Research And Development Of The Intelligent Inspection Robot In The Railway Traction Substation

The total number of railways in China is the largest in the world.As electrified railway "blood channel" and "energy source",traction power supply system also needs to continuously demonstrate its important role.Among them,the traction substation distributed along the high-speed railway network with a spacing of 40 to 50 kilometers is an important part,and the demand is also increasing.At present,the inspection of the traction substation is mainly done manually.It requires human sensory judgment and zero-distance contact with the circuit breaker.It is difficult to judge quickly and accurately,and there is also a certain safety risk.In response to this situation,this paper designs a robot for indoor inspection of substations,instead of manually completing inspection and operation tasks.This paper mainly studies and designs the mechanical structure of the inspection robot,and completes the verification design scheme of the whole machine.The main contents are as follows:Firstly,by investigating the working site of the traction substation,understanding the working environment,working methods,and work requirements of the manual inspection,completing the functional analysis,workflow planning and overall layout of the inspection robot,the inspection robot is divided into: Mobile trolley,robot arm,manipulator and control system,and propose solutions for each component.According to the actual environment of the site,the trolley is wheeled,the robot arm is a Cartesian coordinate structure,and the manipulator is a special operation gripper.Then,using the modular idea,the mobile car,the robot arm and the operating manipulators that realize the switching operation of three different circuit breakers are designed in detail,and the design and selection calculation of important components are carried out.ANSYS is used to analyze the static analysis of the frame and fork plate to verify the reliability and safety of key components,and to lighten the fork plate;to analyze the overturning stability of the inspection robot operation process,with the help of simplified models and three-dimensional The virtual assembly of the software determines the conditions under which the inspection robot does not overturn in various working conditions,thereby guiding the inspection work of the inspection robot.At the same time,participate in the detailed planning of the design and workflow of the inspection robot control system.Finally,the whole machine of the inspection robot is produced,and the electric control cabinet in the substation room is simulated,and the button inspection,air switch test and knob test are performed on the inspection robot.The results show that the inspection robot meets the requirements of the inspection mission.