煤矿挂轨式巡检机器人爬坡助力装置  

Climbing Power Device of Rail Hanging Inspection Robot in Coal Mine

作　　者：张海峰 ZHANG Hai-feng(State Key Laboratory of Gas Disaster Detecting,Preventing and Emergency Controlling,Chongqing 400037,China;China Coal Technology and Engineering Group Chongqing Research Institute Co.,Ltd.,Chongqing 400039,China)

机构地区：[1]瓦斯灾害监控与应急技术国家重点实验室,重庆400037 [2]中煤科工集团重庆研究院有限公司,重庆400039

出　　处：《自动化与仪表》2022年第10期48-51,共4页Automation & Instrumentation

基　　金：中煤科工集团重庆研究院有限公司科技创新项目(DXBCT-2018012)。

摘　　要：针对煤矿挂轨式巡检机器人因巡检轨道上粉尘和水汽积聚造成的打滑、溜车问题,设计一种压簧储能式爬坡助力装置,包括巡检机器人组件和巡检轨道组件。巡检机器人驶入坡道段时,巡检轨道组件自动触发巡检机器人组件,释放压簧储能,增加驱动轮正压力,以提高驱动力输出性能;巡检机器人驶入水平段时,巡检轨道组件重新锁定巡检机器人组件,阻止压簧释放储能,减小驱动轮正压力,以减小行驶阻力、降低整机功耗,提高巡检机器人续航里程。试验表明,该装置能够提高巡检机器人的爬坡性能,具有推广价值。Aiming at the problem of skidding and sliding on the coal mine rail hanging inspection robot,which caused by the accumulation of dust and water vapor on the inspection track,a pressure spring energy storage climbing booster device is designed,including the inspection robot component and the inspection track component. When the inspection robot drives into the ramp section,the inspection track component automatically triggers the inspection robot component to release the energy stored by the compression spring and increase the positive pressure of the driving wheel to improve the driving force output performance;When the inspection robot drives into the horizontal section,the inspection track component locks the inspection robot component again to prevent the compression spring from releasing the stored energy and reduce the positive pressure of the driving wheel,so as to reduce the driving resistance,reduce the power consumption of the whole machine and improve the endurance mileage of the inspection robot. The test shows that the device can improve the climbing performance of the inspection robot and has popularization value.

关 键 词：巡检机器人 打滑溜车 爬坡助力 

分 类 号：TD414[矿业工程—矿山机电]