Design And Research Of Wheel And Leg Compound Mine Rescue Robot

In January 2019,the State Administration of Coal Mine Safety Supervision announced that the "Coal mine robot key research and development catalogue" pointed out:Encourage and support coal mining enterprises to cooperate with domestic and foreign scientific research institutions and robot manufacturing enterprises to promote the safe development of coal mines,the 37th category in the catalogue is mines rescue robot.In view of the complex mine environment to the rescue robot movement request,a new type of leg wheel compound mine rescue robot is designed,and it was named Mine-Titan.Mine-Titan robots have retractable front and rear wheel legs as well as waist rotation capabilities,able to cross common obstacles in most mine roadways,and have good adaptability to mine topography.After the mine disaster,the rescue robots can assist humans in rescue missions,get to know the scene as soon as possible,reduce rescue time,improve rescue efficiency,and reduce casualties.Firstly,the advantages and disadvantages of different wheel numbers of mobile robots are analyzed,describe the advantages and disadvantages of robots with different configurations,the structural scheme of the six-legged wheel composite for the Mine-Titan mine rescue robot was determined,and listed the structure characteristics of Mine-Titan robot.According to the structural characteristics of the robot,the robot's obstacle process for different obstacles is described in detail,derivation and formulation of step-type obstacle height formula,and a stable cone model is established to analyze the static stability under the slope condition.Secondly,according to the mine environment and the structural characteristics of the Mine-Titan robot,the kinematics and dynamics of the robot are researched.Aiming at the irregular topography of mine environment,the kinematics of the robot body be modeled more quickly and accurately by using the wheel center modeling method.Robots can't cross obstacles,the movement relies on steering,the six wheels of the robot are all driving wheels,and the front and rear wheels are also driving ways of the turning wheel,the kinematics and dynamics models of robot drive are established,and analyze the key factors affecting drive performance,provides a basis for later trajectory tracking,spatial positioning and obstacle planning.Consider the substantial constraints imposed by wheels on the motion of robots in mines,a model is established to describe the kinematic constraints of the whole robot,and analyzed the maneuverability and activity of the robot.Considering the influence of mine environment on the dynamic characteristics of robots,the Newton-Eulerian equation is used to establish the dynamic model of the entire step obstacle process,and the process is verified by virtual prototype simulation.The contact dynamics analysis of the wheel and the ground is based on the need for coordinated adjustment between the wheel legs,it is also the premise of accurate movement control of robots in complex environments,and the virtual prototype simulation analysis of wheel-to-ground contact.Finally,utilizing the superiority of solidworks in three-dimensional modeling,a 3D model of the Mine-Titan robot was established.The virtual prototype of the robot was established by ADAMS,the motion process simulation of the robot in three different obstacle environments,including stepped,grooved and sloping,generated simulation results and curves,analyze the simulation results,it verifies the feasibility and rationality of the robot's obstacles to different obstacles in the mine.