RESEARCH ARTICLE


Design and Mechanics Analysis of Moving Mechanism of Inspection Robot for Thin Coal Seam



Shang Deyong1, 2, Zhao Jianwei*, 1, Fan Xun1
1 School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, P.R. China
2 College of Mechanical and Electrical, Hebei University of Engineering, Handan, Hebei, 056038, P.R. China


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© 2015 Deyong et al;

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: https://creativecommons.org/licenses/by/4.0/legalcode. This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

* Address correspondence to this author at the School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, P.R. China; Tel: +86 13811417312; Fax: +86 10 62325016; E-mail: shangdy1983@qq.com


Abstract

The inspection robot for thin coal seam can replace workers to make the daily inspection in fully mechanized mining surface. Based on the narrow and poor environment of thin coal seam, we designed a joint swing arm inspection robot, which is able to adapt to the unstructured terrain in a thin coal seam. The structure of the moving mechanism of the inspection robot has been designed. It can be realized that there are two DOF for moving on a single drive central axis through design of the shaft inside and shaft sleeve outside. The strength check and the modal analysis of the key parts of the moving mechanism such as the hollow shaft sleeve and the drive shaft, are made by Ansys Workbench. According to the analysis results, the maximum stress caused by internal load and external impact load is far less than the yield strength of the material. The modal shape diagram shows that, when the meshing frequency and the external excitation frequency are much less than the first-order natural frequency of the parts, there will be no resonance and noise. The analysis results show that the design is reasonable and reliable.

Keywords: Inspection robot, modal analysis, moving mechanisms, stress analysis, thin coal seam.