| Design of a Mobile Mechanism for Missing Miner Search Robots in Underground Mines |
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| 引用本文： | WANG Ting-jun1,2,SUN Jin1,CHEN Yan-kang1,JIA Rui-qing1 1School of Mechanical,Electronic and Information Engineering,China University of Mining & Technology,Beijing 100083,China 2School of Mechanical and Automation Engineering,Liaoning Institute of Technology,Jinzhou,Liaoning 121001,China. Design of a Mobile Mechanism for Missing Miner Search Robots in Underground Mines[J]. 中国矿业大学学报(英文版), 2006, 16(2): 175-179 |
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| 作者姓名： | WANG Ting-jun1 2 SUN Jin1 CHEN Yan-kang1 JIA Rui-qing1 1School of Mechanical Electronic and Information Engineering China University of Mining & Technology Beijing 100083 China 2School of Mechanical and Automation Engineering Liaoning Institute of Technology Jinzhou Liaoning 121001 China |
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| 作者单位： | WANG Ting-jun1，2，SUN Jin1，CHEN Yan-kang1，JIA Rui-qing1 1School of Mechanical，Electronic and Information Engineering，China University of Mining & Technology，Beijing 100083，China 2School of Mechanical and Automation Engineering，Liaoning Institute of Technology，Jinzhou，Liaoning 121001，China |
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| 摘 要： | 1 Introduction It is important to search and locate missing min- ers promptly, rapidly and accurately after disasters occur in underground coal mines[1–2]. The missing miner searching robot (MMSR)[3] for underground mines is an autonomous mobile robot used for searching and locating missing miners and detecting the surrounding parameters of the dangerous under- ground coal mine environment after mine disasters. In areas where mine rescue team members cannot go, MMSR can replace rescuers to…
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| 关 键 词： | 地下矿山 机器人 移动机制 轨迹单元 IULR 倾覆能力 |
| 收稿时间： | 2005-05-28 |
| 修稿时间： | 2005-09-06 |
Design of a Mobile Mechanism for Missing Miner Search Robots in Underground Mines |
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| WANG Ting-jun,SUN Jin,CHEN Yan-kang,JIA Rui-qing. Design of a Mobile Mechanism for Missing Miner Search Robots in Underground Mines[J]. Journal of China University of Mining and Technology, 2006, 16(2): 175-179 |
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| Authors: | WANG Ting-jun SUN Jin CHEN Yan-kang JIA Rui-qing |
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| Abstract: | A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working principle is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and integral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmounting obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot's posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines. |
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| Keywords: | mobile mechanism underground mine tracked-unit tracked travel integral unit legged rotation (IULR) toppling stability |
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