1-46 respectively; Four said bearing shells join through transmission component and brake bar 9 respectively and drive by brake bar 9 and move, and four said 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, said 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 said 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, said transmission component one 11-1 and transmission component two 11-2 are the left-right symmetric laying.Said 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 transversal stretching connecting rod one 11-13 that stretches of both sides forwards, backwards; Join through drive link one 11-14 between the left part of the top of longitudinal rod one 11-11 and brake bar 9 before said, said 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.Said 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 transversal stretching connecting rod two 11-23 that stretch of both sides forwards, backwards; Join through drive link two 11-24 between the right part of the top of longitudinal rod two 11-21 and brake bar 9 before said, said 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 said.
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 through mount pad one 20-1 respectively before said; Back longitudinal rod one 11-12 and back longitudinal rod two 11-22 are installed in robot body one 1-1 bottom through mount pad two 20-2 respectively; Have level to chute on said mount pad one 20-1, the upper end spiral-lock of preceding longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 said 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 said level.Said brake bar 9 is installed on robot body one 1-1 through holder 22, is connected through connection fastener 23 between said brake bar 9 and the holder 22.
In the actual use, also can adopt the Pneumatic brake device.In conjunction with Figure 16, Figure 17; Four bearing shells being close to the wheel rim outside of the near front wheel 1-42, off-front wheel 1-43, left rear wheel 1-45 and off hind wheel 1-46 respectively under two brake cylinders 29 about said Pneumatic brake device comprises, former and later two horizontal moving sliders 30 that drive by brake cylinder 29 and the on-position; About two brake cylinders 29 be respectively left hand cylinder and right cylinder; Said brake cylinder 29 is for being laid with the piston 32 that former and later two laterally move in two-way cylinder and the said two-way cylinder; Former and later two pistons 32 join with former and later two horizontal moving sliders 30 respectively and former and later two pistons 32 drive former and later two horizontal moving sliders 30 respectively and carry out laterally moving, and four said 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.Said left front bearing shell 10-1 and left back bearing shell 10-2 join through longitudinal rod 31 and former and later two horizontal moving sliders 30 that driven by left hand cylinder respectively, and right front bearing shell 10-3 and right back bearing shell 10-4 join through longitudinal rod 31 and former and later two horizontal moving sliders 30 that driven by right cylinder respectively.
In conjunction with Figure 10 and Figure 11, be equipped with between said 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 connection cushioning device on the rail 3.
In the present embodiment; The quantity of said connection cushioning device is that two and two connection cushioning device are laid in and are respectively connection cushioning device one 12-1 that is laid in the near front wheel 1-42 and the left rear wheel 1-45 outside and connection cushioning device two 12-2 that are laid in outside off-front wheel 1-43 and the off hind wheel 1-46 in the position respectively, the structure of said connection cushioning device one 12-1 and connection cushioning device two 12-2 identical and the two be the left-right symmetric laying.The W shape connecting rod buffer gear that said connection cushioning device 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 blanket and the pad that are laid in robot body one 1-1 bottom are contained in the vertical rubber blanket between said horizontal rubber blanket and the near front wheel 1-42 middle and upper part or the left rear wheel 1-45 middle and upper part before said, and the structure of said back buffer structure 12-2 is identical with the structure of preceding buffer structure 12-1.Four said connecting rods are respectively connecting rod one 12-3, connecting rod two 12-4, connecting rod three 12-5 and connecting rod four 12-6 from front to back; The bottom of connecting rod one 12-3 is fixedly mounted between front side middle part and its upper end and robot body one 1-1 of the near front wheel 1-42 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 middle part, front side and the upper end of the two and robot body one 1-1 of rear side middle part and left rear wheel 1-45 of the near front wheel 1-42 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, said connection cushioning device 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; In the present embodiment; Said delivery robot 1 also comprises the internal inspection system one of joining with one 1-7 of control system and robot body one 1-1 forward-and-rearward obstacle information being detected in real time, one 1-7 of control system to detection information of said internal inspection system carry out analyzing and processing and with the analysis processing result synchronous driving to the independent navigation unit one 1-8.Said internal inspection system one comprises the rear portion detecting unit one that is laid in the anterior anterior detecting unit of robot body one 1-1 one and is laid in robot body one 1-1 rear portion; Said anterior detecting unit one and rear portion detecting unit one include the many set detecting devices one that whether exist barrier and existing barrier to detect in real time apart from the size of distance between robot body one 1-1 and said barrier to robot body one 1-1 the place ahead and rear; And each is organized said checkout gear one and includes a sonac 1 and an infrared sensor 1, and said sonac 1 all joins with one 1-7 of control system with infrared sensor 1.In the actual use; Many set detecting devices one in said anterior detecting unit one and the rear portion detecting unit one all are laid on the same horizontal line and are laid in the downside of robot body one 1-1 front and rear, and the many set detecting devices one in said anterior detecting unit one and the rear portion detecting unit one are even laying.
Said sniffing robot 2 also comprises the internal inspection system two of joining with two 2-7 of control system and robot body two 2-1 forward-and-rearward obstacle informations being detected in real time, two 2-7 of control system to two detection information of said internal inspection system carry out analyzing and processing and with the analysis processing result synchronous driving to the independent navigation unit two 2-5.Said internal inspection system two comprises the rear portion detecting unit two that is laid in the anterior anterior detecting unit of robot body two 2-1 two and is laid in robot body two 2-1 rear portions; Said anterior detecting unit two and rear portion detecting unit two include the many set detecting devices two that whether exist barrier and existing barrier to detect in real time apart from the size of distance between robot body two 2-1 and said barrier to robot body two 2-1 the place aheads and rear; And each is organized said checkout gear two and includes a sonac 2 27 and an infrared sensor 2 28, and said sonac 2 27 all joins with two 2-7 of control system with infrared sensor 2 28.In the actual use; Many set detecting devices two in said anterior detecting unit two and the rear portion detecting unit two all are laid on the same horizontal line and are laid in the downside of robot body two 2-1 front and rears, and the many set detecting devices two in said anterior detecting unit two and the rear portion detecting unit two are even laying.
In the present embodiment, said delivery robot 1 also comprises the memory cell 1 of joining with one 1-7 of control system, and said sniffing robot 2 also comprises the memory cell 2 16 of joining with two 2-7 of control system.
In the actual mechanical process; The staff who rest on the ground can send remote control signal so that delivery robot 1 is carried out remote control to one 1-7 of control system through said Remote equipment and wireless communication unit 1; Deliver simultaneously in robot 1 running, incite somebody to action time institute's detection signal synchronous driving in fact to ground Remote equipment through wireless communication unit 1.And; In the actual use; Carry out two-way communication through wireless communication unit 1 and wireless communication unit 2 17 between delivery robot 1 and the sniffing robot 2; Realize that 1 pair of sniffing robot of delivery robot 2 carries out automatic control function, and two 2-7 of control system of sniffing robot 2 with its duty and real-time detected parameters synchronous driving to one 1-7 of control system that delivers robot 1.In addition; After sniffing robot 2 leaves delivery robot 1 carries out autonomous operation, the staff who rest on the ground can be through said Remote equipment with wireless communication unit 2 17 to two 2-7 of control system transmission remote control signal so that sniffing robot 2 is carried out remote control; In sniffing robot 2 runnings, incite somebody to action time institute's detection signal synchronous driving in fact to ground Remote equipment simultaneously through wireless communication unit 2 17.
In said delivery robot 1 actual moving process, 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 long-range program-controlled equipment on ground through wireless communication unit 1; When the present invention is stoped by barrier or track is damaged can not continue to move forward the time; Then open door; Sniffing robot 2 leaves robot body one 1-1 through 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 through wireless communication unit.In addition; In the actual moving process; The present invention under the effect of tractive force during orbiting, improper phenomenon such as derailing can not take place and topple, under coal mine explosion accident takes place then after; Underground orbit can receive 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, and then the present invention has certain mobility, stability and curve negotiation ability.
In sum; Delivery of the present invention robot 1 and sniffing robot 2 include autonomous navigation system (being independent navigation unit one 1-8 and independent navigation unit two 2-5), remote control system (wireless communication unit 1 and the wireless communication unit 2 17 that promptly join with one 1-7 of control system and two 2-7 of control system respectively, and be laid in ground long-range program-controlled equipment), kinetic control system (one 1-7 of control system that promptly driving mechanism one 1-5 is controlled and two 2-7 of control system that driving mechanism two 2-3 are controlled) and detection system (being environmental information monitoring means one 1-6 and internal inspection system one and environmental information monitoring means two 2-4 and internal inspection system two).
The image collecting device that said 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 said robot body one 1-1 goes up and the image information in the underworkings of colliery is gathered in real time, said 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 said independent navigation unit one 1-8.In delivery robot 1 actual moving process; Whether said internal inspection system one exists barrier and existing barrier to detect in real time apart from the distance between robot body one 1-1 and the size of said barrier to robot body one 1-1 the place ahead and rear in real time; And information synchronization is detected in institute be sent to one 1-7 of control system and carry out analyzing and processing; And one 1-7 of control system with the analysis processing result synchronous driving to the independent navigation unit one 1-8, make detouring according to the analysis processing result of one 1-7 of control system by independent navigation unit one 1-8 again and still start the route programming result that row's barrier 1-9 of mechanism automatically arranges barrier.Said control one 1-7 of system receives the route programming result and the telecommand that is positioned at the long-range program-controlled equipment on ground of independent navigation unit one 1-8, and control robot body one 1-1 realizes moving ahead, retreat, stop, crossing track switch, opening door, up-down undercarriage etc. and move along track.In a word, internal inspection system one is used to detect the direct of travel traffic information of delivery robot 1.
Equally; The image collecting device that said environmental information monitoring means two 2-4 comprise the checkout gear that information such as the carbon monoxide that is used for detection accident nidus, oxygen, gas, temperature detect in real time and are laid in that said robot body two 2-1 go up and the image information of accident nidus in the underworkings of colliery is gathered in real time, said 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 said independent navigation unit two 2-5.In sniffing robot 2 actual moving process; Whether said internal inspection system two exists barrier and existing barrier to detect in real time apart from the distance between robot body two 2-1 and the size of said barrier to robot body two 2-1 the place aheads and rear in real time; And information synchronization is detected in institute be sent to two 2-7 of control system and carry out analyzing and processing; And two 2-7 of control system with the analysis processing result synchronous driving to the independent navigation unit two 2-5, make corresponding route programming result by independent navigation unit two 2-5 according to the analysis processing result of two 2-7 of control system again.Said control two 2-7 of system receive the route programming result and the telecommand that is positioned at the long-range program-controlled equipment on ground of independent navigation unit two 2-5, and control robot body two 2-1 realize that moving ahead, retreat, stop, crossing track switch etc. along track moves.In a word, internal inspection system two is used to detect the direct of travel traffic information of sniffing robot 2.
In said delivery robot 1 running, 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 ground through wireless communication unit 1; When delivery robot 1 is stoped by barrier or track is damaged can not continue to move forward the time; Then open door; Sniffing robot 2 leaves delivery robot 1 through 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 through wireless communication unit 2 17.Exception; In the actual moving process; Said delivery robot 1 under the effect of tractive force during orbiting, improper phenomenon such as derailing can not take place and topple, under coal mine explosion accident takes place then after; Underground orbit can receive 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, the exercise performance of influence delivery robot 1, and delivery robot 1 has certain mobility, stability and curve negotiation ability.
In addition, in the present embodiment, all be fixedly connected between the said storage compartment 1-2 of robot, walking mechanism one 1-4, driving mechanism one 1-5, undercarriage 6, said brake apparatus and said connection cushioning device and robot body one 1-1 through bolt; Thereby easy accessibility; In the actual use, can each assembly of the present invention be transported to coal mining well down-hole after, again each assembly is assembled; That is to say, accomplish the assembling process of delivery robot 1 in the down-hole.
In the present embodiment, the mechanical system performance indications of sniffing robot 2 are as shown in table 1:
The mechanical system performance indications of table 2 sniffing robot 2
The above; It only is preferred embodiment of the present invention; Be not that the present invention is done any restriction, every technical spirit changes any simple modification, change and the equivalent structure that above embodiment did according to the present invention, all still belongs in the protection domain of technical scheme of the present invention.

Claims (9)

1. two-stage coalmine rescue robot system; It is characterized in that: comprise sniffing robot (2) that the relevant environment information to the coal mining accident nidus detects in real time and be transported to coal mining accident nidus near by ground sniffing robot (2) and transport the delivery robot (1) that synchronously the relevant environment information in the underworkings of colliery is detected in real time in the process along the existing transport channel of being laid in the underworkings of colliery; Carry out two-way communication with communication between said sniffing robot (2) and the delivery robot (1); Said delivery robot (1) is a wheel formula robot, and said sniffing robot (2) is a caterpillar type robot; Said delivery robot (1) comprises robot body one (1-1), be laid in the robot body one (1-1) and supply robot storage compartment (1-2) that sniffing robot (2) deposits, on the door that is installed in said robot storage compartment (1-2) and drive said door switch door driving mechanism for switches (1-3), the driving mechanism one (1-5), environmental information monitoring means one (1-6), independent navigation unit one (1-8), the range cells one (1-10) that are installed in the robot body one (1-1) and can drive along the walking mechanism one (1-4) of the existing transport channel walking of being laid in the underworkings of colliery, to walking mechanism one (1-4), be installed in the control system one (1-7) that automatic row on the robot body one (1-1) hinders mechanism (1-9), wireless communication unit one (15) and joins with environmental information monitoring means one (1-6), range cells one (1-10) and independent navigation unit one (1-8) respectively, said door driving mechanism for switches (1-3), said 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); Said door driving mechanism for switches (1-3), automatically row's barrier mechanism (1-9) is with 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), and said wireless communication unit one (15) and control system one (1-7) join;
The driving mechanism two (2-3) that said sniffing robot (2) comprises robot body two (2-1), be installed in walking mechanism two (2-2) in the robot body two (2-1), walking mechanism two (2-2) is driven, environmental information monitoring means two (2-4), independent navigation unit two (2-5), range cells two (2-6), wireless communication unit two (17) and the control system two (2-7) of joining with environmental information monitoring means two (2-4), range cells two (2-6) and independent navigation unit two (2-5) respectively; Said driving mechanism two (2-3), environmental information monitoring means two (2-4), independent navigation unit two (2-5), range cells two (2-6) and control system two (2-7) are installed in the robot body two (2-1); Said driving mechanism two (2-3) is controlled by control system two (2-7) and itself and control system two (2-7) join, and said wireless communication unit two (17) joins with control system two (2-7); Carry out two-way communication through wireless communication unit one (15) and wireless communication unit two (17) between said control one (1-7) of system and the control system two (2-7), and said control one (1-7) of system carries out two-way communication through wireless communication unit one (15) and wireless communication unit two (17) with ground Remote equipment respectively with control system two (2-7).
2. according to the described two-stage coalmine rescue of claim 1 robot system, it is characterized in that: the track of said existing transport channel for forming by the rail (3) of two parallel layings; Said 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 through sprocket wheel between said front axle train and the said rear axle train; Said front axle train comprises front axle (1-41), is installed in the near front wheel (1-42) and the off-front wheel (1-43) of front axle (1-41) right ends respectively; Said 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) right ends respectively forms, and said 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 two-stage coalmine rescue of claim 2 robot system, it is characterized in that: the left and right end portions of said front axle (1-41) and hind axle (1-44) is installed in respectively in the bearing block (1-48) that is installed on below, robot body one (1-1) left and right sides.
4. according to claim 1,2 or 3 described two-stage coalmine rescue robot systems, it is characterized in that: said 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 said robot body one (1-1) is a cuboid; Said robot storage compartment (1-2) be shaped as cuboid; And be provided with in the robot body one (1-1) said door opened after with sniffing robot (2) by the undercarriage (6) that is transferred to ground in the robot storage compartment (1-2); Said undercarriage (6) is driven by the undercarriage driving mechanism (7) that is laid in the robot body one (1-1), and said undercarriage driving mechanism (7) is controlled by control system one (1-7) and itself and control system one (1-7) join.
5. according to claim 1,2 or 3 described two-stage coalmine rescue robot systems, it is characterized in that: said sniffing robot (2) is a six-DOF robot; Said walking mechanism two (2-2) comprises left main track unit (2-21) and the right main track unit (2-22) that is installed in robot body two (2-1) left and right sides respectively and is laid in robot body two (2-1) left forward, right front portion, left rearward and right back left front swing arm unit (2-23), right front swing arm unit (2-24), left back swing arm unit (2-25) and right back swing arm unit (2-26) respectively that said left front swing arm unit (2-23) and left back swing arm unit (2-25) are left-right symmetric with right front swing arm unit (2-24) and right back swing arm unit (2-26) respectively and lay; Main track unit in a said left side (2-21) and right main track unit (2-22) are all joined with driving mechanism two (2-3); Said left front swing arm unit (2-23) and left back swing arm unit (2-25) all are in transmission connection with left main track unit (2-21) and the two moves by the main track unit in a left side (2-21) drive; Said right front swing arm unit (2-24) and right back swing arm unit (2-26) all are in transmission connection with right main track unit (2-22) and the two moves by the main track unit in the right side (2-22) drive; Said sniffing robot (2) also comprises four swing arm driving motors that join and drive with left front swing arm unit (2-23), right front swing arm unit (2-24), left back swing arm unit (2-25) and right back swing arm unit (2-26) respectively; Four swing arm driving motors all join with control system two (2-7) and control by control system two (2-7), and four swing arm driving motors are corresponding to be driven left front swing arm unit (2-23), right front swing arm unit (2-24), left back swing arm unit (2-25) and right back swing arm unit (2-26) respectively and carry out 360 ° of swings around axis separately.
6. according to claim 1,2 or 3 described two-stage coalmine rescue robot systems; It is characterized in that: said delivery robot (1) also comprises the brake apparatus that is installed in the robot body one (1-1), and said brake apparatus is electric brake device or Pneumatic brake device;
Said electric brake device comprises braking motor (8), join with the power output shaft of braking motor (8) and the brake bar (9) that drives by braking motor (8) and on-position under respectively with the wheel rim of the near front wheel (1-42), off-front wheel (1-43), left rear wheel (1-45) and off hind wheel (1-46) outside four bearing shells being close to; Four said bearing shells join through transmission component and brake bar (9) respectively and drive by brake bar (9) and move, and four said bearing shells are respectively and the near front wheel (1-42), off-front wheel (1-43), left front bearing shell (10-1), left back bearing shell (10-2), right front bearing shell (10-3) and right back bearing shell (10-4) that left rear wheel (1-45) is relative with off hind wheel (1-46) position;
Four bearing shells being close to the wheel rim outside of the near front wheel (1-42), off-front wheel (1-43), left rear wheel (1-45) and off hind wheel (1-46) respectively under two brake cylinders (29) about said Pneumatic brake device comprises, former and later two horizontal moving sliders (30) that drive by brake cylinder (29) and the on-position; About two brake cylinders (29) be respectively left hand cylinder and right cylinder; Said brake cylinder (29) is for being laid with the piston (29) that former and later two laterally move in two-way cylinder and the said two-way cylinder; Former and later two pistons (32) join with former and later two horizontal moving sliders (30) respectively and former and later two pistons (32) drive former and later two horizontal moving sliders (30) respectively and carry out laterally moving, and four said bearing shells are respectively and the near front wheel (1-42), off-front wheel (1-43), left front bearing shell (10-1), left back bearing shell (10-2), right front bearing shell (10-3) and right back bearing shell (10-4) that left rear wheel (1-45) is relative with off hind wheel (1-46) position; Left front bearing shell (10-1) and left back bearing shell (10-2) join through longitudinal rod (31) and former and later two horizontal moving sliders (30) of being driven by left hand cylinder respectively, and right front bearing shell (10-3) and right back bearing shell (10-4) join through longitudinal rod (31) and former and later two horizontal moving sliders (30) of being driven by right cylinder respectively.
7. according to claim 1,2 or 3 described two-stage coalmine rescue robot systems, it is characterized in that: be equipped with between said 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 connection cushioning device on the rail (3).
8. according to the described two-stage coalmine rescue of claim 7 robot system; It is characterized in that: the quantity of said connection cushioning device is that two and two connection cushioning device are respectively the connection cushioning device one (12-1) that is laid in the near front wheel (1-42) and left rear wheel (1-45) outside and are laid in the connection cushioning device two (12-2) of off-front wheel (1-43) with off hind wheel (1-46) outside, the structure of said connection cushioning device one (12-1) and connection cushioning device two (12-2) identical and the two be the left-right symmetric laying; The W shape connecting rod buffer gear that said connection cushioning device 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 blanket and the pad that are laid in robot body one (1-1) bottom are contained in the vertical rubber blanket between said horizontal rubber blanket and the near front wheel (1-42) middle and upper part or left rear wheel (1-45) middle and upper part before said, and the structure of said back buffer structure (12-2) is identical with the structure of preceding buffer structure (12-1); Four said connecting rods are respectively connecting rod one (12-3), connecting rod two (12-4), connecting rod three (12-5) and connecting rod four (12-6) from front to back; The bottom of connecting rod one (12-3) is fixedly mounted between front side middle part and its upper end and the robot body one (1-1) of the near front wheel (1-42) 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 middle part, front side and the upper end of the two and the robot body one (1-1) of rear side middle part and left rear wheel (1-45) of the near front wheel (1-42) 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. according to claim 1,2 or 3 described two-stage coalmine rescue robot systems; It is characterized in that: said delivery robot (1) also comprises the internal inspection system one 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) detection information of said internal inspection system is carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one (1-8); Said internal inspection system one comprises the rear portion detecting unit one that is laid in the anterior anterior detecting unit of robot body one (1-1) one and is laid in robot body one (1-1) rear portion; Said anterior detecting unit one and rear portion detecting unit one include the many set detecting devices one that whether exist barrier and existing barrier to detect in real time apart from the size of distance between robot body one (1-1) and said barrier to robot body one (1-1) the place ahead and rear; And each is organized said checkout gear one and includes one (24) and infrared sensor one (25) of a sonac, and said sonac one (24) and infrared sensor one (25) all join with control system one (1-7);
Said sniffing robot (2) also comprises the internal inspection system two of joining with control system two (2-7) and robot body two (2-1) forward-and-rearward obstacle information being detected in real time, control system two (2-7) two detection information of said internal inspection system are carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit two (2-5); Said internal inspection system two comprises the rear portion detecting unit two that is laid in the anterior anterior detecting unit of robot body two (2-1) two and is laid in robot body two (2-1) rear portion; Said anterior detecting unit two and rear portion detecting unit two include the many set detecting devices two that whether exist barrier and existing barrier to detect in real time apart from the size of distance between robot body two (2-1) and said barrier to robot body two (2-1) the place ahead and rear; And each is organized said checkout gear two and includes two (27) and infrared sensors two (28) of a sonac, and said sonac two (27) and infrared sensor two (28) all join with control system two (2-7).
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