Lightweight Design Of Underground Explosion-Proof Inspection Robot

As the most important transportation equipment in coal mine,the operation state of belt conveyor has a direct impact on the efficiency and safety of coal mine production.Nowadays,the state detection method of belt conveyor is mainly manual hiking,which has the disadvantages of low efficiency,poor real-time performance and low accuracy.Based on this,this thesis designs an underground explosion-proof inspection robot,which is equipped with different detection modules for fault detection of underground belt conveyors.However,due to the environmental particularity of the coal mine underground,the research on the inspection robot also needs to take into account the explosion-proof design,which greatly increases the volume and weight of the inspection robot,and has a great impact on the overall performance of the robot.Therefore,the lightweight design of explosion-proof inspection robot is also a major focus of this thesis.Based on the common faults of underground roadway environment and belt conveyor,this thesis puts forward the overall functional requirements and performance indicators for inspection robots.Combined with the comparison of different drive schemes,the friction wheel drive is chosen as the driving mode of inspection robot,and the motor is parameterized.Based on the separation of torque and positive pressure,the construction design of the driving system,pressing mechanism and support wheel structure of the inspection robot is carried out.Combined with the explosion-proof requirements of electrical equipment underground in coal mines,the inspection robot is designed for explosion-proofing.Analysis of a variety of explosion-proof type of advantages and disadvantages,and determine the explosion-proof type as the control of explosion-proof box and motor explosion-proof box explosion-proof type.Combined with the theory of elastic force,the wall thickness of the control explosion-proof box and the motor explosion-proof box are designed and calculated separately,and the explosion-proof performance is simulated based on static analysis.In view of the lightweight design of parts for inspection robots,the topological optimization method is proposed as its lightweight means.The two parts of rack and clamping sleeve are used as the research object of topological optimization design,the density of part material is used as the design variable,the stress size as the constraint,and the smallest volume as the target function.According to the analysis results,the parts are reconstructed.Under the condition of meeting the strength and rigidity,the weight of the two parts is reduced by 33.9% and 39.2%.In view of the underground explosion-proof design requirements and explosionproof box processing process,the size optimization method is proposed as explosionproof box lightweight means.The thickness of each steel plate of the explosion-proof box is used as the design variable,the stress and displacement size are constrained,and the minimum weight is used as the target function,and its size is optimized for analysis and calculation.According to the analysis results,the original box size was modified.Under the condition of meeting the explosion-proof requirements,the two explosionproof boxes reduced the weight by 15.4% and 19.9%.In this thesis,the structure design of the underground explosion-proof inspection robot is carried out,and the underground explosion-proof inspection robot is designed lightly through topological optimization and size optimization,and the total weight loss is 10.34 kg,which provides a reference for the underground mine explosion-proof robot.