Design And Research Of Inspection Robot For Belt Conveyor In Open-pit Mine In Alpine Environment

In the process of coal transportation in open-pit mines,the operating status of the belt conveyor directly affects the efficiency of the enterprise and the safety of the staff.However,in the actual use process,the working site environment is harsh,the belt conveyor transports coal far away,and various failures are prone to occur after longtime heavy-duty operations.The traditional manual inspection is extremely dependent on the subjective experience of workers.They have high work intensity and low efficiency,and are prone to misjudgment and misjudgment.However,real-time monitoring systems based on single-chip microcomputers and PLC have disadvantages such as difficulty in maintenance,limited sensor placement,and greater monitoring accuracy due to environmental interference,which cannot meet the construction requirements of modern digital mines.Therefore,this paper designs a belt conveyor inspection robot for open-pit mines in an alpine environment to meet the daily inspection requirements for belt conveyors.Firstly,the paper introduces the working environment of the belt conveyor in the open pit mine,and summarizes the existing problems of the robot based on the development status of the inspection robot.According to the inspection requirements of belt conveyor,the functional requirements of the robot are analyzed.On this basis,the overall design of the inspection robot is completed.Aiming at the phenomenon of robot slippage caused by the high-cold environment of the open-pit mine,the dual-output shaft worm gear drive is designed as the primary reduction mechanism,the synchronous belt drive is the transmission system of the secondary reduction mechanism and the multi-degree-of-freedom adjustable track structure provides a good solution for the robot.In the face of the energy problem caused by the long-distance inspection of the robot,the automatic charging mechanism of the robot is designed.On this basis,the overall structure design of the robot is completed,and the Workbench finite element analysis is carried out to ensure that the structural strength of the robot meets the design requirements.The hardware framework of the control system of the inspection robot is designed,and PLC is used as the main controller of its motion and data transmission.A double closed-loop PID controller was designed to control the motor of the drive module to improve the motion stability of the robot.Determine the sensor module of the robot and design its positioning strategy.Combined with the charging and discharging problems of the power battery in the cold environment,the thermal management system and the independent charging system of the power module are designed,and the power supply circuit of the system is designed.The communication node based on UDP is designed,and the 5G communication system is used to realize the reliable communication between the robot body and the upper computer.The control system software of the inspection robot is designed.The lower computer software program is written by Codesys to realize the movement control,information exchange and data communication between the robot and the upper computer.The software of the upper computer is written based on Qt to complete the remote operation of the inspection robot and the state monitoring of the belt conveyor.On this basis,the construction and performance test of the robot prototype are completed,which verified the reliability and feasibility of the design scheme.This paper has 81 graphs,16 tables,and 90 references.