Design Of Double-arm Downhole Inspection Robot

In the process of coal mining,the natural conditions are complex,the geological environment is bad,the road surface is narrow and uneven,there are many faults,the road surface slope is large,there are many ponding,many gravel,etc.,and the manual inspection intensity is high;In addition,mine disasters that may occur underground affect the safety of miners’ lives.Therefore,it is necessary to develop a kind of underground inspection robot to replace manual inspection and obstacle removal,reduce the labor intensity of inspection and obstacle removal,and ensure the safety of underground operation.Firstly,based on TRIZ theory,nine screen analysis,system component analysis and causal axis analysis are carried out for the existing problems of single arm inspection robot,so as to find the root causes of the problems,and provide solutions through technical contradiction,physical contradiction and material field analysis.Finally,the scheme is synthesized and evaluated,and the design of double arm underground inspection robot is put forward.The structure design and strength check of the key parts of the inspection robot are carried out,and the driving system scheme and type selection of the inspection robot are determined.The innovative design of floating suspension device is proposed,which can realize the up and down floating of mobile chassis and enhance the adaptability to complex roads.Secondly,the motion characteristics of the inspection robot are analyzed.The centroid position distribution function of the whole robot is established,and the obstacle crossing mechanism of the inspection robot under different working conditions is studied.The maximum obstacle crossing height is 25.96 cm,the maximum longitudinal climbing angle is 47.62°,the maximum transverse climbing angle is 55.75°,and the maximum ditch crossing width is 472.44 mm.Establish the kinematics model of dual arms,verify the forward kinematics solution results,analyze the workspace of both arms under lumbar fixation and lumbar rotation,and plan the trajectory of each joint of both arms against the background of cable cutting.Then,the virtual prototype of inspection robot is established by using ADAMS dynamic simulation software.The dynamic simulation of the floating mobile disk,such as step obstacle crossing,slope climbing,fixed radius steering,ditch crossing and pothole Road,is carried out.The motion characteristics of the mobile chassis under various working conditions are analyzed in detail,and the rationality of the design of the floating mobile chassis is verified.The dynamic simulation of dual arms is carried out to analyze the torque changes of each joint under the background of cutting cables,so as to provide a theoretical basis for the motion control of dual arms.Finally,the designed floating mobile chassis prototype is tested on various road conditions,and the motion trajectories of the discseat and the wheel centers of the front,middle and rear wheels are analyzed.It is concluded that the floating mobile chassis can adapt to various complex road conditions,which verifies the rationality of the structural design of the floating mobile chassis and provides good working conditions for the precision instruments it carries.Figure [103] table [11] reference [90]...