Design And Research Of Port Belt Conveyor Inspection Robot

As the key equipment for the modernization of coal transportation at ports,the operation state of belt conveyors exerts a direct impact on coal transportation efficiency.In the process of operation,belt conveyors are susceptible to various faults and safety hazards,and an abnormal stop will result in huge economic losses.Therefore,the belt conveyor needs round-the-clock inspection.For traditional inspection,the quality and efficiency of the inspection are often affected by subjective factors such as work experience and vocational skills of inspectors,and objective conditions such as weather conditions and geographic environment.The traditional inspection has low reliability and imposes higher requirements for the ability of inspectors.Therefore,this paper designs a inspection robot for port belt conveyors,studies its mechanical structure and control system,and verifies the design and research results through simulation and experiments.The main work in this paper is as follows:Based on the working principle of port belt conveyor,this paper studies all kinds of faults and corresponding monitoring methods,and puts forward the design requirements of inspection robot.The overall function scheme of the inspection robot is studied,and the upper computer interface is designed.The driving scheme of the inspection robot was analyzed,the mathematical model of the brushless DC motor was built,and the motor selection was completed through calculation.The track,driving wheel,driving mechanism and internal structure of the inspection robot were researched and designed,and the three-dimensional modeling of the mechanical structure of the inspection robot was completed by using CATIA software.Based on virtual prototype technology,ADAMS and ANSYS software were used to simulate and analyze the movement of the inspection robot under different working conditions,as well as the stress and deformation of the driving wheel.The overall scheme of the control system of the inspection robot is designed.The hardware selection and key circuit design of STM32F767 minimum system,motion control module,communication module,information acquisition module,positioning module,power module and obstacle avoidance module are completed.The fuzzy PID motion control,location fusion,magnetic coupling resonance wireless charging,range avoidance and information processing and analysis strategies of the control system are studied.According to the 3D model of the inspection robot,a physical prototype was made,and experiments were carried out on its motion performance,positioning accuracy,wireless communication,wireless charging,ranging obstacle avoidance and fault diagnosis design.The results show that the mechanical structure design of the inspection robot is reasonable,the control system modules meet the design requirements,and the fault diagnosis effect of the belt conveyor is accurate.