矿用巡检机器人行走机构有限元分析与仿真研究

Finite Element Analysis and Simulation Research on the Walking Mechanism of Mining Inspection Robots

为了解决煤矿井下设备人工巡检的难题,设计了矿用履带式智能巡检机器人。该机器人搭载了多种高灵敏度检测传感器、大容量锂电池、中央控制器等,实现了对煤矿井下空间环境参数的远程监控。采用有限元分析法建模巡检机器人行走机构并进行动力学仿真,设置不同的工况进行数值模拟。结果表明,煤矿巡检机器人在上坡运行过程中输出扭矩变化恒定,波动较小,整车结构紧凑且运行稳定可靠,有助于传感器准确采集现场数据、获取高清现场图像。

To solve the problem of manual inspection of underground equipment in coal mines,a tracked intelligent inspection robot for mining was designed.This robot equipped with various high sensitivity detection sensors,large capacity lithium batteries,central controllers,etc.,to achieve remote monitoring of spatial environmental parameters in coal mines.Using finite element analysis method to model the walking mechanism of the inspection robot and conducting dynamic simulation,setting different working conditions for numerical simulation.The results show that the coal mine inspection robot has a constant change in output torque during uphill operation,with small fluctuations.The vehicle has a compact structure and stable and reliable operation,which helps sensors accurately collect on-site data and obtain high-definition on-site images.