【摘要】：煤礦環(huán)境安全和設(shè)備故障一直是煤礦安全生產(chǎn)的一個(gè)難題�，F(xiàn)有的人工巡檢和自動(dòng)化監(jiān)測(cè)系統(tǒng),對(duì)煤礦巷道及設(shè)備的監(jiān)測(cè)存在效率低、成本高、實(shí)時(shí)性不強(qiáng)、可靠性不高等問(wèn)題,使得煤礦安全生產(chǎn)仍然得不到保障。隨著低造價(jià)、高效率、高可靠性機(jī)器人技術(shù)的不斷進(jìn)步,為煤礦巷道環(huán)境參數(shù)監(jiān)測(cè)及設(shè)備監(jiān)控提供了一種新的途徑。基于此,本文設(shè)計(jì)了一種懸掛式巡檢機(jī)器人,通過(guò)搭載不同監(jiān)測(cè)監(jiān)控模塊便可有效提高煤礦環(huán)境及設(shè)備巡檢效率。文中對(duì)其在本體結(jié)構(gòu)設(shè)計(jì)、越障規(guī)劃、過(guò)彎規(guī)劃、動(dòng)力學(xué)分析等內(nèi)容進(jìn)行了研究,主要研究?jī)?nèi)容如下。針對(duì)煤礦井下巷道地面凹凸不平、安裝設(shè)備較多等特點(diǎn),提出一種能夠克服這些缺陷的巡檢機(jī)器人,即懸掛式巡檢機(jī)器人,并對(duì)其本體方案進(jìn)行了詳細(xì)設(shè)計(jì)。對(duì)該懸掛式巡檢機(jī)器人運(yùn)行姿態(tài)進(jìn)行研究,在忽略鋼絲繩柔性條件下,用動(dòng)力學(xué)仿真軟件ADAMS對(duì)機(jī)器人運(yùn)行姿態(tài)進(jìn)行仿真、優(yōu)化,對(duì)其整體方案的可行性與驅(qū)動(dòng)機(jī)構(gòu)選型設(shè)計(jì)的合理性和可行性進(jìn)行初步驗(yàn)證。研究鋼絲繩檔距、懸垂度與預(yù)緊力之間的關(guān)系,及ADAMS中鋼絲繩的建模方法,為柔性鋼絲繩建立合理的仿真模型。建立懸掛式巡檢機(jī)器人與柔性鋼絲繩的剛?cè)狁詈蟿?dòng)力學(xué)模型,分析機(jī)器人上、下坡及過(guò)障等工況的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)特性,進(jìn)一步驗(yàn)證所設(shè)計(jì)的機(jī)器人方案的合理性和可行性。最后,通過(guò)實(shí)驗(yàn)對(duì)該懸掛式巡檢機(jī)器人理論分析的正確性及其整體方案的可行性進(jìn)行驗(yàn)證。
[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.
【學(xué)位授予單位】：西安科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2180996