井下灭火机器人底盘行走系统评价研究  

Research on Evaluation of Chassis Walking System of Underground Firefighting Robot

作　　者：朱锋 Zhu Feng(Shendong Technology Research Institute,Yulin 719315,China)

机构地区：[1]神东技术研究院,陕西榆林719315

出　　处：《煤矿机械》2021年第12期31-33,共3页Coal Mine Machinery

摘　　要：为了探究哪种履带行走机构更适合煤矿井下灭火机器人,采用网络分析法(ANP)从行走能力、防爆难易和操控难易三方面对4种常见履带行走系统的性能进行了评价。对4种行走系统的空间通过性、最大越障高度、最大跨越沟壑宽度和底盘高度进行了理论建模和分析,并建立ANP模型对4种行走机构进行了定量评价。最终评价结果表明,倒梯形履带行走机构更适合煤矿灭火机器人。In order to explore which kind of crawler walking mechanism is more suitable for coal mine firefighting robot, the performances of four common crawler walking systems were evaluated from three aspects of walking ability, explosion-proof difficulty and control difficulty by using analytic network process(ANP). The space trafficability, the maximum obstacle height, the maximum gully width and the chassis height of the four walking systems were theoretically modeled and analyzed, and the ANP model was established to quantitatively evaluate the four walking mechanisms. Finally, the evaluation results show that the inverted ladder crawler walking mechanism is more suitable for coal mine firefighting robot.

关 键 词：灭火机器人 履带行走机构 ANP 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]