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

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...

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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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