Mechanism Design And Research On Small Rock Hole Detection Robot

At the present stage,mineral resources,water and electricity transmission tunnels,underground workshops and traffic tunnels in China are all developing towards high depth.These projects need to be excavated in large buried mountain or underground rock mass.With the increase of buried depth of rock mass project,the disasters caused by high stress and high radioactive pollution are becoming more serious.In order to ensure the stability of rock mass construction,monitoring the physical characteristics of rock mass becomes necessary.Meanwhile,drilling test is a common method to measure rock mass deformation and its law.A kind of small rock hole inspection robot can be utilized in the deep rock drilling test is put forward in this paper.Through the study of the fracture surface of the rock and micro break evolution information feedback,the goal of monitoring internal physical properties of the rock can be achieved by this robot.First of all,this paper has clarified the general scheme of small rock hole detection robot.By referring to detection techniques,methods and the classification of the existing pipeline robot domestic and overseas,a three-leg support in-pipe robot with a CCD camera and an ultrasonic sensor is chosen for the overall scheme,including the selection of the robot's system plan,the system composition and function description,the design of the robot body structure,etc.Among them,the concrete scheme of the camera and the ultrasonic sensor arrangement,the walking scheme and the communication design comprehensive comparison and analysis for the robot,the concrete scheme choice of the driving mechanism and preloaded-adjusting mechanism of robot,and the type selection calculation for the robot's driving motor are all carried out.Secondly,aiming at the key structure of the small rock hole inspection robot dynamics analysis and research,including the analysis of driving mechanism and preloaded-adjusting mechanism of the robot.Detailed on kinematics modeling for the preloaded-adjusting mechanism,and analyzed its support force through calculation.The kinematics modeling of the robot and the dynamic analysis of the transmission mechanism were performed,and the overall dynamic characteristics of the robot were obtained.The driving ability of the robot is verified by calculating the maximum climbing angle of the robot.Then,this paper utilized the NX8.0 motion simulation module to carry out simulation research on the virtual prototype of the robot,including the establishment of the virtual prototype,and the simulation analysis of the variation capacity and walking process.The simulation results show that the preloaded-adjusting mechanism has enough adjusting ability,and the robot can walk accurately in tubes.Through in-tube limited movement of dynamics modeling of small rock hole inspection robot in rock hole movement stability was analyzed,and the analysis results show that the robot has the ability and stability of walking in the rock hole smoothly.In the end,the prototype of the robot was tested,including the sealing test,the walking speed test,the climbing test and the ultrasonic sensor test.The correctness of the theoretical analysis is verified,which lays a foundation for further design and optimization.The experimental results show that the small rock hole detection robot designed by this project can complete the task of drilling test.