CN107139159A - There are line traffic control coal mine rescue detection robot and its drawing cable method - Google Patents

There are line traffic control coal mine rescue detection robot and its drawing cable method Download PDF

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Publication number
CN107139159A
CN107139159A CN201710548015.5A CN201710548015A CN107139159A CN 107139159 A CN107139159 A CN 107139159A CN 201710548015 A CN201710548015 A CN 201710548015A CN 107139159 A CN107139159 A CN 107139159A
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China
Prior art keywords
cable
swing arm
motor
wheel
robot
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Granted
Application number
CN201710548015.5A
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Chinese (zh)
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CN107139159B (en
Inventor
马宏伟
马琨
王川伟
薛旭升
尚万峰
夏晶
刘鹏
杨林
王岩
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Xian University of Science and Technology
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Xian University of Science and Technology
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Priority to CN201710548015.5A priority Critical patent/CN107139159B/en
Publication of CN107139159A publication Critical patent/CN107139159A/en
Application granted granted Critical
Publication of CN107139159B publication Critical patent/CN107139159B/en
Active legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans
    • B65H75/34Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B65H75/425Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans
    • B65H75/34Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44Constructional details
    • B65H75/4481Arrangements or adaptations for driving the reel or the material
    • B65H75/4484Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00Handled material; Storage means
    • B65H2701/30Handled filamentary material
    • B65H2701/34Handled filamentary material electric cords or electric power cables

Abstract

There are line traffic control coal mine rescue detection robot and its drawing cable method the invention discloses one kind, it has line traffic control coal mine rescue detection robot to include being provided with cable winding apparatus in robot body and the drawing cable case being arranged at the top of robot body, drawing cable case;Robot body includes fuselage casing, two traveling crawler components and four swing arm crawler components, and fuselage casing includes nowel cavity, top box cavity, sensor cavity, three gear cavitys and two support wheel cavitys;Cable winding apparatus includes drawing cable motor and the synchronous belt drive mechanism being connected with the output shaft of drawing cable motor, and the cable spooler and wire-arranging mechanism being all connected with synchronous belt drive mechanism;Its drawing cable method includes step:First, connection cables;2nd, folding and unfolding cable.Drawing cable of the present invention is in order, elastic suitable, reduces cable and the problem of winding, fracture occurs, ensure that the stable transmission of control signal and related sensor information and power supply.

Description

There are line traffic control coal mine rescue detection robot and its drawing cable method
Technical field
The invention belongs to intelligent robot technology field, and in particular to one kind has line traffic control coal mine rescue detection robot And its drawing cable method.
Background technology
After the accidents such as gas explosion, landslide occur for underground coal mine or under other disaster environment, surrounding environment is to seriously Destruction, disaster-stricken environmental information can not be transferred directly to rescue command center, and rescue personnel can not be engaged in rescue action, serious shadow Rescue efficiency is rung, rescue personnel bears huge life risk.So in the urgent need to rescue robot explores calamity under complex environment Difficult environmental information, and disaster environmental information is sent to rescue command center.But meanwhile, disaster environment is sufficiently complex, and this is just needed Want robot to carry out autonomous control according to environmental information, find signal source, and disaster environmental information is sent to rescue Commanding.
On the other hand, power supply is the power source for ensureing robot work, and communication system is to ensure mobile robot and control The transmitted in both directions of information between platform processed so that operating personnel result in scene and robot oneself state and action message, from And effectively to supervisory control of robot and remote operating.Robot power supply mode has that external power source is powered and battery is powered two kinds, external electrical Source, which powers, needs circumscripted power line, and battery powered endurance is poor;Robot communication modes have wireless telecommunications and cable modem Two kinds of news, it is the wireless module small volume of wireless telecommunications, easy to use, but the bit error rate of data transfer is higher, it is easily dry by electromagnetism Disturb, transmission has hysteresis.Under mine, in the tunnel environment such as bomb shelter, communication distance is short, in the serious field of electromagnetic interference Institute can not also use.And when being powered using external power source with wire communication, the stabilization of these cables of power line and connection can It is to ensure that there is the necessary condition of line traffic control and completion detection mission in robot by folding and unfolding.Wired control machine people will cross all kinds of Obstacle, cable is probably scratched or occurs to wind and influence the travelling performance of robot, and this is just to wired control machine People and its drawing cable mode propose requirement.At present, for the drawing cable of wired control machine people, typically have towing cable and Cable laying two ways.Towing cable mode refers to that cable one end is connected in robot, and storage cable device such as cable capstan winch is placed on control End, dragging cable makes its release reach the purpose for extending power supply distance and communication distance during robot advances;Cable laying side Formula refers to that the storage cable device of cable is arranged in robot, and with robot movement, actively or passively the extension of release cable is supplied Electrical distance and communication distance.During using towing cable mode, as robot moves the extension with cable, the friction on cable and ground Resistance gradually increases, and the easy jam of cable under complicated terrain environment, causes disconnected cable phenomenon, thus it is general landform compared with Used in the case of for smooth short distance communication.The situation that can reduce disconnected cable using cable laying mode occurs, still, existing Passive cable laying, such as Ph.D. Dissertation prosperous Li Yun are used cable laying in technology more《Mine Disaster Relief Robot walking mechanism is ground Study carefully》The cable-laying device provided in one text, is made up of optical fiber reel and support, by the way of passive cable laying, and only cable is rolled up Bent mechanism, without power source and wire-arranging mechanism, cable laying can be realized preferably substantially, still, drawn over to one's side and adopted manually, It is difficult to realize to draw over to one's side well when cable laying is longer, it so also just have impact on next cable laying;For this reason, it may be necessary to consider active cable laying Mode, when robot stabilized reliably cable laying and being drawn over to one's side with realizing, and using active cable laying, in addition it is also necessary to consider asking for control Topic, to reach best control stability and validity.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing one kind has line traffic control Coal mine rescue detection robot processed, its compact conformation, novel in design rationally intelligence degree is high, job stability and reliability Height, in order, elastic suitable, stability and validity are good for drawing cable, reduce cable and the problem of winding, fracture occur, can Ensure the stable transmission of control signal and related sensor information and power supply, practical, using effect is good, is easy to popularization to make With.
In order to solve the above technical problems, the technical solution adopted by the present invention is:One kind has line traffic control coalmine rescue explorer Device people, it is characterised in that:Including robot body and the drawing cable case being arranged at the top of robot body, the cable is received Put and cable winding apparatus is provided with case;
The robot body includes fuselage casing, two traveling crawler components and four swing arm crawler components, the machine Body casing includes nowel cavity, top box cavity, sensor cavity, three gear cavitys and two support wheel cavitys, the top box Cavity is arranged on the top of nowel cavity, and the sensor cavity is arranged on front side of the top of top box cavity, three gears Cavity is respectively front gear cavity, left back gear cavity and right backgear cavity, and the front gear cavity is arranged on nowel cavity Front side, the left back gear cavity is arranged on the left rear side of nowel cavity, and the right backgear cavity is arranged on nowel The right rear side of cavity, two support wheel cavitys are respectively left support wheel cavity and right support wheel cavity, the left support Wheel cavity is arranged on the left side of nowel cavity, and the right support wheel cavity is arranged on the right side of nowel cavity;Two traveling crawlers Component is respectively that the left lateral being arranged on left support wheel cavity walks track assembly and the right lateral that is arranged on right support wheel cavity is walked Track assembly, four swing arm crawler components are respectively to be arranged on left front swing arm crawler components on front side of left support wheel cavity, setting Left rear swing arm track assembly on rear side of left support wheel cavity, the right front swing arm crawler belt group being arranged on front side of right support wheel cavity Part and the right rear-swing arm track assembly being arranged on rear side of right support wheel cavity;It is provided with the nowel cavity for driving a left side The left movable motor of traveling crawler component and for driving right lateral to walk the right movable motor of track assembly;And for driving a left side The left front swing arm motor of front swing arm track assembly, the left rear swing arm motor for driving left rear swing arm track assembly, for driving The right front swing arm motor of right front swing arm track assembly and the right rear-swing arm motor for driving right rear-swing arm track assembly;It is described The left movable motor encoder detected in real time for the rotating speed to left movable motor is installed on left movable motor, it is described The right movable motor encoder detected in real time for the rotating speed to right movable motor is installed on right movable motor;It is described The outside front side of nowel cavity is provided with the ultrasonic sensor for being detected to the barrier in front of rescue robot; Robot control computer, battery, transformer, motor driver group and 3-dimensional digital compass are provided with the top box cavity; The motor driver group includes left movable motor driver, right movable motor driver, left front swing arm motor driver, the right side Front swing arm motor driver, left rear swing arm motor driver and right rear-swing arm motor driver, the left movable motor coding Device, right movable motor encoder and ultrasonic sensor are connected with the input of robot control computer, and the left lateral is walked Motor driver, right movable motor driver, left front swing arm motor driver, right front swing arm motor driver, left rear swing arm electricity Machine driver and right rear-swing arm motor driver are connected with the output end of robot control computer, the left movable motor It is connected with the output end of left movable motor driver, the right movable motor is connected with the output end of right movable motor driver, The left front swing arm motor is connected with the output end of left front swing arm motor driver, the right front swing arm motor and right front swing arm The output end connection of motor driver, the left rear swing arm motor is connected with the output end of left rear swing arm motor driver, described Right rear-swing arm motor is connected with the output end of right rear-swing arm motor driver;Environmental information is provided with the sensor cavity body Sensor, binocular vision sensor, laser radar sensor and illuminating lamp;The output end of the environmental information sensor, binocular The output end of vision sensor and the output end of laser radar sensor are connected with the input of robot control computer; The left front pendulum for the power of left front swing arm motor to be passed to left front swing arm crawler components is provided with the front gear cavity Arm gear transmission component, the right forward swing arm gear for the power of right front swing arm motor to be passed to right front swing arm track assembly Transmission component, the left lateral of track assembly is walked for the power of left movable motor to be passed into left lateral walk gear-driven assembly and use Gear-driven assembly is walked in the power of right movable motor being passed into right lateral walking the right lateral of track assembly;The left back gear cavity The left rear swing arm gear drive for the power of left rear swing arm motor to be passed to left rear swing arm track assembly is provided with vivo It is provided with component, the right backgear cavity for the power of right rear-swing arm motor to be passed into right rear-swing arm track assembly Right rear-swing arm gear-driven assembly;Left shock bracket is provided with the left support wheel cavity and installed in left shock bracket On left shock-absorbing support wheel assembly, the left support wheel containment portion is provided with for the barrier on the left of rescue robot The left infrared sensor detected;Right shock bracket is provided with the right support wheel cavity and installed in right shock bracket On right shock-absorbing support wheel assembly, the right support wheel containment portion is provided with for the barrier on the right side of rescue robot The right infrared sensor detected;The left infrared sensor and right infrared sensor with robot control computer Input is connected;
The cable winding apparatus includes drawing cable motor and the timing belt being connected with the output shaft of drawing cable motor Transmission mechanism, and the cable spooler and wire-arranging mechanism being all connected with synchronous belt drive mechanism;The toothed belt transmission machine Structure include it is main driving synchronous pulley, reel driving synchronous pulley and leading screw driving synchronous pulley, it is described it is main driving synchronous pulley and Bridging has reel to drive timing belt, reel driving synchronous pulley and leading screw the driving timing belt on reel driving synchronous pulley Bridging has leading screw to drive timing belt on wheel, and the main driving synchronous pulley is fixedly connected on the output shaft of drawing cable motor; The cable spooler includes reel and spaced first roller stand and the second roller stand, the first volume It is provided with tube stent on the first reel bearing, the first reel bearing and reel drive shaft is installed, the reel driving is same Step belt wheel is fixedly connected in reel drive shaft, is fixedly connected with reel driving wheel in the reel drive shaft, the reel with Reel driving wheel is fixedly connected;It is provided with roll support axle, the roll support axle and is provided with second roller stand Reel supporting roller is installed, the reel is fixed with reel supporting roller to be connected on the second reel bearing, the second reel bearing Connect;The wire-arranging mechanism includes two-way leading screw and spaced first leading screw support and the second leading screw support, described first It is provided with leading screw support on the first leading screw bearing, the second leading screw support and is provided with the second leading screw bearing, the two-way silk One end of thick stick is arranged in the first leading screw bearing, and the other end of the two-way leading screw is arranged in the second leading screw bearing, the silk Thick stick driving synchronous pulley is fixedly connected on two-way leading screw, and screw slider, described first are threaded with the two-way leading screw Leading screw support and the second leading screw support restocking are provided with the optical axis parallel with two-way leading screw, and the optical axis passes through and is arranged on leading screw It is provided with to be provided with the wire block for winding displacement, the wire block at the top of pilot hole on sliding block, the screw slider and is provided with The wire guide that the cable of line traffic control coal mine rescue detection robot is passed through.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:The environmental information sensor includes temperature Spend sensor, oxygen sensor, methane transducer and carbon monoxide transducer.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:The left front swing arm crawler components, the right side Front swing arm track assembly, left rear swing arm track assembly are identical with the structure of right rear-swing arm track assembly and include arm shaft, pendulum Arm support and the swing arm front-wheel for being rotatably connected on oscillating arm bracket front end and the swing arm driving for being rotatably connected on oscillating arm bracket rear end Wheel, the arm shaft is connected by spline with oscillating arm bracket, is rotatably connected to and is oppositely arranged up and down in the middle part of the oscillating arm bracket Swing arm on support wheel under support wheel and swing arm, the diameter of the swing arm front-wheel is less than the diameter of swing arm driving wheel, the swing arm Under support wheel, swing arm driving wheel and swing arm there be on swing arm rubber belt track, the arm shaft bridging on support wheel on front-wheel, swing arm Swing arm quill is rotatably connected to by bearing, the swing arm driving wheel is fixedly connected in swing arm quill;
The left front swing arm gear transmission component, right front swing arm gear-driven assembly, left rear swing arm gear-driven assembly and The structure of right rear-swing arm gear-driven assembly is identical and includes swing arm motor bevel gear and engages with swing arm motor bevel gear Swing arm shaft bevel gears, the swing arm motor bevel gear is fixedly connected on left front swing arm motor, right front swing arm motor, left rear swing arm On the output shaft of motor or right rear-swing arm motor, the swing arm shaft bevel gears are fixedly connected with arm shaft;
The structure that the left lateral walks track assembly with right lateral walks track assembly is identical and includes positive transport wheel and driven Road wheel, and the walking rubber belt track being connected across on the positive transport wheel and the driven road wheel, the right lateral are walked to carry out It is fixedly connected on the positive transport wheel in component in the swing arm quill in right front swing arm track assembly, the right lateral is walked to carry out It is fixedly connected on the driven road wheel in component in the swing arm quill in right rear-swing arm track assembly, the left lateral is walked to carry out It is fixedly connected on the positive transport wheel in component in the swing arm quill in left front swing arm crawler components, the left lateral is walked to carry out It is fixedly connected on the driven road wheel in component in the swing arm quill in left rear swing arm track assembly, the active walking Wheel is equal with the diameter of driven road wheel;
The structure that the left lateral walks gear-driven assembly with right lateral walks gear-driven assembly is identical and includes movable motor Bevel gear and the road wheel bevel gear engaged with movable motor bevel gear, the movable motor bevel gear are fixedly connected on left lateral On the output shaft for walking motor or right movable motor, the road wheel bevel gear is fixedly connected with swing arm quill.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:The left shock-absorbing support wheel assembly includes Three left shock-absorbing support wheel groups, each left shock-absorbing support wheel group includes the left damping being fixedly connected with left shock bracket Wheel fixed plate and the left damping wheel connecting plate being connected with left damping wheel fixed plate by the rotation of left damping wheel rotary shaft, the left side The two ends of damping wheel connecting plate are respectively rotatably connected to wherein two in a left damping wheel, three left shock-absorbing support wheel groups Another in the individual bottom for being arranged on left shock bracket, three left shock-absorbing support wheel groups is arranged on left shock bracket Top, be fixedly connected with the left damping backplate for covering three left shock-absorbing support wheel groups in the left shock bracket;
The right shock-absorbing support wheel assembly includes three right shock-absorbing support wheel groups, and each right shock-absorbing support wheel group is equal Pass through right damping wheel rotary shaft including the right damping wheel fixed plate being fixedly connected with right shock bracket and with right damping wheel fixed plate The right damping wheel connecting plate of connection is rotated, the two ends of the right damping wheel connecting plate are respectively rotatably connected to a right damping wheel, three Two of which in the individual right shock-absorbing support wheel group is arranged on the bottom of right shock bracket, three right shock-absorbing support wheels Another in group is arranged in the top of right shock bracket, the right shock bracket to be fixedly connected with and covers three right sides and subtract Shake the right damping backplate of support wheel group.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:The first reel bearing, volume Two Cylinder bearing, the first leading screw bearing and the second leading screw bearing are taper roll bearing.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:Light is installed in the roll support axle Electric slip ring.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:The reel is driven by screw and reel Driving wheel is fixedly connected;The reel is fixedly connected by screw with reel supporting roller;The wire block is slided by screw and leading screw Block is fixedly connected.
Above-mentioned has line traffic control coal mine rescue detection robot, it is characterised in that:It is provided with the drawing cable motor For the drawing cable motor encoder detected in real time to the number of turns that drawing cable motor is turned over.
The invention also discloses a kind of method and step it is simple, realize it is convenient, by discharging or collecting length and machine by cable Device people's travel distance is compared, enable to cable to discharge or collect length is engaged with robot ambulation distance, makes all the time Drawing cable it is orderly, it is elastic it is suitable, reduce that the problem of winding, fracture occurs in cable have the detection of line traffic control coalmine rescue The drawing cable method of robot, it is characterised in that this method comprises the following steps:
Step 1: connection cables:After the cable cable for having line traffic control coal mine rescue detection robot is wrapped on reel first Through photoelectricity slip ring, the wire guide for being then passed through being arranged on wire block is connected with REMOTE MACHINE people's control cabinet;The REMOTE MACHINE It is provided with people's control cabinet on remote controller, the REMOTE MACHINE people control cabinet and is provided with remote control computer, it is described remote The first communication circuit module for connecting remote controller and remote control computer, the distal end are connected on side controller The second communication circuit module for connecting robot control computer, the robot control are connected with control computer The third communication circuit module for being communicated with the second communication circuit module, the drawing cable motor are connected with computer The input connection of encoder and remote controller, the output of the remote controller is terminated with drawing cable motor driver, The drawing cable motor is connected with the output end of drawing cable motor driver;
Step 2: folding and unfolding cable, its detailed process is:
Step 201, have line traffic control coal mine rescue detection robot walking before, check the cable number of plies n being wrapped on reel With the row m of every layer of arrangement, remote control computer is inputted;And remote control computer is operated, set left movable motor and the right side The rotating speed of movable motor is ω2, the length L of cable releasexAnd have line traffic control coal mine rescue detection robot walk apart from S Difference threshold X, and the length L that cable is collectedx' with there is the difference apart from S of line traffic control coal mine rescue detection robot walking Value threshold X ';Wherein, n value is 1~6 integer, and m value is 1~20 integer;
Step 202, remote control computer are according to formula ω1=(D2·ω2)/(D+2 (n-1) d) calculate obtain cable The rotational speed omega of the drawing cable motor of draw off gear1, wherein, D is the diameter of reel, D2For the diameter of positive transport wheel, d is line Cable diameter;
The rotating speed of left movable motor and right movable motor is passed through the second telecommunication circuit by step 203, remote control computer Module, cable and third communication circuit module are transferred to robot control computer, and robot control computer is walked by left lateral Motor driver drives left movable motor, and drives right movable motor by right movable motor driver, makes have line traffic control colliery Rescue and detection robot is advanced or retreated with the rotating speed set;
When there is the advance of line traffic control coal mine rescue detection robot, remote control computer controlling cable retracting motor is driven Dynamic device drives cable retracting motor with rotational speed omega1Rotate forward and carry out cable release, meanwhile, drawing cable motor encoder is to cable The number of turns that retracting motor is turned over is periodically detected and gives remote control computer by the signal output detected, is often detected Once, remote control computer is just according to formula Lx=L-m π [nD+n (n-1) d] calculate the length for obtaining cable release Lx, and according to formula S=i π D2·ω2T calculate obtain the walking of wired control coal mine rescue detection robot apart from S, Again to there is the length L discharged apart from S and cable of line traffic control coal mine rescue detection robot walkingxIt is compared, works as S>Lx When, the tension force on cable can increase, and now, remote control computer passes through drawing cable motor driver controlling cable folding and unfolding The rotating speed increase of motor, makes cable rate of release keep up with the speed of travel of line traffic control coal mine rescue detection robot;Work as S= LxWhen, remote control computer continues controlling cable retracting motor driver and drives cable retracting motor with rotational speed omega1Just rotate into Line cable discharges;Work as S<LxWhen, remote control computer is again by LxIt is compared with S difference with X, works as LxDifference with S is big When X, illustrate the excessive velocities of cable release, remote control computer is received by drawing cable motor driver controlling cable The rotating speed of Electrical Discharge Machine reduces, and works as LxWhen being less than X with S difference, illustrate the rate of release of cable also in rational scope, far Hold control computer to continue controlling cable retracting motor driver and drive cable retracting motor with rotational speed omega1Rotate forward and carry out cable Release;
When there is the retrogressing of line traffic control coal mine rescue detection robot, remote control computer controlling cable retracting motor is driven Dynamic device drives cable retracting motor with rotational speed omega1Reversion carries out cable and collected, meanwhile, drawing cable motor encoder is to cable The number of turns that retracting motor is turned over is periodically detected and gives remote control computer by the signal output detected, is often detected Once, remote control computer is just according to formula L 'x=L-m π [nD+n (n-1) d] are calculated and are obtained the length that cable is collected L′x, and according to formula S=i π D2·ω2T calculate obtain the walking of wired control coal mine rescue detection robot apart from S, Again to there is the length L ' collected apart from S and cable of line traffic control coal mine rescue detection robot walkingxIt is compared, works as S<L′x When, the tension force on cable can increase, and now, remote control computer passes through drawing cable motor driver controlling cable folding and unfolding The rotating speed of motor reduces, and cable rate of release is kept up with the speed of travel of line traffic control coal mine rescue detection robot;Work as S= L′xWhen, remote control computer continues controlling cable retracting motor driver and drives cable retracting motor with rotational speed omega1Invert into Line cable is collected;Work as S>L′xWhen, remote control computer is again by S and L 'xDifference be compared with X ', as S and L 'xDifference During more than X ', illustrate that the speed that cable is collected is excessively slow, remote control computer passes through drawing cable motor driver control line The rotating speed increase of cable retracting motor, as S and L 'xDifference be less than X ' when, illustrate the rate of release of cable also in rational scope Interior, remote control computer continues controlling cable retracting motor driver and drives cable retracting motor with rotational speed omega1Reversion is carried out Cable is collected;
Wherein, L is cable total length, and i is has line traffic control coal mine rescue detection robot walking gearratio, and t is to have line traffic control The time of coal mine rescue detection robot walking processed;
In step 2, when drawing cable motor is rotated, main driving synchronous pulley is driven to rotate, main driving synchronous pulley leads to Cross reel driving timing belt band movable reel driving synchronous pulley to rotate, reel driving synchronous pulley drives timing belt by leading screw Leading screw driving synchronous pulley is driven to rotate, reel driving synchronous pulley realizes the transmission of moment of torsion, reel as intermediate conveyor wheel Synchronous pulley is driven to drive the cable spooler action, leading screw driving synchronous pulley drives the wire-arranging mechanism action;Its In, the action process of the cable spooler is:Reel driving synchronous pulley band movable reel drive shaft turns, reel driving Axle band movable reel driving wheel is rotated, and then drives spool turns, is realized the release of cable and is collected;The wire-arranging mechanism it is dynamic It is as process:Reel driving synchronous pulley drives two-way leading screw to rotate, by the cooperation of two-way leading screw and screw slider rotation It is changed into moving left and right for screw slider, wire block is moved with screw slider, has line traffic control using the mobile realization of wire block The arrangement of the cable of coal mine rescue detection robot processed, the cable for having line traffic control coal mine rescue detection robot is fitly twined It is wound on reel.
The present invention has advantages below compared with prior art:
1st, the present invention has the compact conformation of line traffic control coal mine rescue detection robot, novel in design reasonable, and it is convenient to realize.
2nd, four swing arm crawler components of the invention include four independent motors, four swing arm crawler components Independent 360 ° of rotary motions can be realized, the multi-pose change of body are realized, while four swing arm crawler components energy of robot It is enough individually to disassemble, facilitate the installation and debugging of robot.
3rd, two traveling crawler components of the invention include two independent motors, advance, the retroversion of robot And divertical motion can be by controlling the speed of two motors to realize, in the divertical motion of robot, robot is with different speed During degree difference traveling, the motion of different turning radius can be achieved, two traveling crawler component speeds are equal in magnitude when robot, side To it is opposite when, robot can realize no-radius divertical motion.
4th, the present invention's has line traffic control coal mine rescue detection robot to include a variety of environmental sensors, such as 3-dimensional digital Compass, laser sensor, infrared sensor, binocular vision sensor etc., being capable of complete perception robot running environment, realization Automatic obstacle-avoiding.
5th, the present invention has the intelligence degree of line traffic control coal mine rescue detection robot high, job stability and reliability Height, the job stability and reliability of cable winding apparatus therein is high.
6th, cable winding apparatus of the invention, by synchronous belt drive mechanism, three moulds of cable spooler and wire-arranging mechanism Block constitute, the folding and unfolding and arrangement of cable are realized using a drawing cable motor, and can realize cable active release and Collect, with being only capable of passively releasing cable in the prior art, it is impossible to which the automatic passive cable laying mode for collecting cable is compared, Neng Goushi Existing line traffic control coal mine rescue detection robot reliablely and stablely cable laying and is drawn over to one's side, and drawing cable is in order, elastic suitable, surely Qualitative and validity is good.
7th, cable winding apparatus of the present invention is simple in construction, reasonable in design, realizes that convenient and cost is low.
8th, cable winding apparatus of the invention can realize the active release of cable and collect and have line traffic control coalmine rescue Sniffing robot walking is engaged, can be have line traffic control coal mine rescue detection robot to have line traffic control to set up stable logical Believe circuit, it is ensured that the stable transmission of control signal and related sensor information and power supply.
9th, the present invention has the drawing cable method and step of line traffic control coal mine rescue detection robot simple, and it is convenient to realize, leads to Cross to discharge or collect length cable and be compared with robot ambulation distance, enable to cable to discharge or collect the length beginning It is engaged eventually with robot ambulation distance so that drawing cable is in order, elastic suitable, reduces cable and winding occur, is broken Problem.
10th, the present invention's is practical, and using effect is good, is easy to promote the use of.
In summary, rationally, intelligence degree is high for modern design of the invention, and job stability and reliability are high, cable In order, elastic suitable, stability and validity are good for folding and unfolding, reduce cable and the problem of winding, fracture occur, ensure that control The stable transmission of signal and related sensor information processed and power supply, practical, using effect is good, is easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 has the structural representation of line traffic control coal mine rescue detection robot for the present invention.
Fig. 2 is the structural representation of robot body of the present invention.
Fig. 3 is the vertical view top box cavity sectional view of robot body of the present invention.
Fig. 4 is the vertical view nowel cavity sectional view of robot body of the present invention.
Fig. 5 is behind left front swing arm crawler components of the invention, right front swing arm track assembly, left rear swing arm track assembly or the right side The structural representation of swing arm crawler components.
Fig. 6 is Fig. 5 vertical view cutaway drawing.
Fig. 7 is the annexation schematic diagram of positive transport wheel of the present invention, swing arm quill and arm shaft.
Fig. 8 is the internal structure schematic diagram of left support wheel cavity of the present invention.
Fig. 9 is Fig. 8 upward view.
Figure 10 is the internal structure schematic diagram of right support wheel cavity of the present invention.
Figure 11 is Figure 10 upward view.
Figure 12 is the structural representation of cable winding apparatus of the present invention.
Figure 13 is the structural representation of synchronous belt drive mechanism of the present invention.
Figure 14 is the structural representation of cable spooler of the present invention.
Figure 15 is the structural representation of wire-arranging mechanism of the present invention.
Figure 16 is the annexation schematic diagram of robot control computer of the present invention and other each units.
Figure 17 has the method flow block diagram of the drawing cable method of line traffic control coal mine rescue detection robot for the present invention.
Description of reference numerals:
1-left front swing arm crawler components;2-left support wheel cavity;3-left rear swing arm track assembly;
4-left lateral walks track assembly;5-robot body;6-right rear-swing arm track assembly;
7-right lateral walks track assembly;8-top box cavity;9-sensor cavity;
10-right front swing arm track assembly;11-swing arm motor bevel gear;12-swing arm shaft bevel gears;
13-movable motor bevel gear;14-positive transport wheel;15-road wheel bevel gear;
16-driven road wheel;17-nowel cavity;18-left movable motor;
19-left front swing arm motor;20-3-dimensional digital compass;21-battery;
22-motor driver group;22-1-right movable motor driver;
22-2-left movable motor driver;22-3-right front swing arm motor driver;
22-4-right rear-swing arm motor driver;22-5-left front swing arm motor driver;
22-6-left rear swing arm motor driver;23-robot control computer;
24-transformer;25-remote monitoring computer;26-drawing cable case;
27-environmental information sensor;27-1-temperature sensor;27-2-oxygen sensor;
27-3-methane transducer;27-4-carbon monoxide transducer;
28-binocular vision sensor;29-laser radar sensor;
30-illuminating lamp;31-arm shaft;32-oscillating arm bracket;
33-swing arm front-wheel;34-swing arm driving wheel;Support wheel in 35-swing arm;
Support wheel under 36-swing arm;37-swing arm rubber belt track;38-bearing;
39-swing arm quill;40-walking rubber belt track;41-right movable motor;
42-right shock bracket;43-right damping wheel fixed plate;44-right damping wheel rotary shaft;
45-right damping wheel connecting plate;46-right damping wheel;47-right damping backplate;
48-right shock-absorbing support wheel group;49-left shock bracket;50-left damping wheel fixed plate;
51-left damping wheel rotary shaft;52-left damping wheel connecting plate;53-left damping wheel;
54-left damping backplate;55-left shock-absorbing support wheel group;56-right front swing arm motor;
57-right rear-swing arm motor;58-left rear swing arm motor;59-ultrasonic sensor;
60-right support wheel cavity;61-right infrared sensor;62-left infrared sensor;
63-front gear cavity;64-left back gear cavity;65-right backgear cavity;
66-cable winding apparatus;66-1-drawing cable motor;66-2-synchronous belt drive mechanism;
66-21-main driving synchronous pulley;66-22-reel driving timing belt;
66-23-reel driving synchronous pulley;66-24-leading screw driving timing belt;
66-25-leading screw driving synchronous pulley;66-3-cable spooler;
66-31-reel;The roller stands of 66-32-first;The roller stands of 66-33-second;
The reel bearings of 66-34-first;66-35-reel drive shaft;66-36-reel driving wheel;
66-37-roll support axle;The reel bearings of 66-38-second;66-39-reel supporting roller;
66-310-photoelectricity slip ring;66-4-wire-arranging mechanism;66-41-two-way leading screw;
The leading screw supports of 66-42-first;The leading screw supports of 66-43-second;The leading screw bearings of 66-44-first;
The leading screw bearings of 66-45-second;66-46-screw slider;66-47-optical axis;
66-48-wire block;66-49-wire guide;67-remote controller;
68-remote control computer;69-the first communication circuit module;70-the second communication circuit module;
71-third communication circuit module;72-drawing cable motor encoder;
73-drawing cable motor driver;74-1-right movable motor encoder;
74-2-left movable motor encoder.
Embodiment
As shown in figure 1, the present invention's has a line traffic control coal mine rescue detection robot, including robot body 5 and it is arranged on Cable winding apparatus 66 is provided with the drawing cable case 26 at the top of robot body 5, the drawing cable case 26;
As shown in Figure 2, Figure 3 and Figure 4, the robot body 5 includes fuselage casing, two traveling crawler components and four Individual swing arm crawler components, the fuselage casing includes nowel cavity 17, top box cavity 8, sensor cavity 9, three gear cavitys With two support wheel cavitys, the top box cavity 8 is arranged on the top of nowel cavity 17, and the sensor cavity 9 is arranged on On front side of the top of case cavity 8, three gear cavitys are respectively tooth behind front gear cavity 63, left back gear cavity 64 and the right side Cavity 65 is taken turns, the front gear cavity 63 is arranged on the front side of nowel cavity 17, and the left back gear cavity 64 is arranged on down The left rear side of case cavity 17, the right backgear cavity 65 is arranged on the right rear side of nowel cavity 17, two supports It is respectively left support wheel cavity 2 and right support wheel cavity 60 to take turns cavity, and the left support wheel cavity 2 is arranged on nowel cavity 17 Left side, the right support wheel cavity 60 is arranged on the right side of nowel cavity 17;Two traveling crawler components are respectively to be arranged on The right lateral that left lateral on left support wheel cavity 2 is walked track assembly 4 and is arranged on right support wheel cavity 60 walks track assembly 7, Four swing arm crawler components are respectively to be arranged on the left front swing arm crawler components 1 of the front side of left support wheel cavity 2, be arranged on left branch The left rear swing arm track assembly 3 of the rear side of support wheel cavity 2, the right front swing arm track assembly for being arranged on the front side of right support wheel cavity 60 10 and it is arranged on the right rear-swing arm track assembly 6 of the rear side of right support wheel cavity 60;It is provided with the nowel cavity 17 for driving Dynamic left lateral walks the left movable motor 18 of track assembly 4 and the right movable motor 41 for driving right lateral to walk track assembly 7;And For driving the left front swing arm motor 19 of left front swing arm crawler components 1, the left back pendulum for driving left rear swing arm track assembly 3 Arm motor 58, the right front swing arm motor 56 for driving right front swing arm track assembly 10 and for driving right rear-swing arm crawler belt group The right rear-swing arm motor 57 of part 6;It is provided with and is carried out in real time for the rotating speed to left movable motor 18 on the left movable motor 18 It is provided with the left movable motor encoder 74-2 of detection, the right movable motor 41 for the rotating speed to right movable motor 41 The right movable motor encoder 74-1 detected in real time;The outside front side of the nowel cavity 17 is provided with for rescue The ultrasonic sensor 59 that barrier in front of robot is detected;Robot control meter is provided with the top box cavity 8 Calculation machine 23, battery 21, transformer 24, motor driver group 22 and 3-dimensional digital compass 20;With reference to Figure 16, the motor driving Device group 22 include left movable motor driver 22-2, right movable motor driver 22-1, left front swing arm motor driver 22-5, Right front swing arm motor driver 22-3, left rear swing arm motor driver 22-6 and right rear-swing arm motor driver 22-4, the left side Movable motor encoder 74-2, right movable motor encoder 74-1 and ultrasonic sensor 59 with robot control computer 23 input connection, the left movable motor driver 22-2, right movable motor driver 22-1, left front swing arm motor drive Dynamic device 22-5, right front swing arm motor driver 22-3, left rear swing arm motor driver 22-6 and right rear-swing arm motor driver Output ends of the 22-4 with robot control computer 23 is connected, the left movable motor 18 and left movable motor driver 22- 2 output end connection, the right movable motor 41 is connected with right movable motor driver 22-1 output end, the left front pendulum Arm motor 19 is connected with left front swing arm motor driver 22-5 output end, the right front swing arm motor 56 and right front swing arm electricity Machine driver 22-3 output end connection, the output end of the left rear swing arm motor 58 and left rear swing arm motor driver 22-6 Connection, the right rear-swing arm motor 57 is connected with right rear-swing arm motor driver 22-4 output end;The sensor cavity 9 Inside it is provided with environmental information sensor 27, binocular vision sensor 28, laser radar sensor 29 and illuminating lamp 30;The ring The output end of the output end of environment information sensor 27, the output end of binocular vision sensor 28 and laser radar sensor 29 is equal It is connected with the input of robot control computer 23;In use, the binocular vision sensor 28 and laser radar sensor 29 are used to detect robot front obstacle information;Being provided with the front gear cavity 63 is used for left front swing arm motor 19 Power pass to the left front swing arm gear transmission component of left front swing arm crawler components 1, for by the dynamic of right front swing arm motor 56 Power passes to the right front swing arm gear-driven assembly of right front swing arm track assembly 10, for the power of left movable motor 18 to be passed Pass the left lateral that left lateral walks track assembly 4 and walk gear-driven assembly and for the power of right movable motor 41 to be passed into right lateral The right lateral for walking track assembly 7 walks gear-driven assembly;It is provided with the left back gear cavity 64 for left rear swing arm is electric The power of machine 58 is passed in the left rear swing arm gear-driven assembly of left rear swing arm track assembly 3, the right backgear cavity 65 It is provided with the right rear-swing arm gear drive group for the power of right rear-swing arm motor 58 to be passed to right rear-swing arm track assembly 3 Part;Left shock bracket 49 and the left shock-absorbing support wheel in left shock bracket 49 are provided with the left support wheel cavity 2 Component, the left support wheel containment portion is provided with left infrared for what is detected to the barrier on the left of rescue robot Sensor 62;Right shock bracket 42 is provided with the right support wheel cavity 60 and the right side in right shock bracket 42 subtracts It is provided with outside shake support wheel assembly, the right support wheel cavity 60 for being examined to the barrier on the right side of rescue robot The right infrared sensor 61 surveyed;The left infrared sensor 62 and right infrared sensor 61 with robot control computer 23 Input connection;The left support wheel cavity 2 and right support wheel cavity 60 are independent removable solution structure;
With reference to Figure 12, the cable winding apparatus 66 include drawing cable motor 66-1 and with drawing cable motor 66-1 Output shaft connection synchronous belt drive mechanism 66-2, and the cable coiling machine being all connected with synchronous belt drive mechanism 66-2 Structure 66-3 and wire-arranging mechanism 66-4;With reference to Figure 13, the synchronous belt drive mechanism 66-2 include main driving synchronous pulley 66-21, Reel drives synchronous pulley 66-23 and leading screw driving synchronous pulley 66-25, and main the driving synchronous pulley 66-21 and reel drive Bridging has reel to drive timing belt 66-22 on dynamic synchronous pulley 66-23, and the reel driving synchronous pulley 66-23 and leading screw drive Bridging has leading screw to drive timing belt 66-24, the main driving synchronous pulley 66-21 to be fixedly connected on dynamic synchronous pulley 66-25 On drawing cable motor 66-1 output shaft;With reference to Figure 14, the cable spooler 66-3 include reel 66-31 and It is provided with every on the first roller stand 66-32 and the second roller stand 66-33, the first roller stand 66-32 of setting Reel drive shaft 66-35, the reel driving are installed on the first reel bearing 66-34, the first reel bearing 66-34 Synchronous pulley 66-23 is fixedly connected on reel drive shaft 66-35, and reel is fixedly connected with the reel drive shaft 66-35 Driving wheel 66-36, the reel 66-31 are fixedly connected with reel driving wheel 66-36;Pacify on the second roller stand 66-33 Equipped with roll support axle 66-37, the second reel bearing 66-38, the volume Two are installed on the roll support axle 66-37 Reel supporting roller 66-39 is installed, the reel 66-31 is fixedly connected with reel supporting roller 66-39 on cylinder bearing 66-38;Knot Figure 15 is closed, the wire-arranging mechanism 66-4 includes two-way leading screw 66-41 and spaced first leading screw support 66-42 and the The first leading screw bearing 66-44, second leading screw are provided with two leading screw support 66-43, the first leading screw support 66-42 One end that the second leading screw bearing 66-45, the two-way leading screw 66-41 is provided with support 66-43 is arranged on the first lead screw shaft Hold in 66-44, the other end of the two-way leading screw 66-41 is arranged in the second leading screw bearing 66-45, the leading screw driving is same Step belt wheel 66-25 is fixedly connected on two-way leading screw 66-41, and screw slider is threaded with the two-way leading screw 66-41 66-46, the first leading screw support 66-42 and the second leading screw support 66-43 restockings are provided with parallel with two-way leading screw 66-41 Optical axis 66-47, the optical axis 66-47 passes through the pilot hole being arranged on screw slider 66-46, the screw slider 66-46 Top, which is provided with wire block 66-48, the wire block 66-48 for winding displacement to be provided with, is provided with the spy of line traffic control coalmine rescue Survey the wire guide 66-49 that the cable of robot is passed through.
The cable winding apparatus 66 of the present invention, not only including cable spooler 66-3, in addition to drawing cable motor 66-1, synchronous belt drive mechanism 66-2 and wire-arranging mechanism 66-4, synchronous tape transport 66-2 are used for drawing cable motor 66-1 power passes to cable spooler 66-3 and wire-arranging mechanism 66-4, can realize the active release of cable and collect, With being only capable of passively releasing cable in the prior art, it is impossible to which the automatic passive cable laying mode for collecting cable is compared, and can be realized wired Control coal mine rescue detection robot reliablely and stablely cable laying and is drawn over to one's side, and drawing cable is in order, elastic suitable, stability and Validity is good.
In the present embodiment, as shown in figure 16, the environmental information sensor 27 includes temperature sensor 27-1, oxygen and passed Sensor 27-2, methane transducer 27-3 and carbon monoxide transducer 27-4.
In the present embodiment, as shown in Figure 5 and Figure 6, the left front swing arm crawler components 1, right front swing arm track assembly 10, Left rear swing arm track assembly 3 it is identical with the structure of right rear-swing arm track assembly 6 and include arm shaft 31, oscillating arm bracket 32 with And be rotatably connected on the swing arm front-wheel 33 of the front end of oscillating arm bracket 32 and be rotatably connected on the swing arm driving wheel of the rear end of oscillating arm bracket 32 34, the arm shaft 31 is connected by spline with oscillating arm bracket 32, and the middle part of the oscillating arm bracket 32 is rotatably connected to phase up and down To support wheel 36 under support wheel 35 in the swing arm of setting and swing arm, the diameter of the swing arm front-wheel 33 is less than swing arm driving wheel 34 Diameter, bridging has pendulum on support wheel 36 under support wheel 35, swing arm driving wheel 34 and swing arm on the swing arm front-wheel 33, swing arm Swing arm quill 39, the swing arm driving wheel 34 are rotatably connected to by bearing 38 on arm rubber belt track 37, the arm shaft 31 It is fixedly connected in swing arm quill 39;When it is implemented, the swing arm driving wheel 34 is fixedly connected on swing arm set by flat key On cylinder axle 39;Put behind the left front swing arm crawler components 1, right front swing arm track assembly 10, left rear swing arm track assembly 3 and the right side Arm track assembly 6 employs the kind of drive of concentric shafts, and this mode is in transmission, swing arm quill 39 and the energy of arm shaft 31 Independent rotary motion is enough realized, non-interference motion simplifies space needed for robot transmission.The left front swing arm crawler belt Component 1, right front swing arm track assembly 10, left rear swing arm track assembly 3 and right rear-swing arm track assembly 6 can be disassembled individually, Facilitate the installation and debugging of rescue robot.
In the present embodiment, as shown in Figure 3 and Figure 4, the left front swing arm gear transmission component, right front swing arm gear drive Component, left rear swing arm gear-driven assembly are identical with the structure of right rear-swing arm gear-driven assembly and include swing arm motor cone Gear 11 and the swing arm shaft bevel gears 12 engaged with swing arm motor bevel gear 11, the swing arm motor bevel gear 11 are fixedly connected On the output shaft of left front swing arm motor 19, right front swing arm motor 56, left rear swing arm motor 58 or right rear-swing arm motor 57, institute Swing arm shaft bevel gears 12 are stated to be fixedly connected with arm shaft 31;
In the present embodiment, as shown in Fig. 3, Fig. 4 and Fig. 7, the left lateral walks track assembly 4 and right lateral walks track assembly 7 Structure is identical and includes positive transport wheel 14 and driven road wheel 16, and is connected across the positive transport wheel 14 and described Walking rubber belt track 40 on driven road wheel 16, the positive transport wheel 14 that the right lateral is walked in track assembly 7 is fixedly connected on In swing arm quill 39 in right front swing arm track assembly 10, the driven road wheel 16 that the right lateral is walked in track assembly 7 is fixed It is connected in the swing arm quill 39 in right rear-swing arm track assembly 6, the left lateral walks the positive transport wheel in track assembly 4 14 are fixedly connected in the swing arm quill 39 in left front swing arm crawler components 1, and the left lateral is walked driven in track assembly 4 Road wheel 16 is fixedly connected in the swing arm quill 39 in left rear swing arm track assembly 3, the positive transport wheel 14 and driven The diameter of road wheel 16 is equal;When it is implemented, the left lateral walks positive transport wheel 14 and driven walking in track assembly 4 Wheel 16 is separately positioned on the front and rear sides of left support wheel cavity, and the right lateral walks the He of positive transport wheel 14 in track assembly 7 Driven road wheel 16 is separately positioned on the front and rear sides of right support wheel cavity 60;
In the present embodiment, as shown in Figure 3 and Figure 4, the left lateral walks gear-driven assembly and right lateral walks gear-driven assembly Structure it is identical and include movable motor bevel gear 13 and the road wheel bevel gear 15 that is engaged with movable motor bevel gear 13, The movable motor bevel gear 13 is fixedly connected on the output shaft of left movable motor 18 or right movable motor 41, the walking Wheel bevel gear 15 is fixedly connected with swing arm quill 39.
In use, the left front swing arm crawler components 1, right front swing arm track assembly 10, the and of left rear swing arm track assembly 3 Right rear-swing arm track assembly 6 can realize independent 360 ° of rotary motions, the left front swing arm motor 19, right front swing arm motor 56, The rotary motion of left rear swing arm motor 58 or right rear-swing arm motor 57 passes through swing arm motor bevel gear 11 and swing arm shaft bevel gears 12 It is delivered on arm shaft 31, the rotary motion of arm shaft 31 is then delivered to by the spline of arm shaft 31 by oscillating arm bracket 32 On, realize before left front swing arm gear transmission component, right front swing arm gear-driven assembly, left rear swing arm gear-driven assembly or the right side The rotary motion of swing arm gear transmission component.The rotary motion of the left movable motor 18 or right movable motor 41 passes through walking Motor bevel gear 13 is delivered in swing arm quill 39, then passes to positive transport wheel 14 and swing arm driving wheel 34, rubber of walking The rotary motion of positive transport wheel 14 is passed to driven road wheel 16 by crawler belt 40, realizes that left lateral walks track assembly 4 and right lateral is walked The walking movement of track assembly 7, completes the walking movement of robot;Rotation of the swing arm rubber belt track 37 swing arm driving wheel 34 Motion passes in swing arm front-wheel 33, swing arm that support wheel 36 can adjust swing arm rubber belt track 37 under support wheel 35 and swing arm Tensioning and supporting role.
In the present embodiment, as shown in Figure 8 and Figure 9, the left shock-absorbing support wheel assembly includes three left shock-absorbing support wheel groups 55, each left shock-absorbing support wheel group 55 include the left damping wheel fixed plate 50 being fixedly connected with left shock bracket 49 and The left damping wheel connecting plate 52 being connected, the left damping are rotated by left damping wheel rotary shaft 51 with left damping wheel fixed plate 50 The two ends of wheel connecting plate 52 are respectively rotatably connected in a left damping wheel 53, three left shock-absorbing support wheel groups 55 wherein Two be arranged on left shock bracket 49 bottom, another in three left shock-absorbing support wheel groups 55 be arranged on a left side and subtract Shake and be fixedly connected with the left damping for covering three left shock-absorbing support wheel groups 55 in the top of support 49, the left shock bracket 49 Backplate 54;In use, two left damping wheels 53 are rotated by left damping wheel rotary shaft 51, adjustment angle, robot is being met During to relatively low obstacle, two left damping wheels 53 can voluntarily adjust the anglec of rotation, with the smooth obstacle detouring obstacle of auxiliary robot;
In the present embodiment, as shown in Figure 10 and Figure 11, the right shock-absorbing support wheel assembly includes three right shock-absorbing support wheels Group 48, each right shock-absorbing support wheel group 48 includes the right damping wheel fixed plate 43 being fixedly connected with right shock bracket 42 The right damping wheel connecting plate 45 being connected is rotated by right damping wheel rotary shaft 44 with right damping wheel fixed plate 43, the right side subtracts The two ends of shake wheel connecting plate 45 are respectively rotatably connected to its in a right damping wheel 46, three right shock-absorbing support wheel groups 48 In two be arranged on right shock bracket 42 bottom, another in three right shock-absorbing support wheel groups 48 be arranged on the right side It is fixedly connected with the top of shock bracket 42, the right shock bracket 42 and covers the right sides of three right shock-absorbing support wheel groups 48 and subtract Shake backplate 47.In use, two right damping wheels 46 are rotated by right damping wheel rotary shaft 44, adjustment angle, robot exists When running into relatively low obstacle, two right damping wheels 46 can voluntarily adjust the anglec of rotation, with the smooth obstacle detouring obstacle of auxiliary robot.
In the present embodiment, the first reel bearing 66-34, the second reel bearing 66-38, the first leading screw bearing 66-44 It is taper roll bearing with the second leading screw bearing 66-45.By being rolled in cable spooler 66-3 using paired circular cone Sub- bearing, first taper roll bearing is used for supporting installation reel drive shaft 66-35, and second taper roll bearing is used for Roll support axle 66-37 is installed in support so that cable spooler 66-3 has the two-way function of bearing axial force, is being carried out When cable is batched, more preferable stability and reliability are provided with;By being rolled in wire-arranging mechanism 66-4 using paired circular cone Sub- bearing, first taper roll bearing and second taper roll bearing are engaged installs two-way leading screw 66- for supporting 41 so that wire-arranging mechanism 66-4 has the two-way function of bearing axial force, is provided with more preferable stability and reliability.
As shown in figure 14, in the present embodiment, photoelectricity slip ring 66-310 is installed in the roll support axle 66-37.Photoelectricity Slip ring 66-310 is used for realizing transmission of the signal from rotation platform to static platform, prevents cable because reel 66-31 rotation And produce torsional deformation, cause connection interrupt, information transmission and power supply supply failure, it is ensured that cable discharge and collect it is steady Qualitative and reliability, ensure that the continual and steady work of robot.
In the present embodiment, the reel 66-31 is fixedly connected by screw with reel driving wheel 66-36;The reel 66-31 is fixedly connected by screw with reel supporting roller 66-39;The wire block 66-48 passes through screw and screw slider 66- 46 are fixedly connected.Reel 66-31 is fixedly connected by screw with reel driving wheel 66-36 and reel supporting roller 66-39, energy Enough ensure reel 66-31 installation steadiness;Wire block 66-48 is fixedly connected on by screw slider 66-46 tops using screw Portion so that wire block 66-48 and screw slider 66-46 connection is reliable, and wire block 66-48 can be with screw slider 66-46 Move together, there is the arrangement of the cable of line traffic control coal mine rescue detection robot using wire block 66-48 mobile realization, will The cable for having line traffic control coal mine rescue detection robot is fitly wrapped on reel 66-31.
In the present embodiment, it is provided with the drawing cable motor 66-1 for being turned over to drawing cable motor 66-1 The drawing cable motor encoder 72 that the number of turns is detected in real time., can be to line by setting drawing cable motor encoder 72 The number of turns that cable retracting motor 66-1 is turned over is periodically detected and by the signal output detected to remote controller 67.
As shown in figure 17, the drawing cable method for having line traffic control coal mine rescue detection robot of the invention, including following Step:
Step 1: connection cables:The cable cable for having line traffic control coal mine rescue detection robot is wrapped in reel 66-31 Photoelectricity slip ring 66-310 is initially passed through after upper, the wire guide 66-49 and REMOTE MACHINE people being arranged on wire block 66-48 is then passed through Control cabinet is connected;As shown in figure 16, remote controller 67, the REMOTE MACHINE are provided with the REMOTE MACHINE people control cabinet It is provided with remote control computer 68, the remote controller 67 and is connected to for connecting remote controller 67 on people's control cabinet With the first communication circuit module 69 of remote control computer 68, it is connected with the remote control computer 68 for connecting Be connected with second communication circuit module 70 of robot control computer 23, the robot control computer 23 for The third communication circuit module 71 of second communication circuit module 70 communication, the drawing cable motor encoder 72 is controlled with distal end The input connection of device 67 processed, the output of the remote controller 67 is terminated with drawing cable motor driver 73, the cable Retracting motor 66-1 is connected with the output end of drawing cable motor driver 73;
Step 2: folding and unfolding cable, its detailed process is:
Step 201, have line traffic control coal mine rescue detection robot walking before, check the cable being wrapped on reel 66-31 The number of plies n and row m of every layer of arrangement, input remote control computer 68;And remote control computer 68 is operated, set left lateral The rotating speed for walking motor 18 and right movable motor 41 is ω2, the length L of cable releasexWith there is line traffic control coalmine rescue explorer The difference threshold X apart from S of device people walking, and the length L ' that cable is collectedxWith there is line traffic control coal mine rescue detection robot The difference threshold X ' apart from S of walking;Wherein, n value is 1~6 integer, and m value is 1~20 integer;
When it is implemented, X and X ' value is equal and equal value for cable winding apparatus 7 reel 3-1 to ground height Degree;
Step 202, remote control computer 68 are according to formula ω1=(D2·ω2)/(D+2 (n-1) d) calculate obtain line The drawing cable motor 66-1 of cable draw off gear rotational speed omega1, wherein, D is reel 66-31 diameter, D2For positive transport wheel 14 diameter, d is cable diameter;
Step 203, remote control computer 68 lead to the rotating speed of left movable motor 18 and right movable motor 41 by second Letter circuit module 70, cable and third communication circuit module 71 are transferred to robot control computer 23, and robot control is calculated Machine 23 drives left movable motor 18 by left movable motor driver 22-2, and is driven by right movable motor driver 22-1 Right movable motor 41, makes the rotating speed for having line traffic control coal mine rescue detection robot to set advance or retreat;
When there is the advance of line traffic control coal mine rescue detection robot, the controlling cable retracting motor of remote control computer 68 Driver 73 drives cable retracting motor 66-1 with rotational speed omega1Rotate forward and carry out cable release, meanwhile, drawing cable motor encoder Device 72 is periodically detected and by the signal output detected to remote control to the drawing cable motor 66-1 number of turns turned over Computer 68, often detects once, remote control computer 68 is just according to formula Lx=L-m π [nD+n (n-1) d] are calculated The length L discharged to cablex, and according to formula S=i π D2·ω2T is calculated and is obtained wired control coalmine rescue explorer Device people walking apart from S, then the length L discharged apart from S and cable to there is line traffic control coal mine rescue detection robot to walkx It is compared, works as S>LxWhen, the tension force on cable can increase, and now, remote control computer 68 is driven by drawing cable motor The dynamic controlling cable retracting motor 66-1 of device 73 rotating speed increase, makes cable rate of release keep up with the detection of line traffic control coalmine rescue The speed of travel of robot;Work as S=LxWhen, remote control computer 68 continues controlling cable retracting motor driver 73 and driven Drawing cable motor 66-1 is with rotational speed omega1Rotate forward and carry out cable release;Work as S<LxWhen, remote control computer 68 is again by LxWith S Difference be compared with X, work as LxWhen being more than X with S difference, illustrate the excessive velocities of cable release, remote control computer 68 are reduced by the controlling cable retracting motor 66-1 of drawing cable motor driver 73 rotating speed, work as LxIt is less than X with S difference When, illustrate the rate of release of cable also in rational scope, remote control computer 68 continues controlling cable retracting motor and driven Dynamic device 73 drives cable retracting motor 66-1 with rotational speed omega1Rotate forward and carry out cable release;
When there is the retrogressing of line traffic control coal mine rescue detection robot, the controlling cable retracting motor of remote control computer 68 Driver 73 drives cable retracting motor 66-1 with rotational speed omega1Reversion carries out cable and collected, meanwhile, drawing cable motor encoder Device 72 is periodically detected and by the signal output detected to remote control to the drawing cable motor 66-1 number of turns turned over Computer 68, often detects once, remote control computer 68 is just according to formula L 'x=L-m π [nD+n (n-1) d] are calculated Obtain the length L ' that cable is collectedx, and according to formula S=i π D2·ω2T, which is calculated, obtains wired control coalmine rescue detection Robot ambulation apart from S, then to have line traffic control coal mine rescue detection robot walk the length collected apart from S and cable L′xIt is compared, works as S<L′xWhen, the tension force on cable can increase, now, and remote control computer 68 passes through drawing cable electricity The controlling cable retracting motor 66-1 of machine driver 73 rotating speed reduces, and cable rate of release has been kept up with line traffic control coalmine rescue The speed of travel of sniffing robot;As S=L 'xWhen, remote control computer 68 continues controlling cable retracting motor driver 73 Cable retracting motor 66-1 is driven with rotational speed omega1Reversion carries out cable and collected;Work as S>L′xWhen, remote control computer 68 again will S and L 'xDifference be compared with X ', as S and L 'xDifference be more than X ' when, illustrate that the speed that cable is collected is excessively slow, distal end control Computer 68 processed is increased by the controlling cable retracting motor 66-1 of drawing cable motor driver 73 rotating speed, as S and L 'x's When difference is less than X ', illustrate the rate of release of cable also in rational scope, remote control computer 68 continues controlling cable Retracting motor driver 73 drives cable retracting motor 66-1 with rotational speed omega1Reversion carries out cable and collected;
Wherein, L is cable total length, and i is has line traffic control coal mine rescue detection robot walking gearratio, and t is to have line traffic control The time of coal mine rescue detection robot walking processed;
In step 2, when drawing cable motor 66-1 is rotated, main driving synchronous pulley 66-21 is driven to rotate, main driving is same Walk belt wheel 66-21 drives timing belt 66-22 band movable reels to drive synchronous pulley 66-23 to rotate by reel, and reel driving is synchronous Belt wheel 66-23 drives timing belt 66-24 to drive leading screw to drive synchronous pulley 66-25 to rotate by leading screw, reel driving timing belt Wheel 66-23 realizes the transmission of moment of torsion as intermediate conveyor wheel, and reel driving synchronous pulley 66-23 drives the cable to batch Mechanism 66-3 is acted, and leading screw driving synchronous pulley 66-25 drives the wire-arranging mechanism 66-4 actions;Wherein, the cable volume The action process for taking mechanism 66-3 is:Reel driving synchronous pulley 66-23 band movable reel drive shafts 66-35 is rotated, reel driving Axle 66-35 band movable reel driving wheels 66-36 is rotated, and then is rotated with movable reel 66-31, is realized the release of cable and is collected;Institute The action process for stating wire-arranging mechanism 66-4 is:Reel driving synchronous pulley 66-23 drives two-way leading screw 66-41 to rotate, by double Rotation is changed into moving left and right for screw slider 66-46, wire block to leading screw 66-41 and screw slider 66-46 cooperation 66-48 is moved with screw slider 66-46, has line traffic control coalmine rescue explorer using wire block 66-48 mobile realization The arrangement of the cable of device people, the cable for having line traffic control coal mine rescue detection robot is fitly wrapped on reel 66-31.
The drawing cable method for having line traffic control coal mine rescue detection robot of the present invention, by discharging or receiving cable Take length to be compared with robot ambulation distance, enable to cable discharge or collect length all the time with robot ambulation away from From being engaged so that drawing cable is in order, elastic suitable, reduce cable and the problem of winding, fracture occur.
The autonomous control method for having line traffic control coal mine rescue detection robot of the present invention, comprises the following steps:
Step 1: data acquisition and transmission:Environmental information sensor 27 is examined to rescue robot local environment information Survey and the signal detected is transferred to robot control computer 23, binocular vision sensor 28 is in front of rescue robot Road environment image detected and the signal detected be transferred to robot control computer 23, laser radar sensing Device 29 is detected to the distance of rescue robot and front obstacle and the signal detected is transferred into robot control meter Calculation machine 23, left infrared sensor 62 is detected to the barrier on the left of rescue robot and is transferred to the signal detected Robot control computer 23, right infrared sensor 61 is detected to the barrier on the right side of rescue robot and will detected Signal be transferred to robot control computer 23, ultrasonic sensor 59 is used to enter the barrier in front of rescue robot Row detects and the signal detected is transferred into robot control computer 23, and 3-dimensional digital compass 20 is to rescue robot Posture is detected and the signal detected is transferred into robot control computer 23;Robot control computer 23 by its Before the rescue robot that the environmental information and binocular vision sensor 28 that the environmental information sensor 27 received is exported are exported The road environment image of side is transferred to long-range prison by third communication circuit module 71, cable and the second communication circuit module 70 Control computer 25;
Step 2: Data Analysis Services, detailed process is:
Ultrasonic sensor 59 and laser radar sensor that step 201, robot control computer 23 are received to it 29 output signals analyzed and processed, judge rescue robot walk environment in front whether have barrier and with The distance of front obstacle;
The signal that the left infrared sensor 62 that step 202, robot control computer 23 are received to it is exported is divided Analysis is handled, and judges whether the left side in rescue robot walking environment has barrier and the distance apart from barrier;
The signal that the right infrared sensor 61 that step 203, robot control computer 23 are received to it is exported is divided Analysis is handled, and judges whether the right side in rescue robot walking environment has barrier and the distance apart from barrier;
The rescue robot that the 3-dimensional digital compass 20 that step 204, robot control computer 23 are received to it is exported Attitude signal analyzed and processed, judge rescue robot walking environment be flat road surface, upslope or downslope;
Step 3: motion planning and robot control:Data Analysis Services knot of the robot control computer 23 in step 2 Really, judge that rescue robot walking environment is flat road surface, upslope or downslope, and judge rescue robot row Walk whether to have in environment the orientation of barrier and barrier, left movable motor 18, right lateral are walked according to walking environment difference output Motor 41, left front swing arm motor 19, left rear swing arm motor 58, the control of right front swing arm motor 56 and right rear-swing arm motor 57 are believed Number, control rescue robot walking;
When rescue robot walking environment is flat road surface, the robot control computer 23 passes through the left lateral leakage of electricity Machine driver 22-2 drives left movable motor 18, and drives right movable motor 41 by right movable motor driver 22-1, makes a left side Movable motor 18 is equal with the rotating speed of right movable motor 41, carries out straight-line travelling;
When front has barrier, right side to have barrier or front and right side to have obstacle in rescue robot walking environment Thing and obstacle height is detected more than the maximum obstacle detouring of robot by binocular vision sensor 28 and laser radar sensor 29 During height, the robot control computer 23 drives left movable motor 18 by left movable motor driver 22-2, and passes through Right movable motor driver 22-1 drives right movable motor 41, the rotating speed of right movable motor 41 is more than left movable motor 18 Rotating speed, progress is turned left curved traveling, then the rotating speed for making left movable motor 18 is turned right more than the rotating speed of right movable motor 41 Curved traveling, it is in semi arch to make travel route, bypasses front obstacle, left movable motor 18 and right movable motor 41 are finally made again Rotating speed it is equal, carry out straight-line travelling;
When left side has barrier or front and left side to have barrier and by binocular vision in rescue robot walking environment When feeling that sensor 28 and laser radar sensor 29 detect obstacle height more than robot maximum height of surmountable obstacle, the machine Device people control computer 23 drives left movable motor 18 by left movable motor driver 22-2, and is driven by right movable motor Dynamic device 22-1 drives right movable motor 41, the rotating speed of left movable motor 18 is more than the rotating speed of right movable motor 41, carries out right Turn round and travel, then the rotating speed of right movable motor 41 is more than the rotating speed of left movable motor 18, carry out curved traveling of turning left, make traveling Route is in semi arch, bypasses left side barrier, finally makes left movable motor 18 equal with the rotating speed of right movable motor 41 again, enter Row straight-line travelling;
When there is barrier on front, left side and right side in rescue robot walking environment, the robot passes through binocular Vision sensor 28 and the detecting obstacles thing of laser radar sensor 29 height, when obstacle height is less than the maximum obstacle detouring of robot During height, control computer 23 is driven left by left front swing arm motor driver 22-5 and right front swing arm motor driver 22-3 Front swing arm motor 19 and right front swing arm motor 56, ride over barrier upper edge edge, and pass through swing arm electricity using above two swing arms Machine, which is rotated, raises robot body front portion, front portion is equally ridden over barrier upper edge edge;Driven by left rear swing arm motor Device 22-6 and right front swing arm motor driver 22-3 driving left rear swing arms motor 58 and right front swing arm motor 56, lifting robot Rear portion;The robot control computer 23 drives left movable motor 18 by left movable motor driver 22-2 again, and passes through Right movable motor driver 22-1 drives right movable motor 41, makes left movable motor 18 equal with the rotating speed of right movable motor 41, Straight-line travelling is carried out, climbs and clears the jumps, finally carries out again the left front swing arm crawler components 1 of rescue robot, left rear swing arm Band component 3, right front swing arm track assembly 10 and right rear-swing arm track assembly 6 are laid flat, and make left movable motor 18 and right movable motor 41 rotating speed is equal, carries out straight-line travelling.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to this hair Any simple modification, change and equivalent structure change that bright technical spirit is made to above example, still fall within the present invention In the protection domain of technical scheme.

Claims (9)

1. one kind has line traffic control coal mine rescue detection robot, it is characterised in that:Including robot body (5) and it is arranged on machine Cable winding apparatus (66) is provided with drawing cable case (26) at the top of human body (5), the drawing cable case (26);
The robot body (5) includes fuselage casing, two traveling crawler components and four swing arm crawler components, the fuselage Casing includes nowel cavity (17), top box cavity (8), sensor cavity (9), three gear cavitys and two support wheel cavitys, The top box cavity (8) is arranged on the top of nowel cavity (17), and the sensor cavity (9) is arranged on top box cavity (8) On front side of top, three gear cavitys are respectively front gear cavity (63), left back gear cavity (64) and right backgear cavity (65), the front gear cavity (63) is arranged on the front side of nowel cavity (17), and the left back gear cavity (64) is arranged on down The left rear side of case cavity (17), the right backgear cavity (65) is arranged on the right rear side of nowel cavity (17), two institutes It is respectively left support wheel cavity (2) and right support wheel cavity (60) to state support wheel cavity, and the left support wheel cavity (2) is arranged on The left side of nowel cavity (17), the right support wheel cavity (60) is arranged on the right side of nowel cavity (17);Two traveling crawlers Component is respectively that the left lateral being arranged on left support wheel cavity (2) walks track assembly (4) and is arranged on right support wheel cavity (60) On right lateral walk track assembly (7), four swing arm crawler components are respectively to be arranged on the left front pendulum on front side of left support wheel cavity (2) Arm track assembly (1), the left rear swing arm track assembly (3) being arranged on rear side of left support wheel cavity (2), it is arranged on right support wheel chamber Right front swing arm track assembly (10) on front side of body (60) and the right rear-swing arm crawler belt group being arranged on rear side of right support wheel cavity (60) Part (6);It is provided with the nowel cavity (17) for driving left lateral to walk the left movable motor (18) of track assembly (4) and be used for Driving right lateral walks the right movable motor (41) of track assembly (7);And for driving the left front pendulum of left front swing arm crawler components (1) Arm motor (19), the left rear swing arm motor (58) for driving left rear swing arm track assembly (3), for driving right front swing arm crawler belt The right front swing arm motor (56) of component (10) and the right rear-swing arm motor (57) for driving right rear-swing arm track assembly (6);Institute State the left movable motor volume for being provided with and being detected in real time for the rotating speed to left movable motor (18) on left movable motor (18) It is provided with what is detected in real time for the rotating speed to right movable motor (41) on code device (74-2), the right movable motor (41) Right movable motor encoder (74-1);The outside front side of the nowel cavity (17) is provided with front of to rescue robot The ultrasonic sensor (59) that barrier is detected;Be provided with the top box cavity (8) robot control computer (23), Battery (21), transformer (24), motor driver group (22) and 3-dimensional digital compass (20);Motor driver group (22) bag Include before left movable motor driver (22-2), right movable motor driver (22-1), left front swing arm motor driver (22-5), the right side Swing arm motor driver (22-3), left rear swing arm motor driver (22-6) and right rear-swing arm motor driver (22-4), it is described Left movable motor encoder (74-2), right movable motor encoder (74-1) and ultrasonic sensor (59) with robot control The input connection of computer (23), it is the left movable motor driver (22-2), right movable motor driver (22-1), left front Behind swing arm motor driver (22-5), right front swing arm motor driver (22-3), left rear swing arm motor driver (22-6) and the right side Output end of the swing arm motor driver (22-4) with robot control computer (23) is connected, the left movable motor (18) with The output end connection of left movable motor driver (22-2), the right movable motor (41) and right movable motor driver (22-1) Output end connection, the left front swing arm motor (19) is connected with the output end of left front swing arm motor driver (22-5), described Right front swing arm motor (56) is connected with the output end of right front swing arm motor driver (22-3), the left rear swing arm motor (58) with The output end connection of left rear swing arm motor driver (22-6), the right rear-swing arm motor (57) and right rear-swing arm motor driver The output end connection of (22-4);Environmental information sensor (27), binocular vision sensor are provided with the sensor cavity (9) (28), laser radar sensor (29) and illuminating lamp (30);Output end, the binocular vision of the environmental information sensor (27) are passed The input of the output end of sensor (28) and the output end of laser radar sensor (29) with robot control computer (23) Connection;It is provided with the front gear cavity (63) for the power of left front swing arm motor (19) to be passed into left front swing arm crawler belt The left front swing arm gear transmission component of component (1), for the power of right front swing arm motor (56) to be passed into right front swing arm crawler belt The right front swing arm gear-driven assembly of component (10), for the power of left movable motor (18) to be passed into left lateral walk track assembly (4) left lateral walks gear-driven assembly and walks track assembly (7) for the power of right movable motor (41) to be passed into right lateral Right lateral walks gear-driven assembly;It is provided with the left back gear cavity (64) for the power of left rear swing arm motor (58) to be passed Pass in the left rear swing arm gear-driven assembly of left rear swing arm track assembly (3), the right backgear cavity (65) and be provided with use In the right rear-swing arm gear-driven assembly that the power of right rear-swing arm motor (58) is passed to right rear-swing arm track assembly (3);Institute State in left support wheel cavity (2) and be provided with left shock bracket (49) and the left shock-absorbing support wheel in left shock bracket (49) Component, the left support wheel containment portion is provided with the left infrared biography for being detected to the barrier on the left of rescue robot Sensor (62);Right shock bracket (42) is provided with the right support wheel cavity (60) and in right shock bracket (42) It is provided with outside right shock-absorbing support wheel assembly, the right support wheel cavity (60) for entering to the barrier on the right side of rescue robot The right infrared sensor (61) of row detection;The left infrared sensor (62) and right infrared sensor (61) with robot control The input connection of computer (23);
The cable winding apparatus (66) includes drawing cable motor (66-1) and the output shaft with drawing cable motor (66-1) The synchronous belt drive mechanism (66-2) of connection, and the cable spooler (66- being all connected with synchronous belt drive mechanism (66-2) 3) with wire-arranging mechanism (66-4);The synchronous belt drive mechanism (66-2) includes main driving synchronous pulley (66-21), reel driving Synchronous pulley (66-23) and leading screw driving synchronous pulley (66-25), the main driving synchronous pulley (66-21) and reel driving Bridging has reel to drive timing belt (66-22), the reel driving synchronous pulley (66-23) and silk on synchronous pulley (66-23) Bridging has leading screw to drive timing belt (66-24), the main driving synchronous pulley (66-21) on thick stick driving synchronous pulley (66-25) On the output shaft for being fixedly connected on drawing cable motor (66-1);The cable spooler (66-3) includes reel (66-31) And spaced first roller stand (66-32) and the second roller stand (66-33), the first roller stand (66- 32) it is provided with the first reel bearing (66-34), the first reel bearing (66-34) and reel drive shaft (66- is installed 35), the reel driving synchronous pulley (66-23) is fixedly connected in reel drive shaft (66-35), the reel drive shaft Reel driving wheel (66-36), the reel (66-31) and the fixed company of reel driving wheel (66-36) are fixedly connected with (66-35) Connect;It is provided with roll support axle (66-37), the roll support axle (66-37) and pacifies on second roller stand (66-33) Equipped with the second reel bearing (66-38), reel supporting roller (66-39) is installed on the second reel bearing (66-38), it is described Reel (66-31) is fixedly connected with reel supporting roller (66-39);The wire-arranging mechanism (66-4) includes two-way leading screw (66-41) And spaced first leading screw support (66-42) and the second leading screw support (66-43), the first leading screw support (66- 42) it is provided with the first leading screw bearing (66-44), the second leading screw support (66-43) and is provided with the second leading screw bearing (66-45), one end of the two-way leading screw (66-41) is arranged in the first leading screw bearing (66-44), the two-way leading screw (66- 41) the other end is arranged in the second leading screw bearing (66-45), and the leading screw driving synchronous pulley (66-25) is fixedly connected on On two-way leading screw (66-41), screw slider (66-46), first leading screw are threaded with the two-way leading screw (66-41) Support (66-42) and second leading screw support (66-43) restocking are provided with the optical axis (66-47) parallel with two-way leading screw (66-41), The optical axis (66-47) passes through to be set at the top of the pilot hole being arranged on screw slider (66-46), the screw slider (66-46) It is equipped with to be provided with the wire block (66-48) for winding displacement, the wire block (66-48) and is provided with line traffic control coalmine rescue explorer The wire guide (66-49) that the cable of device people is passed through.
2. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:The environmental information is passed Sensor (27) includes temperature sensor (27-1), oxygen sensor (27-2), methane transducer (27-3) and carbon monoxide sensing Device (27-4).
3. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:The left front swing arm is carried out Structure with component (1), right front swing arm track assembly (10), left rear swing arm track assembly (3) and right rear-swing arm track assembly (6) It is identical and include arm shaft (31), oscillating arm bracket (32) and the swing arm front-wheel for being rotatably connected on oscillating arm bracket (32) front end (33) and the swing arm driving wheel (34) of oscillating arm bracket (32) rear end is rotatably connected on, the arm shaft (31) passes through spline and swing arm Support (32) is connected, be rotatably connected in the middle part of the oscillating arm bracket (32) support wheel in the swing arm being oppositely arranged up and down (35) and Support wheel (36) under swing arm, the diameter of the swing arm front-wheel (33) is less than the diameter of swing arm driving wheel (34), the swing arm front-wheel (33), bridging has swing arm rubber belt track on support wheel (36) under support wheel (35), swing arm driving wheel (34) and swing arm in swing arm (37) swing arm quill (39), the swing arm driving wheel (34), are rotatably connected to by bearing (38) on the arm shaft (31) It is fixedly connected in swing arm quill (39);
Behind the left front swing arm gear transmission component, right front swing arm gear-driven assembly, left rear swing arm gear-driven assembly and the right side The structure of swing arm gear transmission component is identical and includes swing arm motor bevel gear (11) and is nibbled with swing arm motor bevel gear (11) The swing arm shaft bevel gears (12) of conjunction, the swing arm motor bevel gear (11) is fixedly connected on left front swing arm motor (19), right forward swing On the output shaft of arm motor (56), left rear swing arm motor (58) or right rear-swing arm motor (57), the swing arm shaft bevel gears (12) It is fixedly connected with arm shaft (31);
The structure that the left lateral walks track assembly (4) with right lateral walks track assembly (7) is identical and includes positive transport wheel (14) With driven road wheel (16), and the walking rubber being connected across on the positive transport wheel (14) and the driven road wheel (16) Crawler belt (40), the positive transport wheel (14) that the right lateral is walked in track assembly (7) is fixedly connected on right front swing arm track assembly (10) in the swing arm quill (39) in, the driven road wheel (16) that the right lateral is walked in track assembly (7) is fixedly connected on the right side In swing arm quill (39) in rear-swing arm track assembly (6), the left lateral walks the positive transport wheel (14) in track assembly (4) Be fixedly connected in the swing arm quill (39) in left front swing arm crawler components (1), the left lateral walk in track assembly (4) from Dynamic road wheel (16) is fixedly connected in the swing arm quill (39) in left rear swing arm track assembly (3), the positive transport wheel (14) and driven road wheel (16) diameter it is equal;
The structure that the left lateral walks gear-driven assembly with right lateral walks gear-driven assembly is identical and includes movable motor cone tooth Wheel (13) and the road wheel bevel gear (15) engaged with movable motor bevel gear (13), the movable motor bevel gear (13) are fixed On the output shaft for being connected to left movable motor (18) or right movable motor (41), the road wheel bevel gear (15) and swing arm sleeve Axle (39) is fixedly connected.
4. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:The left shock-absorbing support Wheel assembly includes three left shock-absorbing support wheel groups (55), and each left shock-absorbing support wheel group (55) includes and left shock bracket (49) the left damping wheel fixed plate (50) that is fixedly connected and left damping wheel rotary shaft (51) is passed through with left damping wheel fixed plate (50) The left damping wheel connecting plate (52) of connection is rotated, the two ends of the left damping wheel connecting plate (52) are respectively rotatably connected to a left side and subtracted Two of which in shake wheel (53), three left shock-absorbing support wheel groups (55) is arranged on the bottom of left shock bracket (49), three Another in the individual left shock-absorbing support wheel group (55) is arranged on the top of left shock bracket (49), the left shock bracket (49) the left damping backplate (54) for covering three left shock-absorbing support wheel groups (55) is fixedly connected with;
The right shock-absorbing support wheel assembly includes three right shock-absorbing support wheel groups (48), each right shock-absorbing support wheel group (48) Include the right damping wheel fixed plate (43) that is fixedly connected with right shock bracket (42) and pass through with right damping wheel fixed plate (43) Right damping wheel rotary shaft (44) rotates the right damping wheel connecting plate (45) of connection, and the two ends of the right damping wheel connecting plate (45) are each The two of which being rotatably connected in a right damping wheel (46), three right shock-absorbing support wheel groups (48) is arranged on right damping Another in the bottom of support (42), three right shock-absorbing support wheel groups (48) is arranged on the upper of right shock bracket (42) The right damping backplate (47) for covering three right shock-absorbing support wheel groups (48) is fixedly connected with portion, the right shock bracket (42).
5. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:First spool shaft It is circle to hold (66-34), the second reel bearing (66-38), the first leading screw bearing (66-44) and the second leading screw bearing (66-45) Taper roller bearing.
6. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:The roll support axle Photoelectricity slip ring (66-310) is installed in (66-37).
7. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:Reel (the 66- 31) it is fixedly connected by screw with reel driving wheel (66-36);The reel (66-31) passes through screw and reel supporting roller (66-39) is fixedly connected;The wire block (66-48) is fixedly connected by screw with screw slider (66-46).
8. there is line traffic control coal mine rescue detection robot according to described in claim 1, it is characterised in that:The drawing cable electricity Drawing cable motor for being detected in real time to the number of turns that drawing cable motor (66-1) is turned over is installed on machine (66-1) Encoder (72).
9. a kind of have the drawing cable method of line traffic control coal mine rescue detection robot as claimed in claim 8, it is characterised in that This method comprises the following steps:
Step 1: connection cables:After the cable cable for having line traffic control coal mine rescue detection robot is wrapped on reel (66-31) Photoelectricity slip ring (66-310) is initially passed through, wire guide (66-49) and the REMOTE MACHINE people being arranged on wire block (66-48) is then passed through Control cabinet is connected;It is provided with the REMOTE MACHINE people control cabinet on remote controller (67), the REMOTE MACHINE people control cabinet It is provided with remote control computer (68), the remote controller (67) and is connected to for connecting remote controller (67) and distal end It is connected with the first communication circuit module (69) of control computer (68), the remote control computer (68) for connecting machine Being connected with the second communication circuit module (70) of device people control computer (23), the robot control computer (23) is used for The third communication circuit module (71) communicated with the second communication circuit module (70), the drawing cable motor encoder (72) with The input connection of remote controller (67), the output of the remote controller (67) is terminated with drawing cable motor driver (73), the drawing cable motor (66-1) is connected with the output end of drawing cable motor driver (73);
Step 2: folding and unfolding cable, its detailed process is:
Step 201, have line traffic control coal mine rescue detection robot walking before, check be wrapped on reel (66-31) cable layer The number n and row m of every layer of arrangement, input remote control computer (68);And remote control computer (68) is operated, set left lateral The rotating speed for walking motor (18) and right movable motor (41) is ω2, the length L of cable releasexWith there is the detection of line traffic control coalmine rescue The difference threshold X apart from S of robot ambulation, and the length L ' that cable is collectedxWith there is line traffic control coalmine rescue to detect machine The difference threshold X ' apart from S of people's walking;Wherein, n value is 1~6 integer, and m value is 1~20 integer;
Step 202, remote control computer (68) are according to formula ω1=(D2·ω2)/(D+2 (n-1) d) calculate obtain cable receipts Put the rotational speed omega of the drawing cable motor (66-1) of device1, wherein, D is the diameter of reel (66-31), D2For positive transport wheel (14) diameter, d is cable diameter;
The rotating speed of left movable motor (18) and right movable motor (41) is passed through second by step 203, remote control computer (68) Communication circuit module (70), cable and third communication circuit module (71) are transferred to robot control computer (23), robot Control computer (23) drives left movable motor (18) by left movable motor driver (22-2), and is driven by right movable motor Dynamic device (22-1) drives right movable motor (41), make the rotating speed for thering is line traffic control coal mine rescue detection robot to set advance or after Move back;
When there is the advance of line traffic control coal mine rescue detection robot, the driving of remote control computer (68) controlling cable retracting motor Device (73) driving cable retracting motor (66-1) is with rotational speed omega1Rotate forward and carry out cable release, meanwhile, drawing cable motor encoder (72) number of turns that drawing cable motor (66-1) is turned over is periodically detected and is controlled the signal output detected to distal end Computer (68) processed, often detects once, remote control computer (68) is just according to formula Lx=L-m π [nD+n (n-1) d] Calculate the length L for obtaining cable releasex, and according to formula S=i π D2·ω2T, which is calculated, obtains wired control coalmine rescue spy Survey robot ambulation apart from S, then the length discharged apart from S and cable to there is line traffic control coal mine rescue detection robot to walk LxIt is compared, works as S>LxWhen, the tension force on cable can increase, and now, remote control computer (68) passes through drawing cable motor The rotating speed increase of driver (73) controlling cable retracting motor (66-1), makes cable rate of release keep up with line traffic control coalmine rescue The speed of travel of sniffing robot;Work as S=LxWhen, remote control computer (68) continues controlling cable retracting motor driver (73) driving cable retracting motor (66-1) is with rotational speed omega1Rotate forward and carry out cable release;Work as S<LxWhen, remote control computer (68) again by LxIt is compared with S difference with X, works as LxWhen being more than X with S difference, illustrate the excessive velocities of cable release, far Control computer (68) is held to reduce by the rotating speed of drawing cable motor driver (73) controlling cable retracting motor (66-1), when LxWhen being less than X with S difference, illustrate the rate of release of cable also in rational scope, remote control computer (68) continues Controlling cable retracting motor driver (73) driving cable retracting motor (66-1) is with rotational speed omega1Rotate forward and carry out cable release;
When there is the retrogressing of line traffic control coal mine rescue detection robot, the driving of remote control computer (68) controlling cable retracting motor Device (73) driving cable retracting motor (66-1) is with rotational speed omega1Reversion carries out cable and collected, meanwhile, drawing cable motor encoder (72) number of turns that drawing cable motor (66-1) is turned over is periodically detected and is controlled the signal output detected to distal end Computer (68) processed, often detects once, remote control computer (68) is just according to formula L 'x=L-m π [nD+n (n-1) d] Calculating obtains the length L ' that cable is collectedx, and according to formula S=i π D2·ω2T is calculated and is obtained wired control coalmine rescue Sniffing robot walking apart from S, then to have line traffic control coal mine rescue detection robot walk the length collected apart from S and cable Spend L 'xIt is compared, works as S<L′xWhen, the tension force on cable can increase, and now, remote control computer (68) passes through drawing cable The rotating speed of motor driver (73) controlling cable retracting motor (66-1) reduces, and cable rate of release has been kept up with line traffic control colliery The speed of travel of rescue and detection robot;As S=L 'xWhen, remote control computer (68) continues controlling cable retracting motor and driven Dynamic device (73) driving cable retracting motor (66-1) is with rotational speed omega1Reversion carries out cable and collected;Work as S>L′xWhen, remote control is calculated Machine (68) is again by S and L 'xDifference be compared with X ', as S and L 'xDifference be more than X ' when, illustrate the speed mistake that cable is collected Slowly, remote control computer (68) is increased by the rotating speed of drawing cable motor driver (73) controlling cable retracting motor (66-1) Greatly, as S and L 'xDifference be less than X ' when, illustrate the rate of release of cable also in rational scope, remote control computer (68) controlling cable retracting motor driver (73) driving cable retracting motor (66-1) is continued with rotational speed omega1Reversion carries out cable Collect;
Wherein, L is cable total length, and i is has line traffic control coal mine rescue detection robot walking gearratio, and t is to have line traffic control coal The time of ore deposit rescue and detection robot walking;
In step 2, when drawing cable motor (66-1) is rotated, main driving synchronous pulley (66-21) is driven to rotate, main driving is same Walk belt wheel (66-21) drives timing belt (66-22) band movable reel to drive synchronous pulley (66-23) to rotate by reel, and reel drives Dynamic synchronous pulley (66-23) drives timing belt (66-24) to drive leading screw to drive synchronous pulley (66-25) to rotate by leading screw, volume Cylinder driving synchronous pulley (66-23) realizes the transmission of moment of torsion, reel driving synchronous pulley (66-23) band as intermediate conveyor wheel Dynamic cable spooler (66-3) action, leading screw driving synchronous pulley (66-25) drives the wire-arranging mechanism (66-4) to move Make;Wherein, the action process of the cable spooler (66-3) is:Reel driving synchronous pulley (66-23) band movable reel drives Moving axis (66-35) is rotated, and reel drive shaft (66-35) band movable reel driving wheel (66-36) is rotated, and then with movable reel (66- 31) rotate, realize the release of cable and collect;The action process of the wire-arranging mechanism (66-4) is:Reel drives synchronous pulley (66-23) drives two-way leading screw (66-41) to rotate, and is turned by the cooperation handle of two-way leading screw (66-41) and screw slider (66-46) Dynamic to be changed into moving left and right for screw slider (66-46), wire block (66-48) is moved with screw slider (66-46), is utilized The mobile realization of wire block (66-48) has the arrangement of the cable of line traffic control coal mine rescue detection robot, will there is line traffic control colliery The cable of rescue and detection robot is fitly wrapped on reel (66-31).
CN201710548015.5A 2017-07-06 2017-07-06 Cable winding and unwinding method for wire-controlled coal mine rescue detection robot Active CN107139159B (en)

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CN109094670A (en) * 2018-10-08 2018-12-28 哈尔滨工业大学 A kind of compound mobile platform of swing arm wheel shoe
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CN110077918A (en) * 2019-05-30 2019-08-02 晋中学院 A kind of control system according to shuttle car speed closed loop folding and unfolding cable
CN110642104A (en) * 2019-09-30 2020-01-03 三一海洋重工有限公司 Cable winding control method and device and cable winding device
CN110668270A (en) * 2019-08-29 2020-01-10 北京邮电大学 Cable winding and unwinding device
CN111412539A (en) * 2020-03-19 2020-07-14 珠海格力电器股份有限公司 Method and device for controlling heater, heater and storage medium
CN111605637A (en) * 2020-06-06 2020-09-01 哈尔滨学院 Obstacle crossing robot based on vision
CN111619683A (en) * 2020-06-08 2020-09-04 神华神东煤炭集团有限责任公司 Detection equipment used in coal mine tunnel and control method thereof

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CN104443085A (en) * 2014-11-18 2015-03-25 上海大学 Crawler type six-freedom-degree mobile robot
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Cited By (9)

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Publication number Priority date Publication date Assignee Title
CN108502654A (en) * 2018-03-15 2018-09-07 沧州华海风电设备科技技术开发有限公司 A kind of crawler belt collection cable car
CN109094670A (en) * 2018-10-08 2018-12-28 哈尔滨工业大学 A kind of compound mobile platform of swing arm wheel shoe
CN109626141A (en) * 2018-12-04 2019-04-16 哈尔滨工业大学 Robot cable automatic retraction device
CN110077918A (en) * 2019-05-30 2019-08-02 晋中学院 A kind of control system according to shuttle car speed closed loop folding and unfolding cable
CN110668270A (en) * 2019-08-29 2020-01-10 北京邮电大学 Cable winding and unwinding device
CN110642104A (en) * 2019-09-30 2020-01-03 三一海洋重工有限公司 Cable winding control method and device and cable winding device
CN111412539A (en) * 2020-03-19 2020-07-14 珠海格力电器股份有限公司 Method and device for controlling heater, heater and storage medium
CN111605637A (en) * 2020-06-06 2020-09-01 哈尔滨学院 Obstacle crossing robot based on vision
CN111619683A (en) * 2020-06-08 2020-09-04 神华神东煤炭集团有限责任公司 Detection equipment used in coal mine tunnel and control method thereof

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