摘要
本文所设计的矿井灭火机器人行走机构是由四节履带结构组成的,使得机器人在行走的过程中增加与地面的接触面积,从而增加摩擦性,提高机器人移动的稳定性。本文主要对机器人在运动过程中经常在矿井中遇到的沟壑和台阶两种不同的障碍进行了分析,从而获得与之相对的越障极限参数。并利用Adams建立仿真模型。对该仿真模拟的分析中可以得出结论智能矿井灭火机器人可以跨越二百毫米的台阶与三百毫米宽的沟壑障碍。
The mine fire extinguishing robot travel mechanism designed in this paper is composed of four-section crawler structure,which makes the robot increase the contact area with the ground during the walking process,thereby increasing the friction and improving the stability of the robot movement.In this paper,the two different obstacles of the gully and the step that the robot often encounters in the mine during the movement are analyzed,and the corresponding obstacle limit parameters are obtained.And Adams is used to build a simulation model.From the analysis of the simulation,it can be concluded that the intelligent mine fire extinguishing robot can span two hundred millimeter steps and three hundred millimeters wide gully obstacles.
作者
黄圆志
HUANG Yuan-zhi(Lanzhou Resources & Environment VOC-TECH College,Lanzhou 730021,China)
出处
《价值工程》
2019年第22期189-191,共3页
Value Engineering
基金
甘肃省高等学校科研项目《自识别矿用灭火机器人的研究与应用》(编号:2016A-124)
兰州资源环境职业技术学院院级科研项目《矿井灭火机器人的关键技术研究》(编号:Y2018C-01)阶段性成果
关键词
矿井
智能灭火机器人
行走机构设计
运动仿真
mine
intelligent fire extinguishing robot
walking mechanism design
motion simulation
