| 煤矿井下搜救探测机器人结构设计 |
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| 引用本文： | 王梁,李元宗,王铁,董志国.煤矿井下搜救探测机器人结构设计[J].煤矿机械,2010,31(2). |
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| 作者姓名： | 王梁 李元宗 王铁 董志国 |
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| 作者单位： | 太原理工大学机械工程学院,太原,030024 |
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| 摘 要： | 根据煤矿井下的环境特点,结合现有机器人结构组成,设计用于煤矿井下搜救探测机器人。该机器人由履带、摆臂复合式结构构成,分3段,具有良好的越障能力、地面适应能力和机械性能。其传感器支撑臂具有2个自由度,可以实现传感器的空间姿态调整。对其结构组成、运动原理、传动特点等进行了介绍和总结。为后续的动力学仿真、控制系统搭建和传感器选择等提供了工作平台。
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| 关 键 词： | 搜救探测 机器人 煤矿 |
Physical Design on a Robot for Under-mine Detect and Rescue |
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| WANG Liang,LI Yuan-zong,WANG Tie,DONG Zhi-guo.Physical Design on a Robot for Under-mine Detect and Rescue[J].Coal Mine Machinery,2010,31(2). |
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| Authors: | WANG Liang LI Yuan-zong WANG Tie DONG Zhi-guo |
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| Affiliation: | College of Mechanical Engineering of Taiyuan University of Technology/a>;Taiyuan 030024/a>;China |
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| Abstract: | According to the environmental characteristics of coal mine in line with the existing struc-ture of the robot,robot for coal mine rescue is designed.The robot consists of tracks and swing compos-ite structure,and has three sessions with a good ability to adapt to the ground and mechanical proper-ties.The sensor arm with two degrees of freedom can be achieved to adjust to posture sensor space.In this paper,the composition of its structure,movement principles,transmission characteristics are intro-duced and s... |
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| Keywords: | rescue and detect robot coal mine |
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