煤矿安全钻孔机器人系统的设计与研究  

Design and Study on Safe Coal Mine Drilling Robot

作　　者：孙毅刚[1] 王树国[1] 潘沛霖[1] 陈铁鸣 许世范[2] 郝继飞[2] 何凤有[2] 史万舟 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001 [2]中国矿业大学机器人研究中心,徐州221008

出　　处：《高技术通讯》1997年第9期44-47,共4页Chinese High Technology Letters

基　　金：863计划资助

摘　　要：介绍了自行研制的用于煤矿井下安全钻孔的机器人系统。该系统采用了模块化设计、分离式布局，以适应井下空间狭窄、障碍物多、环境条件恶劣等特点。并对该系统进行了可靠性、容错、防爆及防护设计，该系统还具有故障诊断功能。井下工业性试验表明，该系统具有良好的工作性能及较高的可靠性，远距离遥控操作实现了安全作业。This paper introduces a safe drlling robot for coal mine. It adopts the mode of moduling design and seperating distribution in order to adapt to the hard conditions of underworkings such as the narrow space, many obstacles, etc. The system is also designed with high reliability, faulttolerantce, explosion-proof and protecting ways. Moreover, the system has the trouble-detedting function. The testing results show that the system has a good work ability and high reliability,and could also work safely by telecontroling.

关 键 词：煤矿 机器人 钻孔 可靠性 防爆 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TD672[自动化与计算机技术—控制科学与工程]