Design and experimental research of wheeled inspection robot for main coal flow transportation roadway based on rocker walking mechanism

At present, the main coal flow transportation system of most coal mines in China has basically realized continuity, mechanization and automation, which puts forward higher requirements for the safety monitoring and inspection efficiency in the main transportation roadway, and the research and development and application demand of safety control roadway inspection robots are thriving. At present, the roadway inspection robot mainly adopts the suspension track inspection mode, but due to the problem of viewing angle, it cannot inspect the equipment with a low position and is blocked, and it is difficult to meet the all-round inspection needs of underground roadway and equipment. Therefore, it is urgent to develop a more flexible and mobile wheeled inspection robot, which can be used in conjunction with the orbital inspection robot to realize the all-round inspection of the underground main roadway and its internal equipment. In this paper, the system structure of the inspection robot is determined through the analysis of the underground roadway inspection scene, and the obstacle crossing walking mechanism of the robot is analyzed and designed. In order to meet the walking performance requirements of wheeled robots under special terrain conditions of roadways, the quantitative models of crawler, wheeled crawler and rocker walking systems were established, and the performance of the robot walking system was comprehensively analyzed by using Delphi method and network analysis method, and the results showed that the robot mobile chassis based on the rocker walking mechanism had the best walking adaptability in the underground roadway environment. Finally, facing the topographical characteristics of the main roadway and the transportation equipment environment of the underground coal mine, the underground roadway model was built, and the robot inspection test in the simulated roadway was carried out in the laboratory, and the results showed that the rocker wheeled inspection robot showed good environmental adaptability in the walking test of ramps, steps and ditches, and could meet the inspection needs of the underground roadway and its main equipment, so as to provide theoretical and technical support for the realization of all-round robot inspection of the underground main roadway.