Design of flexible track inspection robot in mining face

Abstract

The problems of narrow space for inspection operation, frequent equipment movements, harsh operating environment and complex position relationship in coal mine general mining working face lead to the difficulty of conventional inspection robots running directly on the working face and the difficulty of automated monitoring. A new type of cross-seat flexible orbital inspection robot was designed by modularization according to the demand of working conditions and the characteristics of environment and equipment group action. Firstly, this paper focuses on the structure of the components of the inspection robot system. The body structure of the inspection robot and the mechanical structure of the flex track were designed separately, and their installation methods were also determined. Secondly, the flexible track is simulated by kinematics. It is concluded that the track can be completed with horizontal bending 0~5.4 ° , vertical tilt 0~6 ° and telescopic deformation 0~120 mm with the mining face equipment to meet the actual working conditions. When the robot passes through the flexible track, the main direction of motion is always uniform and linear. In addition, the software system design method of the robot is introduced. It is of great signifficance to realize the robot inspection of underground coal mine general mining working face.