Mine disaster rescue robot with tunneling function and control method thereof

Abstract

The invention discloses a mine disaster rescue robot with tunneling function, comprising a cone-shaped drill head, a cylindrical front body segment and a cylindrical back body segment, wherein the front body segment and the back body segment are connected through a waist part capable of rotating on a plane; the two sides of the front body segment and the back body segment are symmetrically provided with landing legs; the landing legs are connected with the front body segment or the back body segment by a hip joint composed of a revolute pair; the tail end of each landing leg is a curved surface foot; the cone-shaped drill head is fixedly connected to the front end of the front body segment. The invention can adjust lengths of the legs and environment adaptability according to the space. The invention can achieve tunneling function in media like earth mounds and ruins through earth loosening by the drill head and earth stirring by the foot. The robot can be used to assist in dangerous tasks like mine disaster rescue and wilderness exploration.

Description

technical field [0001] The invention relates to the field of a hexapod robot and its control, in particular to a mine disaster relief hexapod robot with excavation function and its control method. Background technique [0002] The coal industry is the industry with the most serious casualties in industrial production. For a long time, the rescue after the coal mine disaster has been a hot research topic. Due to the following characteristics of the disaster mine: narrow space, unstable roadway structure at the mine disaster site, and flammable gas in the mine disaster site, the above characteristics are very important for the rescue of rescuers. Work and personal safety can cause great impact and hazards. The mobile robot can replace humans to enter the mine after a mine disaster occurs, and complete dangerous underground environment detection through various sensors (temperature sensor, carbon monoxide concentration sensor, gas concentration sensor, sound detector, position...

AI Technical Summary

Problems solved by technology

The robot adopts a six-legged structure, adopts a triangular gait marching control method, and has strong environmental adaptability. It adopts the driving principle of a wheeled robot in the marching control, and has a fast moving speed. It also has the function of tunneling, and can enter and pass through soil mounds and coal piles. And ruins and other media, so as to enter the blocked rescue site, overcome the shortcomings of the existing mine disaster relief robots that cannot pass through and enter the ruins, and the traveling and tunneling mechanism is integrated, making the robot smaller in size and quality, less energy consumption, and convenient Entering a small space and working for a long time

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