Research On The Key Technology Of Mine Rescue Crawler

After the occurrence of coal mine disaster,the environment of the disaster site is very bad with poisonous and harmful gases.Besides,there may be a secondary disaster risk such as gas explosion,spalling and roof falling,etc.It is a thorny problem to rescue in time,when the mine accident happens.Mine rescue robot can enter the disaster site firstly instead of rescuers which reduces the occurrence of secondary injuries among rescuers in the disaster ruins.It has very important practical significance.Due to the limited level of technology,the crawler cannot finish the entire job by itself.The strategy of mainly depending on remote control and partly depending on self-guidance is widely adopted by the rescue crawler.How we can ensure the safety of the crawler itself plays a decisive role in the whole rescue process.In this paper,we study the safety of the mine rescue tracked vehicle from three aspects: maneuvering performance,explosion-proof performance and communication condition.A mobile crawler car with four swing arm was designed to adapt to the special environment of coal mine.The crawler car adopted axisymmetric structure.Wheels and movement of arms are controlled by four independent motors respectively.This paper describes the selection and design process of driving motor,toothed belt pulley,synchronous belt and shaft parts and did FEA and strength check to shafts and arm.Then the assembly process of the entire caterpillar vehicles and the stealing measuresd and corrosion prevention are introduced.Through analysising explosion-proof forms and safety requirements for caterpillar vehicles,we choosed the explosion proof type of the main body and part of intrinsic safety.On the basis of deeply studying the flameproof requirements of electric equipments,we designed the vehicle's flame-proof shell and battery compartment flame-proof shell.We can enhance to its voltage endurance capability by adding reinforcement to the outside of the flameproof housing.In addition,we did FEA and strength check to flame-proof.Through doing the hydrostatic test,the explosion-proof housing is designed to meet the explosion-proof requirements.Aiming at the communication problem in the mine,the mine rescue tracked vehicle was designed that can carry repeater device and has automatic recall function.When the wireless control signal is weakened,the robot will catapult its own repeater modules to increase the wireless communication distance.When wireless signal is suddenly interrupted,the robot will initiate automatic retreat function.Then it can return to a safe place automatically according to the sensory data memorized in the scouting process.Since position information from single encoders has serious accumulative error,a algorithm integration data between encoders and laser sensor is presented in this paper.It uses ICP algorithm to do double data matching so as to adjust the position and orientation gradually of the mobile robot,which can realize high accuracy in the process of automatic returning.The experiment shows that the designed crawler can realize the above functions.