CN201529989U - Downhole positive-pressure type rescuing and detecting robot used for coal mine - Google Patents
Downhole positive-pressure type rescuing and detecting robot used for coal mine Download PDFInfo
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- CN201529989U CN201529989U CN2009202036021U CN200920203602U CN201529989U CN 201529989 U CN201529989 U CN 201529989U CN 2009202036021 U CN2009202036021 U CN 2009202036021U CN 200920203602 U CN200920203602 U CN 200920203602U CN 201529989 U CN201529989 U CN 201529989U
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- explosion
- coal mine
- positive pressure
- pressure type
- spur gear
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Abstract
A downhole positive-pressure type rescuing and detecting robot used for coal mine belongs to robotics field. The robot includes an explosion-proof box body, a running mechanism arranged on two sides of the explosion-proof box body, two independent driving mechanism and control device arranged in the explosion-proof box body, a lifting mechanism having various acquisition sensors, and an optical fiber winding mechanism, in a modular structure, wherein two driving mechanisms are mounted symmetrically, each driving mechanism includes a first drive motor, a second drive motor, a battery connected with a motor, first and second spur gears, a driven spur gear, a first planet speed reducer and a connection shaft, wherein output shafts of the first and second drive motors are sleeved with the first and second spur gears respectively, an input shaft of the first planet speed reducer is sleeved with the driven spur gear meshed with the first and second spur gear simultaneously, an output shaft of the first planet speed reducer is connected with the connection shaft projecting from the box body, and the end of the connection shaft is connected with a drive wheel. the utility model employs two motors to drive one output shaft simultaneously, such that robot power is improved.
Description
Technical field
The utility model belongs to advanced to be made and technical field of automation, a kind of specifically robot that is applicable to that the rescue of the positive pressure type under the coal mine is surveyed.
Technical background
At present, China has become first big country of world's coal production and consumption.Simultaneously, the maximum country of mine safety accidents takes place in China, and mine safety accidents has caused serious property loss and abominable social influence.Owing to mine disaster reason and mine disaster field condition are not clear, rescue personnel's wrecked situation in speedily carrying out rescue work happens occasionally.Survey mine disaster position and mine disaster field condition if before rescue, adopt alternative people's automation equipment to go deep into mine, just can under the prerequisite of guaranteeing rescue personnel's safety, implement the high efficiency rescue, reduce personnel and property loss to greatest extent.Therefore developing the coalmine rescue sniffing robot has very big necessity.
The patent No. is 200820219992.7 utility model patent, a kind of search and rescue robot that is used under the mine is disclosed, it comprises explosion-resistant enclosure, the running gear of two cover symmetries, independently swing arm system and control system separately, control system, the transmission mechanism of running gear and swing arm system places in the explosion-resistant enclosure, control system is connected with driving mechanism, above described explosion-resistant enclosure, also be provided with mechanical underprop and optical fiber applicator, the optical fiber of optical fiber applicator is connected with control system, mechanical underprop built-in sensors group, sensor groups and The Cloud Terrace drive plate all are electrically connected with control system.It adopts four swing arm independent driving mechanisms, can accurately control the attitude of robot, improves adaptive capacity and the obstacle climbing ability of robot to complex-terrain.But its structure relative complex, movable part is more.The first, the more normal laying to optical fiber of movable part is unfavorable; The second, movable part is more to be unfavorable for the airtight of shell.In addition, adopt the rotation Glais ring can consume a large amount of power, the mechanical efficiency that influence is whole.
The utility model content
Technical problem at above-mentioned existence, the robot that the utility model provides a kind of positive pressure type rescue that is used under the coal mine to survey, it can be in the work of the hazardous area of explosive gas atmosphere, has the performance of explosion-proof, dustproof, waterproof and keep away abilities such as barrier, obstacle detouring, leap irrigation canals and ditches, climbing.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises explosion-proof casing, place the monosymmetric walking mechanism of explosion-proof casing, place independent driving mechanisms separately and industrial computer in the explosion-proof casing, elevating mechanism and optical fiber winding mechanism, the composition module structure, described elevating mechanism is provided with various acquisition sensors, industrial computer respectively with driving mechanism, each acquisition sensor links to each other, optical fiber one end is connected in manipulation end, described two driving mechanisms symmetry is installed, include first drive motors, second drive motors, the battery that is connected with motor, first spur gear, second spur gear, driven spur gear, first planetary reducer and connecting axle, first, be arranged with first respectively on the output shaft of second drive motors, second spur gear, be arranged with on the power shaft of first planetary reducer simultaneously with first, the driven spur gear of the second spur gear engaged transmission, the output shaft of first planetary reducer links to each other with the connecting axle that stretches out casing, is connected with driving wheel at the connection axle head.
Described elevating mechanism comprises lifting drive motors, second planetary reducer, bevel gear system, the lifting output shaft that places in the explosion-proof casing and places the external elevating lever of explosion-proof tank, the power shaft of second planetary reducer links to each other with the lifting drive motors, its output shaft links to each other with the lifting output shaft by the bevel gear power train, and the lifting output shaft is connected with elevating lever by the bearing that is installed on the box body wall.Its elevating lever is a times lift-type elevating lever.Each sensor on elevating mechanism is carbon monoxide, methane and oxygen sensor, is installed on the elevating lever top, also is provided with camera on it.
Described explosion-proof casing is a malleation compensation can type; it has positive pressure devices; described positive pressure devices comprises the gas cylinder that places casing outer, the main valve and the choke valve that is connected with main valve of its port of export; be installed in air bleeding valve, differential pressure pickup and two intake valves on the casing; two intake valves connect main valve and choke valve respectively; differential pressure pickup is connected with industrial computer, is filled with low-temperature protection gas in the gas cylinder.Low-temperature protection gas in its gas cylinder is nitrogen, carbon dioxide or neon.Gas cylinder is the full winding gas cylinder of aluminium alloy inner bag fiber.At the external thermostable heat-isolating coating that is coated with of described explosion-proof tank.Also be provided with temperature sensor in explosion-proof casing, the battery in it is provided with explosion-proof shell outward.
Described optical fiber winding mechanism is a passive type optical fiber winding disc.
The utlity model has following advantage:
1. in light weight.The utility model adopts the explosion-proof form of malleation compensation can type; explosion-proof design is carried out in requirement according to GB3836.5-2004; setting by positive pressure devices; leakage to protective gas in the pressurized enclosure compensates; make and keep malleation in the housing; when appearance in the casing was under-voltage, the utility model can cut off the power supply automatically.Pressurized enclosure type equipment of the present utility model is compared than flame-proof type equipment, self simple in structure, and weight greatly alleviates; And has performance dustproof, that paddle.
2. power is big.Because can only select Ni-MH battery for use under the coal mine, the ceiling voltage of Ni-MH battery is 48V.Be subjected to the restriction of voltage, can't adopt the high-tension high-power motor.Each independent driving mechanisms of the utility model adopts bi-motor to drive an output shaft simultaneously respectively.Two walking mechanisms about independent driving mechanisms drives have respectively improved the power of robot.Realize moving forward and backward when two driving mechanisms are fast together, realize during differential turning.
3. owing to can being subjected to serious echo in underworkings, wireless telecommunications disturb, and the rapid decay of signal, the utility model adopts Optical Fiber Transmission to substitute wireless telecommunications.The utility model carries optical fiber and optical fiber winding mechanism, passive laying optical cable in traveling process.
4. casing safety.Positive pressure devices can doublely be done heat sink in the reload temperature sensor in casing, casing.After temperature in the casing is greater than setting threshold,, discharges high temperature nitrogen and realize cooling by discharging low temperature nitrogen.Interior battery is done flame proof design according to the requirement of GB3836.2-2000, and flame proof shell in addition outside battery is to guarantee safety.At box body appearance spraying thermostable heat-isolating coating, anti-outside high temperature.
5. in time gather and transmission information.Sensors such as carbon monoxide, methane, oxygen are installed on the elevating lever of elevating mechanism, can gather the pernicious gas information of differing heights, transfer to industrial computer, by industrial computer control whole system operation.
6. the utility model adopts modular design concept, can on-the-spot assemble, and is convenient and swift.Have abilities such as the barrier of keeping away, obstacle detouring, leap irrigation canals and ditches, climbing, can go deep into the hazardous area work of explosive gas atmosphere, have performance explosion-proof, dustproof, waterproof.
Description of drawings
Fig. 1 is the assembly structure schematic diagram.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is an I portion enlarged diagram among Fig. 2.
Fig. 4 is an II portion enlarged diagram among Fig. 2.
Fig. 5 is positive pressure devices structural representation control system figure of the present utility model.
Fig. 6 is the control flow chart of the utility model industrial computer.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
Embodiment 1: as shown in Figure 1 and Figure 2, the utility model comprise the pressurized enclosure type explosion-proof casing 2, place the monosymmetric walking mechanism 1 of explosion-proof casing, place in the explosion-proof casing 2 independent driving mechanisms and industrial computer, elevating mechanism 5 and optical fiber winding mechanism 4 separately, the composition module structure, walking mechanism 1 is connected with driving mechanism, optical fiber winding mechanism 4 places box body 2 tops, is independent of outside the box body 2; Described elevating mechanism 5 is provided with various acquisition sensors, and industrial computer links to each other with driving mechanism, each acquisition sensor respectively, and optical fiber one end is connected in manipulation end, and described two driving mechanisms symmetry is installed, respectively the driving wheel 10 of drive case 2 both sides; Each driving mechanism includes first drive motors 12, second drive motors 14, the battery that is connected with motor, first spur gear 11, second spur gear 13, driven spur gear 8, first planetary reducer 6 and connecting axle 9, be set with first spur gear 11 on the output shaft of first drive motors 12, be set with second spur gear 13 on the output shaft of second drive motors 14, all connect by key; Be arranged with simultaneously driven spur gear 8 on the first planetary reducer power shaft 7 with first spur gear 11 and second spur gear, 13 engaged transmission, connect by spline, direct and the connecting axle 9 keys company of the output shaft of first planetary reducer 6, connecting axle 9 is passed by explosion-proof casing 2, links to each other with driving wheel 10 by the bearing that is installed in explosion-proof casing 2 sides.The model of industrial computer is for grinding China 20521.
Walking mechanism 1 is the left and right sides, includes: a driving wheel 10 links to each other with the connecting axle 9 that is installed in the explosion-proof tank body side surface respectively; Two BOGEY WHEELs 16, corresponding with the wheel shaft that is installed in explosion-proof tank floor respectively linking to each other; Driving wheel 10 is connected and installed by traveling crawler 15 with BOGEY WHEEL 16.
This routine elevating mechanism 5 comprises lifting drive motors 21, second planetary reducer 20, bevel gear system, lifting output shaft 17 and elevating lever 18, lifting drive motors 21, second planetary reducer 20 and bevel gear system are installed in explosion-proof casing 2 inside, the power shaft of second planetary reducer 20 links to each other with lifting drive motors 21, be arranged with first bevel gear 19 on the output shaft of second planetary reducer 21, connect by key, be arranged with on the lifting output shaft 17 with second planetary reducer 21 on second bevel gear 19 ' of first bevel gear, 19 engaged transmission, the output shaft of second bevel gear 19 ' and lifting output shaft 17 keys connect, lifting output shaft 17 is passed by explosion-proof casing 2, link to each other the TTG II type times lift-type elevating lever that elevating lever 18 becomes wise heroes' special-purpose machinery factory to produce for Shenyang with elevating lever 18 by the bearing that is installed in explosion-proof casing 2 rear walls.。Each sensor on the elevating mechanism 5 is carbon monoxide, methane and oxygen sensor, is installed on elevating lever 18 tops, also is provided with camera on it.
The explosion-proof casing 2 of this example is malleation compensation can type; it has positive pressure devices; as shown in Figure 5; described positive pressure devices comprises the gas cylinder 22 that places outside the explosion-proof casing 2, the main valve 23 and the choke valve 24 that is connected with main valve of its port of export; be installed in air bleeding valve 28, differential pressure pickup 26 and two intake valves 25,27 on the explosion-proof casing 2; two intake valves 25,27 connect main valve 23 and choke valve 24 respectively; differential pressure pickup 26 is connected with industrial computer; be filled with low-temperature protection gas in the gas cylinder 22, be nitrogen, carbon dioxide or neon.Wherein gas cylinder 22 is the full winding gas cylinder of aluminium alloy inner bag fiber of Shenyang Gas Cylinder Safety Technology Co., Ltd.'s production.The explosion-proof casing 2 outer thermostable heat-isolating coatings that are coated with.Reason high temperature can't operate as normal with protection box house components and parts.
Before the use; the main valve 23 of manually opened gas cylinder 22 outlets; close choke valve 24; open the intake valve 27 that links to each other with main valve 23 simultaneously; close the intake valve 25 that links to each other with choke valve 24; unlatching is to the air bleeding valve 28 of explosion-proof casing 2 outside exhausts, by positive-pressure explosion-proof casing 2, explosive mixture concentration is reduced to below the lower limit protective gas of capacity.After ventilation finishes, close air bleeding valve 28 successively, open choke valve 24, close the intake valve 27 that links to each other with main valve.
By differential pressure pickup 26, malleation explosion-proof tank body 2 inside and outside differential pressures are monitored in real time in the use.By the switching of the intake valve 25 that links to each other with choke valve 24 of control, the leakage of the 2 interior protective gas of positive-pressure explosion-proof casing in the use is compensated, make in the explosion-proof casing 2 and remain malleation.
When temperature is greater than setting threshold in the explosion-proof casing 2, open the intake valve 27, the unlatching air bleeding valve 28 that link to each other with main valve 23 successively, by discharging low-temperature protection gas, realize exhaust cooling.
This routine optical fiber winding mechanism 4 is a passive type optical fiber winding disc, only discharges, and does not reclaim.Battery 29 is a Ni-MH battery, and it is outer to be provided with the flame proof shell, in case battery itself is blasted, also unlikelyly brings subsequent explosion.
As shown in Figure 6, the operation principle of the present utility model and the course of work are:
Kinetic control system of the present utility model is made up of Ni-MH power cell 26 and industrial computer control section (control system of the present utility model is a prior art), can carry out motion control to coal mine rescue and detection robot, and twine the optical fiber on the wheel disc 4 and control platform realization transfer of data by being wrapped in optical fiber.As shown in Figure 6, during coal mine rescue and detection robot work, control system starts, System self-test, if self check notes abnormalities, then motor outage quits work; If self check is normal, robot is static in the original place, starts the fiber optic of optical fiber, receives telecommand, if halt instruction, then motor outage, end-of-job; If not halt instruction is made robot according to telecommand to advance, retreated, action such as turning, and by information such as Optical Fiber Transmission video, car body states.The concrete course of work of coal mine rescue and detection robot is: first drive motors 12, second drive motors 14 are worked after receiving the telecommand of industrial computer, drive respectively that sheathed and key is connected in first spur gear 11 on its output shaft, second spur gear 13 rotates in the same way with speed, first spur gear 11 and second spur gear 13 simultaneously respectively with driven spur gear 8 engaged transmission, drive reductor power shaft 7 rotations that connect with driven spur gear 8 keys, thereby drive 7 rotations of reductor power shaft, afterwards drive output shaft 9 rotations by planetary reducer, drive crawler belt 15 operations.When the left and right sides crawler belt speed of service was identical, coal mine rescue and detection robot moved forward or backward, the left and right sides crawler belt speed of service not simultaneously, coal mine rescue and detection robot is turned.The tire of four BOGEY WHEELs 10 is commercial product, for purchasing the mining tyres of producing in the Yellow River, Xianyang rubber for tire Co., Ltd, specification 5.00-8; Article two, crawler belt and two driving wheels are purchased in Hangzhou power and are tieed up mechanical Co., Ltd, are the anti-electrostatic fire retardant material and make.
Claims (10)
1. positive pressure type rescue and detection robot that is used under the coal mine, comprise explosion-proof casing, place the monosymmetric walking mechanism of explosion-proof casing, place independent driving mechanisms separately and industrial computer in the explosion-proof casing, elevating mechanism and optical fiber winding mechanism, the composition module structure, described elevating mechanism is provided with acquisition sensor, industrial computer respectively with driving mechanism, acquisition sensor links to each other, optical fiber one end is connected in manipulation end, it is characterized in that: described two driving mechanisms symmetry is installed, include first drive motors, second drive motors, the battery that is connected with motor, first spur gear, second spur gear, driven spur gear, first planetary reducer and connecting axle, first, be arranged with first respectively on the output shaft of second drive motors, second spur gear, be arranged with on the power shaft of first planetary reducer simultaneously with first, the driven spur gear of the second spur gear engaged transmission, the output shaft of first planetary reducer links to each other with the connecting axle that stretches out casing, is connected with driving wheel at the connection axle head.
2. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 1, it is characterized in that: described elevating mechanism comprises lifting drive motors, second planetary reducer, bevel gear system, the lifting output shaft that places in the explosion-proof casing and places the external elevating lever of explosion-proof tank, the power shaft of second planetary reducer links to each other with the lifting drive motors, its output shaft links to each other with the lifting output shaft by the bevel gear power train, and the lifting output shaft is connected with elevating lever by the bearing that is installed on the box body wall.
3. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 2, it is characterized in that: described elevating lever is a times lift-type elevating lever.
4. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 1, it is characterized in that: the acquisition sensor on the described elevating mechanism is carbon monoxide, methane and oxygen sensor, is installed on the elevating lever top, also is provided with camera on it.
5. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 1; it is characterized in that: described explosion-proof casing is a malleation compensation can type; it has positive pressure devices; described positive pressure devices comprises the gas cylinder that places casing outer, the main valve and the choke valve that is connected with main valve of its port of export; be installed in air bleeding valve, differential pressure pickup and two intake valves on the casing; two intake valves connect main valve and choke valve respectively; differential pressure pickup is connected with industrial computer, is filled with low-temperature protection gas in the gas cylinder.
6. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 5 is characterized in that: the low-temperature protection gas in the described gas cylinder is nitrogen, carbon dioxide or neon.
7. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 5 is characterized in that: described gas cylinder is the full winding gas cylinder of aluminium alloy inner bag fiber.
8. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 1 is characterized in that: the external thermostable heat-isolating coating that is coated with of described explosion-proof tank.
9. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 1 is characterized in that: also be provided with temperature sensor in the described explosion-proof casing, the battery in it is provided with the flame proof shell outward.
10. the positive pressure type rescue and detection robot that is used under the coal mine as claimed in claim 1 is characterized in that: described optical fiber winding mechanism is a passive type optical fiber winding disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202036021U CN201529989U (en) | 2009-09-25 | 2009-09-25 | Downhole positive-pressure type rescuing and detecting robot used for coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202036021U CN201529989U (en) | 2009-09-25 | 2009-09-25 | Downhole positive-pressure type rescuing and detecting robot used for coal mine |
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| Publication Number | Publication Date |
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| CN201529989U true CN201529989U (en) | 2010-07-21 |
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| CN2009202036021U Expired - Fee Related CN201529989U (en) | 2009-09-25 | 2009-09-25 | Downhole positive-pressure type rescuing and detecting robot used for coal mine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102636523A (en) * | 2012-04-18 | 2012-08-15 | 山东大学 | Preparation method of mine tunnel collapse alarm detection wire |
| CN103736228A (en) * | 2014-01-17 | 2014-04-23 | 哈尔滨工业大学 | Small-size anti-explosion device of mineral seeking and rescuing robot |
| CN103963855A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Mining rescue robot with differential connecting rod tracked chassis |
| CN112078708A (en) * | 2016-03-26 | 2020-12-15 | 刘金松 | AI monocycle |
-
2009
- 2009-09-25 CN CN2009202036021U patent/CN201529989U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102636523A (en) * | 2012-04-18 | 2012-08-15 | 山东大学 | Preparation method of mine tunnel collapse alarm detection wire |
| CN103736228A (en) * | 2014-01-17 | 2014-04-23 | 哈尔滨工业大学 | Small-size anti-explosion device of mineral seeking and rescuing robot |
| CN103963855A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Mining rescue robot with differential connecting rod tracked chassis |
| CN112078708A (en) * | 2016-03-26 | 2020-12-15 | 刘金松 | AI monocycle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100721 Termination date: 20140925 |
|
| EXPY | Termination of patent right or utility model |