Design Of Mine Suspended Inspection Robot

Coal mine's safety of roadway environmental and equipment failure have been a problem in coal mine safety production. At present. The main inspection methods of coal mine's are manual inspection and automatic inspection system, But they are inefficient. high cost, poor real-time capability and lower reliable. making the safety of coal mine roadway is still not guaranteed. With the development of low cost, high efficiency and high reliability robot technology. for the coal mine roadway environmental monitoring and equipment monitoring has opened up a new way. Based on those, This paper designs a kind of suspended inspection robot. through carrying a different monitoring and monitoring module can effectively improve the coal mine environment and equipment inspection efficiency. This article has been studied on the structure design of the main body, the obstacle planning, the bending plan, the dynamic analysis and so on. The specific research contents are as follows.Basing on the characteristics of uneven ground and installation of coal mine roadway, a kind of inspection robot. which is capable of overcoming these defects, is proposed. and the ontology program is designed in detail.This paper studies the running attitude of the suspended inspection robot. Simulation and optimization of the robot's attitude are simulated by dynamic simulation software ADAMS.under the condition of neglecting the flexible condition of the wire rope. The feasibility of the robot program and the rationality of the selection of the driving mechanism had a preliminary verification.The relationship, which is between cable pitch, sag and preload, and the modeling method of wire rope in ADAMS. are studied. Then, Established a reasonable simulation model for flexible wire rope.Established the Rigid-Flexible Coupling Dynamics Model of Suspended Inspection Robot and Flexible Wire Rope. and, The kinetic and kinetic characteristics of the robot, which is running on the downhill and the fault are analyzed, the rationality and feasibility of the designed robot program are further verified.Finally, the correctness of the theoretical analysis and the feasibility of the whole robot program, of which the suspended inspection robot, are verified by experiments.