煤矿履带巡检机器人越障及牵引特性研究
Research on Obstacle Crossing and Traction Characteristics of Coal Mine Crawler Inspection Robot
许维革1
作者信息
- 1. 烟台职业学院,山东 烟台 264000
- 折叠
摘要
针对煤矿工况复杂、危险系数高、人员巡检困难等问题,以某型煤矿履带巡检机器人为研究对象,对履带机器人功能结构及其履带组成进行分析,运用仿真分析的方法研究了不同履带轮半径、履带宽度、履带齿高等履带参数对煤矿履带巡检机器人牵引特性的影响.研究结果表明:随着倾角的增加,煤矿履带巡检机器人可跨越的障碍物高度呈现先增大后减小的趋势;随着履带轮半径、履齿高的递增,机器人的牵引力均呈现出一种渐进式、相对较小的增强趋势;随着履带宽度增加,机器人的牵引力提升明显.该研究为煤矿巡检机器人牵引特性提升及应用推广等方面提供技术支撑及一定的参考.
Abstract
In view of problems that the complex working conditions,high risk coefficient and difficult personnel inspection in coal mine,a certain type of coal mine crawler inspection robot was taken as the research object,the functional structure and crawler composition of the crawler robot were analyzed,and the influence of different crawler wheel radius,crawler width,crawler teeth and other crawler parameters on the traction characteristics of coal mine crawler inspection robot was studied by using the method of simulation analysis.The results show that with the increase of inclination angle,the height of obstacles that can be crossed by the coal mine crawler inspection robot increases first and then decreases;with the increase of crawler wheel radius and crawler tooth height,the traction force of the robot shows a gradual and relatively small enhancement trend;with the increase of crawler width,the traction force of the robot is significantly improved.The research provides technical support and a certain reference for the improvement of traction characteristics and application promotion of coal mine inspection robot.
关键词
煤矿履带巡检机器人/越障特性/履带参数/牵引特性Key words
coal mine crawler inspection robot/obstacle crossing characteristic/crawler parameter/traction characteristic引用本文复制引用
出版年
2025
NETL
NSTL
万方数据