四段式轮-履结合煤矿井下探测机器人结构设计及越障分析  

Structure Design of Four- part Wheel- track Underground Compound Detecting Robot and Obstacle Crossing Analysis

作　　者：李腾[1] 杨雪锋[1] 路恩[1] 刘军兰[1] 魏久焱 董事 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《煤矿安全》2016年第12期117-121,共5页Safety in Coal Mines

基　　金：国家自然科学基金资助项目(51305444)

摘　　要：设计了一种四段式轮-履结合越障机器人。设计了越障机器人的整体结构,前肢采用轮式驱动,后部双翼采用结构型履带拖动,以轮-履结合的方式实现正向和反向越障;对所设计的结构进行合理的简化并进行越障方案分析;采用质心法对机器人进行越障可行性和最大越障高度进行分析,得出最大越障高度;最后通过实验装置进行越障实验,机器人顺利通过设定越障高度,验证了四段式轮-履结合机器人越障性能分析的正确性。We designed a four- part wheel- track compound obstacle crossing robot. Firstly,we designed the overall structure of the robot with the forelimbs driven by wheel and the rear wings driven by structural track,which realized forward and inverse crossing through the combination of the wheel and track. Secondly,we carried out reasonable simplifications of the design of the structure as well as obstacle crossing analysis. Then the maximum obstacle crossing height was concluded through the analysis of the feasibility as well as the maximum height of obstacle crossing by centroid. Finally,by using experimental apparatus,the crossing experiment was implemented with the result of the robot smoothly achieving the setted obstacle crossing height,which verified the validity of the obstacle crossing performance of the four- part wheel- truck robot.

关 键 词：煤矿井下探测 四段式 轮履结合机器人 质心 越障 

分 类 号：TD679[矿业工程—矿山机电]