Mechanism And Characteristic Analysis Of Coal Mine Detection Robot

Due to China’s lack of oil and gas but rich in coal, coal mines play a core role in our country’s energy production and consumption. The world’s first coal volume has increased the risk of accidents, such as water burst, gas explosion and roof fall, which caused state property loss and the threat to life. Furthermore, underground working environment suffers serious damages after mines accidents, rescue workers face not only a dangerous situation but also waste of time. Therefore, detecting robot has been applied to the field of coal mine accident rescue. By using sensors and cameras for real-time monitoring of underground, detecting robot can reduce rescue time and accident casualties.Contrast of detecting robot chassis between domestic and overseas, and taking the particularity and urgency of coal mine disaster into consideration, this paper proposes a coal mine detection robot with mechanical arm. The robot’s walking mechanism bases on TUT-CMDR and the installed mechanical arm is used to fetch samples for analysis. The study of structure selection, kinematics dynamics analysis, obstacle angle planning and prototype simulation are presented in the paper. According to the characteristics of the power transmission, the robot distributes the moment to the two rear driving wheels. In addition, double moving caterpillar and double track arms are set up on robot for walking and surmounting obstacles. The mechanical arm with three free degrees and a solenoid driving gripper can capture10kg maximum weight.In the view of the chassis and arm in CATIA models, kinematics and dynamics analysis are discussed. On the one hand, chassis is analyzed for working motion and stress calculation. The relationship of chassis and the world is deduced. On the other hand, with Euler angle rotation, arm forward inverse model and crawl space are presented in kinematics analysis, meanwhile, Jacobi matrix statics and Lagrange dynamics are calculated in dynamics analysis.D-H method and cylindrical coordinate system are integrated to analyze centroid obstacle. The arms’angle changing and the load effect are discussed in forward obstacle-surmounting. In order to optimize the barrier ability, the arms’ working angle and swing angle are planned and simulated respectively.After imported the prototype model into ADAMS, the robot’s chassis and mechanical arm are simulated respectively. For one thing, the chassis has carried on the straight line, turning and climbing simulation. For another, the trajectory of arm forward and lateral scraping are simulated and calculated.