掘进机器人行驶状态嵌入式传感系统研究  

Embedded Sensing System for Driving State of Tunneling Robot

作　　者：张宏[1] 刘阳 陈小兵 殷国珠 宋佳琪 ZHANG Hong;LIU Yang;CHEN Xiaobing;YIN Guozhu;SONG Jiaqi(School of Mechanical Engineering,Taiyuan University of Science and Technology Taiyuan,030024,China)

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《振动．测试与诊断》2024年第4期785-792,832,共9页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(52075355);山西省重点研发计划项目(202202100401012)。

摘　　要：针对掘进机器人履带行驶结构作业处于高冲击、碰撞、高湿度和复杂煤岩底质等空间受限环境、受到的外部动载荷通常无法直接测量或测量比较复杂问题,提出了一种可实时监测掘进机器人履带动载荷的嵌入式传感系统无线监测方法。设计了适用于掘进机器人的特种履带行驶结构,搭建基体-夹板-无线采集模块等组成的多层复合封装防护结构,在封闭环境下对嵌入式传感系统进行无线传输特性及行驶状态下的动应力分布研究,并进行传感系统封装集成的测试精度标定试验。将嵌入式传感系统随机替换履带链环中的一块山型减振垫,对掘进机器人行驶状态周期循环的履带载荷历程进行监测测试。结果表明,该嵌入式传感系统在不改变履带链环整体受力的前提下,能实时采集履带行驶结构的动载荷并无线传输给上位机,动载荷时间历程数据完备、稳定可靠,解决了井下极端工况下掘进机器人履带行驶结构动载荷获取难题。Considering the challenges of operating the crawler driving structure of the tunneling robot in a spaceconstrained environment such as high impact,collision,high humidity,complex coal and rock substrate,the external dynamic load usually cannot be directly measured or are complicated to measure,a wireless monitoring method of embedded sensing system that can monitor the crawler dynamic load of tunneling robot in real time is proposed.A special crawler driving structure designed for tunneling robot is presented,and a multi-layer composite packaging protective structure composed of matrix,splint and wireless acquisition module is built.The wireless transmission characteristics and dynamic stress distribution of the embedded sensing system during operation are studied in a closed environment,and calibration tests for the sensing system packaging are performed to ensure accuracy.Finally,the embedded sensing system is used to randomly replace a mountain damping pad in the track link,and the crawler load history of the tunneling robot is monitored and tested to verify the feasibility of the proposed method.The embedded sensing system can collect the dynamic load of the crawler driving structure in real time and transmit it to the host computer wirelessly without changing the overall force of the track link,and the dynamic load time history is complete,stable and reliable.The problem of acquiring dynamic load of the crawler driving structure of tunneling robot under the extreme underground working conditions is solved.

关 键 词：履带行驶结构 嵌入式传感系统 动载荷时间历程 无线测试 

分 类 号：TH113[机械工程—机械设计及理论] TD421[矿业工程—矿山机电]