Traveling device suitable for terrain after coal mine disaster, mine disaster detection robot and method

Abstract

The invention belongs to the technical field of mine disaster detection robots, and particularly relates to an advancing device suitable for the terrain after a coal mine disaster, a mine disaster detection robot and a method. The traveling device of the present invention comprises: a traveling bracket; four groups of crawler belt mechanisms; a cross beam frame; a travel motor; an output turbine shaft; the left crawler mechanism and the right crawler mechanism are in transmission connection with the upper crawler mechanism through a third reversing gear set; one advancing motor rotates to drive the four sets of crawler belt mechanisms to synchronously advance or retreat through linkage of the output turbine shaft, the first reversing gear set, the second reversing gear set and the third reversing gear set. According to the invention, machine body distortion or lateral deviation caused by inconsistent crawler belt speed is avoided, and any crawler belt in contact with the ground can actively output power even if the robot rolls over and rolls on one side, so that the problem that a traditional robot slips and sinks on soft coal cinder or wet and slippery road surfaces due to suspension of driving wheels is thoroughly solved.

Description

Technical Field

[0001] This invention belongs to the field of mine disaster detection robot technology, specifically relating to a traveling device, mine disaster detection robot and method suitable for post-coal mine disaster terrain. Background Technology

[0002] Mobile robots used in coal mine disaster relief mainly fall into two categories: specialized exploration robots designed for complex terrain and snake-like robots that draw on biomimetic principles. For snake-like robots, their motion mechanism largely relies on the frictional coupling between their body's wave-like motion and the ground surface to generate propulsion. However, the post-disaster environment in coal mines is extremely unique, with the ground often covered by loose coal slag, piles of gravel, or slippery mud. On such unstructured soft ground or low-friction surfaces, snake-like robots relying on traditional wave-like movement are prone to slipping and sinking, leading to a sharp decline in motion efficiency and even complete loss of mobility, resulting in poor versatility. Their drive units are mostly unpowered auxiliary structures or simple driven wheels, unable to provide adaptive active traction based on terrain changes, severely limiting the practical feasibility of robots penetrating deep into the core areas of disaster sites.

[0003] On the other hand, existing mine rescue robots are generally designed as reconnaissance platforms, with their core task being to reach the scene and transmit environmental information using sensors. This leads to a significant capability gap: when a robot successfully locates trapped personnel, its body lacks end effectors capable of immediate physical intervention. In rapidly changing emergencies such as secondary collapses or increased concentrations of hazardous gases, the robot cannot provide the most urgent on-site shelter for the trapped individuals, resulting in a passive situation where it can see them but cannot rescue them. Furthermore, both traditional tracked and wheeled robots, as well as existing functionally homogenous snake-like robots, suffer from a contradiction between structural stability and functional integration. Once a robot tipes over, it loses its mobility. Although its joints are flexible, when specific functional modules need to be erected and maintained in a stable posture, the lack of an effective active support surface makes it highly susceptible to overall instability due to changes in the center of gravity, making it unsuitable as a stable working platform. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as poor passability, limited posture and slippage, and lack of interactive rescue capabilities caused by the complex terrain after a coal mine disaster. The invention provides a travel device, mine disaster detection robot and method with strong passability, adaptability and active protection function, suitable for the terrain after a coal mine disaster.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] As a first aspect, the present invention provides a travel device suitable for post-disaster terrain in coal mines, comprising:

[0007] Traveling support;

[0008] Four sets of track mechanisms, namely upper track mechanism, lower track mechanism, left track mechanism and right track mechanism, are installed on the upper end face, lower end face, left end face and right end face of the traveling support respectively;

[0009] A crossbeam frame is installed laterally between the left track mechanism and the right track mechanism;

[0010] The travel motor is mounted on the crossbeam frame;

[0011] The output turbine shaft is rotatably mounted on the crossbeam frame and is connected to the travel motor via a speed reduction and torque amplification mechanism.

[0012] The upper end face of the output turbine shaft is connected to the upper track mechanism via a first reversing gear set, and the lower end face of the output turbine shaft is connected to the lower track mechanism via a second reversing gear set; the left track mechanism and the right track mechanism are both connected to the upper track mechanism via a third reversing gear set.

[0013] The rotation of one of the travel motors, through the linkage of the output turbine shaft, the first reversing gear set, the second reversing gear set, and the third reversing gear set, drives the four sets of track mechanisms to move forward or backward synchronously.

[0014] Furthermore, the speed reduction and torque amplification mechanism includes: a small gear coaxially arranged with the output shaft of the travel motor, and a large gear externally meshing with the small gear;

[0015] The large gear is coaxially arranged with the output turbine shaft.

[0016] Furthermore, the track mechanism includes an active track assembly and a driven track assembly arranged side by side on the traveling support;

[0017] Both the active track assembly and the driven track assembly include a first guide wheel, a second guide wheel, and a track disposed on the first guide wheel and the second guide wheel; the first guide wheel of the active track assembly and the first guide wheel of the driven track assembly are connected by a synchronous transmission shaft.

[0018] The crossbeam frame is positioned between the two synchronous drive shafts corresponding to the left and right track mechanisms.

[0019] Furthermore, the first reversing gear set is disposed between the driving track assembly and the driven track assembly of the upper track mechanism; the second reversing gear set is disposed between the driving track assembly and the driven track assembly of the lower track mechanism; the first reversing gear set and the second reversing gear set are used to transmit power from the output turbine shaft to the corresponding synchronous transmission shaft;

[0020] The first reversing gear set, the second reversing gear set, and the third reversing gear set all adopt bevel gear sets.

[0021] As a second aspect, the present invention provides a mine disaster detection robot, comprising a plurality of traveling devices as described above for use in post-coal mine disaster terrain, a front plate fixedly disposed at the front end of the traveling device, a rear plate fixedly disposed at the rear end of the traveling device, and a connecting joint installed between any two adjacent traveling devices; the traveling devices are a head traveling device, at least one intermediate traveling device, and a tail traveling device.

[0022] The front panel of the head-mounted traveling device is equipped with a sensing module, which includes an infrared thermal imaging sensor for detecting environmental information and identifying trapped personnel, and a methane / carbon monoxide dual gas sensor.

[0023] The rear-end travel device is equipped with an inflatable airbag module, and the intermediate travel device adjacent to the rear-end travel device is equipped with an air tank for inflating the airbag module; the airbag module and the air tank are connected by an air pipe.

[0024] When the sensing module detects that an airbag module needs to be deployed to shelter trapped personnel, the connecting joint drives the tail travel device to move vertically relative to the adjacent middle travel module. The air tank inflates the airbag module, and the airbag module expands and unfolds from the rear end of the tail travel module to form a temporary shelter space.

[0025] Furthermore, the connecting joint includes:

[0026] An outer connecting frame and an inner connecting frame, wherein the outer connecting frame is fixedly connected to the rear plate of a traveling device, and the inner connecting frame is fixedly connected to the front plate of an adjacent traveling device via a connecting block;

[0027] A first rotating shaft and a second rotating shaft are arranged perpendicularly to each other. The first rotating shaft is rotatably mounted on the outer connecting frame, and the second rotating shaft is rotatably mounted on the inner connecting frame. The first rotating shaft and the second rotating shaft are connected by a fourth reversing gear set.

[0028] A rotary drive assembly, mounted on the outer connecting frame and connected to the first rotating shaft, is used to drive adjacent traveling devices to rotate relative to each other in the horizontal plane.

[0029] A pitch drive assembly, mounted on the outer connecting frame, is used to drive the inner connecting frame to rotate relative to the first rotating shaft, thereby driving the adjacent traveling device to pitch relative to each other in the vertical plane.

[0030] Furthermore, the rotary drive assembly includes: a first motor mounted on the outer connecting frame, a first main pulley coaxially arranged with the output shaft of the first motor, and a first driven pulley connected to the first main pulley via belt drive; the first driven pulley is mounted on the outer connecting frame, and the first rotating shaft is coaxially arranged with the first driven pulley;

[0031] The pitch drive assembly includes: a second motor mounted on the outer connecting frame, a second main pulley coaxially arranged with the output shaft of the second motor, and a second driven pulley connected to the second main pulley via belt drive; the second driven pulley is mounted on the outer connecting frame, and the inner connecting frame is fixedly connected to the rotation shaft of the second driven pulley.

[0032] Furthermore, the rotation angle of adjacent traveling devices is 360°, and the pitch angle of adjacent traveling devices is -90° to +90°.

[0033] Furthermore, the infrared thermal imaging sensor is embedded in the front plate of the head-mounted device; a sensor support is also provided on the front plate of the head-mounted device, and the methane / carbon monoxide dual gas sensor is mounted on the sensor support, with the detection direction of the methane / carbon monoxide dual gas sensor facing forward.

[0034] Furthermore, the control method for the mine disaster detection robot includes the following:

[0035] The motors of each of the aforementioned traveling devices are controlled to move synchronously, driving the robot as a whole to move in complex terrain. At the same time, the attitude of each of the aforementioned connecting joints is adjusted so that the robot can move in accordance with the terrain.

[0036] During the journey, the sensor module continuously collects environmental data to identify the location of the trapped personnel;

[0037] Once the sensor module detects a trapped person, it controls the robot to move to the target location.

[0038] Control the movement of the connecting joints adjacent to the tail travel device to raise the tail travel device to an upright position; while raising the tail travel device, control the connecting joints and track mechanism on the other travel devices to move in coordination to adjust the overall center of gravity of the robot.

[0039] The gas cylinder is triggered to inflate the airbag, causing the airbag to deploy.

[0040] The beneficial effects of the present invention regarding a traveling device, mine disaster detection robot, and method suitable for post-disaster terrain in coal mines are:

[0041] (1) In the extremely chaotic ruins of a coal mine disaster, the robot may roll over, tilt to the side, or need to pass through narrow vertical / horizontal gaps. The travel device of the present invention has a four-sided track design, which ensures that no matter what posture the travel device is in when it contacts the ground or obstacles, such as facing up, lying on its side, or even upside down, at least one track mechanism can provide effective adhesion. At the same time, by using a speed reduction and torque amplification mechanism and multiple reversing gear sets, the mechanical linkage between a single motor and a multi-stage reversing gear set can ensure that the four tracks obtain completely consistent driving force, without the need for complex electronic differential speed algorithms. This avoids the body twisting or tilting caused by inconsistent track speeds, and ensures that even if the robot rolls over or tilts to the side, any track in contact with the ground can actively output power. This completely solves the problem of traditional robots slipping and sinking on soft coal slag or wet and slippery roads due to the drive wheels being suspended, and greatly improves the passability and travel stability in unstructured terrain after a coal mine disaster.

[0042] (2) The present invention provides sufficient power for the robot in scenarios requiring high traction, such as soft coal slag and steep slopes, by using a small gear to drive a large gear for speed reduction and torque amplification. The design of the output turbine shaft plus the bevel gear set set at the upper and lower ends of the output turbine shaft synchronously and efficiently transmits power to the upper and lower track components, while ensuring a compact overall structure, reducing the module volume, and making it easier to move in narrow spaces.

[0043] (3) The infrared thermal imaging sensor embedded in the front plate of the head-mounted traveling device of the present invention can effectively detect human heat sources and identify the location of trapped personnel in a mine environment without light. Combined with a methane / carbon monoxide dual gas sensor, it can monitor the concentration of toxic and harmful gases in the environment in real time, providing key data for rescue decisions and personal safety. The forward-facing layout of the sensor probes ensures priority detection in the direction of travel. When a trapped person is found, the robot can use its flexible connecting joints to raise the tail-mounted traveling device carrying the airbag, triggering the rapid inflation of the air tank and unfolding a temporary shelter space. This can provide survivors with a relatively safe space that isolates them from toxic gases, debris, and dust before rescuers arrive, thus gaining valuable survival time.

[0044] (4) This invention provides a dedicated control method for three different task stages of the robot: walking, exploration, and shelter. Through the design of an omnidirectional adaptive walking device, a connection joint design with two degrees of freedom, and a deployable airbag on the tail walking device and multi-posture control, it systematically solves the technical problems of poor passability, single function, and lack of on-site intervention capability of existing coal mine disaster rescue robots. It can truly adapt to extreme and harsh environments and has the ability to actively carry out rescue operations. Attached Figure Description

[0045] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0046] Figure 1 This is a schematic diagram of the traveling device in Embodiment 1 of the present invention.

[0047] Figure 2 This is a partial structural schematic diagram of the traveling device in Embodiment 1 of the present invention.

[0048] Figure 3 This is a schematic diagram of the robot in Embodiment 2 of the present invention.

[0049] Figure 4 This is a schematic diagram of the head-mounted traveling device in Embodiment 2 of the present invention.

[0050] Figure 5 This is a connection diagram of the intermediate traveling device and the tail traveling device in Embodiment 2 of the present invention.

[0051] Figure 6 This is a schematic diagram of the connecting joint in Embodiment 2 of the present invention.

[0052] Figure 7 This is a schematic diagram of the internal structure of the connecting joint in Embodiment 2 of the present invention.

[0053] Figure 8 This is a detailed view of the connecting joint in Embodiment 2 of the present invention.

[0054] Figure 9 This is a schematic diagram of the robot's -90° turning structure in Embodiment 2 of the present invention.

[0055] Figure 10 This is a schematic diagram of the robot's +90° turning structure in an embodiment of the present invention.

[0056] Figure 11 This is a schematic diagram of the airbag module in the deployed state in Embodiment 2 of the present invention.

[0057] Figure 12 This is a cross-sectional view of the airbag module in the deployed state in Embodiment 2 of the present invention.

[0058] In the diagram: 11. Traveling support frame; 12. Upper track mechanism; 13. Lower track mechanism; 14. Left track mechanism; 15. Right track mechanism; 151. First guide wheel; 152. Second guide wheel; 153. Track; 154. Synchronous drive shaft; 16. Crossbeam frame; 17. Traveling motor; 18. Output turbine shaft; 19. Reduction and torque amplification mechanism; 191. Small gear; 192. Large gear; 110. First reversing gear set; 1101. Second reversing gear set; 1102. Third reversing gear set.

[0059] 1-1. Head travel device; 1-2. Middle travel device; 1-3. Tail travel device; 2. Front plate; 3. Rear plate; 4. Connecting joint; 41. Outer connecting frame; 42. Inner connecting frame; 43. Connecting block; 44. First rotating shaft; 45. Second rotating shaft; 46. Fourth reversing gear set; 461. Driving bevel gear; 462. Driven bevel gear; 47. Rotary drive assembly; 471. First motor; 472. First main pulley; 473. First driven pulley; 48. Pitch drive assembly; 481. Second motor; 482. Second main pulley; 483. Second driven pulley; 5. Sensing module; 51. Infrared thermal imaging sensor; 52. Methane / carbon monoxide dual gas sensor; 8. Airbag module; 9. Gas tank. Detailed Implementation

[0060] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0061] Example 1

[0062] like Figure 1 and Figure 2 The embodiment of the present invention, applicable to post-disaster terrain in coal mines, includes a traveling support 11, four sets of track mechanisms 153, a crossbeam frame 16, a traveling motor 17, and an output turbine shaft 18. The four sets of track mechanisms 153 are respectively an upper track mechanism 12, a lower track mechanism 13, a left track mechanism 14, and a right track mechanism 15, correspondingly installed on the upper, lower, left, and right end faces of the traveling support 11. The crossbeam frame 16 is laterally installed on the left track mechanism 14 and the right track mechanism 15. Between the components, the travel motor 17 is mounted on the crossbeam frame 16, and the output turbine shaft 18 is rotatably mounted on the crossbeam frame 16, and is driven by the travel motor 17 through the reduction and torque amplification mechanism 19; the upper end face of the output turbine shaft 18 is driven by the upper track mechanism 12 through the first reversing gear set 110, and the lower end face of the output turbine shaft 18 is driven by the lower track mechanism 13 through the second reversing gear set 1101; the left track mechanism 14 and the right track mechanism 15 are both driven by the upper track mechanism 12 through the third reversing gear set 1102. The rotation of one travel motor 17 drives the four track mechanisms 153 to move forward or backward synchronously through the linkage of the output turbine shaft 18, the first reversing gear set 110, the second reversing gear set 1101 and the third reversing gear set 1102.

[0063] In the extremely chaotic post-disaster ruins of coal mines, robots may roll over, tilt, or need to traverse narrow vertical / horizontal gaps. The locomotion device in this embodiment features a four-sided track design 153, ensuring that at least one track 153 mechanism provides effective adhesion regardless of the locomotion device's orientation relative to the ground or obstacles—whether facing upwards, lying on its side, or even upside down. Simultaneously, utilizing a reduction and torque-increasing mechanism 19 and multiple reversing gear sets, a single motor can drive the synchronous movement of all four track 153 components. All tracks 153 in contact with the ground actively output power, completely solving the slippage, jamming, and even overturning problems caused by insufficient friction and suspended drive wheels due to posture changes in traditional tracked 153 or wheeled robots. This enables full-posture adaptive locomotion, greatly improving passability in unstructured ruin environments and ensuring the robot can move stably and efficiently on complex surfaces such as soft coal slag, inclined steel plates, and tangled pipes.

[0064] like Figure 2 As shown, the speed reduction and torque amplification mechanism 19 in this embodiment includes: a small gear 191 coaxially arranged with the output shaft of the travel motor 17, and a large gear 192 externally meshing with the small gear 191; the large gear 192 is coaxially arranged with the output turbine shaft 18. It should be further noted that the travel motor 17 in this embodiment is a servo motor. When the servo motor is powered on and rotates, the output shaft begins to rotate. The small gear 191 is fixed to the motor output shaft via a key and keyway, rotating coaxially and at the same speed as the motor shaft. The small gear 191 externally meshes with the large gear 192, thereby driving the large gear 192 to rotate. The large gear 192 is fixedly connected to the output turbine shaft 18 via a key, and the torque of the large gear 192 is transmitted to the output turbine shaft 18. Post-disaster terrain in coal mines is often characterized by soft coal slag, sloping steel plates, broken rocks, and pipe obstacles, requiring significant traction to traverse. The speed reduction and torque amplification mechanism 19 converts the high-speed, low-torque output of the servo motor into low-speed, high-torque output, providing sufficient driving force for the track 153 to climb steep slopes, cross obstacles, and avoid sinking in soft soil. The entire speed reduction and torque amplification mechanism 19 is integrated onto the crossbeam frame 16, forming a compact powertrain module with the travel motor 17, output turbine shaft 18, and multiple reversing gear sets. This facilitates overall installation and maintenance, reduces the size of individual travel devices, and allows for easier passage through narrow gaps.

[0065] The track 153 mechanism includes an active track 153 assembly and a driven track 153 assembly arranged side by side on the traveling support 11; both the active track 153 assembly and the driven track 153 assembly include a first guide wheel 151, a second guide wheel 152, and a track 153 arranged on the first guide wheel 151 and the second guide wheel 152; the first guide wheel 151 of the active track 153 assembly and the first guide wheel 151 of the driven track 153 assembly are connected by a synchronous drive shaft 154; the crossbeam frame 16 is arranged between the two synchronous drive shafts 154 corresponding to the left track mechanism 14 and the right track mechanism 15.

[0066] See Figure 2 In this embodiment, each track 153 assembly includes a first guide wheel 151 and a second guide wheel 152, and a track 153 surrounding the two guide wheels. The first guide wheel 151 of the driving track 153 assembly and the first guide wheel 152 of the driven track 153 assembly are fixedly connected by a synchronous drive shaft 154. The power from the output turbine shaft 18 is reversed by the first reversing gear set 110, the second reversing gear set 1101, or the third reversing gear set 1102, and then transmitted to the first guide wheel 152 of the driving track 153 assembly. 1. The first guide wheel 151 is fixedly connected to the synchronous transmission shaft 154 via a key, driving the corresponding synchronous transmission shaft 154 to rotate. The synchronous transmission shaft 154 directly transmits the rotational power from the first guide wheel 151 of the active track 153 assembly to the first guide wheel 151 of the driven track 153 assembly. The rotation of the first guide wheel 151 of the active track 153 assembly drives the track 153 on it to move, and the first guide wheel 151 of the driven track 153 assembly rotates synchronously, driving the track 153 on it to move, thus ensuring complete synchronization of the two tracks 153. The track 153 assembly mechanism uses two tracks 153 side by side, which is equivalent to doubling the ground contact area. On the soft coal slag and dust accumulation ground commonly found after coal mine disasters, a larger ground contact area means a smaller ground contact specific pressure, effectively preventing the tracks 153 from sinking.

[0067] The first reversing gear set 110 is disposed between the driving track 153 assembly and the driven track 153 assembly of the upper track mechanism 12; the second reversing gear set 1101 is disposed between the driving track 153 assembly and the driven track 153 assembly of the lower track mechanism 13; the first reversing gear set 110 and the second reversing gear set 1101 are used to transmit power from the output turbine shaft 18 to the corresponding synchronous transmission shaft 154; the first reversing gear set 110, the second reversing gear set 1101 and the third reversing gear set 1102 are all bevel gear sets.

[0068] Specifically, the first reversing gear set 110 includes a first external bevel gear mounted on the upper end of the output turbine shaft 18 and coaxially arranged with the output turbine shaft 18, and a second external bevel gear mounted on the synchronous transmission shaft 154 of the upper track mechanism 12 and coaxially arranged with the synchronous transmission shaft 154 of the upper track mechanism 12. The first external bevel gear and the second external bevel gear mesh perpendicularly to achieve a 90° reversal of kinetic energy, thereby enabling the upper track mechanism 12 to move forward or backward. The second reversing gear set 1101 includes a third external bevel gear mounted on the lower end of the output turbine shaft 18 and coaxially arranged with the output turbine shaft 18, and a fourth external bevel gear mounted on the synchronous transmission shaft 154 of the lower track mechanism 13 and coaxially arranged with the synchronous transmission shaft 154. The third external bevel gear and the fourth external bevel gear mesh perpendicularly to achieve a 90° reversal of power, thereby enabling the lower track mechanism 13 to move forward or backward. The third reversing gear set 1102 includes a fifth external bevel gear mounted on the left and / or right end of the synchronous transmission shaft 154 of the upper track mechanism 12, and a sixth external bevel gear mounted on the drive shaft of the left track mechanism 14 and / or the drive shaft of the right track mechanism 15, thereby enabling the left track mechanism 14 and the right track mechanism 15 to move forward and backward. In this embodiment, the rotational power of a single travel motor 17 is used to drive eight tracks 153 on the upper, lower, left, and right sides simultaneously through three stages of reversal, achieving omnidirectional movement capability of the robot in any posture.

[0069] The transmission structure in this embodiment boasts significant advantages, including simple overall structure, high transmission efficiency, convenient maintenance, and good synchronization. Specifically, this embodiment achieves first-stage reduction by using a small gear 191 to drive a large gear 192, and then directly meshes with an external bevel gear set via a bevel gear shaft to drive the track 153. This results in a short transmission path and fewer parts, avoiding energy loss caused by worm gear sliding friction, and increasing efficiency to 85%–95%. Simultaneously, the mechanical forced meshing of the bevel gears ensures absolute synchronization of the movement of the tracks 153 on both sides, eliminating concerns about misalignment caused by chain slack. Furthermore, the overall structure is compact and lightweight, the gearbox has good openness for easy maintenance and lubrication, and the gear bearings are easy to inspect and replace, making it more suitable for snake-like robot applications with high requirements for space, weight, and reliability.

[0070] Example 2

[0071] like Figures 3-12 As shown, this embodiment 2 provides a mine disaster detection robot based on the above-mentioned travel device suitable for post-coal mine disaster terrain. It includes several travel devices suitable for post-coal mine disaster terrain as described in embodiment 1, a front plate 2 fixedly installed at the front end of the travel device, a rear plate 3 fixedly installed at the rear end of the travel device, and a connecting joint 4 installed between any two adjacent travel devices. The travel devices are a head travel device 1-1, at least one intermediate travel device 1-2, and a tail travel device 1-3.

[0072] It should be further explained that, in this embodiment, a sensing module 5 is installed on the front plate 2 of the head-mounted traveling device 1-1. The sensing module 5 includes an infrared thermal imaging sensor 51 and a methane / carbon monoxide dual gas sensor 52 for detecting environmental information and identifying trapped personnel. An inflatable airbag module 8 is installed inside the tail-mounted traveling device 1-3, and an air tank 9 for inflating the airbag module 8 is installed inside the intermediate traveling device 1-2 adjacent to the tail-mounted traveling device 1-3. The airbag module 8 and the air tank 9 are connected via an air pipe. When the sensing module 5 detects the need to deploy the airbag module 8 to shelter the trapped personnel, the connecting joint 4 causes the tail-mounted traveling device 1-3 to move vertically relative to the adjacent intermediate traveling module. The air tank 9 inflates the airbag module 8, and the airbag in the airbag module 8 expands and deploys from the rear end of the tail-mounted traveling module, forming a temporary shelter space. In this embodiment, the air tank 9 is a mining explosion-proof high-pressure nitrogen cylinder, containing nitrogen, which is used to inflate the airbag module 8.

[0073] like Figure 5 As shown, the airbag module 8 in this embodiment includes a storage compartment fixedly mounted on the rear plate 3 of the tail travel device 1-3, an airbag disposed within the storage compartment, and an elastic pop-out structure disposed within the storage compartment. The opening of the sleeve faces the rear of the robot and is normally closed and sealed to accommodate the airbag in the folded state. When the elastic pop-out structure is triggered, it pops the airbag from the rear end of the tail travel device 1-3. When not in use, the airbag is tightly stored in the storage compartment by winding to minimize space occupation and ensure no interference when unfolded. After the tail travel device 1-3 is raised to the vertical position, the airbag module 8 is triggered to pop out and is fixed at the top. Then, it is inflated by opening the valve of the air tank 9. High-pressure gas is quickly injected into the airbag, which expands rapidly under the action of high-pressure gas. First, it bursts open the door of the storage compartment, and then unfolds outward according to the preset folding path, finally forming a stable and somewhat rigid temporary shelter space behind the upright tail travel device 1-3. If it is necessary to further increase the deployment height of the airbag, the two or more intermediate travel devices 1-2 near the tail travel device 1-3 can be erected vertically to the ground, which will create a higher deployment height when the airbag is deployed.

[0074] In this embodiment, the infrared thermal imaging sensor 51 embedded on the front plate 2 of the head-mounted propulsion device 1-1 can effectively detect human heat sources and identify the location of trapped personnel in a dark mine environment. Combined with the methane / carbon monoxide dual gas sensor 52, it can monitor the concentration of toxic and harmful gases in the environment in real time, providing crucial data for rescue decisions and the robot's own safety. Once a trapped person is located, the robot can use its flexible connecting joint 4 to raise the tail-mounted propulsion device 1-3 carrying an airbag, triggering the rapid inflation of the gas tank 9 to create a temporary shelter. This provides a relatively safe space for survivors, isolating them from toxic gases, debris, and dust, before rescuers arrive, thus buying precious survival time.

[0075] like Figures 6 to 8 As shown, the connecting joint 4 in this embodiment includes: a connecting frame and an inner connecting frame 42, a first rotating shaft 44 and a second rotating shaft 45 arranged perpendicularly to each other, a rotation drive assembly 47, and a pitch drive assembly 48. Specifically, the outer connecting frame 41 is fixedly connected to the rear plate 3 of one traveling device, and the inner connecting frame 42 is fixedly connected to the front plate 2 of another adjacent traveling device through a connecting block 43; the first rotating shaft 44 is rotatably mounted on the outer connecting frame 41, and the second rotating shaft 45 is rotatably mounted on the inner connecting frame 42; the first rotating shaft 44 and the second rotating shaft 45 are connected by a fourth reversing gear set 46; the rotation drive assembly 47 is mounted on the outer connecting frame 41 and is connected by a drive to the first rotating shaft 44, and is used to drive the adjacent traveling device to rotate relative to the second rotating shaft 45, so as to drive the adjacent traveling device to rotate in the horizontal plane; the pitch drive assembly 48 is mounted on the outer connecting frame 41 and is used to drive the inner connecting frame 42 to rotate relative to the first rotating shaft 44, so as to drive the adjacent traveling device to pitch relative to each other in the vertical plane.

[0076] In this embodiment, the connecting joint 4 has two degrees of freedom: a horizontal rotational degree of freedom and a vertical pitch degree of freedom. This allows for pitch and rotation between different modules of the snake-like robot, making it easier to overcome obstacles. We know that coal mine tunnels after disasters often have bends, corners, and even S-shaped passages formed by collapses. These two degrees of freedom enable the robot to adjust its posture arbitrarily in three-dimensional space, adapting to various complex terrains. The horizontal rotational degree of freedom allows the robot to rotate adjacent modules relative to each other, enabling the robot to form a curved posture that conforms to the curve. Multiple movement devices can rotate freely according to complex terrain, making it suitable for various terrains and movement modes. It can perform snake-like crawling, turning, and undulating movements on soft sand and coal slag heaps. Horizontal rotation enables lateral movement and obstacle avoidance. In environmental detection, the vertical pitch degree of freedom allows the head to be raised and lowered for observation.

[0077] Furthermore, when crossing an obstacle, by changing the angle of the connecting joint 4, the traveling device is raised to a certain height and climbs onto the obstacle, continuing to move forward to achieve the action of crossing the obstacle.

[0078] The fourth reversing gear set 46 in this embodiment includes a driving bevel gear 461 coaxially arranged with the first rotating shaft 44 and a driven bevel gear 462 coaxially arranged with the second rotating shaft 45. The tooth surfaces of the two bevel gears mesh with each other, and the meshing point is located at the intersection of the outer connecting frame 41 and the inner connecting frame 42. See details below. Figure 8 As shown.

[0079] The rotary drive assembly 47 in this embodiment includes: a first motor 471 mounted on the outer connecting frame 41, a first main pulley 472 coaxially arranged with the output shaft of the first motor 471, and a first driven pulley 473 connected to the first main pulley 472 via belt drive; the first driven pulley 473 is mounted on the outer connecting frame 41, and a first rotating shaft 44 is coaxially arranged with the first driven pulley 473. The pitch drive assembly 48 includes: a second motor 481 mounted on the outer connecting frame 41, a second main pulley 482 coaxially arranged with the output shaft of the second motor 481, and a second driven pulley 483 connected to the second main pulley 482 via belt drive; the second driven pulley 483 is mounted on the outer connecting frame 41, and the inner connecting frame 42 is fixedly connected to the rotating shaft of the second driven pulley 483. In this embodiment, the rotation angle of adjacent traveling devices is 360°, and the pitch angle of adjacent traveling devices is -90° to +90°.

[0080] In this embodiment, the horizontal rotational freedom is independently achieved by the rotational drive assembly 47. When the first motor 471 is powered on, its output shaft drives the first main pulley 472 to rotate synchronously. The first main pulley 472 drives the small synchronous belt to move through tooth meshing, and the small synchronous belt then transmits power to the first driven pulley 473. Since the first driven pulley 473 is coaxially and fixedly connected to the first rotating shaft 44, the rotation of the first driven pulley 473 directly drives the first rotating shaft 44 to rotate on the outer connecting frame 41. The rotation of the first rotating shaft 44 is transmitted through the fourth reversing gear set 46. Specifically, the first bevel gear on the first rotating shaft 44 meshes perpendicularly with the second bevel gear on the second rotating shaft 45 at 90°, converting the horizontal rotational motion into vertical rotational motion, driving the second rotating shaft 45 to rotate. The second rotating shaft 45 is fixedly connected to the inner connecting frame 42, thereby driving the inner connecting frame 42 and its adjacent traveling devices to rotate relative to each other in the horizontal plane. The entire transmission adopts mechanical rigid transmission. The rotation angle of the first motor 471 is in a precise proportional relationship with the rotation angle of the adjacent traveling device, so as to achieve precise positioning and flexible steering in the horizontal direction.

[0081] In this embodiment, the vertical pitch freedom is independently achieved by the pitch drive assembly 48. When the second motor 481 is powered on, its output shaft drives the second main pulley 482 to rotate synchronously. The second main pulley 482 drives the large synchronous belt through tooth meshing, and the large synchronous belt then transmits power to the second driven pulley 483. The second driven pulley 483 is rotatably mounted on the outer connecting frame 41, and its rotating shaft is fixedly connected to the inner connecting frame 42. When the second driven pulley 483 rotates, its rotating shaft directly drives the inner connecting frame 42 to move. The key is that one end of the inner connecting frame 42 is fixed to the rotating shaft of the second driven pulley 483, and the other end is mounted on the first rotating shaft 44 through a bearing. Therefore, the inner connecting frame 42 swings in an arc with the first rotating shaft 44 as the fulcrum. This swinging motion is transmitted to the adjacent traveling device through the connecting block 43, enabling it to achieve pitch movement in the vertical plane. During this process, the fourth reversing gear set 46 is in a passive adaptation state: when the inner connecting frame 42 swings around the first rotating shaft 44, the second bevel gear on the second rotating shaft 45 revolves with the inner connecting frame 42 and generates relative rolling with the first bevel gear on the first rotating shaft 44, but does not transmit power, thereby ensuring that the pitch motion is not interfered with by the rotary drive component 47 and realizing independent control of the two degrees of freedom.

[0082] The robot in this embodiment has a turning range of -90° to 90°, which far exceeds the ±45° turning angle of the prior art. Specifically, as shown below... Figure 9 and Figure 10 As shown, this design allows the robot to move more flexibly in a plane, enabling it to adapt to extremely narrow tunnels and sharp turns in underground coal mines. Furthermore, the robot in this embodiment can achieve large-angle turns without the need for multi-joint coordination, resulting in simpler motion control and faster response, making it suitable for post-disaster emergency rescue scenarios.

[0083] In a preferred embodiment, a protective shell is provided on the outside of the connecting joint 4 to protect the internal structure of the connecting joint 4 and prevent the complex external environment from causing bumps or damage to the connecting joint 4.

[0084] In this embodiment, the infrared thermal imaging sensor 51 is embedded in the front plate 2 of the head-mounted traveling device 1-1. A sensor support base is also provided on the front plate 2 of the head-mounted traveling device 1-1, and a methane / carbon monoxide dual-gas sensor 52 is mounted on the sensor support base, with the detection direction of the methane / carbon monoxide dual-gas sensor 52 facing forward. It should be understood that this robot is also equipped with a control system. During robot movement, the two sensors continuously operate. The infrared thermal imaging sensor 51 acquires thermal images of the front at a frequency of tens of frames per second, while the methane / carbon monoxide dual-gas sensor 52 samples the ambient gas concentration once per second. The control system fuses the two data sets to comprehensively determine the environmental conditions and the personnel's position.

[0085] In one specific implementation, the gas canister 9 in this embodiment can be replaced by a solid gas generator. When triggered, a large amount of harmless gas is instantly generated through a chemical reaction, enabling the rapid deployment of the airbag. The deployed state is as follows: Figure 11 and Figure 12 As shown.

[0086] Example 3

[0087] This third embodiment, based on the control method of the above-mentioned mine disaster detection robot, includes the following:

[0088] Travel mode: Control the synchronous movement of the travel motors 17 of each travel device to drive the robot to move in complex terrain, while controlling the posture of each connecting joint 4 to make the robot travel in accordance with the terrain.

[0089] Environmental data acquisition mode: During the movement, the sensor module 5 continuously collects environmental data to identify the location of the trapped personnel; when the sensor module 5 identifies the trapped personnel, it controls the robot to move to the target location.

[0090] Protection mode: Control the movement of the connecting joint 4 adjacent to the tail travel device 1-3 to raise the tail travel device 1-3 to an upright position; while raising the tail travel device 1-3, control the connecting joint 4 and track 153 mechanism on the other travel devices to coordinate their movements to adjust the overall center of gravity of the robot; trigger the air tank 9 to inflate the airbag and make the airbag deploy.

[0091] This method addresses the needs of post-disaster rescue in coal mines by designing three modes: a travel mode, an environmental data collection mode, and a protection mode. These three modes progressively realize the complete rescue process from reaching the target area to discovering trapped personnel and then providing on-site shelter. When multiple travel devices need to be controlled synchronously, the control system sends synchronous speed commands to the travel motors 17 of all travel devices. Each travel motor 17 drives the eight tracks 153 on all four sides to rotate synchronously through the linkage of the reduction and torque amplification mechanism 19, the output turbine shaft 18, and the reversing gear set.

[0092] When multiple traveling devices need to be synchronized for movement control, the control system sends a synchronization speed command to the traveling motors 17 of all traveling devices. After each traveling motor 17 starts, its output shaft drives the coaxially arranged pinion 191 to rotate. The pinion 191 meshes with the externally engaged large gear 192 for transmission. The large gear 192 is coaxially arranged with the output turbine shaft 18, thereby transmitting torque to the output turbine shaft 18. The upper end face of the output turbine shaft 18 is connected to the upper track mechanism 12 through the first reversing gear set 110, and the lower end face of the output turbine shaft 18 is connected to the lower track mechanism 13 through the second reversing gear set 1101. At the same time, the upper track mechanism 12 is connected to the left track mechanism 14 and the right track mechanism 15 through the third reversing gear set 1102. The system is dynamically connected, thereby driving the eight tracks 153 on the four sets of track 153 mechanisms to rotate synchronously through a single motor 17. This enables the robot to move smoothly in any posture. The mechanical linkage between a single motor and a multi-stage reversing gear set ensures that the four tracks 153 receive completely consistent driving force, eliminating the need for complex electronic differential speed algorithms. This avoids body twisting or lateral deviation caused by inconsistent track speeds, and ensures that even after the robot rolls or tilts, any track 153 in contact with the ground can actively output power. This completely solves the problem of traditional robots slipping and sinking on soft coal slag or slippery surfaces due to the drive wheels being suspended in the air, greatly improving the passability and stability of movement in unstructured terrain after a coal mine disaster.

[0093] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A travel device suitable for post-disaster terrain in coal mines, characterized in that, include: Traveling support; Four sets of track mechanisms, namely upper track mechanism, lower track mechanism, left track mechanism and right track mechanism, are installed on the upper end face, lower end face, left end face and right end face of the traveling support respectively; A crossbeam frame is installed laterally between the left track mechanism and the right track mechanism; The travel motor is mounted on the crossbeam frame; The output turbine shaft is rotatably mounted on the crossbeam frame and is connected to the travel motor via a speed reduction and torque amplification mechanism. The upper end face of the output turbine shaft is connected to the upper track mechanism via a first reversing gear set, and the lower end face of the output turbine shaft is connected to the lower track mechanism via a second reversing gear set; the left track mechanism and the right track mechanism are both connected to the upper track mechanism via a third reversing gear set. The rotation of one of the travel motors, through the linkage of the output turbine shaft, the first reversing gear set, the second reversing gear set, and the third reversing gear set, drives the four sets of track mechanisms to move forward or backward synchronously.

2. A travel device suitable for post-disaster terrain in coal mines according to claim 1, characterized in that, The speed reduction and torque increase mechanism includes: a small gear coaxially arranged with the output shaft of the motor, and a large gear externally meshing with the small gear; The large gear is coaxially arranged with the output turbine shaft.

3. A travel device suitable for post-disaster terrain in coal mines according to claim 1, characterized in that, The track mechanism includes an active track assembly and a driven track assembly arranged side by side on the traveling support; Both the active track assembly and the driven track assembly include a first guide wheel, a second guide wheel, and a track disposed on the first guide wheel and the second guide wheel; the first guide wheel of the active track assembly and the first guide wheel of the driven track assembly are connected by a synchronous transmission shaft. The crossbeam frame is positioned between the two synchronous drive shafts corresponding to the left and right track mechanisms.

4. A travel device suitable for post-disaster terrain in coal mines according to claim 1, characterized in that: The first reversing gear set is disposed between the driving track assembly and the driven track assembly of the upper track mechanism; the second reversing gear set is disposed between the driving track assembly and the driven track assembly of the lower track mechanism; the first reversing gear set and the second reversing gear set are used to transmit power from the output turbine shaft to the corresponding synchronous transmission shaft; The first reversing gear set, the second reversing gear set, and the third reversing gear set all adopt bevel gear sets.

5. A mine disaster detection robot, characterized in that: It includes several traveling devices suitable for post-disaster terrain in coal mines as described in any one of claims 1-4, a front plate fixedly disposed at the front end of the traveling device, a rear plate fixedly disposed at the rear end of the traveling device, and a connecting joint installed between any two adjacent traveling devices; the traveling devices are respectively a head traveling device, at least one intermediate traveling device, and a tail traveling device. The front panel of the head-mounted traveling device is equipped with a sensing module, which includes an infrared thermal imaging sensor for detecting environmental information and identifying trapped personnel, and a methane / carbon monoxide dual gas sensor. The rear-end travel device is equipped with an inflatable airbag module, and the intermediate travel device adjacent to the rear-end travel device is equipped with an air tank for inflating the airbag module; the airbag module and the air tank are connected by an air pipe. When the sensing module detects that an airbag module needs to be deployed to shelter trapped personnel, the connecting joint drives the tail travel device to move vertically relative to the adjacent middle travel module. The air tank inflates the airbag module, and the airbag module expands and unfolds from the rear end of the tail travel module to form a temporary shelter space.

6. A mine disaster detection robot according to claim 5, characterized in that, The connecting joint includes: An outer connecting frame and an inner connecting frame, wherein the outer connecting frame is fixedly connected to the rear plate of a traveling device, and the inner connecting frame is fixedly connected to the front plate of an adjacent traveling device via a connecting block; A first rotating shaft and a second rotating shaft are arranged perpendicularly to each other. The first rotating shaft is rotatably mounted on the outer connecting frame, and the second rotating shaft is rotatably mounted on the inner connecting frame. The first rotating shaft and the second rotating shaft are connected by a fourth reversing gear set. A rotary drive assembly, mounted on the outer connecting frame and connected to the first rotating shaft, is used to drive adjacent traveling devices to rotate relative to each other in the horizontal plane. A pitch drive assembly, mounted on the outer connecting frame, is used to drive the inner connecting frame to rotate relative to the first rotating shaft, thereby driving the adjacent traveling device to pitch relative to each other in the vertical plane.

7. A mine disaster detection robot according to claim 6, characterized in that, The rotary drive assembly includes: a first motor mounted on the outer connecting frame, a first main pulley coaxially arranged with the output shaft of the first motor, and a first driven pulley connected to the first main pulley via belt drive; the first driven pulley is mounted on the outer connecting frame, and the first rotating shaft is coaxially arranged with the first driven pulley. The pitch drive assembly includes: a second motor mounted on the outer connecting frame, a second main pulley coaxially arranged with the output shaft of the second motor, and a second driven pulley connected to the second main pulley via belt drive; the second driven pulley is mounted on the outer connecting frame, and the inner connecting frame is fixedly connected to the rotation shaft of the second driven pulley.

8. A mine disaster detection robot according to claim 7, characterized in that: The rotation angle of the adjacent traveling device is 360°, and the pitch angle of the adjacent traveling device is -90° to +90°.

9. A mine disaster detection robot according to claim 6, characterized in that, The infrared thermal imaging sensor is embedded in the front plate of the head-mounted device; a sensor support is also provided on the front plate of the head-mounted device, and the methane / carbon monoxide dual gas sensor is mounted on the sensor support, with the detection direction of the methane / carbon monoxide dual gas sensor facing forward.

10. A mine disaster detection robot according to claim 5, characterized in that, The control method for the mine disaster detection robot includes the following: The motors of each of the aforementioned traveling devices are controlled to move synchronously, driving the robot as a whole to move in complex terrain. At the same time, the attitude of each of the aforementioned connecting joints is adjusted so that the robot can move in accordance with the terrain. During the journey, the sensor module continuously collects environmental data to identify the location of the trapped personnel; Once the sensor module detects a trapped person, it controls the robot to move to the target location. Control the movement of the connecting joints adjacent to the tail travel device to raise the tail travel device to an upright position; while raising the tail travel device, control the connecting joints and track mechanism on the other travel devices to move in coordination to adjust the overall center of gravity of the robot. The gas cylinder is triggered to inflate the airbag module, causing the airbag module to deploy.

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