| Inspection robot as an important equipment for underground coal mine inspection,bearing the safety detect of the mine.During running,the test equipment measured data due to the road conditions cause the vibration during running is crucial.Research on the structure of the inspection robot has been constantly updated and improved,especially the chassis structure design and analysis of the study,which determines the efficiency and the safety of detect tasks.In the processing of detection,the structure of the undercarriage is reflected by the measured data of the vibration-affected detection equipment.Therefore,A simulation analysis method of the vibration of the undercarriage structure during running is proposed,and its rationality is verified through experiments,Designing a robot chassis structure that meets the high precision measurement during the inspection process has an important application value for improving the accuracy of measurement data of the surrounding rock deformation in a coal mine tunnel.Papers mainly from the overall structure of the inspection robot chassis design to ensure that the chassis structure design of the system requirements,and the chassis structure equipped with test equipment for vibration measurement research,the specific contents are as follows:1.Combined with the current research status of the inspection robots at home and abroad,based on the theoretical research,the current system requirements of the inspection robot chassis structure are clarified,and the overall design of the robot chassis is designed.2.The dynamic analysis of the robot chassis is carried out.The road profile of the national standard road is established.After completing the dynamic simulation analysis of the whole model on the road surface,the motion curves of each component are obtained.3.Vibration acceleration sensor was used to measure the vibration acceleration of walking robot chassis structure on uneven road surface and compared with the simulation analysis data to verify the feasibility of ADAMS simulation analysis method.4.Experiments were carried out to test the influence of the chassis vibration on the measurement data.The laser radar range finder was mounted on the chassis structure,and the measured values were calculated by two-dimensional imaging using Processing software.Compared with the actual dimensions,The influence of the vibration in the running process on the accuracy of the test data is obtained,which can provide reference value for the detection of the surrounding rock deformation in the practical application. |
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