CN104118489A - Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination - Google Patents
Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination Download PDFInfo
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- CN104118489A CN104118489A CN201410401360.2A CN201410401360A CN104118489A CN 104118489 A CN104118489 A CN 104118489A CN 201410401360 A CN201410401360 A CN 201410401360A CN 104118489 A CN104118489 A CN 104118489A
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Abstract
The invention discloses a mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination. The mining intrinsic safety robotic explorer comprises an explorer body, a fixed axle is arranged on the explorer body, the ends, on the left and right sides of the explorer body, of the axle are provided with driving wheels respectively, and the driving wheels are eccentric wheels. According to the mining intrinsic safety robotic explorer, the eccentric wheels are adopted as the driving wheels, compared with an existing crawler-type and leg type walking device, the problems that energy loss is high, efficiency is low and a mechanism and a control system are complex are avoided, and the roles that the robot can flexibly move, is easy to move and the like can be brought into full play. Meanwhile, the eccentric wheels enable the explorer body to be farther away from the ground and enable the eccentric wheels to vertically move in the forward moving process, and the movement is similar to leg bending movement during leg type walking, so that the mining intrinsic safety robotic explorer has the advantage of leg type walking, and has the stronger complex terrain adaptability compared with a traditional wheel type driving robot.
Description
Technical field
The present invention relates to a kind of coal mine rescue detection robot, particularly a kind of Portable mining intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula.
Background technology
Mining industry is the important foundation industry that is related to economic life line of the country, is supporting national economy and is growing continuously and fast.Yet the mining industry of China still belongs to high risk industry.According to a report of investigation data of 2003, China's coal mining accident death toll was then 6995 people, and 80%, the hundred ten thousand ton of mortality that accounts for the whole world is 10 times of the U.S., was Russian, Australian 12 times.Although mortality declines to some extent in recent years, China is still the country that Coal Mine Disasters is the most serious in the world, disaster is maximum.
Cause the reason that China's coal-mine disaster is serious, mortality is high a lot, except features as poor geologic condition, well industrial and mineral ratio are high, the factor such as low productivity, disaster prevention system be unsound, down-hole Quick rescue gordian technique and equipment backwardness are also important reasons.In a lot of rescue actions, for fear of secondary accident, rescue team member uses electrical category equipment to be extremely restricted, and the tunnel that reaches several kilometers also can only walking; Rescue team member does not know the actual conditions in the place ahead completely, is not only emitting great risk, affects greatly can to rescue group psychologically yet, and actual rescue efficiency is had a greatly reduced quality.
Fortunately, along with the fast development in the fields such as machinery, electronics, information techenology and sensor technology, robot replaces rescue team member to enter place that high-risk region or the mankind are difficult to arrive searching and rescuing suffer a calamity or disaster miner, collection site information of survivor and searching and become possibility for rescue plan provides information support.A large amount of research and practices prove, robot application, in mine disaster rescue, can be helped to rescue team member and grasps the first-hand information in the scene of the accident and data, improve rescue efficiency, reduce to greatest extent injures and deaths and loss.
The colliery of China is with a varied topography, and drive is dark and complicated, and mine disaster type is mainly that gas explosion, coal-dust explosion, Gas Outburst, water leak accident, mine are caught fire, top board landslide etc.Wherein, gas explosion and top board landslide have just accounted for the 60%-70% of mine disaster quantity and death toll.The mine disaster of these types also usually causes drive damage, and rescue passage, by fillings such as inflammable and explosive substances, noxious gas, muddy water and sandstone, has greatly increased bailout difficulty.Carrying out detection and rescue work under complex environment like this, need robot to there is powerful carrying capacity.In order to guarantee carrying capacity, existing robot is volume weight huge (hundreds of kilograms) often, use crawler belt even composite crawler as ground-engaging element.Need to drive with heavy-duty motor, because driving power is large, must use flameproof enclosure, this has further increased again volume weight.
Summary of the invention
In view of this, the object of this invention is to provide a kind of mine intrinsic safety sniffing robot based on the combination of eccentric wheel and leg formula, to solve the problem of the contradiction of robot carrying capacity and own vol weight under complex road surface.
The mine intrinsic safety sniffing robot that the present invention is based on eccentric wheel and the combination of leg formula, comprises body, is provided with fixing wheel shaft on body, on the wheel shaft end on body left side and right side, is respectively arranged with drive wheel, and described drive wheel is eccentric wheel.
Further, on the walking wheel face of described drive wheel, be provided with at least one strut.
Further, the eccentric throw of described drive wheel is 0.25～0.75 with the ratio of drive wheel radius.
Further, described drive wheel comprises circular rim and is welded on the reinforcement connecting plate in circular rim, described circular rim and strengthen connecting plate and made by aluminum alloy materials.
Further, on described body, be also provided with driving and be arranged on the first group of motors of drive wheel on the wheel shaft of body left side and drive the second group of motors that is arranged on drive wheel on the wheel shaft of body right side, described the first group of motors and the second group of motors include the motor of at least two rotor coaxials series connection.
Further, the described mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula also comprises that each motor in described the first group of motors is connected with the first controller with isolating device by independent signaling module respectively for controlling the first controller of the first group of motors and the second controller of control the second group of motors; Each motor in described the second group of motors is connected with second controller with isolating device by independent signaling module respectively.
Further, described each motor, each signaling module and each controller are provided with independently supply module.
Further, described body is made by aluminum alloy.
Beneficial effect of the present invention:
1, the present invention is based on the mine intrinsic safety sniffing robot of eccentric wheel and the combination of leg formula, it adopts eccentric wheel as drive wheel, with respect to existing crawler type, legged walking device, it has avoided that waste of power is high, efficiency is low, the problem of mechanism and control system complexity, can give full play to robot and move flexibly, controls the advantages such as simple; Simultaneously, because eccentric wheel can make body, overhead distance is higher, and eccentric wheel moves up and down body in the process of advancing, the rhaeboscelia action while being similar to legged walking, therefore have advantages of legged walking, than the wheeled drive machines people of tradition, it has stronger complex-terrain adaptive capacity.
2, the present invention is based on the mine intrinsic safety sniffing robot of eccentric wheel and the combination of leg formula, owing to driving the rotor coaxial of each motor of body homonymy drive wheel to be connected in series, therefore same drive wheel is just subject to the driving of making a concerted effort of some each motors simultaneously, when crossing over blockage, can make robot only have in a small amount of drive wheel kiss the earth situation, still have enough power crossing over blockage or get rid of poverty, the obstacle detouring ability of getting rid of poverty improves greatly.
3, the present invention is based on the mine intrinsic safety sniffing robot of eccentric wheel and the combination of leg formula, drive each motor of same drive wheel to be connected with same controller, therefore controller can be to driving each motor of same drive wheel to send unified control signal, realized the parallel control of each motor, for the drive motor of existing each drive wheel of robot need to be controlled respectively, it is simpler that the application controls design aspect at robot ambulation.
4, the mine intrinsic safety sniffing robot that the present invention is based on eccentric wheel and the combination of leg formula, because same road wheel is driven by a plurality of motors, so the power of single motor is lower; Simultaneously each motor, each signaling module and each controller are provided with independently supply module, so the voltage of each electrical part, electric current, inductance are all lower, can make robot have good explosion-resistance characteristic.
Accompanying drawing explanation
Fig. 1 is the perspective view that the present invention is based on the mine intrinsic safety sniffing robot of eccentric wheel and the combination of leg formula;
Fig. 2 is the schematic diagram to drive wheel motion parallel control.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in the figure, the mine intrinsic safety sniffing robot of the present embodiment based on eccentric wheel and the combination of leg formula, comprises body 1, is provided with fixing wheel shaft 2 on body 1, on the wheel shaft end on body left side and right side, is respectively arranged with drive wheel 3, and described drive wheel 3 is eccentric wheel.
The mine intrinsic safety sniffing robot of the present embodiment based on eccentric wheel and the combination of leg formula, it adopts eccentric wheel as drive wheel, with respect to existing crawler type, legged walking device, it has avoided that waste of power is high, efficiency is low, the problem of mechanism and control system complexity, can give full play to robot and move flexibly, controls the advantages such as simple; Simultaneously, because eccentric wheel can make body 1, overhead distance is higher, and eccentric wheel moves up and down body in the process of advancing, the rhaeboscelia action while being similar to legged walking, therefore have advantages of legged walking, than the wheeled drive machines people of tradition, it has stronger complex-terrain adaptive capacity.
As the improvement to the present embodiment, on the walking wheel face of described drive wheel 3, be provided with a strut 4, the quantity of strut 4 can increase and decrease according to actual needs certainly, and strut 4 can further strengthen grabbing of drive wheel and obstacle climbing ability.
As the improvement to the present embodiment, the eccentric throw of described drive wheel 3 is 0.25 with the ratio of drive wheel 3 radiuses; Certainly the eccentric throw of drive wheel 3 and the ratio of drive wheel 3 radiuses also can be other value in 0.25～0.75 scope such as 0.5,0.75, obstacle climbing ability of value robot the best within the scope of this.
As the improvement to the present embodiment, described drive wheel 3 comprises circular rim 301 and is welded on the reinforcement connecting plate 302 in circular rim 301; Intensity and the load-carrying capacity of strengthening the improved drive wheel 3 of connecting plate 302, its quantity can increase and decrease as required; Described circular rim 301 and strengthen connecting plate 302 and make (as 6061 aluminum alloy materials) by aluminum alloy materials, makes that drive wheel 3 is lightweight, intensity good, and has essential safety characteristic.
As the improvement to the present embodiment, on described body 1, be also provided with to drive and be arranged on the first group of motors 5 of drive wheel on the wheel shaft of body left side and drive the second group of motors 6 that is arranged on drive wheel on the wheel shaft of body right side, described the first group of motors 5 and the second group of motors 6 include the motor of two rotor coaxial series connection, the rotor of each motor in the present embodiment on the same group connects by elastic coupling 7, between motor and drive wheel, by deceleration belt transmission, connects; Certainly in different embodiment, the number of motors in the first group of motors 5 and the second group of motors 6 also can be adjusted as required, but number of motors in every group is at least two.
In the present embodiment owing to driving the rotor coaxial of each motor of body homonymy drive wheel to be connected in series, therefore same drive wheel is just subject to the driving of making a concerted effort of some each motors simultaneously, when crossing over blockage, can make robot only have in a small amount of drive wheel kiss the earth situation, still have enough power crossing over blockage or get rid of poverty, the obstacle detouring ability of getting rid of poverty improves greatly.
As the improvement to the present embodiment, this mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula also comprises that each motor in described the first group of motors 5 is connected with the first controller 8 with isolating device 11 by independent signaling module 10 respectively for controlling the first controller 8 of the first group of motors 5 and the second controller 9 of control the second group of motors 6; Each motor in described the second group of motors 6 is connected with second controller 9 with isolating device 11 by independent signaling module 10 respectively.
In the present embodiment, turning to by controlling left side and right side drive wheel of robot realizes with different rotational speed.Owing to driving each motor of same drive wheel to be connected with same controller, therefore controller can be to driving each motor of same drive wheel to send unified control signal, realized the parallel control of each motor, for the drive motor of existing each drive wheel of robot need to be controlled respectively, it is simpler that the application controls design aspect at robot ambulation.
As the improvement to the present embodiment, described each motor, each signaling module 10 and each controller are provided with independently supply module 12, and because same drive wheel is driven by a plurality of motors, so the power of single motor is lower; Simultaneously each motor, each signaling module and each controller are provided with independently supply module, so the voltage of each electrical part, electric current, inductance are all lower, can make robot meet essential safety requirement, have good explosion-resistance characteristic.
As the improvement to the present embodiment, described body 1 is made by aluminum alloy, specifically by 6061 aluminum alloys, is made, 6061 aluminum alloy plate materials quality are light, intensity and weldability good, make robot body weight lighter, mobile alerting ability is stronger, be easy to carry, and can also meet essential safety requirement simultaneously.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (8)
1. the mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula, comprises body, it is characterized in that: on body, be provided with fixing wheel shaft, on the wheel shaft end on body left side and right side, be respectively arranged with drive wheel, described drive wheel is eccentric wheel.
2. the mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula according to claim 1, is characterized in that: on the walking wheel face of described drive wheel, be provided with at least one strut.
3. the mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula according to claim 1, is characterized in that: the eccentric throw of described drive wheel is 0.25～0.75 with the ratio of drive wheel radius.
4. the mine intrinsic safety sniffing robot based on the combination of eccentric wheel and leg formula according to claim 1, it is characterized in that: described drive wheel comprises circular rim and be welded on the reinforcement connecting plate in circular rim described circular rim and strengthen connecting plate and made by aluminum alloy materials.
5. according to arbitrary described mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula in claim 1-4, it is characterized in that: on described body, be also provided with driving and be arranged on the first group of motors of drive wheel on the wheel shaft of body left side and drive the second group of motors that is arranged on drive wheel on the wheel shaft of body right side, described the first group of motors and the second group of motors include the motor of at least two rotor coaxials series connection.
6. the mine intrinsic safety sniffing robot based on the combination of eccentric wheel and leg formula according to claim 5, it is characterized in that: also comprise that each motor in described the first group of motors is connected with the first controller with isolating device by independent signaling module respectively for controlling the first controller of the first group of motors and the second controller of control the second group of motors; Each motor in described the second group of motors is connected with second controller with isolating device by independent signaling module respectively.
7. the mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula according to claim 6, is characterized in that: described each motor, each signaling module and each controller are provided with independently supply module.
8. the mine intrinsic safety sniffing robot based on eccentric wheel and the combination of leg formula according to claim 1, is characterized in that: described body is made by aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410401360.2A CN104118489A (en) | 2014-08-14 | 2014-08-14 | Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination |
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| CN201410401360.2A CN104118489A (en) | 2014-08-14 | 2014-08-14 | Mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104773221A (en) * | 2015-04-03 | 2015-07-15 | 西南大学 | Two-dimensional linkage obstacle-crossing walking mechanism |
| CN107662662A (en) * | 2017-09-20 | 2018-02-06 | 深圳市行者机器人技术有限公司 | A kind of four-wheel biped robot |
| CN109292017A (en) * | 2018-08-18 | 2019-02-01 | 西安电子科技大学 | A kind of multi-foot robot of wheel leg transform |
| CN110588832A (en) * | 2019-10-15 | 2019-12-20 | 中南大学 | Multi-foot type all-terrain robot |
| CN115071852A (en) * | 2022-05-27 | 2022-09-20 | 王�琦 | Connecting rod wheel compound motion mechanism |
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| CN109292017A (en) * | 2018-08-18 | 2019-02-01 | 西安电子科技大学 | A kind of multi-foot robot of wheel leg transform |
| CN110588832A (en) * | 2019-10-15 | 2019-12-20 | 中南大学 | Multi-foot type all-terrain robot |
| CN110588832B (en) * | 2019-10-15 | 2022-04-15 | 中南大学 | Multi-foot type all-terrain robot |
| CN115071852A (en) * | 2022-05-27 | 2022-09-20 | 王�琦 | Connecting rod wheel compound motion mechanism |
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Inventor after: Wang Kequan Inventor after: Liu Cheng Inventor after: Wang Li Inventor after: Li Feilong Inventor after: Ge Gengyu Inventor after: Hu Xiang Inventor after: Qi Haiying Inventor after: Liu Yulei Inventor after: Zhang Anran Inventor after: Zhang Zili Inventor after: Bo Zhige Inventor after: Liu Lin Inventor after: Song Wen Inventor after: Wang Yujun Inventor after: Fang Can Inventor after: Lei Huanchun Inventor after: Xue Chunrong Inventor before: Wang Kequan Inventor before: Liu Cheng Inventor before: Wang Li Inventor before: Li Feilong Inventor before: Ge Gengyu Inventor before: Qi Haiying Inventor before: Liu Yulei Inventor before: Zhang Anran Inventor before: Zhang Zili Inventor before: Bo Zhige Inventor before: Liu Lin Inventor before: Song Wen Inventor before: Wang Yujun Inventor before: Fang Can Inventor before: Li Xiaobo Inventor before: Xue Chunrong |
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Free format text: CORRECT: INVENTOR; FROM: WANG KEQUAN ZHANG ZILI BO ZHIGE LIU LIN SONG WEN WANG YUJUN FANG CAN LI XIAOBO XUE CHUNRONG LIU CHENG WANG LI LI FEILONG GE GENGYU QI HAIYING LIU YULEI ZHANG ANRAN TO: WANG KEQUAN ZHANG ZILI BO ZHIGE LIU LIN SONG WEN WANG YUJUN FANG CAN LEI HUANCHUN XUE CHUNRONG LIU CHENG WANG LI LI FEILONG GE GENGYU HU XIANG QI HAIYING LIU YULEI ZHANG ANRAN |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141029 |
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| RJ01 | Rejection of invention patent application after publication |