To define the diffusion behavior of harmful exhaust substances from diesel vehicles and support safety risk assessments of underground coal mines,we performed a multi-species coupling calculation of the emission and d...To define the diffusion behavior of harmful exhaust substances from diesel vehicles and support safety risk assessments of underground coal mines,we performed a multi-species coupling calculation of the emission and diffusion of harmful substances from a trackless rubber-wheel diesel vehicle.A computational fluid dynamics(CFD)model of the diffusion of harmful emissions was hence established and verified.From the perspective of risk analysis,the diffusion behavior and distribution of hazardous substances emitted by the diesel vehicle were studied under 4 different conditions;moreover,we identified areas characterized by hazardous levels of emissions.When the vehicle idled upwind in the roadway,high-risk areas formed behind and to the right of the vehicle:particularly high concentrations of pollutants were measured near the rear floor of the vehicle and within 5 m behind the vehicle.When the vehicle idled downwind,high-risk areas formed in front of it:particularly high concentrations of pollutants were measured near the floor and within 5 m from the front of the vehicle.In the above cases,the driver would not breathe highly polluted air and would be relatively safe.When the vehicle idled into the chamber,however,high-risk areas formed on both sides of the vehicle and near the upper roof.Forward entry of the vehicle caused a greater increase in the concentration of pollutants in the chamber and in the driver’s breathing zone compared with reverse entry.展开更多
A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor dr...A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.展开更多
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
We describe a system for turning the accumulator electric locomotives used in coal mines. This improves transport efficiency and decreases mine construction and production costs. The operating requirements, principles...We describe a system for turning the accumulator electric locomotives used in coal mines. This improves transport efficiency and decreases mine construction and production costs. The operating requirements, principles, working features and transmission system are discussed. This system has a simple structure and can be manufactured, transported and assembled easily. It, therefore, can handle accumulator locomotives of middle and small size.展开更多
基金supported by the National Natural Science Foundation of China(Nos.52174191 and 51874191)the National Key R&D Program of China(No.2017YFC0805201)+1 种基金Qingchuang Science and Technology Project of Shandong Province University(No.2020KJD002)Taishan Scholars Project Special Funding(No.TS20190935).
文摘To define the diffusion behavior of harmful exhaust substances from diesel vehicles and support safety risk assessments of underground coal mines,we performed a multi-species coupling calculation of the emission and diffusion of harmful substances from a trackless rubber-wheel diesel vehicle.A computational fluid dynamics(CFD)model of the diffusion of harmful emissions was hence established and verified.From the perspective of risk analysis,the diffusion behavior and distribution of hazardous substances emitted by the diesel vehicle were studied under 4 different conditions;moreover,we identified areas characterized by hazardous levels of emissions.When the vehicle idled upwind in the roadway,high-risk areas formed behind and to the right of the vehicle:particularly high concentrations of pollutants were measured near the rear floor of the vehicle and within 5 m behind the vehicle.When the vehicle idled downwind,high-risk areas formed in front of it:particularly high concentrations of pollutants were measured near the floor and within 5 m from the front of the vehicle.In the above cases,the driver would not breathe highly polluted air and would be relatively safe.When the vehicle idled into the chamber,however,high-risk areas formed on both sides of the vehicle and near the upper roof.Forward entry of the vehicle caused a greater increase in the concentration of pollutants in the chamber and in the driver’s breathing zone compared with reverse entry.
基金Project(2012AA041504)supported by the National High-Tech Research and Development Program of ChinaProject(KYLX15_1418)supported by the 2015 Annual General University Graduate Research and Innovation Program of Jiangsu Province,ChinaProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD),China
文摘A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.
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We describe a system for turning the accumulator electric locomotives used in coal mines. This improves transport efficiency and decreases mine construction and production costs. The operating requirements, principles, working features and transmission system are discussed. This system has a simple structure and can be manufactured, transported and assembled easily. It, therefore, can handle accumulator locomotives of middle and small size.