矿井救援及探测机器人的设计与分析

Design and Analysis on a Robot for Rescue and Detection in Mines

对矿山井下救援及探测机器人的结构及控制模块进行了设计。在结构设计方面,采用C r e o 2.0有限元软件,选取强度、耐腐蚀性良好的合金钢作为机械手选材,建立了物理模型;通过加载手指表面压力和侧面扭矩力作为载荷,进行了三维应力分析。在控制模块设计方面,通过气动控制回路实现了机械手的升降、松紧、回转动作及其速度控制;通过电气控制设计实现了视觉传感器、压力传感器的控制。实践表明:结构设计满足了受力及安全系数等需求;控制设计能够准确支配机械手动作程度、实时监测井下生命体征状况。多项技术融合应用于矿井救援及探测机器人,使设备整体结构紧凑、工作稳定,提高了推广应用可行性。

Designs on structure and controlling modules are carried out for a robot for rescue and detectionin mines.In the scope of structural design,the physical model is established by Finite Element softwareCreo2.0applying alloy steel with satisfied stiffness,strength,hardness,and corrosion resistance intomaterials of manipulators;and further,3Dimension stress analysis is performed on the fingers ofmanipulators through force loads by means of surface pressure and side torque.In view of controllingmodule design,manipulations including lifting,tightness,rotation and speed control are realized bythe pneumatic control circuit,and as well,controls on vision and pressure sensor are achieved byelectronics design.Practical applications show that,such a structural design satisfies the requirementsof maximum force and safety factor,and the controlling design can accurately dominate the extents ofmanipulators’action and real-time surveillance on the vital signs downward the mines.The integrationon various technologies into such a robot for rescue and detection in mines,makes the overall structuremore compact,the operation more stable,significantly improving the efficiency of design as well as thefeasibility of its promotions and applications.