Design And Magnetic Force Analysis Of Patrol Robot For Deep Shaft Rigid Cage Guide

Rigid cage guide is an important part of coal mine hoisting system, and its fault detection is an indispensable work of mine daily maintenance. In this paper, a patrol robot for detecting the fault of rigid cage guide in coal mine hoisting system is proposed, which will change the low efficiency of manpower maintenance during the maintenance of the hoisting system. Firstly, the three-dimensional model of the robot is built and the static analysis of the robot is carried out. In addition, the influence of the design parameters of the magnetic wheel on the magnetic force of the magnetic wheel is studied, and the magnetic wheel is optimized accordingly. Also, to obtain greater magnetic force under the same mass, it is proposed that the two magnetic wheels on the same axis should be arranged in a mutually exclusive mode. Compared with the mutually attracting arrangement, the former has a maximum magnetic force of 1.73 times that of the latter while the cost of magnetic wheel arrangement proposed in this paper is only one third of that of Halbach arrangement. Finally, a prototype of the robot is made and tested. The robot can detect potential faults and defects in the ultra-deep vertical shaft hoisting system as early as possible, and realize realtime monitoring of wellbore health status.