Structure design of suspension line inspection robot in coal mine roadway and its simulatio

Abstract

For complicated structure and control of existing wheeled or crawler-type inspection robot in coal mine tunnel as well as low reliability, and high cost and occupation of tunnel space resource of tracked inspection robot, a kind of suspension line inspection robot in coal mine roadway was designed, which was not influenced by complex geographical environment of roadway and distribution of personnel and equipments. Structure design of the robot was focused on. A virtual prototype model of the robot was established in ADAMS software, and three motion states of the robot were simulated and analyzed including horizontally walking with obstacle navigation, uphill walking with obstacle navigation and downhill walking with obstacle navigation. The results show that the robot always maintains a uniform linear motion in horizontal direction and fluctuates in vertical and horizontal side-sway directions within allowable range, and displacement changes of the robot are relatively stable in the three motion states. The simulation results verify rationality of structure design of the robot.

Keywords

• coal mine roadway
• inspection robot
• suspension line inspection robot
• environment monitoring
• equipment operation status monitoring
• structure design
• double-armed wheeled structure
• kinematics simulatio