The invention discloses an underground coal mine wheel-track combined type inspection and obstacle removal robot which comprises a moving platform, a rotating device, a robot body, a left arm, a right arm, a clamping paw, crushing shears and a binocular vision system. A front driving wheel, a supporting wheel and a rear driving wheel are installed on the frame through a floating suspension device, and the adaptability of the robot to the complex terrain environment can be improved; and the left arm and the right arm are matched to work, so that the operations of clamping, moving, carrying, crushing, shearing and the like on a target object can be realized. The robot can achieve the functions of schedule inspection, rescue, obstacle removal and the like of an underground coal mine, can rapidly and stably move in a complex terrain environment, is high in obstacle crossing capacity and good in stability, meets the underground anti-explosion requirement, and reduces the labor intensity of underground coal mine inspection personnel and the production cost. The robot further has the advantages of being compact in structure, multiple in two-arm movement freedom degree, flexible in operation, easy and convenient to operate and maintain and the like, and can also be applied to patrol inspection, rescue or obstacle clearing operation occasions in ground tunnels or other environments.

    本发明公开了一种煤矿井下轮履复合式巡检清障机器人,包括移动平台、回转装置、机身、左臂、右臂、夹持手爪、破碎剪和双目视觉系统。本发明的前驱动轮、支撑轮、后驱动轮通过浮动悬挂装置安装在车架上,可提高机器人对复杂地形环境的适应能力;左臂和右臂配合作业可实现对目标物的夹持、移动、搬运、破碎、剪切等作业。本发明能够实现煤矿井下日程巡检、救援和清障等功能,可在复杂地形环境下实现快速稳定移动,且越障能力强、稳定性好,符合井下防爆要求,降低了煤矿井下巡检人员的劳动强度和生产成本。本发明还具有结构紧凑、双臂运动自由度多、作业灵活、操作维护简便等优点,也可应用于地面隧道或其它环境下的巡检、救援或清障作业场合。


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    Title :

    Underground coal mine wheel-track combined type inspection and obstacle removal robot


    Additional title:

    煤矿井下轮履复合式巡检清障机器人


    Contributors:
    WANG CHENGJUN (author) / WANG ZHIHUI (author) / SHEN YUZHE (author) / YU JIANGLI (author) / GUO YONGCUN (author) / LING LIUYI (author)

    Publication date :

    2022-01-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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