Research On Inter-belt Wheel Rail Inspection Robot For Coal Mine Belt Conveyor

Because the existing coal mine belt conveyor inspection robot is generally suspended on one side or directly above the belt conveyor,there is a large detection blind spot during inspection.In view of this problem,aiming at the detection and identification of belt damage and abnormal state of idlers,a wheel-rail inspection robot that can travel between the upper and lower belts of the belt conveyor is proposed,which can not only expand the inspection scope,but also effectively Improve the efficiency of robot inspection operations.The overall structure of the belt conveyor,common faults and the inspection tasks of the inter-belt inspection robot are studied and analyzed,the design requirements of the wheel-rail inspection robot between the belt conveyors are determined,and the overall design of the interband inspection robot and the inspection strategy are proposed.The kinematics and dynamics models of the inspection robot between the belts are established,and MATLAB and ADAMS software are used to simulate and analyze the working conditions of the inspection robot,such as climbing and braking.The rationality and reliability of key components such as the inspection robot body,running mechanism,drive mechanism and brake mechanism are verified.The robot inspection and control system is built for inter-belt inspection,including a speed control system based on PWM regulation and a position control system based on RFID and encoder fusion,and established a roller fault detection system based on infrared thermal imaging temperature measurement and belt fault detection system based on machine vision deep learning convolutional neural network.The research and design of the inspection robot explosion-proof charging compartment ensures the endurance of the inspection robot.Complete the software framework design of the measurement and control system to meet the functions of data transmission,real-time status monitoring and abnormal alarm between the upper and lower computers.A virtual prototype simulation model of the inter-belt wheel-track inspection robot of belt conveyor is built,and the actual operation of the inspection robot under different slopes is verified by the joint simulation of ADAMS software and MATLAB software.The results show that the running speed of the inspection robot can be stabilized quickly under different slopes,and the required driving force meets the design requirements,which effectively ensures the structural rationality of the inspection robot and improves the reliability of inspection.