CN111633637A - A snake-like robot with a longitudinal three-segment structure - Google Patents

Abstract

The invention provides a snake-shaped robot with a longitudinal three-section structure, which includes a snake-head crawler structure, a joint structure and a snake-tail crawler structure connected in sequence, a sensor module is arranged above the snake-head crawler structure, and the snake-head crawler structure and the snake-tail crawler are arranged above the snake-head crawler structure. The structure is driven by a crawler, the joint structure adopts four servo joints with different degrees of freedom, and the crawler and the servo joint are arranged on a straight line. The snake-like robot with a vertical three-section structure can play its own obstacle-surmounting and climbing functions to reach the depths of the mine, detect the environment and personnel conditions after the underground accident damage, and use wireless communication means to feed back the information to the control center in real time. , to assist commanders in making emergency decisions. It is of great significance to further realize the automatic, scientific and network management of the whole mine.

Description

A snake-like robot with a longitudinal three-segment structure

technical field

The invention relates to a mobile robot system based on crawler drive and joint control in the technical field of mechanical automation, in particular to a snake-shaped robot with a longitudinal three-segment structure.

Background technique

Coal resources are the main energy for economic development at present, and the rapid growth of coal demand has prompted the rapid development of the coal industry. Due to industry characteristics, security issues have become the new industry standard. The underground environment is dangerous, and it is difficult for rescue personnel to enter at the first time. Accident experts are also unable to make timely judgments and decisions due to the lack of underground information, resulting in untimely rescue. Based on this, the present invention proposes a special mine snake-like robot with a longitudinal three-segment structure, which can enter the well before the rescue and relief personnel when an accident occurs, go deep into the narrow space, and carry out accident exploration and rescue.

According to the survey, there are no similar products on the market. The only explosion-proof robot product that can be used in coal mines is a double-track explosion-proof robot from Kaesong Heavy Industry. Because the explosion-proof type is used for explosion-proof treatment, it is large and cumbersome, which is not conducive to the use of emergency rescue scenarios, and the price is relatively expensive, so it has not really entered the coal mine market.

SUMMARY OF THE INVENTION

The invention provides a snake-shaped robot with a longitudinal three-section structure, which can be applied to emergency rescue scenarios, solves the problem of going deep into a narrow space, and carries out accident exploration and rescue; The problem of grasping the situation in the disaster area, filling the gap in the application field of rescue and disaster relief, and can adapt to rescue in various terrains. Its technical solution is as follows:

A snake-shaped robot with a longitudinal three-segment structure includes a snake-head crawler structure, a joint structure and a snake-tail crawler structure connected in sequence, a sensor module is arranged above the snake-head crawler structure, and the snake-head crawler structure and the snake-tail crawler structure adopt crawler tracks. For driving, the joint structure adopts four servo joints with different degrees of freedom, and the track and servo joints are arranged on a straight line.

The snake-head crawler structure includes a crawler frame, the inside of the crawler frame is provided with a main control board, the left and right sides of the main control board are provided with a right front side plate and a left front side plate fixed on the crawler frame, and the main control board is connected with the sensor module. The main control board is also connected with a wireless network bridge for video transmission.

The sensor module is provided with a carbon monoxide sensor, a methane gas sensor, a visible light camera, an infrared camera, and a temperature sensor.

The inside of the track frame is also provided with a motor, the motor is installed on the motor fixing part, the left and right ends of the motor fixing part are provided with a right rear side plate and a left rear side plate fixed on the track frame, and the motor fixing part is fixed on the right rear side panel or left rear side panel.

The front and rear ends of the track frame are respectively fixed with a driven wheel and a driving wheel, the motor is connected with the synchronous wheel fixed in the track frame through a tensioning sleeve, and the synchronous wheel is connected with the driving wheel through a synchronous belt.

The snake tail crawler structure includes a snake tail crawler frame, a battery is arranged in the snake tail crawler frame, the battery is installed on the left front side plate or the right front side plate through the battery fixing part, and the left front side plate or the right front side plate is installed with a battery connected to the battery. The switch and charging slot, the right front side plate and the left front side plate are fixedly installed on the left and right sides of the snake tail crawler frame.

The inside of the snake tail crawler frame is also provided with a motor, the motor is fixed on the left rear side plate or the right rear side plate through the motor fixing part, and the left rear side plate and the right rear side plate are fixed on the left and right sides of the snake tail crawler frame; The front and rear ends of the snake tail track frame are respectively fixed with a driven wheel and a driving wheel, the motor is connected with the synchronous wheel fixed in the snake tail track frame through a tensioning sleeve, and the synchronous wheel is connected with the driving wheel through a timing belt.

The joint structure includes a first steering gear, a second steering gear, a third steering gear, and a fourth steering gear arranged in sequence from front to back, and the first steering gear and the fourth steering gear are placed in a vertical direction and are all positive Place; the second steering gear and the third steering gear are placed horizontally and oppositely, the sides of the first steering gear and the second steering gear are fixedly connected through the front connecting plate, and the forward direction of the second steering gear is connected to the third steering gear. The reverse direction is fixedly connected through the second connecting side plate, the reverse direction of the second steering gear and the forward direction of the third steering gear are fixedly connected through the first connecting side plate, and the side surfaces of the fourth steering gear and the third steering gear are connected through the rear connecting plate Fixed connection.

The left joint connecting plate and the right joint connecting plate of the snake head crawler structure are respectively fixedly connected with the two side surfaces of the first steering gear.

The left joint connecting plate and the right joint connecting plate of the snake tail crawler structure are respectively fixedly connected with the two side surfaces of the fourth steering gear.

The snake-like robot with a longitudinal three-section structure can play its own obstacle-surmounting and climbing functions to reach the depths of the mine, detect the environment and personnel conditions after underground accidents, and use wireless communication means to feed back the information to the control center in real time. , to assist commanders in emergency decision-making. It is of great significance to further realize the automatic, scientific and network management of the whole mine.

Description of drawings

1 is a schematic structural diagram of the snake-shaped robot with a longitudinal three-section structure;

Fig. 2 is the top view of Fig. 1;

Figure 3 is a schematic diagram of the explosion of the snake head crawler structure of the snake robot;

Figure 4 is a schematic diagram of the explosion of the snake tail crawler structure of the snake robot;

Figure 5 is an exploded schematic view of the joint structure.

Detailed ways

As shown in FIG. 1 and FIG. 2 , the snake-shaped robot with a longitudinal three-section structure includes a snake-head crawler structure 2 , a joint structure 1 and a snake-tail crawler structure 3 connected in sequence, and a sensor module is arranged above the snake-head crawler structure 2 4. Between the two crawler structures is a joint structure 1 with 4 different degrees of freedom. The 4 servo joints set in it can rotate independently of each other and perform various complex actions in three-dimensional space, so that the crawler can adapt to the terrain of the site and make the The snake-like robot has strong obstacle-surmounting ability and adaptability to non-structural environment.

In order to ensure that the robot can operate in the terrain environment such as soft ground, silt and gravel, stairs like steps, hard rocks, etc., the snake-shaped robot adopts the crawler as the active driving method. At the same time, in order to ensure the passability of some rough terrains, the present invention can add auxiliary driven wheels as structural supports to enhance the terrain adaptability.

The invention adopts the front and rear longitudinal arrangement of the double crawler structure, the middle part is connected by a plurality of servo joints, and the crawler part and the servo joint part are arranged in a straight line, so that the snake robot can pass through extremely narrow spaces such as pipes or similar holes. , to improve passing ability and adaptability.

As shown in FIG. 3 , the snake head crawler structure 2 includes a snake head crawler skeleton 11, which is a 3D printed nylon part, and a sensor module 4 is mounted above the front end of the snake head crawler structure through a data line 23. The sensor module 4 is provided with a carbon monoxide sensor, Methane gas sensors, visible and infrared cameras, and temperature sensors.

The two ends of the snake head crawler frame 11 are respectively provided with a snake head right front side plate 12 and a snake head left front side plate 13. The snake head right front side plate 12 and the snake head left front side plate 13 respectively fix the main parts of the snake robot located in the snake head crawler frame 11 by screws. A control board and a wireless network bridge for video transmission, the main control board is connected with the wireless network bridge, and the main control board is connected to the sensor module 4 through a data line 23 .

The rear of the left front side plate 13 of the snake head is provided with a left rear side plate 17 of the snake head, a snake head motor fixing member 15 is fixed on the left rear side plate 17 of the snake head, and the snake head motor 16 is connected with the left side plate 17 of the snake head through the snake head motor fixing member 15, and the snake head motor The right side of 16 is covered by the right rear side plate 14 of the snake head for protection.

The front and rear ends of the snake head crawler frame 11 are respectively fixed with a snake head driven wheel 22 and a snake head driving wheel 20. The snake head motor 16 is connected with the snake head synchronizing wheel 18 fixed in the snake head crawler frame 11 through the snake head tensioning sleeve, and the snake head synchronizing wheel 18 is synchronized by the snake head. The belt 19 is connected to the serpentine driving pulley 20 . The snake head driving wheel 20 is connected to the snake head outer crawler belt 21, so that when the snake head motor 16 rotates, it is driven by the snake head timing belt 19, and the snake head outer crawler belt 21 rotates.

The left and right sides of the snake head driving wheel 20 are respectively provided with a snake head left joint connecting plate 24 and a snake head right joint connecting plate 25, which are fixedly connected to the joint structure 1 through the snake head left joint connecting plate 24 and the snake head right joint connecting plate 25.

As shown in FIG. 4 , the snake tail crawler structure 3 includes a snake tail crawler frame 31 , and the crawler frame 31 is a 3D printed nylon part.

Both ends of the snake tail crawler skeleton 31 are respectively provided with a snake tail right front side plate 32 and a snake tail left front side plate 33, and the snake tail right front side plate 32 and the snake tail left front side plate 33 are respectively fixed by screws. A power supply battery is installed in the snake tail battery fixing member 43 , and the power supply battery is used for power supply of the whole robot. A switch and a charging slot connected to the battery are installed on the left front side panel 33 of the snake tail.

The back of the snake tail left front side plate 33 is provided with a snake tail left rear side plate 37, a snake tail motor fixing member 35 is fixed on the snake tail left rear side plate 37, and the snake tail motor 36 is connected with the snake tail left rear side plate 37 through the snake tail motor fixing member 35, and the snake tail is connected. The right side of the motor 36 is covered by the snake tail right rear side plate 34 for protection.

The front and rear ends of the snake tail track frame 31 are respectively fixed with a snake tail driven wheel 42 and a snake tail driving wheel 40. The snake tail motor 36 is connected with the snake tail synchronizing wheel 38 fixed in the snake tail crawler frame 31 through the snake tail tensioning sleeve, and the snake tail synchronizing wheel 38 is synchronized by the snake tail. The belt 39 is connected to the snake drive pulley 40 . The snake tail driving wheel 40 is connected to the snake tail outer crawler belt 41, so that when the snake tail motor 36 rotates, it is driven by the snake tail synchronous belt 39, and the snake tail outer crawler belt 41 rotates.

The left and right sides of the snake tail driven wheel 42 are respectively provided with a left joint connecting plate and a right joint connecting plate, which are fixedly connected to the joint structure 1 through the snake tail left joint connecting plate and the snake tail right joint connecting plate.

As shown in FIG. 5 , the joint structure 1 includes a first steering gear 51 , a second steering gear 52 , a third steering gear 53 , and a fourth steering gear 54 arranged in sequence from front to back. The first steering gear 51 and The fourth steering gear 54 is placed in the vertical direction and is placed in the forward direction; the second steering gear 52 and the third steering gear 53 are placed in the horizontal direction and oppositely placed.

The side surfaces of the first steering gear 51 and the second steering gear 52 are fixedly connected through the front connecting plate, that is, the first steering gear 51 and the second steering gear 52 are fixedly connected by the first connecting top plate 56 above, and the first steering gear 51 and the second steering gear 52 are fixedly connected by the first connecting top plate 56 below them. The connection base plate 59 is fixedly connected. The snake head left joint connecting plate 24 and the snake head right joint connecting plate 25 are respectively fixedly connected to two side surfaces of the first steering gear 51 .

The left and right ends of the second steering gear 52 and the third steering gear 53 are respectively fixed by the first connecting side plate 61 and the second connecting side plate 58 , that is, the reverse direction of the second steering gear 52 and the positive direction of the third steering gear 53 are respectively fixed. The forward direction of the second steering gear 52 and the reverse direction of the third steering gear 53 are fixedly connected through the second connection side plate 58 . An I-shaped support plate 55 is disposed between the second steering gear 52 and the third steering gear 53 , and the first connection side plate 61 , the second connection side plate 58 and the I-shaped support plate 55 are fixedly connected by screws.

The sides of the fourth steering gear 54 and the third steering gear 53 are fixedly connected through the rear connecting plate, that is, the third steering gear 53 and the fourth steering gear 54 are fixedly connected by the second connecting top plate 57 above, and the second steering gear 54 is fixedly connected below. The connection base plate 60 is fixedly connected. The snake tail left joint connecting plate and the snake tail right joint connecting plate of the snake tail crawler skeleton are fixedly connected to the two side surfaces of the fourth steering gear 54 respectively.

A wheel frame 62 is fixedly arranged below the I-shaped support plate 55 , and wheels 63 are mounted on the wheel frame 62 .

The steering gear is composed of a motor, a gear box, and a circuit board. The two ends of the motor are respectively fixed with a gear box and a circuit board. The motor includes a steering gear casing, a steering gear rotor, a steering gear stator, and a motor shaft. The steering gear stator is fixed inside the steering gear housing, and the side of the steering gear rotor with the contact points is connected to the motor shaft, and then the combination of the steering gear rotor and the motor shaft is placed inside the steering gear stator.

The reducer adopts a harmonic reducer, and the reducer and the motor shaft are connected by a flat key, which includes a reducer flex wheel and a reducer shell. key, the outer side of the reducer flex wheel is covered by the reducer shell, and the reducer shell is fixedly connected with the servo shell.

The contact point of the steering gear rotor is higher than the upper surface of the steering gear stator, the upper surface of the steering gear stator is provided with a brush fixed with the steering gear housing, and the contact of the brush can contact the contact point of the steering gear rotor.

The invention is the first domestic bionic robot with a three-segment ultra-narrow design single-row drive mode. The dual tracks are longitudinally arranged in the front and rear, and are connected by multiple high-torque servo joints. Diameter pipes and similar narrow spaces.

The invention is the first snake-shaped robot structure with multiple degrees of freedom. The four servo joints can rotate independently of each other, intelligently adapt to the terrain, and switch between single-column, double-column, rolling and other walking modes according to the terrain environment. The robot can be deformed into a head-to-tail double-column structure, which increases the stability and flexibility of running on the ground by sacrificing the passability of the narrow space. When it overturns during walking, the snake-shaped robot can reset itself autonomously.

The snake-like robot has the first single-column drive design concept in China. It can switch between single-column, double-column, tumbling and other walking modes according to the terrain. It has adaptability to unstructured environments. It constitutes environmental recognition technology, and truly realizes the bionic technology of long-distance video signal transmission, environmental sensing, image recognition and autonomous obstacle avoidance. In the broad market environment of robot application, it is very important for safe production, intelligent application and industry innovation. meaning.

The invention has the functions of movement and control, environmental sensing, image recognition and autonomous obstacle avoidance in unstructured environment, and the snake-shaped robot can also perform exploration in extreme and dangerous environments. Because of its vertical three-section structure, all functional modules are arranged in front and back, ensuring that they can pass through extremely narrow spaces such as gaps, pipes, and caves, and have passability in non-structural environments, so there is no need for harsh application conditions and In complex application scenarios, the snake robot can perform safe and effective functional output.

In addition to disaster rescue, spontaneous combustion of coal is one of the main natural disasters in the process of coal mining in my country. 60% of coal mines in China are mining coal seams with a tendency to spontaneous combustion. With the increase of mining intensity, the problems caused by the continuous deepening and deep development of the mine, especially the mining of short-distance coal seams, and the relative complexity of the ventilation system, the risk of spontaneous combustion of the coal seam has a tendency to increase significantly.

Coal spontaneous combustion in goaf occupies a high proportion of mine fires. If the spontaneous combustion of coal can be suppressed in the early stage, it is of great significance to control and prevent spontaneous combustion in the goaf (working face). At present, the prediction of spontaneous combustion and ignition tendency in the goaf is mainly to extract sample gas to the ground through the bundled tube system, and analyze and early warning of the marked gas; this method lacks real-time and intuitiveness, and the bundled tube is easily damaged and leaked, resulting in inaccurate measurement. By adopting the invention, the robot can calculate the temperature field and the carbon monoxide concentration to approach the ignition point or the disaster-prone area autonomously, carry out precise positioning, and can effectively implement treatment or take preventive measures in advance according to the on-site situation. Timely and accurate early warning of goaf hidden dangers, reduce the risk of goaf accidents, and improve the safety of underground operations.

Because it is used for underground rescue in coal mines, the snake robot has an intrinsically safe explosion-proof design. The robot body has a lightweight structure design with optimal size and weight; the circuit board is designed in accordance with the intrinsically safe explosion-proof standard, and the battery current limiting protection board is added, which is fixed by glue sealing. According to the requirements of explosion-proof regulations, reduce the transmission power of the wireless module. The motor deceleration transmission mechanism is designed, and the motor outlet shaft is treated with oil seal. The gas sensor vent hole uses a waterproof and breathable film to improve the overall waterproofness of the robot. Purchasing or customizing special explosion-proof lithium batteries, and appropriately reducing the battery capacity, volume and weight if it can meet the needs of use.

Claims (10)

1. a serpentine robot with a longitudinal three-section structure is characterized in that: comprising a snake head crawler structure, a joint structure and a snake tail crawler structure connected in turn, a sensor module is provided above the snake head crawler structure, and the snake head crawler structure is provided with a sensor module. And the snake tail crawler structure adopts crawler drive, and the joint structure adopts four servo joints with different degrees of freedom, and the crawler and servo joints are arranged in a straight line. 2 . The snake-shaped robot with a longitudinal three-segment structure according to claim 1 , wherein the snake-head crawler structure comprises a crawler skeleton, and a main control board is arranged inside the crawler skeleton, and the left and right sides of the main control board are provided with a main control board. The right front side plate and the left front side plate fixed on the track frame are provided, the main control board is connected with the sensor module, and the main control board is also connected with a wireless network bridge for video transmission. 3 . The snake-shaped robot with a longitudinal three-segment structure according to claim 1 , wherein the sensor module is provided with a carbon monoxide sensor, a methane gas sensor, a visible light camera, an infrared camera, and a temperature sensor. 4 . 4. The snake-shaped robot with a longitudinal three-segment structure according to claim 2, characterized in that: the inside of the crawler frame is also provided with a motor, the motor is installed on the motor fixing piece, and the left and right ends of the motor fixing piece are The right rear side plate and the left rear side plate fixed on the track frame are provided, and the motor fixing part is fixed on the right rear side plate or the left rear side plate. 5. The snake-shaped robot with a longitudinal three-section structure according to claim 4, wherein the front and rear ends of the track frame are respectively fixed with a driven wheel and a driving wheel, and the motor passes through the tension sleeve and the inside of the track frame. The fixed synchronous wheel is connected, and the synchronous wheel is connected with the driving wheel through the synchronous belt. 6 . The snake-shaped robot with a longitudinal three-section structure according to claim 1 , wherein the snake-tail crawler structure comprises a snake-tail crawler skeleton, and a battery is arranged in the snake-tail crawler skeleton, and the battery is installed on the front left side through a battery fixing part. 7 . On the side plate or the right front side plate, a switch and a charging slot connected to the battery are installed on the left front side plate or the right front side plate, and the right front side plate and the left front side plate are fixedly installed on the left and right sides of the snake tail crawler frame. 7. The snake robot with a longitudinal three-segment structure according to claim 6, wherein the snake tail crawler skeleton is also provided with a motor, and the motor is fixed on the left rear side plate or the right rear through a motor fixing part Side plates, the left rear side plate and the right rear side plate are fixed on the left and right sides of the snake tail crawler frame; the front and rear ends of the snake tail crawler frame are respectively fixed with driven wheels and driving wheels, and the motor passes through the tension sleeve and the snake tail crawler frame. The fixed synchronous wheel is connected, and the synchronous wheel is connected with the driving wheel through the synchronous belt. 8 . The snake-shaped robot with a longitudinal three-section structure according to claim 1 , wherein the joint structure comprises a first steering gear, a second steering gear, a third steering gear, The fourth steering gear, the first steering gear and the fourth steering gear are placed in the vertical direction and are placed in the forward direction; the second steering gear and the third steering gear are placed in the horizontal direction and oppositely placed, the first steering gear and the second steering gear are placed in the opposite direction. The side of the steering gear is fixedly connected through the front connecting plate, the forward direction of the second steering gear and the reverse direction of the third steering gear are fixedly connected through the second connecting side plate, the reverse direction of the second steering gear and the forward direction of the third steering gear are fixedly connected The side surfaces of the fourth steering gear and the third steering gear are fixedly connected through the rear connecting plate. 9 . The snake robot with a longitudinal three-section structure according to claim 1 , wherein the left joint connecting plate and the right joint connecting plate of the snake head crawler structure are respectively fixedly connected to the two side surfaces of the first steering gear. 10 . 10 . The snake robot with a longitudinal three-section structure according to claim 1 , wherein the left joint connecting plate and the right joint connecting plate of the snake tail crawler structure are respectively fixedly connected to the two sides of the fourth steering gear. 11 .

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