An underground obstacle-crossing mobile robot

Abstract

The invention discloses an underground obstacle-crossing mobile robot, which comprises a frame, a chassis, a column-wound holding module, a friction wheel module and a distance sensor. The chassis isinstalled at the lower end of the chassis, the friction wheel module is arranged on the chassis at the upper end of the chassis, the post holding module is arranged at the rear end of the chassis, andthe distance sensor is installed at the front and rear ends of the chassis. The cylinder holding module is used to drive the chassis to descend and ascend, and then the robot rotates by driving the friction wheels forward and backward through the use of the sleeve to hold the column tightly. The underground obstacle-crossing mobile robot can dynamically adjust the height of the chassis from the ground according to the terrain, The invention overcomes the shortcomings of the traditional mobile robot platform that the terrain adaptability is poor, has strong passing performance, can meet various demands of the underground complex environment work, can climb the slope, surmount obstacles, moves steadily and laterally under the uneven terrain, and has the advantages of simple structure, convenient control, high reliability, strong practicability and the like.

Description

technical field [0001] The invention relates to a robot for underground work, in particular to an underground obstacle-surmounting mobile robot, which belongs to the technical field of underground intelligent machines. Background technique [0002] Due to the complex working conditions in the well, the harsh mining environment and high risk, in order to ensure the safety of personnel and the normal operation of downhole machines, it is necessary to conduct pre-detection of the downhole environment before going down the well, and at the same time dynamically detect various harmful gases and other downhole conditions. Operating conditions, such as gas concentration, wind speed, pressure, air temperature, dust concentration, etc. [0003] At present, the monitoring of environmental safety parameters in coal mines is divided into two methods: manual monitoring and automatic monitoring. In view of the poor working environment and poor lighting in the underground, manual monitori...

AI Technical Summary

Problems solved by technology

Most of the most widely used detection robots are only equipped with obstacle avoidance functions, and the detection machines such as infrared detectors enable the robot to bypass obstacles when they encounter obstacles, but they lack the ability to overcome obstacles, resulting in obstacles above the obstacles. The situation cannot be monitored, and operations near obstacles cannot be carried out; and because the downhole situation is more complicated, there are many debris obstacles, which can easily lead to damage to the robot and affect the normal progress of downhole detection

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