Structure Design And Simulation Analysis Of Amphibious Inspection Robot For Coal Mine Pumped Storage Power Station

The construction of pumped storage power stations in abandoned coal mines in China can provide new ideas for the resource utilization,three-dimensional development and comprehensive transformation and upgrading of closed mines in the future.Coal mine pumped storage power station is of great significance to realize the resource and energy utilization of underground space and mine water in goaf,and promote the environmental and ecological protection of mining area.However,during the closure of abandoned coal mines or the redevelopment process,it may involve a series of special safety problems,such as roadway collapse,rock wall collapse,toxic and harmful gas accumulation,sudden leakage of water storage layer and so on.The stability of underground space of abandoned mine tunnel is poor and the risk of manual investigation is high;After the completion of the power station,the underwater cavern and tailrace system are complex,the manual inspection is difficult and the safety is difficult to be guaranteed,so a special amphibious inspection robot is urgently needed.Therefore,in order to realize the exploration of abandoned tunnels in the early stage of the construction of coal mine pumped storage power station and the inspection task of underground powerhouse system and underground reservoir in the later stage of construction,The structure design and simulation analysis of amphibious inspection robot applied in coal mine pumped storage power station are carried out in this paper The main work contents are as follows:(1)Using modular design method,an amphibious inspection robot for coal mine pumped storage power station is designed,including overall scheme design and mechanical structure design.The structure and working principle of walking mechanism,body support,underwater propulsion mechanism,sinking and floating and attitude adjustment mechanism,six position and six way 2D control valve and inspection operation mechanism are introduced,and the strength of key components of the robot is checked and analyzed.(2)Aiming at the amphibious inspection robot in coal mine pumped storage power station,an integrated system of sinking,floating and attitude adjustment based on all water hydraulic pressure is proposed.The equations of the center of gravity and attitude angle of the robot are derived,the AMESim simulation model of its attitude adjustment is established,the sinking and floating and attitude adjustment process of the robot are analyzed,and the influence laws of the total length,spacing,diameter of the piston cylinder and the z-coordinate of the floating center on the attitude angle are studied.(3)A simulation test method for hydrodynamic characteristics of amphibious inspection robot is developed.Based on FLUENT software,the hydrodynamic characteristics of amphibious inspection robot are analyzed,the hovering,constant speed direct navigation,horizontal oblique navigation and vertical oblique navigation motion tests of amphibious inspection robot are simulated,and the relationship between hydrodynamic force and robot roll angle,speed,drift angle and angle of attack is explored.The least square method is used to fit the simulation data,and the corresponding hydrodynamic coefficients are obtained.The simulation results in this paper are compared with the ship model experimental results of open frame underwater vehicle in the existing literature.Figure[70]Table[13]Reference[62]...