Design And Research Of Inspection Robot For Belt Convevor In Coal Mine

The belt conveyor is widely used in the mining,transportation and processing of coal production.It has the advantages of strong carrying capacity,good adaptability to the working environment,long-distance continuous transportation,and easy automation control.However,during the operation of the belt conveyor,due to its harsh working environment,long-time high-load operation,unbalanced load,etc.,failures such as breakage,vertical tearing,slipping,and deviation will occur.In addition,fire accidents and excessive concentrations of explosive and toxic gases in the conveyor roadway of the belt conveyor seriously threaten the safety of coal mines.Therefore,it is very important to conduct a comprehensive and efficient inspection of the belt conveyor.In order to replace the traditional manual inspection,this paper has designed and researched the inspection robot for the mining belt conveyor.Based on the analysis of the common fault causes,hazards and monitoring methods of the belt conveyor,this paper takes the belt conveyor and its working environment as the main inspection objects,and clarifies the fault characteristics and environmental parameters that need to be monitored,and formulates the belt conveyor machine inspection plan.Then,according to the actual situation,the working environment characteristics of the inspection robot were analyzed,the design principles were determined,the overall structure of the inspection robot system of the mine belt conveyor was designed,and the system working process was introduced.After that,it focused on the inspection robot mechanism and various functional modules.The main mechanical framework of the patrol robot for mining belt conveyors is mainly composed of the patrol device body and the patrol inspection moving mechanism.In this paper,a wire rope traction overhead circulation moving mechanism is designed,and its driving device and traction wire rope are calculated and checked.This mobile mechanism is simple to install and arrange,and has no high requirements on environmental factors such as terrain,and draws the robot body to move cyclically along the conveyor lane of the belt conveyor.At the same time,this paper proposes a wireless communication solution.In this solution,the robot has a built-in embedded wireless communication module,the adjacent robots are each other's base stations,and the robots located at any position of the belt conveyor can pass the inspection data up through other robots in time.In addition,this paper designs the device power module and the RFID-based robot inspection and positioning system.In order to collect the environmental parameters during the operation of the belt conveyor and discover potential safety hazards in time,this paper takes STM32 as the main controller,carries various types of sensors,and builds a data collection module for inspection robots through hardware and software design.This module collects environmental information such as temperature,humidity,methane concentration,and smoke concentration in real time,and passes it to the display after data processing.Based on the development of Visual Studio,the host computer data receiving and displaying client can establish a connection with the single-chip computer,remotely receive the collected environmental information and feed it back to the staff.In the design of the equipment power supply module,the storage battery supplies power to each functional module of the inspection robot after voltage conversion.The battery installed is charged by the magnetic coupling resonance wireless energy transmission technology.In this paper,through the wireless charging system structure design,theoretical analysis and simulation optimization,the research on the wireless charging module of the inspection robot is carried out to improve the power transmission performance.