煤矿井下探测机器人防爆电机与动力电源研究

发布时间：2018-02-28 15:18

本文关键词： 防爆轮毂电机动力电源探测机器人　出处：《中国矿业大学》2015年硕士论文　论文类型：学位论文

【摘要】：煤矿井下环境复杂多变,极易发生险情,利用遥控式机器人进行井下环境探测是开展煤矿安全生产及救灾救援的迫切需要。移动式煤矿井下探测机器人多采用高速内转子式直流无刷电机作为动力元件,依据煤矿井下电气产品的防爆设计要求,电机多被安放于隔爆壳体内部,电机的动力从转轴式隔爆接合面输出。然而电机与隔爆壳体共同构成的叠套结构易导致电机散热困难;高速内转子式直流无刷电机的扭矩较小,需使用减速机构放大电机的扭矩,但减速机构存在功率损耗,降低了机器人动力系统的有效功率。低速外转子式直流无刷电机是一种直驱式电机,具有安装结构简单、调速方便、运行效率高的优点,已成功应用于轻型民用车辆的动力系统。本文从煤矿煤矿井下探测机器人的动力模块和电源模块展开研究,设计了可应用于煤矿井下探测机器人的低速外转子式防爆轮毂电机和配套动力电源,开展了相关研制工作。基于现行防爆国家标准GB 3836-2010,研究了复合型防爆理论及其应用条件,设计了低速外转子式轮毂电机的隔爆型防爆方案,提出了一种以螺纹接合面固定防爆轮毂电机的安装结构,并分析了防爆轮毂电机的应用优势。依据矿用探测机器人的试行标准,设计了防爆轮毂电机的基本性能参数;试制了该款电机的定子绕组,对其性能进行了测试;为防爆轮毂电机设计并加工了低压大功率电机驱动器;设计并构建了防爆轮毂电机的运动控制系统,对该运动控制系统进行了场地测试。按照轮毂电机定子绕组的外形尺寸,对防爆轮毂电机的隔爆接合面进行了详细设计,对隔爆壳体进行了应力分析和基本尺寸计算,并完成了隔爆壳体的零部件设计,构建了隔爆壳体的CAD三维模型,并将其将导入ANSYS Workbench软件中,生成了隔爆壳体的CAE工程模型;定义了该工程模型的材料属性及边界条件,实现了模型的网格划分,从该工程模型内部施加1.5 Mpa的静态压力,得到了隔爆壳体的应力云图,对应力云图进行了分析。对试制的防爆轮毂电机样机进行了防爆性能检验,检测了样机的隔爆接合面;对样机分别进行了外壳耐压试验和内部点燃的不传爆试验。检验结果均“合格”,从而证明了轮毂电机防爆设计的正确性。为防爆轮毂电机设计并组建了配套的动力电源;依据矿用电源安全技术要求对该动力电源进行了检验,检验内容包括短路试验、过流试验、精度试验、过温试验等。检验结果均为“合格”,表明了动力电源设计的正确性。
[Abstract]:The underground environment of coal mine is complex and changeable, so it is easy to happen dangerous situation. It is an urgent need for mine safety production and disaster relief rescue to use remote control robot to detect underground environment. Mobile underground detection robot mostly adopts high speed inner rotor DC brushless motor as power element. According to the explosion-proof design requirements of electrical products in coal mine, the motor is mostly placed inside the flameproof shell, and the power of the motor is outputted from the flameproof joint of the rotating shaft. However, the laminated structure of the motor and the flameproof shell can easily cause the heat dissipation of the motor. The torque of high speed inner rotor brushless DC motor is small, so it is necessary to amplify the torque of motor with deceleration mechanism, but there is power loss in the reducer. The low speed outer rotor DC brushless motor is a kind of direct-drive motor, which has the advantages of simple installation, convenient speed regulation and high running efficiency. It has been successfully applied to the power system of light civil vehicles. This paper studies the power module and power module of underground detection robot in coal mine. The low speed outer rotor type explosion-proof hub motor and its supporting power supply are designed and developed. Based on the current national standard GB3836-2010, the compound explosion-proof theory and its application conditions are studied. The flameproof scheme of low speed outer rotor type hub motor is designed, and the installation structure of a kind of fixed explosion-proof hub motor with threaded joint surface is put forward. The application advantages of explosion-proof hub motor are analyzed. The basic performance parameters of explosion-proof hub motor are designed according to the trial standard of mine detection robot, the stator winding of the motor is manufactured and its performance is tested. The low-voltage and high-power motor driver is designed and machined for the explosion-proof hub motor, the motion control system of the explosion-proof hub motor is designed and constructed, and the field test of the motion control system is carried out. According to the size of the stator winding of the hub motor, The flameproof joint surface of the flameproof hub motor is designed in detail, the stress analysis and basic dimension calculation of the flameproof shell are carried out, and the parts design of the flameproof shell is completed, and the CAD 3D model of the flameproof shell is constructed. It is introduced into the ANSYS Workbench software to generate the CAE engineering model of the flameproof shell, the material properties and boundary conditions of the engineering model are defined, the mesh division of the model is realized, and the static pressure of 1.5 Mpa is applied from within the engineering model. The stress cloud diagram of the flameproof shell is obtained and the stress cloud diagram is analyzed. The explosion-proof performance of the prototype of the explosion-proof hub motor is tested and the flameproof joint of the prototype is tested. For the prototype, the shell voltage resistance test and the internal igniting non-transmission test are carried out respectively. The test results are all "qualified", which proves the correctness of the anti-explosion design of the hub motor, and designs and sets up the matching power supply for the explosion-proof hub motor. According to the technical requirements of mine power supply safety, the power supply is tested, including short-circuit test, overcurrent test, precision test, over-temperature test, etc. The results are all "qualified", which shows the correctness of power supply design.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD684

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