| The mine detection robot can assist or replace the relevant personnel to enter the narrow underground space and the dangerous area environment after the mine disaster to complete the detection or rescue task.However,there are a lot of unstructured obstacles and a lot of complex roads mixed with coal mud and dust in the underground environment,especially after the disaster,which put forward higher requirements for the obstacle surmounting ability of robots and the passing ability of soil.In this paper,based on the analysis of the characteristics of soil deformation and the theory of single tracked robot,we can use the following methods to analyze the performance of mine obstacle surmounting robot Related research work has been carried out(1)This paper describes the overall and mechanical structure design scheme of the deformation crawler mine detection robot,as well as the frame construction of the control system,and selects the motor driving the crawler walking mechanism and deformation mechanism.This paper analyzes the structural and unstructured terrain and the mechanical characteristics of the ground that the crawler mine detection robot may encounter in the process of underground operation,simplifies and obtains the typical terrain obstacles and ground mechanical parameters,and sets the obstacle surmounting index of the detection robot according to these parameters.(2)According to the relevant theories of tracked vehicle ground mechanics,the dynamic mechanical model of flexible track and soil is established,and the relationship between the traction of the hook and the slip rate of the track is analyzed.On this basis,the dynamic model of the tracked robot in steering motion is established,and the steering resistance moment in the process is analyzed,and the reason of the tracked robot rollover is explained.(3)In this paper,the dynamic model of the deformable crawler mine detection robot climbing over the slope and independent step obstacle terrain under the condition of soft soil ground is established,the process of obstacle climbing is analyzed in detail,and the self size and dynamic condition formula of the crawler robot successfully climbing over the above terrain are derived.(4)RecurDyn simulation software is used to simulate and analyze the designed deformation crawler mine detection robot.Combined with the proposed performance index of obstacle surmounting in underground mine,the parameterized terrain of slope,independent step,continuous step,boss and channel is established,and the above obstacle terrain and straight steering mode of the detection robot are simulated and analyzed on the slime ground,sandy ground and hard ground respectively,and the driving torque output and the driving speed of the crawler robot in the obstacle surmounting process are obtained The center of mass pitch angle curve is used to verify the obstacle surmounting performance of the deformation crawler mine detection robot and the passing performance of the soft ground.(5)The processing of rubber track,track driving wheel and double crank four-bar suspension and the assembly of one-sided walking system are introduced in detail.The single track prototype is tested on the soil trough test bench,and three kinds of ground straight walking and 150 mm independent step experiments are carried out.There are 96 figures,12 tables and 89 references in the thesis. |
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