【摘要】 针对煤矿井下带式输送机巡检机器人的充电问题，提出了一种巡检机器人在巡检过程中便可以实现自发充电的充电方法，设计了一种自发电装置。介绍了该装置的整体构造，阐述了巡检机器人的车轮摩擦力提供方式、对机器人自发充电的控制方法及机器人平稳充电的方法。利用Simulink对不同工况下发电机所发出的电压及功率进行仿真分析，并搭建了实验测试平台，仿真和实验测试结果基本相符，完全满足电池的充电要求。经实验测试表明：可根据不同环境选取不同充电方案进行充电，提升了续航里程，保证了机器人可以进行不间断地巡检，能较好地完成巡检机器人在煤矿井下复杂环境下平稳充电的任务，节省了停机充电的时间，保障了煤矿的安全生产。更多还原

【Abstract】 Aiming at the charging problem of inspection robot of belt conveyor in coal mine, a charging method is proposed, which can realize self-charging during inspection, and a self-charging device is designed. The whole structure of the device is introduced, and the method of providing wheel friction for the inspection robot, the control method of self-charging the robot and the method of smooth charging the robot are expounded. Simulink was used to simulate the voltage and power emitted by the motor under different working conditions, and an experimental test platform was built. The simulation results were basically consistent with the experimental test results, and fully met the charging requirements of the battery. The experimental test shows that different charging schemes can be selected for charging according to different environments, which improves the driving range and ensures that the robot can carry out uninterrupted inspection, and can better complete the task of smooth charging of the inspection robot in the complex environment of the coal mine, saving the time of stopping and charging.更多还原