CN107139159B - Cable winding and unwinding method for wire-controlled coal mine rescue detection robot - Google Patents

Cable winding and unwinding method for wire-controlled coal mine rescue detection robot Download PDF

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Publication number
CN107139159B
CN107139159B CN201710548015.5A CN201710548015A CN107139159B CN 107139159 B CN107139159 B CN 107139159B CN 201710548015 A CN201710548015 A CN 201710548015A CN 107139159 B CN107139159 B CN 107139159B
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swing arm
cable
walking
wheel
motor
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CN107139159A (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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    • 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

The invention discloses a wire-controlled coal mine rescue detection robot and a cable winding and unwinding method thereof, wherein the wire-controlled coal mine rescue detection robot comprises a robot body and a cable winding and unwinding box arranged at the top of the robot body, and a cable winding and unwinding device is arranged in the cable winding and unwinding box; the robot body comprises a body box body, two walking crawler assemblies and four swing arm crawler assemblies, wherein the body box body comprises a lower box cavity, an upper box cavity, a sensor cavity, three gear cavities and two supporting wheel cavities; the cable winding and unwinding device comprises a cable winding and unwinding motor, a synchronous belt transmission mechanism connected with an output shaft of the cable winding and unwinding motor, and a cable winding mechanism and a cable arranging mechanism which are connected with the synchronous belt transmission mechanism; the cable winding and unwinding method comprises the following steps: firstly, connecting a cable; and secondly, winding and unwinding the cable. The cable is orderly wound and released, the tightness is proper, the problems of winding and breaking of the cable are reduced, and the stable transmission of control signals, related sensor information and a power supply can be ensured.

Description

Cable winding and unwinding method for wire-controlled coal mine rescue detection robot
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a cable winding and unwinding method for a cable-controlled coal mine rescue detection robot.
Background
After accidents such as gas explosion, collapse and the like occur in a coal mine or under other disaster environments, the surrounding environment is seriously damaged, information of the disaster-affected environment cannot be directly transmitted to a rescue command center, rescue personnel cannot perform rescue actions, the rescue efficiency is seriously influenced, and the rescue personnel bear huge life risks. Then, the rescue robot is urgently needed to explore disaster environment information in a complex environment and transmit the disaster environment information to the rescue command center. Meanwhile, the disaster environment is very complex, so that the robot is required to be capable of performing autonomous control according to the environment information, searching a signal source and transmitting the disaster environment information to rescue commanders.
On the other hand, the power supply is a power source for ensuring the work of the robot, and the communication system ensures the two-way transmission of information between the mobile robot and the console, so that an operator can obtain the on-site and self state and action information of the robot, and the robot is effectively monitored and remotely operated. The robot power supply mode comprises an external power supply mode and a battery power supply mode, wherein the external power supply needs an external power line, and the battery power supply has poor cruising ability; the robot communication mode has two types of wireless communication and wired communication, a wireless module of the wireless communication has small volume and convenient use, but the error rate of data transmission is higher, the data transmission is easy to be interfered by electromagnetic waves, and the transmission has a hysteresis phenomenon. In the roadway environments such as underground mines, air holes and the like, the communication distance is short, and the system cannot be used in places with serious electromagnetic interference. When an external power supply is used for power supply and wired communication, stable and reliable winding and unwinding of the power line and the communication line are necessary conditions for ensuring wired control and completion of detection tasks of the robot. The wired control robot needs to cross various obstacles, and the cables are likely to be scratched or wound to influence the moving performance of the robot, so that requirements are provided for the wired control robot and the cable winding and unwinding mode of the wired control robot. At present, two modes of a towing cable and a cable laying are generally adopted for cable laying and releasing of the wired control robot. The towing mode is that one end of a cable is connected to the robot, a cable storage device such as a cable winch is placed at the control end, and the cable is dragged to be released in the advancing process of the robot so as to achieve the purpose of prolonging the power supply distance and the communication distance; the cable laying mode is that a cable storage device of a cable is installed on a robot, and the cable is actively or passively released along with the movement of the robot to prolong the power supply distance and the communication distance. When the towline mode is adopted, along with the extension of the movement of the robot and the cable, the frictional resistance between the cable and the ground is gradually increased, and the cable is easily blocked in a complex terrain environment to cause the cable breaking phenomenon, so that the towline mode is generally adopted under the condition of smooth short-distance communication of the terrain. The cable releasing mode can reduce the occurrence of cable breakage, but most cable releasing devices in the prior art adopt passive cable releasing, for example, the cable releasing device provided in the article, "mine disaster relief robot walking mechanism research" of the doctor academic thesis of li prosperity is composed of an optical fiber winch and a bracket, the passive cable releasing mode is adopted, only a cable curling mechanism is arranged, a power source and a wire arrangement mechanism are not arranged, the cable releasing can be realized basically well, however, the cable retracting mode adopts a manual mode, when the cable releasing is long, the cable retracting is difficult to realize well, and therefore the next cable releasing is influenced; therefore, the active cable releasing mode needs to be considered to realize stable and reliable cable releasing and cable retracting of the robot, and when the active cable releasing mode is adopted, the control problem needs to be considered to achieve the best control stability and effectiveness.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, and provides a wire-controlled coal mine rescue detection robot which is compact in structure, novel and reasonable in design, high in intelligence degree, high in working stability and reliability, orderly in cable winding and unwinding, proper in tightness, good in stability and effectiveness, capable of reducing the problem of cable winding and breaking, capable of ensuring stable transmission of control signals, related sensor information and power supply, strong in practicability, good in use effect and convenient to popularize and use.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a wired control colliery rescue detection robot which characterized in that: the robot comprises a robot body and a cable winding and unwinding box arranged at the top of the robot body, wherein a cable winding and unwinding device is arranged in the cable winding and unwinding box;
the robot body comprises a body box body, two walking crawler assemblies and four swing arm crawler assemblies, the machine body box body comprises a lower box cavity, an upper box cavity, a sensor cavity, three gear cavities and two supporting wheel cavities, the upper box cavity is arranged at the upper part of the lower box cavity, the sensor cavity is arranged at the front side of the upper part of the upper box cavity, the three gear cavities are respectively a front gear cavity, a left rear gear cavity and a right rear gear cavity, the front gear cavity is arranged at the front side of the lower box cavity, the left rear gear cavity is arranged at the rear left side of the lower box cavity, the right rear gear cavity is arranged at the rear right side of the lower box cavity, the two supporting wheel cavities are respectively a left supporting wheel cavity and a right supporting wheel cavity, the left supporting wheel cavity is arranged on the left side of the lower box cavity, and the right supporting wheel cavity is arranged on the right side of the lower box cavity; the four swing arm crawler assemblies are respectively a left front swing arm crawler assembly arranged on the front side of the left supporting wheel cavity, a left rear swing arm crawler assembly arranged on the rear side of the left supporting wheel cavity, a right front swing arm crawler assembly arranged on the front side of the right supporting wheel cavity and a right rear swing arm crawler assembly arranged on the rear side of the right supporting wheel cavity; a left walking motor for driving the left walking crawler assembly and a right walking motor for driving the right walking crawler assembly are arranged in the lower box cavity; a left front swing arm motor for driving the left front swing arm crawler assembly, a left rear swing arm motor for driving the left rear swing arm crawler assembly, a right front swing arm motor for driving the right front swing arm crawler assembly and a right rear swing arm motor for driving the right rear swing arm crawler assembly; the left walking motor is provided with a left walking motor encoder for detecting the rotating speed of the left walking motor in real time, and the right walking motor is provided with a right walking motor encoder for detecting the rotating speed of the right walking motor in real time; an ultrasonic sensor for detecting an obstacle in front of the rescue robot is arranged on the front side of the outer part of the lower box cavity; a robot control computer, a battery, a transformer, a motor driver set and a three-dimensional digital compass are arranged in the upper box cavity; the motor driver group comprises a left walking motor driver, a right walking motor driver, a left front swing arm motor driver, a right front swing arm motor driver, a left rear swing arm motor driver and a right rear swing arm motor driver, wherein the left walking motor encoder, the right walking motor encoder and the ultrasonic sensor are all connected with the input end of the robot control computer, the left walking motor driver, the right walking motor driver, the left front swing arm motor driver, the right front swing arm motor driver, the left rear swing arm motor driver and the right rear swing arm motor driver are all connected with the output end of the robot control computer, the left walking motor is connected with the output end of the left walking motor driver, the right walking motor is connected with the output end of the right walking motor driver, the left front swing arm motor is connected with the output end of the left front swing arm motor driver, the right front swing arm motor is connected with the output end of a right front swing arm motor driver, the left rear swing arm motor is connected with the output end of a left rear swing arm motor driver, and the right rear swing arm motor is connected with the output end of a right rear swing arm motor driver; an environmental information sensor, a binocular vision sensor, a laser radar sensor and a lighting lamp are arranged in the sensor cavity; the output end of the environment information sensor, the output end of the binocular vision sensor and the output end of the laser radar sensor are connected with the input end of the robot control computer; a left front swing arm gear transmission assembly for transmitting the power of a left front swing arm motor to the left front swing arm crawler assembly, a right front swing arm gear transmission assembly for transmitting the power of a right front swing arm motor to the right front swing arm crawler assembly, a left walking gear transmission assembly for transmitting the power of a left walking motor to the left walking crawler assembly and a right walking gear transmission assembly for transmitting the power of a right walking motor to the right walking crawler assembly are arranged in the front gear cavity; a left rear swing arm gear transmission assembly for transmitting the power of a left rear swing arm motor to the left rear swing arm crawler belt assembly is arranged in the left rear gear cavity, and a right rear swing arm gear transmission assembly for transmitting the power of a right rear swing arm motor to the right rear swing arm crawler belt assembly is arranged in the right rear gear cavity; a left damping support and a left damping support wheel assembly mounted on the left damping support are arranged in the left support wheel cavity, and a left infrared sensor for detecting an obstacle on the left side of the rescue robot is arranged outside the left support wheel cavity; a right damping support and a right damping support wheel assembly arranged on the right damping support are arranged in the right supporting wheel cavity, and a right infrared sensor for detecting obstacles on the right side of the rescue robot is arranged outside the right supporting wheel cavity; the left infrared sensor and the right infrared sensor are both connected with the input end of the robot control computer;
the cable winding and unwinding device comprises a cable winding and unwinding motor, a synchronous belt transmission mechanism connected with an output shaft of the cable winding and unwinding motor, and a cable winding mechanism and a cable arranging mechanism which are connected with the synchronous belt transmission mechanism; the synchronous belt transmission mechanism comprises a main driving synchronous belt wheel, a winding drum driving synchronous belt wheel and a lead screw driving synchronous belt wheel, wherein a winding drum driving synchronous belt is spanned on the main driving synchronous belt wheel and the winding drum driving synchronous belt wheel, a lead screw driving synchronous belt is spanned on the winding drum driving synchronous belt wheel and the lead screw driving synchronous belt wheel, and the main driving synchronous belt wheel is fixedly connected to an output shaft of a cable take-up and pay-off motor; the cable reeling mechanism comprises a reel, a first reel support and a second reel support which are arranged at intervals, a first reel bearing is arranged on the first reel support, a reel driving shaft is arranged on the first reel bearing, the reel driving synchronous belt pulley is fixedly connected onto the reel driving shaft, a reel driving wheel is fixedly connected onto the reel driving shaft, and the reel is fixedly connected with the reel driving wheel; a reel supporting shaft is arranged on the second reel bracket, a second reel bearing is arranged on the reel supporting shaft, a reel follower wheel is arranged on the second reel bearing, and the reel is fixedly connected with the reel follower wheel; the wire arranging mechanism comprises a bidirectional screw rod and a first screw rod support and a second screw rod support which are arranged at intervals, a first screw rod bearing is arranged on the first screw rod support, a second screw rod bearing is arranged on the second screw rod support, one end of the bidirectional screw rod is installed in the first screw rod bearing, the other end of the bidirectional screw rod is installed in the second screw rod bearing, a screw rod driving synchronous belt pulley is fixedly connected onto the bidirectional screw rod, a screw rod sliding block is connected onto the bidirectional screw rod in a threaded mode, an optical shaft parallel to the bidirectional screw rod is erected on the first screw rod support and the second screw rod support, the optical shaft penetrates through a guide hole formed in the screw rod sliding block, a wire block used for arranging wires is arranged at the top of the screw rod sliding block, and a wire hole for a cable of the wire control coal mine rescue detection robot to pass is formed in.
The wired control coal mine rescue detection robot is characterized in that: the environmental information sensor includes a temperature sensor, an oxygen sensor, a methane sensor, and a carbon monoxide sensor.
The wired control coal mine rescue detection robot is characterized in that: the swing arm mechanism comprises a left front swing arm crawler belt assembly, a right front swing arm crawler belt assembly, a left rear swing arm crawler belt assembly and a right rear swing arm crawler belt assembly, wherein the left front swing arm crawler belt assembly, the right front swing arm crawler belt assembly, the left rear swing arm crawler belt assembly and the right rear swing arm crawler belt assembly are identical in structure and respectively comprise a swing arm shaft, a swing arm support, a swing arm front wheel and a swing arm driving wheel, the swing arm front wheel is rotatably connected to the front end of the swing arm support, the swing arm driving wheel is rotatably connected to the rear end of the swing arm support, the swing arm shaft is connected with the swing arm support through a spline, the middle part of the swing arm support is rotatably connected with a swing arm upper supporting wheel and a swing arm lower supporting wheel which are oppositely arranged up and down, the diameter of the swing arm front wheel is smaller than that;
the left front swing arm gear transmission assembly, the right front swing arm gear transmission assembly, the left rear swing arm gear transmission assembly and the right rear swing arm gear transmission assembly have the same structure and respectively comprise swing arm motor bevel gears and swing arm shaft bevel gears meshed with the swing arm motor bevel gears, the swing arm motor bevel gears are fixedly connected to output shafts of the left front swing arm motor, the right front swing arm motor, the left rear swing arm motor or the right rear swing arm motor, and the swing arm shaft bevel gears are fixedly connected with swing arm shafts;
the left walking crawler assembly and the right walking crawler assembly are identical in structure and respectively comprise a driving walking wheel, a driven walking wheel and a walking rubber crawler bridged on the driving walking wheel and the driven walking wheel, the driving walking wheel in the right walking crawler assembly is fixedly connected to a swing arm sleeve shaft in a right front swing arm crawler assembly, the driven walking wheel in the right walking crawler assembly is fixedly connected to a swing arm sleeve shaft in a right rear swing arm crawler assembly, the driving walking wheel in the left walking crawler assembly is fixedly connected to a swing arm sleeve shaft in a left front swing arm crawler assembly, the driven walking wheel in the left walking crawler assembly is fixedly connected to a swing arm sleeve shaft in a left rear swing arm crawler assembly, and the driving walking wheel and the driven walking wheel are equal in diameter;
the left walking gear transmission assembly and the right walking gear transmission assembly are identical in structure and comprise walking motor bevel gears and walking wheel bevel gears meshed with the walking motor bevel gears, the walking motor bevel gears are fixedly connected to output shafts of the left walking motor or the right walking motor, and the walking wheel bevel gears are fixedly connected with swing arm sleeve shafts.
The wired control coal mine rescue detection robot is characterized in that: the left damping support wheel assembly comprises three left damping support wheel sets, each left damping support wheel set comprises a left damping wheel fixing plate fixedly connected with a left damping support and a left damping wheel connecting plate rotatably connected with the left damping wheel fixing plate through a left damping wheel rotating shaft, two ends of the left damping wheel connecting plate are respectively rotatably connected with a left damping wheel, two of the three left damping support wheel sets are arranged at the lower part of the left damping support, the other one of the three left damping support wheel sets is arranged at the upper part of the left damping support, and a left damping protective plate for covering the three left damping support wheel sets is fixedly connected to the left damping support;
the right side shock attenuation supporting wheel subassembly includes three right shock attenuation supporting wheel group, every right side shock attenuation supporting wheel group all includes the right shock attenuation wheel fixed plate with right shock absorber support fixed connection and the right shock attenuation wheel connecting plate of being connected through right shock attenuation wheel rotation of rotation axis with right shock attenuation wheel fixed plate, the both ends of right side shock attenuation wheel connecting plate are respectively rotated and are connected with a right shock attenuation wheel, and are three wherein two of the right shock attenuation supporting wheel group set up in the lower part of right shock absorber support, and are three another one of the right shock attenuation supporting wheel group sets up on the upper portion of right shock absorber support, fixedly connected with covers the right shock attenuation backplate of three right shock attenuation supporting wheel group on the right shock absorber support.
The wired control coal mine rescue detection robot is characterized in that: the first reel bearing, the second reel bearing, the first lead screw bearing and the second lead screw bearing are all tapered roller bearings.
The wired control coal mine rescue detection robot is characterized in that: and a photoelectric slip ring is arranged in the winding drum supporting shaft.
The wired control coal mine rescue detection robot is characterized in that: the winding drum is fixedly connected with a winding drum driving wheel through a screw; the winding drum is fixedly connected with a winding drum follow-up wheel through a screw; the lead block is fixedly connected with the lead screw sliding block through a screw.
The wired control coal mine rescue detection robot is characterized in that: and a cable winding and unwinding motor encoder for detecting the number of turns of the cable winding and unwinding motor in real time is installed on the cable winding and unwinding motor.
The invention also discloses a cable winding and unwinding method of the wired control coal mine rescue detection robot, which has simple method steps and convenient realization, can ensure that the cable releasing or collecting length is always matched with the robot walking distance by comparing the cable releasing or collecting length with the robot walking distance, ensures that the cable is orderly wound and unwound and appropriately loosened, and reduces the problems of winding and breaking of the cable, and is characterized by comprising the following steps:
step one, connecting a cable: a cable of the wired control coal mine rescue detection robot is wound on a winding drum and then penetrates through the photoelectric slip ring and then penetrates through a wire hole formed in the wire block to be connected with a remote robot control box; the remote robot control system comprises a remote robot control box, a remote controller, a remote control computer, a first communication circuit module, a second communication circuit module, a third communication circuit module, a cable take-up and pay-off motor encoder, a cable take-up and pay-off motor driver, a cable take-up and pay-off motor and a cable take-up and pay-off motor driver, wherein the remote controller is arranged in the remote robot control box, the remote controller is provided with the remote control computer, the remote controller is connected with the first communication circuit module for connecting the remote controller and the remote control computer, the remote control computer is connected with the second communication circuit module for connecting the robot control computer, the third communication circuit module for communicating with the second communication circuit module is connected with the robot control computer, the cable take-up and pay-off;
step two, cable winding and unwinding, which comprises the following specific processes:
step 201, before the coal mine rescue detection robot is controlled to walk in a wired mode, the number n of layers of cables wound on a winding drum and the number m of rows distributed on each layer are checked and input into a remote control computer; and operating the remote control computer to set the rotation speeds of the left walking motor and the right walking motor to be omega2Length of cable release LxDifference value threshold value X of distance S between the cable-controlled coal mine rescue detection robot and the cable collection length L'xA difference threshold value X' of the walking distance S between the coal mine rescue detection robot and the wired control coal mine rescue detection robot; wherein the value of n is an integer of 1-6, and the value of m is an integer of 1-20;
step 202, the remote control computer calculates the formula omega1=(D2·ω2) And (D +2(n-1) D) calculating to obtain the rotating speed omega of a cable winding and unwinding motor of the cable winding and unwinding device1Wherein D is the diameter of the drum, D2The diameter of the driving travelling wheel is d, and the diameter of the cable is d;
203, the far-end control computer transmits the rotating speeds of the left walking motor and the right walking motor to the robot control computer through the second communication circuit module, the cable and the third communication circuit module, the robot control computer drives the left walking motor through the left walking motor driver and drives the right walking motor through the right walking motor driver, so that the wired control coal mine rescue detection robot moves forward or backward at the set rotating speed;
when the wired control coal mine rescue detection robot advances, the remote control computer controls the cable take-up and pay-off motor driver to drive the cable take-up and pay-off motor to rotate at the rotating speed omega1Corotation is carried out to release the cable, and simultaneously, a cable take-up and pay-off motor encoder is used for rotating a ring of the cable take-up and pay-off machineThe number is periodically detected and the detected signal is output to the remote control computer, and the remote control computer detects the number once and then the remote control computer detects the number according to a formula Lx=L-m·π·[nD+n(n-1)d]Calculating the released length L of the cablexAnd according to the formula S ═ i · π D2·ω2T, calculating to obtain the walking distance S of the wire control coal mine rescue detection robot, and then calculating the walking distance S of the wire control coal mine rescue detection robot and the cable release length LxMaking a comparison when S>LxWhen the cable is pulled out, and the cable is pulled out, so that the cable is pulled out, and the cable is pulled out; when S is equal to LxThen the remote control computer continuously controls the cable winding and discharging machine driver to drive the cable winding and discharging machine to rotate at the rotating speed omega1Forward rotation is carried out to release the cable; when S is<LxThen the remote control computer will send L againxComparing the difference with S with X when L isxWhen the difference value with S is larger than X, the cable releasing speed is over high, the remote control computer controls the rotating speed of the cable winding and discharging machine to be reduced through the cable winding and discharging machine driver, and when L is larger than X, the rotating speed of the cable winding and discharging machine is reducedxWhen the difference value with the S is smaller than X, the releasing speed of the cable is in a reasonable range, and the remote control computer continuously controls the cable winding and discharging motor driver to drive the cable winding and discharging motor to rotate at a rotating speed omega1Forward rotation is carried out to release the cable;
when the controlled coal mine rescue detection robot retreats, the remote control computer controls the cable take-up and pay-off motor driver to drive the cable take-up and pay-off motor to rotate at the rotating speed omega1And (2) reversely rotating to collect the cable, simultaneously, periodically detecting the number of turns of the cable collecting and discharging machine by a cable collecting and discharging motor encoder and outputting a detected signal to a remote control computer, wherein the remote control computer is used for detecting once according to a formula L'x=L-m·π·[nD+n(n-1)d]Calculating to obtain the length L 'of cable collection'xAnd according to the formula S ═ i · π D2·ω2T, calculating to obtain the walking distance S of the wired control coal mine rescue detection robot, and then controlling the coal mine rescue detection robot to the wired control coal mine rescue detection robotDistance S of robot walking and length L 'of cable collection'xMaking a comparison when S<L′xWhen the cable is pulled out, and the cable is pulled out, so that the cable is pulled out, and the cable is pulled out; when S ═ L'xThen the remote control computer continuously controls the cable winding and discharging machine driver to drive the cable winding and discharging machine to rotate at the rotating speed omega1Reversely rotating to take up the cable; when S is>LxAt time, the remote control computer will again associate S with L'xIs compared with X ', when S is equal to L'xWhen the difference value of S and L ' is greater than X ', the speed of cable winding is over slow, the remote control computer controls the rotating speed of the cable winding and unwinding motor to increase through the cable winding and unwinding motor driver, and when S and L 'xWhen the difference value of the speed difference is less than X', the releasing speed of the cable is in a reasonable range, and the remote control computer continuously controls the cable winding and discharging motor driver to drive the cable winding and discharging motor to rotate at a rotating speed omega1Reversely rotating to take up the cable;
wherein L is the total length of the cable, i is the walking transmission ratio of the wire control coal mine rescue detection robot, and t is the walking time of the wire control coal mine rescue detection robot;
in the second step, when the cable winding and unwinding motor rotates, the main driving synchronous belt wheel is driven to rotate, the main driving synchronous belt wheel drives the winding drum to drive the synchronous belt wheel to rotate through the winding drum driving synchronous belt, the winding drum drives the synchronous belt wheel to drive the lead screw to drive the synchronous belt wheel to rotate through the lead screw driving synchronous belt, the winding drum drives the synchronous belt wheel to serve as an intermediate transmission wheel to realize the transmission of torque, the winding drum drives the synchronous belt wheel to drive the cable winding mechanism to act, and the lead screw drives the synchronous belt wheel to drive the wire arrangement; the action process of the cable coiling mechanism is as follows: the winding drum drives the synchronous pulley to drive the winding drum driving shaft to rotate, and the winding drum driving shaft drives the winding drum driving wheel to rotate so as to drive the winding drum to rotate, so that the release and the collection of the cable are realized; the action process of the wire arranging mechanism is as follows: the reel drives the synchronous belt pulley to drive the bidirectional screw rod to rotate, the rotation is converted into the left and right movement of the screw rod sliding block through the matching of the bidirectional screw rod and the screw rod sliding block, the wire block moves along with the screw rod sliding block, the arrangement of the cable of the wired control coal mine rescue detection robot is realized through the movement of the wire block, and the cable of the wired control coal mine rescue detection robot is wound on the reel neatly.
Compared with the prior art, the invention has the following advantages:
1. the wired control coal mine rescue detection robot has the advantages of compact structure, novel and reasonable design and convenient realization.
2. The four swing arm crawler assemblies of the robot comprise four independent driving motors, the four swing arm crawler assemblies can realize independent 360-degree rotary motion, multi-posture change of a machine body is realized, and meanwhile, the four swing arm crawler assemblies of the robot can be independently disassembled, so that the robot is convenient to install and debug.
3. The two walking crawler assemblies of the robot comprise two independent driving motors, the forward movement, the backward movement and the steering movement of the robot can be realized by controlling the speeds of the two motors, the robot can realize the movement with different steering radiuses when running at different speed differences in the steering movement of the robot, and the robot can realize the zero-radius steering movement when the speeds of the two walking crawler assemblies of the robot are equal and the directions are opposite.
4. The wired control coal mine rescue detection robot comprises various environment sensors such as a three-dimensional digital compass, a laser sensor, an infrared sensor, a binocular vision sensor and the like, can sense the running environment of the robot comprehensively, and achieves automatic obstacle avoidance.
5. The cable control coal mine rescue detection robot has the advantages of high intelligent degree, high working stability and reliability, and high working stability and reliability of the cable winding and unwinding device.
6. The cable pay-off and take-up device comprises three modules, namely a synchronous belt transmission mechanism, a cable reeling mechanism and a wire arrangement mechanism, and utilizes a cable pay-off and take-up motor to realize the pay-off and the arrangement of cables and can realize the active release and the take-up of the cables.
7. The cable winding and unwinding device is simple in structure, reasonable in design, convenient to achieve and low in cost.
8. The cable winding and unwinding device can realize the active release and collection of the cable and the cooperation of the walking of the wire control coal mine rescue detection robot, can establish a stable communication line for the wire control of the wire control coal mine rescue detection robot, and ensures the stable transmission of control signals, related sensor information and a power supply.
9. The cable winding and unwinding method for the wired control coal mine rescue detection robot has the advantages that the steps are simple, the implementation is convenient, the cable releasing or winding length can be matched with the robot walking distance all the time by comparing the cable releasing or winding length with the robot walking distance, the cable is wound and unwound orderly and is proper in tightness, and the problems of winding and breaking of the cable are reduced.
10. The invention has strong practicability and good use effect and is convenient for popularization and use.
In conclusion, the intelligent cable winding and unwinding device is novel and reasonable in design, high in intelligence degree, high in working stability and reliability, good in stability and effectiveness, high in practicability, good in using effect and convenient to popularize and use, cables are wound and unwound orderly, the tightness is proper, the problem of winding and breaking of the cables is solved, and stable transmission of control signals, relevant sensor information and a power supply can be guaranteed.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a wired control coal mine rescue detection robot.
Fig. 2 is a schematic structural diagram of the robot body according to the present invention.
Fig. 3 is a top plan view of the robot body showing a cross-sectional view of the chamber of the upper case.
Fig. 4 is a sectional view of the chamber of the robot body of the present invention viewed from above.
FIG. 5 is a schematic structural view of a left front swing arm track assembly, a right front swing arm track assembly, a left rear swing arm track assembly, or a right rear swing arm track assembly of the present invention.
Fig. 6 is a top cross-sectional view of fig. 5.
FIG. 7 is a schematic view of the connection relationship of the active road wheel, the swing arm sleeve shaft and the swing arm shaft.
FIG. 8 is a schematic view of the internal structure of the left support wheel cavity of the present invention.
Fig. 9 is a bottom view of fig. 8.
FIG. 10 is a schematic view of the internal structure of the right support wheel cavity of the present invention.
Fig. 11 is a bottom view of fig. 10.
Fig. 12 is a schematic structural view of the cable reel device of the present invention.
Fig. 13 is a schematic structural view of a synchronous belt drive mechanism of the present invention.
FIG. 14 is a schematic structural view of a cable take-up mechanism of the present invention.
Fig. 15 is a schematic structural view of a cable arranging mechanism according to the present invention.
Fig. 16 is a schematic diagram showing the connection relationship between the robot control computer and other units according to the present invention.
Fig. 17 is a flow chart of a method for controlling a cable winding and unwinding method of a coal mine rescue detection robot in a wired manner according to the invention.
Description of reference numerals:
1-left front swing arm track assembly; 2-left supporting wheel cavity; 3-left rear swing arm track assembly;
4-left walking crawler assembly; 5-the robot body; 6-right rear swing arm track assembly;
7-right walking track assembly; 8, feeding the box cavity; 9-sensor cavity;
10-a right front swing arm track assembly; 11-bevel gear of swing arm motor; 12-swing arm shaft bevel gear;
13-a walking motor bevel gear; 14-driving travelling wheels; 15-walking wheel bevel gear;
16-driven travelling wheels; 17-lower box cavity; 18-left travel motor;
19-left front swing arm motor; 20-three-dimensional digital compass; 21-a battery;
22-motor drive group; 22-1-right travel motor drive;
22-2-left travel motor drive; 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-a transformer; 25-remote monitoring computer; 26, a cable pay-off and take-up box;
27-an environmental information sensor; 27-1 — a temperature sensor; 27-2-oxygen sensor;
27-3-methane sensor; 27-4-a carbon monoxide sensor;
28-binocular vision sensor; 29-lidar sensor;
30-lighting lamp; 31-swing arm shaft; 32-swing arm support;
33-swing arm front wheel; 34-swing arm driving wheel; 35-supporting wheels on the swing arms;
36-swing arm lower support wheels; 37-swing arm rubber track; 38-a bearing;
39-swing arm quill; 40-a walking rubber track; 41-right walking motor;
42-right shock mount; 43-right damping wheel fixing plate; 44-right damper wheel rotation axis;
45-right damping wheel connecting plate; 46-right shock absorbing wheel; 47-right shock-absorbing guard plate;
48-right shock-absorbing supporting wheel group; 49, a left damping bracket; 50-left damping wheel fixing plate;
51-left damper wheel rotation axis; 52-left shock-absorbing wheel connecting plate; 53-left shock absorbing wheel;
54-left shock-absorbing guard plate; 55-a left shock-absorbing support wheel set; 56-right front swing arm motor;
57-right rear swing arm motor; 58-left rear swing arm motor; 59-ultrasonic sensor;
60-right supporting wheel cavity; 61-right infrared sensor; 62-left infrared sensor;
63-front gear cavity; 64-left rear gear cavity; 65-right rear gear cavity;
66-cable winding and unwinding devices; 66-1-a cable pay-off and take-up motor; 66-2-synchronous belt drive mechanism;
66-21 — primary drive timing pulley; 66-22-drum drive timing belt;
66-23-spool drive timing pulley; 66-24-lead screw drive synchronous belt;
66-25-lead screw drive synchronous pulley; 66-3-a cable take-up mechanism;
66-31-reel; 66-32 — first reel holder; 66-33 — a second spool support;
66-34 — a first reel bearing; 66-35-spool drive shaft; 66-36-spool drive wheel;
66-37-spool support shaft; 66-38 — second reel bearing; 66-39-reel follower wheel;
66-310 — an opto-electronic slip ring; 66-4-a wire arranging mechanism; 66-41-bidirectional screw;
66-42 — a first lead screw bracket; 66-43 — a second lead screw bracket; 66-44 — a first lead screw bearing;
66-45-second lead screw bearing; 66-46-screw slider; 66-47-optical axis;
66-48-wire blocks; 66-49-wire guides; 67 — a remote controller;
68-a remote control computer; 69 — a first communication circuit module; 70-a second communication circuit module;
71-third communication circuit module; 72-cable take-up and pay-off motor encoder;
73, a cable winding and unwinding motor driver; 74-1 — right walking motor encoder;
74-2-left-walking motor encoder.
Detailed Description
As shown in fig. 1, the wired control coal mine rescue detection robot of the invention comprises a robot body 5 and a cable take-up and pay-off box 26 arranged at the top of the robot body 5, wherein a cable take-up and pay-off device 66 is arranged in the cable take-up and pay-off box 26;
as shown in fig. 2, 3 and 4, the robot body 5 includes a body casing, two walking track assemblies and four swing arm track assemblies, the body casing includes a lower casing cavity 17, an upper casing cavity 8, a sensor cavity 9, three gear cavities and two supporting wheel cavities, the upper casing cavity 8 is arranged on the upper portion of the lower casing cavity 17, the sensor cavity 9 is arranged on the front side of the upper part of the upper casing cavity 8, the three gear cavities are respectively a front gear cavity 63, a left rear gear cavity 64 and a right rear gear cavity 65, the front gear cavity 63 is arranged on the front side of the lower casing cavity 17, the left rear gear cavity 64 is arranged on the left side of the rear of the lower casing cavity 17, the right rear gear cavity 65 is arranged on the right side of the rear of the lower casing cavity 17, the two supporting wheel cavities are respectively a left supporting wheel cavity 2 and a right supporting wheel cavity 60, the left supporting wheel cavity 2 is arranged on the left side of the lower casing cavity 17, the right supporting wheel cavity 60 is arranged at the right side of the lower box cavity 17; the two walking crawler assemblies are respectively a left walking crawler assembly 4 arranged on the left supporting wheel cavity 2 and a right walking crawler assembly 7 arranged on the right supporting wheel cavity 60, and the four swing arm crawler assemblies are respectively a left front swing arm crawler assembly 1 arranged on the front side of the left supporting wheel cavity 2, a left rear swing arm crawler assembly 3 arranged on the rear side of the left supporting wheel cavity 2, a right front swing arm crawler assembly 10 arranged on the front side of the right supporting wheel cavity 60 and a right rear swing arm crawler assembly 6 arranged on the rear side of the right supporting wheel cavity 60; a left walking motor 18 for driving the left walking crawler assembly 4 and a right walking motor 41 for driving the right walking crawler assembly 7 are arranged in the lower box cavity 17; and a left front swing arm motor 19 for driving the left front swing arm track assembly 1, a left rear swing arm motor 58 for driving the left rear swing arm track assembly 3, a right front swing arm motor 56 for driving the right front swing arm track assembly 10, and a right rear swing arm motor 57 for driving the right rear swing arm track assembly 6; the left walking motor 18 is provided with a left walking motor encoder 74-2 for detecting the rotating speed of the left walking motor 18 in real time, and the right walking motor 41 is provided with a right walking motor encoder 74-1 for detecting the rotating speed of the right walking motor 41 in real time; an ultrasonic sensor 59 for detecting an obstacle in front of the rescue robot is arranged on the front side of the outer part of the lower box cavity 17; a robot control computer 23, a battery 21, a transformer 24, a motor driver group 22 and a three-dimensional digital compass 20 are arranged in the upper box cavity 8; referring to fig. 16, the motor driver group 22 includes a left traveling motor driver 22-2, a right traveling motor driver 22-1, a left front swing arm motor driver 22-5, a right front swing arm motor driver 22-3, a left rear swing arm motor driver 22-6 and a right rear swing arm motor driver 22-4, the left traveling motor encoder 74-2, the right traveling motor encoder 74-1 and the ultrasonic sensor 59 are all connected to an input terminal of the robot control computer 23, the left traveling motor driver 22-2, the right traveling motor driver 22-1, the left front swing arm motor driver 22-5, the right front swing arm motor driver 22-3, the left rear swing arm motor driver 22-6 and the right rear swing arm motor driver 22-4 are all connected to an output terminal of the robot control computer 23, the left walking motor 18 is connected with the output end of a left walking motor driver 22-2, the right walking motor 41 is connected with the output end of a right walking motor driver 22-1, the left front swing arm motor 19 is connected with the output end of a left front swing arm motor driver 22-5, the right front swing arm motor 56 is connected with the output end of a right front swing arm motor driver 22-3, the left rear swing arm motor 58 is connected with the output end of a left rear swing arm motor driver 22-6, and the right rear swing arm motor 57 is connected with the output end of a right rear swing arm motor driver 22-4; an environmental information sensor 27, a binocular vision sensor 28, a laser radar sensor 29 and an illuminating lamp 30 are arranged in the sensor cavity 9; the output end of the environment information sensor 27, the output end of the binocular vision sensor 28 and the output end of the laser radar sensor 29 are connected with the input end of the robot control computer 23; when in use, the binocular vision sensor 28 and the laser radar sensor 29 are used for detecting the information of the obstacles in front of the robot; a left front swing arm gear transmission assembly for transmitting the power of the left front swing arm motor 19 to the left front swing arm crawler assembly 1, a right front swing arm gear transmission assembly for transmitting the power of the right front swing arm motor 56 to the right front swing arm crawler assembly 10, a left walking gear transmission assembly for transmitting the power of the left walking motor 18 to the left walking crawler assembly 4 and a right walking gear transmission assembly for transmitting the power of the right walking motor 41 to the right walking crawler assembly 7 are arranged in the front gear cavity 63; a left rear swing arm gear transmission assembly for transmitting the power of the left rear swing arm motor 58 to the left rear swing arm track assembly 3 is arranged in the left rear gear cavity 64, and a right rear swing arm gear transmission assembly for transmitting the power of the right rear swing arm motor 58 to the right rear swing arm track assembly 3 is arranged in the right rear gear cavity 65; a left shock absorption support bracket 49 and a left shock absorption support wheel assembly arranged on the left shock absorption support bracket 49 are arranged in the left support wheel cavity 2, and a left infrared sensor 62 for detecting an obstacle on the left side of the rescue robot is arranged outside the left support wheel cavity; a right damping support bracket 42 and a right damping support wheel assembly arranged on the right damping support bracket 42 are arranged in the right support wheel cavity 60, and a right infrared sensor 61 for detecting an obstacle on the right side of the rescue robot is arranged outside the right support wheel cavity 60; the left infrared sensor 62 and the right infrared sensor 61 are both connected with the input end of the robot control computer 23; the left supporting wheel cavity 2 and the right supporting wheel cavity 60 are of independent detachable structures;
referring to fig. 12, the cable winding and unwinding device 66 includes a cable winding and unwinding motor 66-1, a synchronous belt transmission mechanism 66-2 connected to an output shaft of the cable winding and unwinding motor 66-1, and a cable winding mechanism 66-3 and a cable arranging mechanism 66-4 connected to the synchronous belt transmission mechanism 66-2; referring to fig. 13, the synchronous belt transmission mechanism 66-2 includes a primary driving synchronous pulley 66-21, a drum driving synchronous pulley 66-23 and a lead screw driving synchronous pulley 66-25, the primary driving synchronous pulley 66-21 and the drum driving synchronous pulley 66-23 are bridged with a drum driving synchronous belt 66-22, the drum driving synchronous pulley 66-23 and the lead screw driving synchronous pulley 66-25 are bridged with a lead screw driving synchronous belt 66-24, and the primary driving synchronous pulley 66-21 is fixedly connected to an output shaft of the cable pay-off and take-up motor 66-1; referring to fig. 14, the cable reeling mechanism 66-3 includes a reel 66-31, and a first reel support 66-32 and a second reel support 66-33 which are arranged at intervals, a first reel bearing 66-34 is arranged on the first reel support 66-32, a reel driving shaft 66-35 is mounted on the first reel bearing 66-34, the reel driving synchronous pulley 66-23 is fixedly connected to the reel driving shaft 66-35, a reel driving wheel 66-36 is fixedly connected to the reel driving shaft 66-35, and the reel 66-31 is fixedly connected to the reel driving wheel 66-36; a reel supporting shaft 66-37 is mounted on the second reel bracket 66-33, a second reel bearing 66-38 is mounted on the reel supporting shaft 66-37, a reel follower wheel 66-39 is mounted on the second reel bearing 66-38, and the reel 66-31 is fixedly connected with the reel follower wheel 66-39; referring to fig. 15, the traverse mechanism 66-4 includes a bidirectional screw 66-41, and a first screw bracket 66-42 and a second screw bracket 66-43 which are arranged at intervals, the first screw bracket 66-42 is provided with a first screw bearing 66-44, the second screw bracket 66-43 is provided with a second screw bearing 66-45, one end of the bidirectional screw 66-41 is installed in the first screw bearing 66-44, the other end of the bidirectional screw 66-41 is installed in the second screw bearing 66-45, the screw-driven synchronous pulley 66-25 is fixedly connected to the bidirectional screw 66-41, the bidirectional screw 66-41 is connected with a screw slider 66-46 by screw threads, the first screw bracket 66-42 and the second screw bracket 66-43 are provided with optical axes 66-47 parallel to the bidirectional screw 66-41, the optical axis 66-47 penetrates through a guide hole formed in the lead screw sliding block 66-46, a wire guide block 66-48 for arranging wires is arranged at the top of the lead screw sliding block 66-46, and a wire guide hole 66-49 for allowing a cable for controlling the coal mine rescue detection robot to penetrate through is formed in the wire guide block 66-48.
The cable pay-off and take-up device 66 comprises a cable take-up mechanism 66-3, a cable pay-off and take-up motor 66-1, a synchronous belt transmission mechanism 66-2 and a wire arrangement mechanism 66-4, wherein the synchronous belt transmission mechanism 66-2 is used for transmitting the power of the cable pay-off and take-up motor 66-1 to the cable take-up mechanism 66-3 and the wire arrangement mechanism 66-4, so that the active release and take-up of cables can be realized.
In this embodiment, as shown in fig. 16, the environmental information sensor 27 includes a temperature sensor 27-1, an oxygen sensor 27-2, a methane sensor 27-3, and a carbon monoxide sensor 27-4.
In the embodiment, as shown in fig. 5 and 6, the left front swing arm track assembly 1, the right front swing arm track assembly 10, the left rear swing arm track assembly 3, and the right rear swing arm track assembly 6 have the same structure and each include a swing arm shaft 31, a swing arm bracket 32, a swing arm front wheel 33 rotatably connected to the front end of the swing arm bracket 32, and a swing arm driving wheel 34 rotatably connected to the rear end of the swing arm bracket 32, the swing arm shaft 31 is connected to the swing arm bracket 32 through a spline, the middle part of the swing arm bracket 32 is rotatably connected to a swing arm upper supporting wheel 35 and a swing arm lower supporting wheel 36 which are arranged oppositely up and down, the diameter of the swing arm front wheel 33 is smaller than that of the swing arm driving wheel 34, the swing arm front wheel 33, the swing arm upper supporting wheel 35, the swing arm driving wheel 34, and the swing arm lower supporting wheel 36 are straddled by a swing arm rubber track 37, the swing arm sleeve shaft, the swing arm driving wheel 34 is fixedly connected to a swing arm sleeve shaft 39; in specific implementation, the swing arm driving wheel 34 is fixedly connected to a swing arm sleeve shaft 39 through a flat key; the left front swing arm crawler belt assembly 1, the right front swing arm crawler belt assembly 10, the left rear swing arm crawler belt assembly 3 and the right rear swing arm crawler belt assembly 6 are all in a concentric shaft transmission mode, in the transmission mode, independent rotary motion can be achieved through the swing arm sleeve shaft 39 and the swing arm shaft 31, the motion is not interfered with each other, and the space required by robot transmission is simplified. Left front swing arm track assembly 1, right front swing arm track assembly 10, left back swing arm track assembly 3 and right back swing arm track assembly 6 can be disassembled alone, make things convenient for rescue robot's installation and debugging.
In this embodiment, as shown in fig. 3 and 4, the left front swing arm gear transmission assembly, the right front swing arm gear transmission assembly, the left rear swing arm gear transmission assembly and the right rear swing arm gear transmission assembly have the same structure and each include a swing arm motor bevel gear 11 and a swing arm shaft bevel gear 12 engaged with the swing arm motor bevel gear 11, the swing arm motor bevel gear 11 is fixedly connected to an output shaft of the left front swing arm motor 19, the right front swing arm motor 56, the left rear swing arm motor 58 or the right rear swing arm motor 57, and the swing arm shaft bevel gear 12 is fixedly connected to the swing arm shaft 31;
in this embodiment, as shown in fig. 3, 4 and 7, the left walking track assembly 4 and the right walking track assembly 7 have the same structure and each include a driving walking wheel 14 and a driven walking wheel 16, and a walking rubber track 40 bridged over the driving walking wheel 14 and the driven walking wheel 16, the driving walking wheel 14 of the right walking track assembly 7 is fixedly connected to a swing arm sleeve shaft 39 of the right front swing arm track assembly 10, the driven walking wheel 16 of the right walking track assembly 7 is fixedly connected to a swing arm sleeve shaft 39 of the right rear swing arm track assembly 6, the driving walking wheel 14 of the left walking track assembly 4 is fixedly connected to a swing arm sleeve shaft 39 of the left front swing arm track assembly 1, the driven walking wheel 16 of the left walking track assembly 4 is fixedly connected to a swing arm sleeve shaft 39 of the left rear swing arm track assembly 3, the diameters of the driving travelling wheels 14 and the driven travelling wheels 16 are equal; in specific implementation, the driving travelling wheels 14 and the driven travelling wheels 16 in the left travelling crawler assembly 4 are respectively arranged on the front side and the rear side of the left supporting wheel cavity, and the driving travelling wheels 14 and the driven travelling wheels 16 in the right travelling crawler assembly 7 are respectively arranged on the front side and the rear side of the right supporting wheel cavity 60;
in this embodiment, as shown in fig. 3 and 4, the left traveling gear transmission assembly and the right traveling gear transmission assembly have the same structure and both include a traveling motor bevel gear 13 and a traveling wheel bevel gear 15 engaged with the traveling motor bevel gear 13, the traveling motor bevel gear 13 is fixedly connected to an output shaft of the left traveling motor 18 or the right traveling motor 41, and the traveling wheel bevel gear 15 is fixedly connected to the swing arm sleeve shaft 39.
When the swing arm type automatic transmission device is used, the left front swing arm crawler belt assembly 1, the right front swing arm crawler belt assembly 10, the left rear swing arm crawler belt assembly 3 and the right rear swing arm crawler belt assembly 6 can realize independent 360-degree rotary motion, the rotary motion of the left front swing arm motor 19, the right front swing arm motor 56, the left rear swing arm motor 58 or the right rear swing arm motor 57 is transmitted to the swing arm shaft 31 through the swing arm motor bevel gear 11 and the swing arm shaft bevel gear 12, and then the rotary motion of the swing arm shaft 31 is transmitted to the swing arm support 32 through the spline of the swing arm shaft 31, so that the rotary motion of the left front swing arm gear transmission assembly, the right front swing arm gear transmission assembly, the left rear swing arm gear transmission assembly or the right front swing arm gear transmission assembly is realized. The rotary motion of the left walking motor 18 or the right walking motor 41 is transmitted to the swing arm sleeve shaft 39 through the walking motor bevel gear 13 and then transmitted to the driving walking wheel 14 and the swing arm driving wheel 34, the walking rubber track 40 transmits the rotary motion of the driving walking wheel 14 to the driven walking wheel 16, so that the walking motion of the left walking track assembly 4 and the right walking track assembly 7 is realized, and the walking motion of the robot is completed; the swing arm rubber track 37 transmits the rotation motion of the swing arm driving wheel 34 to the swing arm front wheel 33, and the swing arm upper supporting wheel 35 and the swing arm lower supporting wheel 36 can adjust the tensioning and supporting functions of the swing arm rubber track 37.
In this embodiment, as shown in fig. 8 and 9, the left shock-absorbing support wheel assembly includes three left shock-absorbing support wheel assemblies 55, each of the left shock-absorbing support wheel assemblies 55 includes a left shock-absorbing wheel fixing plate 50 fixedly connected to the left shock-absorbing bracket 49 and a left shock-absorbing wheel connecting plate 52 rotatably connected to the left shock-absorbing wheel fixing plate 50 through a left shock-absorbing wheel rotating shaft 51, two ends of the left shock-absorbing wheel connecting plate 52 are respectively rotatably connected to a left shock-absorbing wheel 53, two of the three left shock-absorbing support wheel assemblies 55 are disposed at the lower portion of the left shock-absorbing bracket 49, the other one of the three left shock-absorbing support wheel assemblies 55 is disposed at the upper portion of the left shock-absorbing bracket 49, and the left shock-absorbing support bracket 49 is fixedly connected to a left shock-absorbing guard plate 54; when the robot is used, the two left damping wheels 53 rotate through the left damping wheel rotating shaft 51 to adjust the angle, and when the robot encounters a lower obstacle, the two left damping wheels 53 can automatically adjust the rotating angle to assist the robot to smoothly cross the obstacle;
in this embodiment, as shown in fig. 10 and 11, the right shock-absorbing support wheel assembly includes three right shock-absorbing support wheel assemblies 48, each of the right shock-absorbing support wheel assemblies 48 includes a right shock-absorbing wheel fixing plate 43 fixedly connected to the right shock-absorbing bracket 42 and a right shock-absorbing wheel connecting plate 45 rotatably connected to the right shock-absorbing wheel fixing plate 43 through the right shock-absorbing wheel rotating shaft 44, two ends of the right shock-absorbing wheel connecting plate 45 are respectively rotatably connected to one right shock-absorbing wheel 46, two of the three right shock-absorbing support wheel assemblies 48 are disposed on the lower portion of the right shock-absorbing bracket 42, the other one of the three right shock-absorbing support wheel assemblies 48 is disposed on the upper portion of the right shock-absorbing bracket 42, and the right shock-absorbing guard plate 47 covering the three right shock-absorbing support wheel assemblies. When the robot obstacle crossing device is used, the two right damping wheels 46 rotate through the right damping wheel rotating shaft 44, the angle is adjusted, and when the robot meets a lower obstacle, the two right damping wheels 46 can automatically adjust the rotating angle to assist the robot to cross the obstacle smoothly.
In this embodiment, the first reel bearings 66-34, the second reel bearings 66-38, the first lead screw bearings 66-44, and the second lead screw bearings 66-45 are all tapered roller bearings. The pair of conical roller bearings are used in the cable reeling mechanism 66-3, the first conical roller bearing is used for supporting and installing the reel driving shaft 66-35, and the second conical roller bearing is used for supporting and installing the reel supporting shaft 66-37, so that the cable reeling mechanism 66-3 has the function of bearing axial force in a bidirectional mode, and has better stability and reliability when the cable is reeled; the wire arranging mechanism 66-4 has the function of bearing axial force in two directions and has better stability and reliability by using paired tapered roller bearings in the wire arranging mechanism 66-4, and the first tapered roller bearing and the second tapered roller bearing are matched to support and mount the two-way screw 66-41.
In the present embodiment, as shown in FIG. 14, the reel support shaft 66-37 has an electro-optical slip ring 66-310 mounted therein. The photoelectric slip ring 66-310 is used for realizing the transmission of signals from the rotating platform to the static platform, preventing the cables from generating distortion due to the rotation of the winding drum 66-31, causing connection interruption and failure of information transmission and power supply, ensuring the stability and reliability of releasing and receiving the cables and ensuring the continuous and stable work of the robot.
In the embodiment, the reels 66 to 31 are fixedly connected with the reel driving wheels 66 to 36 through screws; the winding drum 66-31 is fixedly connected with a winding drum follower wheel 66-39 through a screw; the lead blocks 66-48 are fixedly connected with the lead screw sliding blocks 66-46 through screws. The winding drum 66-31 is fixedly connected with the winding drum driving wheel 66-36 and the winding drum follower wheel 66-39 through screws, so that the installation stability of the winding drum 66-31 can be ensured; the lead blocks 66-48 are fixedly connected to the tops of the lead screw sliding blocks 66-46 through screws, so that the connection between the lead blocks 66-48 and the lead screw sliding blocks 66-46 is reliable, the lead blocks 66-48 can move along with the lead screw sliding blocks 66-46, the arrangement of cables of the coal mine rescue detection robot under wired control is achieved through the movement of the lead blocks 66-48, and the cables of the coal mine rescue detection robot under wired control are wound on the winding drums 66-31 in order.
In this embodiment, the cable winding and unwinding motor 66-1 is provided with a cable winding and unwinding motor encoder 72 for detecting the number of turns of the cable winding and unwinding motor 66-1 in real time. By providing the cable retraction motor encoder 72, the number of turns of the cable retraction motor 66-1 can be periodically detected and the detected signal can be output to the remote controller 67.
As shown in fig. 17, the cable winding and unwinding method for the wired control coal mine rescue detection robot of the present invention includes the following steps:
step one, connecting a cable: the cable of the wired control coal mine rescue detection robot is wound on a winding drum 66-31 and then passes through the photoelectric slip ring 66-310 and then passes through wire holes 66-49 arranged on the wire blocks 66-48 to be connected with a remote robot control box; as shown in fig. 16, a remote controller 67 is arranged in the remote robot control box, a remote control computer 68 is arranged on the remote robot control box, a first communication circuit module 69 for connecting the remote controller 67 and the remote control computer 68 is connected to the remote controller 67, a second communication circuit module 70 for connecting the robot control computer 23 is connected to the remote control computer 68, a third communication circuit module 71 for communicating with the second communication circuit module 70 is connected to the robot control computer 23, the cable winding and unwinding motor encoder 72 is connected to an input end of the remote controller 67, an output end of the remote controller 67 is connected to a cable winding and unwinding motor driver 73, and the cable winding and unwinding motor 66-1 is connected to an output end of the cable winding and unwinding motor driver 73;
step two, cable winding and unwinding, which comprises the following specific processes:
step 201, before the coal mine rescue detection robot is controlled to walk in a wired mode, checking the number n of layers of cables wound on the winding drums 66-31 and the number m of rows distributed on each layer, and inputting the numbers into a far-end control computer 68; and operates the remote control computer 68 to set the rotation speeds of the left traveling motor 18 and the right traveling motor 41 to be ω2Length of cable release LxDifference value threshold value X of distance S between the cable-controlled coal mine rescue detection robot and the cable collection length L'xA difference threshold value X' of the walking distance S between the coal mine rescue detection robot and the wired control coal mine rescue detection robot; wherein the value of n is an integer of 1-6, and the value of m is an integer of 1-20;
in specific implementation, the values of X and X' are equal and are both the height from the winding drum 3-1 of the cable winding and unwinding device 7 to the ground;
step 202, the remote control computer 68 calculates the formula ω1=(D2·ω2) /(D +2(n-1) D) calculating to obtain the rotating speed omega of the cable winding and unwinding motor 66-1 of the cable winding and unwinding device1Wherein D is the diameter of the reel 66-31, D2The diameter of the active road wheel 14, d is the diameter of the cable;
step 203, the far-end control computer 68 transmits the rotating speeds of the left walking motor 18 and the right walking motor 41 to the robot control computer 23 through the second communication circuit module 70, the cable and the third communication circuit module 71, the robot control computer 23 drives the left walking motor 18 through the left walking motor driver 22-2, and drives the right walking motor 41 through the right walking motor driver 22-1, so that the wired control coal mine rescue detection robot moves forward or backward at the set rotating speed;
when the wired control coal mine rescue detection robot advances, the remote control computer 68 controls the cable take-up and discharge motor driver 73 to drive the cable take-up and discharge motor 66-1 to rotate at the rotating speed omega1The cable is released by positive rotation, meanwhile, the encoder 72 of the cable winding and unwinding motor periodically detects the number of turns of the cable winding and unwinding machine 66-1 and outputs the detected signal to the far-end control computer 68, and the far-end control computer 68 detects the number of turns of the cable winding and unwinding machine once and then the formula L is adoptedx=L-m·π·[nD+n(n-1)d]Calculating the released length L of the cablexRoot of Chinese angelicaAccording to the formula S ═ i · pi D2·ω2T, calculating to obtain the walking distance S of the wire control coal mine rescue detection robot, and then calculating the walking distance S of the wire control coal mine rescue detection robot and the cable release length LxMaking a comparison when S>LxWhen the cable is pulled out, the tension on the cable is increased, and at the moment, the remote control computer 68 controls the rotating speed of the cable winding and discharging machine 66-1 to be increased through the cable winding and discharging machine driver 73, so that the cable releasing speed is kept up with the walking speed of the wired control coal mine rescue detection robot; when S is equal to LxMeanwhile, the remote control computer 68 continuously controls the cable take-up and discharge motor driver 73 to drive the cable take-up and discharge motor 66-1 at the rotation speed omega1Forward rotation is carried out to release the cable; when S is<LxThen the remote control computer 68 will again send LxComparing the difference with S with X when L isxWhen the difference value with S is larger than X, the cable releasing speed is over high, the remote control computer 68 controls the rotating speed of the cable take-up and discharge machine 66-1 to be reduced through the cable take-up and discharge machine driver 73, and when L is larger than X, the rotating speed of the cable take-up and discharge machine is controlled to be reducedxWhen the difference value with S is less than X, the releasing speed of the cable is in a reasonable range, and the remote control computer 68 continuously controls the cable take-up and discharge motor driver 73 to drive the cable take-up and discharge motor 66-1 to rotate at the rotating speed omega1Forward rotation is carried out to release the cable;
when the wired control coal mine rescue detection robot moves backwards, the remote control computer 68 controls the cable take-up and discharge motor driver 73 to drive the cable take-up and discharge motor 66-1 to rotate at the rotating speed omega1The cable is reversely rotated for cable winding, meanwhile, the encoder 72 of the cable winding and discharging motor 66-1 periodically detects the number of turns of the cable winding and discharging motor and outputs the detected signal to the far-end control computer 68, and each time the detection is carried out, the far-end control computer 68 carries out the detection according to the formula L'x=L-m·π·[nD+n(n-1)d]Calculating to obtain the length L 'of cable collection'xAnd according to the formula S ═ i · π D2·ω2T is calculated to obtain the walking distance S of the wire control coal mine rescue detection robot, and then the walking distance S of the wire control coal mine rescue detection robot and the length L 'collected by the cable'xMaking a comparison when S<L′xAt this point, the tension on the cable increases, and the remote control computer 68 passes throughThe cable pay-off and take-up motor driver 73 controls the rotating speed of the cable pay-off and take-up motor 66-1 to be reduced, so that the cable pay-off speed is kept up with the walking speed of the cable control coal mine rescue detection robot; when S ═ L'xMeanwhile, the remote control computer 68 continuously controls the cable take-up and discharge motor driver 73 to drive the cable take-up and discharge motor 66-1 at the rotation speed omega1Reversely rotating to take up the cable; when S is>L′xAt this time, the remote control computer 68 again outputs S and L'xIs compared with X ', when S is equal to L'xWhen the difference value of (S) is greater than X ', it is determined that the cable take-up speed is too slow, the remote control computer 68 controls the rotation speed of the cable take-up and discharge machine 66-1 to increase through the cable take-up and discharge machine driver 73, and when S and L'xWhen the difference is less than X', the releasing speed of the cable is in a reasonable range, and the remote control computer 68 continuously controls the cable take-up and discharge motor driver 73 to drive the cable take-up and discharge motor 66-1 to rotate at the rotating speed omega1Reversely rotating to take up the cable;
wherein L is the total length of the cable, i is the walking transmission ratio of the wire control coal mine rescue detection robot, and t is the walking time of the wire control coal mine rescue detection robot;
in the second step, when the cable take-up and pay-off motor 66-1 rotates, the main driving synchronous pulley 66-21 is driven to rotate, the main driving synchronous pulley 66-21 drives the winding drum driving synchronous pulley 66-23 to rotate through the winding drum driving synchronous belt 66-22, the winding drum driving synchronous pulley 66-23 drives the lead screw driving synchronous pulley 66-25 to rotate through the lead screw driving synchronous belt 66-24, the winding drum driving synchronous pulley 66-23 serves as an intermediate transmission wheel to realize the transmission of torque, the winding drum driving synchronous pulley 66-23 drives the cable winding mechanism 66-3 to act, and the lead screw driving synchronous pulley 66-25 drives the cable winding mechanism 66-4 to act; the action process of the cable reeling mechanism 66-3 is as follows: the drum drives the synchronous belt pulley 66-23 to drive the drum driving shaft 66-35 to rotate, the drum driving shaft 66-35 drives the drum driving wheel 66-36 to rotate, and further drives the drum 66-31 to rotate, so that the release and the collection of the cable are realized; the action process of the wire arranging mechanism 66-4 is as follows: the winding drum drives the synchronous belt pulleys 66-23 to drive the bidirectional screw rods 66-41 to rotate, rotation is converted into left and right movement of the screw rod sliding blocks 66-46 through the matching of the bidirectional screw rods 66-41 and the screw rod sliding blocks 66-46, the wire blocks 66-48 move along with the screw rod sliding blocks 66-46, the arrangement of cables of the wired control coal mine rescue detection robot is achieved through the movement of the wire blocks 66-48, and the cables of the wired control coal mine rescue detection robot are wound on the winding drum 66-31 in order.
According to the cable winding and unwinding method for the cable control coal mine rescue detection robot, the cable releasing or winding length is compared with the robot walking distance, so that the cable releasing or winding length is always matched with the robot walking distance, the cable is wound and unwound orderly and is proper in tightness, and the problems of winding and breaking of the cable are reduced.
The invention discloses an autonomous walking control method for a wired control coal mine rescue detection robot, which comprises the following steps:
step one, data acquisition and transmission: the environment information sensor 27 detects environment information of the rescue robot and transmits the detected signal to the robot control computer 23, the binocular vision sensor 28 detects an image of a road environment in front of the rescue robot and transmits the detected signal to the robot control computer 23, the lidar sensor 29 detects a distance between the rescue robot and a front obstacle and transmits the detected signal to the robot control computer 23, the left infrared sensor 62 detects an obstacle on the left side of the rescue robot and transmits the detected signal to the robot control computer 23, the right infrared sensor 61 detects an obstacle on the right side of the rescue robot and transmits the detected signal to the robot control computer 23, the ultrasonic sensor 59 detects an obstacle in front of the rescue robot and transmits the detected signal to the robot control computer 23, the three-dimensional digital compass 20 detects the posture of the rescue robot and transmits the detected signal to the robot control computer 23; the robot control computer 23 transmits the received environment information output by the environment information sensor 27 and the road environment image in front of the rescue robot output by the binocular vision sensor 28 to the remote monitoring computer 25 through the third communication circuit module 71, the cable and the second communication circuit module 70;
step two, data analysis and processing, the specific process is as follows:
step 201, the robot control computer 23 analyzes and processes the received signals output by the ultrasonic sensor 59 and the laser radar sensor 29, and judges whether an obstacle exists in front of the rescue robot in the walking environment and the distance between the rescue robot and the obstacle in front;
step 202, the robot control computer 23 analyzes and processes the received signal output by the left infrared sensor 62, and determines whether there is an obstacle and a distance from the obstacle on the left side in the walking environment of the rescue robot;
step 203, the robot control computer 23 analyzes and processes the received signal output by the right infrared sensor 61, and judges whether an obstacle exists on the right side in the walking environment of the rescue robot and the distance from the obstacle;
step 204, the robot control computer 23 analyzes and processes the received attitude signal of the rescue robot output by the three-dimensional digital compass 20, and judges whether the walking environment of the rescue robot is a flat road surface, an ascending slope or a descending slope;
step three, robot motion control: the robot control computer 23 judges whether the walking environment of the rescue robot is a flat road surface, an upper slope or a lower slope according to the data analysis processing result in the step two, judges whether an obstacle and the position of the obstacle exist in the walking environment of the rescue robot, and outputs control signals to the left walking motor 18, the right walking motor 41, the left front swing arm motor 19, the left rear swing arm motor 58, the right front swing arm motor 56 and the right rear swing arm motor 57 according to different walking environments to control the rescue robot to walk;
when the rescue robot walking environment is a flat road surface, the robot control computer 23 drives the left walking motor 18 through the left walking motor driver 22-2 and drives the right walking motor 41 through the right walking motor driver 22-1, so that the rotating speeds of the left walking motor 18 and the right walking motor 41 are equal, and linear walking is performed;
when a front obstacle, a right obstacle or both the front and the right obstacles are detected in the walking environment of the rescue robot and the height of the obstacles is higher than the maximum obstacle crossing height of the robot through the binocular vision sensor 28 and the laser radar sensor 29, the robot control computer 23 drives the left walking motor 18 through the left walking motor driver 22-2 and drives the right walking motor 41 through the right walking motor driver 22-1, firstly, the rotating speed of the right walking motor 41 is higher than that of the left walking motor 18, left turning driving is carried out, then, the rotating speed of the left walking motor 18 is higher than that of the right walking motor 41, right turning driving is carried out, a driving route is in a semicircular arc, the front obstacles are bypassed, and finally, the rotating speeds of the left walking motor 18 and the right walking motor 41 are equal, and straight driving is carried out;
when an obstacle is on the left side or both the front side and the left side in the walking environment of the rescue robot and the height of the obstacle is detected to be larger than the maximum obstacle crossing height of the robot through the binocular vision sensor 28 and the laser radar sensor 29, the robot control computer 23 drives the left walking motor 18 through the left walking motor driver 22-2 and drives the right walking motor 41 through the right walking motor driver 22-1, the rotating speed of the left walking motor 18 is made larger than that of the right walking motor 41 to perform right turning driving, then the rotating speed of the right walking motor 41 is made larger than that of the left walking motor 18 to perform left turning driving, so that the driving route is in a semicircular arc to bypass the obstacle on the left side, and finally the rotating speeds of the left walking motor 18 and the right walking motor 41 are made equal to perform straight driving;
when obstacles are arranged on the front, the left side and the right side in the walking environment of the rescue robot, the robot detects the height of the obstacles through the binocular vision sensor 28 and the laser radar sensor 29, when the height of the obstacles is smaller than the maximum obstacle crossing height of the robot, the control computer 23 drives the left front swing arm motor 19 and the right front swing arm motor 56 through the left front swing arm motor driver 22-5 and the right front swing arm motor driver 22-3, the front two swing arms are lapped on the upper edge of the obstacles, and the front part of the robot body is lifted through the rotation of the swing arm motors, so that the front part is lapped on the upper edge of the obstacles; the left rear swing arm motor 58 and the right front swing arm motor 56 are driven by the left rear swing arm motor driver 22-6 and the right front swing arm motor driver 22-3 to lift the rear part of the robot; the robot control computer 23 drives the left traveling motor 18 through the left traveling motor driver 22-2, drives the right traveling motor 41 through the right traveling motor driver 22-1, equalizes the rotation speeds of the left traveling motor 18 and the right traveling motor 41, performs linear traveling, climbs over an obstacle, and finally levels the left front swing arm crawler assembly 1, the left rear swing arm crawler assembly 3, the right front swing arm crawler assembly 10, and the right rear swing arm crawler assembly 6 of the rescue robot, equalizes the rotation speeds of the left traveling motor 18 and the right traveling motor 41, and performs linear traveling.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (8)

1. A cable winding and unwinding method for a cable control coal mine rescue detection robot comprises a robot body (5) and a cable winding and unwinding box (26) arranged at the top of the robot body (5), wherein a cable winding and unwinding device (66) is arranged in the cable winding and unwinding box (26);
the robot body (5) comprises a body box body, two walking crawler assemblies and four swing arm crawler assemblies, wherein the body box body comprises a lower box cavity (17), an upper box cavity (8), a sensor cavity (9), three gear cavities and two supporting wheel cavities, the upper box cavity (8) is arranged on the upper portion of the lower box cavity (17), the sensor cavity (9) is arranged on the front side of the upper portion of the upper box cavity (8), the three gear cavities are respectively a front gear cavity (63), a left rear gear cavity (64) and a right rear gear cavity (65), the front gear cavity (63) is arranged on the front side of the lower box cavity (17), the left rear gear cavity (64) is arranged on the left side of the rear of the lower box cavity (17), the right rear gear cavity (65) is arranged on the right side of the rear of the lower box cavity (17), and the two supporting wheel cavities are respectively a left supporting wheel cavity (2) and a right supporting wheel cavity (60), the left supporting wheel cavity (2) is arranged on the left side of the lower box cavity (17), and the right supporting wheel cavity (60) is arranged on the right side of the lower box cavity (17); the two walking crawler assemblies are respectively a left walking crawler assembly (4) arranged on the left supporting wheel cavity (2) and a right walking crawler assembly (7) arranged on the right supporting wheel cavity (60), and the four swing arm crawler assemblies are respectively a left front swing arm crawler assembly (1) arranged on the front side of the left supporting wheel cavity (2), a left rear swing arm crawler assembly (3) arranged on the rear side of the left supporting wheel cavity (2), a right front swing arm crawler assembly (10) arranged on the front side of the right supporting wheel cavity (60) and a right rear swing arm crawler assembly (6) arranged on the rear side of the right supporting wheel cavity (60); a left walking motor (18) for driving the left walking crawler assembly (4) and a right walking motor (41) for driving the right walking crawler assembly (7) are arranged in the lower box cavity (17); a left front swing arm motor (19) used for driving the left front swing arm crawler assembly (1), a left rear swing arm motor (58) used for driving the left rear swing arm crawler assembly (3), a right front swing arm motor (56) used for driving the right front swing arm crawler assembly (10) and a right rear swing arm motor (57) used for driving the right rear swing arm crawler assembly (6); a left walking motor encoder (74-2) for detecting the rotating speed of the left walking motor (18) in real time is installed on the left walking motor (18), and a right walking motor encoder (74-1) for detecting the rotating speed of the right walking motor (41) in real time is installed on the right walking motor (41); an ultrasonic sensor (59) for detecting an obstacle in front of the rescue robot is arranged on the front side of the outer part of the lower box cavity (17); a robot control computer (23), a battery (21), a transformer (24), a motor driver group (22) and a three-dimensional digital compass (20) are arranged in the upper box cavity (8); the motor driver group (22) comprises a left walking motor driver (22-2), a right walking motor driver (22-1), a left front swing arm motor driver (22-5), a right front swing arm motor driver (22-3), a left rear swing arm motor driver (22-6) and a right rear swing arm motor driver (22-4), wherein the left walking motor encoder (74-2), the right walking motor encoder (74-1) and the ultrasonic sensor (59) are all connected with the input end of the robot control computer (23), and the left walking motor driver (22-2), the right walking motor driver (22-1), the left front swing arm motor driver (22-5), the right front swing arm motor driver (22-3), the left rear swing arm motor driver (22-6) and the right rear swing arm motor driver (22-4) are all connected with the robot control computer (23) ) The output end of the left walking motor (18) is connected with the output end of a left walking motor driver (22-2), the output end of a right walking motor (41) is connected with the output end of a right walking motor driver (22-1), the output end of a left front swing arm motor driver (22-5) is connected with a left front swing arm motor (19), the output end of a right front swing arm motor (56) is connected with the output end of a right front swing arm motor driver (22-3), the output end of a left rear swing arm motor driver (22-6) is connected with a left rear swing arm motor driver (58), and the output end of a right rear swing arm motor driver (22-4) is connected with a right rear swing arm motor (57); an environmental information sensor (27), a binocular vision sensor (28), a laser radar sensor (29) and a lighting lamp (30) are arranged in the sensor cavity (9); the output end of the environment information sensor (27), the output end of the binocular vision sensor (28) and the output end of the laser radar sensor (29) are connected with the input end of the robot control computer (23); a left front swing arm gear transmission assembly for transmitting the power of a left front swing arm motor (19) to the left front swing arm crawler assembly (1), a right front swing arm gear transmission assembly for transmitting the power of a right front swing arm motor (56) to the right front swing arm crawler assembly (10), a left walking gear transmission assembly for transmitting the power of a left walking motor (18) to the left walking crawler assembly (4) and a right walking gear transmission assembly for transmitting the power of a right walking motor (41) to the right walking crawler assembly (7) are arranged in the front gear cavity (63); a left rear swing arm gear transmission assembly used for transmitting the power of the left rear swing arm motor (58) to the left rear swing arm crawler assembly (3) is arranged in the left rear gear cavity (64), and a right rear swing arm gear transmission assembly used for transmitting the power of the right rear swing arm motor (58) to the right rear swing arm crawler assembly (3) is arranged in the right rear gear cavity (65); a left shock absorption support bracket (49) and a left shock absorption support wheel assembly arranged on the left shock absorption support bracket (49) are arranged in the left support wheel cavity (2), and a left infrared sensor (62) for detecting an obstacle on the left side of the rescue robot is arranged outside the left support wheel cavity; a right damping support bracket (42) and a right damping support wheel assembly arranged on the right damping support bracket (42) are arranged in the right support wheel cavity (60), and a right infrared sensor (61) for detecting an obstacle on the right side of the rescue robot is arranged outside the right support wheel cavity (60); the left infrared sensor (62) and the right infrared sensor (61) are both connected with the input end of the robot control computer (23);
the cable winding and unwinding device (66) comprises a cable winding and unwinding motor (66-1), a synchronous belt transmission mechanism (66-2) connected with an output shaft of the cable winding and unwinding motor (66-1), a cable winding mechanism (66-3) and a wire arranging mechanism (66-4) which are connected with the synchronous belt transmission mechanism (66-2); the synchronous belt transmission mechanism (66-2) comprises a main driving synchronous pulley (66-21), a winding drum driving synchronous pulley (66-23) and a lead screw driving synchronous pulley (66-25), winding drum driving synchronous belts (66-22) are connected to the main driving synchronous pulley (66-21) and the winding drum driving synchronous pulley (66-23) in a crossing mode, lead screw driving synchronous belts (66-24) are connected to the winding drum driving synchronous pulley (66-23) and the lead screw driving synchronous pulley (66-25) in a crossing mode, and the main driving synchronous pulley (66-21) is fixedly connected to an output shaft of a cable take-up and pay-off motor (66-1); the cable reeling mechanism (66-3) comprises a reel (66-31), a first reel support (66-32) and a second reel support (66-33), wherein the first reel support (66-32) and the second reel support (66-33) are arranged at intervals, a first reel bearing (66-34) is arranged on the first reel bearing (66-34), a reel driving shaft (66-35) is installed on the first reel bearing (66-34), the reel driving synchronous pulley (66-23) is fixedly connected onto the reel driving shaft (66-35), a reel driving wheel (66-36) is fixedly connected onto the reel driving shaft (66-35), and the reel (66-31) is fixedly connected with the reel driving wheel (66-36); a reel supporting shaft (66-37) is mounted on the second reel bracket (66-33), a second reel bearing (66-38) is mounted on the reel supporting shaft (66-37), a reel follower wheel (66-39) is mounted on the second reel bearing (66-38), and the reel (66-31) is fixedly connected with the reel follower wheel (66-39); the wire arranging mechanism (66-4) comprises a bidirectional screw rod (66-41), a first screw rod support (66-42) and a second screw rod support (66-43), the first screw rod support (66-42) and the second screw rod support (66-43) are arranged at intervals, a first screw rod bearing (66-44) is arranged on the first screw rod support (66-42), a second screw rod bearing (66-45) is arranged on the second screw rod support (66-43), one end of the bidirectional screw rod (66-41) is installed in the first screw rod bearing (66-44), the other end of the bidirectional screw rod (66-41) is installed in the second screw rod bearing (66-45), a screw rod driving synchronous belt wheel (66-25) is fixedly connected onto the bidirectional screw rod (66-41), and a screw rod sliding block (66-46) is in threaded connection onto the bidirectional screw rod (66-41), optical axes (66-47) parallel to the bidirectional screw rods (66-41) are erected on the first screw rod support (66-42) and the second screw rod support (66-43), the optical axes (66-47) penetrate through guide holes formed in screw rod sliding blocks (66-46), wire blocks (66-48) used for wire arrangement are arranged at the tops of the screw rod sliding blocks (66-46), and wire holes (66-49) for allowing cables of the coal mine rescue detection robot to pass through are formed in the wire blocks (66-48);
the method is characterized in that: the cable winding and unwinding method comprises the following steps:
step one, connecting a cable: a cable for controlling the coal mine rescue detection robot in a wired mode is wound on a winding drum (66-31), then penetrates through a photoelectric slip ring (66-310), and then penetrates through wire holes (66-49) formed in wire blocks (66-48) to be connected with a remote robot control box; a far-end controller (67) is arranged in the far-end robot control box, a far-end control computer (68) is arranged on the far-end robot control box, the remote controller (67) is connected with a first communication circuit module (69) used for connecting the remote controller (67) and a remote control computer (68), the remote control computer (68) is connected with a second communication circuit module (70) used for connecting the robot control computer (23), the robot control computer (23) is connected with a third communication circuit module (71) used for communicating with the second communication circuit module (70), a cable winding and unwinding motor encoder (72) is connected with the input end of the remote controller (67), the output end of the far-end controller (67) is connected with a cable winding and unwinding motor driver (73), the cable winding and unwinding motor (66-1) is connected with the output end of a cable winding and unwinding motor driver (73);
step two, cable winding and unwinding, which comprises the following specific processes:
step 201, before the coal mine rescue detection robot is controlled to walk in a wired mode, the number n of layers of cables wound on winding drums (66-31) and the number m of rows distributed on each layer are checked and input into a remote control computer (68); and operating the remote control computer (68) to set the rotation speeds of the left walking motor (18) and the right walking motor (41) to be omega2Length of cable release LxAnd wired controlDifference value threshold value X of distance S for making coal mine rescue detection robot to walk and length L 'for cable collection'xA difference threshold value X' of the walking distance S between the coal mine rescue detection robot and the wired control coal mine rescue detection robot; wherein the value of n is an integer of 1-6, and the value of m is an integer of 1-20;
step 202, the remote control computer (68) calculates the formula omega1=(D2·ω2) V (D +2(n-1) D) calculating to obtain the rotating speed omega of a cable winding and unwinding motor (66-1) of the cable winding and unwinding device1Wherein D is the diameter of the reel (66-31) and D2The diameter of the driving travelling wheel (14) is d, and the diameter of the cable is d;
203, the far-end control computer (68) transmits the rotating speeds of the left walking motor (18) and the right walking motor (41) to the robot control computer (23) through the second communication circuit module (70), the cable and the third communication circuit module (71), the robot control computer (23) drives the left walking motor (18) through the left walking motor driver (22-2) and drives the right walking motor (41) through the right walking motor driver (22-1), so that the wired control coal mine rescue detection robot moves forward or backward at the set rotating speed;
when the wired control coal mine rescue detection robot advances, the remote control computer (68) controls the cable take-up and pay-off motor driver (73) to drive the cable take-up and pay-off motor (66-1) at the rotating speed omega1The cable is released by positive rotation, meanwhile, the encoder (72) of the cable winding and unwinding motor periodically detects the number of turns of the cable winding and unwinding motor (66-1) and outputs a detected signal to the far-end control computer (68), and the far-end control computer (68) outputs a detection signal to the far-end control computer (68) according to a formula L once detection is performedx=L-m·π·[nD+n(n-1)d]Calculating the released length L of the cablexAnd according to the formula S ═ i · π D2·ω2T, calculating to obtain the walking distance S of the wire control coal mine rescue detection robot, and then calculating the walking distance S of the wire control coal mine rescue detection robot and the cable release length LxMaking a comparison when S>LxWhen the cable is in use, the tension on the cable is increased, and at the moment, the remote control computer (68) controls the rotating speed of the cable winding and discharging machine (66-1) to be increased through the cable winding and discharging motor driver (73), so that the cable releasing speed is kept up with the cable releasing speedControlling the walking speed of the coal mine rescue detection robot; when S is equal to LxWhen the cable is wound and unwound, the remote control computer (68) continuously controls the cable winding and unwinding motor driver (73) to drive the cable winding and unwinding machine (66-1) to rotate at the rotating speed omega1Forward rotation is carried out to release the cable; when S is<LxThen the remote control computer (68) will send L againxComparing the difference with S with X when L isxWhen the difference value with S is larger than X, the cable releasing speed is over high, the far-end control computer (68) controls the rotating speed of the cable winding and discharging machine (66-1) to be reduced through the cable winding and discharging motor driver (73), and when L is larger than X, the rotating speed of the cable winding and discharging machine is reducedxWhen the difference value with the S is less than X, the releasing speed of the cable is in a reasonable range, and the remote control computer (68) continuously controls the cable winding and unwinding motor driver (73) to drive the cable winding and unwinding machine (66-1) to rotate at the rotating speed omega1Forward rotation is carried out to release the cable;
when the wired control coal mine rescue detection robot moves backwards, the remote control computer (68) controls the cable take-up and pay-off motor driver (73) to drive the cable take-up and pay-off motor (66-1) at the rotating speed omega1The cable is reversely rotated for cable collection, meanwhile, a cable collecting and discharging motor encoder (72) periodically detects the number of turns of the cable collecting and discharging machine (66-1) and outputs a detected signal to a far-end control computer (68), and each time the detection is carried out, the far-end control computer (68) carries out cable collection according to a formula L'x=L-m·π·[nD+n(n-1)d]Calculating to obtain the length L 'of cable collection'xAnd according to the formula S ═ i · π D2·ω2T is calculated to obtain the walking distance S of the wire control coal mine rescue detection robot, and then the walking distance S of the wire control coal mine rescue detection robot and the length L 'collected by the cable'xMaking a comparison when S<L′xWhen the cable is in use, the tension on the cable is increased, and at the moment, the far-end control computer (68) controls the rotating speed of the cable winding and discharging machine (66-1) to be reduced through the cable winding and discharging motor driver (73), so that the cable releasing speed is kept up with the walking speed of the cable control coal mine rescue detection robot; when S ═ L'xWhen the cable is wound and unwound, the remote control computer (68) continuously controls the cable winding and unwinding motor driver (73) to drive the cable winding and unwinding machine (66-1) to rotate at the rotating speed omega1Reversely rotating to take up the cable; when S is>L′xThen the remote control computer (68) will send S againAnd L'xIs compared with X ', when S is equal to L'xIf the difference is greater than X ', the speed of cable take-up is over slow, the remote control computer (68) controls the rotation speed of the cable take-up and discharge machine (66-1) to increase through the cable take-up and discharge motor driver (73), and when S and L'xWhen the difference value is less than X', the releasing speed of the cable is in a reasonable range, and the remote control computer (68) continuously controls the cable winding and unwinding motor driver (73) to drive the cable winding and unwinding motor (66-1) to rotate at a speed omega1Reversely rotating to take up the cable;
wherein L is the total length of the cable, i is the walking transmission ratio of the wire control coal mine rescue detection robot, and t is the walking time of the wire control coal mine rescue detection robot;
in the second step, when the cable take-up and pay-off motor (66-1) rotates, the main driving synchronous belt wheel (66-21) is driven to rotate, the main driving synchronous belt wheel (66-21) drives the winding drum driving synchronous belt wheel (66-23) to rotate through the winding drum driving synchronous belt (66-22), the winding drum driving synchronous belt wheel (66-23) drives the lead screw driving synchronous belt wheel (66-25) to rotate through the lead screw driving synchronous belt (66-24), the winding drum driving synchronous belt wheel (66-23) serves as an intermediate transmission wheel to realize torque transmission, the winding drum driving synchronous belt wheel (66-23) drives the cable winding mechanism (66-3) to act, and the lead screw driving synchronous belt wheel (66-25) drives the cable winding mechanism (66-4) to act; wherein the action process of the cable coiling mechanism (66-3) is as follows: the winding drum drives the synchronous belt wheel (66-23) to drive the winding drum driving shaft (66-35) to rotate, the winding drum driving shaft (66-35) drives the winding drum driving wheel (66-36) to rotate, and then the winding drum (66-31) is driven to rotate, so that the release and the collection of the cable are realized; the action process of the wire arranging mechanism (66-4) is as follows: the winding drum drives the synchronous belt pulleys (66-23) to drive the bidirectional screw rods (66-41) to rotate, rotation is converted into left and right movement of the screw rod sliding blocks (66-46) through the cooperation of the bidirectional screw rods (66-41) and the screw rod sliding blocks (66-46), the wire blocks (66-48) move along with the screw rod sliding blocks (66-46), the arrangement of cables of the coal mine rescue detection robot under wired control is achieved through the movement of the wire blocks (66-48), and the cables of the coal mine rescue detection robot under wired control are wound on the winding drum (66-31) in order.
2. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: the environmental information sensor (27) comprises a temperature sensor (27-1), an oxygen sensor (27-2), a methane sensor (27-3) and a carbon monoxide sensor (27-4).
3. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: the left front swing arm crawler belt assembly (1), the right front swing arm crawler belt assembly (10), the left rear swing arm crawler belt assembly (3) and the right rear swing arm crawler belt assembly (6) are identical in structure and respectively comprise a swing arm shaft (31), a swing arm support (32), a swing arm front wheel (33) rotatably connected to the front end of the swing arm support (32) and a swing arm driving wheel (34) rotatably connected to the rear end of the swing arm support (32), the swing arm shaft (31) is connected with the swing arm support (32) through a spline, the middle of the swing arm support (32) is rotatably connected with a swing arm upper supporting wheel (35) and a swing arm lower supporting wheel (36) which are oppositely arranged up and down, the diameter of the swing arm front wheel (33) is smaller than that of the swing arm driving wheel (34), the swing arm front wheel (33), the swing arm upper supporting wheel (35), the swing arm driving wheel (34) and the swing arm lower supporting wheel (36) are connected with a swing, the swing arm shaft (31) is rotatably connected with a swing arm sleeve shaft (39) through a bearing (38), and the swing arm driving wheel (34) is fixedly connected to the swing arm sleeve shaft (39);
the left front swing arm gear transmission assembly, the right front swing arm gear transmission assembly, the left rear swing arm gear transmission assembly and the right rear swing arm gear transmission assembly are identical in structure and respectively comprise a swing arm motor bevel gear (11) and a swing arm shaft bevel gear (12) meshed with the swing arm motor bevel gear (11), the swing arm motor bevel gear (11) is fixedly connected to output shafts of a left front swing arm motor (19), a right front swing arm motor (56), a left rear swing arm motor (58) or a right rear swing arm motor (57), and the swing arm shaft bevel gear (12) is fixedly connected with a swing arm shaft (31);
the left walking crawler assembly (4) and the right walking crawler assembly (7) are identical in structure and respectively comprise a driving walking wheel (14), a driven walking wheel (16) and a walking rubber crawler (40) bridged on the driving walking wheel (14) and the driven walking wheel (16), the driving walking wheel (14) in the right walking crawler assembly (7) is fixedly connected to a swing arm sleeve shaft (39) in a right front swing arm crawler assembly (10), the driven walking wheel (16) in the right walking crawler assembly (7) is fixedly connected to a swing arm sleeve shaft (39) in a right rear swing arm crawler assembly (6), the driving walking wheel (14) in the left walking crawler assembly (4) is fixedly connected to a swing arm sleeve shaft (39) in a left front swing arm crawler assembly (1), and the driven walking wheel (16) in the left walking crawler assembly (4) is fixedly connected to a swing arm sleeve shaft (39) in a left rear swing arm crawler assembly (3), the diameters of the driving travelling wheel (14) and the driven travelling wheel (16) are equal;
the left walking gear transmission assembly and the right walking gear transmission assembly are identical in structure and comprise walking motor bevel gears (13) and walking wheel bevel gears (15) meshed with the walking motor bevel gears (13), the walking motor bevel gears (13) are fixedly connected to output shafts of a left walking motor (18) or a right walking motor (41), and the walking wheel bevel gears (15) are fixedly connected with swing arm sleeve shafts (39).
4. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: the left damping support wheel assembly comprises three left damping support wheel assemblies (55), each left damping support wheel assembly (55) comprises a left damping wheel fixing plate (50) fixedly connected with a left damping support (49) and a left damping wheel connecting plate (52) rotatably connected with the left damping wheel fixing plate (50) through a left damping wheel rotating shaft (51), two ends of the left damping wheel connecting plate (52) are respectively rotatably connected with a left damping wheel (53), two of the three left damping support wheel assemblies (55) are arranged at the lower part of the left damping support (49), the other one of the three left damping support wheel assemblies (55) is arranged at the upper part of the left damping support (49), and a left damping guard plate (54) covering the three left damping support wheel assemblies (55) is fixedly connected to the left damping support (49);
the right side shock attenuation supporting wheel subassembly includes three right shock attenuation supporting wheel group (48), every right side shock attenuation supporting wheel group (48) all include with right shock absorber support (42) fixed connection's right shock attenuation wheel fixed plate (43) and with right shock attenuation wheel fixed plate (43) rotate right shock attenuation wheel connecting plate (45) of being connected through right shock attenuation wheel rotation axis (44), the both ends of right shock attenuation wheel connecting plate (45) respectively rotate and are connected with a right shock attenuation wheel (46), three wherein two settings are in right shock attenuation supporting wheel group (48) are in the lower part of right shock absorber support (42), three another one setting in right shock attenuation supporting wheel group (48) is on the upper portion of right shock absorber support (42), fixedly connected with covers right shock attenuation backplate shock attenuation (47) of three right shock attenuation supporting wheel group (48) on right shock absorber support (42).
5. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: the first reel bearing (66-34), the second reel bearing (66-38), the first lead screw bearing (66-44) and the second lead screw bearing (66-45) are all tapered roller bearings.
6. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: and an optoelectronic slip ring (66-310) is arranged in the reel supporting shaft (66-37).
7. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: the reel (66-31) is fixedly connected with a reel driving wheel (66-36) through a screw; the winding drum (66-31) is fixedly connected with a winding drum follower wheel (66-39) through a screw; the lead blocks (66-48) are fixedly connected with the lead screw sliding blocks (66-46) through screws.
8. The cable pay-off and take-up method for the wire-controlled coal mine rescue detection robot as claimed in claim 1, wherein: and a cable winding and unwinding motor encoder (72) for detecting the number of turns of the cable winding and unwinding motor (66-1) in real time is arranged on the cable winding and unwinding motor (66-1).
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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