CN111173557A - Search and rescue robot is listened to mine - Google Patents
Search and rescue robot is listened to mine Download PDFInfo
- Publication number
- CN111173557A CN111173557A CN202010033357.5A CN202010033357A CN111173557A CN 111173557 A CN111173557 A CN 111173557A CN 202010033357 A CN202010033357 A CN 202010033357A CN 111173557 A CN111173557 A CN 111173557A
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- arm
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- connecting rod
- crawler
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
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Abstract
The invention discloses a mine detection search and rescue robot, which comprises a chassis, a mechanical arm component, a walking component and a fire-fighting component, wherein the chassis is provided with a base plate; the mechanical arm assembly comprises a large arm, a small arm, a first arm seat, a second arm seat and a connecting rod, a servo motor and a cycloid speed reducer are arranged on the outer side of the first arm seat, an output shaft of the servo motor penetrates through the first arm seat to be connected with the large arm, and one end of the large arm is hinged with the second arm seat; one end of the small arm is connected with the rotating motor, and the other end of the small arm is connected with the brick axe; one end of the connecting rod is hinged with the second arm seat, and the other end of the connecting rod is connected with an output shaft of the servo motor; the fire control subassembly includes squirt, fixing base, hydraulic telescoping rod, detector, and the fixing base cup joints with the cycloidal speed reducer and is connected, and hydraulic telescoping rod one end is articulated with the fixing base, and the other end is articulated with first arm seat, and the detector is located on the squirt. According to the invention, the brick cutter is driven by the mechanical arm to flexibly rotate for search and rescue, the hydraulic telescopic rod simultaneously drives the water gun and the detector to rotate in multiple angles, and the combined action is suitable for mine detection, search and rescue.
Description
Technical Field
The invention relates to the technical field of mine search and rescue equipment, in particular to a mine detection search and rescue robot.
Background
At present, after a coal mine disaster, particularly a gas coal dust explosion accident occurs, the mine environment is very complex, and underground personnel injured due to the disaster are in extremely dangerous conditions and need to be transferred and rescued as soon as possible; at present, rescue work mainly adopts the mode that rescue personnel carry out rescue in case of accidents and rescue robots carry out rescue.
In the manual rescue, forced ventilation for a long time is often needed due to the severe mine environment, the manual rescue can enter an accident site for detection and rescue after toxic gas is exhausted, the rescue time can be delayed, the rescue efficiency is slow, and once mine gas explosion occurs, casualties of rescue workers are easily caused due to the influences of high temperature, smoke, harmful gas, oxygen deficiency and the like and the possibility of secondary disasters, so that difficulty and danger are brought to rescue work.
The robot has high rescue efficiency, but due to complex mine terrain, such as accumulated water on the road surface, and obstacles such as tramcar rails, ditches, air pipes, cables and the like; the road surface of the branch roadway is narrow and uneven and has more slopes; the road surface slope of working face department is big, has obstacles such as broken coal, support, slide, and current rescue robot is equipped with detector, or arm or fire-fighting lance alone usually, but its function is not applicable to the detection search and rescue of the mine of complicated topography, and detector, fire-fighting lance set up unreasonablely, and the scope is limited, and it brings the inconvenience to detect the search and rescue for the mine, consequently needs a robot that is applicable to the mine and detects the search and rescue.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a mine detection and search and rescue robot, which has the combined action of detection, search and rescue, can simultaneously perform detection and fire fighting at multiple angles and is suitable for detection, search and rescue of mines.
In order to solve the technical problems, the technical scheme of the invention is as follows: a mine detection search and rescue robot comprises a chassis, a manipulator arm assembly, a walking assembly and a fire-fighting assembly;
the mechanical arm assembly comprises a large arm, a small arm, a first arm seat, a second arm seat and a connecting rod, wherein the first arm seat is fixed on the chassis, a servo motor and a cycloid speed reducer are arranged on the outer side of the first arm seat, an output shaft of the servo motor penetrates through the first arm seat to be connected with the large arm, and one end of the large arm is hinged with the second arm seat; one end of the small arm is connected with a rotating motor, the other end of the small arm is connected with the brick axe, and the rotating motor is arranged on the second arm seat; one end of the connecting rod is hinged with the second arm seat, and the other end of the connecting rod is connected with an output shaft of the servo motor;
the fire control subassembly includes the fixing base, hydraulic telescoping rod, the detector of squirt, the fixing base cup joints with the cycloidal speed reducer and is connected hydraulic telescoping rod one end is articulated with the fixing base, and the other end is articulated with first armlet, the detector is located on the squirt.
Preferably, the walking subassembly includes four mechanical legs, mechanical leg including put step motor, with put combination motor cabinet, shank connecting piece, shank, foot connecting piece, the foot track subassembly that step motor is connected, the one end of shank is passed through shank connecting piece and is connected with the combination motor cabinet is articulated, and the other end passes through foot connecting piece and foot track subassembly is articulated to be connected.
Preferably, the foot crawler assembly comprises a crawler, crawler wheels and a tensioning cylinder for controlling tensioning of the crawler, the crawler is triangular, the crawler wheels are respectively arranged at the top points of the triangle of the crawler, and the tensioning cylinder is connected between any crawler wheel.
Preferably, the brick axe comprises a large brick chassis and a small brick chassis arranged on the large brick chassis, wherein the large brick chassis is uniformly provided with large blades in the axial direction, and the small brick chassis is uniformly provided with small blades in the axial direction.
Preferably, the number of the large blades and the number of the small blades are three, and the surfaces of the large blades and the small blades are serrated.
Preferably, the chassis comprises an upper chassis, a lower chassis and a supporting seat fixedly connected with the upper chassis and the lower chassis, an installation position of the mechanical leg is arranged between the upper chassis and the lower chassis, and the mechanical leg is installed on the periphery of the chassis in a matching manner with the installation position through a combined motor base.
Preferably, a locking mechanism for locking the upper chassis and the lower chassis is further arranged between the upper chassis and the lower chassis, the locking mechanism comprises a connecting rod sleeved with the upper chassis and the lower chassis and a locking sheet arranged at the lower end of the connecting rod, and the locking sheet is hinged with the connecting rod to enable the locking sheet to rotate up and down along the vertical direction.
Preferably, the number of the locking pieces is three, and the locking pieces are uniformly distributed along the circumferential direction of the connecting rod.
Preferably, the detector comprises a controller, an infrared sensor, a gas sensor and a wireless communication module, and the infrared sensor, the gas sensor and the wireless communication module are connected with the controller.
Preferably, the charging power supply is used for supplying power to the whole.
Compared with the prior art, the invention has the advantages that: adopt robotic arm to drive to rotate and can rotate in a flexible way and search for and rescue work, drive squirt and detector multi-angle rotating simultaneously through hydraulic telescoping rod, the synergism discovers that sources of a fire etc. can in time carry out the fire control, improves and surveys and rescue efficiency, listens search for and rescue combined action and is applicable to the search for and rescue of mine.
Drawings
FIG. 1 is a schematic structural view of a mine detection search and rescue robot according to the present invention;
FIG. 2 is a schematic structural view of a base pan according to the present invention;
FIG. 3 is a schematic view of the construction of the robot arm of the present invention;
FIG. 4 is a schematic view of the structure A of FIG. 3 according to the present invention;
FIG. 5 is a schematic view of the mechanical leg of the present invention;
FIG. 6 is a schematic diagram of the system configuration of the detector of the present invention.
In the figure, 1-chassis, 10-upper chassis, 11-lower chassis, 12-supporting seat, 13-installation position, 2-mechanical arm component, 21-big arm, 22-small arm, 23-rotating motor, 24-brick cutter, 241-big brick chassis, 242-big blade, 243-small brick chassis, 244-small blade, 25-servo motor, 26-cycloid reducer, 27-connecting rod, 28-first seat arm, 29-second seat arm, 3-walking component, 31-step motor, 32-combined motor seat, 33-leg connecting component, 34-leg, 35-foot connecting component, 36-foot crawler component, 361-crawler, 362-crawler wheel, 363-tensioning cylinder, 4-locking mechanism, 41-connecting rod, 42-locking sheet, 5-fire-fighting component, 51-water gun, 52-detector, 521-controller, 522-infrared sensor, 523-gas sensor, 524-wireless communication module, 53-water gun nozzle, 54-hydraulic telescopic rod and 55-fixing seat.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-6, a mine detection search and rescue robot comprises a chassis 1, a manipulator arm assembly 2, a walking assembly 3 and a fire-fighting assembly 5;
the mechanical arm assembly 2 comprises a big arm 21, a small arm 22, a first arm seat 28, a second arm seat 29 and a connecting rod 27, the first arm seat 28 is fixed on the chassis 1, a servo motor 25 and a cycloid speed reducer 26 are arranged on the outer side of the first arm seat 28, an output shaft of the servo motor 25 penetrates through the first arm seat 28 to be connected with the big arm 21, and one end of the big arm 21 is hinged with the second arm seat 29; one end of the small arm 22 is connected with a rotating motor 23, the other end of the small arm is connected with a brick axe 24, and the rotating motor 23 is arranged on a second arm seat 29; one end of the connecting rod 27 is hinged with the second arm seat 29, and the other end is connected with an output shaft of the servo motor 25;
fire control subassembly 5 includes squirt 51, the fixing base 55, the hydraulic telescoping rod 54, the detector 52 of squirt, fixing base 55 cup joints with cycloid speed reducer 26 and is connected, hydraulic telescoping rod 54 one end is articulated with fixing base 55, and the other end is articulated with first arm seat 28, detector 52 is located on squirt 51.
The foot track assembly comprises a track 361, track wheels 362 and a tensioning cylinder 363 for controlling the tensioning of the track, wherein the track 361 is triangular, the track wheels 362 are respectively arranged at the top points of the triangular track, and the tensioning cylinder 363 is connected between any track wheels. Through the flexible of tensioning cylinder for when the track hit stereoplasm things such as stone, through the flexible of tensioning cylinder, the athey wheel plays the absorbing effect, prevents that the athey wheel from being crashed.
The brick axe 24 comprises a large brick chassis 241 and a small brick chassis 243 arranged on the large brick chassis 241, wherein the large brick chassis 241 is uniformly provided with large blades 242 in the axial direction, and the small brick chassis 243 is uniformly provided with small blades 244 in the axial direction. The number of the large blades 242 and the small blades 244 is three, and the surfaces of the large blades 242 and the small blades 244 are serrated. The brick cutter is beneficial to digging the collapsed position of the mine.
The chassis comprises an upper chassis 10, a lower chassis 11 and a supporting seat 12 fixedly connecting the upper chassis 10 and the lower chassis 11, wherein a mounting position 13 of a mechanical leg is arranged between the upper chassis 10 and the lower chassis 11, and the mechanical leg is mounted on the periphery of the chassis in a matching way with the mounting position 13 through a combined motor base 32.
The upper chassis 10 and the lower chassis 11 are also provided with a locking mechanism 4 for locking the upper chassis 10 and the lower chassis 11, the locking mechanism 4 comprises a connecting rod 41 sleeved with the upper chassis 10 and the lower chassis 11 and a locking sheet 42 arranged at the lower end of the connecting rod, and the locking sheet 42 is hinged with the connecting rod 41 to enable the locking sheet to rotate up and down along the vertical direction. The locking pieces 42 are three and are evenly distributed along the circumferential direction of the connecting rod. The locking piece can realize the locking of going up chassis and lower chassis, when the stay is rotated downwards and is opened, for the open mode, when the stay upwards rotates folding, for the locking state, realizes through this locking mechanism class that the no instrument of chassis is dismantled from top to bottom.
The detector 52 comprises a controller 521, an infrared sensor 522, a gas sensor 523 and a wireless communication module 524, wherein the infrared sensor 522, the gas sensor 523 and the wireless communication module 524 are connected with the controller.
And the charging power supply is used for supplying power to the whole.
The working principle of the invention is as follows: when the search and rescue robot needs work to be listened to the mine, rotate through servo motor 25, drive big arm 21 and rotate, drive connecting rod 27 simultaneously and rotate to control the rotation of little arm 22, and swinging boom motor 23 drives little arm 22 rotatory, thereby makes brickkiln 24 pivoted, can excavate soil, does benefit to the hole that the mine wore out, thereby crosses rubble and mashed mud. Utilize detector 52 to survey, squirt 51 carries out the fire control, because on detector 52 located squirt 51, squirt 51 is articulated with hydraulic telescoping rod 54, through hydraulic telescoping rod's flexible, can change detector 52 and squirt 51's angle simultaneously, discovers that the fire disaster etc. can in time carry out the fire control, and detector and squirt rotate jointly, and the synergism improves and surveys and rescue efficiency. The walking assembly is combined with the independent foot crawler assembly on the mechanical legs, two advantages are simultaneously played, the foot crawler assembly reduces the friction resistance in the advancing movement process, the mine is convenient to advance, the mechanical legs enable the foot crawler assembly to climb a 45-degree slope, and the obstacle crossing height of 500mm can be achieved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (10)
1. A search and rescue robot is listened to mine which characterized in that: comprises a chassis, a mechanical arm component, a walking component and a fire-fighting component;
the mechanical arm assembly comprises a large arm, a small arm, a first arm seat, a second arm seat and a connecting rod, wherein the first arm seat is fixed on the chassis, a servo motor and a cycloid speed reducer are arranged on the outer side of the first arm seat, an output shaft of the servo motor penetrates through the first arm seat to be connected with the large arm, and one end of the large arm is hinged with the second arm seat; one end of the small arm is connected with a rotating motor, the other end of the small arm is connected with the brick axe, and the rotating motor is arranged on the second arm seat; one end of the connecting rod is hinged with the second arm seat, and the other end of the connecting rod is connected with an output shaft of the servo motor;
the fire control subassembly includes the fixing base, hydraulic telescoping rod, the detector of squirt, the fixing base cup joints with the cycloidal speed reducer and is connected hydraulic telescoping rod one end is articulated with the fixing base, and the other end is articulated with first armlet, the detector is located on the squirt.
2. The mine detection and search robot as claimed in claim 1, wherein: the walking assembly comprises four mechanical legs, each mechanical leg comprises a step motor, a combined motor base connected with the step motor, leg connecting pieces, legs, foot connecting pieces and a foot crawler assembly, one end of each leg is hinged to the combined motor base through the leg connecting pieces, and the other end of each leg is hinged to the foot crawler assembly through the foot connecting pieces.
3. The mine detection and search robot as claimed in claim 1, wherein: the foot crawler assembly comprises a crawler, crawler wheels and a tensioning cylinder for controlling the tensioning of the crawler, the crawler is triangular, the crawler wheels are respectively arranged at the top points of the triangular crawler, and the tensioning cylinder is connected between any crawler wheel.
4. The mine detection and search robot as claimed in claim 1, wherein: the brick cutter comprises a large brick base plate and a small brick base plate arranged on the large brick base plate, wherein large blades are uniformly arranged on the large brick base plate in the axial direction, and small blades are uniformly arranged on the small brick base plate in the axial direction.
5. The mine detection and search robot as claimed in claim 4, wherein: the number of the large blades and the number of the small blades are three, and the surfaces of the large blades and the small blades are serrated.
6. The mine detection and search robot as claimed in claim 1, wherein: the chassis comprises an upper chassis, a lower chassis and a supporting seat fixedly connected with the upper chassis and the lower chassis, wherein an installation position of a mechanical leg is arranged between the upper chassis and the lower chassis, and the mechanical leg is installed on the periphery of the chassis in a matching manner through a combined motor base and the installation position.
7. The mine detection and search robot as claimed in claim 6, wherein: the locking mechanism is arranged between the upper chassis and the lower chassis and used for locking the upper chassis and the lower chassis, the locking mechanism comprises a connecting rod sleeved with the upper chassis and the lower chassis and a locking sheet arranged at the lower end of the connecting rod, and the locking sheet is hinged with the connecting rod and can rotate up and down along the vertical direction.
8. The mine detection and search robot as claimed in claim 7, wherein: the locking pieces are three and are evenly distributed along the circumferential direction of the connecting rod.
9. The mine detection and search robot as claimed in claim 1, wherein: the detector comprises a controller, an infrared sensor, a gas sensor and a wireless communication module, wherein the infrared sensor, the gas sensor and the wireless communication module are connected with the controller.
10. The mine detection and search robot as claimed in claim 1, wherein: and the charging power supply is used for supplying power to the whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010033357.5A CN111173557A (en) | 2020-01-13 | 2020-01-13 | Search and rescue robot is listened to mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010033357.5A CN111173557A (en) | 2020-01-13 | 2020-01-13 | Search and rescue robot is listened to mine |
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| Publication Number | Publication Date |
|---|---|
| CN111173557A true CN111173557A (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010033357.5A Pending CN111173557A (en) | 2020-01-13 | 2020-01-13 | Search and rescue robot is listened to mine |
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| CN (1) | CN111173557A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872916A (en) * | 2020-07-22 | 2020-11-03 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
| CN114407052A (en) * | 2022-03-15 | 2022-04-29 | 重庆大学 | Strong adaptability both arms heavy load operation robot |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
| CN120734989A (en) * | 2025-09-05 | 2025-10-03 | 江苏师范大学 | Self-walking coal mine auxiliary operation robot based on roadway anchor rod net and control method |
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| AU2015201443A1 (en) * | 2014-04-01 | 2015-10-15 | Strata Products Worldwide, Llc | Mine escape self-rescuer system and method |
| CN105401977A (en) * | 2015-12-15 | 2016-03-16 | 浙江理工大学 | Mine searching and rescuing robot based on Linux embedded system |
| CN206766169U (en) * | 2017-05-04 | 2017-12-19 | 浙拖奔野（宁波）拖拉机制造有限公司 | A kind of triangle crawler unit with brake |
| CN107653977A (en) * | 2017-11-04 | 2018-02-02 | 杭州同筹网络科技有限公司 | A kind of small intelligent robot for being used to dredge sewer pipe |
| CN208885734U (en) * | 2018-09-14 | 2019-05-21 | 北京驰马特图像技术有限公司 | The foot-operated lock uint of orifice plate running equipment |
| CN110051953A (en) * | 2019-05-15 | 2019-07-26 | 智慧式有限公司 | A kind of wisdom formula fire-fighting system |
| CN110314310A (en) * | 2019-06-19 | 2019-10-11 | 中国船舶重工集团应急预警与救援装备股份有限公司 | A kind of control system of intelligent fire robot |
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2020
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| DE20115134U1 (en) * | 2001-09-13 | 2001-11-15 | Deutsche Bahn Station & Service AG, 60326 Frankfurt | Water curtain system for partitioning fire and smoke in construction systems |
| AU2015201443A1 (en) * | 2014-04-01 | 2015-10-15 | Strata Products Worldwide, Llc | Mine escape self-rescuer system and method |
| CN105401977A (en) * | 2015-12-15 | 2016-03-16 | 浙江理工大学 | Mine searching and rescuing robot based on Linux embedded system |
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| CN110051953A (en) * | 2019-05-15 | 2019-07-26 | 智慧式有限公司 | A kind of wisdom formula fire-fighting system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872916A (en) * | 2020-07-22 | 2020-11-03 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
| CN111872916B (en) * | 2020-07-22 | 2021-12-21 | 燕山大学 | A three-degree-of-freedom parallel rescue robot with adjustable posture |
| CN114407052A (en) * | 2022-03-15 | 2022-04-29 | 重庆大学 | Strong adaptability both arms heavy load operation robot |
| CN116163651A (en) * | 2023-04-24 | 2023-05-26 | 北京欧钻科技有限公司 | Rotary drilling rig |
| CN120734989A (en) * | 2025-09-05 | 2025-10-03 | 江苏师范大学 | Self-walking coal mine auxiliary operation robot based on roadway anchor rod net and control method |
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Application publication date: 20200519 |