一种新型煤矿救援机器人履带行走机构设计  

Design of a new type of crawler travelling mechanism of coal mine rescue robot

作　　者：孙国栋 李雨潭[1] 朱华[1] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《工矿自动化》2015年第6期21-25,共5页Journal Of Mine Automation

基　　金：国家高技术研究发展计划(863计划)课题(2012AA041504)

摘　　要：从履带机构的结构复杂度、越障性能、可操作性以及履带的接地比压4个方面分析了现有煤矿救援机器人履带行走机构的优缺点,针对现有履带结构的优缺点设计了一种新型履带行走机构的结构;结合煤矿救援机器人的相关要求,给出了该新型结构主要尺寸的优化计算公式;根据所提出的计算公式,设计了CUMT-5型煤矿救援机器人。CUMT-5机器人的实际运行结果表明,该新型履带行走机构结构简单,越障性能好,具有良好的可操作性。The advantages and disadvantages of existing crawler travelling mechanisms of coal mine rescue robot were analyzed from structure complexity, obstacle surmounting performance, operability and ground bearing distribution. In view of advantages and disadvantages of existing crawler travellingmechanisms, a new structure of crawler mechanism was designed, and the optimization calculation formulas of the main structure dimensions was given combined with relevant requirements of rescue robots. CUMT-5 type robot was designed according to the proposed calculation formulas. The practical application results of CUMT-5 type robot show that the new type of crawler travelling mechanism has simple structure, good performance in obstacle surmounting and good maneuverability.

关 键 词：煤矿救援机器人 履带机构 优化计算 越障 

分 类 号：TD774[矿业工程—矿井通风与安全]