Research On Control And Analysis System Of Mine Hoisting Wire Rope Inspection Robot

Due to its strong bearing capacity,light weight,high tensile strength and good elasticity,wire rope is an indispensable key component in industrial production,and is widely used in ports,railways,coal mines,elevators and other industries.Its safe operation status has been concerned by various industrial fields.However,because the environment in which the wire rope is generally harsh,and it operates under a variable load state during use,it is easy to cause wire rope breakage,wear and tear,and even breakage,which affects the normal operation of the equipment.Therefore,the damage detection of wire rope is very necessary.According to the above problems,the wire rope is detected by the inspection robot.Therefore,this thesis takes the wire rope inspection robot as the research object.The research content mainly starts from the design of the overall scheme of the wire rope inspection robot system,the construction of the hardware system of the wire rope inspection robot,the software development of the inspection robot control system and the development of the damage analysis system.A complete set of systems for researching wire rope inspection robots.The specific research contents are as follows:(1)Based on the wire rope detection and robot work requirements,the overall function of the wire rope inspection robot system is determined,the overall scheme of the wire rope inspection robot system is proposed,the main controllers that are widely used are discussed,and the differences between the main controllers are compared.It is determined that the industrial computer is used as the main controller of the bottom equipment of the robot.The advantages and disadvantages of the commonly used non-destructive testing methods for wire ropes are analyzed,the superiority of the magnetic testing method in wire rope testing is discussed,and the testing scheme of the damage analysis system is determined.Based on the above,the overall structure of the wire rope inspection robot system is designed.(2)The hardware system design of the wire rope inspection robot.The robot adopts wheel climbing,the driving wheel plays the role of climbing,and the driven wheel plays the role of guiding.Therefore,the force analysis of the driving wheel is carried out,the advantages and disadvantages of the driving motor are compared,and the type of the driving motor is determined.Considering the limitation of the space size of the robot,the reducer and the motor are assembled at right angles.According to the functions of climbing device,flaw detection device and clamping device,the corresponding driving board is determined.Based on communication in harsh environments,a communication platform combining wireless network and ad hoc network is built.(3)Software design of the wire rope inspection robot control system.According to the conditions that the robot needs to meet,the user interface software of the upper computer and the control software of the lower computer are developed.This chapter mainly realizes the control of the wire rope inspection robot through the software system.The software system mainly controls the inspection robot climbing device,flaw detection device and clamping device.In terms of climbing device control,the software system mainly controls the reliable start,ascent and descent of the climbing device,and can hover stably on the wire rope.At the same time,the speed of the motor is adjusted by PWM,so that the inspection robot can climb along the wire rope at different speeds.In terms of flaw detection device control,the flaw detection device consists of two symmetrical structures,which are opened and closed through software systems.In terms of clamping device control,it mainly controls the elongation and shortening of the clamping device.In terms of communication,the upper computer software and the lower computer control software realize the transmission of instruction flow and data flow through interactive communication.In order to facilitate data collection and access,the method of storing data in.MDB files and accessing the database using ADO is adopted.The test shows that the software of the wire rope inspection robot control system can meet the requirements.(4)Design of damage analysis system for wire rope inspection robot.Aiming at the problem that it is difficult to evaluate the evolution trend of weak damage features under strong noise background,a pulse signal detection method based on monostable stochastic resonance is proposed.Discuss the method of judging the damage degree of wire rope,put forward the classification method of damage degree of wire rope,and realize the evaluation of the state of wire rope.The analysis system realizes the local analysis of the damage position by adopting the method of whole section analysis and subsection analysis.At the same time,the system can display the results in the form of report output.The test shows that the damage analysis system can meet the requirements.In summary,this thesis conducts in-depth research on the hardware system,control system software,and damage analysis system of the wire rope inspection robot.The test shows that the wire rope inspection robot system studied in this thesis can reliably control the robot and detect wire rope damage.The thesis has 67 figures,27 tables,and 106 references.