CN104564129A - Mine disaster environment detecting rescue robot with tunneling function and control method thereof - Google Patents
Mine disaster environment detecting rescue robot with tunneling function and control method thereof Download PDFInfo
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- CN104564129A CN104564129A CN201410819397.7A CN201410819397A CN104564129A CN 104564129 A CN104564129 A CN 104564129A CN 201410819397 A CN201410819397 A CN 201410819397A CN 104564129 A CN104564129 A CN 104564129A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005641 tunneling Effects 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 86
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000002463 transducing effect Effects 0.000 claims description 17
- 239000000523 sample Substances 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 12
- 238000009412 basement excavation Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 3
- 238000006116 polymerization reaction Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 17
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 230000035807 sensation Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 6
- 239000003245 coal Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 241000282376 Panthera tigris Species 0.000 description 1
- 102100030852 Run domain Beclin-1-interacting and cysteine-rich domain-containing protein Human genes 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000004642 transportation engineering Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention relates to a mine disaster environment detecting rescue robot with a tunneling function and a control method thereof. Compared with the prior art, the mine disaster environment detecting rescue robot has the advantages that the defect that a mine disaster rescue robot inconveniently advances and cannot perform environment detection and wireless transmission is overcome. A parallel three-freedom degree sensation head mechanism is horizontally and fixedly arranged on a waist part external force detection section I; the waist part external force detection section I and a waist part external force detection section II are horizontally arranged through a cross universal joint A; the waist part external force detection section II and a waist part wireless network node releasing section III are horizontally arranged through a cross universal joint B; a motor A and a motor F are respectively arranged on the two sides in a section of shell of the waist part external force detection section I; a three-claw wheel leg A arranged on an output shaft of the motor A and a three-claw wheel leg F arranged on an output shaft of the motor F are respectively arranged on the two sides of the outer side of the section of shell. The mine disaster environment detecting rescue robot is m freer in procedure and integrates multiple functions, such as the tunneling function, the environment detecting function and the data transmitting function.
Description
Technical field
The present invention relates to mine disaster rescue equipment technical field, specifically a kind of mine disaster environment detection rescue robot and control method thereof with tunneling function.
Background technology
Coal occupies important position in China's energy industry, but the frequent accident of mine disaster occurred is the most important safety problems that coal in China industry faces always, how to reduce the incidence of Coal Accidents and to carry out mine disaster rescue be timely and effectively the problem needing solution badly, therefore, after coal mining accident occurs, carry out effective rescue, to retrieve people life property loss to greatest extent, there is important work meaning.Compared with other type accident, mine disaster rescue working environment is complicated, have mine disaster occur later subsurface environment narrow space, tunnel structure unstable, easily cave in, feature that some accident of mine disaster such as complications are changeable, imflammable gas is more, explosive, Signal transmissions are difficult are exclusive, these features make mine disaster rescue difficulty large, if rescue command is improper, rescue equipment is backward in technique, then can bring tremendous influence to rescue work, itself bring injures and deaths even can to rescue group personnel.
Comprehensive above-mentioned reason, develop a packaged type robot replace the mankind do mine disaster environment early stage detection and rescue work very necessary, this robot not only has walking function good in mine disaster environment, also will have the ability of the on-the-spot high concentration gas of detection mine disaster and early warning and have in the wireless network communication function of going to the on-the-spot whole Transportation Engineering of mine disaster good so that the ability situation at mine disaster scene transferred out timely and effectively.Moreover, also require that robot has to turn freely in the tunnel caved in, find the ability of next minable direction and route flexibly, robot so not only can be made to come into cave in tunnel to find the favourable resource of rescue, the tunnel caved in can also be walked out smoothly, repeat to utilize rescue robot efficiently, and robot can not be made only to work in a tunnel, cross the Rubicon, therefore require that robot not only can only towards a direction driving, but penetrate thing can be tunneled towards multiple directions, obtain advantageous information, reach rescue and ensure inherently safe.
ZL201110370250.0 discloses a kind of mine disaster rescue robot with tunneling function, robot is adopted to adopt the leg Bo Tu mechanism of four-bar mechanism, every bar leg have two control motors, the length adjustment of leg can be realized, but this leg mechanism that makes is comparatively numerous and diverse, be unfavorable for that robot advances in narrow space, moreover, robot does not possess radio node releasability and context sensing capability, can not be transferred out timely and effectively by the ambient conditions at mine disaster scene timely and effectively.How to develop a kind of robot for mine disaster environment detection and become the technical problem being badly in need of solving.
Summary of the invention
The object of the invention is in order to solve mine disaster rescue robot in prior art advance inconvenience, the defect of environment measuring and wireless transmission cannot be carried out, provide a kind of there is tunneling function mine disaster environment detection rescue robot and control method solve the problems referred to above.
To achieve these goals, technical scheme of the present invention is as follows:
A kind of mine disaster environment detection rescue robot with tunneling function, comprise parallel 3-DOF transducing head mechanism, waist external force detects one section, waist environment detection two sections and waist wireless network node discharge three sections, described parallel 3-DOF transducing head mechanism level is fixedly mounted on waist external force and detects on one section, waist external force is detected one section and is installed by candan universal joint A level with waist environment detection two sections, and waist environment detection two sections and waist wireless network node are discharged three sections and installed by candan universal joint B level;
One section of enclosure both sides that described waist external force detects one section are separately installed with motor A and motor F, and one section of housing exterior both sides is respectively equipped with the three ratchet wheel leg A be arranged on motor A output shaft and the three ratchet wheel leg F be arranged on motor F output shaft;
Two sections of enclosure both sides of described waist environment detection two sections are separately installed with motor B and motor E, and two sections of housing exterior both sides are respectively equipped with the three ratchet wheel leg B be arranged on motor B output shaft and the three ratchet wheel leg E be arranged on motor E output shaft.
Described parallel 3-DOF transducing head mechanism comprises and is fixedly mounted on waist external force and detects base on one section, base is provided with three-dimensional force sensor, one dimension axial sensor A, one dimension axial sensor B and one dimension axial sensor C three decile are provided with on three-dimensional force sensor, one dimension axial sensor A is provided with electric pushrod A, one dimension axial sensor B is provided with electric pushrod B, one dimension axial sensor C is provided with electric pushrod C, electric pushrod A, jointly taper bit is installed after the other end of electric pushrod B and electric pushrod C collects polymerization, the output shaft of drill bit motor is arranged on taper bit.
Bottom in one section of described shell is provided with induction force probe, longitudinally the vertical rod running through one section of cover top portion is installed above induction force probe, above vertical rod, cover plate is installed and leaves gap between cover plate and one section of shell.
Bottom in two sections of described shells is provided with environment detection sensing module, longitudinal inwall of two sections of shells is installed with motor fixing frame and guiding fixed mount, the fixing chord position of guiding is directly over motor fixing frame, motor fixing frame is provided with guide rod motor, the output shaft of guide rod motor is provided with eccentric wheel; Support bar top is provided with detection cover plate, support bar runs through two sections of cover top portion and guiding fixed mount, support bar bottom is provided with guide strip, guide strip to ride on eccentric wheel and when guide strip and eccentric axis perpendicular distance the most in short-term, detect cover plate and cover on two sections of shells.
The longitudinal inwalls of three sections of shells that described waist wireless network node discharges three sections are provided with fixed mount, fixed mount are provided with three sections of motors, the output shaft of three sections of motors is provided with eccentric cam; On T-shaped push rod, cover has spring, T-shaped push rod runs through guiding fixed mount, node gathering sill is arranged on three sections of shells, node placement box is placed on the top of node gathering sill, guiding fixed mount to be arranged on node gathering sill and to parallel with node placement box, the corresponding position inwall of three sections of shells being positioned at node placement box is provided with the window identical with node placement box size, the other end of T-shaped push rod to be against on eccentric cam and when T-shaped push rod and eccentric cam axle center horizontal range the most in short-term, node placement box is positioned at three sections of shells.
There is a control method for the mine disaster environment detection rescue robot of tunneling function, comprise the following steps:
Excavation operation, parallel 3-DOF transducing head institution staff, and the drill direction in good time adjusting drill bit;
Environment Collecting operation, detects one section by waist external force and determines that external environment condition allows to gather, carried out the collection of ambient parameter by waist environment detection two sections;
Wireless network node release operation, discharging three sections by waist wireless network node, that wireless network node is discharged robot is external, carries out wireless telecommunications.
Described excavation operation comprises the following steps:
Drive drill bit movement by drill bit machine operation, carry out bore operation;
The detection power of one dimension axial sensor A, one dimension axial sensor B and one dimension axial sensor C Real-time Collection electric pushrod A, electric pushrod B and electric pushrod C;
The detection power of three-dimensional force sensor synthetical collection drill bit, regulates drilling work direction and locus according to three-dimensional force sensor.
Described environment Collecting operation comprises the following steps:
Induction force probe gathers the holding capacity of cover plate, judges that whether upper space is abundant;
Three-dimensional force sensor judges whether detection power is zero or is less than threshold value, if be designated as spacious local;
Guide rod driven by motor wobbler action, eccentric wheel rotates, and drives guide strip to rise, and guide strip drives detection cover plate to rise;
Guide rod motor quits work, and the collection of environment detection sensing module enters into the environmental information of two sections of shells.
Described wireless network node release operation comprises the following steps:
Three sections of machine operation drive eccentric cam motion;
Eccentric cam drives T-shaped push rod horizontal movement, and node placement box is ejected three sections of shells by T-shaped push rod.
beneficial effect
A kind of mine disaster environment detection rescue robot and control method thereof with tunneling function of the present invention, compared with prior art traveling process is freer, possess the multi-functionals such as driving, environment detection, data transmission, environment detection and the rescue at mine disaster scene can be effectively applied to.
By the design of parallel 3-DOF transducing head mechanism, make robot in the process of advancing, also can realize dialling soil and pass through function, improve machine task efficiency; And according to the twist motion direction of the detection size feedback regulation head of power, because waist adopts self adaptation cating nipple, thus can realize the divertical motion of the entirety of robot.Detected the design of a section by waist external force, current height space situation can be monitored.By the design of waist environment detection two sections, can collection site environmental data in real time.Discharged the design of three sections by waist wireless network node, achieve the possibility obtaining abundant ambient condition information when robot advances in confined space.
Compact conformation of the present invention, volume are little, control is simple, functional diversities, and robot has accomplished group soil and advanced real integrated design in traveling process, are conducive to robot and adapt to complicated ground environment.On-the-spot for mine disaster actual environment situation can be blazed abroad timely and effectively in the whole process that robot advances, to take better rescue method, make robot occur to play real effect in auxiliary rescue work early stage in mine disaster.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of parallel 3-DOF transducing head mechanism in the present invention;
Fig. 3 is hatching position view of the present invention;
Fig. 4 is that the axles such as the A-A of Fig. 3 survey cutaway cross-sectional view;
Fig. 5 is the B-B cutaway cross-sectional view of Fig. 3;
Fig. 6 is the C-C cutaway cross-sectional view of Fig. 3;
Fig. 7 is that the axles such as the D-D of Fig. 3 survey cutaway cross-sectional view;
Fig. 8 is the structural representation of three ratchet wheel legs in the present invention;
Wherein, 100-parallel 3-DOF transducing head mechanism, 101-taper bit, 102-drill bit motor, 103B-one dimension axial sensor A, 104B-one dimension axial sensor B, 105B-one dimension axial sensor C, 103A-electric pushrod A, 104A-electric pushrod B, 105A-electric pushrod C, 106-base, 107-three-dimensional force sensor, 200-waist external force detects one section, 201-induction force probe, 202-cover plate, 203-mono-section of shell, 300-waist environment detection two sections, 301-detects cover plate, 302-bis-sections of shells, 303-leads fixed mount, 304-support bar, 305-guide strip, 306-eccentric wheel, 307-guide rod motor, 308-motor fixing frame, 309-environment detection sensing module, , 400-waist wireless network node discharges three sections, 401-tri-sections of shells, 402-top window, 405-hinge spring, 406-hinge, 407-window, 409-fixed mount, 410-tri-sections of motors, 411-eccentric cam, 412-T type push rod, 413-spring, 414-leads fixed mount, 415-node gathering sill, 416-node placement box, 417-node guiding storehouse, 500A-tri-ratchet wheel leg A, 500B-tri-ratchet wheel leg B, 500C-tri-ratchet wheel leg C, 500D-tri-ratchet wheel leg D, 500E-tri-ratchet wheel leg E, 500F-tri-ratchet wheel leg F, 600A-candan universal joint A, 600B-candan universal joint B, 800A-motor A, 800B-motor B, 800E-motor E, 800F-motor F.
Detailed description of the invention
For making to have a better understanding and awareness architectural feature of the present invention and effect of reaching, coordinating detailed description in order to preferred embodiment and accompanying drawing, being described as follows:
As shown in figures 1 and 3, a kind of mine disaster environment detection rescue robot with tunneling function of the present invention, comprises parallel 3-DOF transducing head mechanism 100, waist external force detects one section 200, waist environment detection two section 300 and waist wireless network node discharge three section 400.Parallel 3-DOF transducing head mechanism 100 is for excavation operation, and waist external force detects one section 200 for detecting height, and waist environment detection two section 300 is for acquisition environment data, and waist wireless network node discharges three section 400 for discharging wireless network node.Parallel 3-DOF transducing head mechanism 100 level is fixedly mounted on waist external force and detects on one section 200, waist external force is detected one section 200 with waist environment detection and is installed by candan universal joint A600A level for two section 300, and waist environment detection two section 300 and waist wireless network node discharge three section 400 by candan universal joint B600B level and install.Candan universal joint A600A and candan universal joint B600B ensure that waist external force detects one section 200, waist environment detection two section 300 and waist wireless network node discharge the multi-faceted flexible connection of three section 400.
One section of inner both sides of shell 203 that waist external force detects one section 200 are separately installed with motor A800A and motor F800F, one section of shell 203 both sides external is respectively equipped with the three ratchet wheel leg A500A be arranged on motor A800A output shaft and the three ratchet wheel leg F500F be arranged on motor F800F output shaft, motor A800A controls three ratchet wheel leg A500A and moves, motor F800F controls three ratchet wheel leg F500F and moves, and three ratchet wheel leg A500A and three ratchet wheel leg F500F drive waist external force to detect one section of 200 motion jointly.Two sections of inner both sides of shell 302 that waist environment detection is two section 300 are separately installed with motor B800B and motor E800E, and two sections of shell 302 both sides external are respectively equipped with the three ratchet wheel leg B500B be arranged on motor B800B output shaft and the three ratchet wheel leg E500E be arranged on motor E800E output shaft.Motor B800B controls three ratchet wheel leg B500B, and motor E800E controls three ratchet wheel leg E500E, and three ratchet wheel leg B500B and three ratchet wheel leg E500E drive two section of 300 motion of waist environment detection jointly.In like manner, discharge three section of 400 both sides also can install three ratchet wheel leg C500C and three ratchet wheel leg D500D respectively at waist wireless network node, it, by inner corresponding Electric Machine Control, realizes the motion that waist wireless network node discharges three section 400.As shown in Figure 8, three ratchet wheel legs adopt three ratchet wheel leg integral structures, primarily of cambered surface and tangent plane composition, each tiger's jaw adopts the right-angled triangle of 3:4:5, cambered surface mainly when robot advances and ground play and support advance effect, cambered surface surface adopts wave dentalation, and the obstruction run in traveling process is mainly pushed over contrary direction of advancing with robot by tangent plane clockwise, and tangent plane surface adopts straight line dentalation.
As shown in Figure 2, parallel 3-DOF transducing head mechanism 100 comprises and is fixedly mounted on waist external force and detects base 106 on one section 200, base 106 is provided with three-dimensional force sensor 107, three-dimensional force sensor 107, for experiencing active force when taper bit 101 works, detects the power of whole parallel 3-DOF transducing head mechanism 100 all directions in the course of the work.One dimension axial sensor A103B, one dimension axial sensor B104B and one dimension axial sensor C105B three decile are provided with on three-dimensional force sensor 107.One dimension axial sensor A103B is provided with electric pushrod A103A, the active force of detection electric pushrod A103A, prevents taper bit 101 working resistance excessive, destroys electric pushrod A103A.In like manner, one dimension axial sensor B104B is provided with electric pushrod B104A, the active force of detection electric pushrod B104A; One dimension axial sensor C105B is provided with electric pushrod C105A, the active force of detection electric pushrod C105A.After the other end of electric pushrod A103A, electric pushrod B104A and electric pushrod C105A collects polymerization, taper bit 101 is installed jointly, taper bit 101 forms by taper platform processes dentalation, taper bit 101 is arranged on three, is controlled by drill bit motor 102 pairs of taper bits 101.
As shown in Figure 4 and Figure 5, waist external force detects on the bottom in one section of shell 203 of a section 200 and is provided with induction force probe 201, and induction force probe 201 is island shape structure.Longitudinally the vertical rod running through one section of shell 203 top is installed above induction force probe 201, cover plate 202 is installed above vertical rod and leaves gap between cover plate 202 and one section of shell 203.When cover plate 202 presses down, drive vertical rod to press down above induction force probe 201, thus measure by induction force probe 201 the top pressure that waist external force detects one section 200.Gap between cover plate 202 and one section of shell 203 can be preferably 2mm, can also fill out the good silica gel pad of elasticity wherein.
As shown in Figure 6, bottom in two sections of shells 302 that waist environment detection is two section 300 is provided with environment detection sensing module 309, environment detection sensing module 309 comprises firedamp sensor, carbon monoxide transducer and methane transducer, is placed in the inside of waist environment detection two section 300.Longitudinal inwall of two sections of shells 302 is installed with motor fixing frame 308 and guiding fixed mount 303, guiding fixed mount 303 is positioned at directly over motor fixing frame 308.Motor fixing frame 308 is provided with guide rod motor 307, the output shaft of guide rod motor 307 is provided with eccentric wheel 306, the motion of guide rod motor 307 control eccentric 306.Support bar 304 top is provided with detection cover plate 301, and detection cover plate 301 preferably can be designed to the cambered design at docile two sections of shell 302 tops.Support bar 304 runs through two sections of shell 302 tops and guiding fixed mount 303, and support bar 304 bottom is provided with guide strip 305.Guide strip 305 to ride on eccentric wheel 306 and when guide strip 305 and eccentric wheel 306 axis perpendicular distance the most in short-term, detection cover plate 301 covers on two sections of shells 302.Due to eccentric wheel 306, the most in short-term, the part that support bar 304 is positioned at two sections of shells 302 is maximum to the axis perpendicular distance of guide strip 305 and eccentric wheel 306; Along with guide rod motor 307 is with the motion of movable eccentric wheel 306, guide strip 305 increases gradually with the axis perpendicular distance of eccentric wheel 306, support bar 304 rises gradually under the motion of eccentric wheel 306, thus detection cover plate 301 is ejected two sections of shells 302, thus make environment detection sensing module 309 can record the gaseous environment situation of surrounding.When guide rod motor 307 moves to the axis perpendicular distance of guide strip 305 and eccentric wheel 306 the most in short-term with movable eccentric wheel 306, detection cover plate 301 is pressed on two sections of shells 302, makes environment detection sensing module 309 by the pollution of particle dust in external environment condition.
As shown in Figure 7, three sections of longitudinal inwalls of shell 401 that waist wireless network node discharges three section 400 are provided with fixed mount 409, fixed mount 409 are provided with three sections of motors 410.The output shaft of three sections of motors 410 is provided with eccentric cam 411, three sections of motors 410 control the rotation of eccentric cam 411.On T-shaped push rod 412, cover has spring 413, and T-shaped push rod 412 is through guiding fixed mount 414, and namely T-shaped push rod 412 is spacing on guiding fixed mount 414.Node gathering sill 415 is arranged on three sections of shells 401, and node placement box 416 is placed on the top of node gathering sill 415, and guiding fixed mount 414 to be arranged on node gathering sill 415 and to parallel with node placement box 416.Under the drive of T-shaped push rod 412, node placement box 416 is with node gathering sill 415 for track moves, and node placement box 416 is radio node transceiver, can be GPS, Zigbee, 3G or wifi etc.When practical application, in order to place multiple node placement box 416, a node guiding storehouse 417 can be designed above node placement box 416, node guiding storehouse 417 is positioned at three sections of shell 401 positions and opens a top window 402, place multiple node placement box 416 by top window 402 toward node guiding 417 li, storehouse.The corresponding position inwall of three sections of shells 401 being positioned at node placement box 416 is provided with the window 407 identical with node placement box 416 size, when node placement box 416 moves to a certain degree, can rise from window 407.The other end of T-shaped push rod 412 to be against on eccentric cam 411 and when T-shaped push rod 412 and eccentric cam 411 axle center horizontal range the most in short-term, node placement box 416 is positioned at three sections of shells 401.With eccentric wheel 306 in like manner, the most in short-term, the length that T-shaped push rod 412 is positioned at three sections of shells 401 is maximum for the axle center horizontal range of T-shaped push rod 412 and eccentric cam 411.When three sections of motors 410 work, drive eccentric cam 411 to move, along with T-shaped push rod 412 increases with the axle center horizontal range of eccentric cam 411, T-shaped push rod 412 promotes node placement box 416 and releases three sections of shells 401, thus carries out wireless telecommunications.Can also be positioned on three sections of shells 401 above window 407 and design spring hinge 405 and hinge 406, when node placement box 416 stretches out three sections of shells 401, hinge 406 is opened; When node placement box 416 is pushed out three sections of shells 401, hinge 406 is closed under the effect of spring hinge 405.
For having the control method of the mine disaster environment detection rescue robot of tunneling function, comprise the following steps:
The first step, excavation operation, parallel 3-DOF transducing head mechanism 100 works, and adjusts the drill direction of drill bit 101 in good time.Its concrete steps are as follows:
(1) drive drill bit 101 to move by drill bit motor 102 work, carry out bore operation;
(2) the detection power of one dimension axial sensor A103B, one dimension axial sensor B104B and one dimension axial sensor C105B Real-time Collection electric pushrod A103A, electric pushrod B104A and electric pushrod C105A, prevents electric pushrod A103A, electric pushrod B104A and electric pushrod C105A from damaging when drill bit 101 works.
(3) the detection power of three-dimensional force sensor 107 synthetical collection drill bit 101, drill bit 101 operating direction and locus is regulated according to three-dimensional force sensor 107, control the FREE TORSION direction of drill bit 101 in localized area, thus reach the expansion of drill bit 101 range of movement, reaming area increases.
Second step, environment Collecting operation, detects one section 200 by waist external force and determines that external environment condition allows to gather, and is carried out the collection of ambient parameter by waist environment detection for two section 300.Its specific requirement step is as follows:
(1) induction force probe 201 gathers the holding capacity of cover plate 202, judges that whether upper space is abundant.
(2) three-dimensional force sensor 107 judges whether detection power is zero or is less than threshold value, if be designated as spacious local, is then currently applicable to the collection carrying out ambient parameter.
(3) guide rod motor 307 is with movable eccentric wheel 306 to move, and eccentric wheel 306 rotates, and drives guide strip 305 to rise, and guide strip 305 drives detection cover plate 301 to rise.
(4) guide rod motor 307 quits work, and environment detection sensing module 309 collection enters into the environmental information of two sections of shells 302.After detecting a period of time; guide rod motor 307 works on; eccentric wheel 306 rotates; guide strip 305 is driven to decline; detection cover plate 301 and waist two sections of shells 302 are in the state contacting and compress; make environment detection Sensor Integration Module 309 not by the pollution of particle dust in robot external environment condition, thus complete the collection of environmental data.
3rd step, wireless network node release operation, is discharged three section 400 by waist wireless network node wireless network node is discharged robot external, carry out wireless telecommunications.Comprise the following steps:
(1) three section of motor 410 works and drives eccentric cam 411 to move.
(2) eccentric cam 411 drives the horizontal movement of T-shaped push rod 412, and node placement box 416 is ejected three sections of shells 401 by T-shaped push rod 412, completes the transmission of peripheral information.In like manner, after completing wireless transmission, three sections of motors 410 work and drive eccentric cam 411 to move, and T-shaped push rod 412 recovers initial position, and window 407 is closed.
More than show and describe general principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; the just principle of the present invention described in above-described embodiment and manual; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in claimed scope of the present invention.The protection domain of application claims is defined by appending claims and equivalent thereof.
Claims (9)
1. one kind has the mine disaster environment detection rescue robot of tunneling function, it is characterized in that: comprise parallel 3-DOF transducing head mechanism (100), waist external force detects one section (200), waist environment detection two sections (300) and waist wireless network node discharge three sections (400), described parallel 3-DOF transducing head mechanism (100) level is fixedly mounted on waist external force and detects on one section (200), waist external force detects one section (200) and waist environment detection two sections (300) by candan universal joint A(600A) level installs, waist environment detection two sections (300) and waist wireless network node discharge three sections (400) by candan universal joint B(600B) level installs,
One section of inner both sides of shell (203) that described waist external force detects one section (200) are separately installed with motor A(800A) and motor F(800F), one section of shell (203) both sides external is respectively equipped with and is arranged on motor A(800A) three ratchet wheel leg A(500A on output shaft) and be arranged on motor F(800F) three ratchet wheel leg F(500F on output shaft);
Two sections of inner both sides of shell (302) of described waist environment detection two sections (300) are separately installed with motor B(800B) and motor E(800E), two sections of shell (302) both sides external are respectively equipped with and are arranged on motor B(800B) three ratchet wheel leg B(500B on output shaft) and be arranged on motor E(800E) three ratchet wheel leg E(500E on output shaft).
2. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1, it is characterized in that: described parallel 3-DOF transducing head mechanism (100) comprises and is fixedly mounted on waist external force and detects base (106) on one section (200), base (106) is provided with three-dimensional force sensor (107), one dimension axial sensor A(103B), one dimension axial sensor B(104B) and one dimension axial sensor C(105B) three's decile is provided with on three-dimensional force sensor (107), one dimension axial sensor A(103B) on electric pushrod A(103A is installed), one dimension axial sensor B(104B) on electric pushrod B(104A is installed), one dimension axial sensor C(105B) on electric pushrod C(105A is installed), electric pushrod A(103A), electric pushrod B(104A) and electric pushrod C(105A) the other end collect polymerization after taper bit (101) is installed jointly, the output shaft of drill bit motor (102) is arranged on taper bit (101).
3. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1, it is characterized in that: the bottom in one section of described shell (203) is provided with induction force probe (201), induction force probe (201) top is longitudinally provided with the vertical rod running through one section of shell (203) top, is provided with cover plate (202) and leaves gap between cover plate (202) and one section of shell (203) above vertical rod.
4. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1, it is characterized in that: the bottom in two sections of described shells (302) is provided with environment detection sensing module (309), longitudinal inwall of two sections of shells (302) is installed with motor fixing frame (308) and guiding fixed mount (303), guiding fixed mount (303) is positioned at directly over motor fixing frame (308), motor fixing frame (308) is provided with guide rod motor (307), the output shaft of guide rod motor (307) is provided with eccentric wheel (306); Support bar (304) top is provided with detection cover plate (301), support bar (304) runs through two sections of shell (302) tops and guiding fixed mount (303), support bar (304) bottom is provided with guide strip (305), guide strip (305) ride over eccentric wheel (306) upper and when guide strip (305) and eccentric wheel (306) axis perpendicular distance the most in short-term, detection cover plate (301) is covered on two sections of shells (302).
5. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1, it is characterized in that: three sections of longitudinal inwalls of shell (401) that described waist wireless network node discharges three sections (400) are provided with fixed mount (409), fixed mount (409) is provided with three sections of motors (410), the output shaft of three sections of motors (410) is provided with eccentric cam (411), the upper cover of T-shaped push rod (412) has spring (413), T-shaped push rod (412) runs through guiding fixed mount (414), node gathering sill (415) is arranged on three sections of shells (401), node placement box (416) is placed on the top of node gathering sill (415), guiding fixed mount (414) is arranged on node gathering sill (415) and goes up and parallel with node placement box (416), the corresponding position inwall of three sections of shells (401) being positioned at node placement box (416) is provided with the window (407) identical with node placement box (416) size, the other end of T-shaped push rod (412) be against eccentric cam (411) upper and when T-shaped push rod (412) and eccentric cam (411) axle center horizontal range the most in short-term, node placement box (416) is positioned at three sections of shells (401).
6. a kind of control method with the mine disaster environment detection rescue robot of tunneling function according to claim 1, is characterized in that, comprise the following steps:
61) excavation operation, parallel 3-DOF transducing head mechanism (100) works, and adjusts the drill direction of drill bit (101) in good time;
62) environment Collecting operation, detects one section (200) by waist external force and determines that external environment condition allows to gather, carried out the collection of ambient parameter by waist environment detection two sections (300);
63) wireless network node release operation, discharging three sections (400) by waist wireless network node, that wireless network node is discharged robot is external, carries out wireless telecommunications.
7. a kind of control method with the mine disaster environment detection rescue robot of tunneling function according to claim 6, it is characterized in that, described excavation operation comprises the following steps:
71) drive drill bit (101) motion by drill bit motor (102) work, carry out bore operation;
72) one dimension axial sensor A(103B), one dimension axial sensor B(104B) and one dimension axial sensor C(105B) Real-time Collection electric pushrod A(103A), electric pushrod B(104A) and electric pushrod C(105A) detection power;
73) the detection power of three-dimensional force sensor (107) synthetical collection drill bit (101), regulates drill bit (101) operating direction and locus according to three-dimensional force sensor (107).
8. a kind of control method with the mine disaster environment detection rescue robot of tunneling function according to claim 6, it is characterized in that, described environment Collecting operation comprises the following steps:
81) induction force probe (201) gathers the holding capacity of cover plate (202), judges that whether upper space is abundant;
82) three-dimensional force sensor (107) judges whether detection power is zero or is less than threshold value, if be designated as spacious local;
83) guide rod motor (307) band movable eccentric wheel (306) motion, eccentric wheel (306) rotates, and drives guide strip (305) to rise, and guide strip (305) drives detection cover plate (301) to rise;
84) guide rod motor (307) quits work, and environment detection sensing module (309) collection enters into the environmental information of two sections of shells (302).
9. a kind of control method with the mine disaster environment detection rescue robot of tunneling function according to claim 6, is characterized in that, described wireless network node release operation comprises the following steps:
91) three sections of motor (410) work drive eccentric cam (411) motion;
92) eccentric cam (411) drives T-shaped push rod (412) horizontal movement, and node placement box (416) is ejected three sections of shells (401) by T-shaped push rod (412).
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