CAJ | 학술논문

针对煤矿产业生产过程中频发瓦斯、煤尘等爆炸事故，因救援不及时而造成较多人员伤亡的问题，设计一种可变履带式井下探测机器人，其行走机构能够实现翻越连续台阶、圆台地形、矩形凸台、梯形凸台、斜坡地形和沟道地形等，具有较强的对复杂地形的适应能力和爬坡越障能力；其转向机构能够克服履带式机器人转弯速度慢，转弯半径大，转弯效果差的缺陷，具有良好的对井下灾区现场地形的转向能力和平衡能力。再使其深入到井下灾区现场进行环境探测，将现场信息及时反馈到救援指挥中心，辅助指挥人员进行紧急决策，为制定救援方案提供依据，为救援工作提供通信平台，为煤矿井下探测工作提供参考。
침대매광산업생산과정중빈발와사、매진등폭작사고，인구원불급시이조성교다인원상망적문제，설계일충가변리대식정하탐측궤기인，기행주궤구능구실현번월련속태계、원태지형、구형철태、제형철태、사파지형화구도지형등，구유교강적대복잡지형적괄응능력화파파월장능력；기전향궤구능구극복리대식궤기인전만속도만，전만반경대，전만효과차적결함，구유량호적대정하재구현장지형적전향능력화평형능력。재사기심입도정하재구현장진행배경탐측，장현장신식급시반궤도구원지휘중심，보조지휘인원진행긴급결책，위제정구원방안제공의거，위구원공작제공통신평태，위매광정하탐측공작제공삼고。
For frequent coal industry production in the process of gas and coal-dust explosion acci-dent, caused by slow rescue casualties of more problems, design a kind of variable crawler mine detection robot, its travel mechanism can achieve over successive steps, frustum of a cone terrain, rectangular, trapezoidal convex sets, convex slope topography and gully topography, strong adaptability for complex terrain and climbing obstacle capability; Its steering mechanism can overcome the crawler robot turning speed, turning radius is big, turning the defects of poor quality, has a good of mine quake area terrain steering and balance ability.To make it into the underground scene to conduct an environmental detec-tion, the scene information timely feedback to rescue command center, supporting command personnel for emergency decision making, to provide evidence for a bailout, provide communication platform for the rescue work, provide reference for the coal mine exploration work.