【作者】 徐刚；

【导师】 牛志刚；

【作者基本信息】 太原理工大学 ， 机械制造及其自动化， 2011， 硕士

【摘要】 中国是世界产煤大国,同时也是矿难大国。近十年来,约50,000人因矿难失去生命。矿难发生后,及时有效地进行灾后搜救工作至关重要。但由于事故发生后的矿井巷道包含许多不确定因素和危险因素,对于事故现场的确定有一定的盲目性。如何在72小时黄金救援期内及时、准确地获知事故现场信息、减少井下受困人员的伤亡、提高应急抢险能力、为救援指挥人员提供决策和建议,成为目前研究的重要课题。本文根据煤矿井下环境探测机器人的国内外研究现状以及发展趋势,提出一种新型的8自由度煤矿井下环境探测机器人的设计方案。该机器人最大创新在于设计了一种带有四轮驱动装置的三节式对称复合结构,并将摆臂驱动减速机构集成到摆臂单元中。本文从机器人的移动机构方案设计、运动性能分析、移动机构设计、结构分析和运动仿真等几个方面展开研究。主要研究工作如下：(1)机器人移动机构方案设计。根据现有救灾机器人的典型移动机构,提出轮履复合式移动机构,并结合隔爆、正压防爆和本安防爆等多种防爆技术,设计了机器人移动平台,同时给出机器人主要技术性能指标。(2)机器人运动特性分析。运用机器人运动学理论分析了机器人的运动学特性。(3)机器人移动机构设计。根据工况和设计要求,计算了机构中关键零部件的尺寸,使用SolidWorks软件对机器人本体结构进行完整的数字样机建模,对模型进行了虚拟装配、干涉检查和质量特性检测。(4)机器人结构分析。依据有限元理论,利用SolidWorks Simulation对机器人主要零部件—主驱动轴和履带从动轮进行了静态分析、疲劳分析和频率分析。(5)机器人运动仿真。应用ADAMS软件建立了机器人移动机构的虚拟样机模型,并对机器人移动机构进行了运动仿真与分析。通过对虚拟仿真结果分析,表明本文设计的机器人本体结构设计合理,各项评测指标均达到设计要求。更多还原

【Abstract】 China is the biggest coal production country as well as the most coal mine disaster country in the world. Over the past decades, about 50,000 people lost their lives because of mining accidents. It is essential to provide timely and effective search and rescue work after coal mine disaster. However, the confirmation of the accident site is blind in some degree due to the numerous uncertainties and risk factors of the mine tunnel situation. At the present, some works, such as learning the information timely and accurately, reducing casualties trapped under coal mine, improving capability of emergency response and providing decision-making recommendations during the golden period of 72 hours, have became more and more important.According to the research situation and development tendency of the coal mine robot at dommestic and overseas, an 8-DOF environment detection robot with wheel-track under coal mine is designed in this thesis. There are two biggest innovations. One is that the device of four-wheel drive and three segmented composite structures are presented. The other is the driven reduction mechanism is integrated into the swinging arm unit. This article includes the project design, the analysis of kinematic characteristics, the structural design, the structural analysis, the motion simulation and so on. The main works in this thesis are as follows.(1)The project design of the mobile mechanism. Aiming at the existing mobile mechanism of disaster rescue robot, we put forward a wheel-track mechanism, which is combined with isolating explosion positive pressure, explosion-proof and essence safety. The main technical parameters of robot are given at last.(2)The analysis of kinematic characteristics. The kinematic characteristics of robot are analyzed.(3) The structural design of the mobile mechanism. According to the working conditions and the design requirements, the key part’s dimension of the mobile mechanism is calculated. Using the Solid-Works software, a complete digital model of the robot body is accomplished. Moreover, the virtual assembly, the interference check and the quality characteristic test on the model are done.(4) The structural analysis of the mobile mechanism. Based on the finite element theory, the main components are analysed through the SolidWorks Simulation software. Including the static analysis, fatigue analysis and frequency analysis as regards main drive shaft and driven belt pulley.(5) The kinematic simulation and analysis of mobile mechanism. Applying the ADAMS software, the virtual prototyping model is established. Moreover, the kinematic simulation and analysis of robot are carried out.It shows from the simulation results that the structural design of robot is reasonable. Moreover, the evaluation indicators meet the design requirements.更多还原