Design And Research Of Inspection Robot For Mine Hoisting Wire Rope

The wire rope is an important part of the mine hoisting system,and its health status is directly related to the normal production and the life safety of personnel.The traditional fixed wire rope monitoring device is fixedly installed on the top of the hoisting system to monitor its health status during the movement of the wire rope.For the high-power hoisting system of ultra-deep wells over 1000 meters,it is necessary to carry out a hoisting operation cycle under the empty state of the hoisting container before the first hoisting operation every day.The fixed monitoring device on the top is used to monitor the health of the wire rope,which is A lot of manpower and material resources.The wire rope inspection robot can move from top to bottom along the wire rope when the hoisting system is stopped to detect the health of the wire rope,reducing the energy consumption of the high-power hoisting system.This subject takes the magnetically adsorbed wire rope inspection robot as the research object,and carries out the structural innovation design of the robot,the non-destructive testing method of the wire rope and the experimental research of the robot’s working performance.First,by consulting and analyzing the latest developments of hoisting robots at home and abroad,a magnetic adsorption crawler walking scheme was proposed,and the mechanical structure design of the hoisting wire rope inspection robot was completed by using three-dimensional modeling software.After the mechanical structure design is completed,each structure is assembled,and the virtual prototype model is finally completed.Then use the virtual prototype to do statics analysis and kinematics analysis,and do upward and downward motion simulation analysis through simulation software.Secondly,after consulting and analyzing domestic and foreign wire rope nondestructive testing methods,it is determined that the magnetic flux leakage detection method is adopted,and permanent magnetization is adopted.After consulting the related literature on the robot structure design and the wire rope magnetization method,it is found that the robot is adsorbed on the wire rope by a magnet,and the magnetization of the wire rope can be completed by a magnet.Therefore,this article combines the magnets used in the two: the fixed magnet on the chain is not only adsorbed on the wire rope as part of the crawler,but also used as the magnetization unit to magnetize the wire rope,and can prevent falling in the event of a power failure,which improves the simplicity and reliability of the robot structure..After the magnet structure is determined,the magnetic field characteristics and adsorption capacity of the magnet are analyzed theoretically.The Maxwell software is used for excitation simulation analysis,and the dual-circuit magnetization structure is determined to be adopted.After reading a large number of references,it is determined that the wire rope detection unit uses Hall elements.Because the detection range of a single Hall element is limited,it is determined through calculation and analysis that 18 Hall elements are used for signal superposition.After the plan is determined,the principle of the detection unit is completed.Figure and the design of the PCB development board.Finally,complete the construction of the upper and lower computers,customize the parts and complete the robot assembly,and use the built system to complete the rope climbing experiment.The rope climbing experiment shows that the system can safely and reliably finish climbing on the wire rope,and the wire rope damage detection experiment is completed.The experimental results show that the wire rope has no obvious changes in the electrical signal at the damage-free position,and the electrical signal has obvious changes at the damaged position.It shows that the magnetic flux leakage is obvious.The experimental results show that the robot can detect the damaged parts of the wire rope,which verifies the feasibility of the mine hoist wire rope inspection robot.The thesis has 57 pictures,13 tables and 79 references.