Research And Application Of Key Technology Of Inspection Robot In Coal Mine Substation

With the increasing of underground mining in coal mine,the number of large mechanical and electrical equipment in the underground is increasing,which makes the area of the coal mine more and more large,the circuit circuit is increasing,the switching action is frequent and the operating environment becomes more complex.The traditional manual inspection method is not full of the operation of the modern coal mine substation.Demand.This topic mainly aims at the problems existing in coal mine substations,and designs an intelligent inspection robot suitable for coal mine substations.First of all,starting from the research status and applicable place of the intelligent patrol robot in substation,the whole structure of the patrol robot is designed to satisfy the inspection of the safe operation of the coal mine substation.Secondly,the key technology of the patrol robot in the coal mine substation is studied.Because the key technology of the patrol robot is more complex,this paper mainly studies the motion control system and the independent charging system.(1)The design of motion control system.First,the motion control system of the inspection robot is planned and analyzed.On this basis,the selection of the components is completed and the main circuit and driving circuit are designed to match the motion control,and the vector control control algorithm is combined with the S acceleration and deceleration control algorithm,and the software design is integrated into the software layer.The motion control of the inspecting robot is realized by surface.(2)The design of the independent charging system.From the aspects of reliability and economy,the charging mode and docking mode of the inspection robot are studied and determined,and an autonomous source seeking and wireless charging system suitable for the coal mine substation is designed.When the robot is not able to complete the next inspection task,it can automatically return to the charge when the robot has detected the low power of its own.Finally,the system test platform and MATLAB/Simulink simulation platform are built to simulate and test the system,and the simulation test results show that the designed inspection robot meets the technical requirements of the coal mine substation.