Design & Implementation Of The Structure Of The Inspection Robot Of Substation For All Terrain

With the continuous development of domestic electric power transmission network, the number of related substations and converter stations keeps increasing.. Also because of the employment cost increasing and the lack of workers with professional skills, requirement for daily inspection tasks of substations and converter stations is hard to be fulfilled gradually.Facing these problems, this paper designed and implemented an inspection robot system, which can complete the inspection tasks of transformer substations and converter stations automatically. The main work of this project can be summarized as follows:The inspection tasks of transformer substation and converter stations are analyzed in details first of all, then the overall design scheme of the inspection robot and the corresponding components are discussed. On the basis of the previous research in our group, mechanical design and optimization of four arm crawler mobile platform were finished. During this process, relevant technical index and practical running environment of substations were considered. Further, the digital model was established. With the model, modal analysis and simulation of the robot system was finished. The influences of the platform operation on inspection equipment are clarified.Aiming at inspection tasks of substations and their technical requirements, basic parameters of the manipulator arm are determined, including the framework and the degree of freedom. Afterwards, the selection of motor is finished, which embraces two major procedures, which are calculation of joint torque and inference of motor power. ADAMS was used for kinematics simulation. In the digital virtual environment, the movement path of the manipulator arm was simulated, and this verifies the feasibility and rationality of the mechanical structure of the arm. Finally, modal analysis and relation between platform and vibration for the manipulator arm were shown.This work designed a suitable robot shell in terms of the outdoor environment of substation. ABS technology was utilized to fabricate this shell, where the level of protection can reach IP44, to make sure common rains and winds would not affect the robot's normal running. Besides, the integrated design appearance was used..With the analysis and structure designed above, a prototype was made and a third party test has been done in converter station. The testing result shows that all technical requirements are fulfilled and proves the feasibility of the design in this thesis.