CN207510541U - A kind of robot for the detection of coal mine tunnel safety - Google Patents
A kind of robot for the detection of coal mine tunnel safety Download PDFInfo
- Publication number
- CN207510541U CN207510541U CN201721022839.0U CN201721022839U CN207510541U CN 207510541 U CN207510541 U CN 207510541U CN 201721022839 U CN201721022839 U CN 201721022839U CN 207510541 U CN207510541 U CN 207510541U
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- China
- Prior art keywords
- detection
- safety
- coal mine
- mine tunnel
- life
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of robots for the detection of coal mine tunnel safety, safety detection device and safety device for life-saving including crawler type walking mechanism and for coal mine tunnel, be provided on the crawler type walking mechanism for install safety detection device and safety device for life-saving from steady holder；The safety detection device includes the sensor module for being sealingly disposed in rear in crawler type walking mechanism, and the sensor module includes infrared thermography and gas detector；The safety device for life-saving includes the life-detection instrument of sealed set and is operated in the wireless tranceiver communication system of ultrashort wave frequency band.The working efficiency that robot provided by the utility model for the detection of coal mine tunnel safety improves gas in coal mine tunnel, the security risk of electric wiring is investigated, when solving coal mine tunnel generation cave-in accident, it is excessive because searching and rescuing range to being buried survivor's search-and-rescue work, it searches and rescues team member and searches and rescues that direction is indefinite to cause to search and rescue the problem of being wasted time.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of machine for the detection of coal mine tunnel safety
People.
Background technology
In order to improve the safety in coal mine tunnel, manual inspection is replaced to increasingly become a kind of trend with robot.In tunnel
Safe and reliable performance, longer run time are needed in road and is effectively avoided or across obstacle, therefore crusing robot
The key technologies such as mechanical structure, navigation and location technology, communication, wireline inspection and fault location must be resolved.
The subterranean tunnel crusing robot occurred at present can not reach the performance requirement of actual use.As 2012 by Hangzhoupro
The tunnel inspection intelligent robot that power office of state city and Zhejiang University research and develop jointly, the robot use wheel type mobile structure, more
Barrier ability is poor, can only work in the relatively gentle tunnel in large-scale ground.If stream time is shorter, Zhi Nengwei
It holds 1 hour or so；The permission maximum distance wirelessly communicated between distance host and robot（Within ten meters）It is shorter, work as robot
When non-autonomous operational mode is in tunnel, working space is greatly limited；Robot major part electronic device is exposed to
Outside, water resistance is poor, when in the tunnel that it is operated in dripping phenomenon generation, being generated to the normal operation of robot great
It influences or even Tunnel testing work can not be completed.
Utility model content
The purpose of the robot for the detection of coal mine tunnel safety of the utility model is using nowadays available advanced
Walking mechanism, the communication function of technological improvement crusing robot, hoisting machine people resist the ability of adverse circumstances, innovate energy supply side
Formula, to solve nowadays obvious technical problem existing for coal mine tunnel crusing robot.
New technical solution is realized in used by above-mentioned technical problem to be solved in the utility model：
A kind of robot for the detection of coal mine tunnel safety, including crawler type walking mechanism and for coal mine tunnel
Safety detection device and safety device for life-saving,
Be provided on the crawler type walking mechanism for install safety detection device and safety device for life-saving from steady
Holder；
The safety detection device includes the sensor module for being sealingly disposed in rear in the crawler type walking mechanism,
The sensor module includes infrared thermography and gas detector；
The safety device for life-saving includes the life-detection instrument of sealed set and is operated in the radio of ultrashort wave frequency band
Interphone communication system.
Further, the crawler type walking mechanism includes vehicle body, the crawler belt drive for being symmetricly set on the vehicle body both sides
Dynamic system, each caterpillar drive system includes crawler belt, sprocket wheel, transmission shaft, motor, retarder, master gear and from gear, described
Motor is connect by retarder with master gear；The transmission shaft from gear with master gear by connecting；The crawler belt passes through sprocket wheel
With being driven axis connection, the power of homonymy motor is obtained；It is connected with support shaft with being passed through between two transmission shafts.
Further, the life-detection instrument is loaded on sensor module, the wireless tranceiver communication system
System is attached to sensor module bottom.
Further, the safety detection device further includes the tool mounted on the crawler type walking mechanism upper front part
There is the liquid nitrogen bullet of cooling effect.
Further, it is described to include three axis from steady holder, PID control system, the PID control system from steady holder
By self-adaptive PID algorithm, realize crawler type walking mechanism and three axis from the mutually coordinated cooperation of steady holder, control during obstacle detouring
Make three axis and rotated from steady holder and ensure that the detection angles of institute carrying equipment and object to be detected are opposing stationary, complete to move ahead, retrogressing,
Pose Control when turning and obstacle detouring.
Further, the gas detector uses optics gas detector.Optics gas detector high certainty of measurement,
The features such as simple and quick, easy to use.It is mainly used for that there are in the working environment of inflammable, explosive combustible gas mixture
Measure gas density.
Compared with prior art, the robot provided by the utility model for the detection of coal mine tunnel safety improves coal mine tunnel
Gas in road, the working efficiency of the security risk investigation of electric wiring, when solving coal mine tunnel generation cave-in accident, to being buried
Survivor's search-and-rescue work is excessive because searching and rescuing range, searches and rescues team member and searches and rescues that direction is indefinite to cause to search and rescue the problem of being wasted time,
Simple in structure, stable and reliable operation, applicability is good, communication is stable, it is high to detect sensitive precision.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is the crawler type walking mechanism structure diagram of the utility model embodiment.
The label declaration of parts in schematic diagram：
1- crawler belts, 2- sprocket wheels, 3- transmission shafts, 4- support shafts, 5- motors, 6- retarders, 7- master gears, 8- is from gear, 9-
Crawler type walking mechanism, 10- sensor modules, 11- liquid nitrogen bullets.
Specific embodiment
Below in conjunction with the accompanying drawings, the technical solution of the utility model is described further：
As shown in Figure 1, a kind of robot for the detection of coal mine tunnel safety, including crawler type walking mechanism 9 and is used
Safety detection device and safety device for life-saving in coal mine tunnel,
Be provided on the crawler type walking mechanism 9 for install safety detection device and safety device for life-saving from steady
Holder；
The safety detection device includes the sensor module for being sealingly disposed in rear in the crawler type walking mechanism 9
10, the sensor module 10 includes infrared thermography and optics gas detector, and the infrared thermography can play a game
Portion temperaturing lifting abnormality position is identified, and the optics gas detector has high certainty of measurement, simple and quick, easy to use
The features such as.It is mainly used for that there are measure gas density in the working environment of inflammable, explosive combustible gas mixture.
The safety device for life-saving includes the life-detection instrument of sealed set and is operated in the radio of ultrashort wave frequency band
Interphone communication system, the life-detection instrument can sense human body and send out weak electric field, the wireless tranceiver of ultrashort wave frequency band
Communication system uses ultra short wave communication, with the obvious advantage：1st, using line-of-sight propagation mode, than shortwave sky wave propagation mode stability
Height is influenced small by season and day-night change.2nd, small, simple in structure, gain the is higher directional aerial of antenna useful size.This
Sample, the smaller transmitter of available power.3rd, frequency is higher, and frequency band is wider, can be used for multichannel communication multiple telecommunication.4th, modulation system is usually with tune
Frequency is made, and can obtain higher signal-to-noise ratio.Communication quality is better than shortwave.
As shown in Fig. 2, the crawler type walking mechanism 9 includes vehicle body, the crawler belt for being symmetricly set on the vehicle body both sides
Drive system, each caterpillar drive system include crawler belt 1, sprocket wheel 2, transmission shaft 3, motor 5, retarder 6, master gear 7 and from
Gear 8, the motor 5 are connect by retarder 6 with master gear 7；The transmission shaft 3 from gear 8 with master gear 7 by connecting；
The crawler belt 1 is connect by sprocket wheel 2 with transmission shaft 3, obtains the power of homonymy motor 5；Ground connection is passed through to set between two transmission shafts 3
It is equipped with support shaft 4.
In the present embodiment, the life-detection instrument is loaded on sensor module 10, and the wireless tranceiver leads to
Letter system is attached to 10 bottom of sensor module.
In the present embodiment, the safety detection device is further included mounted on 9 upper front part of crawler type walking mechanism
The liquid nitrogen bullet 11 with cooling effect, prevent robot from superheating phenomenon occur, ensure stability, the safety of robot operation
And reliability.
Specifically, in the present embodiment, it is described to include three axis from steady holder, PID control system from steady holder, it is described
PID control system realizes 9 and three axis of crawler type walking mechanism from steady holder phase by self-adaptive PID algorithm during obstacle detouring
Mutual cooperation, three axis of control are rotated from steady holder ensures that the detection angles of institute's carrying equipment and object to be detected are opposing stationary,
Complete Pose Control when forward, retrogressing, turning and obstacle detouring.Three axis from steady holder be a kind of to realize target object attitude stabilization
In other words the device of control, exactly allows object keep the static of its posture during exercise, mainly by three-axis gyroscope and three
The IMU reponse systems and servo motor two that axle acceleration sensor is formed partly form, and there are three servos for distribution on support arm
Motor, is each responsible for front and rear, left and right, the rotation in upper and lower three directions, those skilled in the art can carry out as needed selection and
Debugging, details are not described herein.
Above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to the embodiment of the utility model.For those of ordinary skill in the art, on the basis of above description
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
All any modification, equivalent and improvement made within the spirit and principles of the present invention etc., should be included in this reality
Within novel scope of the claims.
Claims (6)
1. a kind of robot for the detection of coal mine tunnel safety, it is characterised in that：Including crawler type walking mechanism (9) and use
Safety detection device and safety device for life-saving in coal mine tunnel,
Be provided on the crawler type walking mechanism (9) for install safety detection device and safety device for life-saving from steady cloud
Platform；
The safety detection device includes the sensor module for being sealingly disposed in rear in the crawler type walking mechanism (9)
(10), the sensor module (10) is including infrared thermography and gas detector；
The safety device for life-saving includes the life-detection instrument of sealed set and is operated in the radio intercommunication of ultrashort wave frequency band
Machine communication system.
2. a kind of robot for the detection of coal mine tunnel safety according to claim 1, it is characterised in that：The shoe
Belt walking mechanism (9) including vehicle body, be symmetricly set on the caterpillar drive systems of the vehicle body both sides, each caterpillar drive system
Include crawler belt (1), sprocket wheel (2), transmission shaft (3), motor (5), retarder (6), master gear (7) and from gear (8), the electricity
Machine (5) is connect by retarder (6) with master gear (7)；The transmission shaft (3) from gear (8) with master gear (7) by connecting；
The crawler belt (1) is connect by sprocket wheel (2) with transmission shaft (3), obtains the power of homonymy motor (5)；Two transmission shafts are worn between (3)
It is connected with support shaft (4) with crossing.
3. a kind of robot for the detection of coal mine tunnel safety according to claim 1, it is characterised in that：The life
Survey meter loading is ordered on sensor module (10), the wireless tranceiver communication system is attached to the sensor module
(10) bottom.
4. a kind of robot for the detection of coal mine tunnel safety according to claim 1, it is characterised in that：The peace
Full detection device further includes the liquid nitrogen bullet with cooling effect mounted on the crawler type walking mechanism (9) upper front part
(11)。
5. a kind of robot for the detection of coal mine tunnel safety according to claim 1, it is characterised in that：It is described from
Steady holder includes three axis from steady holder, PID control system, and the PID control system is by self-adaptive PID algorithm, in obstacle detouring
Crawler type walking mechanism (9) and three axis are realized in the process from the mutually coordinated cooperation of steady holder, and three axis of control are rotated from steady holder to be protected
Detection angles and the object to be detected for demonstrate,proving institute's carrying equipment are opposing stationary, complete pose control when forward, retrogressing, turning and obstacle detouring
System.
6. a kind of robot for the detection of coal mine tunnel safety according to claim 1, it is characterised in that：Watt
This detector uses optics gas detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721022839.0U CN207510541U (en) | 2017-08-16 | 2017-08-16 | A kind of robot for the detection of coal mine tunnel safety |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721022839.0U CN207510541U (en) | 2017-08-16 | 2017-08-16 | A kind of robot for the detection of coal mine tunnel safety |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207510541U true CN207510541U (en) | 2018-06-19 |
Family
ID=62532216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721022839.0U Expired - Fee Related CN207510541U (en) | 2017-08-16 | 2017-08-16 | A kind of robot for the detection of coal mine tunnel safety |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207510541U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416053A (en) * | 2017-08-16 | 2017-12-01 | 华南理工大学 | A kind of robot for the detection of colliery tunnel safety |
| CN112092937A (en) * | 2020-09-24 | 2020-12-18 | 朱爱国 | Robot walking device for cleaning building curtain wall |
-
2017
- 2017-08-16 CN CN201721022839.0U patent/CN207510541U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416053A (en) * | 2017-08-16 | 2017-12-01 | 华南理工大学 | A kind of robot for the detection of colliery tunnel safety |
| CN107416053B (en) * | 2017-08-16 | 2023-08-22 | 华南理工大学 | Robot for coal mine tunnel safety detection |
| CN112092937A (en) * | 2020-09-24 | 2020-12-18 | 朱爱国 | Robot walking device for cleaning building curtain wall |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180619 Termination date: 20200816 |