针对煤矿井下特种巡检机器人运动受限于三维环境重建和非结构环境运动轨迹规划等关键技术问题,设计了一种固定柔性轨道式悬挂巡检机器人平台。采用模块化思想设计出防爆多轮悬挂式巡检机器人本体结构;通过理论计算分析多行走轮与多驱动轮情况下机器人在柔性轨道上的驱动能力,建立多轮牵引力数学模型,并根据多轮牵引力数学模型获取水平柔性轨道与给定爬坡角轨道下机器人的具体驱动能力参数,根据所获取的驱动能力参数观察多行走轮与多驱动轮下牵引力的存在形式,最终选择双轮双驱的机器人行走方式。对异侧驱动模块安装方式进行仿真试验,对同侧异轴及异侧异轴驱动模块安装方式进行实物试验。结果表明：采用双轮双驱的行走方式可保证巡检机器人良好的水平行走能力及爬坡能力,其中质量20 kg机器人的坡度角可达25°;异侧异轴驱动模块安装机器人绕运动方向的最大摆角绝对值为2°,同侧异轴驱动模块安装机器人绕运动方向的最大摆角绝对值为5.82°,双轮双驱中驱动模块异侧安装可降低机器人机身的摆动,但是异侧异轴及异侧同轴安装方式并不能消除机身摆动。该机器人在满足基本巡检功能外可提高非结构井下环境的适应性,可增强井下布控的灵活性,降低轨道铺设及回收投入,为煤矿环境巡检提供了新特种巡检平台。

Aiming at the key technology problems of three-dimensional environment reconstruction and non-structural environmental movement trajectory planning,a fixed flexible track type suspension inspection robot platform is designed for the movement of special inspection robot in coal mine. The body structure of explosion-proof multi-wheel suspended inspection robot is designed by the idea of modularization. The driving capability of the robot on a flexible track is analyzed by a theoretical calculation,a multi-wheel traction mathematical model is established,and a specific driving capability parameter of a horizontal flexible track and a given climbing angle track is obtained according to a multi-wheel traction mathematical model. According to the acquired driving capability parameters,the double-wheel double-drive robot walking mode is selected. The experiments of a simulation carried out on the installation mode of the foreign-side drive module,and of a physical experiment carried out on the installation mode of the same-side foreign shaft and the foreign-side foreign-shaft drive module show that the walking mode of double-wheel double-drive can guarantee the good horizontal walking ability and climbing ability,in which,the slope angle of the robot under the self-weight of 20 kg can reach 25 degrees;the maximum swing angle of the mounting robot of the different-side foreign-shaft driving module mounting robot in the moving direction is measured to be 2 degrees,but the same-side foreign-shaft driving module is measured to be 5.82 degrees. The swing of the robot fuselage can be reduced by installing the drive module on the opposite side of the double wheel and double drive,but the swing of the fuselage can not be eliminated by the installation mode of the opposite side and the other side of the robot fuselage. In addition to the basic inspection function,the robot can improve the adaptability of unstructured underground environment,improve the flexibility of underground layout and control,can reduce the investment of track laying and recovery,and provide a new special patrol inspection platform for the coal mine environment.