关键词: 煤矿搜救, 履带机器人, 机构设计, 越障性能

Abstract: The paper presents a type of jointed mobile robot with double tracks about colliery rescue, the tracked robot platform consists of front and rear segment. When the robot climbs over obstacles during the process of colliery rescue, the front and rear segment can form a certain angle by rotating the joint, which can effectively solve the complex problem of inadequate surmounting performance about double-track robot. The design of passive regulating device can prevent from the track slacking or falling off when the robot climbs over. Based on the study, we analyze surmounting performance of the robot for the instance of climbing over the steps. In the last, we verify the correctness of theoretical analysis and the validity of the structure design of the jointed double-track robot by means of the experiment