Coal mine underground search-and-rescue detection robot moving device

Abstract

The invention discloses a coal mine underground search-and-rescue detection robot moving device, belonging to the technical field of robots. The device comprises walking track mechanisms on the left and right sides, a front swing arm track mechanism, a wheel swing arm connecting rod mechanism, a wheel chassis and a power device. The front swing arm track mechanism is mounted on the outer side of the walking track mechanism; and the wheel swing arm connecting rod mechanism is mounted on the outer side of the front swing arm track mechanism. In both moving modes, the steering is realized by thedifferential speed between the left and right wheels, the wheel walking is driven by double rear wheels, and the track walking is driven by double front wheels. In the wheel swing arm connecting rod mechanism, a wheel lifting motor drives a rear wheel swing arm box to rotate, and the movement is transferred to a front wheel swing arm sleeved on a front mandrel through a transmission connecting rod; in the case of special underground environment of the coal mine, the track or wheel running can be selected according to different road conditions; and the device disclosed by the invention has perfect moving ability and adaptability, and provides a moving platform with strong maneuverability and reliability for building a coal mine underground environment detection robot.

Description

technical field [0001] The invention relates to a moving device for a search and rescue detection robot in a coal mine, belonging to the technical field of robots, and relates to a moving device that uses a crawler robot as a base and is superimposed with a connecting rod wheel moving mechanism, and can flexibly switch wheeled crawlers according to different environments. Background technique [0002] Nowadays, coal production and consumption are huge, but there are many high-gas mines in China. Due to poor production conditions, inadequate safety production and management measures, and irregular operations in some enterprises, accidents in coal mines occur frequently, causing a large amount of property losses and casualties. After gas and coal dust explosion accidents, high temperature, high pressure, smog, harmful gas, and lack of oxygen exist underground, and rescue workers rushing in may easily lead to secondary accidents and disasters. Uphole rescue experts and commande...

AI Technical Summary

Problems solved by technology

For example, Yanshan University's authorized announcement number is CN201484526U's utility model patent "wheel-track dual-purpose walking mechanism", which can switch the wheel-type crawler two kinds of walking mechanisms by lifting and lowering the hydraulic device, but lacks the swing arm crawler, and the obstacle surmounting performance is poor, so it is not applicable. At the scene of disasters in underground coal mines

The invention patent of Taiyuan University of Technology "Underground Coal Mine Search and Rescue Detection Robot Movement Device", the announcement number is CN101417674A, the device is composed of walking crawler movement devices on the left and right sides, front and rear rotating arm moving devices, sensor rotating arms and their control systems, and has a compact structure , but the exercise mode is single, and the best exercise mode cannot be selected according to the environmental characteristics

Beijing Jiaotong University's utility model patent "a compound mobile robot with walking wheels and tracks", authorized announcement number CN201140734Y, the device is ingeniously designed, adopts a telescopic rod mechanism, the structure is relatively complicated and the main body adopts a wheeled movement mode, which does not take into account the underground coal mine. And the special environment where the road surface of the disaster site is rough, there are many obstacles, and the passage space is limited and irregular. Therefore, there is an urgent need for a technical solution for the detection robot that can solve the problem of the coal mine search and rescue detection robot walking in the special environment underground.

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