Robotic device for automation of the control of the status of cables in the mining industry

In this work, we propose a design of a robotic device designed to automate the process of nondestructive testing of wire rope equipment. A schematic hydraulic diagram of a robotic device with a description of the logic of work of the system is given. A mathematical model of the dynamics of the system is obtained using the Lagrange formalism. An algorithm for evaluating the control moments necessary for the implementation of programmed motion has been developed. Numerical simulation of the motion corresponding to the mode of approaching the magnetic flaw detector heads to the steel rope has been carried out. The graphs of the traction-speed characteristics and load diagrams of the drives providing the programmed movement of the links of the pantograph mechanism are presented. The results presented in this paper can be used to calculate the parameters of the power section of the electro-hydraulic drives included in the robotic device.