Design And Research Of Intelligent Inspection Robot For Mine Belt Conveyor

As the main energy of our country,coal plays an important role in the development of national economy.As the most important equipment in coal transportation,belt conveyor has the advantages of simple loading and unloading,long transportation distance,strong carrying capacity,good environmental adaptability and so on.Due to the long-time and high-load operation and its bad working environment,the belt conveyor is prone to belt breakage,deviation,vertical tearing,coal stacking and other faults,which not only affects the normal production of the coal mine,but also poses a great threat to the safety of the miners.In order to prevent the occurrence of the above-mentioned failures,the current underground coal mine mainly relies on manual inspection and fixed-point monitoring,which is labor-intensive,poor in real time,inefficient and leaky,and the scope of fixed-point monitoring is limited.Therefore,in order to replace or assist manual inspection and fixed-point monitoring,the intelligent inspection machine of mine belt conveyor is designed and studied in this paper.First of all,the overall structure and common faults of the belt conveyor are analyzed,and specific inspection methods are proposed according to the corresponding characteristics of different faults.For the special working environment of underground coal mines,The main functions that the inspection robot are defined,and the specific technical requirements and performance parameters are determined,which lays a foundation for the structure design of the inspection robot.By comparing the advantages and disadvantages of the existing inspection robot transmission mode,a walking mechanism with the combination of track bearing and wire rope traction is designed.The walking mechanism is not only unaffected by the ground terrain environment,but also makes the robot’s movement and environmental monitoring power supply separate,the body weight is carried by the track,and the traction system is directly powered by the underground power grid,which overcomes the problem of endurance.The mechanical structure of the patrol robot is designed,and the installation and layout of the robot is completed by taking the main inclined shaft of a mine in Shaanxi Province as an example.A wireless communication system is designed.With a wireless base station arranged every 200m along the belt conveyor.The base stations are transmitted through the optical fiber ring network,and the data collected by the robot is transmitted to the host computer through the optical fiber ring network.In addition,the positioning system of the patrol robot based on RFID is designed,the passive electronic tags are arranged equally on the belt conveyor frame,and the reader is installed inside the body.The fault location of the belt conveyor can be determined by identifying the position of the inspection robot.The finite element analysis of the inspection robot is carried out by using ABAQUS to explore the stress change of the wheel frame and track S₃₃ direction and the track displacement change in the U₂ direction at different speeds.The results show that the greater the running speed of the robot,the greater the wheel-rail contact stress,and the maximum stress is 227MPa,which is less than the yield strength of the material.After the robot runs stably,the displacement of the orbit center node in the direction of U₂ is 0.24mm and the stress in the direction of S₃₃ is6MPa.Through the above simulation,the stress distribution and dangerous position of each component are determined,and the rationality of the design of each component is verified.The virtual prototype model of the inspection robot is established in ADAMS software,and the displacement and velocity changes of the robot under horizontal and tilted 20°motion states are analyzed.The results show that the robot can run stably along the orbit direction horizontally,and there is a slight oscillation in the vertical direction and horizontal swing direction,but the oscillation amplitude is small,which ensures that the robot can patrol normally.The displacement change of the inspection robot in different motion states is relatively stable,which verifies the rationality of the model design.Finally,a multi-functional test is conducted on the prototype of the inspection robot.And it is proved that the robot can run smoothly in the fixed track,its data acquisition and transmission module can also work normally,and the performance index basically meets the design requirements.