井下巡检机器人浮动式移动底盘设计与分析  

Design and Analysis of Floating Mobile Chassis for Underground Inspection Robot

作　　者：王成军 王智慧[1,2] WANG Chengjun;WANG Zhihui(State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines,Huainan Anhui 232001,China;School of Artificial Intelligence,Anhui University of Science and Technology,Huainan Anhui 232001,China)

机构地区：[1]深部煤矿采动响应与灾害防控国家重点实验室,安徽淮南232001 [2]安徽理工大学人工智能学院,安徽淮南232001

出　　处：《机床与液压》2022年第15期25-30,共6页Machine Tool & Hydraulics

基　　金：深部煤矿采动响应与灾害防控国家重点实验室开放基金项目(SKLMRDPC19ZZ01);安徽省重点研究与开发计划项目(201904a05020092);国家创新方法工作专项(2018IM010500)。

摘　　要：为提高巡检机器人行走稳定性及越障性能,解决煤矿井下非结构化和复杂未知环境的安全巡检问题,提出一种浮动式巡检机器人移动底盘的设计方案。阐述巡检机器人浮动式移动底盘的结构设计及工作原理,分析巡检机器人越障过程,推导巡检机器人质心位置,得到越障高度与移动底盘位姿关系。运用ADAMS建立巡检机器人虚拟样机,模拟机器人在井下各种复杂路面行走及越障过程。结果表明:所设计的浮动式移动底盘提高了巡检机器人在井下复杂路面行走的稳定性,使巡检机器人具有平稳运行及良好的越障能力,进一步验证了井下巡检机器人浮动式移动底盘设计的可行性。In order to improve the walking stability and obstacle crossing performance of inspection robot,and to solve the safety inspection problem of unstructured and complex unknown environment in coal mine,a design scheme of mobile chassis of floating in⁃spection robot was proposed.The structure design and working principle of the floating mobile chassis of the inspection robot was de⁃scribed,the obstacle crossing process of the inspection robot was analyzed,the centroid position of the inspection robot was deduced,and the relationship between the obstacle surmounting height and the posture of the mobile chassis was obtained.The virtual prototype of inspection robot was established by using ADAMS,the walking and obstacle crossing process of the robot on various complex under⁃ground roads were simulated.The results show that by using the designed floating mobile chassis,the walking stability of the inspec⁃tion robot on the underground complex road can be improved,and the inspection robot have smooth operation and good obstacle sur⁃mounting ability,the feasibility of the floating mobile chassis design of the underground inspection robot is verified.

关 键 词：井下巡检机器人 移动底盘 浮动式悬架装置 稳定性 越障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]