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《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:

期数:

2014年06期

页码:

104-109

栏目:

出版日期:

2014-12-15

文章信息/Info

Title:

Research for the variable crawler exploration robot of underground based on ADAMS

作者:

曲 芳1a; 2; 张 艳1b; 宁 姗1a; 管晓光1c; 杨德生1a

（1.黑龙江科技大学 a.实训中心；b.机械工程学院；c.材料学院，哈尔滨 150022；2.东北农业大学 工程学院，哈尔滨 150030）

Author(s):

QU Fang1a; 2 ;  ZHANG Yan1b;  NING Shan1a;  GUAN Xiaoguang1c;  YANG Desheng1a

(1a.Center of Engineering Training and Practice; b. Mechanical Engineer Institute; c. Material Institute, Heilongjiang University of Science and Technology, Harbin 150022, China;2. Engineering Institute, Northeast Agriculture University, Harbin 150030, Ch

关键词:

可变履带式井下机器人; 行走机构; 转向机构; 模拟仿真

Keywords:

the variable crawler robot of underground;  walking institution;  steering institution;  simulation

分类号:

TD524

DOI:

-

文献标志码:

A

摘要:

针对煤矿产业生产过程中频发瓦斯、煤尘等爆炸事故，因救援不及时而造成较多人员伤亡的问题，设计一种可变履带式井下探测机器人，其行走机构能够实现翻越连续台阶、圆台地形、矩形凸台、梯形凸台、斜坡地形和沟道地形等，具有较强的对复杂地形的适应能力和爬坡越障能力；其转向机构能够克服履带式机器人转弯速度慢，转弯半径大，转弯效果差的缺陷，具有良好的对井下灾区现场地形的转向能力和平衡能力。再使其深入到井下灾区现场进行环境探测，将现场信息及时反馈到救援指挥中心，辅助指挥人员进行紧急决策，为制定救援方案提供依据，为救援工作提供通

Abstract:

In recent years, our province occurs gas and coal dust explosion accidents of coal industry producing process frequently. After the accident, rescue personnel can’t go down in time, waste precious rescue time, causing more casualties personnel. To solve this problem, try to design a walking institution of a variable crawler exploration robot to achieve climb continuous stairs, round table terrain, rectangular boss, trapezoidal boss, channel and slope terrain, with a strong adaptation to the complex terrain, climbing and crossing barrier ability, and the steering institution of the robot can overcome slow turning speed, big turning radius, poor turning defect with good steering and balance capability of disaster site topography of underground, try to make it deep into underground environmental of disaster scene in order to detect, and on-site information and feedback to the rescue command center in time, assist command staff for emergency decisions, provide a reference for formulating rescue plan, build a communication platform for the rescue work, make more contributions for coal mine detection work.

参考文献/References:

[1] 李允旺.矿井救灾机器人行走机构研究[D].北京:中国矿业大学,2010.[2] 孙久伟,韩震峰,刘刚峰等.多节履带式煤矿搜索机器人设计[J].煤矿机械,2009,9(30):20.[3] 龚振邦,陈振华,汪勤武等.机器人机械设计[M].北京:电子工业出版社,1995:281-282.[4] 王宏.轿车转向机构设计[D].哈尔滨:黑龙江工程学院, 2010.[5] 李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2006:1.[6] 全光.基于ADAMS的月球车仿真平台的研究[D].吉林:吉林大学,2007.[7] 高亚,王仲民,邓三鹏等.基于Pro/E与ADAMS的履带式移动机器人动力学研究[J].煤矿机械, 2012, 1(1):57.[8] 陈淑艳,陈文家.履带式移动机器人研究综述[J].机电工程,2007,12(12):109. [9] 唐鸿儒,宋爱国,章小兵.基于传感器信息融合的移动机器人自主爬楼梯技术研究[J].传感技术学报,2005,12(4):828.

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