Research on Coupling Adsorption Experiments for Wall–Climbing Robots in Coal Mine Shafts

Abstract

Based on the composite shaft lining structure, the research on the electromagnetic and negative pressure coupling adsorption technology of wall–climbing robots is of great significance to improve the level of safety monitoring during the construction and service of coal mine shafts. On the basis of theoretical research and computational data, the numerical simulation and simulation experiments of the coupled adsorption system of a wall–climbing robot are conducted in this research. In the ANSA software environment, of experimental models and experimental environments of electromagnetic and negative pressure adsorption devices are constructed to investigate, parameters such as air flow and the law behavior of fan pressure under different system conditions, including negative pressure and varying fan speeds. The intensity distribution of the magnetic flux inside the electromagnetic circuit under different working conditions and the law of change in the direction of movement are explored. Furthermore, the power consumption and power increment of the electromagnetic and negative pressure adsorption system under the same adsorption force output are compared and analyzed. Based on the experimental results, a series of conclusions are verified; firstly the negative pressure of the system should be formed under certain basic specific fundamental conditions; secondly, the main velocity of the negative pressure adsorption system and the full pressure of the fan are determined by the internal and external pressure difference and the fan speed, respectively; lastly, the adsorption efficiency of electromagnetic adsorption is significantly higher than that of negative pressure adsorption. These research findings are expected to introduce a new technical means approach for the safety monitoring of vertical shafts and shafts in coal mines, thereby demonstrating the theoretical significance and practical value of the application and development of an underground multi–scenario robot automation system in coal mines.

An Automatic Welding Robot for the Roof of Spiral Steel Silo

“…The robot driving system regulated the adsorption by varying the distance between the permanent magnet and the wall of structural steel by changing the screw. Research on the electromagnetic and negative pressure coupling adsorption technology of wall-climbing robots, which was developed by Ying Xu from China, is of great significance in improving the level of safety monitoring during the construction and service of coal mine shafts [17]. Lu Hong from China proposed an intelligent welding path generation algorithm based on the multi-section interpolation for non-standard multi-pass welding grooves, which are difficult to handle by automatic welding equipment on the construction site [18].…”