Structural Design And Research Of Semi-active Suspension Of Inspection Robot Of Belt Conveyor

As a new type of intelligent mining equipment,the belt conveyor inspection robot can assist or replace the manual inspection work.Due to its characteristics of automa-tion and high efficiency,it has become a worldwide research hotspot in recent years.Although domestic and foreign scholars have carried out structural research on patrol robot,its vibration damping performance has not been paid much attention.The work-ing environment of belt conveyor is usually harsh,and the floor is uneven,which has a great impact on the robot's walking and data collection,and seriously restricts the de-velopment of the belt conveyor's inspection robot.In order to reduce the impact and vi-bration of the robot and ensure its smooth and efficient working efficiency,this paper proposes a new magneto-electric hybrid suspension hydraulic damper suitable for the belt conveyor inspection robot,which is studied from the aspects of structure,principle,theoretical model and experimental verificationFirstly,aiming at the complex working environment of the belt conveyor,a semi-active suspension method with stiffness adjustment as the vibration damping de-vice of the belt conveyor inspection robot is proposed.In order to control and adjust the stiffness quickly and efficiently,a new type of magnetoelectric suspension hydraulic damper is designed by introducing magnetoelectric hybrid suspension structure on the basis of spring-damping system.In this paper,the parameters of the hydraulic damper are identified by using the method of joint analysis of magnetic circuit and oil circuit.Secondly,in order to improve the accuracy of the simulation,according to the actu-al circumstance of belt conveyor inspection robot setting simulation parameters,AMESim and MATLAB/Simulink simulation model is set up.The new magne-to-electric mixed suspension hydraulic damper vibration simulation for the semi-active suspension system,and compared with the passive suspension simulation model.The simulation results show that the displacement and acceleration curve is smoother,less oscillation,displacement amplitude is reduced with more superior damping effect.Finally,in order to verify the rationality of the theoretical model and the simulation model,the experimental platform is built to carry out the original experiment on the damping effect of the semi-active suspension of the hydraulic damper.The displacement curve and acceleration curve obtained from the experiment and simulation are analyzed and compared,and the results show that the experimental curve and simulation curve are basically the same,the error is within 10%,both of them have good damping effect,and the damping effect of the experimental device can reach 18.76%.Further experi-ments are carried out on the stiffness adjustment of the semi-active suspension device,and the results show that the system stiffness increases(decreases)when the input volt-age is relatively large(small),which is consistent with the results of the theoretical model,and the rationality and superiority of the stiffness adjustment of the new magne-to-electric hybrid suspension hydraulic damper are verified.Figure[36]table[12]references[51]...