基于ADAMS的可变履带式井下探测机器人研究  

Research for the variable crawler exploration robot of underground based on ADAMS

作　　者：曲芳[1,2] 张艳[3] 宁姗[1] 管晓光[4] 杨德生[1] 

机构地区：[1]黑龙江科技大学实训中心,哈尔滨150022 [2]东北农业大学工程学院,哈尔滨150030 [3]黑龙江科技大学机械工程学院,哈尔滨150022 [4]黑龙江科技大学材料学院,哈尔滨150022

出　　处：《工业仪表与自动化装置》2014年第6期104-109,共6页Industrial Instrumentation & Automation

基　　金：黑龙江省教育厅科学技术研究项目(12533057;11511345);黑龙江科技大学教学研究项目(JY13-193);黑龙江科技大学教学研究项目(JY13-187)

摘　　要：针对煤矿产业生产过程中频发瓦斯、煤尘等爆炸事故,因救援不及时而造成较多人员伤亡的问题,设计一种可变履带式井下探测机器人,其行走机构能够实现翻越连续台阶、圆台地形、矩形凸台、梯形凸台、斜坡地形和沟道地形等,具有较强的对复杂地形的适应能力和爬坡越障能力;其转向机构能够克服履带式机器人转弯速度慢,转弯半径大,转弯效果差的缺陷,具有良好的对井下灾区现场地形的转向能力和平衡能力。再使其深入到井下灾区现场进行环境探测,将现场信息及时反馈到救援指挥中心,辅助指挥人员进行紧急决策,为制定救援方案提供依据,为救援工作提供通信平台,为煤矿井下探测工作提供参考。For frequent coal industry production in the process of gas and coal-dust explosion acci-dent, caused by slow rescue casualties of more problems, design a kind of variable crawler mine detection robot, its travel mechanism can achieve over successive steps, frustum of a cone terrain, rectangular, trapezoidal convex sets, convex slope topography and gully topography, strong adaptability for complex terrain and climbing obstacle capability; Its steering mechanism can overcome the crawler robot turning speed, turning radius is big, turning the defects of poor quality, has a good of mine quake area terrain steering and balance ability.To make it into the underground scene to conduct an environmental detec-tion, the scene information timely feedback to rescue command center, supporting command personnel for emergency decision making, to provide evidence for a bailout, provide communication platform for the rescue work, provide reference for the coal mine exploration work.

关 键 词：可变履带式井下机器人 行走机构 转向机构 模拟仿真 

分 类 号：TD524[矿业工程—矿山机电]