CN201503427U - Lifting type detecting mechanism for coal mine underground robotic explorer - Google Patents
Lifting type detecting mechanism for coal mine underground robotic explorer Download PDFInfo
- Publication number
- CN201503427U CN201503427U CN200920218551XU CN200920218551U CN201503427U CN 201503427 U CN201503427 U CN 201503427U CN 200920218551X U CN200920218551X U CN 200920218551XU CN 200920218551 U CN200920218551 U CN 200920218551U CN 201503427 U CN201503427 U CN 201503427U
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- coal mine
- mine underground
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- screw rod
- detecting mechanism
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Abstract
The utility model discloses a lifting type detecting mechanism for a coal mine underground robotic explorer, which belongs to an auxiliary detecting mechanism for the coal mine underground robotic explorer. The lifting type detecting mechanism for the coal mine underground robotic explorer is formed by four-bar mechanisms, guide rails, sliding blocks, sliding grooves, a flame-proof motor, a screw rod, a nut, a cross shaft and a sensor platform; two guide rails are fixedly installed on two sides of an upper cover of a machine casing of a robot flame-proof cavity; the sliding grooves are arranged on the guide rails; the sliding blocks are installed inside the sliding grooves; two four-bar mechanisms are symmetrically arranged on two sides; the upper end of each four-bar mechanism is connected with the sensor platform; the lower end of each four-bar mechanism is connected with the guide rails and the sliding blocks; the screw rod is connected with the flame-proof motor; and the nut screwed on the screw rod is connected with the two sliding blocks via two ends of the cross shaft. The lifting type detecting mechanism for the coal mine underground robotic explorer is flexible and convenient in use, and particularly adaptable to detecting hazardous gas on different height lays in special coal mine underground environment.
Description
Technical field
The utility model relates to sniffing robot lift detection agency under a kind of coal mine, belongs to the auxiliary sniffer of sniffing robot under the coal mine.
Background technology
After coal mining accident takes place, exist in the mine, have a large amount of flammable explosive and toxic gases as blind lane, goaf and other not smooth places that ventilates.The scene of accidents such as breaking out of fire simultaneously or blast has produced many new potential safety hazards again, has increased the difficulty of rescue work and the possibility that second accident takes place.According to statistics, in China's colliery disaster relief process in every year, the case that secondary disaster takes place accounts for about 20% of whole rescue work.
Environment is very complicated below the colliery that has an accident, and has a large amount of flammable explosive and toxic gases.So just require the coal mine down-hole searching robot should have the function of surveying hazardous environment under the coal mine, so need be at mobile platform installation environment gas sensor device.Yet because the limitation in height of robot, the gas height that robot can collect is 300mm, with the upright walking height of the mankind a lot of gaps is arranged, also definite subsurface environment that just can not be wider safety whether.
Summary of the invention
The purpose of this utility model be to overcome the sensing device that only depends on the robot moving platform survey hazardous environment under the coal mine and be subjected to surveying height limit this drawback, sniffing robot lift detection agency under a kind of coal mine is provided, it can highly bring up to 1200mm surveying, enlarge investigative range greatly, improved the security of search-and-rescue work.
The purpose of this utility model is achieved in that its two guide rails are fixedly mounted on robot explosion-proof chamber casing upper cover both sides, guide rail is provided with chute, slide block is housed in the chute, two four-bar mechanisms divide the symmetria bilateralis setting, and interconnect by the intermediate supports bar, four struts and the sensor platform of two four-bar mechanisms upper end are hinged, four struts of lower end, two in the place ahead is hinged respectively at two guide rail front ends, two at rear is hinged with two slide blocks respectively, and screw rod is connected with fire proof motor, cover loading nut on it, nut is fixedlyed connected with joint spider, fixedlys connected with two slide blocks respectively in the joint spider two ends.
Advantage of the present utility model is that it has improved greatly and surveys height, has enlarged investigative range, has realized that sensor measures the gas of 0-1200mm different aspects, and then has made coal mine down-hole searching work more safe and reliable.The utility model is flexible and convenient to use, can rise during use, is recoverable to when not using, and does not influence the trafficability characteristic of sniffing robot under the coal mine.
Description of drawings
Accompanying drawing is a structural representation of the present utility model.
Embodiment
Below in conjunction with drawings and Examples in detail the utility model is described in detail.
The utility model is made up of four-bar mechanism 2, guide rail 10, slide block 7, chute 12, fire proof motor 4, screw rod 9, nut 8, joint spider 6, sensor platform 1.Its two guide rail 10 is fixedly mounted on robot explosion-proof chamber casing upper cover 5 both sides, guide rail 10 is provided with chute 12, slide block 7 is housed in the chute 12, the symmetria bilateralis setting in 2 fens of two four-bar mechanisms, and interconnect by intermediate supports bar 3, four struts 11 of two four-bar mechanism 2 upper ends are hinged with sensor platform 1, the CD sensor is installed on the sensor platform 1, temperature sensor, lambda sensor, CH4 sensor etc., four struts 11 of two four-bar mechanism 2 lower ends, two in the place ahead is hinged respectively at two guide rails, 10 front ends, two at rear is hinged with two slide blocks 7 respectively, screw rod 9 is connected with fire proof motor 4, cover loading nut 8 on it, and nut 8 is fixedlyed connected with joint spider 6, fixedly connected with two slide blocks 7 respectively in joint spider 6 two ends, fire proof motor 4 is installed on the explosion-proof chamber casing upper cover 5.
During the utility model work, start fire proof motor 4, screw rod 9 rotations, nut 8 moves forward and backward together with joint spider 6, slide block 7, and two struts 11 that drive the rear move forward and backward, and make this mechanism rise or regain.
The utility model is particularly useful for the detection to the hazardous gas on the differing heights aspect in the particular surroundings under the coal mine.
Claims (1)
1. sniffing robot lift detection agency under the coal mine, it is characterized in that: it is by four-bar mechanism, guide rail, slide block, chute, fire proof motor, screw rod, nut, joint spider, sensor platform is formed, two guide rails are fixedly mounted on robot explosion-proof chamber casing upper cover both sides, guide rail is provided with chute, slide block is housed in the chute, two four-bar mechanisms divide the symmetria bilateralis setting, and interconnect by the intermediate supports bar, four struts and the sensor platform of two four-bar mechanisms upper end are hinged, four struts of its lower end, two in the place ahead is hinged respectively at two guide rail front ends, and two at rear is hinged with two slide blocks respectively, and screw rod is connected with fire proof motor, cover loading nut on it, nut is fixedlyed connected with joint spider, fixedlys connected with two slide blocks respectively in the joint spider two ends, and fire proof motor is installed on the robot explosion-proof chamber casing upper cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920218551XU CN201503427U (en) | 2009-10-12 | 2009-10-12 | Lifting type detecting mechanism for coal mine underground robotic explorer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920218551XU CN201503427U (en) | 2009-10-12 | 2009-10-12 | Lifting type detecting mechanism for coal mine underground robotic explorer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201503427U true CN201503427U (en) | 2010-06-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920218551XU Expired - Lifetime CN201503427U (en) | 2009-10-12 | 2009-10-12 | Lifting type detecting mechanism for coal mine underground robotic explorer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201503427U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103543042A (en) * | 2013-11-06 | 2014-01-29 | 中煤科工集团重庆研究院有限公司 | Lifting-type gas sampling device for mine intrinsic safety exploration robot |
| CN104090074A (en) * | 2014-07-08 | 2014-10-08 | 河南汉威电子股份有限公司 | Calibration gas circuit board and gas sensor module calibration device |
| CN104165973A (en) * | 2014-08-27 | 2014-11-26 | 国网河南省电力公司南阳供电公司 | Online detection device for sulfur hexafluoride gas of high-altitude circuit breaker and detection method |
| CN109209503A (en) * | 2018-11-02 | 2019-01-15 | 安徽理工大学 | A kind of monitoring device of underground coal mine automatic driving car |
| CN109606501A (en) * | 2018-12-29 | 2019-04-12 | 南华大学 | Quadruped robot based on four-bar mechanism |
| CN110130474A (en) * | 2019-05-09 | 2019-08-16 | 贵州理工学院 | A kind of mine sump cleaning intelligent machine system |
| CN111879894A (en) * | 2020-07-02 | 2020-11-03 | 国网天津市电力公司 | Detection protection system for limited space and use method thereof |
-
2009
- 2009-10-12 CN CN200920218551XU patent/CN201503427U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103543042A (en) * | 2013-11-06 | 2014-01-29 | 中煤科工集团重庆研究院有限公司 | Lifting-type gas sampling device for mine intrinsic safety exploration robot |
| CN104090074A (en) * | 2014-07-08 | 2014-10-08 | 河南汉威电子股份有限公司 | Calibration gas circuit board and gas sensor module calibration device |
| CN104165973A (en) * | 2014-08-27 | 2014-11-26 | 国网河南省电力公司南阳供电公司 | Online detection device for sulfur hexafluoride gas of high-altitude circuit breaker and detection method |
| CN104165973B (en) * | 2014-08-27 | 2016-02-24 | 国网河南方城县供电公司 | A kind of high-altitude isolating switch sulfur hexafluoride gas on-line measuring device and detection method |
| CN109209503A (en) * | 2018-11-02 | 2019-01-15 | 安徽理工大学 | A kind of monitoring device of underground coal mine automatic driving car |
| CN109606501A (en) * | 2018-12-29 | 2019-04-12 | 南华大学 | Quadruped robot based on four-bar mechanism |
| CN109606501B (en) * | 2018-12-29 | 2019-11-08 | 南华大学 | Quadruped robot based on four-bar mechanism |
| CN110130474A (en) * | 2019-05-09 | 2019-08-16 | 贵州理工学院 | A kind of mine sump cleaning intelligent machine system |
| CN111879894A (en) * | 2020-07-02 | 2020-11-03 | 国网天津市电力公司 | Detection protection system for limited space and use method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Free format text: FORMER OWNER: ROBOT RESEARCH INSTITUTE HARBIN INSTITUTE OF TECHNOLOGY Effective date: 20130823 Owner name: TANGSHAN KAICHENG ELECTRIC CONTROL EQUIPMENT GROUP Free format text: FORMER OWNER: TANGSHAN KAICHENG ROBOT MANUFACTURE CO., LTD. Effective date: 20130823 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20130823 Address after: 063020 Torch Road, Tangshan City high tech Zone, Hebei, No. 183 Patentee after: Tangshan Kaicheng Electronic Control Equipment Group Co., Ltd. Address before: 063020 Tangshan City high tech Development Zone, Hebei Torch Road, No. 183 Patentee before: Tangshan Kaicheng Robot Manufacture Co., Ltd. Patentee before: Robot Research Institute Harbin Institute of Technology |
|
| CX01 | Expiry of patent term |
Granted publication date: 20100609 |
|
| CX01 | Expiry of patent term |