Design and analysis of structure of coal mine rescue robots
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摘要: 针对矿井地貌环境的非结构性和复杂性,为了提高救灾机器人的越障能力和实际救援能力,分析了轮式救援机器人行走系统的力学系统原理,提出了机器人六轮行走机构的设计方案。六轮移动机器人采用电动推杆为升降系统提供动力;采用独立悬挂系统,减小了车身的倾斜和震动;采用集中控制-分布驱动方式,有利于运动机构性能的发挥;能够根据地形特征调整自己的底座结构,有很强的越障能力和对非结构化地形的适应能力。Abstract: In view of non-structural characteristic and complexity of mine landscape environment, the paper analyzed mechanical system principle of running system of wheeled rescue robots and put forward design scheme of six-wheeled running system of robots in order to improve obstacle climbing ability and actual rescue capability. The six-wheeled mobile robot uses electric putter to provide power for lift system, uses independent suspension system to reduce tilt and vibration of the body, and adopts centralized control-distributed driven to give play to movement mechanism. It can adjust base structure according to terrain features, and has strong obstacle capability and adaptability for unstructured terrain.
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