Study On Low-power Drive Technology For Mine Robot

As a kind of functional form robot, the mine rescue robot is limited by variety of environmental factors underground of the mine. And now Technical problems of the mine rescue robot research mainly include mobile mechanism, autonomous navigation, path planning technology, the overall explosion-proof safety design, as well as the drive technology, etc. This paper mainly focuses on the study of drive technology, outstanding description is suitable for the mine robot drive technology. It mainly describes the realization method based on intrinsically safe drive, as well as the corresponding control strategy is introduced. This paper details as follow:The related theory and technology of the mine robot is analyzed in-depth, and it mainly including theoretical working environment of the mine rescue robot, the motion mechanism of the mine rescue robot and the technical index of the mine rescue robot needs to achieve. The motion mechanism of the mine rescue robot is studied deeply, and it mainly includes forward kinematics and inverse kinematics theory knowledge, and a simplified dynamic model based on universal robot dynamics equations is put forwarded in this paper. In order to prepare for subsequent drive technology research, the model is analyzed deeply.Intrinsically safe standards are studied deeply. The motor drive circuit which is based on the low-power is designed to implement intrinsic safety protection. And the way to implement intrinsically safe is based on the photoelectric isolation of drive. This method not only can realize the heavy current and weak current in isolation, but also realize the separation of the driving power and driving power. A set of driving mechanism based on small power motor is designed. This mechanism consists of a number of specific combinations of motors for in-line and driven. In order to avoid resonance effects to the mechanism, a special connection way for the motor is put forwarded. Using the method of distributed control to keep the motor to work synchrony. When a motor fail or stop working, it will not affect the other motor.In order to validate the theory and the drive technology, we build an experimental model for testing. And some optimization suggestions for the problems emerging in experiment are propose.