薄煤层巡检机器人行走机构跨沟性能分析及试验研究  

Ditch-crossing performance analysis and experimental study on inspection robot walking mechanism in thin coal seam

作　　者：商德勇[1] 崔栓伟[1] 周丹[1] 杜少庆[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《煤炭工程》2017年第4期136-138,共3页Coal Engineering

基　　金：中央高校基本科研业务专项资金(2011YJ01)

摘　　要：针对薄煤层综采工作面复杂多变的地形环境,设计了一款四摇臂履带式巡检机器人,辅助检修工人完成日常工作面综采设备巡检工作,降低了工人劳动强度。对巡检机器人越沟性能进行了分析,在无摇臂辅助下最大越沟宽度为278.9mm,有摇臂辅助下最大越沟宽度为347.15mm,并使用ADAMS对越沟过程进行了虚拟仿真,验证了理论分析的正确性,最后对机器人行走机构样机进行了越沟性能试验,结果表明,所设计的巡检机器人可以满足薄煤层综采工作面环境的要求。In view of the complex terrain environment in fully-mechanized working face in thin coal seam,this paper proposed a four-rocker crawler inspection robot to assist workers to accomplish routine equipment inspection work and reduce the labor intensity of workers.Ditch-crossing performance of the inspection robot was analyzed,which was able to cross a 278.9mm wide ditch without the rocker-arm auxiliary,and a 347.15 mm wide ditch with the rocker-arm.Correctness of the theoretical analysis was verified based on ADAMS virtual simulation of ditch-crossing process.Finally,ditch-crossing performance of the walking mechanism prototype was implemented,and the results showed the inspection robot could meet the environment requirements of fully-mechanized working face in thin coal seam.

关 键 词：薄煤层 巡检机器人 行走机构 跨沟性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]