| Belt conveyor is one of the most important equipment in coal mine production,and its fault diagnosis has always been a major problem in coal mine safety production.The existing manual inspection and automation detection systems have some shortcomings,such as high cost,low efficiency,low real-time performance and low reliability.With the development of robotic technology in the 21 st century and the continuous progress of high efficiency and high reliability robotic technology,a new way for fault detection of belt conveyor is provided.Based on this,a kind of inspection robot for belt conveyor based on gear and rack transmission is designed.The fault of belt conveyor can be detected by carrying different detection modules.This paper mainly studies the driving and structure design of inspection robot,including: transmission system design of inspection robot,structure design of inspection robot and frame design.This paper analyses the possible faults of belt conveyor in mine,puts forward the technical requirements of inspection robot,defines the transmission system of inspection robot and various hardware needed to be carried,completes the three-dimensional structure design of inspection robot,and designs the frame according to the structure of robot.The dynamic and static simulation of the inspection robot is carried out according to the actual working conditions,and its motion performance is verified by simulation analysis.Dynamics of inspection robot is studied.The whole motion of inspection robot is simulated by ADAMS software,and its movement and force at different temperatures are analyzed.Static simulation of gear is carried out by Abaqus Standard 3D module,and the stiffness of parts is checked.The feasibility of the whole scheme is preliminarily verified by simulation analysis of inspection robot.Finally,the construction of inspection robot frame and prototype production are carried out,and experimental analysis is carried out to verify the feasibility of inspection robot. |
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