CN101244728A - Flame-proof type robot platform for search operation in coal mine well - Google Patents
Flame-proof type robot platform for search operation in coal mine well Download PDFInfo
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- CN101244728A CN101244728A CNA2008100199931A CN200810019993A CN101244728A CN 101244728 A CN101244728 A CN 101244728A CN A2008100199931 A CNA2008100199931 A CN A2008100199931A CN 200810019993 A CN200810019993 A CN 200810019993A CN 101244728 A CN101244728 A CN 101244728A
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Abstract
The invention relates to an explosion-proof robot platform used in search and rescue operation under coal mines, comprising an explosion-proof housing (1), a driving wheel unit (3), a driven wheel and swing arm unit (6), a traveling driving motor unit (14) and a swing arm rotary driving motor unit (15). The explosion-proof robot platform is characterized in that the driving wheel unit (3) and the driven wheel and swing arm unit (6) are symmetrically positioned at the two ends of the explosion-proof housing (1); the traveling driving motor unit (14) positioned in the explosion-proof housing (1) is connected with the driving wheel unit (3); the swing arm rotary driving motor unit (15) positioned in the explosion-proof housing is connected with the driven wheel and swing arm unit (6); a main track (4) is positioned between the driving wheel (26) of the driving wheel unit (3) and the driven wheel (39) of the driven wheel and swing arm unit (6); an auxiliary track (53) is positioned on the swing arm of the driven wheel and swing arm unit (6); an explosion-proof joint surface is used in the joint with the explosion-proof housing, suitable for search and rescue operation under coal mines.
Description
Affiliated technical field
The present invention relates to a kind of robot platform, particularly a kind of flame-proof type robot platform that is used for search operation in coal mine well.
Background technology
The robot of the development disaster relief both at home and abroad mostly concentrates on the disaster relief of disasteies such as superficial fire and earthquake at present, and also at the early-stage for the development of disaster relief robot under the coal mine.Colliery subsurface environment especially disaster such as gas or coal-dust explosion environment afterwards has two outstanding features: (1) is with a varied topography, belongs to non-structure terrain environment; (2) air is full of damp, belongs to the air ambient with damp.Therefore, necessarily require robot platform to have obstacle detouring preferably, keep away barrier ability and strict explosion-proof performance.Abroad, the RATLER mine exploring robot of U.S.'s intelligence system and robot center exploitation is used for the work that detects in the act after the disaster; The Simbot mine searching machine people of American South University of Florida development; By the V2 coalmine rescue robot that Remotec company makes, about 50 inches high, 1200 pounds are heavy, use flame-proof electric motor to drive rubber track.Navigation and rig camera, lamp, gas sensor and a robotic arm are installed, have Infravision and two-way speech communication function.Above-mentioned mine search and rescue robot has been represented current external present Research and development level in this field, yet they also have very big distance from requirement of actual application.Only from physical construction, the physical construction aspect of RATLER mine exploring robot does not design kinematic scheme according to being suitable for Minepit environment, and the chassis is not lower, and obstacle performance is general, without any the design of automatic obstacle avoiding aspect.Simbot is the very little robot of a kind of volume, and this has just determined it can not have range of control far away, can only in nearer scope line control be arranged, and the number of sensors of carrying is also very limited, and occupation mode is very limited.The independence of marmot robot and movability are all very strong, but it is the design-calculated test platform in order to survey normal mine landform, and are not suitable for use in the colliery search and rescue.The V2 robot has carried out explosion-proof design, but volume shows slightly huge.And above-mentioned robot does not all carry out explosion-proof design except that the V2 robot, is not allow to use containing under the coal mine with explosive gas atmosphere of gas, coal dust.The CUMT-I type mine search and rescue robot domestic, that China Mining University's reliability engineering and disaster relief robot research are developed is first robot that is used for coalmine rescue of China.This robot ambulation portion is a double-crawler type, and maneuverability is not enough, and obstacle climbing ability is not strong.At present, two patent application documents of domestic bulletin have related to the colliery search and rescue robot, and wherein application number is for providing a kind of known, that do not have specific embodiment, general robot scheme in 200510027369.2 the document.Application number is for providing a kind of crawler type multiple joint hinged robot that is applicable to search and detection in coal mine in 200610150840.1 the patent documentation, robot is divided into several modules according to function, the outside face of each unit module all is provided with crawler belt, be connected to become each unit snakelike by hinge, this snake-shaped robot has higher obstacle climbing ability, but do not relate to explosion-proof technology, if explosion-proof problem is taken into account, this scheme is difficult to realize.
Summary of the invention
The present invention is in order to overcome the deficiency that existing robots is not suitable for non-structure terrain environment and does not have explosion-proof performance, a kind of flame-proof type robot platform that is used for search operation in coal mine well is provided, is applicable under the coal mine with non-structure terrain environment and explosive gas atmosphere.
The technical solution adopted for the present invention to solve the technical problems: it is by flameproof enclosure, the drive wheel unit, flower wheel and swing arm unit, travel driving motor unit and swing arm rotary drive motor unit constitute, drive wheel unit and flower wheel and swing arm unit symmetry are located at the two ends of flameproof enclosure, the travel driving motor unit is located in the flameproof enclosure, and connect the drive wheel unit, swing arm rotary drive motor unit is located in the flameproof enclosure, and connect flower wheel and swing arm unit, be provided with main crawler belt between the flower wheel in drive wheel in the drive wheel unit and flower wheel and the swing arm unit, the middle part of flameproof enclosure is provided with the support wheel that supports main crawler belt.
Described flameproof enclosure is suitable for reading to be flameproof joint, have a plurality of tappedes blind hole that connect with the flame proof cap on the flameproof joint, the hole that connects about being arranged with on the left and right sides wall of flameproof enclosure, have the connection tapped blind hole on the outer face in each hole, both sides, flameproof enclosure middle part are provided with the boss of fixed pedestal wheel.
Described drive wheel unit is by beam barrel, axle drive shaft, axle sleeve, driven wheel, drive wheel, bearing constitutes, axle drive shaft is located in the centre hole of beam barrel, axle sleeve is located at the axle drive shaft middle part, drive wheel is fixed on an end of axle drive shaft, driven wheel is fixed on the other end of axle drive shaft, is the flame proof faying face S1 of a free-running fit between axle sleeve and the axle drive shaft, is a flameproof joint S2 between the hole on beam barrel and the flameproof enclosure.
Two ends are provided with the bearing of supporting driving shaft in the described beam barrel, inlay the axle sleeve with the beam barrel interference fit between the two bearings, and be provided with seal ring between beam barrel and axle drive shaft, and be provided with seal ring between the flameproof enclosure; Beam barrel is provided with the flange that connects on flameproof enclosure.
Described flower wheel and swing arm unit are by being fixed with gear, the swing arm S. A., the flower wheel bearing, flower wheel, belt wheel after the swing arm, the front swing arm side plate, belt wheel constitutes before support wheel and the swing arm, is fixed with the inner that gear is located at the swing arm S. A., and the swing arm S. A. is located in the flower wheel bearing, flower wheel is located on the flower wheel bearing, belt wheel is positioned at the outside of flower wheel after the swing arm, is installed on the flower wheel bearing, and belt wheel is coaxial and be connected as a single entity after flower wheel and the swing arm, the front swing arm side plate is located at the outer end of swing arm S. A., belt wheel is located at the leading section of front swing arm side plate before the swing arm, and the preceding belt wheel of belt wheel and swing arm is provided with auxiliary crawler belt after the swing arm, and support wheel is located at front swing arm side plate middle part.
The inner of described flower wheel bearing is inlaid with and the bearing interference fit, and and S. A. between be the axle sleeve of a flameproof joint S3; Be provided with seal ring between the mounting hole on described flower wheel bearing and the flameproof enclosure side plate, its fitting surface is a flameproof joint S4.
Described travel driving motor unit and swing arm rotary drive motor unit are formed by erection support, reducing motor, transmission gear, reducing motor connects with erection support, the reducing motor rotating shaft connects firmly with transmission gear is coaxial, erection support is provided with and is used for fixing connection holes, and erection support is provided with positioning through hole.
The present invention has adopted flameproof enclosure, drive motor units, battery cell, intelligent control unit, data acquisition unit and communication unit tool is positioned in the explosion-proof chamber.Explosion separation structure has all been adopted in the position that drive wheel and flower wheel place connect with the flame proof shell wall, and explosion separation structure has also been adopted in flameproof enclosure and flameproof enclosure lid connection place, has solved the flame proof problem of robot, can use at the colliery subsurface environment.The seal ring that this device is installed between explosion-proof chamber and the extraneous parts that communicate can be placed entering of the exterior water of flame proof shell, gas effectively, thereby has guaranteed the normal operation of the electrical equipment in the flame proof shell, more adapts to the muddy water road conditions that may occur under the coal mine.By running gear, can to about turning to of two crawler belts with speed carry out independent control, thereby realized forward, counter motion and and the divertical motion flexibly of robot.Two swing arms can be carried out 360 ° independent rotation around axle, and obstacle climbing ability is stronger.
Description of drawings
Fig. 1 is a three-dimensional structure diagram of the present invention;
Fig. 2 is the flameproof enclosure three-dimensional structure diagram among the present invention;
Fig. 3 is a planar structure front view of the present invention;
Fig. 4 is the planar structure figure of the office of overlooking of the present invention;
Fig. 5 is the partial enlarged drawing at I place among Fig. 4;
Fig. 6 is the partial enlarged drawing at II place among Fig. 4;
Fig. 7 is the drive motor units three-dimensional structure diagram among the present invention.
Among the figure: the 1-flameproof enclosure, 2. flameproof enclosure covers, 3-drive wheel unit, 4-master's crawler belt, 5-support wheel, 6-flower wheel and swing arm unit, the 7-hole, 8-connects tapped blind hole, 9-outer face, the 10-flameproof joint, 11-tapped blind hole, 12-boss, the 13-flange, 14-travel driving motor unit, 15-swing arm rotary drive motor unit, the 16-bearing, 17-gear, 18-beam barrel, the 19-axle drive shaft, 20-axle sleeve, 21-bearing, the 22-seal ring, 23-flange, 24-screw, the 25-flange, 26-drive wheel, 27-screw, the 28-seal ring, 29-bearing, 30-gear, the 31-S. A., 32-axle sleeve, 33-seal ring, the 34-bearing, 35-screw, 36-bearing, the 37-seal ring, 38-bearing, 39-flower wheel, the 40-screw, belt wheel after the 41-swing arm, 42-seal ring, the 43-packing seal, 44-swing arm side plate, 45-support wheel, belt wheel before the 46-swing arm, 47-screw, 48-boss, belt shaft before the 49-flange, 50-, the 51-screw, the 52-slotted hole, 53-assists crawler belt, the 54-gear, the 55-erection support, 56-motor reducer unit, 57-positioning through hole, 58-connection holes.
The specific embodiment
The present invention is further described below in conjunction with the embodiment in the accompanying drawing:
Shown in Figure 1, flameproof enclosure 1 is left-right symmetric, the top has connected flame proof cap 2, drive wheel unit 3 and flower wheel and swing arm unit 6 have been installed respectively in the both sides of flameproof enclosure, main crawler belt 4 wherein has been installed on drive wheel and the flower wheel, and the support wheel 5 that is connected in flameproof enclosure 1 middle part supports main crawler belt 4.
Fig. 2 is the three-dimensional structure diagram of flameproof enclosure 1, after flameproof enclosure 1 adopts magnesium content to be not more than light alloy unit-cast unit, die casting or the processing of employing welding manner of 6% (weight ratio), carrying out fine limit work forms, flameproof joint 10 is processed at 1 place suitable for reading at flameproof enclosure, has the tapped blind hole 11 that connects with flame proof cap 2 on it.Be provided with the hole 7 that connects about a pair of on the wall of the left and right sides of flameproof enclosure 1, the border in each hole all is provided with and connects screw group 8, and the tapping in flameproof enclosure 1 left and right sides is installed drive wheel unit 3 and flower wheel and swing arm unit 6.In order to increase the effective capacity of flame proof shell, process boss 12 in both sides.Thread mill drilling place thickness increases on flameproof enclosure, forms flange 13, and tapped bore does not penetrate the flameproof enclosure wall.The robot drive motor units has been installed in the explosion-proof chamber, and battery cell, intelligent control unit, data acquisition unit, communication unit etc. have been installed.
Among Fig. 3,4,5, the drive wheel unit comprises beam barrel 18, axle drive shaft 19, axle sleeve 20, driven wheel 17, driving pulley 26, bearing 16,21 and connector, beam barrel 18 middle parts have flange to have through hole, make flange 23, axle drive shaft 19 is installed among the centre hole of beam barrel 18, bearing 21 supporting driving shafts 19 have been installed at the beam barrel two ends, inlayed axle sleeve 20 between the two bearings, axle sleeve 20 and beam barrel 18 interference fit, 19 of axle sleeve 20 and axle drive shafts are free-running fit, are a flame proof faying face S1 between axle sleeve 20 and the axle drive shaft 19.And on beam barrel, be provided with seal groove, seal ring 22 be installed at beam barrel 20 and 19 of axle drive shafts.One end of axle drive shaft is provided with mounting flange 25, and flange is provided with screw and utilizes screw 24 to connect with 26 of drive wheels, and the other end of axle drive shaft and driven wheel 17 connect firmly, and bearing 16 has been installed at axle head in the outside of gear.After the drive wheel unit assembled, beam barrel 18 was installed in the hole 7 of flameproof enclosure sidewall, and between beam barrel 18 and hole 7 seal ring 28 was installed, and hole and beam barrel cylindrical are a flameproof joint S2, and the flange 23 of beam barrel and the outer face 9 in hole utilize screw 27 to connect.After the drive wheel unit was installed on the flameproof enclosure, its driven wheel 17 stretched into flame proof shell inside, with the gear mesh on the drive motor units 14 that is installed in the explosion-proof chamber.
Fig. 6 is the constructional drawing of flower wheel and swing arm unit, the swing arm S. A. 31 of flower wheel and swing arm unit 6 is installed in the flower wheel bearing 36, and the bearing 34 that is installed in 36 li of flower wheel bearings supports, in an end of bearing, be inlaid with axle sleeve 32, this axle sleeve 32 and bearing 36 interference fit, with S. A. 31 free-running fits, 31 of axle sleeve 32 and S. A.s are one group of flameproof joint S 3.Be fixed with gear 30 on the S. A. 31, its end is equipped with bearing 29.Bearing 36 is installed in the hole 7 on flameproof enclosure 1 side plate, between bearing 36 and the hole 7 seal ring 33 is installed, and is one group of flameproof joint S4 between hole 7 and bearing 36 cylindricals, and the flange on the bearing 36 connects with hole 7 outer faces, 9 usefulness screws 35.After bearing 37 was installed on the flame proof shell-side plate, the gear 30 of S. A. 31 1 ends stretched in the explosion-proof chamber, with the gear mesh on the drive motor units 15 that is fixed in the explosion-proof chamber.After the connection, flower wheel 39 is installed on the flower wheel bearing 36, adopts bearing 38 to support between the two, and between flower wheel wheel hole and bearing seal ring 37 has been installed.Swing arm is installed in the outside of flower wheel, and the back belt wheel 41 of swing arm is enclosed within on the bearing 36, uses set screws 40 and 39 coaxial connections of flower wheel, can be with flower wheel 39 coaxial rotations, and between has increased packing seal 43.One end of swing arm S. A. 31 passes back belt wheel 41 interstitial holes and stretches out the back belt wheel, and between axle and the belt wheel hole, back seal ring 42 has been installed.Front swing arm side plate 44 is in belt wheel 41 outsides, back, its rear end connects with the swing arm S. A. 31 that stretches out the back belt wheel, the side plate front end is equipped with the preceding belt wheel 47 of swing arm, on back belt wheel 41 and preceding belt wheel 46, auxiliary crawler belt 53 has been installed, front swing arm side plate 44 middle part symmetries have been installed two support wheels 45, are supported in the inboard, middle part of auxiliary crawler belt 53.One end of the axle 50 of preceding belt wheel is a connecting flange 49, on the flange by four slotted holes, the front end of forearm side plate has a slotted hole 52, form flange face around the slotted hole 52, have tapped bore, and the rear side at this slotted hole is provided with the boss 48 that has screw, and preceding belt shaft 50 penetrates this slotted hole 52, utilizes screw 51 that preceding belt shaft 49 is connected with side plate 44.And utilize screw 47 to be screwed into the screw of boss 48, preceding belt shaft 49 is held out against.Screw-in amount by set screw 47 can realize tensioning to auxiliary crawler belt 53.
Robot platform running part drive motor units 14 is identical with swing arm driving electric motor units 15 compositions, and its mounting means is also identical, and swing arm driving electric motor units retarder reduction ratio is bigger than running part drive motor units.Be made up of erection support 55, motor reducer unit 56, transmission gear 54, the motor reducer unit connects with erection support 55 by connecting flange, and reducer shaft stretches out erection support and transmission gear 54 connects firmly.Erection support 55 is provided with connection holes 58, and erection support connecting flange face one side is provided with positioning through hole 57, as shown in Figure 7.Drive motor units when mounted, positioning through hole on the bearing 57 is enclosed within on the bearing 16 or 29 of axle drive shaft axle head, and make the gear 30 on transmission gear 54 and drive shaft gear 16 or the swing arm S. A. mesh, by the screw screw attachment of the connection holes on the base plate 58 with flame proof shell bottom.
The drive path of the running gear of two covers is about robot platform: belt wheel 46 before travel driving motor unit 14 → driven wheel, 16 → axle drive shaft, 19 → drive wheel 26 → main crawler belt 4 → flower wheel 39 (belt wheel 41 after the swing arm) → auxiliary crawler belt 53 → swing arm.The drive path of the rotation system of robot front swing arm is: swing arm driving electric motor units 15 → driven wheel 30 → S. A. 31 → swing arm side plate 44.
Claims (7)
1, a kind of flame-proof type robot platform that is used for search operation in coal mine well, it is characterized in that: it is by flameproof enclosure (1), drive wheel unit (3), flower wheel and swing arm unit (6), travel driving motor unit (14) and swing arm rotary drive motor unit (15) constitute, drive wheel unit (3) and flower wheel and swing arm unit (6) symmetry are located at the two ends of flameproof enclosure (1), travel driving motor unit (14) is located in the flameproof enclosure (1), and connect drive wheel unit (3), swing arm rotary drive motor unit (15) is located in the flameproof enclosure (1), and connect flower wheel and swing arm unit (6), be provided with main crawler belt (4) between the flower wheel (39) in drive wheel (26) in the drive wheel unit (3) and flower wheel and swing arm unit (6), the middle part of flameproof enclosure (1) is provided with the support wheel (5) that supports main crawler belt (4).
2, the flame-proof type robot platform that is used for search operation in coal mine well according to claim 1, it is characterized in that: described flameproof enclosure (1) is suitable for reading to be flameproof joint (10), have a plurality of tappedes blind hole (11) that connect with flame proof cap (2) on the flameproof joint (10), the hole (7) that connects about being arranged with on the left and right sides wall of flameproof enclosure (1), have connection tapped blind hole (8) on the outer face in each hole (9), both sides, flameproof enclosure (1) middle part are provided with the boss (12) of fixed pedestal wheel (5).
3, the flame-proof type robot platform that is used for search operation in coal mine well according to claim 1, it is characterized in that: described drive wheel unit (3) is by beam barrel (18), axle drive shaft (19), axle sleeve (20), driven wheel (17), drive wheel (26), bearing (21) constitutes, axle drive shaft (19) is located in the centre hole of beam barrel (18), axle sleeve (20) is located at axle drive shaft (19) middle part, drive wheel (26) is fixed on an end of axle drive shaft (19), driven wheel (17) is fixed on the other end of axle drive shaft (19), being the flame proof faying face S1 of a free-running fit between axle sleeve (20) and the axle drive shaft (19), is a flameproof joint S2 between the hole (7) on beam barrel (18) and the flameproof enclosure (1).
4, the flame-proof type robot platform that is used for search operation in coal mine well according to claim 3, it is characterized in that: the interior two ends of described beam barrel (18) are provided with the bearing (21) of supporting driving shaft (19), inlay axle sleeve (20) between the two bearings (21) with beam barrel (18) interference fit, and between beam barrel (18) and axle drive shaft (19), be provided with seal ring (22), and be provided with seal ring (28) between the flameproof enclosure (1); Beam barrel (18) is provided with the flange (23) that connects on flameproof enclosure (1).
5, the flame-proof type robot platform that is used for search operation in coal mine well according to claim 1, it is characterized in that: described flower wheel and swing arm unit (6) are by being fixed with gear (30), swing arm S. A. (31), flower wheel bearing (36), flower wheel (39), belt wheel after the swing arm (41), front swing arm side plate (44), belt wheel (46) constitutes before support wheel (45) and the swing arm, be fixed with the inner that gear (30) is located at swing arm S. A. (31), swing arm S. A. (31) is located in the flower wheel bearing (36), flower wheel (39) is located on the flower wheel bearing (36), belt wheel after the swing arm (41) is positioned at the outside of flower wheel (39), be installed on the flower wheel bearing (36), belt wheel (41) is coaxial and be connected as a single entity after flower wheel (39) and the swing arm, front swing arm side plate (44) is located at the outer end of swing arm S. A. (31), belt wheel (46) is located at the leading section of front swing arm side plate (44) before the swing arm, belt wheel after the swing arm (41) is provided with auxiliary crawler belt (53) with the preceding belt wheel (46) of swing arm, and support wheel (45) is located at front swing arm side plate (44) middle part.
6, the flame-proof type robot platform that is used for search operation in coal mine well according to claim 5, it is characterized in that: the inner of described flower wheel bearing (36) be inlaid with bearing (36) interference fit, and and S. A. (31) between be the axle sleeve (32) of a flameproof joint S 3; Be provided with seal ring (33) between the mounting hole (7) on described flower wheel bearing (36) and flameproof enclosure (1) side plate, its fitting surface is a flameproof joint S4.
7, the flame-proof type robot platform that is used for search operation in coal mine well according to claim 1, it is characterized in that: described travel driving motor unit (14) is formed by erection support (55), reducing motor (56), transmission gear (54) with swing arm rotary drive motor unit (15), reducing motor (56) connects with erection support (55), reducing motor rotating shaft and coaxial the connecting firmly of transmission gear (54), erection support (55) is provided with and is used for fixing connection holes (58), and erection support (55) is provided with positioning through hole (57).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100199931A CN101244728A (en) | 2008-03-18 | 2008-03-18 | Flame-proof type robot platform for search operation in coal mine well |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100199931A CN101244728A (en) | 2008-03-18 | 2008-03-18 | Flame-proof type robot platform for search operation in coal mine well |
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| CNA2008100199931A Pending CN101244728A (en) | 2008-03-18 | 2008-03-18 | Flame-proof type robot platform for search operation in coal mine well |
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