多节履带式煤矿井下搜索机器人设计  

Design Research of Multi-section Crawler-type Underground Coal Mine Search Robot

作　　者：孙久伟[1] 刘罡[1] 韩震峰[1] 刘刚峰[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《煤矿机械》2009年第9期20-23,共4页Coal Mine Machinery

基　　金：国家863计划支持(2007AA041501)

摘　　要：面向煤矿井下事故后非结构化的极端环境,提出了一种多节履带式搜索机器人,先于抢险人员进入井下,探测环境和被困人员情况,并将信息传回控制中心,辅助煤矿救援。通过对机器人工作环境进行分析,建立了井下搜索机器人履带-地面模型,提出了能在复杂非结构环境下灵活越障的机器人整体构型,设计了具有高机动性的行走机构和关节模块,采用机器人仿真软件Webots进行了仿真,为建立实用化的系统工程样机并完成工程试的验验证提供依据。The multi-section crawler-type underground coal mine search robot is proposed due to the unstructured and extreme environment after coal mine accidents. The robot is designed to enter the coal mine before the rescuers to probe the environment and the trapped people conditions and send the information back to the control center and assist the rescue program. A track-terrain model for the underground coal mine search robot is built according to the analysis of the robot＇s working environment. Therefore, a whole model is proposed which can surmount obstacles intelligently under the complex and unstructured conditions. The mobile mechanism and modular joint with high-mobility are designed and emulated by the robot emulation software Webots which provides references for building practical systems engineering prototype and finishing project practice verification.

关 键 词：搜索机器人 多节履带式 履带-地面模型 煤矿救援 结构设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]