CN213106871U - Search and rescue robot for coal mine - Google Patents

Abstract

The utility model discloses a search and rescue robot for coal mines, which comprises a mechanical arm component and a crawler belt component; the mechanical arm assembly comprises two large mechanical arms, a mechanical claw and a base, a servo motor is arranged outside one end of each large mechanical arm and hinged with the base, and an output shaft of the servo motor penetrates through the large mechanical arms to be connected with the base; one end of the mechanical claw is connected with a servo motor and is connected with the second large arm through a hinge joint, the other end of the mechanical claw is provided with a clamping mechanism, and the local detector is arranged on the mechanical claw; the crawler assembly comprises a bearing wheel assembly, a driving wheel assembly, a tensioning wheel assembly and a fireproof crawler, wherein the bearing wheel is connected with a bearing wheel retainer, the retainer is connected with the bearing main body through bolts, one end of a pressure rod is tightly pressed on the bearing wheel retainer through a pressure wheel, the other end of the pressure rod is connected with a return spring, and the upper part of the bearing main body is connected with a guide wheel assembly through bolts. When the rescue vehicle moves, the obstacle can be cleared or the robot can assist in crossing the obstacle, so that the whole rescue vehicle has good trafficability and the rescue efficiency is improved.

Description

Search and rescue robot for coal mine

Technical Field

The utility model belongs to the technical field of the robot, a search and rescue robot for coal mine is specifically disclosed.

Background

The essence of the search and rescue robot for the coal mine is to reduce danger of search and rescue personnel and increase rescue probability of trapped personnel, and the robot is mainly used in dangerous scenes and explosion-eliminating scenes, and most scenes can cause great threat to life safety of rescue personnel and even cause secondary accidents.

Search and rescue robot for coal mine is provided with high definition digtal camera usually, and the search and rescue personnel of being convenient for carry out far away drive-by-wire or wireless control to still be provided with different detecting instrument according to the topography of difference, be used for searching for and rescuing stranded personnel.

The search and rescue robots for coal mines mostly use the same chassis structure, and although the comprehensive obstacle crossing capability is excellent, the obstacle crossing capability in special environments such as wading, high stations, deep pits and other series of environments is extremely limited, which greatly limits the search range of the search and rescue robots. And because most of trapped people lose the driving force, the convenient interaction and the convenient operation of the machine are very important.

SUMMERY OF THE UTILITY MODEL

A search and rescue robot for coal mines is developed for rescuing people trapped in mines, and aims to manufacture a dispatch robot which can replace rescuers to perform first-time search and can perform search and rescue activities in dangerous areas for a long time and has strong passing capability for obstacles, gullies and water surfaces. The system can carry out early-stage work such as gas concentration, oxygen concentration detection, terrain exploration, obstacle clearing, trapped person positioning and the like, and can send the address of the trapped person and the mine tunnel condition as soon as possible after the trapped person is searched, and provide emergency supply for extended rescue golden time.

In order to accomplish the above object, the basic elements of the present invention are: a search and rescue robot for a coal mine comprises a crawler mechanism, a mechanical arm mechanism, a box body mechanism, a cooling mechanism, an upper cover mechanism, a detection mechanism and an externally-hung nacelle mechanism, wherein the crawler mechanism is installed at the lower part of the box body mechanism;

the crawler mechanism comprises an outer baffle connected with the box body, the outer baffle is connected with the box body through bolts, a driving wheel mechanism, a bearing wheel mechanism and a tensioning wheel mechanism are arranged inside the outer baffle, a supporting mechanism for supporting a crawler is arranged on the bearing wheel mechanism, and a crawler structure is arranged outside the wheel train structure;

the driving wheel mechanism consists of a driving wheel, a driving wheel retainer, a hold-down bearing and a driving motor, wherein gear teeth on the driving wheel are meshed with teeth on the crawler belt, the hold-down bearing is installed with the driving wheel in an interference manner, the retainer is locked through a stud, and the retainer is connected with the outer side baffle through the stud;

the bearing wheel mechanism is composed of a bearing wheel, a bearing wheel retainer, a pressing wheel, a pressing rod, a reset spring, a bearing wheel main body, a riding wheel retainer and a riding wheel, wherein the bearing wheel is installed on the bearing wheel retainer and hinged to the bearing wheel main body, the pressing wheel is installed at one end of the pressing rod, the reset spring is installed at the other end of the pressing rod, the pressing wheel presses the bearing wheel retainer tightly, the center of the pressing rod is hinged to the bearing wheel main body, the bearing wheel main body is connected with the riding wheel retainer through a bolt, the riding wheel is hinged to the riding wheel retainer, and the bearing wheel main body and the riding wheel retainer are both connected with an.

The tensioning wheel mechanism consists of a tensioning wheel, a tensioning wheel retainer, a tensioning mechanism, a tensioning screw rod, a tensioning motor and a pressing bearing, wherein the tensioning wheel is connected to the tensioning wheel retainer through a stud, the tensioning wheel retainer is embedded in a sliding groove of the tensioning mechanism, the tensioning mechanism is connected with the box body through a bolt, the tensioning screw rod is fixed in the tensioning mechanism, and a nut on the tensioning wheel retainer is embedded in the tensioning screw rod and is driven by the tensioning motor;

the inner part of the track sequentially bypasses a driving wheel, a bearing wheel, a tension wheel and a riding wheel and is fixed on the inner side of the outer side baffle plate by the tension force of each wheel;

the mechanical arm mechanism comprises a mechanical claw mechanism, a large mechanical arm, a Y-axis lifting stepping motor, a locking device, a base, a Z-axis torsion stepping motor and an auxiliary support, wherein the mechanical claw and the large mechanical arm, the large mechanical arm and the large mechanical arm, and the large mechanical arm and the base are all connected by the locking mechanism;

the connection mode of the mechanical big arm and the connection mode of the mechanical big arm and the base are the same [0012 ];

the base is connected with the X-axis torsion stepping motor through a Z-axis torsion stepping motor shaft, and an auxiliary supporting mechanism is arranged between the lower part of the base and the shell of the X-axis torsion stepping motor and consists of a pin shaft and an antifriction bearing to assist in keeping the balance of the mechanical arm;

the mechanical claw mechanism consists of a mechanical finger, a return spring, an antifriction bearing, a wedge-shaped block fixing cover plate, a mechanical palm, a clamping screw rod, a clamping motor, a clamping nut, an X-axis torsion stepping motor and a mechanical claw retainer, wherein the middle part of the mechanical finger is hinged with the mechanical palm, the antifriction bearing is arranged at one end of the mechanical finger and is tightly pressed on the wedge-shaped block by the return spring, the wedge-shaped block is fixed in the mechanical palm through a chute, the rear part of the wedge-shaped block is provided with the wedge-shaped block fixing cover plate through a bolt, the wedge-shaped block fixing cover plate is connected with the clamping nut through a bolt and a thrust washer, the clamping nut and the clamping screw rod are mutually nested, the clamping screw rod is connected with the clamping motor through a clamping motor shaft, the clamping screw rod, the clamping nut, the clamping motor and the X-axis rotation stepping, and is provided with a local gas detector, a night vision recorder, an infrared distance meter and a motion detection radar;

the mechanical claw works on the principle that when obstacles are found by a motion detection radar, a night vision recorder and the like, the length, the width and the height of the obstacles and the positions of the obstacles are judged through a built-in program, logic analysis is carried out, and after the logic analysis, whether obstacle clearing activity is carried out or a crossing program is carried out is determined. When an obstacle clearing program is carried out, the main control CPU controls the output power of the clamping motor and the output power of the Y-axis motor, trial clamping is carried out by utilizing the auxiliary angle adjustment of the X-axis stepping motor and the auxiliary angle adjustment of the Y-axis stepping motor, the tensioning size of the track of the tensioning motor is properly loosened, so that the whole machine can fully disperse the borne extra mass by using the supporting force of the return spring, when the supported object is captured by other radars of the whole machine to have obvious movement displacement, the whole machine is proved to have the obstacle clearing capability, the obstacle clearing program is continuously carried out at the moment, a general space distribution diagram of the region where the object is located is generated by utilizing the detection radars and the night vision recorder on the periphery and the upper part of the whole machine, how to place the removed obstacle is determined, the program is finished after the obstacle is carried. If the CPU adjusts the power of the Y-axis lifting stepping motor to reach 85-90% of the sustainable power for a long time, removing obstacle clearing operation, establishing a simulated obstacle crossing channel by using a detection radar and a night vision recorder on the periphery of the complete machine, closing a mechanical finger, locking a clamping motor, assisting the complete machine to perform obstacle crossing operation by using a motion detection radar on a mechanical arm, adjusting a tensioning motor by the CPU, properly tensioning the track to enable wheels to tightly support the track, preventing the track from falling off when one side of the track is away from the ground, measuring and calculating the angle between the complete machine and the ground by using the radar after one obstacle crossing is performed, and withdrawing the mechanical arm to perform the next obstacle crossing operation after the condition that the complete machine is static is met;

the box body mechanism comprises a chassis, a clamping motor retainer, a battery and a base thereof, wherein the chassis is used for bearing a battery driving motor, installing a crawler belt, installing the clamping mechanism clamping motor, installing an active radio and used for contacting trapped persons and determining the positions of the trapped persons. A 25mm homogeneous armor plate with a 60-degree inclination angle is arranged on the front side of the box body, so that the impact of explosion in an ore and the impact of splashes can be resisted, and the internal components of the box body are protected to be complete;

cooling body includes, and coolant liquid storage tank, cooling pump, heat-conducting plate, liquid cooling copper pipe are constituteed, because the complete machine is sealed for explosion-proof fire prevention and waterproof design, box inside, when driving motor, power supply battery, survey radar and control system scan the topography and when carrying out data analysis, can produce a large amount of heats, so this mechanism principle is: the heat of the built-in high-heating element is transferred to the cooling liquid by the heat conduction plate, and is pushed by the pressure of the cooling pump, so that high-temperature liquid is pressed into the liquid-cooled copper pipe and the heat dissipation rib plate on the upper part of the box body, the low temperature of hundreds of meters below the mine is utilized for cooling, the side surface and the bottom of the box body are both provided with graphite heat dissipation films and heat dissipation silicone grease, and the box body is utilized as a soaking plate for cooling. In obstacle crossing operation, the flow rate of the cooling pump is a fixed value, so that the influence of the flowing liquid on the change of the gravity center of the vehicle body is reduced;

the upper cover mechanism comprises a mechanical arm connecting flange, an anti-rolling frame, a top baffle, a heat dissipation grid and an externally hung hanging point, wherein the mechanical arm connecting flange is connected with the mechanical arm through bolts, and in order to prevent fatigue damage caused by uneven stress of the bolts, the standing horizontal angle of the mechanical arm is sequentially deviated within-25 degrees to +25 degrees along with time. The anti-roll frame is connected with the upper cover through bolts, the top cover plate is adsorbed by the magnets and used for dispersing the impact force of collapsed falling rocks onto the anti-roll frame, and the front portion of the anti-roll frame is provided with a 30-degree 5mm mean value nonmetal armor plate used for reducing the impact wave of explosion in mines and the impact of flying rocks on a detection radar. The heat dissipation grid and the upper cover are adsorbed by adopting magnets and are used for reducing the damage of splashes caused by explosion collapse to the liquid cooling copper pipe;

the detection mechanism comprises a motion detection radar, an active detection radar, a night vision recorder, a gas composition monitor and a main detector, wherein the motion detection radar is uniformly distributed on the periphery, the upper part and the periphery of the box body and mechanical claws, and is mainly used for correcting the posture of the whole machine, supplementing blind spots of a built-in map and carrying out autonomous advancing and autonomous obstacle avoidance. The night vision recorder is arranged on the mechanical claw, the periphery and the upper part of the box body and used for recording the internal environment of the mine tunnel, and search and rescue workers can plan the advancing route conveniently. The gas composition monitor is arranged inside the mechanical claw and the anti-rolling frame and is mainly used for detecting the gas concentration content, the oxygen content and the gas composition in the whole mine tunnel in local areas, so that rescue workers can conveniently carry out protection or ventilation treatment. The main detector is arranged in the anti-rolling frame and is mainly used for detecting the front terrain and the collapse condition of the top of the mine, analyzing the environmental condition in the mine in real time, transmitting data to the CPU to judge whether the front mine can continue to perform search and rescue operations and planning a route by self;

the external hanging pod mechanism comprises a detection radar base, a night vision recorder base, a built-in antenna, a data transmission interface and a replacement hanging pod, wherein the detection radar and the night vision recorder can be automatically positioned by means of a magnet and are connected to the external hanging pod by means of a buckle and threads. The data transmission interface is arranged in the base of the main front night vision recorder and can record data through wireless or wired transmission. The built-in antenna can greatly enhance the signal transmission distance and the remote control range of the whole machine on the basis of the original autonomous operation/remote control, increase the data transmission speed and reduce the data transmission delay. The function of the replacing nacelle is to remove the external armor on the premise of keeping the basic function of the external nacelle, and replace the external armor with a vitamin additional nacelle, a freight additional nacelle and a buoy additional nacelle, wherein the vitamin additional nacelle internally contains water, emergency food, bandages, an emergency light source and disinfection articles which can be grabbed by a mechanical arm, so that the trapped person is prevented from being incapable of moving. The freight car can be loaded with rescue equipment, stretchers, splints, inspection equipment, maintenance equipment and the like, and carry work is carried along with rescue personnel. The buoyancy of the whole machine can be greatly enhanced by the float pod, and the box body of the machine is in a front sealing design, so that the machine can be operated in wading, and a water seepage area can be paddled to pass through. Because the external hanging nacelle is internally provided with the partition, the required functional module can be selected according to the use requirement;

drawings

Fig. 1 is a schematic view of an embodiment 1 of a search and rescue robot for coal mines according to the present invention;

fig. 2 is a schematic view of a search and rescue robot mechanical arm for coal mine according to embodiment 1 of the present invention;

fig. 3 is a cross sectional view of the mechanical gripper of the search and rescue robot for coal mine in the embodiment 1;

fig. 4 is a cross-sectional view of embodiment 1 of a mechanical arm locking structure of a search and rescue robot for coal mines according to the present invention;

fig. 5 is a schematic structural view of the embodiment 1 of the search and rescue robot crawler for coal mine;

FIG. 6 is a structural section view of embodiment 1 of search and rescue robot track support structure for coal mine

FIG. 7 is the utility model discloses a search and rescue robot track tensioning texture embodiment 1's for coal mine structural schematic diagram

Fig. 8 is a sectional view of the structure of the embodiment 1 of the search and rescue robot box for coal mine;

fig. 9 is a schematic diagram of an embodiment 1 of the external hanging nacelle of the search and rescue robot for coal mines;

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: the robot arm component 1, the upper cover component 2, the crawler component 3, the chassis component 4, the gripper 10, the robot arm fixing component, the Y-axis lifting motor 12, the robot boom 13, the base 14, the Z-axis rotating motor 15, the gripper 101, the return spring 102, the gripper mandrel 103, the antifriction bearing 104, the wedge 105, the wedge fixing cover 106, the clamping nut 107, the clamping motor 108, the X-axis rotating motor 109, the gripper coupling 110, the gripper holder 111, the clamping screw 112, the wedge limit baffle 114, the gripper 115, the Y-axis motor lifting shaft 116, the locking stud 117, the gripper locking nut 118, the pressing cover 119, the pressing thrust bearing 120, the thrust washer 121, the locking nut 122, the driving wheel holder 31, the driving wheel 32, the bearing wheel body 33, the idler holder 34, the crawler 35, the idler mechanism 36, the tensioning mechanism 37, The device comprises a bearing wheel 331, a bearing wheel mandrel 332, a pressing wheel 333, a return spring 334, a pressing rod 335, a pressing rod mandrel 336, a bearing body retainer 337, a bearing wheel retainer mandrel 338, a bearing wheel retainer 339, a riding wheel 341, a riding wheel retainer 342, a tensioning body 371, a tensioning motor shaft 372, a tensioning screw 373, a tensioning nut 374, a tensioning wheel retainer 375, a tensioning wheel mandrel 361, a tensioning wheel 362, a main detection radar 401, an armor plate 402, a liquid cooling copper pipe 403, a driving motor 404, a heat conduction plate 405, a battery and a control system 406 thereof, a return hose 407, a cooling pump 408, a cooling liquid storage tank 409, a supply tank cover and active radio 410, a tensioning motor 411, a tensioning motor 412, a rear night vision meter retainer 413 and a front motion detection radar and night vision recorder 415 thereof. A front main night vision recorder 51, a night vision recorder base/data interface 52, a top night vision recorder 53, a side night vision recorder 54, a side motion detection radar 55, an externally hung gondola 56, an externally hung gondola hanging point 57, a top detection radar 58.

Example 1

When the machine body normally advances, when the machine body detects that a remote control signal starts to weaken and the delay starts to increase, the mode is immediately switched to a built-in map and external radar searching advancing mode, the track component 3 is automatically adjusted to adapt to the ground condition, when the main detection radar 401 is used for detecting the front movement detection radar and the night vision recorder 415 thereof, when the obstacle is low and easy to climb over, the output power of the tensioning motor 411 is changed through the battery and the control system 406 thereof, so that the tensioning screw rod 373 rotates, because the tensioning body 371 is fixed on the box body 414 through the bolt, the tensioning nut 374 can be pushed to move, and because the tensioning nut 374 is connected with the tensioning wheel retainer 375 through the bolt, the tensioning wheel retainer 375 can slide in the chute of the tensioning body 371, the tensioning wheel 362 is driven to loosen the track 35, the gravity center of the whole machine moves downwards, so that the track 35 is pressed by the bearing wheel body 33 to, meanwhile, the output power of the driving motor 404 is ensured to be output within 60% -85%. When a small obstacle is encountered, the output power of the driving motor is adjusted to be increased from 60% -85% to 95% through the front-mounted motion detection radar of the main detection radar 401 and the night vision recorder 415 thereof and the battery and the control system 406 thereof, and the driving wheel 32 and the crawler 35 are driven to carry out obstacle crossing operation on the short obstacle. When the front motion detection radar and the night vision recorder 415 thereof detect that the whole machine has obvious displacement change, the power of the driving motor of the whole machine is proved to be enough to cross obstacles, so that the power output is maintained.

Example 2

When the whole machine crosses over a low obstacle, the tension of the crawler 35 is reduced, the bearing wheel main body 33 starts to play a role of assisting in turning over to ensure that the ground gripping force of the whole machine is good, when the bearing wheel 331 is pushed up by the obstacle, the bearing wheel retainer 339 is forced to rotate around the bearing wheel retainer mandrel 338 and is jacked up by the obstacle, at the moment, the pressing wheel 333 is pressed on the bearing wheel retainer mandrel 338 around the pressing rod mandrel 336 by the return spring 334 at the other end of the pressing rod 335, so that the deformation amount of the return spring 334 is increased, and as the quality of the whole machine is not changed, the return spring 334 bears extra weight except the dead weight of the whole machine, so that the return spring has the tendency of returning to the original state, the bearing wheel 331 tightly presses the obstacle, and when the obstacle is removed, the whole machine supporting main body 33 returns to; when a small gully (ensuring that four pairs of bearing wheels 331 can contact the ground), the bearing wheels 331 and the bearing wheel retainer 339 are forced to rotate around the bearing wheel retainer mandrel 338 under the action of gravity, the pressing wheels 333 and the pressing rods 335 are pressed by the return springs 334, the weight cannot be applied to the bearing wheel retainer 339, the bearing wheel retainer 339 is designed with a pressing depression angle of-8 degrees for realizing the track jointing capability of a local low road surface, and when the bearing wheels 331 are suspended, the self weight of the bearing wheels is borne by the bearing main body retainer 337 without increasing the load of the tracks 35.

Example 3

When a small obstacle is encountered, the output power of the driving motor is adjusted to be increased from 60% -85% to 95% through the front-mounted motion detection radar of the main detection radar 401 and the night vision recorder 415 thereof and the battery and the control system 406 thereof, and the driving wheel 32 and the crawler 35 are driven to carry out obstacle crossing operation on the short obstacle. When the front motion detection radar and the night vision recorder 415 thereof detect that the whole machine has no obvious displacement change, the scheme II is adopted for proving that the power of the driving motor of the whole machine is not enough to cross the obstacle. The surrounding environment of the whole vehicle is detected by using the side night vision recorder 54, the side motion detection radar 55 and the top detection radar 58, other routes are automatically searched by the battery and the control system 406, and if a flat road surface with enough size is found, the driving wheel 32 and the crawler 35 are driven by the battery and the control system 406 to steer, advance and the like.

Example 4

When the whole machine moves at a high speed and the obstacle is over, the battery, the control system 406 and the driving motor 404 generate a large amount of heat, and the machine has an explosion-proof and waterproof design, so that the machine has good air tightness and protection capability, heat is accumulated for a long time, the processing performance of the control system is reduced, the energy loss of the battery is accelerated, and the overheating time of the driving motor 404 is shortened. Therefore, the machine is provided with a cooling system, and the efficiency of the cooling system of the whole machine is adjusted according to the built-in and external temperature sensors. The working principle of the cooling system is that heat dissipated by a driving motor 404, a battery and a control system 406 of the battery is absorbed by a heat conducting plate 405 and cooling liquid contained in the heat conducting plate 405, and is squeezed into a liquid cooling copper pipe 403 through the pressure of a cooling pump 408, when the temperature is lower than the internal temperature of the machine body, the cooling liquid is pressed into a cooling liquid storage tank 409 through a backflow hose 407, and then is pressed into the heat conducting plate 405 through the cooling pump 408, and due to the large change of underground temperature, a strong cooling system is arranged in the cooling liquid storage tank 409, when the heat generated by air cooling liquid circulation cannot be offset (for example, when fire and explosion occur in a mine cause the external temperature to rise or earth surface operation needs to be carried out for a long time), the strong cooling start is carried out to maintain the full-power operation of the whole machine within a certain time. When the machine is arranged on a shallow ground surface and the heat in the whole machine is higher than the set starting temperature of the cooling system, the whole machine is accelerated to move forward, the cooling system runs at a slow speed, so that the liquid cooling copper pipe 403 in the cooling system can be exposed in a low-temperature environment for a long time, and the cooling efficiency is improved; when the machine is placed in a deeper underground, the cooling system operates more quickly, and the cooling efficiency is improved.

Example 5

When the side night vision recorder 54, the side motion detection radar 55, the top detection radar 58, the main detection radar 401, the front motion detection radar and the night vision recorder 415 thereof can not detect a directly passable road, the obstacle clearing operation is automatically carried out through the battery and the control system 406 thereof, the mechanical arm part 1 is awakened from an offset storage angle of-25 degrees to 25 degrees and is subjected to obstacle crossing parameter analysis after the angle is reduced to 0 degree. Detecting the height of the tunnel roof and whether collapse occurs through a top detection radar 58 and a top night vision recorder 53, driving a Y-axis lifting motor 12 through a battery and a control system 406 thereof, lifting a mechanical arm to a height more than 10cm away from the tunnel roof, detecting whether the barrier clearing operation has the risk of igniting gas through a self-contained night vision recorder, a laser distance measuring instrument, a motion detection radar and a gas detector on a mechanical claw holder 111 of the mechanical claw 10, and if so, cancelling the operation and actively contacting search and rescue personnel to wait for an instruction; if there is no possibility of explosion, the size of the obstacle and the movable space of the robot arm continue to be measured. When the measurement is finished, the mechanical arm part 1 returns to the initial position, and the obstacle removing operation is performed. The tensioning mechanism 37 is operated to move the gravity center of the whole machine downwards greatly through a battery and a control system 406 thereof, a driving motor 404 is locked, the peripheral environment of the whole machine is detected through a side night vision recorder 54, a side motion detection radar 55 and a top detection radar 58, the swinging position after the obstacles are cleared is determined, a Y-axis lifting motor 12, an X-axis rotating motor 109 and a Z-axis rotating motor 15 are driven through the battery and the control system 406 thereof to move according to the previously measured obstacle position parameters, when the preset position is reached, the control system drives a clamping motor 108 to enable a clamping screw 112 to rotate, a mechanical claw locking nut 118 is driven to push a wedge block limiting baffle plate 114 and a wedge block 105, the mechanical finger is forced to clamp around a mechanical finger shaft 104 through the acting force of an antifriction bearing 104, and when the output resistance of the clamping motor 108 is suddenly increased, the battery and the control system 406 thereof stop clamping operation, and the driving Y-axis lifting motor 12 is limited to start at 85% power, if the front motion detection radar and the night vision recorder 415 thereof find that the obstacle has obvious displacement, the obstacle can be moved, and the obstacle removing operation is continued. The battery and its control system 406 operate the robot arm to move the obstacle to the designated location according to the previously observed placement location, then reverse drive the clamp motor 108, remove the pressure on the fingers, push the fingers back to the original position by means of the return spring 102, and wait for the next grabbing operation command. The battery and the control system 406 reversely drive the Y-axis lifting motor 12, the X-axis rotating motor 109 and the Z-axis rotating motor 15 to enable the mechanical arm mechanism 1 to return to a horizontal offset of-25 degrees to +25 degrees and then to be static; when it is found that the obstacle cannot be moved even after the Y-axis lift motor 12 performs the lifting operation at 100%, the operation is terminated.

Example 6

When the obstacle cannot be cleared, the obstacle crossing operation is started if the motion detection radar detects the possibility of continuing to advance beyond the obstacle according to the side night vision recorder 54, the side motion detection radar 55, the top detection radar 58, the main detection radar 401, the front motion detection radar and its night vision recorder 415, and the night vision recorder and the laser range finder provided on the gripper holder 111. The battery and the control system 406 control the cooling system to start forced cooling, reduce the air cooling operation of the cooling pump, reduce the influence of the cooling liquid on the center of gravity of the vehicle body, control the mechanical arm clamping motor 108 to close, lock the clamping motor 108, control the tensioning motor 411 to perform tensioning operation, and tension the crawler belt to enable the driving wheel 32, the tensioning wheel 362, the bearing wheel 331 and the riding wheel 341 to completely support the crawler belt 35, so that the crawler belt cannot fall off. After the mechanical claw 10 is used for supporting the ground, the driving motor 404 is started, meanwhile, the Y-axis lifting motor 12 is driven in an auxiliary mode to synchronously advance along with the driving motor 404, so that the lifting angle of the whole machine head is planned according to the size of an obstacle (the lifting angle does not exceed 65 degrees of a horizontal included angle), when the whole machine track 35 contacts the obstacle in the largest contact area, the mechanical arm mechanism 1 withdraws, the driving motor 404 is driven continuously, the mechanical arm mechanism 1 assists in climbing, after the obstacle passes through, the mechanical arm mechanism 1 returns to the position, the tensioning mechanism 37 restores to a normal driving state, and the search and rescue task is executed continuously.

Example 7

When the complete machine needs to perform operations except search and rescue, additional life-support pod, freight transportation pod and buoy pod are additionally arranged, and the externally-hung pods 5 are of symmetrical structures, so that different types of additional pods can be additionally arranged on two sides, and when the externally-hung pods are needed, the locking nuts on the hanging points 57 of the externally-hung pods are only required to be removed, and the installation can be completed through threaded connection. The life-support pod can be used for placing emergency food, medicines and water, and can be automatically loaded, unloaded, carried and delivered to the hand of the trapped person through the mechanical arm mechanism 1, so that the situation that the trapped person is difficult to move and cannot obtain rescue is avoided. The freight transport pod can replace different types of pods according to different purposes, the upper cover mechanism 2 can be detached when trapped people need to be transported, the transportation platform is replaced, and the main detection radar 401, the front motion detection radar and the night vision recorder 415 thereof are utilized to assist rescue with search and rescue personnel; when the stretcher, the splint and the simple support structure need to be carried, the stretcher, the splint and the simple support structure can be installed only by relying on the hanging point 57 of the nacelle. When the whole machine advances into a wading area, the wading movement can be carried out due to the sealing of the whole machine, but if the wading depth exceeds 500mm, a floating cylinder and a nacelle are required to be additionally arranged, so that the stable working state of the detector and the normal operation of the mechanical arm are ensured.

Example 8

The lower part of the whole machine is provided with a homogeneous armor with an inclination angle of 25mm and an inclination angle of 60 degrees, the upper part of the homogeneous armor is provided with a nonmetal baffle with a thickness of 5mm and an inclination angle of 30 degrees, and a rolling prevention frame, a liquid cooling copper pipe 403 is provided with a heat dissipation grid, the side edge of the homogeneous armor is provided with a 15mm outer baffle, a box body is made of 15mm mean cast iron, the front surface of the whole machine can be guaranteed to resist shock waves and splashes of gas explosion, and the integrity of. When necessary, the device can be used as a shelter and a support for trapped people, and the lower part of the machine body is provided with an active radio which can be contacted with rescuers when the people cannot move.

Example 9

The above description is only an embodiment of the present invention, and the known specific structures and characteristics of the embodiments are not described herein. It should be noted that, for the skilled person, without departing from the structure of the present invention or the point of the innovative utility model, a lot of deformation and improvements can be made, these are also regarded as the protection scope of the present invention, and these will not affect the utility of the effect and patent of the utility model.

Claims (9)

1. The utility model provides a search and rescue robot for coal mine which characterized in that: the cooling device comprises a crawler mechanism, a mechanical arm mechanism, a chassis mechanism, a cooling mechanism, an upper cover mechanism and an externally hung nacelle mechanism, wherein the crawler mechanism is positioned at the bottom of a machine body, and the mechanical arm mechanism is positioned in the front upper part of the whole machine;

the crawler mechanism comprises an outer baffle connected with the box body, and the outer baffle is provided with an external bolt for connecting with an external hanging nacelle;

the mechanical arm mechanism comprises a mechanical claw, a mechanical big arm, a Y-axis lifting stepping motor, a locking device, a base, a Z-axis torsion stepping motor and an auxiliary support;

the inner side of the outer baffle is provided with a crawler belt, a driving wheel, a bearing wheel and a tension wheel are arranged in the crawler belt, two sides of the driving wheel and the bearing main body are connected with the outer baffle through bolts, and the outer baffle is connected with the box body through bolts;

the driving wheel is provided with a retainer connected with the outer baffle and an independent driving motor;

the bearing main body is connected with a bearing wheel retainer, and the retainer is connected with a bearing wheel;

the tensioning wheel is fixed on the tensioning wheel retainer, the tensioning wheel retainer is connected with the tensioning mechanism through a sliding groove, the tensioning mechanism is connected with the box body, a lead screw is arranged in the tensioning mechanism, and the lead screw is driven by a tensioning motor.

2. The search and rescue robot for the coal mine as claimed in claim 1, wherein the bearing wheels are uniformly arranged, and the suspension and compression pitch angles of the bearing wheels are-8 to 30 degrees.

3. The search and rescue robot for the coal mine as claimed in claim 1, wherein the mechanical arm is connected to the upper cover plate through a connecting flange; be equipped with the auxiliary stay between bottom motor and the base, the auxiliary stay sets up for the equipartition.

4. The search and rescue robot for the coal mine as claimed in claim 1, wherein the gripper is hinged to the boom, the boom is hinged to the base, the mechanical arm lifting motor transmission shaft is provided with a fixed structure, a compression cover plate is arranged in the fixed structure, a thrust bearing is arranged above and below the compression cover plate, and a locking nut and a thrust washer are arranged outside the fixed structure.

5. The search and rescue robot for the coal mine as recited in claim 1, wherein the fixed structure of the mechanical arm mechanism, the lifting motor and the mechanical claw are all movably connected, detachable and replaceable.

6. The search and rescue robot for coal mines as claimed in claim 1, wherein the gripper is provided with a clamping motor and a clamping screw, a sliding groove is formed in the gripper holder, a movable clamping nut is arranged in the gripper holder, the clamping nut and the wedge block are connected through a bolt, the sliding groove is formed in the gripper, the wedge block is arranged in the sliding groove, two independent mechanical fingers are connected with the mechanical palm through hinges, an antifriction bearing is arranged at one end of each mechanical finger, and an anti-skid pattern is arranged at one end of each mechanical finger.

7. The search and rescue robot for the coal mine as recited in claim 1, wherein the external hanging pod is in active connection with the box body, and four external hanging parts of the radar pod, the life-support additional pod, the freight additional pod and the buoy additional pod can be detached and replaced.

8. A search and rescue robot for coal mines as set forth in claim 1, wherein the front and lower parts of the complete machine are provided with additional armors and buffer layers, and a heat dissipation grid is provided right in front of the complete machine.

9. The search and rescue robot for the coal mine as claimed in claim 1, wherein a roll cage is arranged on the upper portion of the upper cover mechanism, the roll cage is connected with the upper cover plate through bolts, a main detector is arranged inside the roll cage, and a top detection radar is arranged in an inclined armor in the front of the roll cage.

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