巡检机器人在煤矿提升机故障检测中的应用

Application of Inspection Robot in Coal Mine Hoist Fault Detection

轨道是煤矿提升系统的重要组成部分,其故障检测是矿井日常维护的一项重要工作,基于此,提出了一种新的检测机器人系统和相应的检测方法,用于检测煤矿提升系统轨道的故障。机器人系统将取代矿井中的人工巡检工作,并将大大提高巡检效率。机器人由磁轮驱动,以确保其在垂直轨道上平稳运动。为了提高磁轮的吸附能力,磁轮采用了基于多块磁铁的组合阵列,分析了磁铁数量与吸附力的关系,提出了将故障检测作为路标和里程估计相结合的机器人轨道定位方法。最后,通过实验对该方法进行了验证,研究成果可以提高矿井提升机的故障检测效率。

The track is an important part of the coal mine hoisting system,and its fault detection is an important work in the daily maintenance of the mine,therefore,a new inspection robot system and corresponding detection method are proposed for detecting the faults of the track of the coal mine hoisting system.The robotic system will replace the manual inspection work in the mine and will greatly improve the inspection efficiency.The robot is driven by magnetic wheels to ensure its smooth movement on a vertical track.In order to improve the adsorption capacity of the magnetic wheel,a combined array based on multiple magnets is used for the magnetic wheel,the relationship between the number of magnets and the adsorption force is analysed,and a robotic track localisation method combining fault detection as a signpost and mileage estimation is proposed.Finally,the method is verified by experiments,and the research results can improve the fault detection efficiency of mine hoist.