现有煤矿带式输送机巡检机器人由于其普遍采用在带式输送机单侧或正上方悬空布置的方式，导致巡检时存在较大检测盲区。针对这一问题，以皮带损伤及托辊异常状态检测识别为目标，提出了一种能在带式输送机上下皮带间行驶的轮轨式巡检机器人，不仅能够扩大巡检范围，而且能够有效提高机器人巡检作业效率。

研究分析了带式输送机的整体结构、常见故障以及带间巡检机器人的巡检任务，确定了带式输送机带间轮轨式巡检机器人设计要求，提出了带间巡检机器人的总体设计方案以及巡检策略。

建立了带间巡检机器人的运动学和动力学模型，利用ADAMS软件对巡检机器人爬坡和制动等工况进行仿真分析，验证了巡检机器人本体、行走机构、驱动机构和制动机构等关键零部件的合理性和可靠性。

搭建了带间巡检机器人测控系统，构建了基于PWM调节的速度控制系统和基于RFID和编码器融合的位置控制系统，建立了基于红外热成像测温的托辊故障检测系统和基于机器视觉深度学习卷积神经网络的皮带故障检测系统。研究设计了巡检机器人隔爆充电仓，保证了巡检机器人的续航能力。完成测控系统软件框架设计，满足上、下位机之间数据传输、实时状态监控和异常报警等功能。

搭建了带式输送机带间轮轨式巡检机器人虚拟样机仿真模型，通过ADAMS软件和MATLAB软件联合仿真验证巡检机器人在不同坡度下实际运行情况。结果表明，巡检机器人在不同坡度下运行速度都能快速趋于稳定，所需驱动力满足设计要求，有效保证了巡检机器人结构设计合理性，提高了巡检的可靠性。

Because the existing coal mine belt conveyor inspection robot is generally suspended on one side or directly above the belt conveyor, there is a large detection blind spot during inspection. In view of this problem, aiming at the detection and identification of belt damage and abnormal state of idlers, a wheel-rail inspection robot that can travel between the upper and lower belts of the belt conveyor is proposed, which can not only expand the inspection scope, but also effectively Improve the efficiency of robot inspection operations.

The overall structure of the belt conveyor, common faults and the inspection tasks of the inter-belt inspection robot are studied and analyzed, the design requirements of the wheel-rail inspection robot between the belt conveyors are determined, and the overall design of the interband inspection robot and the inspection strategy are proposed.

The kinematics and dynamics models of the inspection robot between the belts are established, and MATLAB and ADAMS software are used to simulate and analyze the working conditions of the inspection robot, such as climbing and braking. The rationality and reliability of key components such as the inspection robot body, running mechanism, drive mechanism and brake mechanism are verified.

The robot inspection and control system is built for inter-belt inspection, including a speed control system based on PWM regulation and a position control system based on RFID and encoder fusion, and established a roller fault detection system based on infrared thermal imaging temperature measurement and belt fault detection system based on machine vision deep learning convolutional neural network. The research and design of the inspection robot explosion-proof charging compartment ensures the endurance of the inspection robot. Complete the software framework design of the measurement and control system to meet the functions of data transmission, real-time status monitoring and abnormal alarm between the upper and lower computers.

A virtual prototype simulation model of the inter-belt wheel-track inspection robot of belt conveyor is built, and the actual operation of the inspection robot under different slopes is verified by the joint simulation of ADAMS software and MATLAB software. The results show that the running speed of the inspection robot can be stabilized quickly under different slopes, and the required driving force meets the design requirements, which effectively ensures the structural rationality of the inspection robot and improves the reliability of inspection.

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