Cable retracting method for wired control coal mine rescue detection robot

Abstract

The invention discloses a wire-control coalmine rescue detection robot and a cable extension and retraction method thereof. The wire-control coalmine rescue detection robot comprises a robot body and a cable extension and retraction box arranged at the top of the robot body. A cable extension and retraction device is arranged in the cable extension and retraction box. The robot body comprise a robot body cabinet, two travelling track assemblies and four swinging arm track assemblies. The robot body cabinet comprises a lower cabinet cavity, an upper cabinet cavity, a sensor cavity, three gear cavities and two supporting wheel cavities. The cable extension and retraction device comprises a cable extension and retraction motor, a synchronous belt transmission mechanism connected with an output shaft of the cable extension and retraction motor, and a cable winding mechanism and a cable arranging mechanism which are both connected with the synchronous belt transmission mechanism. The cable extension and retraction method of the wire-control coalmine rescue detection robot comprises the steps of cable connection and cable extension and retraction. By adoption of the wire-control coalmine rescue detection robot and the cable extension and retraction method thereof, cables are extended and retracted in order and are appropriate in degree of tightness, cable entanglement and breaking are reduced, and stable transmission of control signals, relevant sensor information and a power supply can be guaranteed.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a method for retracting and retracting cables of a wired-controlled coal mine rescue and detection robot. Background technique [0002] After gas explosions, landslides and other accidents in coal mines or other disaster environments, the surrounding environment is severely damaged, and the disaster-affected environment information cannot be directly transmitted to the rescue command center, and rescuers cannot engage in rescue operations, which seriously affects rescue efficiency. Great risk to life. Then there is an urgent need for rescue robots to explore disaster environment information in complex environments and transmit disaster environment information to the rescue command center. But at the same time, the disaster environment is very complex, which requires the robot to be able to autonomously control, find the signal source, and transmit the disa...

AI Technical Summary

Problems solved by technology

Adopting the cable laying method can reduce the occurrence of broken cables, but the cable releasing in the prior art mostly adopts passive cable releasing, such as the cable releasing device given in Li Yunwang's doctoral dissertation "Research on the Walking Mechanism of Mine Disaster Relief Robot". Composed of fiber optic winches and brackets, it adopts a passive cable release method. There is only a cable curling mechanism without a power source and a cable arrangement mechanism. For a long time, it is difficult to achieve good retraction, which will affect the next cable release; for this reason, it is necessary to consider the way of active cable release to achieve stable and reliable cable release and retraction by the robot. When using active cable release, It is also necessary to consider the issue of control to achieve the best control stability and effectiveness

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