移动平台rocker-type煤矿的救援机器人(中文5200字,英文4100字)
摘要：在煤矿灾害,特别是一个气体和煤尘爆炸事故,space-restricted和非结构化的地下地形易爆气体需要救援机器人具有良好煤矿obstacle-surmounting性能和防爆能力。在这种类型的环境,我们设计了一个移动平台救援机器人rocker-type煤矿四个独立驱动轮。其组成及工作原理,介绍了移动平台,我们讨论的防火设计摇臂总成,以及工作原理和机械结构的微分和锥齿轮主要参数提供参考。微分运动仿真机器人的功能和状态运行在虚拟的,非平坦地形下的现象进行了ADAMS。仿真结果表明,所提出的微分装置能够维持的主体之间的夹角机器人在平均两个摇滚。机器人模型具有很好的操作性能。实验、超越障碍地形适应性的性能进行了机器人原型。结果表明该模型具有良好的适应性和强大的obstacle-surmounting地形的性能。
关键词：煤矿,救援机器人;悬架摇臂,微分,防爆设计
Mobile platform of rocker-type coal
mine rescue robot
LI Yun wang *, GE Shirong, ZHU Hua, FANG Haifang, GAO Jinke
School of Mechanical and Electrical Engineering, China University of Mining & Technology, Xuzhou 221008, China
Abstract: 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.
Keywords: coal mine; rescue robot; rocker suspension; differential; explosion-proof design |
