Design principles and experiments of flexible track-type environmental inspection robot

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.