Structural Design And Analysis Of Substation Inspection Robot

With the comprehensive implementation of the national smart power grids strategy,more and more inspection robots are being adopted to improve the efficiency and accuracy of inspection and reduce labor costs in substation.After researching and comparing the existing inspection robot products and research results at home and abroad,a new substation inspection robot that can adapt to narrow cement pavement and equipped with a pan-tilt capable of lifting and an automatic charging device was proposed.The structural design,kinematics and dynamics analysis and stability analysis of the substation inspection robot were carried out,and the robot's automatic docking charging and motion control functions were realized.Firstly,the main parameters of the inspection robot were formulated according to the overall design requirements of the inspection robot.The design schemes of the robot structure,the charging device structure and the motion control system were determined.On this basis,the three-dimensional structure design of the whole machine was completed by using the SolidWorks software,and the finite element simulation check was performed on the key parts to ensure that the structural strength meets the design requirements.Secondly,the structure of the charging device was designed.The theoretical modeling and the MATLAB simulation analysis of the charging docking process of the inspection robot were performed to clarify the technical requirements of the charging docking process.In addition,the motion control system of the inspection robot was designed,including hardware selection,construction and software design.The kinematics model and dynamic model of the inspection robot under different motion modes were established,which provide theoretical basis for the motion control of the robot chassis.Thirdly,aiming at the change of the gravity center of the robot caused by the lifting of the platform,theoretical analysis and simulation of the influence of the platform on the robot stability under different slopes was conducted,which gave the appropriate ranges of the lifting lever height and the robot acceleration during inspection tasks.Besides,the steering stability under four-wheel steering and two-wheel steering motion modes were simulated,which can provide theoretical bases for the control of the height of the lifting and angular velocity of the inspection robot at different speeds during the inspection task.Finally,some functions of the prototype were verified by experiments,including chassis motion,platform lifting,and anti-collision and anti-drop.On the basis of verifying the basic functions of the robot,by comparing the actual torques of the driving motors during climbing experiments and that given by theoretical simulation,the correctness of the established robot dynamics model was verified.The charging docking experiment was accomplished to prove the correctness of theoretical analysis and the rationality of prototype design.