CN102030047B - Detection robot for underground rescue of pressurized type coal mine - Google Patents
Detection robot for underground rescue of pressurized type coal mine Download PDFInfo
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- CN102030047B CN102030047B CN2009101876125A CN200910187612A CN102030047B CN 102030047 B CN102030047 B CN 102030047B CN 2009101876125 A CN2009101876125 A CN 2009101876125A CN 200910187612 A CN200910187612 A CN 200910187612A CN 102030047 B CN102030047 B CN 102030047B
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- coal mine
- detection robot
- positive pressure
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Abstract
The invention discloses a detection robot for underground rescue of a pressurized type coal mine, belonging to the technical field of robots. The detection robot comprises an explosion-proof box body, symmetrical travelling mechanisms, two driving mechanisms, an industrial control computer, a lifting mechanism and an optical fiber winding mechanism, wherein the symmetrical travelling mechanisms are arranged on two sides of the explosion-roof box body; the two driving mechanisms and the industrial control computer are arranged in the explosion-roof box body and are respectively independent; the lifting mechanism is provided with various probes; the mechanisms form a modular structure; the two driving mechanisms are symmetrically arranged and respectively comprise a first driving motor, a second driving motor, batteries connected with the motors, a first spur gear, a second spur gear, a driven spur gear, a first planetary reducer and a connecting shaft; the first spur gear and the second spur gear are respectively sleeved on output shafts of the first drive motor and the second drive motor; the driven spur gear which is in simultaneous meshed drive with the first spur gear and the second spur gear is sleeved on an input shaft of the first planetary reducer; an output shaft of the first planetary reducer is connected with a connecting shaft extending out of the box body; and the connecting shaft end is connected with a driving wheel. According to the invention, one output shaft is driven by adopting two motors simultaneously, thus the power of the robot can be improved.
Description
Technical field
The invention belongs to advanced the manufacturing and technical field of automation, a kind of specifically robot that is applicable to that the positive pressure type rescue is surveyed under the coal mine.
Technical background
At present, China has become first big country of world's coal production and consumption.Simultaneously, the maximum country of mine safety accidents takes place in China, and mine safety accidents has caused serious property damage and abominable social influence.Owing to mine disaster reason and mine disaster field condition are not clear, rescue group's wrecked situation in speedily carrying out rescue work happens occasionally.Survey mine disaster position and mine disaster field condition if before rescue, adopt alternative people's automation equipment to go deep into mine, just can under the prerequisite of guaranteeing rescue group's safety, implement the high efficiency rescue, reduce personnel and property damage to greatest extent.Therefore developing the coalmine rescue sniffing robot has very big essentiality.
The patent No. is 200820219992.7 utility model patent; A kind of search and rescue robot that is used under the mine is disclosed; It comprises the running gear of explosion-resistant enclosure, two cover symmetries, independently swing arm system and control system separately, and the transmission device of control system, running gear and swing arm system places in the explosion-resistant enclosure, and control system is connected with driver train; Above said explosion-resistant enclosure, also be provided with mechanical underprop and optical fiber applicator; The optical fiber of optical fiber applicator is connected with control system, mechanical underprop built-in sensors group, and sensor groups and The Cloud Terrace drive plate all are electrically connected with control system.It adopts four swing arm independent driving mechanisms, but the attitude of accuracy control robot improves adaptive capacity and the obstacle climbing ability of robot to complex-terrain.But its structure relative complex, movable part is more.The first, movable part is more unfavorable to fiber optic normal laying; The second, movable part is more to be unfavorable for the airtight of shell.In addition, adopt rotation lattice dish circle can consume a large amount of power, influence the single-piece mechanical efficiency.
Summary of the invention
Technical matters to above-mentioned existence; The robot that the present invention provides a kind of positive pressure type coal mine rescue to survey; It can have explosion-proof, dustproof, water repellant performance and keep away abilities such as barrier, obstacle detouring, leap irrigation canals and ditches, climbing in the work of the dangerous area of explosive gas atmosphere.
The objective of the invention is to realize through following technical scheme:
The present invention includes explosion-proof casing, place the monosymmetric traveling gear of explosion-proof casing, place independent driving mechanisms separately and industrial computer, lifting mechanism and optical fiber winding mechanism in the explosion-proof casing; The composition module structure; Described lifting mechanism is provided with various acquisition sensors; Industrial computer links to each other with driver train, each acquisition sensor respectively; Optical fiber one end is connected in manipulation end, and described two driver trains symmetry is installed, include first drive motor, second drive motor, with motor bonded assembly battery, first spur gear, second spur gear, driven spur gear, first planetary reducer and adapter shaft; Be arranged with first, second spur gear on the output shaft of first, second drive motor respectively; Be arranged with simultaneously the driven spur gear with first, second spur gear engaged transmission on the input shaft of first planetary reducer, the output shaft of first planetary reducer links to each other with the adapter shaft that stretches out casing, is connected with drive wheel at the connection axle head.
Described lifting mechanism comprises the up-down drive motor, second planetary reducer, the bevel gear system that place in the explosion-proof casing, output shaft and place the external lifting bar of explosion-proof tank goes up and down; The input shaft of second planetary reducer links to each other with the up-down drive motor; Its output shaft links to each other with the up-down output shaft through the bevel gear transmission system, and the up-down output shaft is connected with lifting bar through the bearing that is installed on the box body wall.Its lifting bar is a times lift-type lifting bar.Each sensor on lifting mechanism is carbonic oxide, methane and oxygen sensor, is installed on the lifting bar top, also is provided with camera on it.
Described explosion-proof casing is a malleation compensation can type; It has positive pressure devices; Said positive pressure devices comprise the high-pressure gas bottle that places casing outer, its exit end main valve and with main valve bonded assembly flow regulating valve, be installed in blow off valve, differential pressure transducer and two air inlet valves on the casing, two air inlet valves connect main valve and flow regulating valve respectively; Differential pressure transducer is connected with industrial computer, is filled with low-temperature protection gas in the gas cylinder.Low-temperature protection gas in its high-pressure gas bottle is nitrogen, CO2 or neon.High-pressure gas bottle is the full winding gas cylinder of aluminum alloy inner bag fiber.At the external thermostable heat-isolating coating that is coated with of said explosion-proof tank.In explosion-proof casing, also be provided with temperature sensor, the battery in it is provided with explosion-proof shell outward.
Described optical fiber winding mechanism is a passive type optical fiber winding disc.
The present invention has following advantage:
1. in light weight.The present invention adopts the explosion-proof form of malleation compensation can type; Explosion-proof design is carried out in requirement according to GB 3836.5-2004; Through the setting of positive pressure devices, the leakage of atmosphere gas in the pressurized enclosure is compensated, make to keep malleation in the housing; When appearance in the casing was under-voltage, the present invention can be cut off the power supply automatically.Pressurized enclosure type equipment of the present invention is than the flame-proof type apparatus in comparison, self simple in structure, and weight greatly alleviates; And has performance dustproof, that paddle.
2. power is big.Because can only select Ni-MH battery for use under the coal mine, the maximum voltage of Ni-MH battery is 48V.Receive the restriction of voltage, can't adopt the high-tension high-power motor.Each independent driving mechanisms of the present invention adopts double-motor to drive an output shaft simultaneously respectively.Two traveling geaies about independent driving mechanisms drives have respectively improved the power of robot.Realize moving forward and backward when two driver trains are fast together, realize during differential turning.
3. owing to can receiving serious echo in underworkings, wireless telecommunications disturb, and the rapid decay of signal, the present invention adopts Optical Fiber Transmission to substitute wireless telecommunications.The present invention carries optical fiber and optical fiber winding mechanism, passive laying optical cable in traveling process.
4. casing safety.Positive pressure devices can doublely be done heat sink in the reload temperature sensor in casing, casing.After temperature in the casing is greater than setting threshold,, discharges high temperature nitrogen and realize cooling through discharging low temperature nitrogen.Interior battery is done flame proof design according to the requirement of GB3836.2-2000, and flame proof shell in addition outside battery is to guarantee safety.At box body appearance spraying thermostable heat-isolating coating, anti-outside high temperature.
5. in time gather and transmission information.Sensors such as carbonic oxide, methane, oxygen are installed on the lifting bar of lifting mechanism, can gather the pernicious gas information of differing heights, transfer to industrial computer, by industrial computer control whole system operation.
6. the present invention adopts modular design concept, can assembled on site, and convenient and swift.Have abilities such as the barrier of keeping away, obstacle detouring, leap irrigation canals and ditches, climbing, can go deep into the dangerous area work of explosive gas atmosphere, have explosion-proof, dustproof, water repellant performance.
Description of drawings
Fig. 1 is the mounting structure scheme drawing.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is an I portion enlarged diagram among Fig. 2.
Fig. 4 is an II portion enlarged diagram among Fig. 2.
Fig. 5 is positive pressure devices structural representation control system figure of the present invention.
Fig. 6 is the control flow chart of industrial computer of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Embodiment 1: like Fig. 1, shown in Figure 2; The present invention includes the pressurized enclosure type explosion-proof casing 2, place the monosymmetric traveling gear of explosion-proof casing 1, place in the explosion-proof casing 2 independent driving mechanisms and industrial computer, lifting mechanism 5 and optical fiber winding mechanism 4 separately; The composition module structure; Traveling gear 1 is connected with driver train, and optical fiber winding mechanism 4 places box body 2 tops, is independent of outside the box body 2; Described lifting mechanism 5 is provided with various acquisition sensors, and industrial computer links to each other with driver train, each acquisition sensor respectively, and optical fiber one end is connected in manipulation end, and described two driver trains symmetry is installed, respectively the drive wheel 10 of drive case 2 both sides; Each driver train include first drive motor 12, second drive motor 14, with motor bonded assembly battery, first spur gear 11, second spur gear 13, driven spur gear 8, first planetary reducer 6 and adapter shaft 9; Be set with first spur gear 11 on the output shaft of first drive motor 12; Be set with second spur gear 13 on the output shaft of second drive motor 14, all connect through key; Be arranged with simultaneously driven spur gear 8 on the first planetary reducer input shaft 7 with first spur gear 11 and second spur gear, 13 engaged transmission; Connect through spline; Direct and the adapter shaft 9 keys company of the output shaft of first planetary reducer 6; Adapter shaft 9 is passed by explosion-proof casing 2, links to each other with drive wheel 10 through the bearing that is installed in explosion-proof casing 2 sides.The model of industrial computer is for grinding China 20521.
Traveling gear 1 is the left and right sides, includes: a drive wheel 10 links to each other with the adapter shaft that is installed in the explosion-proof tank body side surface 9 respectively; Two BOGEY WHEELs 16, corresponding with the wheel shaft that is installed in explosion-proof tank floor respectively linking to each other; Drive wheel 10 passes through traveling crawler 15 connections with BOGEY WHEEL 16.
This routine lifting mechanism 5 comprises up-down drive motor 21, second planetary reducer 20, bevel gear system, up-down output shaft 17 and lifting bar 18; Up-down drive motor 21, second planetary reducer 20 and bevel gear system are installed in explosion-proof casing 2 inside; The input shaft of second planetary reducer 20 links to each other with up-down drive motor 21; Be arranged with first bevel gear 19 on the output shaft of second planetary reducer 21, connect through key, be arranged with on the up-down output shaft 17 with second planetary reducer 21 on second bevel gear 19 ' of first bevel gear, 19 engaged transmission; The output shaft of second bevel gear 19 ' and up-down output shaft 17 keys connect; Up-down output shaft 17 is passed by explosion-proof casing 2, links to each other the TTG II type times lift-type lifting bar that lifting bar 18 becomes wise heroes' special-purpose machinery factory to produce for Shenyang with lifting bar 18 through the bearing that is installed in explosion-proof casing 2 rear walls.。Each sensor on the lifting mechanism 5 is carbonic oxide, methane and oxygen sensor, is installed on lifting bar 18 tops, also is provided with camera on it.
The explosion-proof casing 2 of this example is malleation compensation can type; It has positive pressure devices; As shown in Figure 5, said positive pressure devices comprise the high-pressure gas bottle 22 that places explosion-proof casing 2 outer, its exit end main valve 23 and with main valve bonded assembly flow regulating valve 24, be installed in blow off valve 28, differential pressure transducer 26 and two air inlet valves 25,27 on the explosion-proof casing 2; Two air inlet valves 25,27 connect main valve 23 and flow regulating valve 24 respectively; Differential pressure transducer 26 is connected with industrial computer, is filled with low-temperature protection gas in the high-pressure gas bottle 22, is nitrogen, CO2 or neon.Wherein high-pressure gas bottle 22 is the full winding gas cylinder of aluminum alloy inner bag fiber of Shenyang Gas Cylinder Safety Technology Co., Ltd.'s production.The explosion-proof casing 2 outer thermostable heat-isolating coatings that are coated with.Reason high temperature can't normal operation with protection box house components and parts.
Before the use; The main valve 23 of manually opened high-pressure gas bottle 22 outlets cuts out flow regulating valve 24, opens the air inlet valve 27 that links to each other with main valve 23 simultaneously; Close the air inlet valve 25 that links to each other with flow regulating valve 24; Unlatching is to the blow off valve 28 of explosion-proof casing 2 outside exhausts, through positive-pressure explosion-proof casing 2, explosive mixture concentration is reduced to below the lower limit atmosphere gas of capacity.After ventilation finishes, close blow off valve 28 successively, open flow regulating valve 24, close the air inlet valve 27 that links to each other with main valve.
Through differential pressure transducer 26, malleation explosion-proof tank body 2 inside and outside differential pressures are monitored in real time in the use.Through the switching of the air inlet valve 25 that links to each other with flow regulating valve 24 of control, the leakage of the 2 interior atmosphere gass of positive-pressure explosion-proof casing in the use is compensated, make in the explosion-proof casing 2 and remain malleation.
When temperature is greater than setting threshold in the explosion-proof casing 2, open the air inlet valve 27, the unlatching blow off valve 28 that link to each other with main valve 23 successively, through discharging low-temperature protection gas, realize exhaust cooling.
This routine optical fiber winding mechanism 4 is a passive type optical fiber winding disc, only discharges, and does not reclaim.Battery 29 is a Ni-MH battery, and it is outer to be provided with the flame proof shell, in case battery itself is blasted, also unlikelyly brings subsequent explosion.
As shown in Figure 6, principle of work of the present invention and working process are:
Kinetic control system of the present invention is made up of Ni-MH power cell 26 and industrial computer control part (control system of the present invention is a prior art); Can carry out motion control to coal mine rescue and detection robot, and twine optical fiber and control platform realization data transmission on the wheel disc 4 through being wrapped in optical fiber.As shown in Figure 6, during coal mine rescue and detection robot work, control system starts, System self-test, if self check notes abnormalities, then motor outage quits work; If self check is normal, robot is static in the original place, starts fiber optic fiber optic, receives telecommand, if halt instruction, then motor outage, end-of-job; If not halt instruction is done robot according to telecommand to advance, retreated, action such as turning, and through information such as Optical Fiber Transmission video, car body states.The concrete working process of coal mine rescue and detection robot is: first drive motor 12, second drive motor 14 are worked after receiving the telecommand of industrial computer; Drive respectively that sheathed and key is connected in first spur gear 11 on its output shaft, second spur gear 13 rotates with speed in the same way; First spur gear 11 and second spur gear 13 simultaneously respectively with driven spur gear 8 engaged transmission; Drive reductor input shaft 7 rotations that connect with driven spur gear 8 keys; Thereby 7 rotations of drive speed reducer input shaft drive output shaft 9 rotations through planetary reducer afterwards, driven caterpillar tracks 15 operations.When left and right sides crawler belt running velocity was identical, coal mine rescue and detection robot moved forward or backward, left and right sides crawler belt running velocity not simultaneously, coal mine rescue and detection robot is turned.The tire of four BOGEY WHEELs 10 is commercial product, for purchasing the mining tyres that the rubber for tire Co., Ltd is produced in the Yellow River, Xianyang, specification 5.00-8; Article two, crawler belt and two drive wheels, the power of purchasing in Hangzhou is tieed up mechanical Co., Ltd, is the anti-electrostatic fire retardant material and processes.
Up-down drive motor 21 is worked after receiving the telecommand of industrial computer; Drive first bevel gear 19 on the output shaft that sheathed and key is connected in planetary reducer 21 with the speed rotation through second planetary reduction gear 20; First bevel gear 19 and second bevel gear, 19 ' engaged transmission; Drive up-down output shaft 17 rotations that connect with second bevel gear, 19 ' key, drive lifting bar 18 by up-down output shaft 17 afterwards and carry out dipping and heaving.
Claims (9)
1. positive pressure type coal mine rescue and detection robot; Comprise explosion-proof casing, place the monosymmetric traveling gear of explosion-proof casing, place driver train and industrial computer, lifting mechanism and optical fiber winding mechanism in the explosion-proof casing; The composition module structure; Described lifting mechanism is provided with acquisition sensor, and industrial computer links to each other with driver train, each acquisition sensor respectively, and optical fiber one end is connected in manipulation end; It is characterized in that: said driver train is two, symmetry installation, drives the drive wheel of explosion-proof casing both sides respectively; Two driver trains are independent separately; Include first drive motor, second drive motor, with motor bonded assembly battery, first spur gear, second spur gear, driven spur gear, first planetary reducer and adapter shaft; Be arranged with first, second spur gear on the output shaft of first, second drive motor respectively; Be arranged with simultaneously driven spur gear on the input shaft of first planetary reducer with first, second spur gear engaged transmission; The output shaft of first planetary reducer links to each other with the adapter shaft that stretches out casing, is connected with drive wheel at the connection axle head; Described explosion-proof casing is a malleation compensation can type; Explosion-proof casing has positive pressure devices; Said positive pressure devices comprise the high-pressure gas bottle that places casing outer, high-pressure gas bottle exit end main valve and with main valve bonded assembly flow regulating valve, be installed in blow off valve, differential pressure transducer and two air inlet valves on the casing, two air inlet valves connect main valve and flow regulating valve respectively; Differential pressure transducer is connected with industrial computer, is filled with low-temperature protection gas in the gas cylinder.
2. positive pressure type coal mine rescue and detection robot as claimed in claim 1; It is characterized in that: described lifting mechanism comprises the up-down drive motor, second planetary reducer, the bevel gear system that place in the explosion-proof casing, output shaft and place the external lifting bar of explosion-proof tank goes up and down; The input shaft of second planetary reducer links to each other with the up-down drive motor; The output shaft of second planetary reducer links to each other with the up-down output shaft through bevel gear system, and the up-down output shaft is connected with lifting bar through the bearing that is installed on the box body wall.
3. positive pressure type coal mine rescue and detection robot as claimed in claim 2 is characterized in that: described lifting bar is a times lift-type lifting bar.
4. positive pressure type coal mine rescue and detection robot as claimed in claim 1 is characterized in that: each sensor on the said lifting mechanism is carbonic oxide, methane and oxygen sensor, is installed on the lifting bar top, also is provided with camera on the lifting mechanism.
5. positive pressure type coal mine rescue and detection robot as claimed in claim 1 is characterized in that: the low-temperature protection gas in the said high-pressure gas bottle is nitrogen, CO2 or neon.
6. positive pressure type coal mine rescue and detection robot as claimed in claim 1 is characterized in that: said high-pressure gas bottle is the full winding gas cylinder of aluminum alloy inner bag fiber.
7. positive pressure type coal mine rescue and detection robot as claimed in claim 1 is characterized in that: the external thermostable heat-isolating coating that is coated with of described explosion-proof tank.
8. positive pressure type coal mine rescue and detection robot as claimed in claim 1 is characterized in that: also be provided with temperature sensor in the described explosion-proof casing, the battery in the explosion-proof casing is provided with the flame proof shell outward.
9. positive pressure type coal mine rescue and detection robot as claimed in claim 1 is characterized in that: described optical fiber winding mechanism is a passive type optical fiber winding disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101876125A CN102030047B (en) | 2009-09-25 | 2009-09-25 | Detection robot for underground rescue of pressurized type coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101876125A CN102030047B (en) | 2009-09-25 | 2009-09-25 | Detection robot for underground rescue of pressurized type coal mine |
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| Publication Number | Publication Date |
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| CN102030047A CN102030047A (en) | 2011-04-27 |
| CN102030047B true CN102030047B (en) | 2012-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009101876125A Expired - Fee Related CN102030047B (en) | 2009-09-25 | 2009-09-25 | Detection robot for underground rescue of pressurized type coal mine |
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