CN201305046Y - Search-and-rescue robot for underground mine - Google Patents
Search-and-rescue robot for underground mine Download PDFInfo
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- CN201305046Y CN201305046Y CNU2008202199927U CN200820219992U CN201305046Y CN 201305046 Y CN201305046 Y CN 201305046Y CN U2008202199927 U CNU2008202199927 U CN U2008202199927U CN 200820219992 U CN200820219992 U CN 200820219992U CN 201305046 Y CN201305046 Y CN 201305046Y
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Abstract
The utility model relates to a search-and-rescue robot for underground mine, belonging to the technical field of robot. The structure of the robot is as follows: the robot comprises an explosion-resistant enclosure, two sets of symmetrical running systems, an arm-swinging system and a control system which are respectively independent, wherein the driving mechanisms of the control system, the running systems and the arm-swinging system are arranged in the explosion-resistant enclosure, the control system is connected with the driving mechanisms, a mechanical cradle head and an optical fiber-discharging device are arranged above the explosion-resistant enclosure, the optical fiber of the optical fiber-discharging device is connected with the control system, and the mechanical cradle head is internally provided with a sensor group which is electrically connected with the control system with the drive plate of the cradle head. The utility model adopts the static overbalance model explosion-resistant enclosure so as to improve the moving ability of the robot when reaches the static overbalance. By adopting the driving mechanisms with four independent arms, the posture of the robot can be exactly controlled, and the adaptive capacity and the obstacle-climbing ability of the robot to complex terrains are improved. By adopting on-vehicle optical fiber mode, the optical fiber is freely discharged, and the influence on the moving ability of the robot which is caused by the rubbing and being locked by cables is reduced.
Description
Technical field
The invention belongs to the Robotics field, particularly relate to a kind of search and rescue robot that is used under the mine.
Background technology
At present, the home and abroad colliery accident takes place frequently, and brings great infringement for economic construction and people's lives.When strengthening the mine safety measure and paying attention to the mine safety supervision, also need a kind of search and rescue equipment (robot) that back exploration, rescue take place accident that is applied to, the loss that disaster is brought drops to minimum.Current disaster search and rescue robot only is adapted to the ground disaster scenarios it mostly, and can't satisfy the extraordinary circumstances of mine down-hole disaster: in a single day safety misadventure takes place in the down-hole, and ground will definitely be extremely complicated, and be full of damp in the air.This just requires to be applied to the down-hole searching robot except that possessing good travelling performance, the explosion-proof performance that also needs to have good landform adaptive capacity, obstacle climbing ability and satisfy standard-required should possess the voice visual feedback of real-time understanding downhole conditions, good handling and bigger outer load-carrying capacity etc. in addition.
The patent No. is 200810019993.1, denomination of invention discloses a kind of flame-proof type robot platform that is applicable under the coal mine with non-structure terrain environment and explosive gas atmosphere for the application for a patent for invention of " flame-proof type robot platform that is used for search operation in coal mine well ".It is by flameproof enclosure, the drive wheel unit, flower wheel and swing arm unit, travel driving motor unit and swing arm rotary drive motor unit constitute, drive wheel unit and flower wheel and swing arm unit symmetry are located at the two ends of flameproof enclosure, the travel driving motor unit is located in the flameproof enclosure, and connect the drive wheel unit, swing arm rotary drive motor unit is located in the flameproof enclosure, and connect flower wheel and swing arm unit, be provided with main crawler belt between the flower wheel in drive wheel in the drive wheel unit and flower wheel and the swing arm unit, the middle part of flameproof enclosure is provided with the support wheel that supports main crawler belt.This patent application adopts flame proof form to carry out explosion-proof design, owing to do not allow to adopt aluminum content greater than 6% material under the coal mine, is canning material so underground equipment generally adopts iron and steel.The iron and steel flameproof enclosure thicker (4～6mm), must bring quality problem bigger than normal, influenced the travelling performance of mobile device so greatly; And complex structure, inconvenience processing.This robot platform adopts one-sided double-pendulum arms structure, and exercise performance is on the weak side, can only carry out the motion of routine climbing obstacle detouring, and the extraordinary circumstances narrow relative to the space of the mine that subsides move, turn to inconvenience.
The patent No. is 200710117739.0, denomination of invention is the application for a patent for invention of " small-sized 6-track whole topographic form mobile robot ", disclose a kind of can be under rugged road surface or MODEL OVER COMPLEX TOPOGRAPHY powered travel, when guaranteeing the robot dimensional restriction, overcome the shortcoming that traditional caterpillar mobile robot chassis is frequent and obstacle bumps.This robot comprises two cover travel driving unit, quadruplet swing arm assembly and fuselage rings; Drive motor, control system and electrical source of power are included in the fuselage ring that is covered by left and right traveling crawler; Robot upper part also is equipped with carrying platform.This robot only can be applicable to and carry out work under the operating mode of land, does not carry out the explosive-proof protector design at extraordinary circumstances under the coal mine, is not suitable for being applied in operation under the mine.
Summary of the invention
Technical matters at above-mentioned existence, the invention provides and a kind ofly satisfy explosion-proof criteria and require, have good travelling performance and higher landform adaptive capacity, and configured voice, vision in real time the plurality of pendulums arm of feedback be used for positive pressure type search and rescue robot under the mine, to adapt to the situation that the down-hole disaster is searched and rescued, the loss that disaster is brought drops to minimum.
The present invention includes the running gear of explosion-resistant enclosure, two cover symmetries, independently swing arm system and control system separately, the transmission device of control system, running gear and swing arm system places in the explosion-resistant enclosure, control system is connected with driver train, above described explosion-resistant enclosure, also be provided with mechanical underprop and optical fiber applicator, mechanical underprop and control system are electrically connected, and the optical fiber applicator is connected with control system by optical fiber.
Swing arm system described in the present invention is four swing arm structures, place the transmission device in the explosion-resistant enclosure to comprise front swing arm and ground drive mechanism, rear-swing arm driver train and road wheel follower, the respective sides road wheel is symmetrical arranged, each swing arm driving mechanism is identical, swing arm driving mechanism and walking driver train are independent separately, the coaxial setting of each arm shaft walking axle cooresponding with it.
Described swing arm driving mechanism comprises the swing arm motor, the swing arm miniature gears, the swing arm big gear wheel, duplex swing arm gear, gear wheel shaft and swing arm axle bed, the swing arm motor is installed on the swing arm axle bed, the swing arm miniature gears is installed on the output shaft of swing arm motor, the swing arm miniature gears is meshed with the big gear wheel of duplex swing arm gear on being installed in gear wheel shaft, the miniature gears of duplex swing arm gear is meshed with swing arm big gear wheel on being installed in arm shaft, the swing arm big gear wheel is installed on the arm shaft, arm shaft stretches out outside the housing, swing arm is installed on it, and potentiometer is installed in axle head in the arm shaft housing.
Described ground drive mechanism comprises walking bearing seat, movable motor, walking miniature gears, idle pulley, walking axle and walking big gear wheel, movable motor is installed on the walking bearing seat, the walking miniature gears is installed on its output shaft, the walking miniature gears is meshed by the walking big gear wheel on being installed in the idle pulley of walking on the bearing seat and being installed in walking spool, the walking big gear wheel is installed on the walking axle, the walking shaft extension goes out outside the housing, road wheel is installed on it, crawler belt is installed between walking driver gear and the walking passive gear, and the corresponding swing arm with it of road wheel is connected.Described walking passive gear mechanism is the hollow shaft concentric with the rear-swing arm axle, hollow shaft and the coaxial setting of arm shaft, and stretch out outside the housing, flower wheel is installed on it.
Described explosion-resistant enclosure comprises mobile platform and loam cake, mobile platform is a cube cavity body structure, have axis hole at its corresponding walking shaft position, this axis hole place is provided with Simmer ring, and loam cake is the cavity body structure that has depression, and it is built-in with storage tank and positive pressure devices, mobile platform and last cover gab relative engagement are tightly connected, form the osed top shell, diverse location is installed two quick joints at least about containment shell, and each quick joint all connects an exhausr port that places in the containment shell.Described positive pressure devices comprises hand valve, electromagnetic valve, reducing valve, governor valve, exhausr port, oxygen sensor and pressure sensor, hand valve, electromagnetic valve, reducing valve, governor valve and first exhausr port connect successively, hand valve is arranged on the air extractor duct of storage tank, explosion-resistant enclosure is built-in with pressure sensor and oxygen sensor, and each sensor and electromagnetic valve are connected with control system respectively.
Described optical fiber applicator comprises fiber spool, two outer end caps, pivot shaft, optical fiber slip ring and optical fiber Change-over frames, two outer end caps place fiber spool inner core two ends, and be connected with fiber spool, optical fiber slip ring fixed end is connected with pivot shaft on the optical fiber leading-in end outer end cap, sliding end is connected with the optical fiber Change-over frame, the optical fiber Change-over frame is fixed on the optical fiber leading-in end outer end cap end in the fiber spool, is embedded with the optical fiber introducing device on fiber spool.Described optical fiber introducing device comprises optical fiber introducing piece, rubber cushion blocks, compresses cushion block and trimming screw, it is the arc piece that has notch that this optical fiber is introduced piece, constitute by two curved surfaces, one of them curved surface is identical with the fiber spool curved surface, another is tangent with it, forms guide groove between two curved surfaces, and described notch and guide groove are perpendicular, on the notch end face, have tapped bore, by trimming screw with compress cushion block, rubber cushion blocks is connected.
Described dust proof member comprises two baffle plates that profile is identical, between be equipped with and adjust cover, by bolted connection, two baffle plates have two parallel end faces that match with crawler belt and two arcwall faces that match with road wheel, and two baffle plates include two parts: it is a rubber baffle near ground-surface part.
Beneficial effect of the present invention:
1, at the explosion-proof problem of down-hole searching robot, adopt static quadrature reactance die mould explosion-resistant enclosure, osed top explosion-resistant enclosure inside is provided with vehicle-mounted storage tank and gas applicator, when work to the unreactable gas of enclosure dispensing greater than ambient pressure, thereby reach the purpose of static malleation.When satisfying GB GB3836 requirement, promoted the robot movement ability.Adopt the lead frame structure, promptly improved structural strength, rigidity, again expendable weight; Independent sealing joint plate guarantees good air-tightness.
2, adopt four swing arm structures, each swing arm individual drive, but the attitude of accuracy control robot have improved adaptive capacity and the obstacle climbing ability of robot to complex-terrain; Its arm shaft and the coaxial setting of walking axle when reaching separate transmission, have been saved the space.
3, robot built-in battery improves the freedom of motion degree of robot, avoids because cable damages the fault of bringing and retrains from cable.
4, employing has the cable communication modes, adapts to the down-hole complex environment, improves signal transmission capabilities and robot and controls ability.
5, adopt the vehicle-mounted optical fiber mode of robot, the free optical fiber of on the go discharges, and reduces owing to the cable friction, is blocked the robot movement Effect on Performance that causes.
6, cover top portion is provided with mechanical underprop, and multiple sensors such as configuration gas, temperature, pressure are implemented the every environmental parameters of working space under the production wells in it, and searching and rescuing for robot provides the environment reference.
7, multi-media sensors such as configured voice, image, vision are gathered the every perceptual parameters of working space under the mine in real time, and searching and rescuing for robot provides the perception reference.
8, adopt the optical-fibre communications mode, the subsurface environment parameter of each sensor acquisition and the supervisory control computer of perceptual parameters and non-working surface are carried out real-time Data Transmission, improve data communication and the efficient of controlling the signal transmission, improve robot responds speed and search and rescue ability.
Description of drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 takes perspective view behind the loam cake apart for Fig. 1.
Fig. 3 is a mobile platform perspective view among Fig. 2.
Fig. 4 is a loam cake perspective view of the present invention.
Fig. 5 is a positive pressure devices structural representation among Fig. 4.
Fig. 6 is walking-swing arm driving mechanism perspective view among the present invention.
Fig. 7 is walking-swing arm system architecture partial schematic sectional view among the present invention.
Fig. 8 is an optical fiber applicator among Fig. 1.
Fig. 9 is the A-A cutaway view of Fig. 8.
Figure 10 is the B-B cutaway view of Fig. 8.
Figure 11 is the right elevation of Fig. 8.
Figure 12 is an optical fiber introducing device partial schematic diagram.
Figure 13 introduces the block structure scheme drawing for Figure 12 optical fiber.
Figure 14 introduces principle schematic for optical fiber.
Figure 15 is Fig. 1 mechanical underprop structural representation.
Figure 16 is Figure 15 partial schematic sectional view.
Figure 17 is a dust proof member structural representation among Fig. 2.
Figure 18 is Figure 17 baffle structure scheme drawing.
Figure 19 is Figure 17 outer baffle structural representation.
Among the figure:
1-shell: 101-mobile platform, 102-loam cake, 103-framework, 104-housing, 105-Simmer ring, 106-first screw, 107-sealing joint plate, 108-seal ring;
The 2-dust proof member: the 201-Internal baffle, the 202-outer baffle, 203-adjusts cover, 204-rubber baffle, 205-bolt of rear end plate, 206-threaded block, 207-bolt;
3-mechanical underprop: 301-O RunddichtringO, 302-The Cloud Terrace lifting motor, 303-lifting motor shell, 304-second screw, 305-the 3rd screw, 306-worm and gear, 307-The Cloud Terrace lifting shaft, 308-first pressure sensor, 309-the 4th screw, 310-The Cloud Terrace arm, 311-pitching gear wheel shaft, 312-first bevel gear, 313-the 5th screw, 314-pitching motor, the horizontal motor of 315-, the 316-motor casing, 317-motor erecting frame, 318-second bevel gear, 319-horizontal teeth wheel shaft, 320-the 3rd bevel gear, 321-potentiometer erecting frame, the horizontal potentiometer of 322-, 323-pitching potentiometer, 324-sensor groups, 325-the 6th screw, 326-the 7th screw, 327-the 4th bevel gear;
4-optical fiber applicator: 401-optical fiber introducing device, 402-fiber spool, 403-trimming screw, 404-first fix screw, 405-rubber cushion blocks, 406-radial screw, the 407-clutch shaft bearing, 408-optical fiber slip ring, 409-first pivot shaft, 410-optical fiber leading-in end outer end cap, 411-cross screw, 412-optical fiber Change-over frame, 413-second bearing, the 414-third axle holds, 415-second fix screw, 416-bearing, 417-bearing gland, 418-compresses cushion block, 419-guide groove, 420-outer end cap, 421-second pivot shaft, 422-optical fiber is introduced piece, 423-notch, 424-tapped bore;
5-swing arm system: 51-front swing arm driver train, swing arm before the 52-rear-swing arm driver train, 501-, swing arm behind the 502-, 503-arm shaft, 504-duplex swing arm gear, 505-swing arm miniature gears, 506-swing arm motor, 507-swing arm axle bed, 508-swing arm big gear wheel, 509-first key, 510-swing arm band, 511-second key, 512-potentiometer;
6-running gear: 61-ground drive mechanism, 62-road wheel follower, 601-traveling crawler, the 602-axle of walking, the 603-bearing seat of walking, 604-idle pulley, the 605-miniature gears of walking, the 606-movable motor, 607-triple bond, 608-gear wheel shaft, the 609-big gear wheel of walking, the 610-walking driver gear, 611-the 8th screw, 612-walking passive gear;
The 7-vehicle control syetem, 701-power supply, 702-motor driver;
8-positive pressure devices: 801-storage tank, the 802-hand valve, 803-electromagnetic valve, 804-reducing valve, the 805-governor valve, 806-first exhausr port, 807-first quick joint, 808-second series gas port, 809-second quick joint, 810-the 3rd exhausr port, 811-second pressure sensor, 812-oxygen sensor;
The specific embodiment
Describe the present invention in detail below in conjunction with embodiment and accompanying drawing.
Embodiment: as shown in Figure 1 and Figure 2, the present invention includes the running gear 6 of explosion-resistant enclosure 1, two cover symmetries, independently swing arm system 5 and control system 7 separately, the driver train of control system 7, running gear 6 and swing arm system 5 places in the explosion-resistant enclosure 1, control system 7 is connected with driver train, above described explosion-resistant enclosure 1, also be provided with mechanical underprop 3 and optical fiber applicator 4, mechanical underprop 3 and control system 7 are electrically connected, and optical fiber applicator 4 is connected with control system 7 by optical fiber.。
As Fig. 3, shown in Figure 4, described explosion-resistant enclosure 1 comprise mobile platform 101 with its positive pressure type loam cake 102 that connects mutually by screw, mobile platform 101 and loam cake 102 all are the frameworks that are welded by angle steel, play the main support effect, constitute at framework 103 outer wrapping panel beating housings 104, panel beating housing 104 is welded after by sheet steel punching press reinforced rib, mobile platform 101 is a cube cavity body structure, have axis hole in the corresponding walking axle of this cavity 602 positions, this axis hole place is equipped with Simmer ring 105, Simmer ring 105 is a dynamic sealing, and the rotation Glais ring that this example adopts Te Ruibao company to produce plays the dynamic seal effect.Loam cake 102 is for having the cavity body structure of depression, and both opening relative engagement connect by sealing joint plate 107, form osed top shell 1, and seal groove is arranged on the sealing joint plate 107, and seal groove is built-in with O RunddichtringO 108, plays the static sealing effect; Because housing adopts welding method to make part with matching and is equipped with sealing member, thereby guarantees that gas does not have leakage, reaches the purpose of static pressurize.
As shown in Figure 2, be built-in with front swing arm driver train 51, ground drive mechanism 61, rear-swing arm driver train 52, road wheel follower 62, control system 7 and motor driver 702 at mobile platform 101.As shown in Figure 4, be built-in with storage tank 801 and positive pressure devices 8 at loam cake 102.
As shown in Figure 5, this example explosion-resistant enclosure about in the of 1 diverse location two quick joints 807 and 809 are installed at least, each quick joint all connects first exhausr port 806 and the 3rd exhausr port 810 that place in the shell 1.Positive pressure devices 8 comprises hand valve 802, electromagnetic valve 803, reducing valve 804, governor valve 805, two exhausr ports, oxygen sensor 812 and two pressure sensors 811, hand valve 802, electromagnetic valve 803, reducing valve 804, governor valve 805 and second series gas port 808 connect successively, hand valve 802 is arranged on the air extractor duct of storage tank 801, shell 1 is built-in with two pressure sensors 811, an oxygen sensor 812, and each sensor and electromagnetic valve 803 are connected with control system 7 respectively.
Two quick joints 807 and 809 are used for to the explosion-resistant enclosure 1 inner unreactable gas of filling, and unreactable gas can be nitrogen or argon gas.Concrete working process: before system works, fill unreactable gas by first quick joint 807, first exhausr port 806 to explosion-resistant enclosure 1 inside, by the 3rd exhausr port 810, second quick joint 809 to explosion-resistant enclosure 1 outside drain in-to-in air, detect the inner oxygen concentration of car body by oxygen concentration sensor 812 simultaneously, when explosion-resistant enclosure 1 inner oxygen concentration＜1%, close second quick joint 809.Two pressure sensors 811 detect the car body internal pressure values, when force value satisfies the setting pressure requirement, but send work order to control system 7, drive robot work, seal first quick joint 807.Simultaneously, two pressure sensors 811 carry out work, when detecting the interior pressure value less than setup pressure value, 803 conductings of control system 7 control electromagnetic valve, gas passes through hand valve 802, electromagnetic valve 803, the accurate reducing valve 804 of Non-over flow, governor valve 805, second series gas port 808 to the inner unreactable gas of filling of car body, to compensate owing to the unreactable gas in sealing and the motion is revealed by vehicle-mounted unreactable gas storage tank 801.To satisfy the requirement of " static quadrature reactance tamping plant " among the GB3836.5.
Be the present invention's walking-swing arm composite driving mechanism scheme drawing as Fig. 6, described swing arm system is four swing arm structures, place the driver train in the mobile platform 101 to comprise front swing arm driver train 51, ground drive mechanism 61 and rear-swing arm driver train 52, road wheel follower 62, the respective sides road wheel is symmetrical arranged, each swing arm driving mechanism is identical, front swing arm driver train 51 and walking driver train 61 are independent separately, the coaxial setting of its corresponding walking axle of each arm shaft.
Described swing arm driving mechanism comprises swing arm motor 506, swing arm miniature gears 505, swing arm big gear wheel 508, duplex swing arm gear 504, gear wheel shaft 513 and swing arm axle bed 507, swing arm motor 506 is installed on the swing arm axle bed 507, swing arm miniature gears 505 is installed on the output shaft of swing arm motor 506, swing arm miniature gears 505 is meshed with the big gear wheel of duplex swing arm gear 504 on being installed in gear wheel shaft 608, the miniature gears of duplex swing arm gear 504 is meshed with swing arm big gear wheel 508 on being installed in arm shaft 503, so just in finite space, realized bigger reduction ratio transmission, swing arm big gear wheel 508 is installed on the arm shaft 508 by first key 509, the swing arm moment of torsion is delivered on the arm shaft 503, arm shaft 503 stretches out outside the housing 104, by second key 511 swing arm 501 is installed on it, to drive the swing arm motion, potentiometer 512 is installed in the axle head in the arm shaft housing, and be connected with control system 7, with closed loop control swing arm absolute location, to regulate robot pose.
As Fig. 6, shown in Figure 7, described ground drive mechanism comprises walking bearing seat 603, movable motor 606, walking miniature gears 605, idle pulley 604, walking axle 602 and walking big gear wheel 609, walking bearing seat 603 is fixed on front swing arm axle bed 507 sides, near explosion-resistant enclosure 1 sidewall, movable motor 606 is installed on the walking bearing seat 603, walking miniature gears 605 is installed on its output shaft, walking miniature gears 605 is meshed by the walking big gear wheel 609 on being installed in the idle pulley 604 of walking on the bearing seat 603 and being installed in walking spools 602, walking big gear wheel 609 is installed on the walking axle 602 by triple bond 607, the moment of torsion of will walking is delivered on the walking axle 602, walking axle 602 stretches out outside the housing 104, walking driver gear 610 is installed on it, drive walking driver gear 610 motions, traveling crawler 601 is installed between walking driver gear 610 and the walking passive gear 612, move by traveling crawler 601 drive machines people, walking driver gear 610 is connected with corresponding swing arm by the 8th screw 611 respectively with walking passive gear 608, drives swing arm band 510 and rotates synchronously with traveling crawler 601.All adopt the key connection mode between this routine middle gear and the motor output shaft.Described walking passive gear mechanism 62 is the hollow shaft concentric with the rear-swing arm axle, and is identical with walking axle 602 structures, hollow shaft and the coaxial setting of arm shaft, and stretch out outside the housing 104, flower wheel 608 is installed on it.
As Fig. 8～shown in Figure 11, described optical fiber applicator 4 comprises fiber spool 402, outer end cap 410 and 420, pivot shaft, optical fiber slip ring 408 and optical fiber Change-over frame 412, outer end cap 410,420 place fiber spool 402 inner core two ends, optical fiber leading-in end outer end cap 410 is connected with fiber spool 402 by cross screw 411, the model of optical fiber slip ring 408 is RPT13/15-28SC, its fixed end is connected with first pivot shaft 409 on the optical fiber leading-in end outer end cap 410 by second fix screw 415, sliding end moved radial screw 406 and was connected with optical fiber Change-over frame 412, optical fiber Change-over frame 412 is round-meshed plectane, be fixed on optical fiber leading-in end outer end cap 410 ends in the fiber spool 402, on fiber spool 402, be embedded with optical fiber introducing device 401, fixing by first fix screw 404.The pivot shaft 409,421 at optical fiber applicator 4 two ends is installed on the loam cake 102 by bearing 416, and is fixing by bearing gland 417.As Figure 12, shown in Figure 13, described optical fiber introducing device 401 comprises optical fiber introducing piece 422, rubber cushion blocks 405, compress cushion block 418 and trimming screw 403, this optical fiber is introduced piece 422 for having the arc piece of notch 423, constitute by two curved surfaces, one of them curved surface is identical with fiber spool 402 curved surfaces, another is tangent with it, form guide groove 419 between two curved surfaces, described notch 423 is perpendicular with guide groove 419, on notch 423 end faces, have tapped bore 424, by trimming screw 403 and rubber cushion blocks 405, compress cushion block 418 and connect, compress cushion block 418 and place trimming screw 403 ends.When optical fiber is introduced, one of optical fiber enters fiber spool 402 inside from fiber spool 402 curved surfaces by the curved surface tangent with it, after optical fiber was introduced and to be finished, rotation trimming screw 403 made and compresses cushion block 418 and rubber cushion blocks 405 compresses, and compresses by rubber cushion blocks 405 and introduces the optical fiber of finishing.Owing to adopt the tangent mode of two curved surfaces, make optical fiber not have the bending phenomenon when introducing and in the work and take place.During the work of optical fiber applicator, the two end supports axle is owing to the fixing of bearing gland 417 do not rotate, drive fiber spool 402, two outer end caps, 412 runnings of optical fiber Change-over frame during robot ambulation, rotate the purpose that reaches the optical fiber dispensing relatively by bearing 407,413,414 Internal and external cycles.
Described mechanical underprop 3 is an outsourcing piece, its structure such as Figure 14, shown in Figure 15: the lifting motor shell 303 of The Cloud Terrace is installed on the malleation loam cake 102 by second screw 304, and O RunddichtringO 301 places the seal groove of lifting motor shell 303, plays the leak free effect.The Cloud Terrace lifting motor 302 places in the lifting motor shell 303 by the 3rd screw 305, and be connected with The Cloud Terrace lifting shaft 307 by worm and gear 306, The Cloud Terrace lifting shaft 307 1 ends and 310 welding of The Cloud Terrace arm, first pressure sensor 308 is installed on the The Cloud Terrace arm 310 by the 4th screw 309, with the testing environment force value; The Cloud Terrace arm 310 other ends and 311 welding of pitching gear wheel shaft, pitching motor 314 and horizontal motor 315 are installed in the motor casing 316 by the 6th screw 325, and be installed on the motor erecting frame 317 by the 5th screw 313 respectively, first bevel gear 312 is installed on pitching motor 314 output shafts, be meshed with pitching gear wheel shaft 311, the 4th bevel gear 327 is installed in the axle head of pitching potentiometer 323, pitching gear wheel shaft 311 transmissions the 4th bevel gear 327, drive pitching potentiometer 323, detect the pitch rotation angle.Second bevel gear 318 is installed on horizontal motor 315 output shafts, be meshed with horizontal teeth wheel shaft 319, the 3rd bevel gear 320 is installed in the axle head of horizontal potentiometer 322, horizontal teeth wheel shaft 319 transmissions the 3rd bevel gear 320, drive horizontal potentiometer 322, the detection level rotational angle.Motor casing 316 is connected with sensor groups 324 by the 7th screw 326.Sensor groups 324 built-in temperature sensors, pressure sensor, oxygen sensor and pernicious gas sensor (mainly being gas).Sensor groups 324 is electrically connected with control system.The The Cloud Terrace drive plate places in the control system 7, is connected with The Cloud Terrace lifting motor 302, horizontal motor 315, pitching motor 314 and control system 7 respectively.
As Figure 17～shown in Figure 19, be installed on the dust proof member 2 of crawler belt both sides, comprise two baffle plates that profile is identical, between be equipped with and adjust cover 203, connect by bolt 207, two baffle plates have two parallel end faces that match with crawler belt and two arcwall faces that match with road wheel, and two baffle plates include two parts: it is a rubber baffle 204 near ground-surface part, and two parts pass through bolted connection.When robot is walked, guarantee that baffle plate in distortion, fits with traveling crawler 601 on complicated ground, as shown in figure 18, on its Internal baffle 201 threaded block 206 is installed, outer baffle 202 is provided with and Internal baffle threaded block 206 corresponding bolts holes.During installation, Internal baffle 201 is fixed on the housing 104, and outer baffle 202 is connected with Internal baffle 201 by bolt 207, adjusts the spacing of two baffle plates by adjusting cover 203.
The control system 7 that this example adopts carries control power supply 701, place in the mobile platform 101, also can camera be set at mechanical underprop, control the platform communication by optical fiber and outside, described camera, motor driver 702, potentiometer 512, The Cloud Terrace drive plate, The Cloud Terrace sensor groups 324 are electrically connected with control system 7 respectively, to receive the signal of gathering, give distant function part computing machine by Optical Fiber Transmission, and be presented on the screen, by controlling the motion of platform control robot.Be actual conditions under the detecting shaft, when the data of each sensor acquisition surpassed setting value, system can in time report to the police to long-range operator, and stopped all actions automatically and cut off electrical source of power, only kept information transfer capability, in order to avoid set off an explosion.
Claims (10)
1. search and rescue robot that is used under the mine, comprise the running gear of explosion-resistant enclosure, two cover symmetries, independently swing arm system and control system separately, the transmission device of control system, running gear and swing arm system places in the explosion-resistant enclosure, control system is connected with driver train, it is characterized in that above described explosion-resistant enclosure, also being provided with mechanical underprop and optical fiber applicator, mechanical underprop and control system are electrically connected, and the optical fiber applicator is connected with control system by optical fiber.
2. the search and rescue robot that is used under the mine as claimed in claim 1, it is characterized in that: described swing arm system is four swing arm structures, place the transmission device in the explosion-resistant enclosure to comprise front swing arm and ground drive mechanism, rear-swing arm driver train and road wheel follower, the respective sides road wheel is symmetrical arranged, each swing arm driving mechanism is identical, front swing arm driver train and walking driver train are independent separately, the coaxial setting of each arm shaft walking axle cooresponding with it.
3. the search and rescue robot that is used under the mine as claimed in claim 2, it is characterized in that: described swing arm driving mechanism comprises the swing arm motor, the swing arm miniature gears, the swing arm big gear wheel, duplex swing arm gear, gear wheel shaft and swing arm axle bed, the swing arm motor is installed on the swing arm axle bed, the swing arm miniature gears is installed on the output shaft of swing arm motor, the swing arm miniature gears is meshed with the big gear wheel of duplex swing arm gear on being installed in gear wheel shaft, the miniature gears of duplex swing arm gear is meshed with swing arm big gear wheel on being installed in arm shaft, the swing arm big gear wheel is installed on the arm shaft, arm shaft stretches out outside the housing, swing arm is installed on it, and potentiometer is installed in axle head in the arm shaft housing.
4. the search and rescue robot that is used under the mine as claimed in claim 2, it is characterized in that: described ground drive mechanism comprises the walking bearing seat, movable motor, the walking miniature gears, idle pulley, walking axle and walking big gear wheel, movable motor is installed on the walking bearing seat, the walking miniature gears is installed on its output shaft, the walking miniature gears is meshed by the walking big gear wheel on being installed in the idle pulley of walking on the bearing seat and being installed in walking spool, the walking big gear wheel is installed on the walking axle, the walking shaft extension goes out outside the housing, road wheel is installed on it, crawler belt is installed between walking driver gear and the walking passive gear, and the corresponding swing arm with it of road wheel is connected.
5. the search and rescue robot that is used under the mine as claimed in claim 2 is characterized in that: described walking passive gear mechanism is the hollow shaft concentric with the rear-swing arm axle, hollow shaft and the coaxial setting of arm shaft, and stretch out outside the housing, flower wheel is installed on it.
6. the search and rescue robot that is used under the mine as claimed in claim 1, it is characterized in that: described explosion-resistant enclosure comprises mobile platform and loam cake, mobile platform is a cube cavity body structure, have axis hole at its corresponding walking shaft position, this axis hole place is provided with Simmer ring, loam cake is the cavity body structure that has depression, it is built-in with storage tank and positive pressure devices, mobile platform and last cover gab relative engagement are tightly connected, form the osed top shell, diverse location is installed two quick joints at least about containment shell, and each quick joint all connects an exhausr port that places in the containment shell.
7. the search and rescue robot that is used under the mine as claimed in claim 5, it is characterized in that: described positive pressure devices comprises hand valve, electromagnetic valve, reducing valve, governor valve, exhausr port, oxygen sensor and pressure sensor, hand valve, electromagnetic valve, reducing valve, governor valve and first exhausr port connect successively, hand valve is arranged on the air extractor duct of storage tank, explosion-resistant enclosure is built-in with pressure sensor and oxygen sensor, and each sensor and electromagnetic valve are connected with control system respectively.
8. the search and rescue robot that is used under the mine as claimed in claim 1, it is characterized in that: described optical fiber applicator comprises fiber spool, two outer end caps, pivot shaft, optical fiber slip ring and optical fiber Change-over frames, two outer end caps place fiber spool inner core two ends, and be connected with fiber spool, optical fiber slip ring fixed end is connected with pivot shaft on the optical fiber leading-in end outer end cap, sliding end is connected with the optical fiber Change-over frame, the optical fiber Change-over frame is fixed on the optical fiber leading-in end outer end cap end in the fiber spool, is embedded with the optical fiber introducing device on fiber spool.
9. the search and rescue robot that is used under the mine as claimed in claim 8, it is characterized in that: described optical fiber introducing device comprises optical fiber introducing piece, rubber cushion blocks, compresses cushion block and trimming screw, it is the arc piece that has notch that this optical fiber is introduced piece, constitute by two curved surfaces, one of them curved surface is identical with the fiber spool curved surface, another is tangent with it, form guide groove between two curved surfaces, described notch and guide groove are perpendicular, on the notch end face, have tapped bore, by trimming screw with compress cushion block, rubber cushion blocks is connected.
10. mining search and rescue robot under mine as claimed in claim 1, it is characterized in that: described dust proof member comprises two baffle plates that profile is identical, between be equipped with and adjust cover, pass through bolted connection, two baffle plates have two parallel end faces that match with crawler belt and two arcwall faces that match with road wheel, and two baffle plates include two parts: it is a rubber baffle near ground-surface part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202199927U CN201305046Y (en) | 2008-11-28 | 2008-11-28 | Search-and-rescue robot for underground mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202199927U CN201305046Y (en) | 2008-11-28 | 2008-11-28 | Search-and-rescue robot for underground mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201305046Y true CN201305046Y (en) | 2009-09-09 |
Family
ID=41097508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008202199927U Expired - Lifetime CN201305046Y (en) | 2008-11-28 | 2008-11-28 | Search-and-rescue robot for underground mine |
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| Country | Link |
|---|---|
| CN (1) | CN201305046Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780817A (en) * | 2010-04-14 | 2010-07-21 | 山东大学 | Robot platform for detecting underground danger area of coal mine |
| CN102030047B (en) * | 2009-09-25 | 2012-06-27 | 中国科学院沈阳自动化研究所 | Detection robot for underground rescue of pressurized type coal mine |
| CN101746423B (en) * | 2008-11-28 | 2012-09-26 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN102837750A (en) * | 2012-01-11 | 2012-12-26 | 中国矿业大学 | Hydraulic driving moving platform of coal mine rescuing robot |
| CN103956782A (en) * | 2014-03-31 | 2014-07-30 | 刘建 | Anti-explosion machine box for mining robot |
| CN106567738A (en) * | 2016-11-01 | 2017-04-19 | 河池学院 | Mining detection robot |
| CN107160359A (en) * | 2017-07-19 | 2017-09-15 | 中信重工开诚智能装备有限公司 | A kind of explosion-proof wheeled crusing robot |
| CN109094670A (en) * | 2018-10-08 | 2018-12-28 | 哈尔滨工业大学 | A kind of compound mobile platform of swing arm wheel shoe |
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2008
- 2008-11-28 CN CNU2008202199927U patent/CN201305046Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746423B (en) * | 2008-11-28 | 2012-09-26 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN102030047B (en) * | 2009-09-25 | 2012-06-27 | 中国科学院沈阳自动化研究所 | Detection robot for underground rescue of pressurized type coal mine |
| CN101780817A (en) * | 2010-04-14 | 2010-07-21 | 山东大学 | Robot platform for detecting underground danger area of coal mine |
| CN101780817B (en) * | 2010-04-14 | 2011-11-09 | 山东大学 | Robot platform for detecting underground danger area of coal mine |
| CN102837750A (en) * | 2012-01-11 | 2012-12-26 | 中国矿业大学 | Hydraulic driving moving platform of coal mine rescuing robot |
| CN103956782A (en) * | 2014-03-31 | 2014-07-30 | 刘建 | Anti-explosion machine box for mining robot |
| CN106567738A (en) * | 2016-11-01 | 2017-04-19 | 河池学院 | Mining detection robot |
| CN107160359A (en) * | 2017-07-19 | 2017-09-15 | 中信重工开诚智能装备有限公司 | A kind of explosion-proof wheeled crusing robot |
| CN109094670A (en) * | 2018-10-08 | 2018-12-28 | 哈尔滨工业大学 | A kind of compound mobile platform of swing arm wheel shoe |
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| AV01 | Patent right actively abandoned |
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| RGAV | Abandon patent right to avoid regrant |