CN113021298A - Mine environment detection robot - Google Patents
Mine environment detection robot Download PDFInfo
- Publication number
- CN113021298A CN113021298A CN202110371250.6A CN202110371250A CN113021298A CN 113021298 A CN113021298 A CN 113021298A CN 202110371250 A CN202110371250 A CN 202110371250A CN 113021298 A CN113021298 A CN 113021298A
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- CN
- China
- Prior art keywords
- vehicle body
- mine environment
- wheel
- environment detection
- motor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mine environment detection robot, and belongs to the technical field of robots. The invention relates to a mine environment detection robot which comprises a vehicle body, a vehicle body partition plate camera, lighting equipment, a sensing device, communication equipment, a motor and crawler wheels. The camera is connected with the top of the vehicle body through the lighting equipment, the sensing component is connected with the top of the vehicle body through the component base, the communication equipment is connected with the upper side of the partition board of the vehicle body, the motor is arranged in the motor frame and placed inside the vehicle body, and the crawler wheel is connected with the vehicle body through the axle. The robot comprises various systems (a power system, a control system, a sensor assembly and the like) and integrates wireless remote control, environment detection and road obstacle crossing. This mine environment detection robot simple structure, easy dismounting adopts the modularized design, can reequip according to the demand and be applied to multiple occasion.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mine environment detection robot.
Background
China is rich in coal resources and is the largest coal producing country and consuming country in the world. Domestic mines are more, conditions are complex, serious accidents can be caused by the occurrence of a plurality of factors in the coal mining process, and meanwhile, a great amount of casualties can be caused. With the rapid development of the mining industry, faster and more effective rescue is needed, operations such as photographing and video recording are needed to be carried out on an accident site, underground information is fed back to a rescue command center in time, decision is made in time, and the accident site is evaluated. Providing effective help for the rescuers. Therefore, a special robot for detecting mine environment needs to be developed to better understand the condition of an underground mine.
Disclosure of Invention
The invention aims to provide a mine environment detection robot aiming at the defects of the prior art, the robot has multiple detection functions, can be quickly disassembled and assembled for maintenance according to different requirements, can better understand the conditions of an underground mine, and can be modified and applied to various occasions according to the requirements.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a mine environment detection robot, includes automobile body, sensing module, running gear, detachable roof 9 is installed on 4 upper portions of automobile body, and 4 mid-mounting of automobile body have an automobile body baffle 19 with the internal partition of automobile body for last cabin 18 and lower cabin 20, back hatch board 21 is installed in the automobile body 4 rear side, camera 1 is installed on support frame 3, light 2 is installed on support frame 3, support frame 3 is installed in roof 9 top.
The sensor mounting platform 12 is fixed by a left supporting plate 10 and a right supporting plate 13, the lower ends of the left supporting plate 10 and the right supporting plate 13 are fixed on the upper side of the roof 9, a plurality of sensor interfaces are arranged on the upper side of the sensor mounting platform 12, the sensor assembly 11 is arranged on the sensor interfaces according to requirements, the transmission shaft 23 penetrates through a transmission wheel 22 and is connected with the motor 5 to provide power, the motor 5 is fixed at the upper end of the motor frame 6, the motor frame 6 is fixed on the upper cabin 18, the single chip microcomputer 14 is arranged on the upper side of the single chip microcomputer support 15 and is connected with the motor 5 and the communication equipment 16 through.
The communication equipment 16 is placed at the upper end of a vehicle body partition plate 19, the antenna 17 is positioned outside the vehicle body 4, the vehicle shaft 8 penetrates through a front wheel 25 and is fixed on the vehicle body 4, elastic blocking pieces 24 are sleeved on two sides of the front wheel 25 and are arranged on the vehicle shaft 8 to limit the transverse displacement of the front wheel 25, the small wheel shaft 28 penetrates through a small wheel 26 and is fixed on a small wheel support frame 27, the small wheel support frame 27 is installed on the side surface of the vehicle body 4, the elastic blocking pieces 24 are sleeved on two sides of the small wheel 26, the vehicle shaft 8 penetrates through a rear wheel 29 and is fixed on the vehicle body 4, the elastic blocking pieces 24 are sleeved on two sides of the rear wheel 29, and the driving wheel 22 is connected to the.
Further, the mine environment detection robot comprises a traveling mechanism which is a crawler traveling mechanism.
Further, the sensor mounting platform 12 of the present invention has a plurality of interfaces for receiving the sensor assemblies 11.
Further, a vehicle body partition 19 of the present invention is fixed to a middle portion of the vehicle body 4 to divide the space inside the vehicle body 4 into two portions, an upper compartment 18 and a lower compartment 20.
Further, the rear hatch 21 of the present invention is attached to the rear side of the vehicle body 4 by a hinge to connect the outside and the inner compartment.
Further, the edge of the rear hatch 21 of the present invention is covered with a rubber gasket.
Further, the communication device 16 of the present invention is wrapped with a rubber gasket.
Further, the height of the left support plate 10 and the right support plate 13 is 30 cm.
Further, the track 7 of the present invention is provided with a screw notch corresponding to the driving wheel 22.
The invention has the following beneficial effects:
1. the crawler traveling mechanism enables the detection robot to better adapt to the complex terrain of the mine environment.
2. The sensing device platform enables the components to be far away from the vehicle body, avoids interference caused by the components, and the plurality of interfaces can be adapted to different sensing devices and can be replaced according to different requirements.
3. The rear hatch cover can simplify the operations of battery replacement and maintenance, and is convenient for practical use and maintenance.
4. The wheel is fixed by the elastic retaining sheet, so that the wheel is convenient to replace and maintain.
5. The invention has multiple detection functions and can be quickly disassembled and maintained according to different requirements.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view structural diagram of the present invention.
FIG. 3 is a top view of the present invention.
Fig. 4 is a side view of the present invention.
The identification shows that 1 is a camera, 2 is a lighting lamp, 3 is a support frame, 4 is a vehicle body, 5 is a motor, 6 is a motor frame, 7 is a crawler, 8 is a vehicle axle, 9 is a vehicle roof, 10 is a support plate left, 11 is a sensor component, 12 is a sensor mounting platform, 13 is a support plate right, 14 is a single chip microcomputer, 15 is a single chip microcomputer support, 16 is communication equipment, 17 is an antenna, 18 is an upper cabin, 19 is a vehicle body partition, 20 is a lower cabin, 21 is a rear cabin cover, 22 is a transmission wheel, 23 is a transmission shaft, 24 is an elastic baffle, 25 is a front wheel, 26 is a small wheel, 27 is a small wheel support frame, 28 is a small wheel shaft, and 29 is a rear wheel.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the following description is given with reference to specific embodiments and accompanying drawings, and it is obvious that the embodiments in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained according to these embodiments without any inventive work.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1 and 2, the invention provides a mine environment detection robot, which comprises a camera 1, an illuminating lamp 2, a support frame 3, a vehicle body 4, a motor 5, a motor frame 6, a crawler 7, a vehicle axle 8, a vehicle roof 9, a support plate left 10, a sensor assembly 11, a sensor mounting platform 12, a support plate right 13, a single chip microcomputer 14, a single chip microcomputer support 15, communication equipment 16, an antenna 17, an upper cabin 18, a vehicle body partition plate 19, a lower cabin 20, a rear cabin cover 21, a transmission wheel 22, a transmission shaft 23, an elastic baffle plate 24, a front wheel 25, a small wheel 26, a small wheel support frame 27, a small wheel axle 28 and a rear wheel 29. The camera 1 is connected with the support frame 3, the illuminating lamp 2 is connected with the support frame 3, the lower end of the support frame 3 is fixed on the upper side of the roof cover 9, the lower end of the motor 5 is fixed on the upper side of the motor frame 6, the lower end of the motor frame 6 is fixed on the upper end of the vehicle body partition plate 19, the sensor assembly 11 is installed on the upper end of the sensor installation platform 12, the left support plate 10 and the right support plate 13 are welded on two sides of the sensor installation platform 12, the left support plate 10 and the right support plate 13 are fixed on the upper side of the roof cover 9, the single chip 14 is connected with the motor 5 through a cable, the communication equipment 16 is connected with the single chip 14 through a cable and is fixed on the vehicle body partition plate 19, the driving wheel 22 is meshed with the crawler 7, the transmission shaft 23 penetrates through the driving wheel 22, the small wheel 26 is tangent to the crawler belt 7, the small wheel support 27 is fixed on the side surface of the vehicle body 4, the small wheel shaft 28 penetrates through the small wheel 26 to be connected with the small wheel support 27, the rear wheel 29 is meshed with the crawler belt 7, and the rear hatch 21 is placed on the rear side of the vehicle body 4.
The camera 1 is arranged on the support frame 3, the illuminating lamp 2 is arranged on the support frame 3, and the support frame 3 is arranged above the roof cover 9.
The roof 9 is attached to the top of the vehicle body 4, and the vehicle body partition 19 is attached to the middle of the vehicle body 4 and partitions the vehicle body 4 into an upper compartment 18 and a lower compartment 20.
The motor 5 is arranged on the upper side of the motor frame 6, and the motor 6 frame is fixed on the front part of the upper side of the vehicle body 4.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The single chip microcomputer 14 is installed on the upper side of the vehicle body 4 and fixed on the upper side of a vehicle body partition plate 19 through a single chip microcomputer support 15 so as to relieve damage to the single chip microcomputer 14 caused by vibration of the vehicle body 4, the communication equipment 16 is fixed on the upper side of the vehicle body partition plate 19, and the antenna 17 is partially located on the outer side of the vehicle body 4 so as to obtain better communication quality.
The rear hatch 21 is hinged to the rear side of the vehicle body 4.
The front wheel 25 is connected with the vehicle body 4 through the axle 8, the rear wheel 29 is connected with the vehicle body 4 through the axle 8, the small wheel 26 is connected with the small wheel support 27 through the small wheel shaft 28, the small wheel support 27 is installed on the side face of the vehicle body 4, and the friction force between the crawler belt and the ground can be effectively improved through the plurality of support wheels.
The transmission wheel 22 is connected to the motor 5 by a transmission shaft 23 and is engaged with the crawler belt 7 to output power.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A mine environment detection robot is characterized in that: comprises a camera (1), a lighting lamp (2), a support frame (3), a vehicle body (4), a motor (5), a motor frame (6), a track (7), a vehicle axle (8), a vehicle roof (9), a left support plate (10), a sensor assembly (11), a sensor mounting platform (12), a right support plate (13), a single chip microcomputer (14), a single chip microcomputer support (15), communication equipment (16), an antenna (17), an upper cabin (18), a vehicle body partition plate (19), a lower cabin (20), a rear cabin cover (21), a transmission wheel (22), a transmission shaft (23), an elastic baffle plate (24), a front wheel (25), a small wheel (26), a small wheel support frame (27), a small wheel shaft (28) and a rear wheel (29), wherein the camera (1) is connected with the support frame (3), the lighting lamp (2) is connected with the support frame (3), the lower end of the support frame (3) is fixed on the upper side of, the lower end of the motor (5) is fixed on the upper side of the motor frame (6), the lower end of the motor frame (6) is fixed on the upper end of a vehicle body partition plate (19), the sensor assembly (11) is installed on the upper end of the sensor installation platform (12), a left support plate (10) and a right support plate (13) are welded on two sides of the sensor installation platform (12), the left support plate (10) and the right support plate (13) are fixed on the upper side of a vehicle top cover (9), the single chip microcomputer (14) is connected with the motor (5) through a cable, the communication equipment (16) is connected with the single chip microcomputer (14) through a cable and is fixed on the vehicle body partition plate (19), the driving wheel (22) is meshed with the crawler (7), the transmission shaft (23) penetrates through the driving wheel (22) and is connected with the motor (5), the front wheel (25) is meshed with the crawler (7), the axle (8) penetrates through the, the small wheel (26) is tangent to the crawler belt (7), the small wheel support frame (27) is fixed on the side face of the vehicle body (4), the small wheel shaft (28) penetrates through the small wheel (26) to be connected with the small wheel support frame (27), the rear wheel (29) is meshed with the crawler belt (7), and the rear hatch cover (21) is placed on the rear side of the vehicle body (4).
2. The mine environment detection robot of claim 1, wherein the mine environment detection robot comprises a traveling mechanism, and the traveling mechanism is a crawler traveling mechanism.
3. The mine environment detection robot as recited in claim 1, characterized in that the sensor mounting platform (12) has a plurality of interfaces for receiving sensor assemblies (11).
4. The mine environment detecting robot as claimed in claim 1, wherein the body partition (19) is fixed to the middle of the body (4) to divide the space in the body (4) into two parts, an upper compartment (18) and a lower compartment (20).
5. The mine environment detecting robot as claimed in claim 1, wherein the rear hatch (21) is hinged to the rear side of the vehicle body (4) to connect the outside with the interior compartment.
6. The mine environment detection robot as recited in claim 1, characterized in that the communication device (16) is mounted on the upper deck of the cabin, and the antenna (17) is located outside the vehicle body (4).
7. Mine environment detection robot as claimed in claim 1, characterized in that the edge of the rear hatch (21) is covered with rubber gaskets.
8. The mine environment detection robot as recited in claim 1, characterized in that the communication device (16) is wrapped with a rubber gasket.
9. The mine environment detecting robot of claim 1, wherein the height of the left support plate (10) and the right support plate (13) is 30 cm.
10. The mine environment detecting robot according to claim 1, characterized in that the track (7) is provided with a thread notch corresponding to the transmission wheel (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110371250.6A CN113021298A (en) | 2021-04-07 | 2021-04-07 | Mine environment detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110371250.6A CN113021298A (en) | 2021-04-07 | 2021-04-07 | Mine environment detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113021298A true CN113021298A (en) | 2021-06-25 |
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ID=76453927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110371250.6A Pending CN113021298A (en) | 2021-04-07 | 2021-04-07 | Mine environment detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113021298A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858221A (en) * | 2021-09-15 | 2021-12-31 | 山东省科学院自动化研究所 | Underground coal mine inspection operation robot |
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2021
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| CN113858221A (en) * | 2021-09-15 | 2021-12-31 | 山东省科学院自动化研究所 | Underground coal mine inspection operation robot |
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