煤矿盲巷安全探测机器人行走机构的研制

Development of Walking Mechanism of Coal Mine Blind Lane Safety Detecting Robot

煤矿生产安全探测机器人是一种工作于煤矿环境,运动轨迹无线遥控,能够采集和传输图像及井下气体浓度信息,符合井下防爆要求并具有一定越障能力的安全探测移动机器人。进行了复合履带机器人行驶力学分析,分析了机器人运动过程中受到的阻力,并对机器人越障能力以及越障过程中的电机驱动力进行了分析。介绍了复合履带机器人的零部件设计,包括电机和履带的选择、机箱等主要部件的设计。针对机器人的应用环境对机器人的控制系统进行了分析,在分析的基础上初步完成了机器人所需各种设备的选型。

Coal mine safety production detecting robot is a kind of moving robot working in coal mines, gathering and transmitting the images of environment, the concentration of dust and gas and getting over barriers. The robot matches the request of anti-explosion. The mechanical analysis of the moving robot with composite track is carried on. The ability of getting over barriers and the process of motor drive among the passing are analyzed. Then the design of parts is carried out, including the selection of traek and motor, the design of drive mechanism and arm mechanism. The control system of robot is analyzed with the using environment of the robot. It is completed that the selection of equipment required for the robot on the basis of the analysis.