煤矿救援机器人结构设计及分析

针对矿井地貌环境的非结构性和复杂性,为了提高救灾机器人的越障能力和实际救援能力,分析了轮式救援机器人行走系统的力学系统原理,提出了机器人六轮行走机构的设计方案。六轮移动机器人采用电动推杆为升降系统提供动力;采用独立悬挂系统,减小了车身的倾斜和震动;采用集中控制-分布驱动方式,有利于运动机构性能的发挥;能够根据地形特征调整自己的底座结构,有很强的越障能力和对非结构化地形的适应能力。

Design and analysis of structure of coal mine rescue robots

In view of non-structural characteristic and complexity of mine landscape environment,the paper analyzed mechanical system principle of running system of wheeled rescue robots and put forward design scheme of six-wheeled running system of robots in order to improve obstacle climbing ability and actual rescue capability.The six-wheeled mobile robot uses electric putter to provide power for lift system, uses independent suspension system to reduce tilt and vibration of the body,and adopts centralized controldistributed driven to give play to movement mechanism.It can adjust base structure according to terrain features,and has strong obstacle capability and adaptability for unstructured terrain.