摘要
煤矿的安全开采是一项煤炭行业重点发展的技术，亦是社会广泛关注的话题，其影响不仅关系到国家能源行业的发展，还触及采矿工人的人身安全。因此，相关的解决方案不断被围绕探讨，相关的技术不断得以发展。安全、可靠、高效、智能的自动巡检装置便是其中的重要一环，是本次研究设计的课题。本文主要研究的内容如下：
针对矿井下地面机械种类繁多且位置不够还有地面不平整的多方面特点，本次设计的巡检机器人选用悬挂式，在固定轨道上行驶工作，避免了矿井下地面缺陷多的弊端，
由于矿井下采煤工作面会随着采煤的进行位置会发生变动，因此选用可调整的巡检机器人轨道，并且安装在液压支架的下方，能都随时适应改动的环境。
对于不同规模的矿井，所使用的液压支架高度也不一样，为适应大采高煤矿的巡检需求，将设计升降云台，这能够实现巡检高度的可调，使传感和监测设备能够在合适的高度下工作，以获取更为准确的监测数据。
所有的机械设计结构都有进行强度校核，保证了机器人的正常稳定的工作。
对于机器人系统所需的控制需求都有选择合适的控制器来完成，来实现整个工作面自动巡检机器人的机电一体化设计。
该有图47幅，表9个，参考文献27篇。
关键词：工作面；巡检机器人；悬挂轨道式；矿井；单片机控制
ABSTRACT
The safe mining of coal mines is a key development technology of the coal industry and a topic widely concerned by society. Its impact is not only related to the development of the national energy industry, but also touches the personal safety of mining workers. Therefore, related solutions are constantly being discussed, and related technologies are constantly being developed. Safe, reliable, efficient, and intelligent automatic inspection device is an important part of it, which is the subject of this research and design. The main research contents of this article are as follows:
In view of the many types of ground machinery under the mine, the insufficient position and the uneven surface, the patrol robot designed this time uses a suspended type and runs on a fixed track to avoid the disadvantages of many ground defects under the mine.
As the coal mining face under the mine will change with the progress of coal mining, the adjustable inspection robot track is selected and installed under the hydraulic support, which can adapt to the changed environment at any time.
For mines of different sizes, the height of the hydraulic support used is also different. In order to meet the inspection needs of large mining height coal mines, a lifting platform will be designed, which can realize the adjustment of the inspection height and enable the sensing and monitoring equipment Work at a suitable height to obtain more accurate monitoring data.
All mechanical design structures are checked for strength to ensure the normal and stable operation of the robot.
For the control requirements of the robot system, the appropriate controller is selected to complete the mechanical and electrical integration design of the automatic inspection robot for the entire working face.
The paper has 47 pictures, 9 tables, and 27 references.
Keywords：Working face; inspection robot; hanging track type; mine; single chip control
目录
1绪论1
1.1选题的目的与意义1
2.2国内外研究现状2
2巡检机器人整体方案设计5
2.1巡检机器人总体应用方案选择5
2.2巡检环境及功能要求6
2.3巡检机器人的驱动方式选择7
2.4巡检机器人控制部分总体方案8
3巡检机器人机械结构设计10
3.1总体结构和外形设计10
3.2驱动模块设计12
3.3升降云台设计24
4.巡检机器人电气控制部分34
4.1主控单元选型34
4.2供电模块35
4.3无线传输模块36
4.4驱动模块控制40
4.5巡检设备控制43
4.6其他电路44
4.7控制程序流程图48
5总结50
5.1设计总结50
5.2经济性分析50
5.3不足与展望50
参考文献51
翻译部分53
