煤矿用双机驱动型吊轨式巡检机器人设计  

Design of Double Machine Driven Hanging Rail Inspection Robot for Coal Mine

作　　者：朱明亮 苏士龙 陈骋 ZHU Mingliang;SU Shilong;CHEN Cheng(CCTEG Shenyang Research Institute Co.,Ltd.,Fushun 113122,China;State Key Laboratory of Coal Mine Safety Technology,Fushun 113122,China;Huajin Coking Coal Co.,Lid.,Lvliang 033000,China)

机构地区：[1]中煤科工集团沈阳研究院有限公司,辽宁抚顺113122 [2]煤矿安全技术国家重点实验室,辽宁抚顺113122 [3]华晋焦煤有限责任公司,山西吕梁033000

出　　处：《煤炭技术》2022年第6期202-205,共4页Coal Technology

摘　　要：煤矿领域人工巡检存在检测项目单一、效率低以及工作量大等难题,智能巡检机器人能够替代人工巡检,提升巡检时效性,符合智慧矿山建设需求。研究一种双机驱动型吊轨式巡检机器人,采用本质安全型防爆设计方法,对行走机构提出合理化结构并提出设计方法。对巡检机器人控制系统硬件功能进行分析,丰富机器人巡检功能。对巡检机器人轨道吊装进行创新性设计,减少现场施工量。通过机器人试制验证提出的结构及设计方法可行性,为煤矿用吊轨式巡检机器人设计提供思路。There are some problems in manual inspection in coal mine field, such as single inspection items, low efficiency and large workload. Intelligent inspection robot can replace manual inspection,improve the timeliness of inspection, and meet the needs of intelligent mine construction. Studies a double machine driven hanging rail inspection robot, adopts the intrinsically safe explosion-proof design method, puts forward the reasonable structure and design method of the walking mechanism. The hardware function of the inspection robot control system is analyzed to enrich the inspection function of the robot. The track hoisting of inspection robot is innovatively designed to reduce the amount of onsite construction. Through the trial production of the robot, the structure and design method proposed are verified to be feasible, which provides an idea for the design of coal mine rail hanging inspection robot.

关 键 词：吊轨式机器人 双机驱动 智能巡检 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]