Research On The Combination Of Thin Shell Rod Lifting And Detecting Gantry Of Mine Inspection Robot

With the construction of digital mine,the degree of automation of underground mining equipment has been greatly improved,and the complexity of underground mining equipment has also been greatly enhanced.Therefore,higher requirements are put forward for real-time monitoring of underground mining equipment.Because the interior space of the mine is different,and all kinds of gases are stratified due to different densities,it is difficult for the mine inspection robot to monitor from all angles when conducting inspection and monitoring inside the mine.The traditional mine inspection robot has been unable to meet its application requirements,not to obtain a full range of detection,it is necessary to add a lifting head device to the mine inspection robot.First of all,combined with the working environment of mine inspection robot,this paper designed a combination of thin shell rod type lifting head,the device is composed of four thin shell rod,greatly saving the space occupied by the inspection robot,increase the flexibility of the inspection robot.After comparing the advantages and disadvantages of the two lifting schemes,the advantages and disadvantages of the two schemes are compared.In this paper,an innovative lifting scheme is selected on the basis of integrating the existing related lifting head.Based on the comprehensive analysis of the composite thin shell rod group under the influence of different stress environments,the change of its bearing capacity was studied.Then it will continue to simulate the force of the thin shell rod group through the model analysis of ANSYS finite element software.Thus,the mechanical and material parameters of the composite thin shell rod are determined.Then,through the design of the experimental scheme,complete the processing of the experimental platform,and compared with the simulation data analysis,verify the feasibility and stability of the combination of thin shell rod lifting mechanism,and finally determine the detection of the lifting mode and the combination of thin shell rod lifting device.Secondly,this paper established the solid model of the lifting device through the Solid Works three-dimensional entity software,designed the explosion-proof shell,lifting transmission system to complete the final model of the combined thin shell rod lifting gimlet and assembled with the mine inspection robot,and realized the preliminary scheme of the mine inspection robot combined thin shell rod inspection platform.Finally,according to the design scheme and the machining prototype,the statics and dynamics test analysis of the test bed are carried out to verify its load capacity,the stress limit of bending deformation and the stress limit of pressure deformation.According to the analysis of the experimental data,the transverse and longitudinal statics analysis of the combined thin shell rod mechanism is studied.The successful experiments of various technical indexes have laid a practical foundation for the mine inspection robot to be equipped with the combined thin shell rod lifting mechanism in theory and practice.