Han Liguo, Ding Fei, Zhao Lijuan, Li Peng, Li Chuanzong, Liu Mingjun, Ren Liangliang, Li Yuhao
School of Computer and Information Engineering, Fuyang Normal University, Fuyang, 236037, China.
Anhui Engineering Research Center for Intelligent Computing and Information Innovation, Fuyang Normal University, Fuyang, 236037, China.
Sci Rep. 2025 Feb 22;15(1):6497. doi: 10.1038/s41598-025-89514-y.
In response to the complex unstructured environment of coal mines, a design scheme for variable wheel diameter robots is proposed. Based on the gear, connecting rod and sliding rail mechanism, a wheel with variable diameter was designed. Through the change in the wheel diameter of the robot, the obstacle-crossing ability and terrain adaptation ability of the robot were improved. The kinematic model of a single wheel was established and the variation rule of radial length was analysed. The kinematics model of the whole vehicle was established, and the motion state of the robot under different driving speeds was analysed. Based on RecurDyn software, the robot turning, wheel diameter change process and obstacle surmounting process were simulated. Through 3D printing technology, the robot prototype was made, and the limit obstacle crossing test was carried out. Simulations and prototype tests show that the smallest radius of the wheel radius change is 107 mm, the largest radius is 158 mm, and the limit height for the robot to cross obstacles is 172 mm. After the wheels are unfolded, the centroid of the robot rises by 50 mm, and the fluctuation amplitude of the centroid of the robot when walking with the maximum radius is 3.6 mm. The diameter was increased by 47.6% through the gear, link and sliding rail mechanism, and the exceeding limit height was increased by 60.7% compared with the common wheel-type robot. Compared with tracked and legged robots, the robot designed in this article has high flexibility and lightweight. It can reduce the wheel diameter and accelerate forward on flat roads, and when encountering obstacles, it can increase the wheel diameter to improve obstacle crossing performance. This provides new ideas for the research of special detection robots and the intelligence of coal mines in the future.
针对煤矿复杂的非结构化环境，提出了一种变轮径机器人的设计方案。基于齿轮、连杆和滑轨机构，设计了一种变径轮。通过改变机器人的轮径，提高了机器人的越障能力和地形适应能力。建立了单轮的运动学模型并分析了径向长度的变化规律。建立了整车的运动学模型，并分析了机器人在不同行驶速度下的运动状态。基于RecurDyn软件，对机器人转弯、轮径变化过程和越障过程进行了仿真。通过3D打印技术制作了机器人样机，并进行了极限越障试验。仿真和样机试验表明，轮径变化的最小半径为107mm，最大半径为158mm，机器人越障的极限高度为172mm。车轮展开后，机器人的质心上升50mm，以最大半径行走时机器人质心的波动幅度为3.6mm。通过齿轮、连杆和滑轨机构，直径增加了47.6%，越障极限高度比普通轮式机器人增加了60.7%。与履带式和腿式机器人相比，本文设计的机器人具有高灵活性和轻量化的特点。它可以减小轮径在平坦道路上加速前进，遇到障碍物时可以增大轮径以提高越障性能。这为未来特殊探测机器人的研究和煤矿智能化提供了新思路。
