CN111619683A - Detection equipment used in coal mine tunnel and control method thereof - Google Patents
Detection equipment used in coal mine tunnel and control method thereof Download PDFInfo
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- CN111619683A CN111619683A CN202010512302.2A CN202010512302A CN111619683A CN 111619683 A CN111619683 A CN 111619683A CN 202010512302 A CN202010512302 A CN 202010512302A CN 111619683 A CN111619683 A CN 111619683A
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- 238000001514 detection method Methods 0.000 title claims abstract description 87
- 239000003245 coal Substances 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000013016 damping Methods 0.000 claims description 133
- 230000005540 biological transmission Effects 0.000 claims description 32
- 238000004891 communication Methods 0.000 claims description 29
- 230000009194 climbing Effects 0.000 abstract description 4
- 230000035939 shock Effects 0.000 description 22
- 238000010521 absorption reaction Methods 0.000 description 11
- 239000007789 gas Substances 0.000 description 11
- 230000008093 supporting effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
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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
- B62D55/08—Endless track units; Parts thereof
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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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a detection device used in a coal mine tunnel and a control method thereof. According to the detection equipment and the control method thereof disclosed by the invention, the climbing and obstacle crossing performance and the passing performance of the detection equipment are improved by arranging the swing arm obstacle crossing device, and the adaptability of the detection equipment in various complex ground environments is effectively improved.
Description
Technical Field
The invention relates to the technical field of coal mine roadway detection, in particular to detection equipment used in a coal mine roadway and a control method thereof.
Background
Accidents such as gas explosion, water inrush, fire and the like frequently occur in coal mining, the life safety of workers is seriously harmed, and the coal operation development is restricted. At present, the main rescue means after an accident still depends on artificial rescue, and robot detection and rescue are partially adopted. Due to the fact that after disasters, the environment is complex and severe, the space is narrow, a large number of electromechanical devices, toxic and flammable explosive gases and the like are arranged inside the disasters, secondary disasters can happen at any time, life safety of rescuers is seriously threatened, and great challenges are provided for robbing gold rescue time of mines.
In order to solve the above problems, in the prior art, a robot or a detection device is used to enter a roadway for detection so as to determine whether the roadway is safe or not.
However, in the prior art, the robot or the detection equipment generally only has wheels or crawler belts at the bottom, and is difficult to pass when encountering obstacles in a roadway, so that the use of the equipment is influenced.
In view of the above, it is necessary to provide a detection apparatus with a high obstacle crossing capability and a control method thereof.
Disclosure of Invention
The technical scheme of the invention provides detection equipment for a coal mine roadway, which comprises a body, a detection device, a crawler walking device and a swing arm obstacle crossing device;
the detection device is arranged on the top of the body;
the two opposite sides of the body are respectively provided with a set of crawler belt walking devices;
two sets of swing arm obstacle crossing devices are respectively and oppositely arranged at the front end and the rear end of the body;
the crawler belt walking device comprises a driving wheel, a driven wheel and a walking crawler belt sleeved on the driving wheel and the driven wheel; the driving wheel is mounted at the front end of the body through a driving wheel shaft, and the driven wheel is mounted at the rear end of the body through a driven wheel shaft;
the swing arm obstacle crossing device comprises a swing arm, a driving wheel, a steering wheel and a swing arm crawler belt sleeved on the driving wheel and the steering wheel; the driving wheel is mounted at one end, close to the body, of the swing arm through a driving wheel shaft, and the steering wheel is mounted at one end, far away from the body, of the swing arm through a steering wheel shaft;
a walking driving device for driving the driving wheel and the driving wheel to rotate and a swing arm driving device for driving the swing arm to swing up and down relative to the body are arranged in the body;
the driving wheel shaft is in transmission connection with the output end of the walking driving device, and the driving wheel shaft is in transmission connection with the output end of the walking driving device;
one end of the swing arm close to the body is in transmission connection with the output end of the swing arm driving device through a swing arm rotating shaft.
Further, the driving wheel shafts of the two sets of swing arm obstacle crossing devices positioned at the front end of the body are respectively connected with two driving wheel shafts positioned at the front end of the body, and the driving wheel shafts of the two sets of swing arm obstacle crossing devices positioned at the rear end of the body are respectively connected with two driven wheel shafts positioned at the rear end of the body.
Further, the swing arm obstacle crossing device has an initial state, a first state, a second state and a third state on the body and can be switched among the initial state, the first state, the second state and the third state;
when the swing arm obstacle crossing device is in the initial state, the steering wheel is positioned above the body;
when the swing arm obstacle crossing device is in the first state, the swing arm swings to enable the steering wheel shaft to be located obliquely above the driving wheel shaft; when the swing arm obstacle crossing device is in the second state, the swing arm swings to a horizontal state, so that the steering wheel shaft and the driving wheel shaft are positioned in the same horizontal plane;
when the swing arm obstacle crossing device is in the third state, the swing arm swings downwards, so that the steering wheel is located below the body.
Furthermore, two walking driving devices are arranged in the body, and the driving wheels in the two sets of crawler walking devices are in transmission connection with the two walking driving devices respectively.
Furthermore, two swing arm driving devices are arranged in the body;
the swing arms in the two sets of swing arm obstacle crossing devices positioned at the front end of the body are in transmission connection with one swing arm driving device;
the swing arms in the two sets of swing arm obstacle crossing devices positioned at the rear end of the body are in transmission connection with the other swing arm driving device.
Furthermore, two sides of the body are also provided with damping devices;
the damping device comprises a damping main board, a damping base and a damping spring connected between the damping main board and the damping base;
the damping main plate is arranged on the body, and the damping base is positioned below the damping main plate;
an upper damping plate and a lower damping plate are arranged on the outer side of the damping main plate;
the upper damping plate and the lower damping plate are respectively connected with the damping main plate in a sliding manner and can slide up and down;
the damping base is connected with the lower damping plate;
the upper damping plate and the lower damping plate are arranged at intervals, and the upper damping plate is connected with the lower damping plate through an adjusting bolt;
a tensioning wheel is installed on the upper damping plate, and a damping wheel is installed on the damping base;
the tensioning wheel and the damping wheel are both located in the annular range of the walking crawler belt, and the tensioning wheel and the damping wheel are respectively in contact with the inner surface of the walking crawler belt.
Furthermore, adjusting through holes extending up and down are respectively arranged on the upper damping plate and the lower damping plate;
the damping main board is provided with a positioning pin corresponding to the position of the adjusting through hole, and the positioning pin penetrates through the adjusting through hole and is in clearance fit with the adjusting through hole.
Further, the detection device comprises a holder mounted on the body, a camera mounted on the holder, and a gas detector mounted on the holder.
Further, an electrical assembly is also included;
the electric assembly comprises a controller, a power supply, a communication module and a communication antenna;
the controller, the power supply and the communication module are arranged in the body, and the communication antenna is arranged at the top of the body;
the controller and the communication module are respectively electrically connected with the power supply, the controller is in signal connection with the communication module, and the communication module is in signal connection with the communication antenna.
The technical scheme of the invention also provides a control method of the detection equipment, which comprises the following steps:
the walking driving device drives the driving wheel to rotate, the driving wheel drives the walking crawler belt to rotate, and the detection equipment moves forwards;
when the front part meets an obstacle, the swing arm driving device drives the swing arms to rotate, the swing arms deflect at an angle relative to the body, so that the swing arms in the two swing arm obstacle crossing devices positioned at the front end of the body extend forwards and upwards from the body, and meanwhile, the driving wheels drive the swing arm crawler belts to rotate;
when the detection equipment passes through the road surface of the first road condition, the swing arm moves to the lower part of the body, and the swing arm crawler belt on the swing arm is contacted with the road surface and supports the body, so that the walking crawler belt leaves the road surface;
when the detection equipment passes through the road surface of the second road condition, the two swing arms positioned at the front end of the body swing to the front of the body, and the two swing arms positioned at the rear end of the body swing to the rear of the body, so that the swing arm crawler belts and the walking crawler belts are in contact with the road surface.
By adopting the technical scheme, the method has the following beneficial effects:
according to the detection equipment and the control method thereof, the swing arm obstacle crossing device is arranged, so that the climbing obstacle crossing and passing performance of the detection equipment are improved, and the adaptability of the detection equipment in various complex ground environments is effectively improved.
Drawings
Fig. 1 is a perspective view of a detection apparatus according to an embodiment of the present invention;
FIG. 2 is a front view of a probing apparatus according to an embodiment of the present invention;
FIG. 3 is a front view of a probing apparatus according to an embodiment of the present invention;
FIG. 4 is a rear view of a probing apparatus provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of the travel drive and swing arm drive mounted in the body;
FIG. 6 is a schematic layout of the swing arm rotating shaft, the swing arm, the driving wheel shaft and the driving wheel shaft;
FIG. 7 is a schematic connection diagram of an electrical assembly;
FIG. 8 is a partial enlarged view of the driving wheel, the steering wheel and the tightening wheel mounted inside the swing arm;
FIG. 9 is a perspective view of the damper wheel and tensioner assembled to the damping device;
FIG. 10 is a main body view of the damper wheel and the tensioner assembled to the damper device;
FIG. 11 is a front view of the shock absorbing device;
FIG. 12 is a rear view of the shock absorbing device;
fig. 13 is a partially enlarged view of the connection of the upper and lower shock absorbing plates.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1 to 6, a detection apparatus for a coal mine roadway according to an embodiment of the present invention includes a main body 1, a detection device 5, a crawler 2, and a swing arm obstacle crossing device 3.
The detecting device 2 is installed on the top of the body 1.
Two sets of crawler belt traveling devices 2 are respectively arranged on two opposite sides of the body 1.
Two sets of swing arm obstacle crossing devices 3 are respectively and oppositely arranged at the front end and the rear end of the body 1.
The crawler belt traveling device 2 includes a driving wheel 21, a driven wheel 22, and a traveling crawler belt 23 fitted over the driving wheel 21 and the driven wheel 22. The driving pulley 21 is mounted on the front end of the body 1 via a driving pulley shaft 211, and the driven pulley 22 is mounted on the rear end of the body 1 via a driven pulley shaft 221.
The swing arm obstacle crossing device 3 comprises a swing arm 31, a driving wheel 32, a steering wheel 33 and a swing arm crawler 34 sleeved on the driving wheel 32 and the steering wheel 33. The driving wheel 32 is mounted on the swing arm 31 at one end close to the body 1 through a driving wheel shaft 321, and the steering wheel 33 is mounted on the swing arm 31 at one end far from the body 1 through a steering wheel shaft 331.
The body 1 is internally provided with a walking driving device 6 for driving the driving wheel 21 and the driving wheel 32 to rotate and a swing arm driving device 7 for driving the swing arm 31 to swing up and down relative to the body 1.
The driving wheel shaft 211 is in transmission connection with the output end 62 of the walking driving device 6, and the driving wheel shaft 321 is in transmission connection with the output end 62 of the walking driving device 6.
One end of the swing arm 31 close to the body 1 is in transmission connection with the output end 72 of the swing arm driving device 7 through a swing arm rotating shaft 311.
The detection device 5 provided by the invention is mainly used for detecting in a roadway, can detect the environment and gas safety coefficient in the roadway, is used for external personnel to judge whether the roadway is safe or not, and can provide rescue when the roadway collapses.
The body 1 is a machine body and is in a box shape.
The crawler belt traveling devices 2 are used for traveling, and one set of crawler belt traveling device 2 is respectively installed on two sides of the body 1. Generally, the crawler belt 2 is installed on one side of the long side of the body 1.
The swing arm obstacle crossing device 3 is used for assisting in crossing obstacles, and four sets of swing arm obstacle crossing devices 3 are installed on the body 1. Specifically, two sets of swing arm obstacle crossing devices 3 are respectively and oppositely arranged at the front end and the rear end of the body 1. Wherein, two sets of swing arm obstacle crossing devices 3 and one set of crawler belt walking device 2 are arranged at one side of the body, one set of swing arm obstacle crossing device 3 is positioned at the front end of the crawler belt walking device 2, and the other set of swing arm obstacle crossing device 3 is positioned at the rear end of the crawler belt walking device 2; wherein, the other two sets of swing arm obstacle crossing devices 3 and the other set of crawler belt walking device 2 are arranged at the other side of the body, one set of swing arm obstacle crossing device 3 is positioned at the front end of the crawler belt walking device 2, and the other set of swing arm obstacle crossing device 3 is positioned at the rear end of the crawler belt walking device 2.
The walking driving device 6 is arranged in the body 1 and provides walking power for the crawler walking device 2 and the swing arm obstacle crossing device 3.
A swing arm drive 7 is mounted within the body 1 and powers the swinging of the swing arm 31 so that the swing arm 31 can swing up and down relative to the body 1 to adjust the position.
Specifically, the crawler belt unit 2 includes a driving wheel 21, a driven wheel 22, and a walking crawler belt 23, and the walking crawler belt 23 is sleeved on the driving wheel 21 and the driven wheel 22. The driving pulley 21 is disposed on the front side of the driven pulley 22. The driving wheel 21 is installed at the front end of the body 1 through a driving wheel shaft 211, the walking driving device 6 can be a walking driving motor, and the power of the walking driving device 6 is firstly decelerated through a speed reducer 61 before being output to an output end 62 (a gear or a rotating shaft). The driving wheel shaft 211 is in transmission connection with the output end 62, the driving wheel shaft 211 may be directly connected with the output end 62, or the driving wheel shaft 211 may be indirectly connected with the output end 62, for example, by a transmission gear set, and the power of the walking driving device 6 may be transmitted to the driving wheel shaft 211 to drive the walking crawler 23 to rotate, so as to drive the whole set of equipment to walk.
The swing arm obstacle crossing device 3 comprises a swing arm 31, a driving wheel 32, a steering wheel 33 and a swing arm crawler 34, wherein the swing arm crawler 34 is sleeved on the driving wheel 32 and the steering wheel 33.
The driving wheel 32 is mounted on the swing arm 31 at one end close to the body 1 through a driving wheel shaft 321, and the steering wheel 33 is mounted on the swing arm 31 at one end far from the body 1 through a steering wheel shaft 331. Each driving wheel shaft 321 is in transmission connection with the output end 62 of the walking driving device 6. The driving wheel shaft 321 is in transmission connection with the output end 62, the driving wheel shaft 321 may be directly connected with the output end 62, or the driving wheel shaft 321 may be indirectly connected with the output end 62, for example, the driving wheel shaft 321 is connected with the output end 62 through a transmission gear set, and the power of the walking driving device 6 may be transmitted to the driving wheel shaft 321 to drive the swing arm caterpillar 34 to rotate, so as to assist in crossing obstacles and driving the whole set of equipment to walk.
The swing arm 31 is in transmission connection with the output end 72 of the swing arm driving device 7 through a swing arm rotating shaft 311, and the swing arm rotating shaft 311 is arranged at one end of the swing arm 31 close to the body 1. Specifically, the swing arm rotation shaft 311 is coaxial with the drive wheel shaft 321. The center of the driving wheel shaft 321 is provided with a through hole, one end of the swing arm rotating shaft 311 penetrates through the swing arm 31 and the center through hole of the driving wheel shaft 321, and then is in transmission connection with the output end 72 of the swing arm driving device 7, the other end of the swing arm rotating shaft 311 is provided with a flange 312, and the flange 312 is connected with the swing arm 31 through a bolt.
The swing arm driving device 7 may be a swing arm driving motor, and the power of the swing arm driving device 7 is reduced by the speed reducer 71 before being output to the output end 72 (gear or rotating shaft). Swing arm pivot 311 is connected with the output 72 transmission, can be swing arm pivot 311 and output 72 direct connection, also can be swing arm pivot 311 and output 72 indirect connection, for example through drive gear group link, swing arm drive arrangement 7's power can be transmitted for swing arm pivot 311, and then drives swing arm 31 and uses swing arm pivot 311 as the center pin and rotate for swing arm 31 drives the whole set of swing arm and hinders device 3 swing angle more, in order to help crossing the barrier.
The swing arm driving device 7 may include four output ends 72, and each swing arm rotating shaft 311 is in transmission connection with one output end 72.
When the detection device travels in the roadway, firstly, the travel driving device 7 drives the driving wheel 21 to rotate, the driving wheel 71 drives the travel crawler 23 to rotate, and the detection device moves forward. At this time, the walking driving device 7 also drives the swing arm rotating shaft 311 to rotate, the swing arm rotating shaft 311 drives the driving wheel 32 to rotate, the driving wheel 32 drives the swing arm caterpillar 34 to rotate, and the swing arm caterpillar 34 is in an idle state.
When the place ahead meets the obstacle, swing arm drive arrangement 6 drives swing arm 31 and rotates, and swing arm 31 takes place the angle deflection relative to body 1 for swing arm 31 extends from body 1 forward upwards in two swing arm obstacle crossing device 3 that are located body 1 front end, drives swing arm track 34 through drive wheel 32 simultaneously and rotates. In the process of forward movement of the detection equipment, the swing arm crawler belt 34 at the front end is firstly contacted with the obstacle, and the swing arm 31 at the front end extends forwards and upwards to form a larger included angle with the horizontal plane or the road surface, so that the swing arm crawler belt 34 is favorable for climbing the obstacle, the walking crawler belt 23 is further driven to climb the obstacle until the obstacle is crossed, and the auxiliary obstacle crossing function of the obstacle can be realized through the swing arm obstacle crossing device 3. After the obstacle is crossed, the swing arm obstacle crossing device 3 resets to the initial position, so that the friction force between the detection equipment and the ground is reduced, and the movement speed and the movement efficiency of the detection equipment are improved.
When the detection device crosses the road surface of the first road condition (hard flat road surface), each swing arm 31 moves to the lower side of the body 1, contacts with the road surface through the swing arm crawler belt 34 on the swing arm 31, and supports the body 1, so that the walking crawler belt 23 leaves the road surface. At this time, the driven wheel 33 and the swing arm crawler belt 34 form a supporting effect with the road surface, so that the contact area between the detection equipment and the road surface is reduced, the friction force is reduced, and the movement speed and the movement efficiency of the detection equipment are improved. Preferably, the swing arm 31 is perpendicular to the body 1, and can lift the body 1 to the maximum height to ensure that the walking crawler 23 leaves the road surface.
When the detection equipment passes through the road surface (fluffy road surface) of the second road condition, the two swing arms 31 positioned at the front end of the body 1 swing to the front of the body 1, and the two swing arms 31 positioned at the rear end of the body 1 swing to the rear of the body 1, so that the swing arm crawler belts 34 and the walking crawler belts 23 are in contact with the road surface, the contact area between the detection equipment and the road surface is increased, and the load performance of the detection equipment is improved.
The walking driving device 6 in the invention can provide forward power to make the detection equipment advance, and the walking driving device 6 in the invention can also provide reverse power to make the detection equipment retreat.
In one embodiment, as shown in fig. 1 to 6, the driving wheel shafts 321 of the two sets of swing arm obstacle crossing devices 3 located at the front end of the body 1 are respectively connected with the two driving wheel shafts 211 located at the front end of the body 1, and the driving wheel shafts 321 of the two sets of swing arm obstacle crossing devices 3 located at the rear end of the body 1 are respectively connected with the two driven wheel shafts 221 located at the rear end of the body 1.
The two driving wheel shafts 321 at the front end are connected with the two driving wheel shafts 211 at the front end through a coupler 322, and the two driving wheel shafts 321 at the rear end are connected with the two driven wheel shafts 221 at the rear end through the coupler 322.
The driving wheel shaft 211 and the driven wheel shaft 221 are respectively provided with a through hole for the swing arm rotating shaft 311 to pass through.
The swing arm rotating shaft 311 at the front end sequentially passes through the swing arm 31, the driving wheel shaft 321 and the driving wheel shaft 211 and is then in transmission connection with the output end 72. The swing arm rotating shaft 311 at the rear end sequentially passes through the swing arm 31, the driving wheel shaft 321 and the driven wheel shaft 221 and is then in transmission connection with the output end 72.
According to the requirement, the driven wheel 22 can be set to be equal to the wheel diameter of the driving wheel 21, so that the driven wheel 22 and the driving wheel 21 synchronously rotate, the driving wheels 32 at the two ends of the front end synchronously rotate, and the walking crawler 23 and the swing arm crawler 34 synchronously rotate.
Bearings are arranged between the swing arm rotating shaft 311 and the driving wheel shaft 321, the driving wheel shaft 211 and the driven wheel shaft 221, so that the swing arm rotating shaft 311 can rotate independently relative to each wheel shaft. Bearings are installed between the driving wheel shaft 321, the steering wheel shaft 331 and the installation holes of the swing arm 31, so that the driving wheel shaft 321 and the steering wheel shaft 331 can rotate independently relative to the swing arm. Bearings are arranged between the driving wheel shaft 211 and the driven wheel shaft 221 and the body 1, so that the driving wheel shaft 211 and the driven wheel shaft 221 can rotate independently relative to the body 1.
With such an arrangement, when the swing arm driving device 6 works, it drives the two driving wheel shafts 211 at the two sides to rotate, the driving wheel shafts 211 drive the driving wheel 21 and the two driving wheel shafts 321 at the front end to rotate, and the driving wheel shafts 321 drive the driving wheel 32 at the front end to rotate, so that the driving wheel 32 at the front end and the driving wheel 21 keep synchronous rotation. When the driving wheel 21 drives the walking crawler 23 to rotate, the walking crawler 23 drives the driven wheel 22 and the driving wheel axle 221 to rotate, the two driven wheel axles 221 respectively drive the two driving wheel axles 321 at the rear end to rotate, and the driving wheel axle 321 at the rear end drives the driving wheel 32 at the rear end to rotate, so that the driving wheel 32 at the rear end and the driven wheel 22 keep synchronous rotation.
In one embodiment, the swing arm obstacle crossing device 3 has an initial state, a first state, a second state, and a third state on the body 1, and is capable of switching among the initial state, the first state, the second state, and the third state.
When the swing arm obstacle crossing device 3 is in the initial state, the steering wheel 33 is positioned above the body 1. Each steering wheel 33 can be positioned right above or obliquely above the body 1, and the swing arm obstacle crossing devices 3 at the front end and the rear end are in a retracted state at the moment, so that the front and rear movement of the detection equipment cannot be influenced.
When the swing arm obstacle crossing device 3 is in the first state, the swing arm 31 swings so that the steering wheel shaft 331 is located obliquely above the drive wheel shaft 321. Specifically, the method comprises the following steps: the steering wheel shaft 331 of the steering wheel 33 at the front end of the body 1 is positioned at the front side of the driving wheel shaft 321 of the driving wheel 32 at the front end and above the driving wheel shaft 321 of the driving wheel 32 at the front end; the steering wheel shaft 331 of the steering wheel 33 at the rear end of the body 1 is positioned at the rear side of the driving wheel shaft 321 of the driving wheel 32 at the rear end and above the driving wheel shaft 321 of the driving wheel 32 at the rear end, so that an included angle is formed between the swing arm crawler 34 on the swing arm 31 and the road surface or the ground, and the obstacle crossing is facilitated.
When the swing arm obstacle crossing device 3 is in the second state, the swing arm 31 swings to the horizontal state, so that the steering wheel shaft 331 and the driving wheel shaft 321 are positioned in the same horizontal plane, and the swing arm crawler belt 34 and the walking crawler belt 23 can both contact with the ground or the road surface, and are favorable for passing through a fluffy road surface or a road surface with poor supporting force.
When the swing arm obstacle crossing device 3 is in the third state, the swing arm 31 swings downward so that the steering wheel 33 is located below the body 1, and the steering wheel 33 may be located obliquely below or directly below the body 1. At this time, the steering wheel 33 and the walking crawler 34 are in contact with and supported by the hard and flat ground or road surface to support the body 1, so that the walking crawler 23 leaves the ground or road surface, the contact area between the detection equipment and the road surface is reduced, the friction force is reduced, and the movement speed and the movement efficiency of the detection equipment are improved. Preferably, the swing arm 31 is perpendicular to the body 1, and the steering wheel 33 is located right below the body 1, so that the body 1 can be lifted to the maximum height, and the walking crawler 23 is guaranteed to leave the road surface.
In one embodiment, as shown in fig. 5, two walking drivers 6 are arranged in the body 1, and the driving wheels 21 of the two sets of crawler belt walking devices 2 are in transmission connection with the two walking drivers 6 respectively. That is, one driving wheel 21 is in transmission connection with the output end 62 of one travel driving device 6, and the other driving wheel 21 is in transmission connection with the output end 62 of the other travel driving device 6. The rotation speed and the rotation direction of the walking tracks 23 in the crawler belt walking devices 2 on the left and the right sides can be changed by changing the rotation speed and the rotation speed direction of the walking driving devices 6 on the left and the right sides, so that the movement speed and the movement direction of the detection equipment can be changed.
In one embodiment, as shown in fig. 5, two swing arm drives 7 are provided within the body 1.
The swing arms 31 of the two sets of swing arm obstacle crossing devices 3 positioned at the front end of the body 1 are in transmission connection with one swing arm driving device 7, and the swing arms 31 of the two sets of swing arm obstacle crossing devices 3 positioned at the rear end of the body 1 are in transmission connection with the other swing arm driving device 7. That is, the swing arm drive 7 includes two output terminals 72. The swing arm rotating shaft 311 of the swing arm 31 at the front end is in transmission connection with the output end 72 of one swing arm driving device 7, and the swing arm rotating shaft 311 of the swing arm 31 at the rear end is in transmission connection with the output end 72 of the other swing arm driving device 7, so that the swing arm obstacle crossing devices 3 at the front end and the rear end can swing independently to meet different working condition requirements.
In one embodiment, as shown in fig. 1-2 and 9-12, damping devices 4 are further provided on both sides of the body 1.
The damper 4 includes a damper main plate 41, a damper base 42, and a damper spring 43 connected between the damper main plate 41 and the damper base 42.
The shock absorption main plate 41 is installed on the body 1, and the shock absorption base 42 is located below the shock absorption main plate 41.
An upper damper plate 44 and a lower damper plate 45 are provided on the outer side of the damper main plate 41.
The upper damping plate 44 and the lower damping plate 45 are slidably connected to the damping main plate 41, respectively, and can slide up and down.
The damper base 42 is connected to the lower damper plate 45.
The upper damping plate 44 and the lower damping plate 45 are arranged at intervals, and the upper damping plate 44 and the lower damping plate 45 are connected through an adjusting bolt 48.
The upper damping plate 43 is provided with a tension wheel 25, and the damping base 42 is provided with a damping wheel 24.
The tension pulley 25 and the shock absorbing wheel 24 are located within the annular range of the traveling track 23, and the tension pulley 25 and the shock absorbing wheel 24 are in contact with the inner surface of the traveling track 23, respectively.
The damper 4 includes a damper main plate 41, a damper base 42, a damper spring 43, an upper damper plate 44, and a lower damper plate 45.
The damping device 4 is used for damping the vibration of the walking crawler 23 to the body 1, and a set of damping device 4 is arranged on the side surface of the body 1 with the walking crawler 23.
The shock absorbing main plate 41 is fixed to the side of the body 1 having the traveling crawler 23, which is located at the middle position of the body 1.
The upper damping plate 44 and the lower damping plate 45 are respectively installed on the outer side of the damping main plate 41, the upper damping plate 44 and the lower damping plate 45 are slidably connected with the damping main plate 41, and both the upper damping plate 44 and the lower damping plate 45 can slide up and down relative to the damping main plate 41. The upper damping plate 44 and the lower damping plate 45 can be connected with the damping main plate 41 through a slide rail, a guide rail, a slide groove, and the like.
The upper damping plate 44 is located above the lower damping plate 45 with a certain gap therebetween. The upper damping plate 44 and the lower damping plate 45 are connected by an adjusting bolt 48, and the spacing distance between the upper damping plate 44 and the lower damping plate 45 can be adjusted by adjusting the position of a nut 49.
The upper damping plate 44 and the lower damping plate 45 are both U-shaped and symmetrically arranged.
The damper base 42 is connected to the lower damper plate 45 by bolts, and the damper spring 43 is connected between the damper base 42 and the damper main plate 41.
The damping base 42 has a damping wheel shaft 241 thereon, and a plurality of damping wheel shafts 241 may be provided as necessary. The damper wheel 24 is mounted on the damper wheel shaft 241.
The upper damping plate 44 has a tension pulley shaft 251 at a top center position thereof, and the tension pulley 25 is mounted on the tension pulley shaft 251.
The tensioning wheel 25 and the damping wheel 24 are both located in the annular range of the walking crawler 23, the tensioning wheel 25 is in contact with the inner surface of the walking crawler 23 above to achieve the effect of tensioning the crawler in a follow-up mode, and the damping wheel 24 is in contact with the inner surface of the walking crawler 23 below to achieve the effect of damping and transmitting.
During the movement of the detection device, the acting force of the obstacle and the detection device moves upwards through the walking crawler 23, passes through the shock absorption wheel 24 → the shock absorption wheel axle 241 → the shock absorption base 42 → the lower shock absorption plate 45 → the shock absorption spring 43 → the shock absorption main plate 41 → the body 1, and finally the shock absorption and filtration are realized through the shock absorption spring 43.
When the detection equipment rolls the obstacle, the acting force of the obstacle and the robot moves upwards through the walking crawler 23, and the damping spring 43 is compressed through the damping wheel 24 → the damping wheel axle 241 → the damping base 42 → the lower damping plate 45 → the damping spring 43 → the damping main plate 41 → the body 1. At this time, the damping base 42 and the damping wheel 24 move upwards relative to the damping main board 41, when the lower damping plate 45 moves upwards, the upper damping plate 44 is pushed to move upwards through the connecting and supporting effect of the adjusting bolt 48, so that the tensioning wheel shaft 251 and the tensioning wheel 25 are driven to move upwards, the upper walking crawler 23 is acted upwards by the tensioning wheel 25 to generate displacement, the deformation displacement of the lower walking crawler 23 when the detection equipment passes through an obstacle is compensated, and the whole tensioning function when the walking crawler 23 deforms is realized.
The damping main board 41 is a square hollow board and is disposed on the shells on both sides of the body 1, and a support block is disposed in the center of the damping main board for supporting the damping spring 43. The periphery of the damping main plate 41 is provided with positioning pins 47.
The damping base 42 is a square strip plate, and the front, middle and rear ends are respectively provided with a damping wheel shaft 241. The outer side of the center of the upper end of the damping base 42 is provided with a convex block for installing and fixing the damping spring 43. When the detection device is in a horizontal state, the damper base 42 is also in a horizontal state.
As shown in fig. 13, the upper shock absorbing plate 44 and the lower shock absorbing plate 45 have the same outer shape structure, are both U-shaped plate-shaped structures, and are arranged in an up-and-down symmetrical manner. A stopper 441 is provided at the lower end of the upper damping plate 44, and a stopper 451 is provided at the upper end of the lower damping plate 45. The adjusting bolt 48 passes through the block 451 and the block 441 and is then fastened by the nut 49. The distance between the upper and lower shock absorbing plates 44 and 45 can be indirectly adjusted by adjusting the position of the nut 49 on the adjusting bolt 48. The nuts 49 on the upper and lower sides of the stopper 441 on the adjusting bolt 48 can be adjusted to drive the upper damping plate 44 to move upward relative to the adjusting bolt 48, and finally drive the upper damping plate 44, the tensioning wheel shaft 251 and the tensioning wheel 25 to move upward, so that the tightness of the tensioning of the walking track 23 can be adjusted.
In one embodiment, as shown in fig. 8, a tightening wheel 35 for tightening the swing arm crawler 34 is provided on the swing arm 31.
In one embodiment, as shown in fig. 9-12, the upper and lower shock absorbing plates 44 and 45 are provided with adjustment through holes 46 extending up and down, respectively.
The position of the damping main plate 41 corresponding to the adjusting through hole 46 is provided with a positioning pin 47, and the positioning pin 47 passes through the adjusting through hole 46 and is in clearance fit with the adjusting through hole 46.
The upper end of the upper damping plate 44 and both sides of the lower end of the second damping slide plate 44 are provided with adjustment through holes 46. The adjusting through-hole 46 is assembled with the shock absorbing main plate 41 by a positioning pin 47. The positioning pin 47 is fixed on the main damping plate 41, and the positioning pin 47 passes through the adjusting through hole 46, and can move in a translational manner up and down in the adjusting through hole 46, so that the upper damping plate 44 and the lower damping plate 45 can slide up and down relative to the main damping plate 41. The end of the positioning pin 47 is provided with a nut to prevent the positioning pin 47 from being separated from the adjusting through hole 46.
In one embodiment, as shown in fig. 1-2, detection device 5 includes a pan/tilt head 51 mounted on body 1, a camera 52 mounted on pan/tilt head 51, and a gas detector 52 mounted on pan/tilt head 51.
The camera 52 primarily enables video capture of images of the environment surrounding the detection device. The gas detector 53 is used to collect gas in the environment surrounding the detection device.
Pan/tilt head 51 is used to mount camera 52 and gas detector 53.
The holder 51 can be an electric holder, and can rotate to realize the angular adjustment of the camera 52 and the gas detector 53, thereby realizing the multi-angle observation and multi-area gas collection of the surrounding environment.
In one embodiment, as shown in fig. 1-2 and 7, the detection device further comprises an electrical assembly 8.
The electrical assembly 8 includes a controller 81, a power source 82, a communication module 83, and a communication antenna 84.
The controller 81, the power supply 82 and the communication module 83 are installed in the body 1, and the communication antenna 84 is installed at the top of the body 1.
The controller 81 and the communication module 83 are respectively electrically connected with the power supply 82, the controller 81 is in signal connection with the communication module 83, and the communication module 83 is in signal connection with the communication antenna 84.
The power supply 82 supplies power to the controller 81(CPU, single chip or computer) and the communication module 83. The controller 81 is connected to the communication module 83, and receives an external wireless signal, and transmits a detected ring image, gas parameters, and the like. The communication module 83 is in signal connection with the communication antenna 84 to realize signal modulation and demodulation. The signal connection in the present invention is communication signal connection or electrical signal connection.
Referring to fig. 1 to 13, a method for controlling a detection device according to an embodiment of the present invention includes the following steps:
the walking driving device 6 rotates to drive the driving wheel 21, the driving wheel 21 drives the walking crawler 23 to rotate, and the detection equipment moves forwards.
When the place ahead meets the obstacle, swing arm drive arrangement 7 drives swing arm 31 and rotates, and swing arm 31 takes place the angle deflection relative to body 1 for swing arm 31 in two swing arm obstacle crossing devices 3 that are located body 1 front end extends from body 1 forward upwards, drives swing arm track 34 through drive wheel 32 simultaneously and rotates.
When the detection device crosses the road surface of the first road condition, the swing arm 31 moves to the lower part of the body 1, and is contacted with the road surface through the swing arm crawler belt 34 on the swing arm 31, and the body 1 is supported, so that the walking crawler belt 23 leaves the road surface.
When the detection device crosses the road surface of the second road condition, the two swing arms 31 located at the front end of the body 1 swing to the front of the body 1, and the two swing arms 31 located at the rear end of the body 1 swing to the rear of the body 1, so that the swing arm crawler 34 and the walking crawler 23 are both in contact with the road surface.
The method specifically comprises the following steps: when the detection device travels in the roadway, firstly, the travel driving device 7 drives the driving wheel 21 to rotate, the driving wheel 71 drives the travel crawler 23 to rotate, and the detection device moves forward. At this time, the walking driving device 7 also drives the swing arm rotating shaft 311 to rotate, the swing arm rotating shaft 311 drives the driving wheel 32 to rotate, the driving wheel 32 drives the swing arm caterpillar 34 to rotate, and the swing arm caterpillar 34 is in an idle state.
When the place ahead meets the obstacle, swing arm drive arrangement 6 drives swing arm 31 and rotates, and swing arm 31 takes place the angle deflection relative to body 1 for swing arm 31 extends from body 1 forward upwards in two swing arm obstacle crossing device 3 that are located body 1 front end, drives swing arm track 34 through drive wheel 32 simultaneously and rotates. In the process of forward movement of the detection equipment, the swing arm crawler belt 34 at the front end is firstly contacted with the obstacle, and the swing arm 31 at the front end extends forwards and upwards to form a larger included angle with the horizontal plane or the road surface, so that the swing arm crawler belt 34 is favorable for climbing the obstacle, the walking crawler belt 23 is further driven to climb the obstacle until the obstacle is crossed, and the auxiliary obstacle crossing function of the obstacle can be realized through the swing arm obstacle crossing device 3. After the obstacle is crossed, the swing arm obstacle crossing device 3 resets to the initial position, so that the friction force between the detection equipment and the ground is reduced, and the movement speed and the movement efficiency of the detection equipment are improved.
When the detection device crosses the road surface of the first road condition (hard flat road surface), each swing arm 31 moves to the lower side of the body 1, contacts with the road surface through the swing arm crawler belt 34 on the swing arm 31, and supports the body 1, so that the walking crawler belt 23 leaves the road surface. At this time, the driven wheel 33 and the swing arm crawler belt 34 form a supporting effect with the road surface, so that the contact area between the detection equipment and the road surface is reduced, the friction force is reduced, and the movement speed and the movement efficiency of the detection equipment are improved. Preferably, the swing arm 31 is perpendicular to the body 1, and can lift the body 1 to the maximum height to ensure that the walking crawler 23 leaves the road surface.
When the detection equipment passes through the road surface (fluffy road surface) of the second road condition, the two swing arms 31 positioned at the front end of the body 1 swing to the front of the body 1, and the two swing arms 31 positioned at the rear end of the body 1 swing to the rear of the body 1, so that the swing arm crawler belts 34 and the walking crawler belts 23 are in contact with the road surface, the contact area between the detection equipment and the road surface is increased, and the load performance of the detection equipment is improved.
The walking driving device 6 in the invention can provide forward power to make the detection equipment advance, and the walking driving device 6 in the invention can also provide reverse power to make the detection equipment retreat.
According to the needs, the above technical schemes can be combined to achieve the best technical effect.
The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.
Claims (10)
1. A detection device for a coal mine roadway is characterized by comprising a body, a detection device, a crawler traveling device and a swing arm obstacle crossing device;
the detection device is arranged on the top of the body;
the two opposite sides of the body are respectively provided with a set of crawler belt walking devices;
two sets of swing arm obstacle crossing devices are respectively and oppositely arranged at the front end and the rear end of the body;
the crawler belt walking device comprises a driving wheel, a driven wheel and a walking crawler belt sleeved on the driving wheel and the driven wheel; the driving wheel is mounted at the front end of the body through a driving wheel shaft, and the driven wheel is mounted at the rear end of the body through a driven wheel shaft;
the swing arm obstacle crossing device comprises a swing arm, a driving wheel, a steering wheel and a swing arm crawler belt sleeved on the driving wheel and the steering wheel; the driving wheel is mounted at one end, close to the body, of the swing arm through a driving wheel shaft, and the steering wheel is mounted at one end, far away from the body, of the swing arm through a steering wheel shaft;
a walking driving device for driving the driving wheel and the driving wheel to rotate and a swing arm driving device for driving the swing arm to swing up and down relative to the body are arranged in the body;
the driving wheel shaft is in transmission connection with the output end of the walking driving device, and the driving wheel shaft is in transmission connection with the output end of the walking driving device;
one end of the swing arm close to the body is in transmission connection with the output end of the swing arm driving device through a swing arm rotating shaft.
2. A detection apparatus for use in a coal mine roadway as claimed in claim 1,
the driving wheel shafts of the two sets of swing arm obstacle crossing devices positioned at the front end of the body are respectively connected with the two driving wheel shafts positioned at the front end of the body, and the driving wheel shafts of the two sets of swing arm obstacle crossing devices positioned at the rear end of the body are respectively connected with the two driven wheel shafts positioned at the rear end of the body.
3. A detection apparatus for use in a coal mine roadway as claimed in claim 1,
the swing arm obstacle crossing device has an initial state, a first state, a second state and a third state on the body and can be switched among the initial state, the first state, the second state and the third state;
when the swing arm obstacle crossing device is in the initial state, the steering wheel is positioned above the body;
when the swing arm obstacle crossing device is in the first state, the swing arm swings to enable the steering wheel shaft to be located obliquely above the driving wheel shaft; when the swing arm obstacle crossing device is in the second state, the swing arm swings to a horizontal state, so that the steering wheel shaft and the driving wheel shaft are positioned in the same horizontal plane;
when the swing arm obstacle crossing device is in the third state, the swing arm swings downwards, so that the steering wheel is located below the body.
4. A detection apparatus for use in a coal mine tunnel according to any one of claims 1 to 3, wherein two said travel drives are provided within the body, the drive wheels of two said sets of crawler travel drives being in driving connection with both said travel drives respectively.
5. A detection apparatus for use in a coal mine roadway as claimed in any one of claims 1 to 3,
two swing arm driving devices are arranged in the body;
the swing arms in the two sets of swing arm obstacle crossing devices positioned at the front end of the body are in transmission connection with one swing arm driving device;
the swing arms in the two sets of swing arm obstacle crossing devices positioned at the rear end of the body are in transmission connection with the other swing arm driving device.
6. A detection apparatus for use in a coal mine tunnel according to any one of claims 1 to 3 wherein damping means are also provided on either side of the body;
the damping device comprises a damping main board, a damping base and a damping spring connected between the damping main board and the damping base;
the damping main plate is arranged on the body, and the damping base is positioned below the damping main plate;
an upper damping plate and a lower damping plate are arranged on the outer side of the damping main plate;
the upper damping plate and the lower damping plate are respectively connected with the damping main plate in a sliding manner and can slide up and down;
the damping base is connected with the lower damping plate;
the upper damping plate and the lower damping plate are arranged at intervals, and the upper damping plate is connected with the lower damping plate through an adjusting bolt;
a tensioning wheel is installed on the upper damping plate, and a damping wheel is installed on the damping base;
the tensioning wheel and the damping wheel are both located in the annular range of the walking crawler belt, and the tensioning wheel and the damping wheel are respectively in contact with the inner surface of the walking crawler belt.
7. The detection device for the coal mine tunnel according to claim 6, wherein the upper damping plate and the lower damping plate are respectively provided with an adjusting through hole extending up and down;
the damping main board is provided with a positioning pin corresponding to the position of the adjusting through hole, and the positioning pin penetrates through the adjusting through hole and is in clearance fit with the adjusting through hole.
8. A detection apparatus for use in a coal mine tunnel according to any one of claims 1 to 3, wherein the detection means includes a pan head mounted on the body, a camera mounted on the pan head and a gas detector mounted on the pan head.
9. A detection apparatus for use in a coal mine roadway as claimed in any one of claims 1 to 3, further comprising electrical components;
the electric assembly comprises a controller, a power supply, a communication module and a communication antenna;
the controller, the power supply and the communication module are arranged in the body, and the communication antenna is arranged at the top of the body;
the controller and the communication module are respectively electrically connected with the power supply, the controller is in signal connection with the communication module, and the communication module is in signal connection with the communication antenna.
10. A method of controlling a detection device according to any one of claims 1-9, comprising the steps of:
the walking driving device drives the driving wheel to rotate, the driving wheel drives the walking crawler belt to rotate, and the detection equipment moves forwards;
when the front part meets an obstacle, the swing arm driving device drives the swing arms to rotate, the swing arms deflect at an angle relative to the body, so that the swing arms in the two swing arm obstacle crossing devices positioned at the front end of the body extend forwards and upwards from the body, and meanwhile, the driving wheels drive the swing arm crawler belts to rotate;
when the detection equipment passes through the road surface of the first road condition, the swing arm moves to the lower part of the body, and the swing arm crawler belt on the swing arm is contacted with the road surface and supports the body, so that the walking crawler belt leaves the road surface;
when the detection equipment passes through the road surface of the second road condition, the two swing arms positioned at the front end of the body swing to the front of the body, and the two swing arms positioned at the rear end of the body swing to the rear of the body, so that the swing arm crawler belts and the walking crawler belts are in contact with the road surface.
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| CN202010512302.2A CN111619683B (en) | 2020-06-08 | 2020-06-08 | Detection equipment used in coal mine tunnel and control method thereof |
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| CN202010512302.2A CN111619683B (en) | 2020-06-08 | 2020-06-08 | Detection equipment used in coal mine tunnel and control method thereof |
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