CN105383587A - Four-leg robot for detecting mine tunnel - Google Patents
Four-leg robot for detecting mine tunnel Download PDFInfo
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- CN105383587A CN105383587A CN201510833947.5A CN201510833947A CN105383587A CN 105383587 A CN105383587 A CN 105383587A CN 201510833947 A CN201510833947 A CN 201510833947A CN 105383587 A CN105383587 A CN 105383587A
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- shank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a four-leg robot for detecting a mine tunnel and aims to solve the problem that an existing robot cannot walk flexibly when being applied to mining rescuing. The four-leg robot comprises a body, supporting legs, a camera, a comprehensive sensor and a controller, wherein four supporting legs are provided; each supporting leg comprises a shank, a thigh and a thigh connecting disc; a waist motor and a thigh motor are fixedly arranged on each thigh connecting disc; the output end of each waist motor is fixedly connected with the body; a thigh is fixedly arranged at the output end of each thigh motor; a shank connecting disc is fixedly arranged at one end of each thigh; each shank is mounted on each shank connecting disc in an articulated manner; a shank motor for driving the shank to swing is arranged between the shank and the shank connecting disc; the camera is rotationally mounted at the top of the body; the comprehensive sensor is arranged on the body and comprises a temperature sensor, a humidity sensor, a sound sensor and a gas concentration sensor; the comprehensive sensor is in signal connection with the controller. The robot can do large-range stretch and retraction, can pass various barriers conveniently and can be used for effectively detecting a rescuing environment.
Description
Technical field
The present invention relates to robotics, specifically a kind of mining tunnel detection quadruped robot.
Background technology
At present, mainly manual rescue's mode is rescued in mining, and after accident occurs, rescue team member more early enters the scene of the accident, and the hope of surviving of stranded miner is larger.But personnel cannot learn the place of the scene of the accident, underground and endanger the information such as gas on the ground, particularly secondary mine disaster is with the possibility happened occasionally, serious threat by the life security rescuing personnel and rescue group, environment detection is carried out, so that rescue group organizes search and rescue better in the urgent need to sniffing robot.Existing caterpillar type robot complex structure, turning performance are poor, walk inconvenient when running into larger obstacle.
Summary of the invention
The object of the present invention is to provide a kind of mining tunnel to detect quadruped robot, for solve existing robot application in dig up mine rescue time to walk inflexible problem, and rescue environment to be detected accurately.
The present invention solves the technical scheme that its technical matters takes: a kind of mining tunnel detection quadruped robot, it is characterized in that, it comprises fuselage, first supporting leg, second supporting leg, 3rd supporting leg, 4th supporting leg, camera, comprehensive sensor and controller, described first supporting leg comprises the first shank, first thigh and the first thigh terminal pad, described first thigh terminal pad is fixed with the first waist motor and the first thigh motor, the mouth of described first waist motor is fixedly connected with fuselage, the first thigh is fixed with at described first thigh motor output end, the first shank terminal pad is fixed with at the other end of described first thigh, hinged on described first shank terminal pad the first shank is installed, the first shank motor that driving first shank swings is provided with between described first shank and the first shank terminal pad, described second supporting leg comprises the second shank, the second thigh and the second thigh terminal pad, described second thigh terminal pad is fixed with the second waist motor and the second thigh motor, the mouth of described second waist motor is fixedly connected with fuselage, the second thigh is fixed with at described second thigh motor output end, the second shank terminal pad is fixed with at another two ends of described second thigh, hinged on described second shank terminal pad the second shank is installed, between described second shank and the second shank terminal pad, is provided with the second shank motor that driving second shank swings, described 3rd supporting leg comprises the 3rd shank, the third-largest leg and the third-largest leg terminal pad, described the third-largest leg terminal pad is fixed with the 3rd waist motor and the third-largest leg motor, the mouth of described 3rd waist motor is fixedly connected with fuselage, the third-largest leg is fixed with at described the third-largest leg motor output end, the 3rd shank terminal pad is fixed with at another three ends of described the third-largest leg, hinged on described 3rd shank terminal pad the 3rd shank is installed, between described 3rd shank and the 3rd shank terminal pad, is provided with the 3rd shank motor that driving the 3rd shank swings, described 4th supporting leg comprises the 4th shank, the fourth-largest leg and the fourth-largest leg terminal pad, described the fourth-largest leg terminal pad is fixed with the 4th waist motor and the fourth-largest leg motor, the mouth of described 4th waist motor is fixedly connected with fuselage, the fourth-largest leg is fixed with at described the fourth-largest leg motor output end, the 4th shank terminal pad is fixed with at another four ends of described the fourth-largest leg, hinged on described 4th shank terminal pad the 4th shank is installed, between described 4th shank and the 4th shank terminal pad, is provided with the 4th shank motor that driving the 4th shank swings,
Camera tumbler bearing is rotatablely equipped with at the top of described fuselage, the camera rotary electric machine driving camera tumbler bearing to rotate in horizontal surface is provided with at described fuselage bottom, described camera tumbler bearing is fixed with camera oscillating motor, be fixed with camera at the mouth of described camera oscillating motor, described camera can at vertical rotation in surface;
Described fuselage is provided with comprehensive sensor, and described comprehensive sensor comprises temperature sensor, humidity sensor, sound transducer and gas concentration sensor, and described comprehensive sensor is connected with controller signals, and described controller is fixed on fuselage.
Further, described first shank motor is fixed on the first shank, and mouth and first thigh of described first shank motor are connected.
Further, described second shank motor is fixed on the second shank, and mouth and second thigh of described second shank motor are connected.
Further, described 3rd shank motor is fixed on the 3rd shank, and mouth and the third-largest leg of described 3rd shank motor are connected.
Further, described 4th shank motor is fixed on the 4th shank, and mouth and the fourth-largest leg of described 4th shank motor are connected.
Further, the flat board that described fuselage comprises rectangle and the gusset be arranged on dull and stereotyped four angles, four described clamping plate are connected with corresponding first, second, third and fourth waist motor output end respectively.
Further, described gusset is circular configuration.
Further, described camera tumbler bearing comprises three transverse slats setting up and down and a riser, and described riser and three transverse slats are connected.
The invention has the beneficial effects as follows: each supporting leg of robot provided by the invention, fuselage, the first-class scantling of structure of shooting are moderate, four supporting legs can stretch revolution, and robot can launch also can folding shrinking, can be smoothly through narrow and small deep-well and ground running.Camera can stop by unspecified angle in space, so that the environment in shooting mine.The present invention can carry out stretching compared with large scale, facilitates robot by various obstacle.
Accompanying drawing explanation
Fig. 1 is graphics of the present invention;
Fig. 2 is the graphics of the first supporting leg;
Fig. 3 is the schematic diagram that four supporting legs of the present invention become erectility;
Fig. 4 is the schematic diagram that four supporting legs of the present invention become extended configuration;
In figure: 1 first shank; 2 first shank motors; 3 first shank terminal pads; 4 first thighs; 5 first thigh motors; 6 first thigh terminal pads; 7 first waist motors; 8 second shanks; 9 second shank motors; 10 second shank terminal pads; 11 second thighs; 12 second thigh motors; 13 second thigh terminal pads; 14 second waist motors; 15 cameras; 16 camera oscillating motors; 17 camera tumbler bearing; 18 the third-largest leg motors; 19 the third-largest leg terminal pads; 20 the 3rd waist motors; 21 the third-largest legs; 22 the 3rd shank motors; 23 the 3rd shank terminal pads; 24 the 3rd shanks; 25 the 4th waist motors; 26 the 4th shank motors; 27 the 4th shank terminal pads; 28 the 4th shanks; 29 the fourth-largest legs; 30 the fourth-largest leg terminal pads; 31 the fourth-largest leg motors; 32 fuselages; 33 comprehensive sensors; 34 camera rotary electric machines; 35 controllers.
Detailed description of the invention
For clearly demonstrating the technical characterstic of this programme, below by detailed description of the invention, and in conjunction with its accompanying drawing, the present invention will be described in detail.
The present invention mainly comprises the first shank 1, second shank 8, 3rd shank 24, 4th shank 28, first shank terminal pad 3, second shank terminal pad 10, 3rd shank terminal pad 23, 4th shank terminal pad 27, first thigh 4, second thigh 11, the third-largest leg 21, the fourth-largest leg 29, first thigh terminal pad 6, second thigh terminal pad 13, the third-largest leg terminal pad 19, the fourth-largest leg terminal pad 30, first shank motor 2, second shank motor 9, 3rd shank motor 22, 4th shank motor 26, first thigh motor 5, second thigh motor 12, the third-largest leg motor 18, the fourth-largest leg motor 31, first waist motor 7, second waist motor 14, 3rd waist motor 20, 4th waist motor 25, camera oscillating motor 16, camera rotary electric machine 34, fuselage 32, comprehensive sensor 33 and controller 35, all motors are all respectively by each self-corresponding storage battery energy supply.
As shown in Figure 2, first shank 1 and the first thigh 4 are coupled together by the first shank terminal pad 3 by the first shank motor 2, be specially: the first shank terminal pad is fixed on the first thigh, first shank and the first shank terminal pad chain connection, first shank motor is fixed on the first shank, and the first shank motor 2 drives relative first thigh 4 of the first shank 1 to swing.First thigh and the first shank constitute the first supporting leg.
Identical with the connection mode of the first supporting leg, as shown in Figure 1, second shank 8 and the second thigh 11 are got up by the second shank terminal pad 10 by the second shank motor 9, be specially: the second shank terminal pad is fixed on the second thigh, second shank and the second shank terminal pad chain connection, second shank motor is fixed on the second shank, and the second shank motor 9 drives relative second thigh 11 of the second shank 8 to swing.Second thigh and the second shank constitute the second supporting leg.
Identical with the connection mode of the first supporting leg, 3rd shank 24 and the third-largest leg 21 are coupled together by the 3rd shank terminal pad 23 by the 3rd shank motor 22, be specially: the 3rd shank terminal pad is fixed on the third-largest leg, 3rd shank and the 3rd shank terminal pad chain connection, 3rd shank motor is fixed on the 3rd shank, and the 3rd shank motor 22 drives the relatively the third-largest leg 21 of the 3rd shank 24 to swing.
Identical with the connection mode of the first supporting leg, 4th shank 28 and the fourth-largest leg 29 are coupled together by the 4th shank terminal pad 27 by the 4th shank motor 26, be specially: the 4th shank terminal pad is fixed on the fourth-largest leg, 4th shank and the 4th shank terminal pad chain connection, 4th shank motor is fixed on the 4th shank, and the 4th shank motor 26 drives the relatively the fourth-largest leg 29 of the 4th shank 28 to swing.
First thigh motor 5 is fixed on the first thigh terminal pad, and the first thigh motor output end is connected with the first thigh, and drives the first thigh 4 to rotate around the first thigh terminal pad 6; Second thigh motor 12 is fixed on the second thigh terminal pad, and the second thigh motor output end is connected with the second thigh, and drives the second thigh 11 to rotate around the second thigh terminal pad 13; The third-largest leg motor 18 is fixed on the third-largest leg terminal pad, and the third-largest leg motor output end is connected with the third-largest leg, and drives the third-largest leg 21 to rotate around the third-largest leg terminal pad 19; 4th shank motor 26 is fixed on the fourth-largest leg terminal pad, and the fourth-largest leg motor output end is connected with the fourth-largest leg, and drives the fourth-largest leg 29 to rotate around the fourth-largest leg terminal pad 30.
First waist motor 7 is fixed on the first thigh terminal pad, the mouth of the first waist motor is rotatably connected on fuselage 32, fuselage comprises rectangular flat and is positioned at the gusset on dull and stereotyped four angles, gusset is circular configuration, and four gussets are connected with the mouth of first, second, third and fourth waist motor respectively; The first supporting leg can be driven during the first waist machine operation to rotate around the axis of the first waist motor 7; Second waist motor 14 is fixed on the second thigh terminal pad, and the mouth of the second waist motor is rotatably connected on fuselage 32, and the second supporting leg can be driven during the second waist machine operation to rotate around the axis of the second waist motor 14; 3rd waist motor 20 is fixed on the third-largest leg terminal pad, and the mouth of the 3rd waist motor is rotatably connected on fuselage 32, and the 3rd supporting leg can be driven during the 3rd waist machine operation to rotate around the axis of the 3rd waist motor 20; 4th waist motor 25 is fixed on the fourth-largest leg terminal pad, and the mouth of the 4th waist motor is rotatably connected on fuselage 32, and the 4th supporting leg can be driven during the 4th waist machine operation to rotate around the axis of the 4th waist motor 25.
Camera tumbler bearing 17 rotates the upper left quarter at fuselage 32, camera oscillating motor 16 is fixed on camera tumbler bearing 17, camera 15 is connected on the output shaft of camera oscillating motor 16, camera 15 swings in vertical plane around horizontal shaft under the drive of camera oscillating motor 16, to adjust the upper lower angle of shooting.Camera tumbler bearing comprises three transverse slats setting up and down and a riser, and three transverse slats are fixedly connected with riser.Camera rotary electric machine 34 is fixed on the bottom of fuselage 32, output shaft and the camera tumbler bearing 17 of camera rotary electric machine 34 are connected, the rotation of camera tumbler bearing 17 in horizontal surface is driven, to adjust the corner of camera horizontal direction by camera rotary electric machine 34; Camera can be ordered about towards any direction in space, to avoid the existence of shooting blind angle amount by camera rotary electric machine and camera oscillating motor.Comprehensive sensor 33 comprises temperature sensor, humidity sensor, sound transducer and gas concentration sensor, the temperature in surrounding environment, humidity, sound and gas concentration can be measured, comprehensive sensor 33 is arranged on the upper surface of fuselage 32, controller 35 is arranged on fuselage 32, and the electric wire of controller 35 is exported by a bus.
During this mining tunnel detection quadruped robot work, the thigh motor on robot four supporting legs swings and shank motor swings, and as shown in Figure 3, makes each thigh become erectility with shank, then first, second, third and fourth waist electric machine rotation, upright each thigh and shank are turned to the bottom of fuselage, make robot plane space minimum, by rope, robot and control bus are put into grass along narrow and small vertical shaft again, the each shank motor of robot, thigh motor, waist motor movement, as shown in Figure 4, robot is launched, walk in Robot tunnel, when running into large obstacle, camera is covered, the each joint of robot gets around obstacle walking, when running into narrow passage, four supporting legs of robot can become erectility to pass through tunnel, when robot runs into low flat passage, passable four supporting legs of robot pass through tunnel with deployed condition, camera oscillating motor on fuselage drives camera to swing up and down, camera rotary electric machine on fuselage 360 degree rotation, on object around shooting robot, camera oscillating motor and camera rotary electric machine synergy, make camera can take object around tunnel, so that be clear that the situation of mine, whether there are the people and object that need to rescue, comprehensive sensor on fuselage can detect the gas concentration in temperature in tunnel, humidity, sound and air, ground rescue center can know clearly underworkings situation, if the situation of noting abnormalities, signal will be beamed back ground controller by controller in time, rescue group formulates rescue scenario rapidly, organizes and implements and rescues.After detection, robot turns back to Shaft Location, and then each supporting leg of robot becomes vertical state, by rope, robot and bus is moved to the ground on mine top, and robot probe's operation completes.
Claims (8)
1. a mining tunnel detection quadruped robot, it is characterized in that, it comprises fuselage, first supporting leg, second supporting leg, 3rd supporting leg, 4th supporting leg, camera, comprehensive sensor and controller, described first supporting leg comprises the first shank, first thigh and the first thigh terminal pad, described first thigh terminal pad is fixed with the first waist motor and the first thigh motor, the mouth of described first waist motor is fixedly connected with fuselage, the first thigh is fixed with at described first thigh motor output end, the first shank terminal pad is fixed with at the other end of described first thigh, hinged on described first shank terminal pad the first shank is installed, the first shank motor that driving first shank swings is provided with between described first shank and the first shank terminal pad, described second supporting leg comprises the second shank, the second thigh and the second thigh terminal pad, described second thigh terminal pad is fixed with the second waist motor and the second thigh motor, the mouth of described second waist motor is fixedly connected with fuselage, the second thigh is fixed with at described second thigh motor output end, the second shank terminal pad is fixed with at another two ends of described second thigh, hinged on described second shank terminal pad the second shank is installed, between described second shank and the second shank terminal pad, is provided with the second shank motor that driving second shank swings, described 3rd supporting leg comprises the 3rd shank, the third-largest leg and the third-largest leg terminal pad, described the third-largest leg terminal pad is fixed with the 3rd waist motor and the third-largest leg motor, the mouth of described 3rd waist motor is fixedly connected with fuselage, the third-largest leg is fixed with at described the third-largest leg motor output end, the 3rd shank terminal pad is fixed with at another three ends of described the third-largest leg, hinged on described 3rd shank terminal pad the 3rd shank is installed, between described 3rd shank and the 3rd shank terminal pad, is provided with the 3rd shank motor that driving the 3rd shank swings, described 4th supporting leg comprises the 4th shank, the fourth-largest leg and the fourth-largest leg terminal pad, described the fourth-largest leg terminal pad is fixed with the 4th waist motor and the fourth-largest leg motor, the mouth of described 4th waist motor is fixedly connected with fuselage, the fourth-largest leg is fixed with at described the fourth-largest leg motor output end, the 4th shank terminal pad is fixed with at another four ends of described the fourth-largest leg, hinged on described 4th shank terminal pad the 4th shank is installed, between described 4th shank and the 4th shank terminal pad, is provided with the 4th shank motor that driving the 4th shank swings,
Camera tumbler bearing is rotatablely equipped with at the top of described fuselage, the camera rotary electric machine driving camera tumbler bearing to rotate in horizontal surface is provided with at described fuselage bottom, described camera tumbler bearing is fixed with camera oscillating motor, be fixed with camera at the mouth of described camera oscillating motor, described camera can at vertical rotation in surface;
Described fuselage is provided with comprehensive sensor, and described comprehensive sensor comprises temperature sensor, humidity sensor, sound transducer and gas concentration sensor, and described comprehensive sensor is connected with controller signals, and described controller is fixed on fuselage.
2. a kind of mining tunnel detection quadruped robot according to claim 1, it is characterized in that, described first shank motor is fixed on the first shank, and mouth and first thigh of described first shank motor are connected.
3. a kind of mining tunnel detection quadruped robot according to claim 1, it is characterized in that, described second shank motor is fixed on the second shank, and mouth and second thigh of described second shank motor are connected.
4. a kind of mining tunnel detection quadruped robot according to claim 1, it is characterized in that, described 3rd shank motor is fixed on the 3rd shank, and mouth and the third-largest leg of described 3rd shank motor are connected.
5. a kind of mining tunnel detection quadruped robot according to claim 1, it is characterized in that, described 4th shank motor is fixed on the 4th shank, and mouth and the fourth-largest leg of described 4th shank motor are connected.
6. a kind of mining tunnel detection quadruped robot according to claim 1, it is characterized in that, the flat board that described fuselage comprises rectangle and the gusset be arranged on dull and stereotyped four angles, four described clamping plate are connected with corresponding first, second, third and fourth waist motor output end respectively.
7. a kind of mining tunnel detection quadruped robot according to claim 6, it is characterized in that, described gusset is circular configuration.
8. a kind of mining tunnel detection quadruped robot according to claim 1, is characterized in that, described camera tumbler bearing comprises three transverse slats setting up and down and a riser, and described riser and three transverse slats are connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510833947.5A CN105383587A (en) | 2015-11-25 | 2015-11-25 | Four-leg robot for detecting mine tunnel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510833947.5A CN105383587A (en) | 2015-11-25 | 2015-11-25 | Four-leg robot for detecting mine tunnel |
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| CN201510833947.5A Pending CN105383587A (en) | 2015-11-25 | 2015-11-25 | Four-leg robot for detecting mine tunnel |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272473A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of intelligence mountain climate sniffing robot |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN107024565A (en) * | 2017-04-10 | 2017-08-08 | 金华知产婺源信息技术有限公司 | A kind of intelligent gas detection means and method |
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for electric-drive quadruped robot |
| CN109572853A (en) * | 2019-01-28 | 2019-04-05 | 厦门大学嘉庚学院 | A kind of full landform carrier of foot wheel construction |
| CN109677503A (en) * | 2019-03-05 | 2019-04-26 | 长沙紫宸科技开发有限公司 | A kind of Multifunctional foot for polypody bio-robot |
| CN110126938A (en) * | 2019-05-24 | 2019-08-16 | 北京深醒科技有限公司 | A kind of quadruped robot suitable for security protection patrol |
| CN111002307A (en) * | 2019-11-20 | 2020-04-14 | 山东大学 | Leg-foot type bionic robot dog with visual navigation and control method thereof |
| CN111844037A (en) * | 2020-07-22 | 2020-10-30 | 中北大学 | Quadruped robot with autonomous environment cognitive function |
| CN112746865A (en) * | 2021-02-03 | 2021-05-04 | 安徽理工大学 | Unmanned detection robot for complex conditions of closed-pit abandoned mine |
| CN113777670A (en) * | 2021-09-10 | 2021-12-10 | 成都工业学院 | Search and rescue detector for disaster site |
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| CN109572853A (en) * | 2019-01-28 | 2019-04-05 | 厦门大学嘉庚学院 | A kind of full landform carrier of foot wheel construction |
| CN109677503A (en) * | 2019-03-05 | 2019-04-26 | 长沙紫宸科技开发有限公司 | A kind of Multifunctional foot for polypody bio-robot |
| CN110126938A (en) * | 2019-05-24 | 2019-08-16 | 北京深醒科技有限公司 | A kind of quadruped robot suitable for security protection patrol |
| CN111002307A (en) * | 2019-11-20 | 2020-04-14 | 山东大学 | Leg-foot type bionic robot dog with visual navigation and control method thereof |
| CN111844037A (en) * | 2020-07-22 | 2020-10-30 | 中北大学 | Quadruped robot with autonomous environment cognitive function |
| CN112746865A (en) * | 2021-02-03 | 2021-05-04 | 安徽理工大学 | Unmanned detection robot for complex conditions of closed-pit abandoned mine |
| CN113777670A (en) * | 2021-09-10 | 2021-12-10 | 成都工业学院 | Search and rescue detector for disaster site |
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Application publication date: 20160309 |