A six-legged spider search and rescue robot in a coal mine

Abstract

The invention relates to an underground six-foot spider type search-and-rescue robot for a coal mine. The underground six-foot spider type search-and-rescue robot for the coal mine comprises a main support, a control panel, an image acquisition device and six bionic limbs, wherein the main support comprises an upper supporting plate and a lower supporting plate which are connected through multiple stand columns, and the six bionic limbs are distributed on the outer sides of the six protruding ends of the two supporting plates. Each bionic limb comprises a round connecting disc which is connected to the corresponding protruding end, wherein the round connecting disc is connected with a leg motor, the bottom of a motor support connected with the outer side of the leg motor is connected with another motor support, an inner limb motor is connected to the interior of the motor support connected with the bottom of the motor support connected with the outer side of the leg motor, the round connecting disc connected with the inner limb motor is connected to a supporting arm of a U-shaped connecting frame, and the other supporting arm of the U-shaped connecting frame is connected with another motor support; one supporting arm of another U-shaped connecting frame connected with the bottom of the U-shaped connecting frame is connected with an outer limb motor, the other supporting arm of the U-shaped connecting frame connected with the bottom of the U-shaped connecting frame is connected with the corresponding motor support, and the outer limb motor is connected to the interior of the motor support; an artificial tibia joint is connected to the upper portion of the outer limb motor. According to the underground six-foot spider type search-and-rescue robot for the coal mine, due to the fact that vertical dual steering engines are installed at the positions of all joints, the movement flexibility of the robot is effectively improved, and the load capacity of the robot is improved.

Description

technical field [0001] The invention relates to a search and rescue robot, in particular to an underground hexapod spider search and rescue robot in a coal mine. Background technique [0002] The research on the application of rescue robots in disaster search and rescue started relatively late. Although the current robot search and rescue technology is constantly updated, most of them are still in the laboratory stage, and there are still many problems that are difficult to overcome in the search and rescue process. Search and rescue robots that play a significant role are rare. [0003] There are two ways of communication between the existing disaster search and rescue robot and the operator: wireless and wired. The wired cable method can conveniently provide power for the search and rescue robot and effectively carry out signal transmission. However, as the search range deepens, the cable is very It is easy to get entangled or get stuck and affect the movement of the robo...

AI Technical Summary

Problems solved by technology

[0002] The research on the application of rescue robots in disaster search and rescue started relatively late. Although the current robot search and rescue technology is constantly updated, most of them are still in the laboratory stage, and there are still many problems that are difficult to overcome in the search and rescue process. Few search-and-rescue robots play an important role

[0003] There are two ways of communication between the existing disaster search and rescue robot and the operator: wireless and wired. The wired cable method can conveniently provide power for the search and rescue robot and effectively carry out signal transmission. However, as the search range deepens, the cable is very It is easy to get entangled or get stuck and affect the movement of the robot

The wireless communication method is more convenient for signal transmission than the wired communication method, but because the signal is hindered by various collapsed objects in the coal mine, the communication distance is seriously shortened, and its stability is difficult to guarantee

Moreover, when a mine disaster occurs, the road condition of the coal mine underground roadway becomes worse due to the explosion, and the robot must have a strong ability to overcome obstacles when performing search and rescue work. However, many existing coal mine search and rescue robots are wheeled. And crawler structure, can not have a strong ability to climb over obstacles

At the same time, due to the harsh environment of mine disaster search and rescue, the passage is relatively narrow, so the search and rescue robot cannot deliver oxygen, food, water and other disaster relief materials to the mine disaster personnel for self-rescue, and due to the imperfect structure design of the search and rescue robot itself, its own load bearing capacity is poor and not enough space to store disaster relief supplies

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