CN201264655Y - Coal mine rescue detection robot - Google Patents
Coal mine rescue detection robot Download PDFInfo
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- CN201264655Y CN201264655Y CNU2008200154866U CN200820015486U CN201264655Y CN 201264655 Y CN201264655 Y CN 201264655Y CN U2008200154866 U CNU2008200154866 U CN U2008200154866U CN 200820015486 U CN200820015486 U CN 200820015486U CN 201264655 Y CN201264655 Y CN 201264655Y
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- crawler belt
- chain track
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Abstract
The utility model relates to a sniffing robot for coal mine save, which comprises a moving mechanism, a power system, a communication system and a human-machine interface, wherein, the moving mechanism is a chain track-swinging leg compounded travel mechanism, and comprises a left driving chain track, a right driving chain track and a swinging leg mechanism; the power system comprises a left driving motor, a right driving motor and a swinging leg motor; the left driving motor is connected with the left driving chain track; the right driving motor is connected with the right driving chain track; and the swinging leg motor is connected with the swinging leg mechanism. Compared with the prior art, the utility model has stronger traffic capacity.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of coalmine rescue sniffing robot.
Background technology
The various mine disasters in present national colliery frequently take place, and have caused great personal casualty and property damage.In process of coal mining, the tunnel that " fiery point " occur can produce a large amount of toxic and harmfuls such as carbonic oxide, must " fiery point " be extinguished fully, gas is emptied completely, temperature fall can be opened the enclosing tunnel continuation to the normal temperature and exploit.Yet when " fiery point " extinguishes fully, mining environment safety whether, is difficult to accurately know.If it then is breakneck that the person of sending someone enters on-the-spot detection enclosing tunnel situation, detect the grave accident that once repeatedly occurred security staff's death in operation in this class.Coal mining enterprise presses for a kind of alternative people and removes the on-the-spot digging special safety automated arm that detects.
In addition, at present accidents such as coal mine gas from explosion, permeable, roof fall take place again and again, after accident takes place, owing to mine disaster reason and mine disaster field condition are not clear, rescue group's wrecked situation in speedily carrying out rescue work happens occasionally, so early warning coal mining accident mine takes place and gos deep into surveys the mine disaster position and find out the not clear situation in the scene of the accident, transmit the down-hole key message in real time the rescue command center, in the shortest time, reduce personnel and property damage to greatest extent and become the task of top priority.
Present situation and the backward conspicuous contradiction of rescue Detection Techniques level at the China's coal-mine safety misadventure takes place frequently press for the advanced digging special safety of this class of the supporting rescue and detection robot of colliery digging safety automation equipment.From the report of the result for retrieval of data banks such as domestic and foreign literature, patent and various media, also there is not to find really can be used for the robot product that coalmine rescue is surveyed.Tracing it to its cause mainly is that the working condition of external coal mining enterprise is better, and associated robot research mainly concentrates on aspects such as colliery Work robot and conveying.In China, though specialized robot field of researchs such as, fire-fighting and rescue explosion-proof in anti-terrorism have been obtained huge achievement, but because the particularity of colliery subsurface environment, the working environment of robot is very abominable usually, need to consider simultaneously dustproof, waterproof, explosion-proof, set fire, anti-press etc., the road surface, down-hole is rugged and rough in addition, obstacle is more, passage space is very limited and irregular, even presenting non-structured characteristics, this has just proposed new requirement to drive system, traffic potential and the structure design of rescue and detection robot.
Summary of the invention
The utility model has overcome deficiency of the prior art, and the coalmine rescue that a kind of traffic potential is strong, obstacle performance is good sniffing robot is provided.
In order to address the above problem, the utility model by the following technical solutions:
A kind of coalmine rescue sniffing robot, comprise travel mechanism, power system, communication system and man-machine interface, wherein travel mechanism is crawler belt-swinging kick composite moving mechanism, comprise that a left side drives crawler belt, right crawler belt and the swinging kick mechanism of driving, power system comprises left drive motor, right drive motor and swinging kick motor, left side drive motor drives crawler belt with a left side and is connected, right drive motor is connected with the right crawler belt that drives, the swinging kick motor is connected with swinging kick mechanism, two crawler belts provide motion-promotion force, and differential is realized turning.
Compared with prior art, the beneficial effects of the utility model adopt the track propulsion mode, and stronger to the adaptive capacity of complicated ground, obstacle performance is also better; Set swinging kick mechanism when launching fully, increases land lengths, can cross over wideer hole/ditch; Upwards rotate swinging kick and adjust to suitable angle, can cross obstacles such as the stone that is higher than the platform oneself height, step; The platform front portion rotates swinging kick after being absorbed in the hole, supports ground, the platform front portion can be lifted, and climbs out of from the hole; When platform is got out of a predicament or an embarrassing situation, rotate swinging kick, support ground, reduce platform ground-surface impact.So traffic potential is stronger.
Description of drawings
Fig. 1 is the utility model coalmine rescue sniffing robot system authority scheme drawing
The specific embodiment
See also shown in Figure 1ly, the utility model coalmine rescue sniffing robot comprises travel mechanism, power system, communication system and man-machine interface.
For travel mechanism, because the down-hole narrow space, the robot maneuvering range is little, and for the place ahead obstacle, robot can only be based on obstacle detouring, and tunnel complicated ground complicated condition after discarded in addition tunnel and the mine disaster is so robot adopts crawler belt-swinging kick composite-motion mechanism.Two crawler belts provide the flat-bed motion-promotion force, and the differential implementation platform is turned.With respect to wheeled driving, the track propulsion mode is stronger to the adaptive capacity of complicated ground, and obstacle performance is also better; For improving obstacle detouring and the carrying capacity of platform in the tunnel, on the basis of track propulsion, in the swinging kick of the anterior installation of platform obstacle detouring, its significant feature:
When (1) launching fully, increase land lengths, can cross over wideer hole/ditch.
(2) upwards rotate swinging kick and adjust to suitable angle, can cross obstacles such as the stone that is higher than the platform oneself height, step.
(3) after the platform front portion is absorbed in the hole, rotate swinging kick, support ground, the platform front portion can be lifted, from the hole, climb out of.
When (4) platform is got out of a predicament or an embarrassing situation, rotate swinging kick, support ground, reduce platform ground-surface impact.
Power system comprises: main control computer, drive motor, communication apparatus, power supply etc.For reaching the requirement of using under the border, the ROBOT CONTROL power system adopts whole flame proof mode.ROBOT CONTROL and Power system Module inside are the aluminum alloy main frame structure, and skin is 3 millimeters outer cover of steel plate.
Based on low cost, the requirement of heavy load, robot is intended driving the both sides crawler belt respectively with two 200w direct current torque motors, and a 100w DC speed-reducing drives swinging kick.
Robot carries Li-Ion rechargeable battery: 24v, 40/Ah (960 watts hours), about 10 kilograms of weight, supporting platform continuous walking 2 hours.
For communication system, because coal mine roadway to the echo effect of radiowave, is implemented length in the down-hole and remained infeasible at present apart from wireless telecommunications.It is main that robot adopts the long-distance optical fiber communication, and the remote-control communication mode that close range wireless communication is auxiliary reaches the purpose of easy operating.Concrete measure comprises:
(1) use micro optical cable, alleviate optical cable weight: optic cable diameter 3mm, weight is 7Kg/KM. maximum tension 350N (for a long time); 700N (short-term); Minimum bending radius: 40mm.
(2) the self-contained optical cable draw off gear of robot is realized its automatic deploying and retracting by the optical cable Tension Control.When robot set out, optical cable on the robot distributor, discharged optical cable fully when robot advances, reclaim optical cable when retreating.The relative ground of optical cable does not have and drags in robot motion's process, the jammed situation of optical cable can not occur, guarantees the robot reliable movement under complex environment.Prepare to follow robot when advancing when searching and rescuing the team member, need to use the manual draw off gear that carries to reclaim optical cable.Robot with search and rescue after the member of team joins, by the cooperation of two covering devices, with optical cable again around to the reel of robot, for the continuation of robot is deeply got ready.
(3) near radio remote control mode: when robot with search and rescue team member's close together and in the direct-view scope time, for example robot is with searching and rescuing the team member along in the traveling process of navigation channel, can use the wireless remote control mode, optionally mode comprises: local area network, bluetooth etc.
(4) relaying communication scheme.It is 2 kilometers that robot carries cable length, and bigger if desired remote control distance can be considered two kinds of schemes:
A) optical cable trunking: many robots connect formation with column's leu with optical cable and move, and the robot that is positioned at the formation end rests on 2000 meters and serves as relay point, and the robot that is positioned at penultimate rests on the 4000m place, and also the rest may be inferred;
B) wireless relay mode: the self-contained wireless telecommunications via node of robot, the according to circumstances many relay points wireless telecommunications implementation that independently lays on the way.
Man-machine interface comprises: telltale, guidance panel, hand-held remote control box, battery, communication interface.Telltale provides remote information for the operator, comprises the video image that search and rescue robot returns, sensing data, equipment state feedback and battery dump energy information.Utilize information such as harmful gas concentration, robot location and attitude such as the continuous image that returns of robot, temperature, gas, adopt the augmented reality technology, information such as harmful gas concentration, temperature such as the video image of real-time display device people environment of living in, gas on terminal interface.
On the guidance panel, be furnished with miniature distant bar, button or switch.The multiple degree of freedom rocking bar is used for remote control is carried out in platform motion and swinging kick rotation.Button and switch are finished setting, the instruction issuing of system.Hand-held remote control box and control desk can be finished simple remote manipulation in the situation of not opening the control desk interface by cable connection.Main with in visual range closely and in the walking process robot is carried out remote control.
Pick up camera is the robot pedestal sensor, is installed in the flame proof warehouse.The video image of its shooting passes through the optical fiber real-time Transmission, and plays on the operator's station read-out.Pick up camera is the white light type, adopts high-brightness LED cold light source type essential safety mine lamp to throw light on.
Selectable other sensor load comprise: gas, coal dust, co, co2, wind speed, blast, temperature, vital sign etc.Special-purpose mining type can be bought or transform as to these sensors all, is installed in outside the flame proof storehouse.Through transforming, each sensor and intercomputer adopt the standard serial port communication, adopt same power line voltage standard, realize the replaceable of various sensors.
Based on inertance element, digital compass and embedded system and vehicle-carrying distribution sensor is the location and navigation hardware platform of aiding sensors.Adopt three-dimensional mileage estimation technique, and based on the Error Compensation Technology of Multi-source Information Fusion and filter processing method, calculate the advanced positions of robot in the down-hole, the scene image information that reference number map and robot are passed back, deviation between limited nature road sign that runs in determining to advance and the robot location who extrapolates, revise the robot flight path under the prerequisite of manual intervention on numerical map, the realization robot is accurately located.
Under the complex environment of tunnel, move, rely on direct remote control fully and will cause the sport efficiency of robot low or even can't realize; Therefore, autonomous environmental adaptation technology is vital for the down-hole searching robot.
Employing based on this, realizes autonomous configuration adjustment and the active obstacle of robot towards complex-terrain based on the terrain parameter prediction estimation technique of inertial navigation sensor, strengthens the carrying capacity of complicated ground.
Adopt the real-time estimation technique of drive efficiency parameter, the driving state of health of robot is implemented autonomous monitoring, and, improve the reliability of robot according to the autonomous fault-tolerant control of drive efficiency parameter realization at the soft fault of actuator (non-100% fault).
When the optical cable transmission was broken down, robot was followed the tracks of and is kept away the barrier ability in conjunction with autonomous tunnel according to the miles counter data of its memory and independently returns.
Compared with prior art, the beneficial effects of the utility model adopt the track drive mode, to the adaptive capacity of complicated ground Stronger, obstacle performance is also better; Set swinging kick mechanism when launching fully, increases land lengths, can cross over wider hole / ditch; Upwards rotate swinging kick and adjust to suitable angle, can cross the obstacles such as the stone that is higher than the platform oneself height, step; The platform front portion rotates swinging kick after being absorbed in the hole, supports ground, the platform front portion can be lifted, and climbs out of from the hole; Flat When platform is got out of a predicament or an embarrassing situation, rotate swinging kick, support ground, reduce platform to the impact on ground. So the traffic capacity is stronger.
Claims (1)
1, a kind of coalmine rescue sniffing robot, comprise travel mechanism, power system, communication system and man-machine interface, it is characterized in that: wherein travel mechanism is crawler belt-swinging kick composite moving mechanism, comprise that a left side drives crawler belt, right crawler belt and the swinging kick mechanism of driving, power system comprises left drive motor, right drive motor and swinging kick motor, left side drive motor drives crawler belt with a left side and is connected, and right drive motor is connected with the right crawler belt that drives, and the swinging kick motor is connected with swinging kick mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200154866U CN201264655Y (en) | 2008-09-10 | 2008-09-10 | Coal mine rescue detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200154866U CN201264655Y (en) | 2008-09-10 | 2008-09-10 | Coal mine rescue detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201264655Y true CN201264655Y (en) | 2009-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200154866U Expired - Fee Related CN201264655Y (en) | 2008-09-10 | 2008-09-10 | Coal mine rescue detection robot |
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| CN (1) | CN201264655Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303653A (en) * | 2011-06-09 | 2012-01-04 | 山西潞安环保能源开发股份有限公司 | Unmanned reconnaissance device |
| CN102363065A (en) * | 2011-06-14 | 2012-02-29 | 北京信息科技大学 | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof |
| CN103135551A (en) * | 2013-02-28 | 2013-06-05 | 上海大学 | Accurate positioning fire search-and-rescue robot |
| CN104149873A (en) * | 2014-08-14 | 2014-11-19 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsically safe rescue exploration robot |
| CN104965430A (en) * | 2015-06-29 | 2015-10-07 | 广州杰赛科技股份有限公司 | Environment detection device, power supply control method thereof and emergency monitoring system |
| CN105897327A (en) * | 2016-05-25 | 2016-08-24 | 王皓 | Self-rescue calling and rescuing system and calling and rescuing method |
| CN104503454B (en) * | 2014-12-23 | 2017-04-12 | 浙江理工大学 | Searching and rescue robot system moving control method based on multi-intelligent-agent theory |
| CN106703802A (en) * | 2016-12-11 | 2017-05-24 | 黄斌 | Coal mining apparatus |
-
2008
- 2008-09-10 CN CNU2008200154866U patent/CN201264655Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303653A (en) * | 2011-06-09 | 2012-01-04 | 山西潞安环保能源开发股份有限公司 | Unmanned reconnaissance device |
| CN102363065A (en) * | 2011-06-14 | 2012-02-29 | 北京信息科技大学 | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof |
| CN102363065B (en) * | 2011-06-14 | 2013-04-03 | 北京信息科技大学 | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof |
| CN103135551A (en) * | 2013-02-28 | 2013-06-05 | 上海大学 | Accurate positioning fire search-and-rescue robot |
| CN103135551B (en) * | 2013-02-28 | 2015-05-06 | 上海大学 | Accurate positioning fire search-and-rescue robot |
| CN104149873A (en) * | 2014-08-14 | 2014-11-19 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsically safe rescue exploration robot |
| CN104149873B (en) * | 2014-08-14 | 2016-03-16 | 中煤科工集团重庆研究院有限公司 | Portable mining intrinsic safety rescue and detection robot |
| CN104503454B (en) * | 2014-12-23 | 2017-04-12 | 浙江理工大学 | Searching and rescue robot system moving control method based on multi-intelligent-agent theory |
| CN104965430A (en) * | 2015-06-29 | 2015-10-07 | 广州杰赛科技股份有限公司 | Environment detection device, power supply control method thereof and emergency monitoring system |
| CN105897327A (en) * | 2016-05-25 | 2016-08-24 | 王皓 | Self-rescue calling and rescuing system and calling and rescuing method |
| CN106703802A (en) * | 2016-12-11 | 2017-05-24 | 黄斌 | Coal mining apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090701 Termination date: 20130910 |