煤炭是我国能源安全的重要保障，煤矿智能化发展是必然趋势。综采工作面是煤炭井工开采的最前线，工作面设备数量多、体积大、空间狭小且随工作面推移，环境不断变化，为保证生产的顺利进行需要对工作面环境和设备进行实时巡检。传统人工巡检劳动强度大、危险系数高、巡检过程困难，多发生事故。现有的矿用巡检机器人多在固定的环境中运行，难以适应多变的工作面环境。因此，本文以综采工作面异常状况巡检为应用背景，设计一种适用于井下不同煤层厚度的智能巡检机器人系统，研究其不同工况下的运行状态并实现远程控制，促进煤矿综采工作面的智能化发展。

针对煤矿综采工作面环境恶劣、巡检轨迹多变等问题，通过分析研究工作面环境特点和设备运动特征，获得了刮板输送机缆线槽一侧、液压支架顶梁支架下方及液压支架第一级立柱前方等三个动态位置的运行规律，提出将以上三个位置作为巡检机器人轨道安装跨接的巡检机器人布置方案；同时结合工作面巡检需求分析，提出机器人“三测一警”的主要任务与设计要求，确定基于分段柔性轨道的工作面巡检机器人设计方案。

针对工作面巡检机器人运行环境多样、运动变形维度多范围大、较难适应等问题，采用模块化的设计方法，完成工作巡检机器人分段柔性轨道系统和机器人本体的结构设计；针对巡检机器人不同的工作面安装位置，提出只更换轨道固连机构不改变分段柔性轨道系统的解决方案，并设计相应的轨道固连机构解决巡检机器人对工作面环境的适应性问题，实现了在不改变原工作面环境的基础上对巡检机器人的安装，降低机器人对原本工作面环境的影响。

针对巡检机器人方案可行性及结构稳定性研究，论文以跨座式巡检机器人本体为分析对象，阐述在不同工况下分段柔性轨道系统被动适应环境变化及机器人通过变形连接点的运动机理和过程。通过分析机器人在不同工况下的力学特征，建立机器人导向轮的力矩动力学模型，为巡检机器人的运动控制奠定基础；通过运动学及动力学仿真，对巡检机器人的运行稳定性及结构方案可行性进行仿真验证；最后对巡检机器人轨道及机器人本体的关键部件进行静力学仿真，检验机器人关键部件在外界作用力下的应力及位移变化，优化提高巡检机器人结构的可靠性。

论文设计基于LabVIEW开发平台和NI My RIO嵌入式设备的巡检机器人远程控制系统，该系统由主控制器模块、无线通讯模块、运动控制模块、导航定位模块、电源管理模块、传感信息采集模块及上位机模块等7个子模块构成，并对其中的基础硬件进行选型和计算，实现对巡检机器人的远程控制和数据传输。

最后，研制综采工作面巡检机器人物理样机及工作面刮板输送机实验平台，通过实验平台模拟轨道平直、弯曲及倾斜三种不同工况，分析机器人本体在运行过程中X、Y、Z三个方向的振动加速度，检验工作面巡检机器人结构的合理性、可行性及运行的稳定性。研发的工作面巡检机器人系统可以满足工作面巡检运行要求。

Coal is an important guarantee for my country's energy security, and the intelligent development of coal mines is an inevitable trend. Fully mechanized mining face is the forefront of coal mining. The equipment group of the face is large in number, large in volume, narrow in space, and the environment is constantly changing. In order to ensure the smooth progress of production, real-time inspection of the mining face environment and equipment is required. Traditional manual inspections have high labor intensity, high risk factors, difficult inspection processes, and frequent accidents. The existing mine inspection robots mostly operate in a fixed environment and are difficult to adapt to the changing work surface environment. Therefore, this paper takes the abnormal condition inspection of mining face as the application background, designs an intelligent inspection robot system scheme suitable for different coal seam thickness, studies its running state under different working conditions and realizes remote control. To promote the intelligent development of fully mechanized coal mining face.

In view of the bad environment and changeable inspection track of coal mining face, three dynamic positions, such as one side of cable slot of scraper conveyor, the bottom of top beam support of hydraulic support and the front of first stage column of hydraulic support, are obtained by analyzing and studying the environmental characteristics and moving characteristics of equipment. The above three positions are put forward as the layout scheme of the patrol robot track installation and cross connection. At the same time, combined with the analysis of the inspection requirements of the mining face, the main tasks and design requirements of the robot "four measurements and one alarm" are put forward.

In view of the problems such as diverse running environment, large range of motion deformation dimension and difficult to adapt, the modular design method is adopted to complete the structural design of the segmented flexible track system and the robot body. Aiming at the different mining face installation positions of the inspection robot, this paper puts forward a solution that only replacing the track fixed connection mechanism does not change the segmented flexible track system, and designs the corresponding track fixed connection mechanism to solve the adaptability of the inspection robot to the mining face environment.

In view of the feasibility and structural stability of the inspection robot scheme, this paper takes the cross-seat inspection robot body as the analysis object. This paper expounds the motion mechanism and process of the segmented flexible track system passively adapting to the environment change and the robot passing through the deformation connection point under different working conditions. By analyzing the mechanical characteristics of the robot under different working conditions, the torque dynamics model of the robot guide wheel is established, which lays a foundation for the motion control of the patrol robot. Through kinematics and dynamics simulation, the operation stability of the inspection robot and the feasibility of the structure scheme are simulated and verified. Finally, the static simulation of the key components of the inspection robot track and the robot body is carried out to test the stress and displacement changes of the key components of the robot under the external force, and to optimize and improve the reliability of the inspection robot structure.

This paper designs the remote control system of inspection robot based on LabVIEW development platform and NI MyRIO embedded equipment. The system is composed of seven sub-modules, including main controller module, wireless communication module, motion control module, navigation and positioning module, power management module, sensor information acquisition module and upper computer module. The basic hardware is selected and calculated to realize the remote control and data transmission of the inspection robot.

Finally, the experimental platform of machine figure machine and scraper conveyor in fully mechanized mining face is developed. By simulating three different working conditions of straight track, bending and tilting, the vibration acceleration of robot body in three directions is analyzed X、Y、Z the course of operation, and the rationality, feasibility and stability of the robot structure are tested. The developed mining face inspection robot system can meet the requirements of mining face inspection and operation.

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