Portable intrinsic safety detection robot for underground coal mine rescue

Abstract

The invention belongs to the technical field of mine rescue robots, and relates to a portable intrinsic safety detection robot for underground coal mine rescue. The robot comprises a robot body, a moving platform and a control auxiliary system. The moving platform comprises a chassis system and a chassis cover plate installed on the chassis system in a sealed mode, a left isolation plate, a middleisolation plate and a right isolation plate are fixedly arranged in the chassis system in sequence, and the left isolation plate and the right isolation plate are each rotationally provided with fourrotating shafts fixedly provided with driving wheels. The driving wheels are eccentric wheels, the driving wheels on each side are assembled in the mode that the maximum diameter directions are alternately opposite, and the adjacent rotating shafts are connected in series and driven by four motors. The problems that an existing mining detection robot is large in size, heavy, poor in waterproofness and poor in obstacle crossing walking efficiency are solved.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a portable coal mine underground rescue intrinsically safe detection robot. Background technique [0002] Most of the existing mining rescue robot bodies adopt flameproof or flameproof and intrinsically safe explosion-proof design. For example, crawler robots weigh hundreds of kilograms or even tons, and are large in size, which is not convenient for rescuers to carry to dangerous underground environments. [0003] Existing mining rescue robots have low safety reliability and explosion-proof level (ExibI Mb), strictly speaking, they are not suitable for use in the disaster area 0 area environment (ExiaI Ma), and there are certain hidden safety hazards and risks. [0004] If the existing mining rescue robot adopts a high-speed combined force intrinsically safe robot mobile platform, there are problems of small load capacity, insufficient power and mechanical wear of the transmission m...

AI Technical Summary

Problems solved by technology

[0005] Existing mining rescue robots use cables to control robots, which have small working coverage, are greatly affected by cables, and have short communication distances, making it inconvenient for the mobile platform of the robot body to walk freely

[0006] Most of the existing mining rescue robots lack the ability of intelligent perception of environmental danger trends and obstacle identification, and cannot give timely early warning of dangerous gas explosion areas and carbon monoxide poisoning areas, and identify dangerous obstacles / steps and ravines and falling dangerous sounds / directions

[0007] If the walking mechanism of the existing mining rescue robot adopts a single leg structure, such as a robot dog, although the ability to overcome obstacles is strong, the ability to pass through obstacles is poor, and it is not convenient to pass through the narrow disaster space underground, and it is easy to fall into slime or stuck in the mine. Into the underground rail and rock crevices and other gaps and cannot extricate itself. In addition, the ratio of motion efficiency to energy consumption is also low, and the overall performance is not dominant.

[0008] If the walking mechanism of the existing mining rescue robot adopts a single wheel structure, although the ratio of motion efficiency and energy consumption has been improved compared with a single leg structure, the ability to overcome obstacles is weak, and it is easy to slip when climbing over steps

[0009] Most of the existing mining rescue robots are fixed-installed multi-parameter detectors, which are not convenient for flexible removal and daily cycle calibration and maintenance. In addition, pump-suction multi-parameter detectors are not used, resulting in inability to accurately detect changes in external environmental parameters

Images