Coal mine rescue robot based on wired and wireless combination

Abstract

The invention relates to the technical field of rescue robots, and discloses a wired and wireless combined coal mine rescue robot which comprises a robot body, a driving mechanism is arranged on one side of the robot body, a connecting frame is arranged on one side of the driving mechanism, and a swing mechanism is arranged on one side of the connecting frame. The swing mechanism comprises a fixing arm, the fixing arm is fixedly connected to the outer side of the connecting frame, a long groove is fixedly connected to the side, away from the connecting frame, of the fixing arm, and a protruding block is slidably connected to the inner wall of the long groove. According to the coal mine rescue robot based on wired and wireless combination, through the arranged swing mechanism, under continuous rotation of a supporting shaft, a rack can be driven to do left-right reciprocating motion, then a swing frame can do reciprocating swing, gravel obstacles on a road can be swung and cleared away in the running process of the robot body, and the safety of the robot body is improved. And the running smoothness is guaranteed, the coal mine rescue work can be further carried out conveniently, and the flexible performance of the device is enhanced.

Description

Technical Field

[0001] This invention relates to the field of rescue robot technology, specifically to a coal mine rescue robot based on a combination of wired and wireless technologies. Background Technology

[0002] Coal mine rescue robots are advanced rescue equipment based on a combination of wired and wireless technologies. They are designed to respond to coal mine accidents and emergencies and protect the lives of miners. The robots can conduct remote exploration inside the coal mine where the accident occurs, transmit high-definition images and videos in real time, provide rescuers with real-time scene information, help them understand the accident situation, and make corresponding decisions.

[0003] With the development of technology, robots are gradually being used in coal mine rescue. However, due to the complex nature of coal mine sites, there may be some gravel obstacles on some roads. Common robots do not have the function of clearing gravel obstacles, which may cause the robot to encounter obstacles during its movement, making it impossible to carry out rescue work effectively and reducing the flexibility of the device. Summary of the Invention

[0004] The purpose of this invention is to provide a coal mine rescue robot based on a combination of wired and wireless technology to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a coal mine rescue robot based on a combination of wired and wireless technology, comprising a robot body, a drive mechanism on one side of the robot body, a connecting frame on one side of the drive mechanism, and a swing mechanism on one side of the connecting frame;

[0006] The swing mechanism includes a fixed arm, which is fixedly connected to the outside of the connecting frame. A long groove is fixedly connected to the side of the fixed arm away from the connecting frame. A protrusion is slidably connected to the inner wall of the long groove. A rack is fixedly connected to one side of the protrusion. A gear meshes with one side of the rack. A long shaft is fixedly connected to the inner ring of the gear. A swing frame is fixedly connected to the outer wall of the long shaft. A short shaft is fixedly connected to the side of the protrusion away from the long groove. A groove block is fixedly connected to the side of the short shaft away from the protrusion. A push shaft is provided inside the groove block. A disk is fixedly connected to the end of the push shaft away from the groove block. A support shaft is fixedly connected inside the disk. A support frame is fixedly connected to the top of the connecting frame.

[0007] The top of the long shaft is rotatably connected to the inside of the support frame, and the long shaft passes through the swing frame to facilitate the support of the long shaft.

[0008] Preferably, the long groove has an opening on the side away from the rack, and the short shaft passes through the opening, allowing the short shaft to move through the opening.

[0009] Preferably, the groove block has a short slot on the side away from the short axis, and the push shaft is movably connected to the inner wall of the short slot, so that the push shaft can push the groove block to move through the short slot.

[0010] Preferably, the drive mechanism includes a connecting arm, which is fixedly connected to the top of the robot body. A limiting seat is fixedly connected to the side of the connecting arm away from the robot body. A limiting block is inserted into the inner wall of the limiting seat, and a bolt is provided inside the limiting block. A motor is fixedly connected to the inner wall of the connecting frame. A worm gear is fixedly connected to the output end of the motor. A worm wheel meshes with the outer wall of the worm gear. A support block is fixedly connected to the bottom of the inner wall of the connecting frame, further improving the synchronization during the operation of the device.

[0011] Preferably, both the limiting seat and the limiting block have limiting holes on one side, the bolt is threaded to the inner wall of the limiting hole, and the limiting block is fixedly connected to the top of the connecting frame, thereby providing limiting support for the connecting frame.

[0012] Preferably, the end of the worm gear away from the motor is rotatably connected to the inner wall of the connecting frame, the support shaft passes through the support block and rotates, and the worm wheel is fixedly connected to the outer wall of the support shaft, which provides stable support for the support shaft and the worm gear, so that they can transmit power better.

[0013] Preferably, the robot body has the following built-in features:

[0014] The wired communication module is used to connect to the PC terminal to import 3D coal mine drawings containing coal mine communication system layout parameters and coal mine excavation parameters.

[0015] The wireless communication module modulation module is used to read the three-dimensional coal mine map and then obtain the wireless communication module docking task for each target point.

[0016] The wireless communication module group is used to perform wireless communication module docking tasks at fixed points, and to communicate with different communication devices (such as dispatching machines, media gateways, etc.) carried in the coal mine communication system, thereby realizing data output.

[0017] Preferably, the wireless communication module modulation module first reads the three-dimensional coal mine map, then obtains the inspection route of the coal mine rescue robot and the model parameters and location parameters of the communication devices carried in the coal mine communication system. Then, it queries the corresponding coordinate information of each communication device in the inspection route of the coal mine rescue robot, and finally marks the model parameters of the corresponding communication device and the corresponding interoperable wireless communication module parameters on the obtained coordinate information, thereby obtaining the corresponding wireless communication module docking task.

[0018] Preferred options also include:

[0019] The data correction module is used to correct the position and time parameters corresponding to the collected data based on the operating status parameters of the coal mine rescue robot.

[0020] Compared with existing technologies, this invention provides a coal mine rescue robot based on a combination of wired and wireless technologies, which has the following advantages:

[0021] 1. This coal mine rescue robot, based on a combination of wired and wireless technology, uses a swing mechanism to drive a rack and pinion to reciprocate left and right under the continuous rotation of the support shaft. This allows the swing frame to swing back and forth, clearing away debris and obstacles on the road as the robot moves, ensuring smooth movement, facilitating further coal mine rescue work, and enhancing the flexibility of the device.

[0022] 2. This coal mine rescue robot, based on a combination of wired and wireless technology, uses a drive mechanism to simultaneously rotate two support shafts by starting one motor. The worm gear and worm wheel work together to achieve self-locking, further enhancing the stability and synchronization of the device during operation. Furthermore, the combination of limit blocks and bolts facilitates the disassembly and installation of the connecting frame by workers, achieving good operational efficiency and further improving ease of operation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0024] Figure 1 This is a front view of the structure of a coal mine rescue robot based on a combination of wired and wireless communication, according to an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the swing mechanism in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the disk and groove block in an embodiment of the present invention;

[0027] Figure 4 for Figure 1 Enlarged structural diagram at point A in the middle.

[0028] Figure 5 This is a block diagram of the communication system contained in this invention.

[0029] In the diagram: 1. Robot body; 2. Connecting frame; 3. Swinging mechanism; 31. Fixed arm; 32. Long slot; 33. Protrusion; 34. Rack; 35. Gear; 36. Long shaft; 37. Swing frame; 38. Short shaft; 39. Slot block; 301. Push shaft; 302. Disc; 303. Support shaft; 304. Support frame; 4. Drive mechanism; 41. Connecting arm; 42. Limit seat; 43. Bolt; 44. Limit block; 45. Motor; 46. Worm; 47. Worm wheel; 48. Support block. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This invention provides the following technical solutions:

[0032] Example 1

[0033] Combination Figures 1 to 4 A coal mine rescue robot based on a combination of wired and wireless technology includes a robot body 1, a drive mechanism 4 on one side of the robot body 1, a connecting frame 2 on one side of the drive mechanism 4, and a swing mechanism 3 on one side of the connecting frame 2.

[0034] The swing mechanism 3 includes a fixed arm 31, which is fixedly connected to the outside of the connecting frame 2. A long groove 32 is fixedly connected to the side of the fixed arm 31 away from the connecting frame 2. A protrusion 33 is slidably connected to the inner wall of the long groove 32. A rack 34 is fixedly connected to one side of the protrusion 33. A gear 35 meshes with one side of the rack 34. A long shaft 36 is fixedly connected to the inner ring of the gear 35. A swing frame 37 is fixedly connected to the outer wall of the long shaft 36. A short shaft 38 is fixedly connected to the side of the protrusion 33 away from the long groove 32. A groove block 39 is fixedly connected to the side of the short shaft 38 away from the protrusion 33. A push shaft 301 is provided inside the groove block 39. A disc 302 is fixedly connected to the end of the push shaft 301 away from the groove block 39. A support shaft 303 is fixedly connected inside the disc 302. A support frame 304 is fixedly connected to the top of the connecting frame 2.

[0035] Furthermore, the top of the long shaft 36 is rotatably connected to the inside of the support frame 304, and the long shaft 36 passes through the swing frame 37, which facilitates the support of the long shaft 36.

[0036] Furthermore, a long slot is provided on the side of the long slot 32 away from the rack 34, and the short shaft 38 passes through the long slot, so that the short shaft 38 can move through the long slot.

[0037] Furthermore, a short slot is provided on the side of the slot block 39 away from the short shaft 38, and the push shaft 301 is movably connected to the inner wall of the short slot, so that the push shaft 301 can push the slot block 39 to move through the short slot.

[0038] like Figure 5 As shown, in order to achieve flexible adjustment of the robot's internal communication system, the robot body 1 has the following built-in features:

[0039] The wired communication module is used to connect to the PC terminal to import 3D coal mine drawings containing coal mine communication system layout parameters and coal mine excavation parameters; it is also used to export data collected by the robot body.

[0040] The wireless communication module modulation module is used to read 3D coal mine maps and then obtain the wireless communication module docking task for each target point. The module first reads the 3D coal mine maps, then obtains the inspection route of the coal mine rescue robot and the model parameters and location parameters of the communication devices within the coal mine communication system. Next, it queries the corresponding coordinate information of each communication device on the inspection route of the coal mine rescue robot, identifying the target point. Finally, it marks the model parameters of the corresponding communication device and the parameters of the corresponding dockable wireless communication module on the obtained coordinate information, thereby obtaining the corresponding wireless communication module docking task. This module is designed to fully utilize the coal mine communication system to achieve data transmission.

[0041] The wireless communication module group consists of several wireless communication modules and is used to perform wireless communication module docking tasks at fixed points. It communicates with different communication devices (such as dispatching machines, media gateways, etc.) carried in the coal mine communication system, and then outputs data through the different communication devices carried in the coal mine communication system.

[0042] To ensure the accuracy of the collected data, the following was also designed:

[0043] The data correction module is used to correct the position and time parameters of the collected data based on the operational status parameters of the coal mine rescue robot. Specifically, using the inspection route as a template, the operational status parameters (speed, angle, attitude, etc.) of the coal mine rescue robot at each coordinate point are obtained, thereby obtaining the actual position parameters and corresponding time parameters of the coal mine rescue robot, which are then marked on each collected data point.

[0044] Example 2

[0045] See Figures 1 to 4Furthermore, based on Embodiment 1, the drive mechanism 4 further includes a connecting arm 41, which is fixedly connected to the top of the robot body 1. A limiting seat 42 is fixedly connected to the side of the connecting arm 41 away from the robot body 1. A limiting block 44 is inserted into the inner wall of the limiting seat 42. A bolt 43 is provided inside the limiting block 44. A motor 45 is fixedly connected to the inner wall of the connecting frame 2. A worm gear 46 is fixedly connected to the output end of the motor 45. A worm wheel 47 meshes with the outer wall of the worm gear 46. A support block 48 is fixedly connected to the bottom of the inner wall of the connecting frame 2, further improving the synchronization during the operation of the device.

[0046] Furthermore, limit holes are provided on one side of both the limit seat 42 and the limit block 44. Bolts 43 are threaded to the inner wall of the limit holes, and the limit block 44 is fixedly connected to the top of the connecting frame 2, thereby providing limit support for the connecting frame 2.

[0047] Furthermore, the end of the worm 46 away from the motor 45 is rotatably connected to the inner wall of the connecting frame 2, the support shaft 303 passes through the support block 48 and rotates, and the worm wheel 47 is fixedly connected to the outer wall of the support shaft 303, which provides stable support for the support shaft 303 and the worm 46, so that they can transmit power better.

[0048] In actual operation, when this device is used, and it is necessary to clear obstacles on the path of the robot body 1 to move forward or backward, the motor 45 can be started first. The motor 45 drives the support shaft 303 to rotate through the sequential transmission of the worm 46 and the worm wheel 47. The support shaft 303 can drive the disc 302 to rotate. The disc 302 drives the push shaft 301 to make a circular motion along the axis of the support shaft 303. Thus, the push shaft 301 can push the slot block 39 to move. The slot block 39 can drive the rack 34 to rotate through the short shaft 38 and the protrusion 33. The rack 34 drives the meshing gear 35 to rotate. The gear 35 drives the swing frame 37 to swing outward along the axis of the long shaft 36 through the long shaft 36. The support shaft 303 continues to rotate, so that the rack 34 can move back and forth to the left and right. Thus, the obstacles on the path of the robot body 1 to move forward or backward can be cleared by swinging.

[0049] Subsequently, during long-term use, when it is necessary to inspect and maintain the components of the swing mechanism 3 or the drive mechanism 4, the bolt 43 can be unscrewed from the inside of the limit block 44 to remove the limit on the limit block 44. The limit block 44 can then be pulled out from the inner wall of the limit seat 42, thereby disassembling the connecting frame 2 and facilitating the inspection and maintenance of the components by the staff. Similarly, the connecting frame 2 can also be installed.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A coal mine rescue robot based on a combination of wired and wireless technology, comprising a robot body (1), characterized in that: A drive mechanism (4) is provided on one side of the robot body (1), a connecting frame (2) is provided on one side of the drive mechanism (4), and a swing mechanism (3) is provided on one side of the connecting frame (2). The swing mechanism (3) includes a fixed arm (31), which is fixedly connected to the outside of the connecting frame (2). A long groove (32) is fixedly connected to the side of the fixed arm (31) away from the connecting frame (2). A protrusion (33) is slidably connected to the inner wall of the long groove (32). A rack (34) is fixedly connected to one side of the protrusion (33). A gear (35) meshes with one side of the rack (34). A long shaft (36) is fixedly connected to the inner ring of the gear (35). A [missing information - likely a component or part] is fixedly connected to the outer wall of the long shaft (36). The swing frame (37) has a short shaft (38) fixedly connected to the side of the protrusion (33) away from the long groove (32), and a groove block (39) fixedly connected to the side of the short shaft (38) away from the protrusion (33). A push shaft (301) is provided inside the groove block (39). A disc (302) is fixedly connected to the end of the push shaft (301) away from the groove block (39). A support shaft (303) is fixedly connected inside the disc (302). A support frame (304) is fixedly connected to the top of the connecting frame (2).

2. The coal mine rescue robot based on a combination of wired and wireless communication as described in claim 1, characterized in that: The top end of the long shaft (36) is rotatably connected to the inside of the support frame (304), and the long shaft (36) passes through the swing frame (37).

3. The coal mine rescue robot based on a combination of wired and wireless communication as described in claim 1, characterized in that: The long groove (32) has a long opening on the side away from the rack (34), and the short shaft (38) passes through the long opening.

4. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 1, characterized in that: The groove block (39) has a short slot on the side away from the short axis (38), and the push shaft (301) is movably connected to the inner wall of the short slot.

5. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 1, characterized in that: The drive mechanism (4) includes a connecting arm (41), which is fixedly connected to the top of the robot body (1). A limiting seat (42) is fixedly connected to the side of the connecting arm (41) away from the robot body (1). A limiting block (44) is inserted into the inner wall of the limiting seat (42). A bolt (43) is provided inside the limiting block (44). A motor (45) is fixedly connected to the inner wall of the connecting frame (2). A worm gear (46) is fixedly connected to the output end of the motor (45). A worm wheel (47) meshes with the outer wall of the worm gear (46). A support block (48) is fixedly connected to the bottom of the inner wall of the connecting frame (2).

6. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 5, characterized in that: Limiting holes are provided on one side of both the limiting seat (42) and the limiting block (44). The bolt (43) is threaded to the inner wall of the limiting hole, and the limiting block (44) is fixedly connected to the top of the connecting frame (2).

7. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 5, characterized in that: The end of the worm (46) away from the motor (45) is rotatably connected to the inner wall of the connecting frame (2), the support shaft (303) passes through the support block (48) and rotates, and the worm wheel (47) is fixedly connected to the outer wall of the support shaft (303).

8. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 1, characterized in that: The robot body (1) is built-in: The wired communication module is used to connect to the PC terminal to import 3D coal mine drawings containing coal mine communication system layout parameters and coal mine excavation parameters. The wireless communication module modulation module is used to read the three-dimensional coal mine map and then obtain the wireless communication module docking task for each target point. The wireless communication module group is used to perform wireless communication module docking tasks at fixed points, enabling communication with different communication devices carried in the coal mine communication system, thereby realizing data output.

9. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 8, characterized in that: The wireless communication module modulation module first reads the three-dimensional coal mine map, then obtains the inspection route of the coal mine rescue robot and the model parameters and location parameters of the communication devices carried in the coal mine communication system. Then, it queries the corresponding coordinate information of each communication device in the inspection route of the coal mine rescue robot. Finally, it marks the model parameters of the corresponding communication device and the parameters of the corresponding compatible wireless communication module on the obtained coordinate information, thereby obtaining the corresponding wireless communication module docking task.

10. A coal mine rescue robot based on a combination of wired and wireless communication as described in claim 8, characterized in that: Also includes: The data correction module is used to correct the position and time parameters corresponding to the collected data based on the operating status parameters of the coal mine rescue robot.

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