CN220053987U - Triangular crawler type intelligent mine danger detection robot - Google Patents
Triangular crawler type intelligent mine danger detection robot Download PDFInfo
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- CN220053987U CN220053987U CN202320886460.3U CN202320886460U CN220053987U CN 220053987 U CN220053987 U CN 220053987U CN 202320886460 U CN202320886460 U CN 202320886460U CN 220053987 U CN220053987 U CN 220053987U
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 239000003381 stabilizer Substances 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 18
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 10
- 239000001301 oxygen Substances 0.000 claims description 10
- 229910052760 oxygen Inorganic materials 0.000 claims description 10
- 239000007789 gas Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 14
- 239000006096 absorbing agent Substances 0.000 abstract description 8
- 230000035939 shock Effects 0.000 abstract description 8
- 230000007306 turnover Effects 0.000 abstract description 3
- 238000005065 mining Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 239000003245 coal Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model provides a triangular crawler-type intelligent mine danger detection robot, and belongs to the technical field of mine detection equipment. Including automobile body and the running gear with ground contact, running gear sets up the bottom of automobile body, the gyroscope is installed to the inside bottom of automobile body, one side of automobile body is installed and is used for the drive running gear's driving motor, the opposite side of automobile body is fixed to be provided with the fixing base, the last fixed surface of fixing base installs the nuclear battery that is used for supplying power, the top fixed mounting of automobile body has the supporting seat, the top fixed mounting of supporting seat has the fixed plate, the stabilizer is installed in the left side of fixed plate. According to the utility model, the gyroscope is utilized for real-time sensing, and the crawler belt, the front support of the driving wheel and the first spring shock absorber and the second spring shock absorber on the rear support of the driving wheel are utilized for coordination, so that the vehicle body is balanced and stable in the running process, and is not easy to turn over.
Description
Technical Field
The utility model relates to the field of mine detection equipment, in particular to a triangular crawler type intelligent mine danger detection robot.
Background
At present, china is one of large countries for world coal exploitation and consumption. Meanwhile, as the coal mining gradually turns to the depth, the occurrence rate of coal mining accidents in China is increased, various uncertain factors can appear in the rescue process, and if automatic exploration equipment capable of replacing rescue workers is adopted to go deep into the mine accident position before rescue, the rescue efficiency can be improved on the premise of ensuring the safety of the rescue workers. There is a great need to develop robots that can provide rescue support.
Most of the conventional detection equipment in the market cannot be used for stably shooting a mine hole in an application environment suitable for complex terrains under the mine, so that the exploration of the mine by a robot or the help of the robot to rescue the mine hole is influenced.
Disclosure of Invention
In order to overcome the defects, the utility model provides a triangular crawler type intelligent mine danger detection robot, which aims to solve the problems in the background technology.
The embodiment of the utility model provides a triangular crawler type intelligent mine danger detection robot which is characterized by comprising a vehicle body and a traveling mechanism in contact with the ground, wherein the traveling mechanism is arranged at the bottom of the vehicle body, a gyroscope is arranged at the bottom of the interior of the vehicle body, a driving motor for driving the traveling mechanism is arranged on one side of the vehicle body, a fixing seat is fixedly arranged on the other side of the vehicle body, and a nuclear battery for supplying power is fixedly arranged on the upper surface of the fixing seat;
the top fixed mounting of automobile body has the supporting seat, the top fixed mounting of supporting seat has the fixed plate, the stabilizer is installed in the left side of fixed plate, wide angle camera is installed at the stabilizer top, rear-mounted camera is installed on the right side of fixed plate.
In the implementation process, the stabilizer under the camera of the car body is utilized, so that the stability of shooting can be maintained to the greatest extent when the car body shakes; by utilizing the characteristic of strong endurance capacity of the nuclear battery, the long-time mining tunnel exploration or the long-time rescue operation can be performed.
In a specific embodiment, the running mechanism comprises a driving wheel, a front driven wheel, a rear driven wheel, a driving wheel front support, a driving wheel rear support, a driven wheel support and a track, wherein the driving wheel is in transmission connection with the driving motor, the driving wheel front support, the driving wheel rear support and the driven wheel support are in triangular arrangement, the driving wheel, the front driven wheel and the rear driven wheel are in triangular arrangement between the driving wheel front support, the driving wheel rear support and the driven wheel support, and the driving wheel, the front driven wheel and the rear driven wheel are in transmission connection through the track.
In a specific embodiment, the front support of the driving wheel is provided with a first spring damper, and the rear support of the driving wheel is provided with a second spring damper.
In the implementation process, the first spring shock absorber and the second spring shock absorber on the crawler belt, the front support of the driving wheel and the rear support of the driving wheel are utilized to coordinate, so that the vehicle body is balanced and stable in the running process, and the vehicle body is not easy to roll over.
In a specific embodiment, the oxygen detecting device is installed at the top of the fixing plate, and the combustible gas detecting device is installed at the top of the fixing plate and is arranged adjacent to the oxygen detecting device.
In the implementation process, the oxygen content and the combustible gas content in the mine can be detected.
In a specific embodiment, the warning lamps are installed at the top of the vehicle body, and the warning lamps are provided with four groups, and the four groups of warning lamps are respectively arranged at four corners of the top of the vehicle body.
In the implementation process, the warning lamp is arranged, so that a warning effect can be achieved under the condition of people.
In a specific embodiment, a searchlight is mounted at the end of the fixation plate at the front of the stabilizer.
In the implementation process, the front of the vehicle body can be illuminated.
In a specific embodiment, the outer cover of the wide-angle camera is provided with a first protective cover, and the outer cover of the rear camera is provided with a second protective cover.
In the implementation process, the protection of the wide-angle camera and the rear camera can be improved.
In a specific embodiment, the travelling mechanism and the driving motor are respectively provided with four groups correspondingly, and the four groups of travelling mechanisms are arranged at the bottom of the vehicle body in a square shape.
In the above-described implementation, balance during walking can be increased.
In a specific embodiment, the front driven wheel and the rear driven wheel are identical in structure, and the diameter of the driving wheel is larger than that of the front driven wheel and the rear driven wheel.
In the implementation process, power transmission can be conveniently performed.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the gyroscope is utilized for real-time sensing, and the crawler belt, the front support of the driving wheel and the first spring shock absorber and the second spring shock absorber on the rear support of the driving wheel are utilized for coordination, so that the vehicle body is balanced and stable in the running process, and is not easy to turn over;
2. according to the utility model, the stabilizer under the camera of the vehicle body is utilized, so that the shooting stability can be maintained to the greatest extent when the vehicle body shakes;
3. the utility model can search mine holes for a long time or rescue activities for a long time by utilizing the characteristic of strong endurance capacity of the nuclear battery.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a triangular crawler type intelligent mine hazard detection robot provided by an embodiment of the utility model;
fig. 2 is a schematic structural view of a walking mechanism according to an embodiment of the present utility model.
In the figure: 1. a vehicle body; 11. a stabilizer; 12. a wide angle camera; 121. a first shield; 13. a searchlight; 14. a warning light; 15. a rear camera; 151. a second shield; 16. a nuclear battery; 161. a driving motor; 17. a fixing seat; 2. a support base; 3. a fixing plate; 4. an oxygen detecting device; 5. a combustible gas detection device; 6. a walking mechanism; 61. a track; 62. a driving wheel; 621. a driving wheel front support; 622. a support is arranged behind the driving wheel; 6211. a first spring damper; 6221. a second spring damper; 63. front driven wheel; 631. a driven wheel bracket; 64. a rear driven wheel; 7. a gyroscope.
Detailed Description
The technical solutions in the embodiments of the present utility model will be described below with reference to the accompanying drawings in the embodiments of the present utility model.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
Referring to fig. 1-2, the utility model provides a triangular crawler type intelligent robot for detecting mine danger, which comprises a vehicle body 1 and a traveling mechanism 6 contacted with the ground, wherein the traveling mechanism 6 is arranged at the bottom of the vehicle body 1, a gyroscope 7 is arranged at the inner bottom of the vehicle body 1, a driving motor 161 for driving the traveling mechanism 6 is arranged at one side of the vehicle body 1, a fixed seat 17 is fixedly arranged at the other side of the vehicle body 1, and a nuclear battery 16 for supplying power is fixedly arranged on the upper surface of the fixed seat 17;
the top fixed mounting of automobile body 1 has supporting seat 2, the top fixed mounting of supporting seat 2 has fixed plate 3, stabilizer 11 is installed in the left side of fixed plate 3, wide angle camera 12 is installed at stabilizer 11 top, rear camera 15 is installed on the right side of fixed plate 3.
Specifically, the running mechanism 6 includes a driving wheel 62, a front driven wheel 63, a rear driven wheel 64, a driving wheel front support 621, a driving wheel rear support 622, a driven wheel support 631 and a track 61, the driving wheel 62 is in transmission connection with the driving motor 161, the driving wheel front support 621, the driving wheel rear support 622 and the driven wheel support 631 are in triangle arrangement, the driving wheel 62, the front driven wheel 63 and the rear driven wheel 64 are in triangle arrangement between the driving wheel front support 621, the driving wheel rear support 622 and the driven wheel support 631, and the driving wheel 62, the front driven wheel 63 and the rear driven wheel 64 are in transmission connection with the track 61.
In a specific arrangement, the front support 621 of the driving wheel is provided with a first spring damper 6211, and the rear support 622 of the driving wheel is provided with a second spring damper 6221.
The oxygen detecting device 4 is installed at the top of the fixing plate 3, the combustible gas detecting device 5 is installed at the top of the fixing plate 3, and the combustible gas detecting device 5 is arranged adjacent to the oxygen detecting device 4.
In some specific embodiments, the warning lamps 14 are installed on the top of the vehicle body 1, the warning lamps 14 are provided with four groups, and the four groups of warning lamps 14 are respectively arranged at four corners of the top of the vehicle body 1.
In other embodiments, a searchlight 13 is mounted to the front of the stabilizer 11 at the end of the fixed plate 3.
In the present utility model, the outer cover of the wide-angle camera 12 is provided with a first protective cover 121, and the outer cover of the rear camera 15 is provided with a second protective cover 151.
It will be appreciated that in other embodiments, the running gear 6 and the driving motor 161 are respectively provided with four groups, and the four groups of running gear 6 are arranged at the bottom of the vehicle body 1 in a square shape.
In this embodiment, the front driven wheel 63 and the rear driven wheel 64 have the same structure, and the diameter of the driving wheel 62 is larger than the diameters of the front driven wheel 63 and the rear driven wheel 64.
The utility model also provides a using method of the intelligent triangular crawler-type mine danger detection robot, which comprises the following steps:
s1, when the vehicle is used, the driving motor 161 drives the driving wheel 62 to rotate, and the driving wheel 62 drives the front driven wheel 63 and the rear driven wheel 64 to rotate through the crawler 61, so that the vehicle body 1 walks;
s2, sensing in real time through a gyroscope 7, and coordinating the crawler 61, the front driving wheel bracket 621 and the rear driving wheel bracket 622 by using a first spring damper 6211 and a second spring damper 6221, so that the vehicle body 1 is balanced and stable in the running process, and the vehicle body 1 is not easy to roll over;
s3, connecting the core battery 16 with a heavier structure with the fixing seat 17 in the vehicle body 1 to enable the vehicle body 1 to be more stable, and performing long-time mining hole exploration or long-time rescue operation by utilizing the characteristic of strong endurance capacity of the core battery 16;
s4, shooting detection is carried out through the arranged wide-angle camera 12, and the stabilizer 11 is utilized to keep the shooting stability to the greatest extent when the vehicle body 1 shakes;
s5, a rear camera 15 is arranged on the right side of the fixed plate 3, so that the situation of the tail of the vehicle body 1 is focused in real time, and the visual field is enlarged;
s6, mounting a warning lamp 14 at the top of the vehicle body 1, warning in the presence of a person, and turning on a searchlight 13 in the running process to illuminate the front of the vehicle body 1, so that safety is ensured;
s7, detecting oxygen and combustible gas through the oxygen detection device 4 and the combustible gas detection device 5.
The triangle crawler type intelligent robot for detecting the mine danger has the principle and advantages that:
the utility model uses the gyroscope 7 to sense in real time, and uses the crawler 61, the front support 621 of the driving wheel and the first spring shock absorber 6211 and the second spring shock absorber 6221 on the rear support 622 of the driving wheel to coordinate, so that the vehicle body 1 keeps balanced and stable in the running process, and the vehicle body 1 is not easy to turn over; by using the stabilizer 11 under the camera of the vehicle body 1, the shaking of the vehicle body 1 can be kept to the maximum extent to keep the shooting stability; by utilizing the characteristic of the high endurance capability of the nuclear battery 16, a long-time mine tunnel exploration or a long-time rescue operation can be performed.
The above description is only an example of the present utility model and is not intended to limit the scope of the present utility model, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.
Claims (9)
1. The intelligent robot for detecting the danger of the triangular crawler-type mine is characterized by comprising a vehicle body (1) and a traveling mechanism (6) in contact with the ground, wherein the traveling mechanism (6) is arranged at the bottom of the vehicle body (1), a gyroscope (7) is arranged at the inner bottom of the vehicle body (1), a driving motor (161) for driving the traveling mechanism (6) is arranged on one side of the vehicle body (1), a fixing seat (17) is fixedly arranged on the other side of the vehicle body (1), and a nuclear battery (16) for supplying power is fixedly arranged on the upper surface of the fixing seat (17);
the intelligent vehicle is characterized in that a supporting seat (2) is fixedly arranged at the top of the vehicle body (1), a fixing plate (3) is fixedly arranged at the top of the supporting seat (2), a stabilizer (11) is arranged on the left side of the fixing plate (3), a wide-angle camera (12) is arranged at the top of the stabilizer (11), and a rear camera (15) is arranged on the right side of the fixing plate (3).
2. The intelligent triangular crawler-type mine danger detection robot according to claim 1, wherein the traveling mechanism (6) comprises a driving wheel (62), a front driven wheel (63), a rear driven wheel (64), a driving wheel front support (621), a driving wheel rear support (622), a driven wheel support (631) and a crawler belt (61), the driving wheel (62) is in transmission connection with the driving motor (161), the driving wheel front support (621), the driving wheel rear support (622) and the driven wheel support (631) are in triangular arrangement, and the driving wheel (62), the front driven wheel (63) and the rear driven wheel (64) are in triangular arrangement between the driving wheel front support (621), the driving wheel rear support (622) and the driven wheel support (631), and the driving wheel (62), the front driven wheel (63) and the rear driven wheel (64) are in transmission connection through the crawler belt (61).
3. The intelligent triangular crawler-type mine danger detection robot according to claim 2, wherein a first spring damper (6211) is installed on the front support (621) of the driving wheel, and a second spring damper (6221) is installed on the rear support (622) of the driving wheel.
4. The intelligent triangular crawler-type mine hazard detection robot according to claim 1, wherein an oxygen detection device (4) is installed at the top of the fixed plate (3), a combustible gas detection device (5) is installed at the top of the fixed plate (3), and the combustible gas detection device (5) is arranged adjacent to the oxygen detection device (4).
5. The intelligent triangular crawler-type mine hazard detection robot according to claim 1, wherein warning lamps (14) are arranged on the top of the vehicle body (1), the warning lamps (14) are provided with four groups, and the four groups of the warning lamps (14) are respectively arranged at four corners of the top of the vehicle body (1).
6. A triangularly tracked mine hazard detection intelligent robot according to claim 1, characterized in that a searchlight (13) is mounted at the front part of the stabilizer (11) at the end of the fixed plate (3).
7. The intelligent triangular crawler-type mine danger detection robot according to claim 1, wherein a first protection cover (121) is arranged on an outer cover of the wide-angle camera (12), and a second protection cover (151) is arranged on an outer cover of the rear camera (15).
8. A triangular crawler-type intelligent mine danger detecting robot according to claim 3, wherein four groups of the traveling mechanisms (6) and the driving motors (161) are respectively arranged correspondingly, and the four groups of the traveling mechanisms (6) are arranged at the bottom of the vehicle body (1) in a square shape.
9. A triangularly tracked mine hazard detection intelligent robot as claimed in claim 3, wherein the front driven wheel (63) and the rear driven wheel (64) are identical in structure, and the diameter of the driving wheel (62) is larger than the diameters of the front driven wheel (63) and the rear driven wheel (64).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320886460.3U CN220053987U (en) | 2023-04-19 | 2023-04-19 | Triangular crawler type intelligent mine danger detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320886460.3U CN220053987U (en) | 2023-04-19 | 2023-04-19 | Triangular crawler type intelligent mine danger detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220053987U true CN220053987U (en) | 2023-11-21 |
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ID=88788374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320886460.3U Active CN220053987U (en) | 2023-04-19 | 2023-04-19 | Triangular crawler type intelligent mine danger detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220053987U (en) |
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2023
- 2023-04-19 CN CN202320886460.3U patent/CN220053987U/en active Active
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