After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performanc...After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance and explosion-proof capability. For this type of environment,we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels.The composition and operational principles of the mobile platform are introduced,we discuss the flameproof design of the rocker assembly,as well as the operational principles and mechanical structure of the bevel gear differential and the main parameters are provided.Motion simulation of the differential function and condition of the robot running on virtual,uneven terrain is carried out with ADAMS.The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers.The robot model has good operating performance.Experiments on terrain adaptability and surmounting obstacle performance of the robot prototype have been carried out.The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.展开更多
This paper mainly introduces the structural composition,operating principle,major technical parameters,design features and technical features of the amphibious modulized skid-mounted coiled tubing unit(CTU).It also de...This paper mainly introduces the structural composition,operating principle,major technical parameters,design features and technical features of the amphibious modulized skid-mounted coiled tubing unit(CTU).It also describes the experimental condition of this unit and its application in Jidong Oilfield.The unit has been successfully operated in Jidong Oilfield 30 well-times.The maximum lifting or snubbing depth is 2,300 m;the velocity is 15 m/min;the manifold pressure is 20 MPa;the maximum deviation angle is 35.8°.It has successfully realized the modularization of the CTU.The whole system uses an explosion-proof design,which achieves the second class of explosion-proof grade in the oilfield operation area,and gets the explosion-proof certificate and certification of the China Classification Society.It also obtains the marine operation qualification.This paper has a certain referential significance for the CTU's design and research.展开更多
基金the National Hi-tech Research and Development Program of China for its financial support(No.2006AA04Z208).
文摘After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance and explosion-proof capability. For this type of environment,we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels.The composition and operational principles of the mobile platform are introduced,we discuss the flameproof design of the rocker assembly,as well as the operational principles and mechanical structure of the bevel gear differential and the main parameters are provided.Motion simulation of the differential function and condition of the robot running on virtual,uneven terrain is carried out with ADAMS.The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers.The robot model has good operating performance.Experiments on terrain adaptability and surmounting obstacle performance of the robot prototype have been carried out.The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.
文摘This paper mainly introduces the structural composition,operating principle,major technical parameters,design features and technical features of the amphibious modulized skid-mounted coiled tubing unit(CTU).It also describes the experimental condition of this unit and its application in Jidong Oilfield.The unit has been successfully operated in Jidong Oilfield 30 well-times.The maximum lifting or snubbing depth is 2,300 m;the velocity is 15 m/min;the manifold pressure is 20 MPa;the maximum deviation angle is 35.8°.It has successfully realized the modularization of the CTU.The whole system uses an explosion-proof design,which achieves the second class of explosion-proof grade in the oilfield operation area,and gets the explosion-proof certificate and certification of the China Classification Society.It also obtains the marine operation qualification.This paper has a certain referential significance for the CTU's design and research.
