煤矿井下搜救探测机器人结构设计

Physical Design on a Robot for Under-mine Detect and Rescue

根据煤矿井下的环境特点,结合现有机器人结构组成,设计用于煤矿井下搜救探测机器人。该机器人由履带、摆臂复合式结构构成,分3段,具有良好的越障能力、地面适应能力和机械性能。其传感器支撑臂具有2个自由度,可以实现传感器的空间姿态调整。对其结构组成、运动原理、传动特点等进行了介绍和总结。为后续的动力学仿真、控制系统搭建和传感器选择等提供了工作平台。

According to the environmental characteristics of coal mine in line with the existing structure of the robot, robot for coal mine rescue is designed. The robot＇consists of tracks and swing compos- ite structure, and has three sessions with a good ability to adapt to the ground and mechanical properties. The sensor arm with two degrees of freedom can be achieved to adjust to posture sensor space. In this paper, the composition of its structure, movement principles, transmission characteristics are introduced and summarized, which provides the basis for the following work on the dynamic simulation, con- trol system establishment and sensor selections.