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Portable mining intrinsically safe detection robot body based on parallel kinematic mechanism control

A robot body and motion mechanism technology, applied in the field of rescue and detection robots, can solve the problems of poor obstacle-crossing ability and weak drive wheel power, and achieve the effect of simple walking control design, low inductance, and improved obstacle-breaking ability

Active Publication Date: 2016-05-04
CHINA COAL TECH & ENG GRP CHONGQING RES INST CO LTD +1
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  • Abstract
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  • Application Information

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Problems solved by technology

[0006] In view of this, the purpose of the present invention is to provide a portable mine intrinsically safe detection robot body based on parallel kinematic mechanism control to solve the problem of weak driving wheel power and poor obstacle-crossing ability of existing mining intrinsically safe rescue detection robots. question

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  • Portable mining intrinsically safe detection robot body based on parallel kinematic mechanism control
  • Portable mining intrinsically safe detection robot body based on parallel kinematic mechanism control

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] As shown in the figure, this embodiment is based on the body of the portable mine intrinsically safe detection robot controlled by a parallel kinematic mechanism, including a body 1, the left side of the body 1 is provided with a first walking wheel set 2, and the right side of the body 1 is A second road wheel set 3 is provided; the body 1 is also provided with a first motor group 4 driving the first road wheel group 2 and a second motor group 5 driving the second road wheel group 3, the first electric motor Both the unit 4 and the second motor unit 5 include two motors whose rotors are coaxial and connected in series.

[0021] Of course, in actual implementation, the number of motors included in the first motor unit 4 and the second motor unit 5 can also be increased and adjusted as required, but the number of them must be more than two. In th...

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Abstract

The invention discloses a portable mine intrinsic safety robotic explorer body controlled by a parallel movement mechanism. The portable mine intrinsic safety robotic explorer body comprises a machine body, wherein a first travelling wheel set is arranged on the left side of the machine body; a second travelling wheel set is arranged on the right side of the machine body; a first motor set and a second motor set are further arranged on the machine body; each of the first motor set and the second motor set comprises at least two motors, and the rotors of the motors are coaxially connected in series. According to the invention, as the rotors of the motors for driving travelling wheels on the same side of the machine body are coaxially connected in series, the same travelling wheel is driven by multiple motors together; therefore, when crossing a barrier, a robotic explorer is enabled to still have sufficient power to cross the barrier or get out of a trap on the condition that only a few travelling wheels are in contact with the ground, and the barrier-crossing and trap removal capacity is greatly improved; in addition, the motors for driving the same travelling wheel are connected with the same controller, and the controller can send a unified control signal to the motors, so that the parallel control on all motor is realized, and the robot travelling control design is simpler.

Description

technical field [0001] The invention relates to a rescue detection robot, in particular to a portable mine rescue detection robot controlled by a parallel kinematic mechanism. Background technique [0002] A large number of studies and practices have proved that the application of robots to mine disaster rescue can help rescuers grasp first-hand information and materials at the accident site, improve rescue efficiency, and minimize casualties and losses. [0003] In order to work safely in an environment full of flammable and explosive gases, liquids or dust, the existing mining detection robots adopt explosion-proof treatment for high-power electrical equipment, such as the Chinese patent "No. 201516604U" Modular crawler rocker arm type coal mine underground detection robot", the announcement number is: 201264655 Chinese patent "coal mine rescue detection robot", the announcement number is: 101643096A Chinese patent "a coal mine underground rescue detection robot", the anno...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D63/02B60L15/32B60K1/02
Inventor 王克全赵善扬张自力伯志革刘林宋文王宇俊方灿李小波薛春荣刘成王莉胡翔李晶邸志强张安然
Owner CHINA COAL TECH & ENG GRP CHONGQING RES INST CO LTD
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