煤礦搜救機器人履帶式行走機構性能評價體系

李雨潭; 李猛鋼; 朱華

doi:10.13374/j.issn2095-9389.2017.12.019

煤礦搜救機器人履帶式行走機構性能評價體系

doi: 10.13374/j.issn2095-9389.2017.12.019

李雨潭^1,2,
李猛鋼^1,2,
朱華^1,2, ,

1) 中國礦業大學機電工程學院, 徐州 221116
2) 江蘇省礦山智能采掘裝備協同創新中心, 徐州 221008

基金項目:

國家高技術研究發展計劃資助項目（2012AA041504）；江蘇省優勢學科建設工程項目（PAPD）；江蘇省2015年度普通高校研究生科研創新計劃（KYLX15_1418）

詳細信息

中圖分類號: TP242
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- 被引次數: 0
出版歷程
- 收稿日期: 2017-04-27

Performance evaluation system of the tracked walking mechanism of a coal mine rescue robot

LI Yu-tan^1,2,
LI Meng-gang^1,2,
ZHU Hua^{1,2
, ,}

1) School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2) Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, Xuzhou 221008, China

摘要

摘要: 為了探究何種履帶式行走機構更加適用于煤礦搜救機器人，采用網絡分析法從行走機構行走能力、防爆難易、操控性以及可靠性四個方面對5種常見的履帶式行走機構進行性能評價.對5種行走機構的空間通過性、最大越障高度、最大越壕溝寬度和底盤高度進行了理論建模分析，同時提出了驅動電機數量對于防爆難易、操控性以及可靠性影響的數學模型.根據煤礦搜救機器人設計經驗以及所推導的理論模型，對5種行走機構采用網絡分析法進行了量化評價.最終，評價結果認為角度型行走機構更適于煤礦搜救機器人.基于評價結果，設計了CUMT-V型煤礦搜救機器人行走機構.
- 煤礦 /
- 搜救機器人 /
- 履帶式行走機構 /
- 性能評價 /
- 網絡分析法
Abstract: The performance of a walking mechanism determines whether a coal mine rescue robot can successfully enter a disaster scene for conducting a rescue. To explore which type of the crawler-walking mechanism is more suitable for the coal mine rescue robot, five types of common crawler-type walking mechanisms were evaluated based on the following four aspects:walking ability, explosion prevention, handling, and reliability. In the process of evaluation, the space pass capacity, the maximum obstacle height, the maximum trench width, and the chassis height of the five types of walking mechanisms were theoretically analyzed. Then, a mathematical model for determining the influence of the number of motor drives on the difficulty of explosion-proof, handling, and reliability was proposed. According to the design experience of the coal mine rescue robot and the theoretical model, the five types of walking mechanisms were quantitatively evaluated. Finally, the walking mechanism with the angle of entry and departure is found to be most suitable for the coal mine rescue robot. Based on the evaluation results, the CUMT-V coal mine rescue robot was designed.
- coal mine /
- search and rescue robot /
- tracked walking mechanism /
- performance evaluation /
- analytic hierarchy process (ANP)

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參考文獻(7)

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