矿用巡检机器人系统设计与研究  

Design and research of mine inspection robot system

作　　者：徐文权 李军霞 陈维望 张弘玉 XU Wen-quan;LI Jun-xia;CHEN Wei-wang;ZHANG Hong-yu(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China;National-local Joint Laboratory of Mining Fluid Control Engineering,Taiyuan 030024,China;Shanxi Research Center of Mining Fluid Control Engineering,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024 [2]矿山流体控制国家地方联合工程实验室,山西太原030024 [3]山西省矿山流体控制工程技术研究中心,山西太原030024

出　　处：《煤炭工程》2022年第3期177-181,共5页Coal Engineering

基　　金：中央引导地方科技发展资金项目(YDZJSX2021A023);国家自然基金(52174147);晋中市科技重点研发计划(Y211017)。

摘　　要：针对现有煤矿井下轨道式带式输送机巡检机器人续航里程短、爬坡困难等问题,设计了一种轨道和钢丝绳牵引结合的行走机构。首先根据巡检机器人技术要求,对巡检机器人进行了总体方案研究,然后设计了巡检机器人结构、行走机构、轨道安装和数据采集模块。在ADAMS软件中建立了巡检机器人虚拟样机模型,并对其在水平和倾斜两种运动状态的位移变化进行了仿真。该机器人在水平沿轨道方向能够稳定运行;在竖直方向和水平侧摆方向有轻微的波动,但均满足要求;最后搭建了数据采集与传输模块,并对室内环境信息采集测试。结果表明:数据采集与传输模块能够稳定正常工作。因此,该机器人能够为煤矿井下设备运行状态监测提供参考。Aiming at the short cruising range and difficulty in climbing in the existing coal mine inspection robot with rail-mounted belt conveyor,a walking mechanism combining track and wire rope traction was designed.First,according to the technical requirements of the inspection robot,the overall plan of the inspection robot is studied.Then the structure,walking mechanism,track installation and data acquisition modules of the inspection robot are designed.A virtual prototype model of the inspection robot is established in the ADAMS software,and its displacement changes in the horizontal and tilting motion states are simulated.The robot can run stably in the horizontal direction along the track;there are slight fluctuations in the vertical direction and the horizontal side swing direction,but both meet the requirements;finally,a data acquisition and transmission module is built,and the information acquisition test of the indoor environment shows that:the data acquisition and transmission module can work stably and normally.

关 键 词：带式输送机 巡检机器人 行走机构 ADAMS 数据采集 

分 类 号：TH122[机械工程—机械设计及理论]