Structural Design And Analysis Of Inspection Robot For Belt Conveyor In Underground Coal Mine

Belt conveyor is an important equipment for coal mine production,and its inspection work has always been an important measure for coal mine safety production.The existing manual inspection and sensor detection have certain limitations,and have the disadvantages of low efficiency,low reliability and low safety performance.The continuous advancement of intelligent robot technology provides a new way for belt conveyor fault detection.It is of great significance to develop a coal mine belt conveyor inspection robot with high degree of automation,high inspection efficiency and complete functions.Based on the investigation of the domestic and foreign development status,this paper puts forward the technical requirements of the inspection robot based on the common faults of the coal belt conveyor and the working environment of the inspection robot,and clarifies the various hardware required for the inspection robot.On this basis,a modular design was adopted to develop a inspection robot for belt conveyor in underground coal mine with a dual-drive wheel structure,by middle arm driving and clamping,front and rear arm supporting,steering and guidance.By carrying different detection modules instead of manually detect the failure of the belt conveyor.First,the running track and driving scheme of the robot are determined,and the body structure design of the inspection robot is completed according to the robot track and driving scheme.On this basis,analyze and calculate the mechanical system parameters of inspection robot,including the robot's sports performance analysis in the horizontal linear motion,climbing and turning phases,selection calculation of the drive motor,mechanical performance analysis of the middle arm clamping spring,vibration frequency calculation of the drive mechanism,determined the key technical parameters of the robot.According to the actual working conditions,finite element analysis and dynamic simulation of the inspection robot structure are carried out.Finite element analysis of the robot structure is carried out through ANSYS,including static analysis of the front and rear arm structure and the key clamping spring of the middle arm and modal analysis of the robot structure,to verify whether the robot structure meets the strength requirements.Dynamic simulation of the robot structure is carried out through ADAMS,to analyze the dynamic parameters of robot during the horizontal linear motion and climbing stage,and predict the robot's motion performance.Finally,physical prototype of the inspection robot was made,and preliminary testing of physical prototype was conducted.This paper has carried out related theoretical research,structural design,mechanical system parameter analysis,simulation analysis and preliminary testing of physical prototypes of inspection robot for belt conveyor in underground coal mine.Through the design,analysis and preliminary testing of the inspection robot structure,the feasibility of the overall plan is verified and has a high practical application value.