Multi-section swing arm crawler-type robot for detection of mine disasters

Abstract

The invention discloses a multi-section swing arm crawler-type robot for detection of mine disasters. The robot comprises three sections of robot bodies, crawler-type traveling mechanisms, front and rear swing arm units, joint modules and power devices, wherein each section of robot body has an independent crawler-type traveling mechanism that is symmetrically arranged on the two sides of the robot body; the first and last robot bodies are respectively provided with two crawler-type swing arms; the swing arms can be controlled by a motor to rotate around the robot body; besides, crawlers of the swing arms are transmitted by driven wheels of the crawlers of the robot bodies, so as to realize synchronous rotation of the crawlers of the robot bodies and the crawlers of the swing arms; the robot bodies are connected with one another through joint devices which can realize pitching and yaw of each section of robot body; the first and last sections of robot bodies are respectively provided with the power devices; both of the two sections of robot bodies can be used to pull or push the whole robot. According to the multi-section swing arm crawler-type robot for detection of mine disasters disclosed by the invention, the integral construction of the robot is simple; the crawler-type traveling mechanisms feature excellent climbing and obstacle crossing performances; with use of the front and rear swing arms, ability of crossing vertical obstacles and relatively long gullies of the robot is improved; front and rear sets of power devices solve the problem of the robot in insufficient power in case of special terrains; utilization of multi-section construction helps greatly enhance balance and stability of the whole robot; in conclusion, a detection and rescue robot that is simple in structure, high in safety and strong in obstacle crossing ability is implemented according to the invention.

Description

technical field [0001] The invention relates to a robot, especially a detection and rescue robot in an unstructured terrain environment. Background technique [0002] Nowadays, my country's coal production and consumption are huge, but due to the geological characteristics of my country's coal mines and the factors of enterprise management level, mine disasters occur frequently, so how to organize efficient and safe rescue work after the mine disaster occurs is very important. After the disaster, the dangerous gas and complex terrain under the mine prevented rescuers from entering directly. This requires a high-performance detection and rescue robot to enter the mine first, collect various underground environmental information and provide it to the rescue command department to minimize secondary damage. Accidents happen. [0003] Due to the complex underground environment after the disaster, various unstructured terrain environments have high requirements for the movement a...

AI Technical Summary

Problems solved by technology

[0003] Due to the complex underground environment after the disaster, various unstructured terrain environments have high requirements for the movement and obstacle-surmounting performance of detection and rescue robots. The ability of the land and muddy environment is obviously insufficient; the performance of a single-section robot to cross continuous obstacles is not high, and the power under high slopes is insufficient; the height of vertical obstacles for climbing without swing arms is too low, etc.

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