矿山钻孔救援探测机器人设计
Design of mine drilling rescue and detection robot
【索引】马宏伟,姚阳,赵昊,等.矿山钻孔救援探测机器人设计[J].工矿千亿国际app下载,2019,45(9):1-6.
【Reference】MA Hongwei,YAO Yang,ZHAO Hao,et al.Design of mine drilling rescue and detection robot[J].Industry and Mine Automation,2019,45(9):1-6.
【DOI】10.13272/j.issn.1671-251x.17443
【作者】 马宏伟1,2,姚阳1,2,赵昊1,2,梁林1,2,马琨1,2,田海波1,2
【Author】 MA Hongwei1,2,YAO Yang1,2,ZHAO Hao1,2,LIANG Lin1,2,MA Kun1,2,TIAN Haibo1,2
【作者机构】1.西安科技大学 机械工程学院, 陕西 西安710054;2.陕西省矿山机电装备智能监测重点实验室, 陕西 西安710054
【Unit】1.College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China; 2.Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China
【摘要】基于矿山钻孔救援探测需求,针对现有探测机器人信息探测范围窄、探测距离较短、功能单一、无越障能力等问题,设计了一种矿山钻孔救援探测机器人。该机器人能够通过225 mm救援钻孔到达煤矿井下,利用携带的传感器和摄像头获取灾变区域的环境信息和被困人员信息,并将信息实时传到地面;以NI myRIO作为控制核心,采用LabVIEW图形化编程构建控制系统,利用有线通信方式实现机器人在灾变区域内的数据远程控制。试验结果表明:该机器人运动性能良好,具有体积小、质量轻、越障能力强等特点,可顺利通过救援孔,能够对井下环境信息进行实时检测和传输,为地面救援指挥中心决策提供了第一手资料。
【Abstract】Based on requirements of mine drilling rescue and detection, a mine drilling rescue and detection robot was designed to solve the problems of narrow information detection range, short detection distance, single function and no obstacle crossing ability of existing detection robots. The robot can reach underground coal mine through 225 mm rescue boreholes, and use sensors and cameras to obtain environmental information and trapped people information in disaster areas, and transmit the information to ground in real time. Taking NI myRIO as the control core, the control system is constructed by using LabVIEW graphical programming, the robot can realize data remote control in the disaster area by means of wired communication. The test results show that the robot has good motion performance, small volume, light weight, strong obstacle capability,can smoothly pass the relief hole, and can carry on the real-time detection and transmission of mine environment information, which provides the first-hand information for decision in the ground rescue command center.
【关键词】 矿山钻孔救援探测机器人; 救援钻孔; 小管径有线式小型履带式机器人; 绳索牵引; 自主行走; 越障能力
【Keywords】mine drilling rescue and detection robot; rescue borehole;small diameter wired crawler robot; cable traction; autonomous walking; obstacle capability
【文献出处】工矿千亿国际app下载,2019年9期
【基金】国家自然科学基金项目(50674075);陕西省科技统筹创新工程计划项目(2013KTCL01-02);陕西省教育厅专项科研计划项目(18JK0504)
【分类号】TD77
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