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Research on the Key Technology of a Small Rock Hole Inspection Robot

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Abstract

The vertical stable walking problem of the rock hole inspection robot is a difficult and key point in design and control, which solves the important problem of the robot being able to walk vertically. In this paper, a rock hole inspection robot is designed, which can inspect the pore morphology and rock cracks in rock holes by carrying cameras, test sensors and other monitors. It can adapt to the inspection function of rock holes at an angle of 0–90 ° with a diameter of 95 mm–105 mm. ADAMS software is used to carry out dynamic simulation analysis of the robot, and the reasonable design of the pre-tightening reducing mechanism is obtained. At the same time, the important influence of the pre-tightening pressure between the walking wheel and the hole wall and the spring pre-tightening force on the robot’s traction force is obtained. On this basis, the problem of vertical walking is emphatically solved, so that the robot can walk at any angle within the 90 ° range rock hole, thus expanding the application scope of the robot. Based on the theoretical analysis, a robot experimental platform is built to verify the key technologies of the robot and test the performance of the robot, including visual acoustic signal acquisition, moving speed test and traction force test, which proved the correctness of theoretical analysis and design.

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Acknowledgments

The support of the National Science Foundation of China—Physical simulation test system of deep tunnel / tunnel dynamic disaster (NO.51427803), is gratefully acknowledged.

Funding

Funding for this research has been provided by grants from the National Science Foundation of China—Physical simulation test system of deep tunnel / tunnel dynamic disaster (NO.51427803).

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Liquan Li, Ruiqi Han, Haofei Zhang, Zhonglin Zhang, Kaiye Wang & Jin Li

Authors
  1. Liquan Li
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  2. Ruiqi Han
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  3. Haofei Zhang
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  4. Zhonglin Zhang
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  5. Kaiye Wang
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  6. Jin Li
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Contributions

This article presents a portion of JinLi’s master thesis, which was supervised by Liquan Li and assist supervised by Zhonglin Zhang. All authors made substantial contributions to the conception or design of the work, the analysis and interpretation of the data, and the draft of the manuscript.

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Correspondence to Zhonglin Zhang.

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Li, L., Han, R., Zhang, H. et al. Research on the Key Technology of a Small Rock Hole Inspection Robot. J Intell Robot Syst 108, 63 (2023). https://doi.org/10.1007/s10846-023-01898-z

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  • DOI: https://doi.org/10.1007/s10846-023-01898-z

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