CN103085056A - Underground coal mine disaster information detection robot platform - Google Patents
Underground coal mine disaster information detection robot platform Download PDFInfo
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- CN103085056A CN103085056A CN2013100304623A CN201310030462A CN103085056A CN 103085056 A CN103085056 A CN 103085056A CN 2013100304623 A CN2013100304623 A CN 2013100304623A CN 201310030462 A CN201310030462 A CN 201310030462A CN 103085056 A CN103085056 A CN 103085056A
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Abstract
An underground coal mine disaster information detection robot platform comprises a track platform and a walking mechanism which is arranged on the track platform in a sliding mode. The walking mechanism is provided with an information detection robot. The track platform is provided with at least two supporting cross rods. One supporting cross rod is provided with a fixing support and the other supporting cross rod is provided with a telescopic support. An experiment platform which uses the track platform as a framework is constructed. The underground coal mine disaster information detection robot platform is compact in structure, flexible, small in size, easy to operate, high in intelligence, and capable of enabling the information detection robot to rapidly accurately reach the place nearest to a disaster site and enabling the information detection robot to move forward and backward and suspend in order to conduct information detection and a search-and-rescue operation. The inclination of the track platform can be adjusted through the telescopic support in order to conduct the experiment on gradeability of the information detection robot.
Description
Technical field
The invention belongs to the Robotics field, particularly disaster information sniffing robot platform under a kind of coal mine.
Background technology
China is one of main coal producer in the world, and coal production is to adopt underground job mostly, objectively says, in the coal production implementation process, is subject to the security threat of the natural calamities such as roof pressure, gas, coal dust, water, fire; In addition, mechanical electric apparatus also can occur, transportation promotes and other security incidents such as explosion in the reason such as complicated and changeable and mismanagement due to the operating condition of coal production.
After disaster occured, with a large amount of toxic and harmfuls, the rescue personnel can't arrive the disaster accident scene very first time in the environment of HTHP, can't understand the information of the scene of the accident, has a strong impact on the enforcement timeliness of rescue.At this moment, the coal information sniffing robot has just played very important effect.But under coal mine, in case disaster occurs, on-the-spot road conditions are comparatively abominable, and sniffing robot will enter that information detection is completed at the scene and the search and rescue task just must possess stronger walking and detectivity.
Rescue has immeasurable realistic meaning to Coal Mine Disasters due to Mine Disaster Relief Robot and Coal Mine Disasters sniffing robot, will play critical effect to rescue work if can grasp the information of disaster field the very first time.Therefore, all it is being carried out deep research and discussion both at home and abroad all the time, such as: the people such as Transeth, Liljeback, Cao, Jiang Xiangjun and Zhao Wu are by morphological feature and the characteristics of motion of research occurring in nature snake, developed the snakelike rescue robot that is formed by snakehead, snake body and ophiruid, all environment detection installation of sensors are in snakehead section, break-in, lifting and driven unit are installed in the snake body, can be realized simulating the multiple real motion form of biological snake; The people such as Kamegawa, Polverari, Marques, Tunwannarux, Song Xiaokang and Wang Yong have developed pleiotaxy Disaster Relief Robot and the bionical search and rescue robot of flexible wheel leg type of similar NASA mars exploration car, the environment detection installation of sensors is on the front portion or mechanical arm of mobile platform, and its advantage is that the free degree is less, compact conformation, movement velocity is fast, wheeled rolling frictional resistance is little and machinery driving efficiency is high; The people such as Thrun, Qi, Kamikawa, Deapp and Guo Lifeng have developed many legs formula Disaster Relief Robot of similar spider, organization of human body, laser range sensor, night viewing camera, detection of gas sensor and gyroscope are installed on respectively the front end of robot upper part platform, its advantage be large to unduation grade, many ditches landform is adaptable; The people such as Zhao, Megid, Li and Ge Shirong development can be imitated scorpion deformed caterpillar search and rescue robot and crawler type mine search and rescue robot, low-illuminance cameras is fixed on the front end of robot moving platform, gas sensor and temperature sensor are fixed on the left and right sides of mobile platform, its advantage is the fast moving that can realize under multiple abominable road conditions, as wetland, sandstone and the road surface of loosening the soil.
But, in when, under coal mine, disaster occuring, because mine laneway is various, ground environment is intricate, be covered with barrier, very difficult along ground running, above-mentioned robot can't satisfy disaster information fully to be collected and on-the-spot demand of carrying out the search and rescue task, and how robot is transferred to on-the-spot disaster information accurately ground, how arrives fast the research key that the scene of the accident is still domestic and international experts and scholars.
Summary of the invention
The purpose of this invention is to provide a kind of compact conformation, flexible disaster information sniffing robot platform under small and exquisite and coal mine that intelligent degree is high.
For achieving the above object, technical scheme of the present invention is: disaster information sniffing robot platform under coal mine, comprise on orbital platform and orbital platform the walking mechanism of sliding and arranging, and walking mechanism is provided with the information detection robot; At least be provided with two support rails on orbital platform, a support rail is provided with fixed support, and another root support rail is provided with telescope support.
Described orbital platform is square ring, it comprises vertical connecting plate and vertical vertically disposed plate and lower railway plate of getting on the right track of connecting plate upper/lower terminal, getting on the right track to be provided with between plate between arc, lower railway plate is provided with the arc lower plate, is provided with the arc connecting plate between upper arc and arc lower plate.
Described plate and the lower railway plate of getting on the right track is fixed on vertical connecting plate by erection bolt respectively, and upper arc and arc lower plate are fixed on the arc connecting plate by erection bolt respectively; The plate that gets on the right track is connected with set bolt by the track brace with upper arc, and the lower railway plate is connected with set bolt by the track brace with the arc lower plate.
Described walking mechanism comprises two mobile roof supports that are set up in parallel, and two mobile roof supports are assembled into one by connecting bolt and hold-down nut; Mobile roof support is provided with the vertical road wheel of axis and the fixed head adjacent with road wheel, and fixed head is provided with the wheel shaft of axis horizontal, and the wheel shaft end is provided with support wheel.
Described road wheel comprises the wheel hub motor of foreign steamer and foreign steamer inside, and wheel hub motor is arranged on mobile roof support by the motor hold-down nut of its motor shaft lower end; Be provided with brake between wheel hub motor and mobile roof support, brake comprises brake shell, brake rotors and braking stator, brake shell is arranged on mobile roof support by bolt, and the braking stator is arranged on mobile roof support by the stator hold-down screw, and brake rotors is connected with foreign steamer bottom key.
Described information detection robot comprises casing and antinose-dive leg, and antinose-dive leg is connected with walking mechanism; Casing one side is provided with the information detection sensor, and bottom half is provided with manipulator, and manipulator comprises mechanical arm tail end actuator, camera and the wireless image transmitter that mechanical arm and its front end arrange.
Be respectively equipped with the barrier placing rack on described fixed support and telescope support, it comprises the moving support bar of deciding support bar and decide support bar end hinge, decide the support bar other end and be provided with pipe collar, pipe collar is fixed on fixed support or telescope support by fastening bolt and nut; Moving support bar end is provided with pallet.
Describedly decide the support bar bottom and be provided with the reinforced pole that is obliquely installed, the reinforced pole end is provided with pipe collar, and pipe collar is fixed on fixed support or telescope support by fastening bolt and nut.
Described fixed support and telescope support upper end are respectively equipped with the fixed cover piece, and the fixed cover piece is sleeved on support rail.
Compared with prior art, advantage of the present invention is:
1, the present invention includes on orbital platform and orbital platform the walking mechanism of sliding and arranging, walking mechanism is provided with the information detection robot; At least be provided with two support rails on orbital platform, a support rail is provided with fixed support, another root support rail is provided with telescope support, it has built the experiment porch take orbital platform as framework, compact conformation, small and exquisite flexibly, simple to operate, intelligent degree is high, can make the information detection robot arrive fast and accurately the place nearest apart from disaster field, and make the information detection robot realize advancing on orbital platform, falling back and hover, to carry out information detection and to carry out the search and rescue measure; By the gradient of telescope support adjustable rail platform, be convenient to information detection robot working uphill.
2, walking mechanism comprises two mobile roof supports that are set up in parallel, and two mobile roof supports are assembled into one by connecting bolt and hold-down nut; Mobile roof support is provided with the vertical road wheel of axis and the fixed head adjacent with road wheel, and fixed head is provided with the wheel shaft of axis horizontal, and the wheel shaft end is provided with support wheel; Road wheel comprises the wheel hub motor of foreign steamer and foreign steamer inside, and wheel hub motor is arranged on mobile roof support by the motor hold-down nut of its motor shaft lower end; Be provided with brake between wheel hub motor and mobile roof support, brake comprises brake shell, brake rotors and braking stator, brake shell is arranged on mobile roof support by bolt, the braking stator is arranged on mobile roof support by the stator hold-down screw, brake rotors is connected with foreign steamer bottom key, during use, the road wheel of both sides is clamped on vertical connecting plate side, the support wheel rolling support is on the lower railway plate, road wheel provides effective frictional force for walking mechanism, and for walking mechanism provides power, so that walking mechanism is moved on the lower railway plate by support wheel; Brake is realized braking by being connected with the foreign steamer key to it, thereby realizes that information detection Robot orbital platform advances, falls back and hovers, and is convenient to control.
3, the information detection robot comprises casing and antinose-dive leg, and antinose-dive leg is connected with walking mechanism, casing one side is provided with the information detection sensor, bottom half is provided with manipulator, manipulator comprises the mechanical arm tail end actuator that mechanical arm and its front end arrange, camera and wireless image transmitter, rotation by mechanical arm is controlled end effector to the processing of barrier with stretching, extension, carry out the collection of ambient image information by camera, the information detection sensor can be to the oxygen in environment, carbon dioxide, carbon monoxide, hydrogen sulfide, methane, temperature, humidity, the informations such as pressure reduction, and the above-mentioned information that collects is uploaded to host computer carries out information fusion and decision-making, intelligent degree is high.
4, the barrier placing rack comprises and decides support bar and decide the moving support bar that the support bar end is hinged by the hinge bolts and nuts, decide the support bar other end and be provided with pipe collar, pipe collar is fixed on fixed support or telescope support by fastening bolt and nut, be provided with pallet in moving support bar end, pallet is used for manipulator and places barrier on track route.
5, be provided with the reinforced pole that is obliquely installed deciding the support bar bottom, the reinforced pole end is provided with pipe collar, and pipe collar is fixed on fixed support or telescope support by fastening bolt and nut, can greatly improve structural strength.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of Fig. 1 middle orbit platform;
Fig. 3 is the structural representation of walking mechanism in Fig. 1;
Fig. 4 is the structural representation of road wheel in Fig. 3;
Fig. 5 is the structural representation of information detection robot in Fig. 1;
Fig. 6 is the structural representation of barrier placing rack in Fig. 1.
The specific embodiment
Disaster information sniffing robot platform under coal mine as shown in Figure 1, it comprises on orbital platform 1 and orbital platform 1 walking mechanism 2 of sliding and arranging, and is provided with information detection robot 3 in walking mechanism 2 bottoms.Be provided with two support rails 4 on orbital platform 1, support rail 4 passes the cross bar fixing hole 20 on orbital platform 1, two ends are fixing by cross bar hold-down nut 41, be provided with fixed support 5 by fixed cover piece 8 on left side support rail 4, be provided with telescope support 7 by fixed cover piece 9 on the support rail 4 of the right, fixed support 5 and telescope support 7 is used for supporting track platform 1, and telescope support 7 is by the angle of telescopic adjustment orbital platform 1 with horizontal plane, is used for the climbing experiment of information detection robot 3.Be respectively equipped with barrier placing rack 6 on fixed support 5 and telescope support 7.
Telescope support 7 select Nanjing forever the promise drive apparatus Co., Ltd model of producing be the Worm-gear type push-and-pull motor of YNT-01, the 80cm that can stretch as required in order to adjust the angle of orbital platform 1 and horizontal plane, simulates under coal mine the tunnel with certain slope.
As shown in Figure 2, orbital platform 1 is square closed circular, it comprises vertical connecting plate 12 and perpendicular to vertically get on the right track plate 11 and the lower railway plate 13 of connecting plate 12, the plate 11 that gets on the right track is fixed on vertical connecting plate 12 upper and lower ends by erection bolt 19 respectively with lower railway plate 13.Getting on the right track to be provided with between plate 11 between arc 14, lower railway plate 13 is provided with arc lower plate 16, and the plate 11 that gets on the right track is connected with set bolt 18 by track brace 17 respectively with arc lower plate 16 with upper arc 14, lower railway plate 13.Be provided with arc connecting plate 15 between upper arc 14 and arc lower plate 16, upper arc 14 is fixed on arc connecting plate 15 by erection bolt 19 respectively with arc lower plate 16.Get on the right track plate 11 and upper arc 14 for orbital platform 1 is fixedly mounted on the coal mine down-hole tunnel top board.
As shown in Figure 3 and Figure 4, walking mechanism 2 comprises two mobile roof supports that are set up in parallel 21, and 27, two mobile roof supports 21 of assembly hole that mobile roof support 21 is provided with horizontal direction are assembled into one with hold-down nut 25 by the connecting bolt 24 in assembly hole 27.Be provided with the vertical road wheel of axis 22 and the fixed head 26 adjacent with road wheel 22 on mobile roof support 21, fixed head 26 is provided with the wheel shaft 29 of axis horizontal, wheel shaft 29 ends are provided with support wheel 23, and support wheel 23 is deep groove ball bearing, and it bears the weight of whole information detection robot 3.Road wheel 22 comprises the wheel hub motor 211 of foreign steamer 210 and foreign steamer 210 inside, foreign steamer 210 inside are connected with nut 215 by bolt 214 with wheel hub motor 211 outer rims, and wheel hub motor 211 is arranged on mobile roof support 21 by the motor hold-down nut 213 of its motor shaft 212 lower ends.Be provided with brake between wheel hub motor 211 and mobile roof support 21, brake comprises brake shell 219, brake rotors 216 and braking stator 217, brake shell 219 is arranged on mobile roof support 21 by bolt 220, braking stator 217 is arranged on mobile roof support 21 by stator hold-down screw 218, brake rotors 216 is connected with foreign steamer 210 bottom keys, relies on electromagnetism adhesive realization to the braking of foreign steamer 210 by brake rotors 216 and braking stator 217.
During use, the road wheel 22 of both sides is clamped on vertical connecting plate 12, support wheel 23 rolling supports are on lower railway plate 13, road wheel 22 provides effective frictional force for walking mechanism 2, and for walking mechanism 2 provides power, so that walking mechanism 2 is moved on lower railway plate 13 by support wheel 23; Brake is realized braking by being connected with foreign steamer 210 keys to it, thereby realizes that information detection robot 3 advances, falls back and hover along orbital platform 1.
As shown in Figure 5, information detection robot 3 comprises casing 32 and antinose-dive leg 31, and antinose-dive leg 31 is connected to mobile roof support 21 bottoms by being located in casing set bolts 38 in mobile roof support 21 upper box fixing holes 28.Be provided with information detection sensor 33 in casing 32 1 sides, casing 32 bottoms are provided with manipulator, and manipulator comprises mechanical arm tail end actuator 35, camera 36 and the wireless image transmitter 37 that mechanical arm 34 and its front end arrange.Mechanical arm 34 is five degree-of-freedom manipulator, can carry out five degree of freedom rotation and stretching routine and carry out image information collecting.Casing 32 is used for placing battery and controller, information detection sensor 33 is used for disaster information under detecting shaft, mechanical arm tail end actuator 35 is used for crawl and moving obstacle, camera 36 be used for obtaining the disaster image and by wireless image transmitter 37 image transmitting to host computer, host computer is dynamically controlled by serial ports.
As shown in Figure 6, barrier placing rack 6 comprises to be decided support bar 51 and decide support bar 51 ends by the moving support bar 52 of hinge bolt 53 with nut 54 hinges, decide support bar 51 other ends and be provided with pipe collar 56, pipe collar 56 is fixed on fixed support 5 or telescope support 7 by fastening bolt 57 and nut 58, be provided with pallet 55 in moving support bar 52 ends, pallet 55 is used for manipulator and places barrier on track route.In order to improve structural strength, be provided with the reinforced pole 59 that is obliquely installed deciding support bar 51 bottoms, reinforced pole 59 ends are provided with pipe collar, and pipe collar is fixed on fixed support 5 or telescope support 7 by fastening bolt and nut.
In the present embodiment, orbital platform 1 can also be made by the I-steel light rail, and upper arc 14, arc connecting plate 15 and arc lower plate 16 can arrange different radius of curvature as required.
When the present invention under coal mine, disaster occured, manipulator can go to disaster field to survey disaster field information automatically, and offers the rescue personnel, in order to implement rescue fast and effectively.
Claims (9)
1. disaster information sniffing robot platform under coal mine, is characterized in that, comprises on orbital platform and orbital platform the walking mechanism of sliding and arranging, and walking mechanism is provided with the information detection robot; At least be provided with two support rails on orbital platform, a support rail is provided with fixed support, and another root support rail is provided with telescope support.
2. disaster information sniffing robot platform under coal mine as claimed in claim 1, it is characterized in that, described orbital platform is square ring, it comprises vertical connecting plate and vertical vertically disposed plate and lower railway plate of getting on the right track of connecting plate upper/lower terminal, getting on the right track to be provided with between plate between arc, lower railway plate is provided with the arc lower plate, is provided with the arc connecting plate between upper arc and arc lower plate.
3. disaster information sniffing robot platform under coal mine as claimed in claim 2, it is characterized in that, described plate and the lower railway plate of getting on the right track is fixed on vertical connecting plate by erection bolt respectively, and upper arc and arc lower plate are fixed on the arc connecting plate by erection bolt respectively; The plate that gets on the right track is connected with set bolt by the track brace with upper arc, and the lower railway plate is connected with set bolt by the track brace with the arc lower plate.
4. disaster information sniffing robot platform under coal mine as claimed in claim 1, is characterized in that, described walking mechanism comprises two mobile roof supports that are set up in parallel, and two mobile roof supports are assembled into one by connecting bolt and hold-down nut; Mobile roof support is provided with the vertical road wheel of axis and the fixed head adjacent with road wheel, and fixed head is provided with the wheel shaft of axis horizontal, and the wheel shaft end is provided with support wheel.
5. disaster information sniffing robot platform under coal mine as claimed in claim 4, is characterized in that, described road wheel comprises the wheel hub motor of foreign steamer and foreign steamer inside, and wheel hub motor is arranged on mobile roof support by the motor hold-down nut of its motor shaft lower end; Be provided with brake between wheel hub motor and mobile roof support, brake comprises brake shell, brake rotors and braking stator, brake shell is arranged on mobile roof support by bolt, and the braking stator is arranged on mobile roof support by the stator hold-down screw, and brake rotors is connected with foreign steamer bottom key.
6. disaster information sniffing robot platform under coal mine as claimed in claim 1, is characterized in that, described information detection robot comprises casing and antinose-dive leg, and antinose-dive leg is connected with walking mechanism; Casing one side is provided with the information detection sensor, and bottom half is provided with manipulator, and manipulator comprises mechanical arm tail end actuator, camera and the wireless image transmitter that mechanical arm and its front end arrange.
7. as disaster information sniffing robot platform under arbitrary described coal mine in claim 1-6, it is characterized in that, be respectively equipped with the barrier placing rack on described fixed support and telescope support, it comprises the moving support bar of deciding support bar and decide support bar end hinge, decide the support bar other end and be provided with pipe collar, pipe collar is fixed on fixed support or telescope support by fastening bolt and nut; Moving support bar end is provided with pallet.
8. disaster information sniffing robot platform under coal mine as claimed in claim 7, it is characterized in that, describedly decide the support bar bottom and be provided with the reinforced pole that is obliquely installed, the reinforced pole end is provided with pipe collar, and pipe collar is fixed on fixed support or telescope support by fastening bolt and nut.
9. disaster information sniffing robot platform under coal mine as claimed in claim 8, is characterized in that, described fixed support and telescope support upper end are respectively equipped with the fixed cover piece, and the fixed cover piece is sleeved on support rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2013100304623A CN103085056A (en) | 2013-01-28 | 2013-01-28 | Underground coal mine disaster information detection robot platform |
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| CN2013100304623A CN103085056A (en) | 2013-01-28 | 2013-01-28 | Underground coal mine disaster information detection robot platform |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104589159A (en) * | 2014-12-03 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Annular track industrial robot for machining large-scale workpiece |
| WO2015071483A1 (en) * | 2013-11-18 | 2015-05-21 | Kuka Systems Gmbh | Operating device and operating method |
| WO2017133245A1 (en) * | 2016-02-03 | 2017-08-10 | 深圳市施罗德工业测控设备有限公司 | Support for rail |
| CN109176462A (en) * | 2018-11-15 | 2019-01-11 | 国网江苏省电力有限公司 | A kind of adaptive robot ambulation track internal contracting brake mechanism |
| CN110733019A (en) * | 2019-10-30 | 2020-01-31 | 中国煤炭科工集团太原研究院有限公司 | mining rail-mounted gas monitoring robot |
| CN116271599A (en) * | 2023-03-27 | 2023-06-23 | 四川安信科创科技有限公司 | Emergency rescue interlocking reaction system for limited space accidents |
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| CN116271599A (en) * | 2023-03-27 | 2023-06-23 | 四川安信科创科技有限公司 | Emergency rescue interlocking reaction system for limited space accidents |
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Application publication date: 20130508 |