Design Of Robot Walking Device For Underground Roadway Inspection In Coal Mine

With the increasing progress of science and technology,the requirements for coal roadway operation are also increasing.However,the traditional wheeled inspection robot has poor obstacle surmounting ability,the crawler inspection robot moves slowly,and the wheel shoe compound walking device has the problems of complex wheel shoe replacement mechanism and low efficiency.In view of the above shortcomings,this paper designs a new type of guide wheel type wheel shoe composite walking device based on TRIZ theory,designs the structure of the walking device,and analyzes the statics and kinematics of the walking device.Based on TRIZ innovation theory,nine screen analysis and component analysis methods are adopted for the existing wheeled and crawler walking devices to find the shortcomings of the existing walking devices and carry out structural innovation design.The problems in the system are optimized by using contradiction matrix and fishbone analysis.A compound inspection robot with guide wheel and wheel shoe is designed.The motion characteristics of the guide wheel mechanism and the hydraulic push rod of the guide wheel are verified,and the rationality of the implementation scheme is verified.According to the use environment of coal mine roadway inspection robot,the inspection robot scheme suitable for roadway environment is designed,and its parts are designed and selected,including drive shaft,crawler,frame,box,hydraulic system,etc.It provides a theoretical basis for the analysis of robot chassis mechanism and the production of later prototype.The static and modal analysis of the axle and frame of the inspection robot is carried out by using ANSYS Workbench software.The deformation and stress of the axle and frame are analyzed by applying force and torque,and the frame structure is optimized according to the simulation results.The modal analysis of axle and frame verifies the rationality of material selection and structural design of axle and frame.The results show that the walking device of coal mine roadway inspection robot will not resonate in the working process.ADAMS software is used to analyze the kinematics of the walking mechanism of the coal mine roadway inspection robot.By establishing a complex road model,the working environment of the coal mine roadway is simulated,and the variation curves of the centroid displacement,velocity and acceleration of the walking mechanism of the inspection robot with time under complex road conditions are analyzed.The simulation results show that the walking mechanism can meet the requirements of obstacle crossing,ditch crossing,step climbing and other complex roads,Meet the design requirements.Figure[66]table[8]reference[86]...