外文文獻(xiàn)翻譯、搖臂式煤礦救援機器人移動平臺外文翻譯、中英文翻譯

翻譯部分 ： 英文原文 Mobile platform of rocker-type coal mine rescue robot LI Yunwang, GE Shirong, ZHU Hua, FANG Haifang, GAO Jinke School of Mechanical and Electrical Engineering, China University of Mining & Technology, Xuzhou 221008, China Abstract: After a coal mine disaster, especially a gas and coal dust explosion, the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle surmounting performance and explosion-proof capability. For this type of environment, we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels. The composi- tion and operational principles of the mobile platform are introduced, we discuss the flameproof design of the rocker assembly, as well as the operational principles and mechanical structure of the bevel gear differ- ential and the main parameters are provided. Motion simulation of the differential function and condition of the robot running on virtual, uneven terrain is carried out with ADAMS. The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers. The robot model has good operating performance. Experiments on terrain adaptability and surmounting obstacle performance of the robot proto- type have been carried out. The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance. Keywords: coal mine； rescue robot； rocker suspension； differential； explosion-proof design 1 Introduction In the rescue mission of a gas and coal dust explosion, rescuers easily get poisoned in underground coalmines full of toxic gases, such as high-concentration CH4 and CO, if ventilation and protection are not up to snuff. Furthermore, secondary or multiple gas explosions may be caused by extremely unstable gases after such a disaster and may cause casualties among the rescuers1. Therefore, in order to perform rescue missions successfully, in good time and decrease casualties, it is necessary to develop coal mine rescue robots. They are then sent to enter the disaster area instead of rescuers and carry out tasks of environmental detection, searching for wounded miners and victims after the disaster has occurred.The primary task of the robots in rescue work is to enter the disaster area. It is difficult for robots to move into restricted spaces and unstructured underground terrain, so these mobile systems require good obstacle-surmounting performance and motion performance in this rugged environment2. The application of some sensors used for terrain identification are severely restricted by low visibility and surroundings full of explosive gas and dust； hence, a putative mobile system should, as much as possible, be independent from sensing and control systems3.Studies of coal mine rescue robots are just beginning at home and abroad. Most robot prototypes are simple wheel type and track robots. The mine explora- tion robot RATLER, developed by the Intelligent Systems and Robotics Center (ISRC) of Sandia National Laboratories, uses a wheel type mobile system4. The Carnegie Mellon University Robot Research Center developed an autonomous mine exploration robot, called “groundhog”5. Both the mine rescue robot V2 produced by the American Remote Company and the mine search and rescue robot CUMT-1 developed by China University of Mining and Technology, use a two-track fixed type moving system6-7. These four prototypes are severely limited in underground coal mines. Rocker type robots have demonstrated good performance on complex terrain.All three Mars rovers, i.e., Sojourner, Spirit and Opportunity used mobile systems with six independent drive wheels8-9. Rocker-Bogie, developed by the American JPL laboratory has landed successfully on Mars. The SRR robot from the JPL laboratory with four independent drive and steering wheels consists of a moving rocker assembly system, similar to the four wheel-drive SR2 developed by the Univer- sity of Oklahoma, USA10. Both tests and practical experience have shown that this type of system has good motion performance, can adapt passively to uneven terrain, possesses the ability of self adaptation and performs well in surmounting obstacles. Given the unstructured underground terrain environment and an atmosphere of explosive gases, we investigated a coal mine rescue robot with four independent drive wheels and an explosion-proof design, based on a rocker as sembly structure. We introduce the composition and opera- tional principles of this mobile system, discuss the design method of its rocker assembly and differential device and carried out motion simulation of the kinematic performance of the the robot with on ADAMS, a computer software package. In the end, we tested the terrain adaptability and performance of the prototype in surmounting obstacles. 2 Mobile platform11-12 Of As shown in Fig 1, the mobile platform of the rocker-type four-wheel coal mine rescue robot includes a main body, a gear-type differential device,two rocker suspensions and four wheels. The the shell of the differential device is attached to the interior of the the main body The two extended shafts of the differential device are supported by the axle seats in the of lat-to early plate of the main the body and connected to the rocker suspensions installed at both sides of the main the body. of The four wheels are separately connected to the of bevel gear, transmission at the the terminal of the four landing stretch our legs. at The four wheels are independently driven by a DC motor is installed inside the landing stretch our legs. of the rocker suspension flameproof design of the to stretch our legs. has been developed,which includes a flameproof motor cavity from and a flameproof connection cavity. Via a cable entry device, the power and control of the DCmotor cables are connected to the power and controller of the main the body. 2.1 Rocker suspension 2.1.1 Function The primary role of the rocker suspension is to provide the mobile platform with a mobile system that can adapt to the unstructured underground terrain,such as rails, steps, ditches and deposit of rock and coal dumps because of the collapse of the tunnel roof after a disaster. By connecting the differential device intermediate between the two rocker suspensions, the four drive wheels can touch the uneven ground passively and the wheels can bear the average load of the robot so that it is able to cross soft terrain. The wheels can supply enough propulsion, which allows the robot to surmount obstacles and pass through uneven terrain. 2.1.2Structure As shown in Fig. 1, the rocker suspension is composed of a connecting block, landing legs and bevel gear transmissions. The angle between the landing legs on each side of the main body is carefully calibrated. The legs are connected to the connecting block and the terminals, which in turn are connected to the bevel gear transmissions. Fig. 2 illustrates the cal. The DC motor is in the leg and fixed to the connecting cylinder. The motor shaft connects to the bevel gear transmission and the wheel is also connected to the transmission. The upper section has a blind center hole through witch a connection is formed to the bottom section, via a connection cavity.Through the cable entry device of the upper section,the motor power and control cable from the main body of the robot are put into the connection cavity and connect to the wiring terminals which, in turn,connect to the guidance wires in the wire holder. Another end of the guidance wires connects to the motor in the bottom section. A coal mine environment is full of explosive gases；hence, a rescue robot must be designed to be flame-proof. The DC motors, for driving each wheel, are installed in the landing legs of the rocker suspensions.At the present low-powered DC motors, available in the market, are of a standard design and not flame-proof, hence a flame proof structure for these motors must be designed. Given the structural features of the rocker suspension, it is very much necessary that a flame proof design for the landing legs be carried out.There are two important points to be considered in this flameproof design. First, a flameproof cavity is needed, in which the standard DC motor is installed. Given the flameproof design requirements, a group of flameproof joints should be formed between the motor shaft and the shaft hole. Generally, the motor shaft made by the manufacturer is too short to comply with the requirement of flameproof joints, so the motor shaft needs to be extended. Second, a flameproof connection cavity should be designed to lead the cable into the connection cavity through a flameproof cable entry device. DC motors, especially brush DC motors, may generate sparks in normal running and when the motor load is high, the working current may be more than 5 A, which exceeds the current limit in Appendix C2 of the National Standard GB3836.2-2000 of China. Therefore, the motor power and control- cable cannot be directly in the connection cavity.Given these requirements, the landing legs have been designed as flameproof units, as shown in Fig. 2.An elongated shaft sleeve has been assembled from the motor shaft, with the same inside radius as that ofthe motor shaft and this is how the motor shaft is extended. The front flange of the motor is fixed to the intermediate plate of the connecting cylinder. The motor shaft with the shaft sleeve passes through the center hole embedded with a brass bush and then connects to the input gear of the bevel gear transmission at the end of the bottom section of the landing leg. Therefore, flameproof joints are formed between the motor shaft and the shaft sleeve, as well as between the shaft sleeve and the brass bush. The terminal of the bottom section of the leg connects to the connecting cylinder and a flameproof joint is formed between the external cylindrical surface of the terminal and the inner cylinder surface of the connecting cylinder. There is also a flameproof connection cavity in the upper section of the leg. In order to save space, the guidance wire is sealed together with the wire holder using a sealant. The seat of the guide wire is installed in the hole of the upper section of the landing leg.Another flameproof joint is formed between the wire holder and the hole. The cavity of the upper section connects to the rabbet structure of the bottom section, with yet another flameproof joint. There is a flame-proof cable entry device at the end of the upper section of the landing leg. Hence, a flameproof connection cavity is formed in the upper section of the leg.Based on the structure described, the standard DC motor was installed in the flame proof cavity of the bottom section of the leg. The power and control cables of the motor connect to the flameproof connection cavity of its upper section through a wire holder.Moreover, the cable from the flame proof main body of the robot connects to the connection cavity via the flameproof cable entry device. Thus, the flameproof design of the landing leg of the rocker suspension section was completed. 2.2 Differential device13-15 2.2.1 Characteristics of the differential mechanism The differential Mechanism of a rocker-type robot is a motion transfer mechanism with two degrees of freedom, which can transform the two rotating inputs into a rotating output. The output is the linear mean values of the two inputs. If we let 1 and 2 be two angular velocity inputs,the angular velocity output, 1 and 2， wo rotational angle inputs and be rotational angle output, we have: 2 21 ， 2 21 Two rotational input components connect to the left and the right rocker suspension of the robot and the output component connects to the main body of the robot. In this way, the swing angles of the left and right rocker suspensions are averaged by the differential mechanism and the mean value, transformed into the swing angle (pitching angle) of the main body, is the output. It is effective in decreasing the swing of the main body and thus reduces the terrain effect. Taking the main swing angle of the main body as input and the swing angles of the left and the right rocker suspension as outputs, the rotational input is decomposed into two different rotational outputs. If the output is the mean value of two inputs, it is helpful to allocate the average weight of the body to each wheel which can adjust its position passively alone in the terrain.Given the characteristics and operating requirements of differential mechanisms, a bevel gear type differential mechanism has been designed. We have analyzed the working principle of the bevel gear differential mechanism and present its detailed structural design. 2.2.2 Principle of the bevel gear differential mechanism Fig. 3 shows the schematic diagram of the bevel gear differential mechanism. Two semi-axle bevel gears 1 and 2 mesh with the planetary bevel gear 3 orthogonally. Carrier H connects to planetary bevel gear 3 coaxially. Let the angular velocities of gears 1,2, 3 and carrier H be 1、 2、 3 and H . Let the number of their teeth be Z1 , Z 2 and Z3 , where Z1, Z2 . Let the rotational angles of gear 1, 2 and carrier H be 1、2、 H . If we let the relative H then we have: 131232112 ZZ ZZiHHH We obtain 2 21 H and 2 21 H 2.2.3 Bevel gear differential device Given the above principle of a bevel gear differential mechanism, we designed such a bevel gear differential device, shown in Fig. 4. Fig. 4a is the outline of the differential device, and Fig. 4b its internal Structure.This bevel gear differential device is composed of a shell, end covers, an axle base, semi-axle bevel gears, planetary bevel gears, a connecting shaft, etc.The end covers and axle beds connect to the shell by screws. In the shell, two planetary bevel gears are coaxial and symmetrically installed at the connecting shaft, with the shaft terminals supported at the end covers. There are bearings between the connecting shaft and bevel gears. The circlips are installed on the connecting shaft to limit the load on the bearings.Two semi-axle bevel gears are housed in the two axle beds separately, two axle beds are fixed on the shellsymmetrically and two semi-axle bevel gears mesh with two planetary bevel gears orthogonally. The two axle bases have the same structure. The semi-axle bevel gears are located by the bearings, shaft sleeve and circlips in the axle beds. When the differential device is installed on the robot, the two axles of the left and right semi-axle bevel gears are connected to the left and right rockers. The shell of the differentialis fixed on the main body of the robot 2.3 Basic parameters of the robot mobile platform Fig. 5 shows the leading dimensions of the robot mobile platform. The length of the leg l=360 mm, the angle of the legs = 90 , the diameter of the wheel d=200 mm, the distance between the front and the rear wheel 2 sin 5092e l 570 = mm, the width of the robot i=670 mm, the distance of the rocker rotational center to the ground cos 354.52 2dg l = 670mm, the outline dimensions of the main body a=400, b=200, f=310 mm, the height of the robot platform c=522mm and the gravity (G) height h=360 mm. The rangeof the swinging angle of the left ( 1 ) and the right( 2) rocker is ( 45 45 ). Let the pitch and horizontal roll angle be and ,then the maximum allowable pitch and horizontal roll angle are as follows: 2.353602 5092a r c t a n)m a x ( he 9.423602 6702a r c t a n)m a x( hi The weight of the robot platform is 20 kg and its maximum load capacity is 15 kg. The robot platform is driven by four DC motors with 60 W power. Its maximum speed is 0.32 m/s. 3 Mobile platform test 3.1 Simulation test An accurate, simulated 3D model of the robot was Imported into the ADAMS software. Using the kinematic pairs in the joints database of the ADAMS/View, the movement of each part of the simulation model is constrained. For simulating the differential action of differential devices acting on the robot body, a revolute joint between the left and right rockers of the model and the “Ground” is established. Random moments of forces are exerted to the left and right rockers to simulatethe rough action of the terrain on the rockers. For simulating the movements of the differential device accurately,contact forces are exerted to the pair of gears of the differential device.After corresp- onding marker points on the robot are established, the swinging angles of the left and right rockers and the robot body are measured and the curves of the swinging angles along with the time are obtained via the ADAMS/Postprocessor module, shown in Fig. 6. Curves 1 and 2 are swing angle curves of the two rockers, while curve 3 is the swingangle curve of the main body. The bevel gear differential device can average theswing angles of the right and left rockers, and the average value is the swing angle of the main body.The gap between two teeth and other factors cause the return difference of the gear drive, so when the main body is swinging at the early start-up and through the zero angle, there is a slight swinging angle deviation between the simulated and theoretical values. Typical steps, channels, slopes and other complex terrain models are built in the SolidWorks software. For testing the trafficability characteristics and ride comfort of the four wheel robot, all-terrains models are imported into the ADAMS software16-17. Then the joints and restraints are rebuilt, Contact Force between the terrain and the wheels is exerted and torque is exerted to each wheel. The running condition of the robot is simulated on the complex terrain,as shown in Fig. 7a. The vertical displacement, velocity and acceleration curves of the centroid of the body and the centers of the four wheels can be obtained, as shown in Figs. 7b7d. According to the curves, the curve of the centroid displacement of the main body(mainbody_d curve) is very smooth and the velocity and acceleration of the main body is approximately the mean of that of the four wheels. The simulation results show that the mobile platformof the robot hasgood trafficability and rides comfortably on the complex terrain. 3.2 Prototype test In order to verify the performance of the robot in surmounting obstacles and adapting to a complex terrain, an obstacle-surmounting test of the robot was carried out on a simple obstacle course built in thelaboratory and on a complex outdoor terrain bestrewn with messy bricks and stones. Fig. 8 shows the video image of the robot when moving on the complex terrain.The tests indicate that the four drive wheels of the robot can passively keep contact with the uneven ground and the robot performed well in surmounting obstacles. When moving on uneven ground, the swing angle of the main body was small and the differential device could effectively reduce the effect of the changing terrain to the main body. One side of the robot can cross a 260 mm-high obstacle. Only large obstacles between the landing legs of the rockers appear to block progress. The performance in surmounting obstacles by the four wheels of the robots is clearly better than that of a track-type robot of the same size. 4 Conclusions 1) Coal mine accidents, especially gas and coal dust explosions, occur frequently. Therefore, it is necessary to investigate and develop coal mine rescue robots that can be sent into mine disaster areas to carry out tasks of environmental detection and rescue missions after disasters have occurred, instead of sending rescuers which might become exposed to danger. 2) An underground coal mine environment presents a space-restricted, unstructured terrain environment,with a likely explosive gas atmosph- ere after a disaster.Hence, any mobile system would require a high motion performance and obstacle-surmounting performance oncomp- ex terrain. 3) Given an unstructured underground terrain environment and an explosive atmosphere, we investigated an explosion-proof coal mine rescue robot with four independent drive wheels, based on a rocker type structure. Our simulation and test results indicate that the robot performs satisfactorily, can passively adapt to uneven terrain, is self adaptive and performs well in surmounting obstacles. 4) In our study, we only investigated the rocker-type mobile platform of a coal mine rescue robot. In order to adapt to the underground coal mine environment,we also carried out a flameproof design for the main body. It was necessary to improve the rocker suspensions in order for the robot to be able to adjust the angle between two landing legs automatically, so that the height of the center of gravity of the robot can be controlled, which should improve the anti-rollover performance of the robot. 中文譯文 搖臂式煤礦救援機器人移動平臺 摘 要 煤礦災(zāi)害之后，尤其是氣體和煤塵爆炸后，地下空間限制和非結(jié)構(gòu)化的地形以及爆炸性氣體的存在，需要具有良好的越障性能和防爆穩(wěn)定性的煤礦救援機器人。對于這種類型的環(huán)境，我們設(shè)計了四個獨立的搖臂式煤礦救援機器人移動平臺和獨立驅(qū)動的車輪。介紹了移動平臺的組成和運作方式，我們討論了礦用 隔爆型設(shè)計搖臂以及它的運行方式和錐齒輪差速器的機械結(jié)構(gòu)。使用 ADAMS 軟件模擬了不平坦的虛擬地形對機器人進(jìn)行仿真實驗。仿真結(jié)果表明，差動裝置能保持一個機器人的主體在搖晃中的平衡。機器人模型具有良好的實用價值。對機器人原型已經(jīng)進(jìn)行了地形的適應(yīng)性和越障性能的實驗。結(jié)果表明，樣機具有良好的地形的適應(yīng)性和強大的越障性能。 關(guān)鍵詞：煤礦救援機器人；搖臂懸掛；特殊性；防爆設(shè)計 1 介紹 在瓦斯和煤塵爆炸的事故中執(zhí)行救援任務(wù)，救援人員容易在充滿有毒的氣體的煤礦井下中毒，如高濃度 CH4和 CO，如果保證不了通風(fēng)就會出現(xiàn)事故。 此外，多種氣體混在一起形成極不穩(wěn)定的混合氣體引發(fā)爆炸，并可能造成救援人員傷亡1。因此，為了執(zhí)行救援任務(wù)成功，爭取救援時間和減少傷亡，就必須發(fā)展煤礦救援機器人。機器人代替了救援人員進(jìn)入災(zāi)區(qū)和執(zhí)行任務(wù)的環(huán)境檢測、搜尋受傷的礦工和災(zāi)難發(fā)生后的幸存者。 這個機器人搜救工作的首要任務(wù)是進(jìn)入災(zāi)區(qū)。這是困難的機器人進(jìn)入限制空間和非結(jié)構(gòu)化的地下地形，所以這些移動系統(tǒng)需要很好的越障性能和運動性能在這種惡劣環(huán)境執(zhí)行任務(wù) 2，使用一些傳感器能夠在低能見度和充滿爆炸性氣體和塵埃的環(huán)境下完成對地形的識別；因此，假定的移動系統(tǒng)應(yīng) 該盡可能是獨立的傳感器和控制系統(tǒng) 3。國內(nèi)和國外煤礦救援機器人的研究才剛剛起步。大多數(shù)機器人原型都是簡單的輪式和跟蹤機器人。桑迪亞國家實驗室智能系統(tǒng)和機器人技術(shù)中心 (ISRC)所開發(fā)的礦山勘探機器人 RATLER，使用的是輪式移動系統(tǒng) 4?？▋?nèi)基梅隆大學(xué)的機器人研究中心開發(fā)了一個自治的礦藏的開采機器人，稱為“Groundhog”5。由 Remotec 公司制造的 V2 煤礦井下搜救探測機器人和 中國礦業(yè)大學(xué)的 CUMT-1，使用一個雙履帶的移動系統(tǒng) 6-7。這四個樣品都受到地下煤礦環(huán)境的嚴(yán)重限制。搖臂式 機器人在復(fù)雜的地形下已經(jīng)具有良好的性能。所有三個火星探測器， “索杰納 ”、 “勇氣號 ”、 “機遇號 ” 火星車均采用了六輪獨立驅(qū)動的搖桿 -轉(zhuǎn)向架移動系 8-9。美國噴氣推進(jìn)實驗室開發(fā)出來的 Rocker-Bogie，實驗成功登陸上火星。 SRR 機器人實驗室與噴氣推進(jìn)實驗室四個獨立的驅(qū)動和方向盤組成一個移動搖臂總成系統(tǒng)，類似于美國俄克拉何馬州大學(xué)的研制的四輪驅(qū)動的 SR210。這兩個測試和實踐經(jīng)驗已經(jīng)證明這種類型的系統(tǒng)具有良好的運動性能，能適應(yīng)不均勻地形，擁有適應(yīng)性和良好的越障能力。鑒于非結(jié)構(gòu)化地下地形環(huán)境和一個爆炸 性氣體的氣氛，我們調(diào)查了煤炭礦井營救機器人使用四個獨立驅(qū)動輪和一個防爆設(shè)計，基于搖臂總成結(jié)構(gòu)。我們介紹的成分和這個移動系統(tǒng)的工作原理，討論它的設(shè)計方法和差分搖臂總成設(shè)備并進(jìn)行了運動模擬的機器人的運動學(xué)性能與 ADAMS 計算機軟件包。最后，我們檢測了機器人原型的地形適應(yīng)性和越障性能。 2 移動平臺 11 圖 1所示，移動平臺的搖臂式四輪煤礦營救機器人包括一個主體，齒輪式差動設(shè)備，兩個搖臂懸掛和四個輪子。外殼通過差動設(shè)備連接到內(nèi)部主體。 差動的兩個擴展槽設(shè)備支持在橫向的軸座板的主體，并連接到兩邊的安裝搖臂懸浮主體上 。四個輪子分別連接到錐齒輪傳動終點站四個著陸的腿。四個輪子都是獨立的由一個直流電機驅(qū)動，安裝在著陸腿懸掛的搖臂下。 一個用隔爆型設(shè)計腿已經(jīng)制定，其中包括用隔爆型電機腔和隔爆型連接腔。通過電纜入口裝置，電源和控制直流電動機的電纜連接到電源和控制器的主體。 2.1 搖臂懸掛 2.1.1 功能 搖臂懸架的主要作用是提供的移動系統(tǒng)能適應(yīng)非結(jié)構(gòu)化井下地形的移動臺，像軌道，臺階，壕溝和巖石的礦床等由于隧道頂部倒塌的煤炭傾倒災(zāi)難發(fā)生后。通過連接差動裝置中間之間的兩個搖臂懸浮液，四個驅(qū)動輪可以接觸到凹凸不平的地面被動車輪可 以承受的平均負(fù)載機器人，所以，它是能夠跨越軟地形。車輪可以提供足夠的推進(jìn)力，使機器人通過超越不均勻的障礙，并通過地形。 2.1.2 結(jié)構(gòu) 正如圖 1 所示，搖臂懸掛組成連接塊，著陸腿和錐齒輪傳動。著陸之間的角度每個主體一側(cè)的腿被仔細(xì)校正。腿被連接到連接塊和終端，這反過來又連接錐齒輪傳動。圖 2 說明結(jié)構(gòu)降落腿。它分為上層和底部。底部是圓柱。直流電動機是在腿和固定連接缸。電機軸連接到錐齒輪傳動和輪也連接傳輸。上部有中心盲孔連接是通過 箕舌線 形成的底部，通過連接腔。通過電纜入口裝置的上半部分，從主電機功率和控制電纜機器人 的身體被放到連接腔并連接到接線端子，反過來，連接線持有人的指導(dǎo)線。另一個指導(dǎo)線的一端連接在電機的底部。 2.1.3 防爆設(shè)計 一個煤礦環(huán)境充滿爆炸性氣體；因此，營救機器人必須設(shè)計為隔爆型。直流電機，用于驅(qū)動每個輪子，是安裝在著陸的腿搖臂中。在目前的低功率的直流電機，可選市場，是標(biāo)準(zhǔn)的設(shè)計而不是防爆、因此一個防爆結(jié)構(gòu)對于這些汽車必須設(shè)計。給定的結(jié)構(gòu)特點搖臂懸架，它非常有必要防爆設(shè)計為著陸的腿被執(zhí)行。 有兩個重要的問題需要考慮這型礦用隔爆型設(shè)計。首先，需要一個防爆腔，在這種標(biāo)準(zhǔn)直流電機安裝。鑒于防爆設(shè)計要求 ，一群關(guān)節(jié)型礦用隔爆型電動機應(yīng)之間形成軸和傳動軸洞。通常，電機軸由制造商太短的遵守防爆關(guān)節(jié)的要求，因此電機軸需要擴展。其次，采用防爆連接型腔應(yīng)設(shè)計成領(lǐng)導(dǎo)電纜到連接腔通過隔爆型電纜條目設(shè)備。直流電機，尤其是有刷直流電機，可能產(chǎn)生的火花在正常運行和當(dāng)電機負(fù)載很高，工作電流可能超過 5A，這超過了當(dāng)前的限制附錄 C2 中國國家標(biāo)準(zhǔn)的要求 GB3836.2 -2000。因此，電動機電源和控制電纜不能直接在連接腔。 考慮到這些要求，著陸的腿上有被設(shè)計為隔爆型單位，如圖 2 所示。一個細(xì)長軸套筒組裝而成的電機軸，在同樣的半徑內(nèi)的電 機軸，這是電機軸被擴展。前面的法蘭電機的固定在中聯(lián)板的連接缸。這個電機軸軸袖的經(jīng)過中心孔嵌有黃銅布什然后連接到輸入齒輪傳動齒輪最后的底部的著陸腿。因此，隔爆型關(guān)節(jié)之間形成的電機軸和傳動軸套筒之間，以及軸套筒和黃銅。終端底部的腿的連接連接圓筒和隔爆型聯(lián)合組成外部圓柱表面之間的終端圓柱表面和內(nèi)部的連接缸。 還有一個防爆連接腔腿的上層。為了節(jié)省空間，指導(dǎo)線是密封連同電線持有人使用密封劑。導(dǎo)線的座位安裝在洞的著陸支架的上層。另一個防爆聯(lián)合間形成電線持有人和洞。上層的空腔連接到榫接結(jié)構(gòu)的底部，用另一個防爆聯(lián)合。有一個 防爆電纜入口設(shè)備結(jié)束時的上層著陸的腿。因此，隔爆型連接腔形成的上層的腿。 基于結(jié)構(gòu)描述，標(biāo)準(zhǔn)直流汽車被安裝在隔爆型孔的腿的底部。電力和控制電纜電機的連接到防爆連接腔的上層通過導(dǎo)線持有人。此外，電纜防爆主體機器人的連接到連接腔通過防爆電纜入口設(shè)備。因此，防爆設(shè)計的著陸支架的搖臂懸掛部分。 2.2 差動裝置 搖桿式機器人差動機構(gòu)是一種二自由度運動轉(zhuǎn)換機構(gòu)，能夠?qū)?2 個轉(zhuǎn)動輸入轉(zhuǎn)化為 1 個轉(zhuǎn)動輸出，且輸出為兩個輸入的線性平均值。設(shè)兩個輸入為轉(zhuǎn)速 1、2， 輸出為轉(zhuǎn)速 。