矿用悬挂式巡检机器人设计

发布时间：2018-08-13 12:29

【摘要】：煤矿环境安全和设备故障一直是煤矿安全生产的一个难题。现有的人工巡检和自动化监测系统,对煤矿巷道及设备的监测存在效率低、成本高、实时性不强、可靠性不高等问题,使得煤矿安全生产仍然得不到保障。随着低造价、高效率、高可靠性机器人技术的不断进步,为煤矿巷道环境参数监测及设备监控提供了一种新的途径。基于此,本文设计了一种悬挂式巡检机器人,通过搭载不同监测监控模块便可有效提高煤矿环境及设备巡检效率。文中对其在本体结构设计、越障规划、过弯规划、动力学分析等内容进行了研究,主要研究内容如下。针对煤矿井下巷道地面凹凸不平、安装设备较多等特点,提出一种能够克服这些缺陷的巡检机器人,即悬挂式巡检机器人,并对其本体方案进行了详细设计。对该悬挂式巡检机器人运行姿态进行研究,在忽略钢丝绳柔性条件下,用动力学仿真软件ADAMS对机器人运行姿态进行仿真、优化,对其整体方案的可行性与驱动机构选型设计的合理性和可行性进行初步验证。研究钢丝绳档距、悬垂度与预紧力之间的关系,及ADAMS中钢丝绳的建模方法,为柔性钢丝绳建立合理的仿真模型。建立悬挂式巡检机器人与柔性钢丝绳的刚柔耦合动力学模型,分析机器人上、下坡及过障等工况的运动学和动力学特性,进一步验证所设计的机器人方案的合理性和可行性。最后,通过实验对该悬挂式巡检机器人理论分析的正确性及其整体方案的可行性进行验证。
[Abstract]:Coal mine environmental safety and equipment failure has been a difficult problem in coal mine safety production. The existing manual inspection and automatic monitoring system has low efficiency, high cost, low real-time and low reliability to monitor the coal mine roadway and equipment, which makes the safety production of coal mine still can not be guaranteed. With the development of low cost, high efficiency and high reliability robot technology, it provides a new way for coal mine roadway environmental parameter monitoring and equipment monitoring. Based on this, a kind of hanging inspection robot is designed, which can effectively improve the inspection efficiency of coal mine environment and equipment by carrying different monitoring and monitoring modules. In this paper, the design of ontology structure, obstacle planning, bending planning and dynamics analysis are studied. The main contents are as follows. Aiming at the characteristics of uneven ground and more installation equipments in underground roadways, a kind of inspection robot, which can overcome these defects, is put forward, that is, suspended inspection robot, and its main body scheme is designed in detail. The running attitude of the suspended inspection robot is studied. Under the condition of neglecting the flexibility of steel wire rope, the robot running attitude is simulated and optimized by dynamic simulation software ADAMS. The feasibility of the overall scheme and the rationality and feasibility of the driving mechanism selection design are preliminarily verified. This paper studies the relationship between wire rope pitch, drape and pretension, and the modeling method of wire rope in ADAMS, and establishes a reasonable simulation model for flexible wire rope. The rigid-flexible coupling dynamic model of suspended inspection robot and flexible wire rope is established, and the kinematics and dynamics characteristics of robot under the condition of downhill and obstacle are analyzed, and the rationality and feasibility of the designed robot scheme are further verified. Finally, the correctness of the theoretical analysis and the feasibility of the whole scheme are verified by experiments.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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