井下带式输送机智能巡检机器人的设计  

Design of Intelligent Inspection Robot for Underground Belt Conveyor

作　　者：孙晓霞[1] 王劲翔 孙敏杰 李琦 Sun Xiaoxia;Wang Jinxiang;Sun Minjie

机构地区：[1]太原科技大学机械工程学院,山西省太原市030024

出　　处：《工程机械》2023年第9期92-101,I0020,I0021,共12页Construction Machinery and Equipment

基　　金：国家自然科学基金项目资助(52075356);山西省研究生教育改革研究项目(2021YJJG257)。

摘　　要：为解决带式输送机采用传统人工检测故障效率低等问题,设计一种适用于井下输送机故障自动巡检机器人系统。针对轨道面附煤泥导致驱动轮卡死,在坡度较大的轨道下发生打滑的问题,设计一种四轮驱动、两轮导向的轨道式驱动系统;轨道式巡检机器人的结构主要包括通信模块、传感器模块及定位模块;通过对巡检机器人受力分析确定电池、电机型号,再利用SolidWorks软件建立巡检机器人的三维模型;针对巡检机器人的数据采集传输,以及在井下工作的控制流程;利用ANSYS软件对轨道和机架进行有限元分析,再对巡检机器人进行模态分析,查看不同振动频率下偏移情况,仿真结果表明,巡检轨道与机器人本体的应力小于许用应力,且能够平稳地检测输送机的故障;最后利用ADAMS软件通过控制转速和转矩两种方式对巡检机器人进行动力学分析,得出巡检机器人可以进行无障碍水平和爬坡运动的结论。To solve the problems such as low efficiency of traditional manual fault inspection for belt conveyors,a robot system is designed forautomatic fault inspection ofunderground conveyors.Inviewof thedrivingwheel sticking causedby coal slime on the track surface and slipping on the track with a large gradient,a track-type drive system with four-wheel drive and two-wheel guide is designed.The structure of the track-type inspection robot consists of acommunication module,a sensor module and a positioning module.Through stress analysis of the inspection robot,the models of the battery and the motor are determined,and then a three-dimensional model of the inspection robot is established by using software SolidWorks.For the data acquisition and transmission of the inspection robot and control flow of underground operation,softwareANSYSisusedto carry out finite element analysis on the track and frame and modal analysis on the inspection robot to check the drift under different vibration frequencies.The simulation results show that the inspection trackand robotare subjected to a stress less than the permissible stress and can stably inspect faults of the conveyor.Finally,softwareADAMS is used to carry out dynamics analysis on the inspection robot by controlling the rotational speed and the torque,and it is concluded that the inspection robot can make barrier-free horizontal and climbing movements.

关 键 词：带式输送机 巡检机器人 轨道式传动 有限元仿真 动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TD528.1[自动化与计算机技术—控制科学与工程]