| Robots have been widely used on land, in sea and in the sky, but there has still not been a successful instance in the mine accident rescue so far, no matter from home or abroad. In view of the frequent accidents of coal mine and the lower levels of rescue automation, the architecture, mechanical structure, kinetic characteristics, navigation algorithm and other the key technical problems of the mine rescue robots have been studied in-depth, which has been supported by The National Natural Science Fund and Shaanxi Provincial Natural Science. It has laid a solid foundation for the establishment of a fast, reliable, safe and effective system of the mine rescue robots.According to the fact that coal gas accident always happens at the working face far from well, The two-level rescue robots system of coal mine is put forward firstly, which contains carrier with rail-wheel and exploration robot with track. The carrier carries fleetly the exploration robot to the scene of accident by dint of tramroad, and the exploration robot collected the information at the scene of accident. The two-level rescue robots system architecture full utilize the existing tramroads, bring into play respective merits of rail-wheel and track, achieve the purpose of quick rescue.Based on fully argumentation the basis of carrier feasibility, movement safety was defined to the carrier that the mechanism part of carrier, then analysed the influenced factors of the carrier movement safety, studied the evaluation indexes of the carrier movement safety based on running security, brought forward the evaluation system of tha carrier movement safety, which using Nadal, D. Ration and acceleration as evaluation indexes and combining creep forces of wheel-rail contact, displacement and acceleration.Based technical prototype, use modular and parameterized method, designed the carrier mechanical structure that contain moving equipment with wheel-rail, braking equipment with pneumatics, joint buffer between the carrier body and the moving structure and carrier body etc. The all parts and assemble design have been finished in SolidWorks, it offered the theoretical foundation and the raw data for the carrier movement simulation.According to the dynamic theory of multibody systems with non-holonomic constraint, built the mechanical models and mathematical models of the carrier, disassembled the carrier into multibody system form 11 rigid bodies, 12 joints and 6 force elements, established the mechanics model of spanning tree system by cutting the way of joints, followed the kinematics and dynamics equations in the longitudinal of the carrier. Also analyzed the rail environment of the carrier working, established irregularity model based on the random signal theory and the rail track model based on actual of the coal mine.Via analyzing the factors that influence the carrier locomotion performance, studied the evaluation parameters of the carrier movement safety, established the simulated environment of comprehensive evaluation and analysis based on virtual prototyping technology. Using the complex optimize method of single parameter and multiple parameters, as the carrier movement safety for aim, as the wheel-rail contact for evaluation parameters, as the virtual prototyping technology for tool, designed and studied the evaluation methods of geometry parameters and movement parameters, and evaluated the simulation results.Researched the carrier automotive navigation methods based on mine GIS and the building model methods of mine rail track based on the graph theory, made the points of rail intersection as vertex, made the rail between the two neighboring as edge, and made the length, gradient, with other arcs connection factors, transit factors as evaluation function, established the mine rail map model with weighted, based on these put forward the search algorithm for finding optimization path based on the breadth first search methods.
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