| The conveying tools used in coal mines are mainly belt conveyors,and their fault inspection and diagnosis are a difficult problem in coal mine safety production.At present,both manual inspection and automatic inspection have shortcomings such as high cost,low efficiency,poor real-time performance and poor reliability;in the 21 st century,robotics technology has developed by leaps and bounds,and high-efficiency and high-reliability robotics technology is also Continued development,which opens up a new way for the fault inspection of belt conveyors;in this context,this paper proposes a method that combines rack and pinion drive and wheeled friction drive for the work of the large slope and large turning radius of the conveyor.The belt conveyor inspection robot is organically combined,and its control system adopts ROS distributed architecture to prevent the failure of the conveyor.This paper focuses on the design and analysis of the driving mode and control system of the inspection robot,mainly including: the overall design of the inspection robot mechanism,the design of the driving mode of the inspection robot,the selection of the control system,the construction of the simulation platform and the es Tab.lishment of the humanmachine interaction interface.First of all,the common faults of coal mine underground belt conveyor are analyzed in detail,and according to the technical requirements of the line patrol robot,the overall design requirements are given;the overall control method is proposed,the various types of hardware required by the inspection robot are determined.According to the force analysis of different road sections,according to the force analysis results,select the appropriate dynamical system;ANSYS static simulation is carried out on the overall structure and connection mode of the inspection robot,the overall mechanism of the inspection robot was modality analyzed,and the connection mode and walking track of the inspection robot were theoretically checked,and finally the three-dimensional model design of the overall structure of the inspection robot was carried out.Secondly,Using dynamics software ADAMS to analyze the current mainstream driving methods and analyze their advantages and disadvantages.On the basis of the large slope and large turning radius working conditions,a dualpurpose driving mode model is proposed.The software ADAMS conducts a simulation analysis of the overall motion of the robot,and verifies the feasibility of its overall scheme.Then,build a simulation platform for conveyor faults based on ROS,use URDF to create inspection robot models,GAZEBO to create conveyor models and fault calibration,select the control system of ROS distributed framework,control the inspection robot,and use "PC + embedded" to realize a multiprocessor combined architecture.Finally,the human-machine interaction interface is es Tab.lished.According to the environmental data generated by GAZEBO and the data collected by the lower computer,with the help of the ROS distributed architecture,the data is released in the form of topics.The upper computer subscribes to topics,controls the movement of the inspection robot,and presents the data to the human-machine interface.Collect and display the running status and working environment of the conveyor in real time. |
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