CN104564129B - 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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- CN104564129B CN104564129B CN201410819397.7A CN201410819397A CN104564129B CN 104564129 B CN104564129 B CN 104564129B CN 201410819397 A CN201410819397 A CN 201410819397A CN 104564129 B CN104564129 B CN 104564129B
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- 230000005641 tunneling Effects 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 238000006396 nitration reaction Methods 0.000 claims description 49
- 210000003141 lower extremity Anatomy 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000002463 transducing effect Effects 0.000 claims description 16
- 238000009412 basement excavation Methods 0.000 claims description 6
- 238000006116 polymerization reaction Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 17
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000035807 sensation Effects 0.000 abstract 1
- 238000013461 design Methods 0.000 description 7
- 239000003245 coal Substances 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000007787 solid 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
- 230000004913 activation Effects 0.000 description 1
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- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003610 charcoal Substances 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
- 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
- 230000006872 improvement Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005065 mining Methods 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
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Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
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- Geochemistry & Mineralogy (AREA)
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- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
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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, a kind of specifically mine disaster environment spy with tunneling function
Survey rescue robot and its control method.
Background technology
Coal occupies important position in China's energy industry, but the frequent accident of mine disaster occurring is always China's coal
How the most important safety problems that charcoal industry faces, reduce the incidence rate of Coal Accidents and timely and effectively carry out mine disaster rescue and be
After the problem of urgent need to resolve, therefore coal mining accident occur, effectively rescued to retrieve people's lives and properties to greatest extent
Loss has important work meaning.Compared with other type accidents, mine disaster rescue working environment is complicated, after having mine disaster to occur
Subsurface environment narrow space, tunnel structure is unstable, easily cave in, complications are changeable, imflammable gas is more, explosive, signal
The difficult feature waiting some accident of mine disaster exclusive of transmission, these features make mine disaster rescue difficulty big, if rescue command improper,
Rescue equipment is backward in technique, then can bring tremendous influence to rescue works, or even can bring injures and deaths in itself to rescue group personnel.
Summary reason, develops a packaged type robot and replaces the mankind to make the detection of mine disaster environment early stage and rescue work
Make very necessary, this robot not only has good walking function in mine disaster environment, also will have detection mine disaster scene
The ability of high concentration gas and early warning is going to the whole good wireless network communication function of Transportation Engineering in mine disaster scene with having
So that the ability timely and effectively transferring out the situation at mine disaster scene.Moreover, also require robot to have caving in
Tunnel in freely turn, flexibly find the ability in next minable direction and path, so not only can
Make robot come into the favourable resource that rescue is found in the tunnel that caves in, can also smoothly walk out the tunnel caving in, repeat efficiently
Utilization rescue robot, and robot can not be made only to work in a tunnel, cross the Rubicon, therefore it is required that robot is not only
Can only tunnel in one direction, but barrier can be passed through towards multiple directions driving, obtain advantageous information, reach rescue and protect
Barrier inherently safe.
Zl201110370250.0 discloses a kind of mine disaster rescue robot with tunneling function, is adopted using robot
The leg Bo Tu mechanism of four-bar mechanism, every lower limb has two controlled motors, it is possible to achieve the length adjustment of leg, but this
Planting makes leg mechanism more numerous and diverse, is unfavorable for that robot advances in narrow space, and moreover, robot does not possess no
Line node releasability and context sensing capability are it is impossible to timely and effectively timely and effectively transmit the ambient conditions at mine disaster scene
Go out.How to develop a kind of robot for mine disaster environment detection and have become as the technical problem being badly in need of solving.
Content of the invention
The invention aims in solution prior art, the traveling of mine disaster rescue robot is inconvenient, cannot be carried out environment inspection
The defect surveyed and be wirelessly transferred, provides a kind of mine disaster environment detection rescue robot with tunneling function and its control method
Solve the above problems.
To achieve these goals, technical scheme is as follows:
A kind of mine disaster environment detection rescue robot with tunneling function, including parallel 3-DOF transducing head machine
Structure, waist external force detect one section, waist environment detection two-stage nitration and waist wireless network node and discharge three sections, and described simultaneously ter is certainly
It is fixedly mounted in one section of waist external force detection by degree transducing head mechanism level, waist external force is detected one section and visited with waist environment
Survey two-stage nitration to be horizontally mounted by candan universal joint a, waist environment detection two-stage nitration discharges three sections with waist wireless network node to be passed through
Candan universal joint b is horizontally mounted；
One section of enclosure both sides that described waist external force detects one section are separately installed with motor a and motor f, one section of shell
Both sides external is respectively equipped with three ratchet wheel lower limb a being arranged on motor a output shaft and three ratchet wheel lower limbs being arranged on motor f output shaft
f；
The two-stage nitration enclosure both sides of described waist environment detection two-stage nitration are separately installed with motor b and motor e, two-stage nitration shell
Both sides external is respectively equipped with three ratchet wheel lower limb b being arranged on motor b output shaft and three ratchet wheel lower limbs being arranged on motor e output shaft
e.
Described parallel 3-DOF transducing head mechanism includes the base being fixedly mounted in one section of waist external force detection,
On base, three-dimensional force sensor is installed, one-dimensional axial sensor a, one-dimensional axial sensor b and one-dimensional axial sensor c three
Decile is provided with three-dimensional force sensor, and one-dimensional axial sensor a is provided with electric pushrod a, and one-dimensional axial sensor b is pacified
Equipped with electric pushrod b, one-dimensional axial sensor c is provided with electric pushrod c, electric pushrod a, electric pushrod b and electric pushrod c
The other end collect polymerization after taper bit is installed jointly, the output shaft of drill bit motor is arranged on taper bit.
Sensing force detector is provided with the described bottom of one section of inside the shell, is longitudinally provided with above sensing force detector
Run through the vertical rod of one section of cover top portion, cover plate is installed above vertical rod and leaves gap between cover plate and one section of shell.
Environment detection sensing module is provided with the described bottom of two-stage nitration inside the shell, solid on longitudinal inwall of two-stage nitration shell
Dingan County is located at directly over motor fixing frame, motor fixing frame is pacified equipped with motor fixing frame and guiding fixed mount, guiding fixed mount
Equipped with guide rod motor, the output shaft of guide rod motor is provided with eccentric；Support bar top is provided with detection cover plate, and support bar passes through
Wear two-stage nitration cover top portion and guiding fixed mount, support bar bottom is provided with guide plate, and guide plate rides on eccentric and when guiding
The axis perpendicular distance of plate and eccentric the most in short-term, detects cover plate and covers on two-stage nitration shell.
Described waist wireless network node discharges and is provided with fixed mount, on fixed mount on three sections of three sections of shells longitudinal direction inwalls
Three sections of motors are installed, the output shaft of three sections of motors is provided with eccentric cam；Spring is cased with t type push rod, t type push rod passes through
Rethread to fixed mount, node gathering sill is arranged on three sections of shells, and node container is placed on the top of node gathering sill, guiding
Fixed mount is arranged on node gathering sill and is paralleled with node container, and the inwall of three sections of shells is located at node container
Corresponding position is provided with and node container size identical window, and the other end of t type push rod is against on eccentric cam and works as t type push rod
With the axle center horizontal range of eccentric cam the most in short-term, node container is located at three sections of inside the shells.
A kind of control method of the mine disaster environment detection rescue robot with tunneling function, comprises the following steps:
Excavation operation, parallel 3-DOF transducing head mechanism works, and adjusts the drill direction of drill bit in good time；
Environment Collecting operation, detects one section by waist external force and determines that external environment condition allows to be acquired, by waist environment
Detect the collection that two-stage nitration carries out ambient parameter；
Wireless network node discharges operation, discharges three sections by waist wireless network node and discharges wireless network node
Robot is external, communicates wirelessly.
Described excavation operation comprises the following steps:
Worked by drill bit motor and drive drill bit movement, carry out bore operation；
One-dimensional axial sensor a, one-dimensional axial sensor b and one-dimensional axial sensor c Real-time Collection electric pushrod a, electricity
The detection power of dynamic push rod b and electric pushrod c；
The detection power of three-dimensional force sensor synthetical collection drill bit, adjusts drilling work direction and sky according to three-dimensional force sensor
Between position.
Described environment Collecting operation comprises the following steps:
Sensing force detector gathers the holding capacity of cover plate, judges whether upper space is abundant；
Three-dimensional force sensor judges whether detection power is zero or is less than threshold value, if being designated as spacious local；
Guide rod motor belt motor movable eccentric wheel moves, and eccentric rotates, and drives guide plate to rise, and guide plate drives and detects on cover plate
Rise；
Guide rod motor quits work, and the collection of environment detection sensing module enters into the environmental information of two-stage nitration shell.
Described wireless network node release operation comprises the following steps:
Three sections of motor work drive eccentric cam motion；
Eccentric cam drives t type push rod horizontal movement, and node container is ejected three sections of shells by t type push rod.
Beneficial effect
A kind of mine disaster environment detection rescue robot with tunneling function of the present invention and its control method, with existing skill
It is freer that art compares traveling process, possesses the multi-functionals such as driving, environment detection, data is activation, can effectively answer
Environment detection for mine disaster scene and rescue.
The design of Three Degree Of Freedom transducing head mechanism is so that robot is also achievable group during advancing in parallel
Soil passes through function, improves machine task efficiency；And can be transported according to the torsion of the detection size feedback regulation head of power
Dynamic direction, because waist adopts self adaptation cating nipple, thus can achieve the divertical motion of the entirety of robot.By waist
External force detects one section of design, can monitor current height space situation.By the design of waist environment detection two-stage nitration, can
With collection site environmental data in real time.The design discharging three sections by waist wireless network node is it is achieved that robot is close
Close the probability obtaining abundant ambient condition information when advancing in space.
The compact conformation of the present invention, small volume, control simple, functional diversities, robot is accomplished during advancing
Dial soil and real integrated design of advancing, be conducive to robot to adapt to complicated ground environment.The whole mistake that robot advances
Mine disaster scene actual environment situation timely and effectively being blazed abroad in journey, to take more preferable rescue method, making machine
Device people occurs to play real effect in early stage auxiliary rescue works in mine disaster.
Brief description
Fig. 1 is the 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 the hatching position view of the present invention；
Fig. 4 is the a-a isometric cutaway cross-sectional view of Fig. 3；
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 the d-d isometric cutaway cross-sectional view of Fig. 3；
Fig. 8 is the structural representation of three ratchet wheel lower limbs in the present invention；
Wherein, 100- parallel 3-DOF transducing head mechanism, 101- taper bit, 102- drill bit motor, 103b- are one-dimensional
One-dimensional axial sensor b, 105b- of axial sensor a, 104b- one-dimensional axial sensor c, 103a- electric pushrod a, 104a- electricity
Dynamic push rod b, 105a- electric pushrod c, 106- base, 107- three-dimensional force sensor, 200- waist external force detect one section, 201- sense
Outside stress detection device, 202- cover plate, mono- section of shell of 203-, 300- waist environment detection two-stage nitration, 301- detection cover plate, 302- two-stage nitration
Shell, 303- guiding fixed mount, 304- support bar, 305- guide plate, 306- eccentric, 307- guide rod motor, 308- motor are fixed
Frame, 309- environment detection sensing module, 400- waist wireless network node discharge three sections, tri- sections of shells of 401-, 402- top window
Mouth, 405- hinge spring, 406- hinge, 407- window, 409- fixed mount, tri- sections of motors of 410-, 411- eccentric cam, 412-t
Type push rod, 413- spring, 414- guiding fixed mount, 415- node gathering sill, 416- node container, 417- node guiding storehouse,
500a- tri- ratchet wheel lower limb a, 500b- tri- ratchet wheel lower limb b, 500c- tri- ratchet wheel lower limb c, 500d- tri- ratchet wheel lower limb d, 500e- tri- ratchet wheel lower limb e,
500f- tri- ratchet wheel lower limb f, 600a- candan universal joint a, 600b- candan universal joint b, 800a- motor a, 800b- motor b, 800e-
Motor e, 800f- motor f.
Specific embodiment
Effect for making the architectural feature to the present invention and reached has a better understanding and awareness, in order to preferably
Embodiment and accompanying drawing cooperation detailed description, are 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,
Detect one section 200, waist environment detection two-stage nitration 300 and waist including parallel 3-DOF transducing head mechanism 100, waist external force
Wireless network node discharges three section 400.Parallel 3-DOF transducing head mechanism 100 is used for excavation operation, and waist external force detects
It is used for for one section 200 detecting height, waist environment detection two-stage nitration 300 is used for detecting environmental data, and waist wireless network node discharges
It is used for discharging wireless network node for three section 400.Parallel 3-DOF transducing head mechanism 100 level is fixedly mounted on waist external force
On detecting one section 200, waist external force detects one section 200 and passes through candan universal joint a600a level with waist environment detection two-stage nitration 300
Install, waist environment detection two-stage nitration 300 and waist wireless network node discharge three section 400 and pass through candan universal joint b600b level
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 three section 400 of multi-faceted flexible connection.
The internal both sides of one section 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 three ratchet wheel lower limb a500a being arranged on motor a800a output shaft and installation
Three ratchet wheel lower limb f500f on motor f800f output shaft, motor a800a control three ratchet wheel lower limb a500a motions, and motor f800f is controlled
Make three ratchet wheel lower limb f500f motions, three ratchet wheel lower limb a500a and three ratchet wheel lower limb f500f drive waist external force to detect one section of 200 fortune jointly
Dynamic.The internal both sides of the two-stage nitration shell 302 of waist environment detection two-stage nitration 300 are separately installed with motor b800b and motor e800e, and two
Section shell 302 both sides external is respectively equipped with three ratchet wheel lower limb b500b being arranged on motor b800b output shaft and is arranged on motor
Three ratchet wheel lower limb e500e on e800e output shaft.Motor b800b controls three ratchet wheel lower limb b500b, and motor e800e controls three ratchet wheel lower limbs
E500e, three ratchet wheel lower limb b500b and three ratchet wheel lower limb e500e drive waist environment detection two-stage nitration 300 to move jointly.In the same manner, in waist
Wireless network node discharges three section of 400 both sides and can also be respectively mounted three ratchet wheel lower limb c500c and three ratchet wheel lower limb d500d, and it passes through
Internal corresponding motor control, realizes the motion that waist wireless network node discharges three section 400.As shown in figure 8, three ratchet wheels
Lower limb adopts three ratchet wheel lower limb integral structures, is mainly made up of cambered surface and tangent plane, and each tiger's jaw adopts the right angled triangle of 3:4:5,
Cambered surface mainly plays support advance effect when robot advances with ground, and cambered surface surface adopts wave dentalation, and tangent plane is main
The barrier running in traveling process is pushed over clockwise and advances contrary direction with robot, tangent plane surface adopts straight line dentation
Structure.
As shown in Fig. 2 parallel 3-DOF transducing head mechanism 100 includes being fixedly mounted on one section of waist external force detection
Base 106 on 200, base 106 is provided with three-dimensional force sensor 107, and three-dimensional force sensor 107 is used for experiencing taper bit
Active force during 101 work, detects whole parallel 3-DOF transducing head mechanism 100 all directions in the course of the work
Power.One-dimensional axial sensor a103b, one-dimensional axial sensor b104b and one-dimensional axial sensor c105b three's decile are provided with
On three-dimensional force sensor 107.Electric pushrod a103a is provided with one-dimensional axial sensor a103b, detects electric pushrod a103a
Active force, prevent taper bit 101 working resistance excessive, destroy electric pushrod a103a.In the same manner, one-dimensional axial sensor
Electric pushrod b104a is provided with b104b, detects the active force of electric pushrod b104a；Pacify in one-dimensional axial sensor c105b
Equipped with electric pushrod c105a, detect the active force of electric pushrod c105a.Electric pushrod a103a, electric pushrod b104a and electronic
The other end of push rod c105a is provided with taper bit 101 jointly after collecting polymerization, taper bit 101 is by processing tooth on taper platform
Shape structure forms, and taper bit 101 is arranged on three, by drill bit motor 102, taper bit 101 is controlled.
As shown in Figure 4 and Figure 5, waist external force detects and is provided with induction force on the bottom in one section 200 of one section of shell 203
Detector 201, sensing force detector 201 is island shape structure.It is longitudinally provided with above sensing force detector 201 and run through one section of shell
The vertical rod at 203 tops, is provided with above vertical rod and leaves gap between cover plate 202 and cover plate 202 and one section of shell 203.Work as cover plate
202 when pushing, and drives vertical rod to push above sensing force detector 201, thus being measured outside waist by sensing force detector 201
Power detects one section 200 of top pressure.Gap between cover plate 202 and one section of shell 203 can be preferably 2mm, wherein also
The good silica gel pad of elasticity can be filled out.
As shown in fig. 6, environment detection is provided with bottom in the two-stage nitration shell 302 of waist environment detection two-stage nitration 300 passing
Sense module 309, environment detection sensing module 309 includes firedamp sensor, carbon monoxide transducer and methane transducer, is placed in waist
The inside of portion's environment detection two-stage nitration 300.Motor fixing frame 308 and guiding are installed with longitudinal inwall of two-stage nitration shell 302
Fixed mount 303, guiding fixed mount 303 is located at directly over motor fixing frame 308.Guide rod motor is provided with motor fixing frame 308
307, the output shaft of guide rod motor 307 is provided with eccentric 306, the motion of guide rod motor 307 control eccentric 306.Support
Bar 304 top is provided with detection cover plate 301, detects the arc that cover plate 301 preferably can be designed to docile two-stage nitration shell 302 top
Design.Support bar 304 runs through two-stage nitration shell 302 top and guiding fixed mount 303, and support bar 304 bottom is provided with guide plate
305.Guide plate 305 rides on eccentric 306 and when the axis perpendicular of guide plate 305 and eccentric 306 is apart from the most in short-term, detects
Cover plate 301 covers on two-stage nitration shell 302.Due to due to eccentric 306, the axis perpendicular of guide plate 305 and eccentric 306 away from
From the most in short-term, the part that support bar 304 is located in two-stage nitration shell 302 is most；Carry movable eccentric wheel 306 with guide rod motor 307
Motion, guide plate 305 is gradually increased with the axis perpendicular distance of eccentric 306, and support bar 304 is in the motion of eccentric 306
Under be gradually increasing, thus cover plate 301 will be detected eject two-stage nitration shell 302, so that environment detection sensing module 309 can be surveyed
Gaseous environment situation around obtaining.When guide rod motor 307 moves to the axle of guide plate 305 and eccentric 306 with movable eccentric wheel 306
Heart vertical dimension the most in short-term, detects cover plate 301 and is pressed on two-stage nitration shell 302 so that environment detection sensing module 309 is not subject to outward
The pollution of particle dust in portion's environment.
As shown in fig. 7, waist wireless network node discharge be provided with three section 400 of the longitudinal inwall of three sections of shells 401 solid
Determine frame 409, fixed mount 409 is provided with three sections of motors 410.Eccentric cam 411 is provided with the output shaft of three sections of motors 410,
Three sections of motors 410 control the rotation of eccentric cam 411.Spring 413 is cased with t type push rod 412, t type push rod 412 passes through fixed guide
Determine frame 414, that is, on the spacing fixed mount 414 in guiding of t type push rod 412.Node gathering sill 415 is arranged on three sections of shells 401, section
Point container 416 is placed on the top of node gathering sill 415, guiding fixed mount 414 be arranged on node gathering sill 415 and with section
Point container 416 is parallel.Under the drive of t type push rod 412, node container 416 is carried out with node gathering sill 415 for track
Motion, node container 416 is radio node transceiver, can be gps, zigbee, 3g or wifi etc..In practical application,
In order to place multiple node containers 416, a node guiding storehouse 417 can be designed above node container 416, node is led
Three sections of shell 401 positions are located on storehouse 417 and open a top window 402, guided in storehouse 417 toward node by top window 402
Place multiple node containers 416.The corresponding position being located at node container 416 on the inwall of three sections of shells 401 is provided with and node
Container 416 size identical window 407, when node container 416 moves to a certain degree, can rise from window 407.t
The other end of type push rod 412 be against on eccentric cam 411 and when t type push rod 412 and eccentric cam 411 axle center horizontal range
In short-term, node container 416 is located in three sections of shells 401.With eccentric 306 in the same manner, t type push rod 412 and eccentric cam 411
The most in short-term, the length that t type push rod 412 is located in three sections of shells 401 is most for axle center horizontal range.When three sections of motor 410 work,
Eccentric cam 411 is driven to move, the axle center horizontal range with t type push rod 412 and eccentric cam 411 increases, t type push rod 412
Node container 416 is promoted to release three sections of shells 401, thus communicating wirelessly.Window can also be located on three sections of shells 401
The top design spring hinge 405 of mouth 407 and hinge 406, when node container 416 stretches out three sections of shells 401, hinge 406
Open；When node container 416 is pushed out three sections of shells 401, hinge 406 is closed in the presence 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 rushing of drill bit 101 in good time
Bore direction.It specifically comprises the following steps that
(1) passing through drill bit motor 102 work drives drill bit 101 to move, and carries out bore operation；
(2) one-dimensional axial sensor a103b, one-dimensional axial sensor b104b and one-dimensional axial sensor c105b are adopted in real time
Collection electric pushrod a103a, the detection power of electric pushrod b104a and electric pushrod c105a, prevent electric pushrod a103a, electronic push away
Bar b104a and electric pushrod c105a damages when drill bit 101 works.
(3) the detection power of three-dimensional force sensor 107 synthetical collection drill bit 101, adjusts drill bit according to three-dimensional force sensor 107
101 operating directions and locus, control FREE TORSION direction in limited area for the drill bit 101, thus reach drill bit 101 transporting
The expansion of dynamic scope, reaming area increases.
Second step, environment Collecting operation, detected one section 200 by waist external force and determine that external environment condition allows to be acquired,
Carry out the collection of ambient parameter by waist environment detection two-stage nitration 300.Its specific requirement step is as follows:
(1) sensing force detector 201 gathers the holding capacity of cover plate 202, judges whether upper space is abundant.
(2) three-dimensional force sensor 107 judges that whether detection power be zero or be less than threshold value, if being designated as spacious local, then when
Before be appropriate to the collection of ambient parameter.
(3) guide rod motor 307 band movable eccentric wheel 306 moves, and eccentric 306 rotates, and drives guide plate 305 to rise, guiding
Plate 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 environment of two-stage nitration shell 302
Information.After detection a period of time, guide rod motor 307 works on, and eccentric 306 rotates, and drives guide plate 305 to decline, visits
Survey cover plate 301 be in waist two-stage nitration shell 302 contact compress state so that environment detection Sensor Integration Module 309 not
Polluted by particle dust in robot external environment condition, thus completing the collection of environmental data.
3rd step, wireless network node discharges operation, discharges three section 400 by wireless network by waist wireless network node
Node discharges robot in vitro, communicates wirelessly.Comprise the following steps:
(1) three section of motor 410 work drives eccentric cam 411 to move.
(2) eccentric cam 411 drives t type push rod 412 horizontal movement, and node container 416 is ejected three by t type push rod 412
Section shell 401, completes the transmission of peripheral information.In the same manner, after completing to be wirelessly transferred, three sections of motor 410 work drive bias convex
Wheel 411 motion, t type push rod 412 recovers initial position, and window 407 is closed.
Ultimate principle, principal character and the advantages of the present invention of the present invention have been shown and described above.The technology of the industry
The simply present invention it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description for the personnel
Principle, without departing from the spirit and scope of the present invention the present invention also have various changes and modifications, these change and
Improvement both falls within the range of claimed invention.The protection domain of application claims by appending claims and its
Equivalent defines.
Claims (7)
1. a kind of mine disaster environment detection rescue robot with tunneling function it is characterised in that: include parallel 3-DOF pass
Sense head mechanism (100), waist external force detect one section (200), waist environment detection two-stage nitration (300) and waist wireless network node
Three sections (400) of release, described parallel 3-DOF transducing head mechanism (100) level is fixedly mounted on waist external force and detects one
In section (200), waist external force detects one section (200) and passes through candan universal joint a(600a with waist environment detection two-stage nitration (300)) water
Safety fills, and waist environment detection two-stage nitration (300) and waist wireless network node discharge three sections (400) and pass through candan universal joint b
(600b) it is horizontally mounted；
One section of shell (203) interior side that described waist external force detects one section (200) is provided with motor a(800a), outside waist
The internal opposite side of one section of shell (203) that power detects one section (200) is provided with motor f(800f), one section of shell (203) outside two
Side is respectively equipped with and is arranged on motor a(800a) three ratchet wheel lower limb a(500a on output shaft) and it is arranged on motor f(800f) output shaft
On three ratchet wheel lower limb f(500f)；
Two-stage nitration shell (302) interior side of described waist environment detection two-stage nitration (300) is provided with motor b(800b), waist ring
The internal opposite side of two-stage nitration shell (302) that border detects two-stage nitration (300) is provided with motor e(800e), two-stage nitration shell (302) outside two
Side is respectively equipped with and is arranged on motor b(800b) three ratchet wheel lower limb b(500b on output shaft) and it is arranged on motor e(800e) output shaft
On three ratchet wheel lower limb e(500e)；
Described parallel 3-DOF transducing head mechanism (100) includes being fixedly mounted in one section of detection of waist external force (200)
Base (106), base (106) is provided with three-dimensional force sensor (107), one-dimensional axial sensor a(103b), one-dimensional axial direction
Sensor b(104b) and one-dimensional axial sensor c(105b) three's decile is arranged on three-dimensional force sensor (107), one-dimensional axle
To sensor a(103b) on electric pushrod a(103a is installed), one-dimensional axial sensor b(104b) on electric pushrod b is installed
(104a), one-dimensional 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), drill bit motor are installed jointly
(102) output shaft is arranged on taper bit (101).
2. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1 it is characterised in that:
Sensing force detector (201) is provided with the bottom in one section of described shell (203), vertical above sensing force detector (201)
To being provided with the vertical rod running through one section of shell (203) top, cover plate (202) is installed and cover plate (202) and one section above vertical rod
Shell leaves gap between (203).
3. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1 it is characterised in that:
Environment detection sensing module (309), the longitudinal direction of two-stage nitration shell (302) are provided with the bottom in described two-stage nitration shell (302)
Motor fixing frame (308) and guiding fixed mount (303) are installed with inwall, guiding fixed mount (303) is fixed positioned at motor
Directly over frame (308), motor fixing frame (308) is provided with guide rod motor (307), the output shaft of guide rod motor (307) is pacified
Equipped with eccentric (306)；Support bar (304) top is provided with detection cover plate (301), and support bar (304) runs through two-stage nitration shell
(302) top and guiding fixed mount (303), support bar (304) bottom is provided with guide plate (305), and guide plate (305) rides over partially
Heart wheel (306) is upper and works as guide plate (305) with the axis perpendicular of eccentric (306) apart from the most in short-term, detects cover plate (301) and covers
On two-stage nitration shell (302).
4. a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1 it is characterised in that:
On three sections of shell (401) longitudinal direction inwalls of described waist wireless network node release three sections (400), fixed mount (409) is installed,
Three sections of motors (410) are provided with fixed mount (409), the output shaft of three sections of motors (410) is provided with eccentric cam (411)；
Spring (413) is cased with t type push rod (412), t type push rod (412) runs through guiding fixed mount (414), node gathering sill (415) is pacified
It is contained on three sections of shells (401), node container (416) is placed on the top of node gathering sill (415), guide fixed mount
(414) it is arranged on node gathering sill (415) above and parallels with node container (416), the inwall of three sections of shells (401) is upper
It is provided with and node container (416) size identical window (407) in the corresponding position of node container (416), t type push rod
(412) the other end is against on eccentric cam (411) and works as the axle center horizontal range of t type push rod (412) and eccentric cam (411)
The most in short-term, node container (416) is located in three sections of shells (401).
5. the control method of a kind of mine disaster environment detection rescue robot with tunneling function according to claim 1,
It is characterized in that, comprise the following steps:
51) excavation operation, parallel 3-DOF transducing head mechanism (100) works, and the drill side of adjustment drill bit (101) in good time
To；
Described excavation operation comprises the following steps:
511) pass through drill bit motor (102) work and drive drill bit (101) motion, carry out bore operation；
512) one-dimensional axial sensor a(103b), one-dimensional axial sensor b(104b) and one-dimensional axial sensor c(105b) real
When gather electric pushrod a(103a), electric pushrod b(104a) and electric pushrod c(105a) detection power；
513) the detection power of three-dimensional force sensor (107) synthetical collection drill bit (101), is adjusted according to three-dimensional force sensor (107)
Drill bit (101) operating direction and locus；
52) environment Collecting operation, detects one section (200) by waist external force and determines that external environment condition allows to be acquired, by waist
Environment detection two-stage nitration (300) carries out the collection of ambient parameter；
53) wireless network node is released by wireless network node release operation by waist wireless network node release three sections (400)
Release robot external, communicate wirelessly.
6. the control method of a kind of mine disaster environment detection rescue robot with tunneling function according to claim 5,
It is characterized in that, described environment Collecting operation comprises the following steps:
61) sensing force detector (201) gathers the holding capacity of cover plate (202), judges whether upper space is abundant；
62) three-dimensional force sensor (107) judges whether detection power is zero or is less than threshold value, if being designated as spacious local；
63) guide rod motor (307) band movable eccentric wheel (306) motion, eccentric (306) rotates, and drives guide plate (305) to rise,
Guide plate (305) drives and detects cover plate (301) rising；
64) guide rod motor (307) quits work, and environment detection sensing module (309) collection enters into the ring of two-stage nitration shell (302)
Environment information.
7. the control method of a kind of mine disaster environment detection rescue robot with tunneling function according to claim 5,
It is characterized in that, described wireless network node release operation comprises the following steps:
71) three sections of motor (410) work drive eccentric cam (411) motion；
72) eccentric cam (411) drives t type push rod (412) horizontal movement, and node container (416) is pushed up by t type push rod (412)
Go out three sections of shells (401).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410819397.7A CN104564129B (en) | 2014-12-25 | 2014-12-25 | Mine disaster environment detecting rescue robot with tunneling function and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410819397.7A CN104564129B (en) | 2014-12-25 | 2014-12-25 | Mine disaster environment detecting rescue robot with tunneling function and control method thereof |
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| CN104564129B true CN104564129B (en) | 2017-01-18 |
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| CN106020025B (en) * | 2016-05-25 | 2018-08-10 | 昆明理工大学 | A kind of permeable advance real-time embedded control device of rescue of drive |
| CN106712383B (en) * | 2017-01-11 | 2023-09-26 | 中国科学院合肥物质科学研究院 | Mechanical swing arm with stress application mechanism |
| CN107485803A (en) * | 2017-09-22 | 2017-12-19 | 吴蔷薇 | Search and rescue device after shake |
| CN108818567B (en) * | 2018-07-27 | 2021-08-06 | 河南理工大学 | Intelligent rescue robot and control method thereof |
| CN109026138A (en) * | 2018-09-27 | 2018-12-18 | 大连卓亿科技有限公司 | A kind of pit robot and emergency management and rescue method |
| CN114687746B (en) * | 2022-04-11 | 2024-03-05 | 广东工业大学 | Mole-simulated star soil tunneling robot |
| CN115574857A (en) * | 2022-10-24 | 2023-01-06 | 西安交通大学城市学院 | Environment detection device |
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| ATE301264T1 (en) * | 2001-03-07 | 2005-08-15 | Univ Carnegie Mellon | ROBOT SYSTEM FOR INSPECTING GAS PIPES |
| CN101265813B (en) * | 2008-05-14 | 2010-04-14 | 哈尔滨工业大学 | Mine searching multi-robot system based on wireless sensor network |
| CN102434196B (en) * | 2011-11-21 | 2013-09-04 | 中国科学院合肥物质科学研究院 | Mine disaster rescue robot with tunneling function and control method thereof |
| CN103738423B (en) * | 2014-01-24 | 2015-10-28 | 哈尔滨工业大学 | From the mine movable robot building wireless communication networks |
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