The invention discloses a synchronous crossing robot underground a coal mine. A system comprises a front-end synchronous crossing robot, a rear-end control platform and a mine communication system; wherein the front-end synchronous crossing robot is arranged in a mine working face; the rear-end control platform is arranged in a ground working machine room and is operated by a driver; and the mine communication system is composed of a local UWB communication positioning system, an optical fiber system and a mine looped network. Through the whole set of high-bandwidth mine communication system, limb instruction information of the driver can interact with working condition on-site information of the working face in real time, and the driver makes corresponding limb actions according to information acquired by the robot on site; and the underground robot drives robot joint stepping motors in a one-to-one correspondence mode to rotate in real time according to a limb action signal of the driver, accordingly, the synchronous crossing action corresponding to the action of the driver is completed, the 'man-in-the-loop' remote man-robot synchronous crossing control is realized, and finally, the required unmanned operation of the mine working face is completed.

    本发明公开了一种煤矿井下同步穿越机器人,该系统包括前端同步穿越机器人、后端操控平台和矿井通信系统。其中,前端同步穿越机器人布置在矿井工作面中;后端操控平台布置在地面工作机房中,由驾驶员操作;矿井通信系统由局域UWB通信定位系统、光纤系统及矿井环网组成。通过整套高带宽的矿井通信系统,驾驶员的肢体指令信息可与工作面的工况临场信息进行实时交互,驾驶员根据机器人现场获取的信息做出相应的肢体动作,井下机器人根据驾驶员肢体动作信号实时驱动一一对应的机器人关节步进电机旋转,进而完成与驾驶员相对应的同步穿越动作,实现“人在回路”的远程人机同步穿越控制,最终完成所需的矿井工作面无人化作业。


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    Title :

    synchronous crossing robot underground coal mine


    Additional title:

    煤矿井下同步穿越机器人


    Contributors:
    FU SHICHEN (author) / WANG DONGJIE (author) / MA YUAN (author)

    Publication date :

    2021-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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