带式输送机巡检机器人行驶力学及其仿真研究  

Driving Mechanics and Its Simulation Research of Inspection Robot for Belt Conveyor

作　　者：王川伟[1] 马宏伟[1] 马琨[1] 杨林[1] WANG Chuan-wei;MA Hong-wei;MA Kun;YANG Lin(Xi＇an University of Science and Technology,Xi＇an 710054,China)

机构地区：[1]西安科技大学,西安710054

出　　处：《煤炭技术》2018年第10期258-261,共4页Coal Technology

基　　金：陕西省教育厅专项科学研究计划项目(17JK0506);陕西省科技统筹创新工程计划项目(2013KTCL01-02);西安科技大学培育基金项目(2014026)

摘　　要：设计了一种轮轨式带式输送机巡检机器人,建立了机器人轮轨行驶力学模型及轮轨接触力模型,确定了电机选型参数。电机相关参数代入巡检机器人虚拟样机模型,设定了环境参数,完成了爬坡仿真测试实验。仿真结果表明,对巡检机器人电机的选型可以保证机器人完成20°斜坡的爬坡运动。其相关理论成果可以为样机的设计、加工,提供可靠理论支撑,以缩短研发周期并减少开发成本。Wheel-rail style inspection robot has been designed for belt conveyor.The mechanical model and the contact force model between wheels and rails are established.The selection parameters of the motor are confirmed.The motor parameters are substituted into the model of the virtual prototype,and environmental parameters are set in the virtual prototype,the simulation test of slope performance is completed.The simulation results show that the motor of robot can be guaranteed to complete the climb of 20 degree slope.And the relevant theoretical results can provide reliable theoretical support for the design and processing of physical prototype,to shorten the period of development and to reduce the cost of design.

关 键 词：巡检机器人 接触力 虚拟仿真 带式输送机 

分 类 号：TD528[矿业工程—矿山机电] TP242[自动化与计算机技术—检测技术与自动化装置]