Design And Analysis Of Wall-climbing Mechanism On Vertical Shaft

At present,China’s coal mine construction is focusing on the large-scale,deep well direction.In the basic construction of large-scale coal mines,with the deepening of the wellbore depth and the increasing of the wellbore diameter,the diameter and weight of the work stage used in the sinking is also increasing,the length and weight of the cable is increasing too.During the construction work of the wells,the requirements of the cable strength is getting higher and higher,the performance requirements of the hanging plate is getting higher and higher and the lifting device power also need to be further improved.Now,there are many ways to improve the performance of various parts,but the cost of traditional method relying on the rope to lift is increasing higher,resulting in waste of resources is also growing,especially when working,the work stage needs to be carried out in the mine within a small frequency of frequent up and down movement,the rope needs to frequently hoist the cable and the weight of the work stage,which will result a great waste of the resources.In this paper,the appearance and development of robot was studied through reading a large number of references,both the research status of wall-climbing robot at home and abroad and the future development direction of robot included.In order to design the wall-climbing mechanism to meet the requirements,the advantages and disadvantages of various types of wall climbing and its application environment were analyzed and compared.A new climbing system of work stage was proposed under the given work environment of vertical shaft and its principle and structure of the new climbing system was introduced and analyzed.Based on the design of the new wall-climbing mechanism,the working environment of the wall-climbing mechanism and working load are specified,the dimensional structure of the components of the selected wall-climbing structure is calculated and verified.The mode is built according to the specific size structure.Then finite element analysis of the wall-climbing structure of the various components is done.Finally,stress-strain relationship of the various components is checked out.The mathematical model was established from concrete model abstraction and the kinematics analysis was carried on it.The kinematics analysis is how to use the function of time to express the spatial displacement of work stage,especially to analyze the relationship between the variable space of joint and the position and posture of the end effector.