| 轮履复合巡检机器人行走机构设计与研究 |
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| 引用本文： | 贾海东,姚贵英. 轮履复合巡检机器人行走机构设计与研究[J]. 煤矿机械, 2020, 41(2): 25-28 |
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| 作者姓名： | 贾海东 姚贵英 |
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| 作者单位： | 河北工程大学机械与装备工程学院,河北邯郸056038 |
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| 摘 要： | 基于对煤矿巡检工作的需求,提出一种轮履复合巡检机器人行走机构的设计方案,以代替煤矿人工巡检工作,该机器人具备轮式和履带2种运动模式,可以在复杂的地面环境工作。运用SolidWorks建立轮履复合巡检机器人的三维结构模型,同时运用稳定锥法对机器人进行了稳定性分析,并且对机器人的越障能力进行了分析,为其实体结构设计提供了理论依据。
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| 关 键 词： | 机器人 轮履复合 稳定性 越障 |
Design and Research on Walking Mechanism of Wheel-track Composite Patrol Robot |
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| Jia Haidong,Yao Guiying. Design and Research on Walking Mechanism of Wheel-track Composite Patrol Robot[J]. Coal Mine Machinery, 2020, 41(2): 25-28 |
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| Authors: | Jia Haidong Yao Guiying |
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| Affiliation: | (College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056038,China) |
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| Abstract: | Based on the requirement of coal mine inspection,presented a design scheme of walking mechanism of wheel-track composite inspection robot to replace the manual inspection work in coal mine.The robot has two motion modes,wheeled and tracked,and can work in complex ground environment.SolidWorks was used to build the three-dimensional structure model of the wheel-track composite inspection robot.Meanwhile,the stability of the robot was analyzed by using the stable cone method,and the obstacle-surmounting ability of the robot was analyzed,which provides a theoretical basis for its solid structural design. |
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| Keywords: | robot wheel-track composite stability obstacle-surmounting |
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