井下采空区环境监测管道机器人系统设计  

Design of Pipeline Robot System for Environmental Monitoring of Goafs in Coal Mines

作　　者：王瑞冬 WANG Rui-dong(Shanxi Coking Coal Xishan Coal Power Taiyuan Co.,Ltd,Taiyuan Shanxi 030000,China)

机构地区：[1]山西焦煤西山煤电太原有限公司,山西太原030000

出　　处：《机械研究与应用》2022年第2期101-103,115,共4页Mechanical Research & Application

摘　　要：煤矿井下采空区存在易燃易爆等气体,遇明火容易引起爆炸事故,为解决传统人工巡检存在的工人数量多、劳动强度大、检测结果不准确和难以实现预警等问题,利用机器人技术和模块化设计方法,设计了一种采空区管道巡检机器人系统方案,利用三驱动轮卡在管道内壁,可以实现沿管内壁自动行走,利用Adams建立管道巡检机器人系统样机模型,进行了运动学仿真分析,结果验证了机构设计的合理性。最后,完成了样机的制作和实验,结果表明:所设计的管道巡检机器人结构小巧、移动灵活,运动平稳,应用和实验效果良好,对于保证采空区和煤矿的安全生产具有重要的应用价值。There are flammable and explosive gases in the underground goaf area of coal mine,which is easy to cause explosion accidents in case of open fire.In order to solve the problems of traditional manual inspection,such as the large number of workers,high labor intensity,inaccurate test results and the difficult in realizing early warning,a pipeline inspection robot system scheme is designed by using the robot technology and modular design method.The three-drive wheel is stuck in the inner wall of the pipe,thus automatic walking along the inner wall of the pipe can be realized;the prototype model of pipeline inspection robot system is built by using the Adams,and the kinematic simulation analysis is then performed;the results verify the rationality of the institutional design.Finally,the production and experiment of the prototype are completed.The results show that this designed pipeline inspection robot has small structure,flexible movement,smooth movement,and achieves good application and experimental results,which is of important application value for ensuring the safe production of the mining area and coal mine.

关 键 词：采空区 管道巡检机器人 结构设计 环境监测 

分 类 号：TH132.41[机械工程—机械制造及自动化]