矿用测风机器人机构设计与轨迹控制研究  

Research on Mechanism Design and Trajectory Control of Mine Wind Measuring Robot

作　　者：迟海波 CHI Haibo(CCTEG Changzhou Research Institute,Changzhou 213015,China;Tiandi(Changzhou)Automation Co.,Ltd.,Changzhou 213015,China)

机构地区：[1]中煤科工集团常州研究院有限公司,江苏常州213015 [2]天地(常州)自动化股份有限公司,江苏常州213015

出　　处：《煤炭技术》2023年第9期210-214,共5页Coal Technology

基　　金：天地(常州)自动化股份有限公司研发项目(2021TY7001,2022GY-2008,2023TY7001)。

摘　　要：为了保证矿井安全正常生产,矿井通风工作至关重要,而矿井风速测量决定了通风策略的制定是否精准及时。现有矿井风速测量工作主要依靠人工进行,劳动强度大,效率低,为了提高矿井测风的智能化水平,提出了一种伸缩式测风机器人,基于其测风轨迹需求,完成了机构设计和轨迹控制研究,并进行了虚拟样机建模与联合仿真。仿真结果表明,所设计的伸缩式测风机器人机构合理,轨迹控制算法有效,实现了测风轨迹的精确模拟。测风机器人整体结构紧凑,井下安装方便,可适应多种巷道尺寸,为智能化测风机器人领域提供了一种新的思路。In order to ensure the safety and normal production of mine,mine ventilation work is very important,and mine wind speed measurement determines whether the formulation of ventilation strategy is accurate and timely.The current mine wind speed measurement work mainly relies on manual work,with high labor intensity and low efficiency.In order to improve the intelligent level of mine wind measurement,a kind of telescopic wind measurement robot is proposed,based on its wind track requirements,the mechanism design and trajectory control research are completed,and the virtual prototype modeling and co-simulation are carried out.The results show that the mechanism of the designed telescopic wind measuring robot is reasonable,the trajectory control algorithm is effective,and the precise simulation of wind measuring trajectory is realized.The wind measuring robot has a compact structure,easy to install underground,and can adapt to a variety of tunnel sizes,which provides a new idea for the field of intelligent wind measuring robot.

关 键 词：测风机器人 机构设计 运动学 轨迹控制 联合仿真 

分 类 号：TD72[矿业工程—矿井通风与安全] TP242.3[自动化与计算机技术—检测技术与自动化装置]