Research On Design Of Coal Mine Rescue Robot With Variable Wheel Diameter

Chinese coal mine safety accidents occur from time to time,which pose a great threat to the life and property safety of underground mining personnel.Based on the requirements of complex unstructured terrain for obstacle surmounting ability and terrain adaptability of rescue robot,it is of great significance to develop a coal mine rescue robot that can enter the accident scene before the rescue workers.Based on the structural characteristics and deformation characteristics of waterbomb wheel,a wheel type coal mine rescue robot with variable diameter is designed.Firstly,the diameter variable wheel of coal mine rescue robot is designed.Based on the analysis of the field conditions after coal mine safety accidents,a wheeled rescue robot with variable diameter is designed.On the basis of the advantages of wheeled mobile system,the robot greatly improves its obstacle surmounting performance and adaptability to various complex terrain.The structure of waterbomb wheel and the variable diameter wheel based on the structure design of waterbomb wheel are introduced in detail.According to the structure characteristics and deformation characteristics of waterbomb wheel,the spoke structure is added in it to increase the controllability and load capacity of waterbomb wheel structure deformation,and the robot drive system is designed and selected.Then,the flameproof shell of coal mine rescue robot is designed and optimized.Based on the explosion-proof requirements of underground electrical equipment in the national standard,the designed rescue robot adopts the explosion-proof type of combination of "intrinsic safety type" and "explosion-proof type",and the explosion-proof shell of the robot is designed.In order to reduce the weight of the flameproof shell and improve the comprehensive function of the robot,the genetic algorithm(NSGA-?)is used to carry out the multi-objective optimization design of the flameproof shell,and the ANSYS software is used to carry out the finite element analysis of the design results.It is proved that the lightweight design of the flameproof shell can meet the requirements of flameproof,and the weight is reduced by 23.41%.And then,the obstacle surmounting ability of coal mine rescue robot is analyzed.The kinematics model of coal mine rescue robot is established.According to the geometric conditions of the structure when the robot surmounts obstacles,the surmounting conditions when the robot faces different obstacle terrain are analyzed.Finally,the obstacle surmounting simulation analysis of the coal mine rescue robot is carried out.The simulation model of the robot in different obstacle terrain such as plane,slope,single step,multi-step and gully is established.The motion simulation of the robot is carried out by using ADAMS software,and the trajectory and velocity curve of the robot centroid with time and the fluctuation in the vertical direction are obtained.Through the simulation analysis,it shows that the robot has good ability to surmount obstacles and adapt to unstructured terrain,and verifies the rationality of the structure design and the stability of the movement of the coal mine rescue robot.This paper has 82 pictures,19 tables and 69 references.