一种新型煤矿灾害信息探测机器人系统设计  

Design of a novel information exploration robot system for mine disaster

作　　者：秦玉鑫[1] 杜翠洁 王红旗[1] 王裕清[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：《工矿自动化》2015年第2期17-20,共4页Journal Of Mine Automation

基　　金：国家自然科学基金资助项目(U1261115);高等学校博士学科点专项科研基金资助项目(20124116110003);河南省瓦斯地质与瓦斯治理重点实验室--省部共建国家重点实验室培育基地开放基金资助项目(WS2012A06)

摘　　要：针对现有救灾机器人难以适应煤矿井下灾害现场环境的问题,提出了一种新型煤矿灾害信息探测机器人系统,介绍了该系统在煤矿井下的布置、总体结构及控制系统设计,分析了机器人爬坡性能。该系统中机器人运行在煤矿井下已有的单轨吊工字钢轨道上,可在发生煤矿灾害时及时行进到灾害现场,采集现场图像信息和环境参数并发送至地面指挥中心。在煤矿巷道仿真实验室对系统进行测试,结果表明该系统运行稳定,图像传输清晰连续,机器人爬坡角度为18.5°。For the problem that existing disaster rescuing robots cannot adapt to disaster environment of coal mine underground,a novel information exploration robot system for mine disaster was proposed.Distribution of the system in underground was introduced as well as designs of its structure and control system,and climbing ability of disaster rescuing robot in the system was analyzed.The robot moves along I-beam track of overhead monorail in underground and arrives disaster field quickly when disaster happens to collect and send image and environment information to command center on the ground.Test results insimulated coal mine roadway show that the system runs stably and transmits image clearly and continuously,and climbing angle of the robot is 18.5°.

关 键 词：煤矿井下 煤矿灾害 信息探测机器人 救灾机器人 工字钢轨 爬坡能力 

分 类 号：TD67[矿业工程—矿山机电]