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 mi
ni
ng of coal mi
nes is a key developme
nt tech
nology of the coal i
ndustry a
nd a topic widely co
ncer
ned by society. Its impact is
not o
nly related to the developme
nt of the
natio
nal e
nergy i
ndustry, but also touches the perso
nal safety of mi
ni
ng workers. Therefore, related solutio
ns are co
nsta
ntly bei
ng discussed, a
nd related tech
nologies are co
nsta
ntly bei
ng developed. Safe, reliable, efficie
nt, a
nd i
ntellige
nt automatic i
nspectio
n device is a
n importa
nt part of it, which is the subject of this research a
nd desig
n. The mai
n research co
nte
nts of this article are as follows: I
n view of the ma
ny types of grou
nd machi
nery u
nder the mi
ne, the i
nsufficie
nt positio
n a
nd the u
neve
n surface, the patrol robot desig
ned this time uses a suspe
nded type a
nd ru
ns o
n a fixed track to avoid the disadva
ntages of ma
ny grou
nd defects u
nder the mi
ne. As the coal mi
ni
ng face u
nder the mi
ne will cha
nge with the progress of coal mi
ni
ng, the adjustable i
nspectio
n robot track is selected a
nd i
nstalled u
nder the hydraulic support, which ca
n adapt to the cha
nged e
nviro
nme
nt at a
ny time. For mi
nes of differe
nt sizes, the height of the hydraulic support used is also differe
nt. I
n order to meet the i
nspectio
n
needs of large mi
ni
ng height coal mi
nes, a lifti
ng platform will be desig
ned, which ca
n realize the adjustme
nt of the i
nspectio
n height a
nd e
nable the se
nsi
ng a
nd mo
nitori
ng equipme
nt Work at a suitable height to obtai
n more accurate mo
nitori
ng data. All mecha
nical desig
n structures are checked for stre
ngth to e
nsure the
normal a
nd stable operatio
n of the robot. For the co
ntrol requireme
nts of the robot system, the appropriate co
ntroller is selected to complete the mecha
nical a
nd electrical i
ntegratio
n desig
n of the automatic i
nspectio
n robot for the e
ntire worki
ng face. The paper has 47 pictures, 9 tables, a
nd 27 refere
nces. Keywords：Worki
ng face; i
nspectio
n robot; ha
ngi
ng track type; mi
ne; si
ngle chip co
ntrol 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