CN201763384U

CN201763384U - Multiple-stage robot system for coal mine rescue

Info

Publication number: CN201763384U
Application number: CN2010205463153U
Authority: CN
Inventors: 马宏伟; 魏娟; 于洋
Original assignee: Xian University of Science and Technology
Current assignee: Xian University of Science and Technology
Priority date: 2010-09-27
Filing date: 2010-09-27
Publication date: 2011-03-16
Anticipated expiration: 2020-09-27

Abstract

The utility model discloses a multiple-stage robot system for coal mine rescue, which comprises detecting robot which can real-time detect related environmental information of a coal mine accident happening place, and a carrying robot which can carry the detecting robot from the ground to the vicinity of the coal mine accident happening place and real-time detect related environmental information of a coal mine downhole laneway synchronously during carrying along the existing transporting channel arranged in the coal mine downhole laneway. The carrying robot is a vehicle wheel type robot, and the detecting robot is a crawler type robot. The utility model has advantages of reasonable design, easy and simple operation, high intelligent degree and reliable working performance, according to the two-stage robot system with the carrying robot and the detecting robot, the defects that the condition of the coal mine downhole is bad, the distance from the accident happening place to a well head is far, the moving range of the crawler rescue robot is limited, and the environmental information of the accident happening place can not be effectively monitored are solved.

Description

The multistage robot system of coalmine rescue

Technical field

The utility model relates to a kind of coalmine rescue robot, especially relates to the multistage robot system of a kind of coalmine rescue.

Background technology

Coal is the main primary energy of China, coal accounts for more than 2/3 in the structure of consumer demand of China's primary energy production always for a long time, according to sustainable development of China energy strategy research report, the proportion that expects coal in the year two thousand fifty China's primary energy consumption still accounts for about 50%.Thereby can conclude that coal will be main energy sources and the basic industry that supports the Chinese national economy development in the long term from now on.But the exploitation of well-known coal is again a high risk industries, and the coal accident is of common occurrence, and China is particularly outstanding, compares with coal production and mine disaster death toll, and 1,000,000 tons of death rates in colliery of China are more than 100 times of world average level.Therefore be necessary to develop a kind of down-hole that is used for gas takes place, dust explosion, after the accidents such as landslide, can replace the people in time to enter the scene of the accident, obtain scene of the accident scene and gas, dust concentration, temperature, humidity is isoparametric to have autonomous moving, the coalmine rescue robot system of Based Intelligent Control, the scene of the accident information of utilizing robot to gather, in time, the firsthand information of the scene of the accident is provided for the ground rescue personnel exactly, both can be and carried out the colliery emergency management and rescue effectively, reducing casualties and property loss provides authentic communication, can be the rule that spreads of scientifically analyzing gas explosion catastrophe fire in period mist again, the research of aspects such as the condition of the conversion of disaster accident and expansion and factor provides initial data under the multiple disaster coupling condition.

Nowadays, research field has all been done a large amount of further investigations to the coalmine rescue robot system both at home and abroad, but because the coalmine rescue robot is the research field of an intersection, it relates to multi-door subject and technology such as machinery, control, sensing detection, information signal processing, pattern-recognition, artificial intelligence and computer.The coalmine rescue robot should be able to go deep into the scene of the accident, continuous motion in structure, semi-structured environment, and the kind of coal mining accident has multiple, should conduct a research according to the difference of accident kind.The gas explosion accident of one of four kinds of major accidents that take place with the colliery is an example, and it mostly occurs at distance well head work plane far away, and coal mining accident requires robot must arrive the scene of the accident fast, in time, exactly after taking place.The home and abroad colliery rescue robot does not still have the relevant report that is applied to actual rescue at present, its research mainly concentrates on aspect wheeled or the single robot of crawler type, wherein wheeled robot is the adhesive tape type wheel, and the high temperature that is not suitable for after blasting has fiery real current situation; Caterpillar mobile robot adaptation to the ground situation is stronger, but its speed of service is slower, and power consumption is bigger, and its travel mechanism and the power supply of providing for oneself all are not suitable for from well head and rapidly move to the scene of the accident, and the rescue demand returned of safety.

Continuous expansion along with the robot application field, multi-robot system has caused scholars' generally attention, whether and important factor of structure multi-robot system is an architecture Design, reasonable because the quality of systematic function depends on structure to a great extent.The architecture of individual robot is the basic composition unit of multi-robot system, and therefore, the architecture of studying individual robot is the very important research direction of research multirobot.Multi-robot system is done as a whole consideration, and the architecture of multi-robot system can be divided into centralized and distributing, and distributed structure is further divided into layer-stepping and distributed two kinds.How the multirobot architecture is studied exactly according to task type, definite robot population model and appropriate correlations such as robot individual capability; And the rescue robot architecture is answered correlation between each ingredient and function distribution in the primary study robot system, determine the information flow relation and the computation structure in logic of robot system, that is the general structure of information processing and control system in the robot system, this can obtain actual effectively key technologies for application for the coalmine rescue robot.

Coal mining accident is in the majority with down-hole accident, and the average mining depth in big-and-middle-sized colliery has reached more than 400 meters, the mining conditions complexity.In these mines, all use the rail transport of different modes until the shaft station from the following crossheading of coal-face, rail transport can fully adapt to the variation of transportation range and the bending in tunnel, applied widely, can be used for entry, also can be used for inclined shaft.Along with the development of coal mining technology and the increasing of mining rate, new down-hole means of transportation constantly occurs, but rail transport still existence in a large number in the mine transportation, the one, because rail transport is one of main means of transportation of gurmy haulage drift; The 2nd, even if because all using in the exploiting field of transporter transportation, the transportation of material and equipment still needs to use rail transport, therefore rail transport is still the main mode of transporting under the coal mine at present, and the existence of rail transport also provides primary condition for the operation of delivery robot of the present utility model in the down-hole.

In recent years, the China's coal-mine accident takes place frequently, and the coalmine rescue level is backward relatively, and various rescue works are still based on manually.Although many units have carried out the various robots that are used for the coal mining accident rescue, developed various model machines, there is no and be applied to actual report, its main cause is that the above-mentioned key technology of coalmine rescue robot is not solved yet preferably.In addition, inclement condition under the coal mine, the place where the accident occurred is far away apart from well head, also is that the restriction robot is in one of key factor of down-hole application.After under coal mine explosion accident taking place, underground orbit can be subjected to influence in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit all can be aggravated the interaction force between wheel track to some extent, influence robot motion's performance.Therefore, require the delivery robot should have certain mobility, stability and curve negotiation ability.

The utility model content

Technical problem to be solved in the utility model is at above-mentioned deficiency of the prior art, provide a kind of coalmine rescue multistage robot system, it is reasonable in design, use is easy and simple to handle, intelligent degree height and reliable working performance, adopt delivery robot and sniffing robot two-stage robot system efficiently solve inclement condition under the coal mine, place where the accident occurred apart from well head far, crawler type rescue robot moving range is limited can not defective and deficiency such as effectively monitor to the place where the accident occurred environmental information.

For solving the problems of the technologies described above, the technical solution adopted in the utility model is: the multistage robot system of a kind of coalmine rescue, it is characterized in that: comprise sniffing robot that the relevant environment information to the coal mining accident nidus detects in real time and be transported to coal mining accident nidus near by ground sniffing robot and transport the delivery robot that synchronously the relevant environment information in the underworkings of colliery is detected in real time in the process along the existing transport channel of being laid in the underworkings of colliery, carry out two-way communication with communication between described sniffing robot and the delivery robot, the artificial wheel formula of described delivery machine robot, described sniffing robot is a caterpillar type robot.

The multistage robot system of above-mentioned coalmine rescue, it is characterized in that: described delivery robot comprises robot body one, be laid in the robot body one and the robot storage compartment that supplies sniffing robot to deposit, be installed on the door of described robot storage compartment and drive the door driving mechanism for switches of described door switch, be installed in the robot body one and can be along the walking mechanism one of the existing transport channel walking of being laid in the underworkings of colliery, the driving mechanism one that walking mechanism one is driven, environmental information monitoring means one, independent navigation unit one, range cells one, the automatic row who is installed on the robot body one hinders mechanism, wireless communication unit one and respectively with environmental information monitoring means one, the control system one that range cells one and independent navigation unit one join, described door driving mechanism for switches, described walking mechanism one, driving mechanism one, environmental information monitoring means one, range cells one, independent navigation unit one and control system one are installed in the robot body one; Described door driving mechanism for switches, automatic row barrier mechanism and driving mechanism one is controlled by control system one and the three is all joined with control system one, described wireless communication unit one and control system one are joined;

Described sniffing robot comprises robot body two, be installed in the walking mechanism two in the robot body two, the driving mechanism two that walking mechanism two is driven, environmental information monitoring means two, independent navigation unit two, range cells two, wireless communication unit two and respectively with environmental information monitoring means two, the control system two that range cells two and independent navigation unit two join, described driving mechanism two, environmental information monitoring means two, independent navigation unit two, range cells two and control system two are installed in the robot body two, described driving mechanism two is controlled by control system two and itself and control system two are joined, and described wireless communication unit two joins with control system two; Carry out two-way communication by wireless communication unit one and wireless communication unit two between described control system one and the control system two, and described control system one is carried out two-way communication by wireless communication unit one and wireless communication unit two with ground Remote equipment respectively with control system two.

The multistage robot system of above-mentioned coalmine rescue is characterized in that: the track of described existing transport channel for being made up of the rail of two parallel layings; Described walking mechanism one comprises front axle train and the rear axle train that one in front and one in back is installed in robot body one below, connects by sprocket wheel between described front axle train and the described rear axle train; Described front axle train comprises front axle, is installed in the near front wheel and the off-front wheel at two ends, the front axle left and right sides respectively, described rear axle train comprises with the hind axle of the parallel laying of front axle and is installed in the left rear wheel at two ends, the hind axle left and right sides respectively and off hind wheel is formed, and described the near front wheel, off-front wheel, left rear wheel and off hind wheel are the rail wheel that structure is corresponding with the structure of rail and can move forward and backward along rail.

The multistage robot system of above-mentioned coalmine rescue is characterized in that: the left and right end portions of described front axle and hind axle is installed in respectively in the bearing support that is installed on below, robot body one left and right sides.

The multistage robot system of above-mentioned coalmine rescue is characterized in that: described robot body one is provided with the robot storage compartment that is used to deposit sniffing robot; The outer shape of described robot body one is a cuboid, described robot storage compartment be shaped as cuboid, and be provided with in the robot body one described door opened after with sniffing robot by the undercarriage that is transferred to ground in the robot storage compartment, described undercarriage is driven by the undercarriage driving mechanism that is laid in the robot body one, and described undercarriage driving mechanism is controlled by control system one and itself and control system one are joined.

The multistage robot system of above-mentioned coalmine rescue is characterized in that: described sniffing robot is a six-DOF robot; Described walking mechanism two comprises left main track unit and the right main track unit that is installed in robot body two left and right sides respectively and is laid in robot body two left front portions, right front portion, left back and the left front swing arm unit of right back portion, right front swing arm unit, left back swing arm unit and right back swing arm unit respectively that described left front swing arm unit and left back swing arm unit are bilateral symmetry with right front swing arm unit and right back swing arm unit respectively and lay; Main track unit in a described left side and right main track unit are all joined with driving mechanism two; Described left front swing arm unit and left back swing arm unit all are in transmission connection with left main track unit and the two moves by the main track unit drive in a left side; Described right front swing arm unit and right back swing arm unit all are in transmission connection with right main track unit and the two moves by the main track unit drive in the right side; Described sniffing robot also comprises four swing arm driving motors that join and drive with left front swing arm unit, right front swing arm unit, left back swing arm unit and right back swing arm unit respectively, four swing arm driving motors all join with control system two and control by control system two, and four swing arm driving motors are corresponding to be driven left front swing arm unit, right front swing arm unit, left back swing arm unit and right back swing arm unit respectively and carry out 360 ° of swings around axis separately.

The multistage robot system of above-mentioned coalmine rescue is characterized in that: described delivery robot also comprises the check mechanism that is installed in the robot body one, and described check mechanism is electric brake device or Pneumatic brake device;

Described electric brake device comprises braking motor, join with the power output shaft of braking motor and the brake bar that drives by braking motor and on-position under four bearing shells being close to the wheel rim outside of the near front wheel, off-front wheel, left rear wheel and off hind wheel respectively, four described bearing shells join by transmission component and brake bar respectively and drive by brake bar and move, and four described bearing shells are respectively and the near front wheel, off-front wheel, left front bearing shell, left back bearing shell, right front bearing shell and right back bearing shell that left rear wheel is relative with the off hind wheel position;

Two brake cylinders about described Pneumatic brake device comprises, under former and later two horizontal moving sliders that drive by brake cylinder and the on-position respectively with the near front wheel, off-front wheel, four bearing shells that the wheel rim outside of left rear wheel and off hind wheel is close to, about two brake cylinders be respectively left hand cylinder and right cylinder, described brake cylinder is to be laid with the piston that former and later two laterally move in two-way cylinder and the described two-way cylinder, former and later two pistons join with former and later two horizontal moving sliders respectively and former and later two pistons drive former and later two horizontal moving sliders respectively and carry out laterally moving, and four described bearing shells are respectively and the near front wheel, off-front wheel, the left front bearing shell that left rear wheel is relative with the off hind wheel position, left back bearing shell, right front bearing shell and right back bearing shell; Left front bearing shell and left rear axle watt-minute are not joined by longitudinal rod and former and later two horizontal moving sliders of being driven by left hand cylinder, and right front bearing shell and right back bearing shell join by longitudinal rod and former and later two horizontal moving sliders that driven by right cylinder respectively.

The multistage robot system of above-mentioned coalmine rescue is characterized in that: be equipped with between described robot body one and the walking mechanism one with the weight of robot body one equably elasticity be passed to the buffer that is connected on the rail.

The multistage robot system of above-mentioned coalmine rescue, it is characterized in that: the quantity of described connection buffer is that two and two connection buffers are respectively and are laid in being connected buffer one and being laid in and being connected buffer two outside off-front wheel and the off hind wheel of the near front wheel and the left rear wheel outside, described connection buffer one identical with the structure that is connected buffer two and the two be the bilateral symmetry laying; The W shape connecting rod buffer gear that described connection buffer one includes preceding buffer structure, back buffer structure and is made up of four connecting rods, buffer structure comprises that the horizontal rubber pad that is laid in robot body one bottom and pad are contained in the vertical rubber pad between described horizontal rubber pad and the near front wheel middle and upper part or the left rear wheel middle and upper part before described, and the structure of described buffer structure afterwards is identical with the structure of preceding buffer structure; Four described connecting rods are respectively connecting rod one, connecting rod two, connecting rod three and connecting rod four from front to back, the bottom of connecting rod one is fixedly mounted between the front side middle part of the near front wheel and its upper end and the robot body one transition bearing one is installed, the bottom of connecting rod two and connecting rod three is fixedly mounted on respectively between the middle part, front side of the rear side middle part of the near front wheel and left rear wheel and the upper end of the two and the robot body one transition bearing two is installed, and the bottom of connecting rod four is fixedly mounted in the middle part of the rear side of left rear wheel and between its upper end and the robot body one transition bearing three is installed.

The multistage robot system of above-mentioned coalmine rescue, it is characterized in that: described delivery robot also comprises the internal inspection system one of joining with control system one and robot body one forward-and-rearward obstacle information being detected in real time, detection information of a pair of described internal inspection system of control system carry out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one; Described internal inspection system one comprises anterior detecting unit one that is laid in robot body one front portion and the rear portion detecting unit one that is laid in robot body one rear portion, described anterior detecting unit one and rear portion detecting unit one include the many set detecting devices one that whether exist obstruction and existing obstruction to detect in real time apart from the size of the distance of one of robot body and described obstruction to robot body one the place ahead and rear, and each is organized described checkout gear one and includes a sonac one and an infrared sensor one, and described sonac one and infrared sensor one all join with control system one;

Described sniffing robot also comprises the internal inspection system two of joining with control system two and robot body two forward-and-rearward obstacle informations being detected in real time, two detection information of two pairs of described internal inspection system of control system carry out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit two; Described internal inspection system two comprises anterior detecting unit two that is laid in robot body two front portions and the rear portion detecting unit two that is laid in robot body two rear portions, described anterior detecting unit two and rear portion detecting unit two include the many set detecting devices two that whether exist obstruction and existing obstruction to detect in real time apart from the size of the distance of two of robot bodies and described obstruction to robot body two the place aheads and rear, and each is organized described checkout gear two and includes a sonac two and an infrared sensor two, and described sonac two and infrared sensor two all join with control system two.

The utility model compared with prior art has the following advantages:

1, reasonable in design and reliable working performance, the utility model mostly occurs in the present situation in distance well head work plane zone far away at coal mining accident, the architecture of coalmine rescue with multistage robot system creatively proposed, first order robot---the delivery robot adopts wheel formula travel mechanism, and second level robot---sniffing robot adopts the more piece track structure; After the down-hole has an accident, first order robot carry second level robot along the down-hole existing conveying track run to can move apart from accident spot the most nearby, first order robot is if stoped by obstruction or track is damaged, can not continue reach, then open door, second level robot leaves first order robot from a suitable orientation, utilizes the independent navigation of himself, autonomous function such as move to continue to move ahead, and moves to the position that the down-hole takes place near accident.Sensors such as CCD camera, ultrasonic distance measuring apparatus and gas, carbon monoxide, oxygen, temperature, humidity tester all are housed in the two-stage robot, robot is from the beginning autonomous operation, utilize the sensor that himself carries, the environmental information around can detecting at any time, and handle and record.

2, delivery robot reasonable in design and result of use is good, locomitivity is strong, the delivery robot is under the effect of tractive force during orbiting, improper phenomenons such as can not derailing and topple and its have certain mobility, stability and curve negotiation ability, thereby after explosion accident and underground orbit take place under coal mine being subjected to influencing in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit can not influence the exercise performance of delivery robot.To sum up, the delivery robot is applicable to the accident rescue under the coal mine, the wheeled travel mechanism of its track, can make full use of existing conveying track under the coal mine, make the delivery robot have characteristics such as translational speed is fast, high temperature resistant, fire-resistant, and the concrete condition that can adapt to track is as upward slope, descending, curve, track switch etc.; Its rectangular capable casing can deliver the secondary sniffing robot, can load the battery of larger capacity again, makes it have the long working time, and is easy to realize waterproof and dustproof and explosion-proof.

3, the perfect in shape and function and the reliable working performance of delivery robot, it can not only be along track with certain speed even running, and the concrete condition that can adapt to track, as upward slope, descending, curve, track switch etc., have simple row simultaneously and hinder function, can remove the obstruction of the certain volume that is scattered on the track, and have the landing gear that can allow the secondary robot leave and return.In addition, the delivery robot has check mechanism, and it can standard be parked on the track as special circumstances.Thereby, delivery robot reasonable in design, intelligent degree height, locomitivity is strong, and under the effect of tractive force during orbiting, improper phenomenon such as do not derail and topple and its have certain mobility, stability and curve negotiation ability.

4, the delivery robot adopts modularized design, and easy accessibility makes robot architecture's compactness and easy accessibility, down-hole blast and both can directly enter the down-hole from ground after the accident, also can assemble the back in the parking lot, down-hole fast and use.At ordinary times can also be as a mobile device, autonomous operation is monitored downhole conditions under coal mine.

5, delivery robot compact conformation, easy and simple to handle, intelligent degree height and reliable working performance, the speed of service is fast, locomitivity is strong, after explosion accident and underground orbit take place under coal mine being subjected to a certain degree influencing, still can move along track circuit.Thereby can effectively solve inclement condition under the coal mine, place where the accident occurred apart from defective and deficiencies such as well head are far away, crawler type rescue robot moving range is limited.In the actual use, under coal mine, after the generation explosion accident, can make full use of the existing conveying track in down-hole, quickly and efficiently sniffing robot is transported to apart from the scene of the accident the most nearby, and can monitor the environment in the tunnel; Simultaneously, the utility model can move in orbit back and forth, and after underground orbit was subjected to influencing in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit can not influence exercise performance of the present utility model.

6, sniffing robot is designed to the swing arm caterpillar mobile robot, thereby it is when having acted on multiple mobile robot's advantage, fully take into account the influence of movement environment to motion, adopt different motion modes for different movement environments, Different Exercise Mode has different advantages.Sniffing robot has very strong kinetic stability, mobility, flexibility, also has very strong characteristics such as environmental suitability simultaneously.Can adjust athletic posture according to the variation of surrounding environment, reach the optimal selection and the operating efficiency of the highest motion.

7, practical value height and popularizing application prospect are extensive, have very high economic benefit and social benefit, the utility model can make full use of existing conveying track under the coal mine, give full play to the characteristics of wheeled mobile robot and caterpillar mobile robot, defective and deficiencies such as it is far away apart from well head to have solved accident spot preferably, and crawler type rescue robot moving range is limited.The utility model mostly occurs in the present situation in distance well head work plane zone far away at coal mining accident, the architecture of coalmine rescue with multistage robot system creatively proposed, the utility model is that first order robot and its adopt wheel formula travel mechanism, and second level robot is that sniffing robot adopts more piece track structure and its to be transferred near the accident nidus by the utility model; After the down-hole has an accident, the utility model carry second level robot along the down-hole existing conveying track run to can move apart from accident spot the most nearby, when the utility model is stoped by obstruction or track is damaged, can not continue reach, then open door, second level sniffing robot leaves the utility model from a suitable orientation and utilizes the independent navigation of himself, autonomous function such as move to continue to move ahead, and moves to the position that the down-hole takes place near accident; Sensors such as CCD camera, ultrasonic distance measuring apparatus and gas, carbon monoxide, oxygen, temperature, humidity tester all are housed in the two-stage robot, robot is from the beginning autonomous operation, utilize the sensor that himself carries, the environmental information around can detecting at any time, and handle and record.

In sum, the utility model is reasonable in design, use is easy and simple to handle, intelligent degree height and reliable working performance, adopt delivery robot and sniffing robot two-stage robot system efficiently solve inclement condition under the coal mine, place where the accident occurred apart from well head far, crawler type rescue robot moving range is limited can not defective and deficiency such as effectively monitor to the place where the accident occurred environmental information.

Below by drawings and Examples, the technical solution of the utility model is described in further detail.

Description of drawings

Fig. 1 is a perspective view of the present utility model.

Fig. 2 is a user mode reference diagram of the present utility model.

Fig. 3 is the internal construction schematic diagram of the utility model delivery robot.

Fig. 4 is the left view of Fig. 3.

Fig. 5 is the vertical view of Fig. 3.

Fig. 6 is the circuit block diagram of the utility model delivery robot.

Fig. 7 is the structural representation of the utility model delivery rail wheel that robot adopts.

Fig. 8 is the perspective view of the utility model delivery electric brake device that robot adopts.

Fig. 9 is the user mode reference diagram of the utility model delivery electric brake device that robot adopts.

Figure 10 is the vertical view of Fig. 9.

Figure 11 adopts the perspective view that connects buffer two for the utility model delivery robot.

Figure 12 is the perspective view of the utility model sniffing robot.

Figure 13 is the side portion structure schematic diagram of the utility model sniffing robot.

Figure 14 is the vertical view of Figure 13.

Figure 15 is the circuit block diagram of the utility model sniffing robot.

Figure 16 adopts the user mode reference diagram of Pneumatic brake device for the utility model delivery robot.

Figure 17 is the vertical view of Figure 16.

Description of reference numerals:

1-delivers robot; 1-1-robot body one; 1-2-robot storage compartment;

1-3-door driving mechanism for switches; 1-4-walking mechanism one; The 1-41-front axle;

1-42-the near front wheel; The 1-43-off-front wheel; The 1-44-hind axle;

The 1-45-left rear wheel; The 1-46-off hind wheel; The 1-48-bearing support;

1-481-bearing support housing; The 1-482-roller bearing; The 1-483-inside race;

1-5-driving mechanism one; The 1-6-environmental information is monitored single 1-7-control system one;

Unit one;

1-8-independent navigation unit one; 1-9-arranges barrier mechanism automatically; 1-10-range cells one;

The 2-sniffing robot; The 3-rail; The 4-wheel rim;

The 5-wheel rim; The 6-undercarriage; 7-undercarriage driving mechanism;

The 8-braking motor; The 9-brake bar; The left front bearing shell of 10-1-;

The left back bearing shell of 10-2-; The right front bearing shell of 10-3-; The right back bearing shell of 10-4-;

11-1-transmission component one; Longitudinal rod behind the longitudinal rod 11-12-before the 11-11-

One; One;

11-13-transversal stretching connecting rod one; 11-14-drive link one; 11-2-transmission component two;

Longitudinal rod two before the 11-21-; Longitudinal rod 11-23-transversal stretching connects behind the 11-22-

Two; Bar two;

11-24-drive link two; Buffer structure before the 12-1-; Buffer structure behind the 12-2-;

12-3-connecting rod one; 12-4-connecting rod two; 12-5-connecting rod three;

12-6-connecting rod four; 13-1-transition bearing one; 13-2-transition bearing two;

13-3-transition bearing three; The 14-memory cell; The 15-wireless communication unit;

Sprocket wheel before the 18-1-; Sprocket wheel behind the 18-2-; The 18-3-chain;

The 19-elastic supporting bar; 20-1-mount pad one; 20-2-mount pad two;

The 21-level is to chute; The 22-holder; The 23-connection fastener;

24-sonac one; 25-infrared sensor one; 27-sonac two;

28-infrared sensor two; The 29-brake cylinder; The horizontal moving slider of 30-;

The 31-longitudinal rod; The 32-piston.

The specific embodiment

As Fig. 1, the multistage robot system of a kind of coalmine rescue shown in Figure 2, comprise sniffing robot 2 that the relevant environment information to the coal mining accident nidus detects in real time and be transported to coal mining accident nidus near by ground sniffing robot 2 and transport the delivery robot 1 that synchronously the relevant environment information in the underworkings of colliery is detected in real time in the process along the existing transport channel of being laid in the underworkings of colliery, carry out two-way communication with communication between described sniffing robot 2 and the delivery robot 1, described delivery robot 1 is a wheel formula robot, and described sniffing robot 2 is a caterpillar type robot.

In conjunction with Fig. 3, Fig. 4, Fig. 5 and Fig. 6, described delivery robot 1 comprises robot body one 1-1, be laid in robot body one 1-1 and the storage compartment 1-2 of robot that supplies sniffing robot 2 to deposit, be installed on the door of the described storage compartment 1-2 of robot and drive the door driving mechanism for switches 1-3 of described door switch, be installed in robot body one 1-1 and can be along walking mechanism one 1-4 of the existing transport channel walking of being laid in the underworkings of colliery, driving mechanism one 1-5 that walking mechanism one 1-4 is driven, environmental information monitoring means one 1-6, independent navigation unit one 1-8, range cells one 1-10, the automatic row who is installed on robot body one 1-1 hinders the 1-9 of mechanism, wireless communication unit 1 and respectively with environmental information monitoring means one 1-6, control system one 1-7 that range cells one 1-10 and independent navigation unit one 1-8 join, described door driving mechanism for switches 1-3, described walking mechanism one 1-4, driving mechanism one 1-5, environmental information monitoring means one 1-6, range cells one 1-10, independent navigation unit one 1-8 and control system one 1-7 are installed in robot body one 1-1.Described door driving mechanism for switches 1-3, the automatic row barrier 1-9 of mechanism and driving mechanism one 1-5 controls by control system one 1-7 and the three is all joined with control system one 1-7, described wireless communication unit 1 and control system one 1-7 join.Be integrated with generalized information system under the coal mine in described independent navigation unit one 1-8, based on path search algorithm and the self-align algorithm of GIS, the delivery robot in view of the above can the calculating optimum track route, and definite self-position.

In conjunction with Figure 12, Figure 13, Figure 14 and Figure 15, described sniffing robot 2 comprises robot body two 2-1, be installed in walking mechanism two 2-2 in robot body two 2-1, driving mechanism two 2-3 that walking mechanism two 2-2 are driven, environmental information monitoring means two 2-4, independent navigation unit two 2-5, range cells two 2-6, wireless communication unit 2 17 and respectively with environmental information monitoring means two 2-4, control system two 2-7 that range cells two 2-6 and independent navigation unit two 2-5 join, described driving mechanism two 2-3, environmental information monitoring means two 2-4, independent navigation unit two 2-5, range cells two 2-6 and control system two 2-7 are installed in robot body two 2-1, described driving mechanism two 2-3 are controlled by control system two 2-7 and itself and control system two 2-7 join, and described wireless communication unit 2 17 joins with control system two 2-7.Carry out two-way communication by wireless communication unit 1 and wireless communication unit 2 17 between described control system one 1-7 and control system two 2-7, and described control system one 1-7 and control system two 2-7 carry out two-way communication by wireless communication unit 1 and wireless communication unit 2 17 with ground Remote equipment respectively.

In the present embodiment, all be integrated with the GPS locating module in described independent navigation unit one 1-8 and independent navigation unit two 2-5, have positioning function.

In the present embodiment, described sniffing robot 2 is a six-DOF robot.Described walking mechanism two 2-2 comprise left main track unit 2-21 and the right main track unit 2-22 that is installed in the robot body two 2-1 left and right sides respectively and are laid in the left front portion of robot body two 2-1, right front portion, left back and the left front swing arm unit 2-23 of right back portion, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 respectively that described left front swing arm unit 2-23 and left back swing arm unit 2-25 are bilateral symmetry with right front swing arm unit 2-24 and right back swing arm unit 2-26 respectively and lay.Main track unit 2-21 in a described left side and right main track unit 2-22 all join with driving mechanism two 2-3.Described left front swing arm unit 2-23 and left back swing arm unit 2-25 all are in transmission connection with left main track unit 2-21 and the two moves by the main track unit 2-21 drive in a left side; Described right front swing arm unit 2-24 and right back swing arm unit 2-26 all are in transmission connection with right main track unit 2-22 and the two moves by the main track unit 2-22 drive in the right side.Described sniffing robot 2 also comprises four swing arm driving motors 6 that join and drive with left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 respectively, four swing arm driving motors all join with control system two 2-7 and control by control system two 2-7, and four swing arm driving motors are corresponding to be driven left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 respectively and carry out 360 ° of swings around axis separately.

To sum up, described sniffing robot 2 has 6 degree of freedom, i.e. two translational degree of freedom and four swing degree of freedom, driving mechanism two 2-3 comprise two main drive motor and four swing arm driving motors that respectively left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 driven of respectively the main track unit 2-21 in a left side and right main track unit 2-22 being driven, and two main drive motors and four swing arm driving motors all are laid in robot body two 2-1.Two main drive motors join with the power transmission shaft of main track unit 2-21 in a left side and right main track unit 2-22 behind reduction box respectively, and correspondingly four swing arm driving motors join with left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26 behind reduction box respectively.In the actual use, sniffing robot 2 directly drives six crawler belts (being respectively left main track unit 2-21, right main track unit 2-22, left front swing arm unit 2-23, right front swing arm unit 2-24, left back swing arm unit 2-25 and right back swing arm unit 2-26) motion of reeling by two main drive motors and four swing arm driving motors after slowing down, translational motion with crawler belt coiling motion changing into robot, produce two translational degree of freedom and a revolution degree of freedom, realize that sniffing robot 2 planar moves.Particularly, four swing arm driving motors drive four swing arms respectively, are that the axle center realizes rotating with rotary middle spindle separately, produce four rotary freedoms.

Thereby, during actual motion, above-mentioned swing arm caterpillar mobile robot is that sniffing robot 2 is when having acted on multiple mobile robot's advantage, fully take into account the influence of movement environment to motion, adopt different motion modes for different movement environments, Different Exercise Mode has different advantages.Sniffing robot has very strong kinetic stability, mobility, flexibility, also has very strong characteristics such as environmental suitability simultaneously.Can adjust athletic posture according to the variation of surrounding environment, reach the optimal selection and the operating efficiency of the highest motion.

In the actual use, described existing transport channel is the track of being made up of the rail 3 of two parallel layings.Described walking mechanism one 1-4 comprises front axle train and the rear axle train that one in front and one in back is installed in robot body one 1-1 below, connects by sprocket wheel between described front axle train and the described rear axle train.Described front axle train comprises front axle 1-41, is installed in the near front wheel 1-42 and the off-front wheel 1-43 at two ends, the front axle 1-41 left and right sides respectively, described rear axle train comprises that and the hind axle 1-44 of the parallel laying of front axle 1-41 and the left rear wheel 1-45 and the off hind wheel 1-46 that are installed in two ends, the hind axle 1-44 left and right sides respectively forms, and described the near front wheel 1-42, off-front wheel 1-43, left rear wheel 1-45 and off hind wheel 1-46 are the rail wheel that structure is corresponding with the structure of rail 3 and can move forward and backward along rail 3.

In the present embodiment, described sprocket wheel comprises and is laid in chain 18-3 and the respectively preceding sprocket wheel 18-1 of coaxial package on front axle 1-41 and hind axle 1-44 and back sprocket wheel 18-2 respectively, before described chain 18-3 is wrapped on sprocket wheel 18-1 and the back sprocket wheel 18-2.

As shown in Figure 7, described rail wheel comprises wheel rim 4 and the coaxial wheel rim 5 that is laid in described wheel rim 4 inboards, the tread of wheel rim 5 is that taper tread and described taper tread ecto-entad are downward-sloping gradually, and the gradient of described taper tread is 1: 20, and the shape of cross section of described rail wheel is the T font.During practical operation, the diameter of described wheel rim 4 is Φ 430mm ± 20mm, and the diameter of described wheel rim 5 is Φ 485mm ± 20mm, and the transverse width of described wheel rim 5 is 32mm ± 3mm.In the present embodiment, the specification of described rail 3 is 24kg/m.The diameter of described wheel rim 4 is Φ 430mm, and the diameter of described wheel rim 5 is Φ 485mm, and the transverse width of described wheel rim 5 is 32mm.

In the present embodiment, described front axle wheel is that driving wheel system and described rear axle wheel are driven pulley system, and described front axle 1-41 joins by transmission mechanism and driving mechanism one 1-5, and described driving mechanism one 1-5 is the protected against explosion DC series motor.

The left and right end portions of described front axle 1-41 and hind axle 1-44 is installed in respectively in the bearing support 1-48 that is installed on below, the robot body one 1-1 left and right sides.In the present embodiment, the described bearing support housing of described bearing support 1-48 1-481, the two row roller bearing 1-482 up and down that are installed in bearing support housing 1-481 inside, coaxial package are at the inside race 1-483 of bearing support housing 1-481 inboard, and the axle journal of described front axle 1-41 or hind axle 1-44 is installed in the inside race 1-483.All fill up between the top of described bearing support housing 1-481 and outside portion and robot body one 1-1 Rubber shock-absorbing pad is housed.

Described robot body one 1-1 is provided with the storage compartment 1-2 of robot that is used to deposit sniffing robot 2.The outer shape of described robot body one 1-1 is a cuboid, the described storage compartment 1-2 of robot is shaped as cuboid, and be provided with in robot body one 1-1 described door opened after with sniffing robot 2 by the undercarriage 6 that is transferred to ground in the storage compartment 1-2 of robot, described undercarriage 6 is driven by the undercarriage driving mechanism 7 that is laid in robot body one 1-1, and described undercarriage driving mechanism 7 is controlled by control system one 1-7 and itself and control system one 1-7 join.

During actual processing and fabricating, described robot body one 1-1 and the storage compartment 1-2 of robot form a monolithic cube car body, described monolithic cube car body inside is divided into two parts up and down by dividing plate, and described dividing plate top is that the storage compartment 1-2 of robot and its underpart are robot body one 1-1.In the present embodiment, described range cells one 1-10 and range cells two 2-6 are laser range finder.

Simultaneously, described delivery robot 1 also comprises the check mechanism that is installed in robot body one 1-1, and described check mechanism is electric brake device or Pneumatic brake device.As Fig. 8, shown in Figure 9, in the present embodiment, described electric brake device comprises braking motor 8, under brake bar 9 that joins with the power output shaft of braking motor 8 and drive by braking motor 8 and the on-position respectively with the near front wheel 1-42, off-front wheel 1-43, four bearing shells that the wheel rim outside of left rear wheel 1-45 and off hind wheel 1-46 is close to, four described bearing shells join by transmission component and brake bar 9 respectively and drive by brake bar 9 and move, and four described bearing shells are respectively and the near front wheel 1-42, off-front wheel 1-43, the left front bearing shell 10-1 that left rear wheel 1-45 is relative with off hind wheel 1-46 position, left back bearing shell 10-2, right front bearing shell 10-3 and right back bearing shell 10-4.

In the present embodiment, described brake bar 9 be level to lay and the longitudinal centre line of the central axis of brake bar 9 and robot body one 1-1 perpendicular.The quantity of described transmission component be two groups and two groups of transmission components be respectively transmission component one 11-1 that is laid in middle part between the near front wheel 1-42 and the left rear wheel 1-45 and be laid in off-front wheel 1-43 with off hind wheel 1-46 between transmission component two 11-2, described transmission component one 11-1 and transmission component two 11-2 are the bilateral symmetry laying.Described transmission component one 11-1 comprise back longitudinal rod one 11-12 of longitudinal rod one 11-11 rear side before preceding longitudinal rod one 11-11, parallel being laid in and be connected before between longitudinal rod one 11-11 and the longitudinal rod one 11-12 bottom, back and can be synchronously flexible transversal stretching connecting rod one 11-13 in both sides forwards, backwards, join by drive link one 11-14 between the left part of the top of longitudinal rod one 11-11 and brake bar 9 before described, described left front bearing shell 10-1 and left back bearing shell 10-2 are installed in respectively on preceding longitudinal rod one 11-11 and back longitudinal rod one 11-12.Described transmission component two 11-2 comprise back longitudinal rod two 11-22 of longitudinal rod two 11-21 rear sides before preceding longitudinal rod two 11-21, parallel being laid in and be connected before between longitudinal rod two 11-21 and the longitudinal rod two 11-22 bottom, back and can be synchronously flexible transversal stretching connecting rod two 11-23 in both sides forwards, backwards, join by drive link two 11-24 between the right part of the top of longitudinal rod two 11-21 and brake bar 9 before described, described right front bearing shell 10-3 and right back bearing shell 10-4 are installed in respectively on preceding longitudinal rod two 11-21 and back longitudinal rod two 11-22.Between longitudinal rod one 11-11 and back longitudinal rod one 11-12 and between preceding longitudinal rod two 11-21 and back longitudinal rod two 11-22 elastic supporting bar 19 is installed all before described.

In the present embodiment, longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 are installed in robot body one 1-1 bottom by mount pad one 20-1 respectively before described, back longitudinal rod one 11-12 and back longitudinal rod two 11-22 are installed in robot body one 1-1 bottom by mount pad two 20-2 respectively, have level to chute on described mount pad one 20-1, the upper end spiral-lock of preceding longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 described level on chute 21 and the upper end of preceding longitudinal rod one 11-11 and preceding longitudinal rod two 11-21 can move around to chute 21 front and back along described level.Described brake bar 9 is installed on robot body one 1-1 by holder 22, is connected by connection fastener 23 between described brake bar 9 and the holder 22.

In the actual use, also can adopt the Pneumatic brake device.In conjunction with Figure 16, Figure 17, two brake cylinders 29 about described Pneumatic brake device comprises, under former and later two horizontal moving sliders 30 that drive by brake cylinder 29 and the on-position respectively with the near front wheel 1-42, off-front wheel 1-43, four bearing shells that the wheel rim outside of left rear wheel 1-45 and off hind wheel 1-46 is close to, about two brake cylinders 29 be respectively left hand cylinder and right cylinder, described brake cylinder 29 is for being laid with the piston 32 that former and later two laterally move in two-way cylinder and the described two-way cylinder, former and later two pistons 32 join with former and later two horizontal moving sliders 30 respectively and former and later two pistons 32 drive former and later two horizontal moving sliders 30 respectively and carry out laterally moving, and four described bearing shells are respectively and the near front wheel 1-42, off-front wheel 1-43, the left front bearing shell 10-1 that left rear wheel 1-45 is relative with off hind wheel 1-46 position, left back bearing shell 10-2, right front bearing shell 10-3 and right back bearing shell 10-4.Described left front bearing shell 10-1 and left back bearing shell 10-2 join by longitudinal rod 31 and former and later two horizontal moving sliders 30 that driven by left hand cylinder respectively, and right front bearing shell 10-3 and right back bearing shell 10-4 join by longitudinal rod 31 and former and later two horizontal moving sliders 30 that driven by right cylinder respectively.

In conjunction with Figure 10 and Figure 11, be equipped with between described robot body one 1-1 and walking mechanism one 1-4 with the weight of robot body one 1-1 equably elasticity be passed to the buffer that is connected on the rail 3.

In the present embodiment, the quantity of described connection buffer is that two and two connection buffers are laid in to be respectively and are laid in being connected buffer one 12-1 and being laid in and being connected buffer two 12-2 outside off-front wheel 1-43 and the off hind wheel 1-46 of the near front wheel 1-42 and the left rear wheel 1-45 outside in the position respectively, described connection buffer one 12-1 identical with the structure that is connected buffer two 12-2 and the two be the bilateral symmetry laying.The W shape connecting rod buffer gear that described connection buffer one 12-1 includes preceding buffer structure 12-1, back buffer structure 12-2 and is made up of four connecting rods, buffer structure 12-1 comprises that the horizontal rubber pad that is laid in robot body one 1-1 bottom and pad are contained in the vertical rubber pad between described horizontal rubber pad and the near front wheel 1-42 middle and upper part or the left rear wheel 1-45 middle and upper part before described, and the structure of described buffer structure 12-2 afterwards is identical with the structure of preceding buffer structure 12-1.Four described connecting rods are respectively connecting rod one 12-3 from front to back, connecting rod two 12-4, connecting rod three 12-5 and connecting rod four 12-6, the bottom of connecting rod one 12-3 is fixedly mounted between the front side middle part of the near front wheel 1-42 and its upper end and robot body one 1-1 transition bearing one 13-1 is installed, the bottom of connecting rod two 12-4 and connecting rod three 12-5 is fixedly mounted on respectively between the middle part, front side of the rear side middle part of the near front wheel 1-42 and left rear wheel 1-45 and the upper end of the two and robot body one 1-1 transition bearing two 13-2 is installed, and the bottom of connecting rod four 12-6 is fixedly mounted in the middle part of the rear side of left rear wheel 1-45 and between its upper end and robot body one 1-1 transition bearing three 13-3 is installed.To sum up, described connection buffer is by Connection Element, buffer element (buffer structure 12-1 and back buffer structure 12-2 promptly) with all carry element (being W shape connecting rod buffer gear) and form.

Simultaneously, in the present embodiment, described delivery robot 1 also comprises the internal inspection system one of joining with control system one 1-7 and robot body one 1-1 forward-and-rearward obstacle information being detected in real time, control system one 1-7 detection information of described internal inspection system is carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one 1-8.Described internal inspection system one comprises anterior detecting unit one that is laid in robot body one 1-1 front portion and the rear portion detecting unit one that is laid in robot body one 1-1 rear portion, described anterior detecting unit one and rear portion detecting unit one include the many set detecting devices one that whether exist obstruction and existing obstruction to detect in real time apart from the size of distance between robot body one 1-1 and described obstruction to robot body one 1-1 the place ahead and rear, and each is organized described checkout gear one and includes a sonac 1 and an infrared sensor 1, and described sonac 1 and infrared sensor 1 all join with control system one 1-7.In the actual use, many set detecting devices one in described anterior detecting unit one and the rear portion detecting unit one all are laid on the same horizon and are laid in the downside of robot body one 1-1 front and rear, and the many set detecting devices one in described anterior detecting unit one and the rear portion detecting unit one are even laying.

Described sniffing robot 2 also comprises the internal inspection system two of joining with control system two 2-7 and robot body two 2-1 forward-and-rearward obstacle informations being detected in real time, control system two 2-7 two detection information of described internal inspection system are carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit two 2-5.Described internal inspection system two comprises anterior detecting unit two that is laid in robot body two 2-1 front portions and the rear portion detecting unit two that is laid in robot body two 2-1 rear portions, described anterior detecting unit two and rear portion detecting unit two include the many set detecting devices two that whether exist obstruction and existing obstruction to detect in real time apart from the size of distance between robot body two 2-1 and described obstruction to robot body two 2-1 the place aheads and rear, and each is organized described checkout gear two and includes a sonac 2 27 and an infrared sensor 2 28, and described sonac 2 27 and infrared sensor 2 28 all join with control system two 2-7.In the actual use, many set detecting devices two in described anterior detecting unit two and the rear portion detecting unit two all are laid on the same horizon and are laid in the downside of robot body two 2-1 front and rears, and the many set detecting devices two in described anterior detecting unit two and the rear portion detecting unit two are even laying.

In the present embodiment, described delivery robot 1 also comprises the memory cell 1 of joining with control system one 1-7, and described sniffing robot 2 also comprises the memory cell 2 16 of joining with control system two 2-7.

In the actual mechanical process, the staff who rest on the ground can send remote control signal so that delivery robot 1 is carried out remote control to control system one 1-7 by described Remote equipment and wireless communication unit 1, deliver simultaneously in robot 1 running, by wireless communication unit 1 with its real-time institute detection signal synchronous driving to ground Remote equipment.And, in the actual use, carry out two-way communication by wireless communication unit 1 and wireless communication unit 2 17 between delivery robot 1 and the sniffing robot 2, realize that 1 pair of sniffing robot of delivery robot 2 carries out automatic control function, and control system two 2-7 of sniffing robot 2 with its duty and real-time detected parameters synchronous driving to control system one 1-7 that delivers robot 1.In addition, after sniffing robot 2 leaves delivery robot 1 carries out autonomous operation, the staff who rest on the ground can be by described Remote equipment with wireless communication unit 2 17 to control system two 2-7 transmission remote control signal so that sniffing robot 2 is carried out remote control; Simultaneously in sniffing robot 2 runnings, by wireless communication unit 2 17 with its real-time institute detection signal synchronous driving to ground Remote equipment.

In described delivery robot 1 actual moving process, the relevant environment parameter in the operation coal mine roadway is detected in real time and carries out synchronous recording, in case of necessity institute's detection information is sent to the long-range program-controlled equipment on ground by wireless communication unit 1; When the utility model is stoped by obstruction or track is damaged can not continue to move forward the time, then open door, sniffing robot 2 leaves robot body one 1-1 by undercarriage 6 from a suitable orientation, utilize the independent navigation of himself, autonomous function such as move to continue to move ahead, move to position that the down-hole takes place near accident and the relevant environment parameter of accident nidus is detected in real time and carries out synchronous recording, in case of necessity institute's detection information is sent to ground by wireless communication unit.In addition, in the actual moving process, the utility model is under the effect of tractive force during orbiting, derailing and improper phenomenon such as topple can not take place, after then under coal mine explosion accident taking place, underground orbit can be subjected to influence in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit all can be aggravated the interaction force between wheel track to some extent, influence exercise performance of the present utility model, then the utlity model has certain mobility, stability and curve negotiation ability.

In sum, delivery robot 1 of the present utility model and sniffing robot 2 include autonomous navigation system (being independent navigation unit one 1-8 and independent navigation unit two 2-5), remote control system (i.e. wireless communication unit 1 and the wireless communication unit 2 17 that joins with control system one 1-7 and control system two 2-7 respectively, and be laid in ground long-range program-controlled equipment), kinetic control system (i.e. control system one 1-7 that driving mechanism one 1-5 is controlled and to control system two 2-7 of driving mechanism two 2-3 control) and detection system (being environmental information monitoring means one 1-6 and internal inspection system one and environmental information monitoring means two 2-4 and internal inspection system two).

The image collecting device that described environmental information monitoring means one 1-6 comprises the checkout gear that information such as the carbon monoxide that is used to detect in the underworkings of colliery, oxygen, gas, temperature detect in real time and is laid in that described robot body one 1-1 goes up and the image information in the underworkings of colliery is gathered in real time, described image collector is changed to ccd video camera.There are Department of Geography's communication system and shortest path and the searching algorithm that spreads all over the path under the coal mine in described independent navigation unit one 1-8.In delivery robot 1 actual moving process, whether described internal inspection system one exists obstruction and existing obstruction to detect in real time apart from the distance between robot body one 1-1 and the size of described obstruction to robot body one 1-1 the place ahead and rear in real time, and information synchronization is detected in institute be sent to control system one 1-7 and carry out analyzing and processing, and control system one 1-7 to independent navigation unit one 1-8, is made that the analysis processing result synchronous driving detour still to start according to the analysis processing result of control system one 1-7 by independent navigation unit one 1-8 again and arranges the route programming result that the barrier 1-9 of mechanism arranges barrier automatically.Described control system one 1-7 receives the route programming result of independent navigation unit one 1-8 and is positioned at the telecommand of the long-range program-controlled equipment on ground, and control robot body one 1-1 realizes moving ahead, retreat, stop, crossing track switch, opening door, lifting undercarriage etc. and move along track.In a word, internal inspection system one is used to detect the direct of travel traffic information of delivery robot 1.

Equally, the image collecting device that described environmental information monitoring means two 2-4 comprise the checkout gear that information such as the carbon monoxide that is used for detection accident nidus, oxygen, gas, temperature detect in real time and are laid in that described robot body two 2-1 go up and the image information of accident nidus in the underworkings of colliery is gathered in real time, described image collector is changed to ccd video camera.There are Department of Geography's communication system and shortest path and the searching algorithm that spreads all over the path under the coal mine in described independent navigation unit two 2-5.In sniffing robot 2 actual moving process, whether described internal inspection system two exists obstruction and existing obstruction to detect in real time apart from the distance between robot body two 2-1 and the size of described obstruction to robot body two 2-1 the place aheads and rear in real time, and information synchronization is detected in institute be sent to control system two 2-7 and carry out analyzing and processing, and control system two 2-7 to independent navigation unit two 2-5, make corresponding route programming result by independent navigation unit two 2-5 according to the analysis processing result of control system two 2-7 with the analysis processing result synchronous driving again.Described control system two 2-7 receive the route programming result of independent navigation unit two 2-5 and are positioned at the telecommand of the long-range program-controlled equipment on ground, and control robot body two 2-1 realize that moving ahead, retreat, stop, crossing track switch etc. along track moves.In a word, internal inspection system two is used to detect the direct of travel traffic information of sniffing robot 2.

In described delivery robot 1 running, the relevant environment parameter in the operation coal mine roadway is detected in real time and carries out synchronous recording, in case of necessity institute's detection information is sent to ground by wireless communication unit 1; When delivery robot 1 is stoped by obstruction or track is damaged can not continue to move forward the time, then open door, sniffing robot 2 leaves delivery robot 1 by undercarriage 6 from a suitable orientation, utilize the independent navigation of himself, autonomous function such as move to continue to move ahead, move to position that the down-hole takes place near accident and the relevant environment parameter of accident nidus is detected in real time and carries out synchronous recording, in case of necessity institute's detection information is sent to ground by wireless communication unit 2 17.Exception, in the actual moving process, described delivery robot 1 is under the effect of tractive force during orbiting, derailing and improper phenomenon such as topple can not take place, after then under coal mine explosion accident taking place, underground orbit can be subjected to influence in various degree, factors such as various certainty irregularities, uncertainty irregularity and power irregularity in the track circuit all can be aggravated the interaction force between wheel track to some extent, the exercise performance of influence delivery robot 1, and delivery robot 1 has certain mobility, stability and curve negotiation ability.

In addition, in the present embodiment, all fixedly connected between the described storage compartment 1-2 of robot, walking mechanism one 1-4, driving mechanism one 1-5, undercarriage 6, described check mechanism and described connection buffer and robot body one 1-1 by bolt, thereby easy accessibility, in the actual use, each assembly of the present utility model can be transported to coal mining well down-hole after, again each assembly is assembled, that is to say, finish the assembling process of delivery robot 1 in the down-hole.

In the present embodiment, the mechanical system performance indications of sniffing robot 2 are as shown in table 1:

The mechanical system performance indications of table 2 sniffing robot 2

The above; it only is preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; everyly any simple modification that above embodiment did, change and equivalent structure are changed, all still belong in the protection domain of technical solutions of the utility model according to the utility model technical spirit.

Claims

1. multistage robot system of coalmine rescue, it is characterized in that: comprise sniffing robot (2) that the relevant environment information to the coal mining accident nidus detects in real time and be transported to coal mining accident nidus near by ground sniffing robot (2) and transport the delivery robot (1) that synchronously the relevant environment information in the underworkings of colliery is detected in real time in the process along the existing transport channel of being laid in the underworkings of colliery, carry out two-way communication with communication between described sniffing robot (2) and the delivery robot (1), described delivery robot (1) is a wheel formula robot, and described sniffing robot (2) is a caterpillar type robot.

2. according to the multistage robot system of the described coalmine rescue of claim 1, it is characterized in that: described delivery robot (1) comprises robot body one (1-1), be laid in the robot body one (1-1) and the robot storage compartment (1-2) that supplies sniffing robot (2) to deposit, be installed on the door of described robot storage compartment (1-2) and drive the door driving mechanism for switches (1-3) of described door switch, be installed in the robot body one (1-1) and can be along the walking mechanism one (1-4) of the existing transport channel walking of being laid in the underworkings of colliery, the driving mechanism one (1-5) that walking mechanism one (1-4) is driven, environmental information monitoring means one (1-6), independent navigation unit one (1-8), range cells one (1-10), the automatic row who is installed on the robot body one (1-1) hinders mechanism (1-9), wireless communication unit one (15) and respectively with environmental information monitoring means one (1-6), the control system one (1-7) that range cells one (1-10) and independent navigation unit one (1-8) join, described door driving mechanism for switches (1-3), described walking mechanism one (1-4), driving mechanism one (1-5), environmental information monitoring means one (1-6), range cells one (1-10), independent navigation unit one (1-8) and control system one (1-7) are installed in the robot body one (1-1); Described door driving mechanism for switches (1-3), automatic row barrier mechanism (1-9) and driving mechanism one (1-5) is controlled by control system one (1-7) and the three is all joined with control system one (1-7), described wireless communication unit one (15) and control system one (1-7) are joined;

Described sniffing robot (2) comprises robot body two (2-1), be installed in the walking mechanism two (2-2) in the robot body two (2-1), the driving mechanism two (2-3) that walking mechanism two (2-2) is driven, environmental information monitoring means two (2-4), independent navigation unit two (2-5), range cells two (2-6), wireless communication unit two (17) and respectively with environmental information monitoring means two (2-4), the control system two (2-7) that range cells two (2-6) and independent navigation unit two (2-5) join, described driving mechanism two (2-3), environmental information monitoring means two (2-4), independent navigation unit two (2-5), range cells two (2-6) and control system two (2-7) are installed in the robot body two (2-1), described driving mechanism two (2-3) is controlled by control system two (2-7) and itself and control system two (2-7) are joined, and described wireless communication unit two (17) joins with control system two (2-7); Carry out two-way communication by wireless communication unit one (15) and wireless communication unit two (17) between described control system one (1-7) and the control system two (2-7), and described control system one (1-7) is carried out two-way communication by wireless communication unit one (15) and wireless communication unit two (17) with ground Remote equipment respectively with control system two (2-7).

3. according to the multistage robot system of the described coalmine rescue of claim 2, it is characterized in that: the track of described existing transport channel for forming by the rail (3) of two parallel layings; Described walking mechanism one (1-4) comprises front axle train and the rear axle train that one in front and one in back is installed in robot body one (1-1) below, connects by sprocket wheel between described front axle train and the described rear axle train; Described front axle train comprises front axle (1-41), is installed in the near front wheel (1-42) and the off-front wheel (1-43) at front axle (1-41) two ends, the left and right sides respectively, described rear axle train comprises that and the hind axle (1-44) of the parallel laying of front axle (1-41) and the left rear wheel (1-45) and the off hind wheel (1-46) that are installed in hind axle (1-44) two ends, the left and right sides respectively forms, and described the near front wheel (1-42), off-front wheel (1-43), left rear wheel (1-45) and off hind wheel (1-46) are the rail wheel that structure is corresponding with the structure of rail (3) and can move forward and backward along rail (3).

4. according to the multistage robot system of the described coalmine rescue of claim 3, it is characterized in that: the left and right end portions of described front axle (1-41) and hind axle (1-44) is installed in respectively in the bearing support (1-48) that is installed on below, robot body one (1-1) left and right sides.

5. according to claim 2, the multistage robot system of 3 or 4 described coalmine rescues, it is characterized in that: described robot body one (1-1) is provided with the robot storage compartment (1-2) that is used to deposit sniffing robot (2); The outer shape of described robot body one (1-1) is a cuboid, described robot storage compartment (1-2) be shaped as cuboid, and be provided with in the robot body one (1-1) described door opened after with sniffing robot (2) by the undercarriage (6) that is transferred to ground in the robot storage compartment (1-2), described undercarriage (6) is driven by the undercarriage driving mechanism (7) that is laid in the robot body one (1-1), and described undercarriage driving mechanism (7) is controlled by control system one (1-7) and itself and control system one (1-7) are joined.

6. according to claim 2, the multistage robot system of 3 or 4 described coalmine rescues, it is characterized in that: described sniffing robot (2) is a six-DOF robot; Described walking mechanism two (2-2) comprises left main track unit (2-21) and the right main track unit (2-22) that is installed in robot body two (2-1) left and right sides respectively and is laid in the left front portion of robot body two (2-1) respectively, right front portion, the left front swing arm unit (2-23) of left back and right back portion, right front swing arm unit (2-24), left back swing arm unit (2-25) and right back swing arm unit (2-26), described left front swing arm unit (2-23) and left back swing arm unit (2-25) are bilateral symmetry with right front swing arm unit (2-24) and right back swing arm unit (2-26) respectively and lay; Main track unit in a described left side (2-21) and right main track unit (2-22) are all joined with driving mechanism two (2-3); Described left front swing arm unit (2-23) and left back swing arm unit (2-25) all are in transmission connection with left main track unit (2-21) and the two moves by the main track unit in a left side (2-21) drive; Described right front swing arm unit (2-24) and right back swing arm unit (2-26) all are in transmission connection with right main track unit (2-22) and the two moves by the main track unit in the right side (2-22) drive; Described sniffing robot (2) also comprise four respectively with left front swing arm unit (2-23), right front swing arm unit (2-24), the swing arm driving motor that left back swing arm unit (2-25) and right back swing arm unit (2-26) join and drive, four swing arm driving motors all join with control system two (2-7) and control four corresponding left front swing arm unit (2-23) that drive respectively of swing arm driving motor by control system two (2-7), right front swing arm unit (2-24), left back swing arm unit (2-25) and right back swing arm unit (2-26) carry out 360 ° of swings around axis separately.

7. according to claim 2, the multistage robot system of 3 or 4 described coalmine rescues, it is characterized in that: described delivery robot (1) also comprises the check mechanism that is installed in the robot body one (1-1), and described check mechanism is electric brake device or Pneumatic brake device;

Described electric brake device comprises braking motor (8), under brake bar (9) that joins with the power output shaft of braking motor (8) and drive by braking motor (8) and the on-position respectively with the near front wheel (1-42), off-front wheel (1-43), four bearing shells that the wheel rim outside of left rear wheel (1-45) and off hind wheel (1-46) is close to, four described bearing shells join by transmission component and brake bar (9) respectively and drive by brake bar (9) and move, and four described bearing shells are respectively and the near front wheel (1-42), off-front wheel (1-43), the left front bearing shell (10-1) that left rear wheel (1-45) is relative with off hind wheel (1-46) position, left back bearing shell (10-2), right front bearing shell (10-3) and right back bearing shell (10-4);

Two brake cylinders (29) about described Pneumatic brake device comprises, under former and later two horizontal moving sliders (30) that drive by brake cylinder (29) and the on-position respectively with the near front wheel (1-42), off-front wheel (1-43), four bearing shells that the wheel rim outside of left rear wheel (1-45) and off hind wheel (1-46) is close to, about two brake cylinders (29) be respectively left hand cylinder and right cylinder, described brake cylinder (29) is for being laid with the piston (29) that former and later two laterally move in two-way cylinder and the described two-way cylinder, former and later two pistons (32) join with former and later two horizontal moving sliders (30) respectively and former and later two pistons (32) drive former and later two horizontal moving sliders (30) respectively and carry out laterally moving, and four described bearing shells are respectively and the near front wheel (1-42), off-front wheel (1-43), the left front bearing shell (10-1) that left rear wheel (1-45) is relative with off hind wheel (1-46) position, left back bearing shell (10-2), right front bearing shell (10-3) and right back bearing shell (10-4); Left front bearing shell (10-1) and left back bearing shell (10-2) join by longitudinal rod (31) and former and later two horizontal moving sliders (30) of being driven by left hand cylinder respectively, and right front bearing shell (10-3) and right back bearing shell (10-4) join by longitudinal rod (31) and former and later two horizontal moving sliders (30) of being driven by right cylinder respectively.

8. according to claim 2, the multistage robot system of 3 or 4 described coalmine rescues, it is characterized in that: be equipped with between described robot body one (1-1) and the walking mechanism one (1-4) with the weight of robot body one (1-1) equably elasticity be passed to the buffer that is connected on the rail (3).

9. according to the multistage robot system of the described coalmine rescue of claim 8, it is characterized in that: the quantity of described connection buffer is that two and two connection buffers are respectively and are laid in being connected buffer one (12-1) and being laid in and being connected buffer two (12-2) outside off-front wheel (1-43) and the off hind wheel (1-46) of the near front wheel (1-42) and left rear wheel (1-45) outside, described connection buffer one (12-1) identical with the structure that is connected buffer two (12-2) and the two be the bilateral symmetry laying; The W shape connecting rod buffer gear that described connection buffer one (12-1) includes preceding buffer structure (12-1), back buffer structure (12-2) and is made up of four connecting rods, buffer structure (12-1) comprises that the horizontal rubber pad that is laid in robot body one (1-1) bottom and pad are contained in the vertical rubber pad between described horizontal rubber pad and the near front wheel (1-42) middle and upper part or left rear wheel (1-45) middle and upper part before described, and the structure of described buffer structure (12-2) afterwards is identical with the structure of preceding buffer structure (12-1); Four described connecting rods are respectively connecting rod one (12-3) from front to back, connecting rod two (12-4), connecting rod three (12-5) and connecting rod four (12-6), the bottom of connecting rod one (12-3) is fixedly mounted between the front side middle part of the near front wheel (1-42) and its upper end and the robot body one (1-1) transition bearing one (13-1) is installed, the bottom of connecting rod two (12-4) and connecting rod three (12-5) is fixedly mounted on respectively between the middle part, front side of the rear side middle part of the near front wheel (1-42) and left rear wheel (1-45) and upper end of the two and the robot body one (1-1) transition bearing two (13-2) is installed, and the bottom of connecting rod four (12-6) is fixedly mounted in the middle part of the rear side of left rear wheel (1-45) and between its upper end and the robot body one (1-1) transition bearing three (13-3) is installed.

10. according to claim 2, the multistage robot system of 3 or 4 described coalmine rescues, it is characterized in that: described delivery robot (1) also comprises the internal inspection system one of joining with control system one (1-7) and robot body one (1-1) forward-and-rearward obstacle information being detected in real time, control system one (1-7) detection information of described internal inspection system is carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit one (1-8); Described internal inspection system one comprises the rear portion detecting unit one that is laid in the anterior anterior detecting unit of robot body one (1-1) one and is laid in robot body one (1-1) rear portion, described anterior detecting unit one and rear portion detecting unit one include the many set detecting devices one that whether exist obstruction and existing obstruction to detect in real time apart from the size of distance between robot body one (1-1) and described obstruction to robot body one (1-1) the place ahead and rear, and each is organized described checkout gear one and includes one (24) and infrared sensor one (25) of a sonac, and described sonac one (24) and infrared sensor one (25) all join with control system one (1-7);

Described sniffing robot (2) also comprises the internal inspection system two of joining with control system two (2-7) and robot body two (2-1) forward-and-rearward obstacle information being detected in real time, control system two (2-7) two detection information of described internal inspection system are carried out analyzing and processing and with the analysis processing result synchronous driving to independent navigation unit two (2-5); Described internal inspection system two comprises the rear portion detecting unit two that is laid in the anterior anterior detecting unit of robot body two (2-1) two and is laid in robot body two (2-1) rear portion, described anterior detecting unit two and rear portion detecting unit two include the many set detecting devices two that whether exist obstruction and existing obstruction to detect in real time apart from the size of distance between robot body two (2-1) and described obstruction to robot body two (2-1) the place ahead and rear, and each is organized described checkout gear two and includes two (27) and infrared sensors two (28) of a sonac, and described sonac two (27) and infrared sensor two (28) all join with control system two (2-7).