矿用轨道式巡检机器人坡道辅助装置研究

Research on Ramp Auxiliary Device of Track Inspection Robot in Coal Mine

针对煤矿轨道式巡检机器人打滑、溜坡问题,设计一种坡道辅助装置,包括坡道行走机构和防溜车机构。坡道行走机构通过巡检轨道厚度变化调节压紧轮正压力,使巡检机器人驱动力与巡检线路坡度相匹配,解决坡道打滑问题;防溜车机构利用离心力与转速平方的正比关系设计,当巡检机器人溜车超速时,触发机构动作,实现巡检机器人刹车制动,避免安全事故发生。2种机构均为机械结构,具有成本低、制造简单且耐用等优点。

Aiming at the problem of sliding and slope sliding of track inspection robot in coal mine,a ramp auxiliary device was designed,including ramp traveling mechanism and anti slide mechanism.The ramp traveling mechanism adjusts the positive pressure of the hold down wheel by inspecting the change of track thickness,makes the driving force of the inspection robot matched with the slope of the inspection line to solve the problem of slope slip.The anti slide mechanism was designed based on the proportional relationship between centrifugal force and square of rotating speed.When the inspection robot slips over speed,the trigger mechanism acts to realize the braking of the inspection robot and avoid safety accidents.Both mechanisms are mechanical structures,which have the advantages of low cost,simple manufacture and durability,etc.