煤矿井下搜救机器人越障分析  

Obstacle surmounting analysis of robot for under-mine rescue

作　　者：邓乐[1] 赵莉莉[1] 

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454000

出　　处：《河南理工大学学报（自然科学版）》2011年第5期567-570,共4页Journal of Henan Polytechnic University（Natural Science）

基　　金：河南理工大学博士基金资助项目(B2009-7)

摘　　要：煤矿生产时常受到瓦斯、煤尘事故的影响,煤矿事故一旦发生,需要快速及时地进行救援,事故后井下复杂恶劣的环境对煤矿井下搜救机器人越障能力提出了更高要求.根据煤矿井下的环境特点,结合现有机器人的移动机构,对煤矿井下搜救机器人总体进行设计.从运动学角度分析了机器人克服台阶、沟槽、斜坡等典型障碍的运动规律及其最大越障能力.Gas and coal dust accidents often effect coal production, the event of mine accidents need quick and timely rescue. Complex and harsh environments underground put forward higher requirement for obstacle - surmounting capability of robot for coal mine rescue after mine accident. According to the environmental characteristics of coal mine in line with the existing mobile mechanism of the robot, the overall robot for coal mine rescue is designed. This paper analyses step and slope - climbing, and channel - crossing of motion mechanism and maximal obstacle - surmounting capability from the viewpoint of kinematics.

关 键 词：煤矿井下搜救机器人 摆臂 越障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]