Design And Research Of Underground Steel Wire Rope Inspection Robot In Iron Mine

As the core component of load and counterweight,wire rope is the "throat" of mine lifting system,which is widely used in metal mine,coal and other industries.In addition to the working load,the wire rope in the long-term operation process will be affected by the external environment,such as dark damp,falling objects,which makes the wire rope often appear a variety of damage.The service performance of wire rope is directly related to mine production and personnel’s life safety.In addition,the existing fixed inspection method can not be applied to some special conditions,such as the tank line is not moving and the tail rope swing amplitude is too large,which brings difficulties to the damage detection of the wire rope.Therefore,this topic is aimed at iron mine,the design and research of wire rope inspection robot,carry out the structural innovation design of inspection robot,electromagnetic flaw detection optimization and subsequent damage signal processing and other research work.First of all,through the investigation and analysis of the latest progress of inspection robot at home and abroad,combined with the characteristics of mine site environment and the technical requirements of inspection robot,the overall scheme of wheeled inspection robot is determined.Based on the modular design theory,the inspection robot is divided into frame module,drive module,tensioning module and flaw detection module,and the structure design and selection of each module are carried out.Solidworks software was used to complete the virtual prototype modeling and assembly of the wire rope inspection robot.The key structure and parts of the inspection robot were analyzed by finite element method combined with ANSYS software,and the dynamics simulation analysis of the inspection robot was carried out by ADAMS software,including the rising and falling motion of the inspection robot.Secondly,the detection principle and magnetization characteristics of the wire rope are analyzed.Based on the analysis of the magnetization characteristics and ways of the wire rope,the ring multiplexing magnetization method with sufficient and uniform magnetization is selected.The broken wire was simulated by magnetic dipole model and the magnetic effect of ring multi-loop magnetization device was analyzed by three-dimensional static magnetic field finite element using ANSYS Electronics desktop software,which provided theoretical support for the design of the flaw detection device.Compared with the advantages and disadvantages of the existing magnetic sensors,the Hall sensor with small volume,large linear range,cheap price and long service life is selected,and the ring array arrangement is adopted.Finally,considering the installation of the inspection robot,the opening and closing mechanism of the flaw detection device is designed to realize the opening and closing of the flaw detection system.Finally,the stochastic resonance of the weak aperiodic impulse signal of the monostable system under the background of strong noise is studied,and compared with the classical bistable system,it is found that the monostable system has a unique advantage in processing the weak aperiodic impulse signal.Then,the influence of noise intensity,system parameters and iterative step size on the output response of the monostable system was studied by using the feature similarity index.The results show that the aperiodic stochastic resonance caused by a certain noise intensity is more obvious,and there are optimal system parameters and iterative step size to obtain the optimal output of aperiodic stochastic resonance.Finally,the theoretical research is introduced into the detection of weak damage signals of the wire rope.Multiple groups of wire rope signals collected by the inspection robot are verified.The experimental results show that the single-steady-state system with optimal parameters constructed in this thesis can effectively detect and recover weak aperiodic impact signals under the condition of strong noise background.It provides reference for stochastic resonance to solve the problem of non-periodic impulse signal in engineering field.This thesis has 71 figures,14 tables,119 references.