Research And Development Of Inspection Robot For Fully Mechanized Coal Mining Face

Coal is an important guarantee for my country's energy security,and the intelligent development of coal mines is an inevitable trend.Fully mechanized mining face is the forefront of coal mining.The equipment group of the face is large in number,large in volume,narrow in space,and the environment is constantly changing.In order to ensure the smooth progress of production,real-time inspection of the mining face environment and equipment is required.Traditional manual inspections have high labor intensity,high risk factors,difficult inspection processes,and frequent accidents.The existing mine inspection robots mostly operate in a fixed environment and are difficult to adapt to the changing work surface environment.Therefore,this paper takes the abnormal condition inspection of mining face as the application background,designs an intelligent inspection robot system scheme suitable for different coal seam thickness,studies its running state under different working conditions and realizes remote control.To promote the intelligent development of fully mechanized coal mining face.In view of the bad environment and changeable inspection track of coal mining face,three dynamic positions,such as one side of cable slot of scraper conveyor,the bottom of top beam support of hydraulic support and the front of first stage column of hydraulic support,are obtained by analyzing and studying the environmental characteristics and moving characteristics of equipment.The above three positions are put forward as the layout scheme of the patrol robot track installation and cross connection.At the same time,combined with the analysis of the inspection requirements of the mining face,the main tasks and design requirements of the robot "four measurements and one alarm" are put forward.In view of the problems such as diverse running environment,large range of motion deformation dimension and difficult to adapt,the modular design method is adopted to complete the structural design of the segmented flexible track system and the robot body.Aiming at the different mining face installation positions of the inspection robot,this paper puts forward a solution that only replacing the track fixed connection mechanism does not change the segmented flexible track system,and designs the corresponding track fixed connection mechanism to solve the adaptability of the inspection robot to the mining face environment.In view of the feasibility and structural stability of the inspection robot scheme,this paper takes the cross-seat inspection robot body as the analysis object.This paper expounds the motion mechanism and process of the segmented flexible track system passively adapting to the environment change and the robot passing through the deformation connection point under different working conditions.By analyzing the mechanical characteristics of the robot under different working conditions,the torque dynamics model of the robot guide wheel is established,which lays a foundation for the motion control of the patrol robot.Through kinematics and dynamics simulation,the operation stability of the inspection robot and the feasibility of the structure scheme are simulated and verified.Finally,the static simulation of the key components of the inspection robot track and the robot body is carried out to test the stress and displacement changes of the key components of the robot under the external force,and to optimize and improve the reliability of the inspection robot structure.This paper designs the remote control system of inspection robot based on Lab VIEW development platform and NI MyRIO embedded equipment.The system is composed of seven sub-modules,including main controller module,wireless communication module,motion control module,navigation and positioning module,power management module,sensor information acquisition module and upper computer module.The basic hardware is selected and calculated to realize the remote control and data transmission of the inspection robot.Finally,the experimental platform of machine figure machine and scraper conveyor in fully mechanized mining face is developed.By simulating three different working conditions of straight track,bending and tilting,the vibration acceleration of robot body in three directions is analyzed X?Y?Z the course of operation,and the rationality,feasibility and stability of the robot structure are tested.The developed mining face inspection robot system can meet the requirements of mining face inspection and operation.