煤矿救灾机器人防爆视觉系统设计与分析

Design and analysis of the explosion-proof vision system of mine rescue robot

针对煤矿救灾机器人工作环境恶劣,救灾现场充斥着各种各样的易燃易爆性气体、粉尘,容易引起二次爆炸的问题,设计出一种专门用于救灾机器人的防爆视觉系统。首先,以救灾机器人视角广度为基础,设计出救灾机器人的整体机械结构,并建立相应三维模型;其次,以间隙熄火原理为基础,分析视觉系统防爆壳体的参数,确定壳体间最大防爆间隙;最后,对防爆壳体进行有限元分析,验证了其力学性能的合理性。

In view of the intricate working conditions of the mine rescue robot, and it＇ s easy to cause the problem of secondary explosion due to rescue sites are filled with a variety of flammable and explosive gas and dust, a kind of explosion protection system is designed for robot vision system. First of all, according to the requirements of degrees of freedom, the mechanical structure and corresponding model are established; Secondly, based on narrow gap principle, the parameters of the visual system is analyzed, and the maximum clearance between the shell is determined; Finally, the finite element analysis is carried out on the explosion proof shell, which verifies the rationality of its mechanical properties.