Design And Analysis Of Environment Detection Robot With Wheel-Track Under Coal Mine

China is the biggest coal production country as well as the most coal mine disaster country in the world. Over the past decades, about 50,000 people lost their lives because of mining accidents. It is essential to provide timely and effective search and rescue work after coal mine disaster. However, the confirmation of the accident site is blind in some degree due to the numerous uncertainties and risk factors of the mine tunnel situation. At the present, some works, such as learning the information timely and accurately, reducing casualties trapped under coal mine, improving capability of emergency response and providing decision-making recommendations during the golden period of 72 hours, have became more and more important.According to the research situation and development tendency of the coal mine robot at dommestic and overseas, an 8-DOF environment detection robot with wheel-track under coal mine is designed in this thesis. There are two biggest innovations. One is that the device of four-wheel drive and three segmented composite structures are presented. The other is the driven reduction mechanism is integrated into the swinging arm unit. This article includes the project design, the analysis of kinematic characteristics, the structural design, the structural analysis, the motion simulation and so on. The main works in this thesis are as follows.(1)The project design of the mobile mechanism. Aiming at the existing mobile mechanism of disaster rescue robot, we put forward a wheel-track mechanism, which is combined with isolating explosion positive pressure, explosion-proof and essence safety. The main technical parameters of robot are given at last.(2)The analysis of kinematic characteristics. The kinematic characteristics of robot are analyzed.(3) The structural design of the mobile mechanism. According to the working conditions and the design requirements, the key part's dimension of the mobile mechanism is calculated. Using the Solid-Works software, a complete digital model of the robot body is accomplished. Moreover, the virtual assembly, the interference check and the quality characteristic test on the model are done.(4) The structural analysis of the mobile mechanism. Based on the finite element theory, the main components are analysed through the SolidWorks Simulation software. Including the static analysis, fatigue analysis and frequency analysis as regards main drive shaft and driven belt pulley.(5) The kinematic simulation and analysis of mobile mechanism. Applying the ADAMS software, the virtual prototyping model is established. Moreover, the kinematic simulation and analysis of robot are carried out.It shows from the simulation results that the structural design of robot is reasonable. Moreover, the evaluation indicators meet the design requirements.