Design And Analysis Of Mechanical System For Track Inspection Robot In Substation

The substation is an important hub in the process of power transmission,and its safety and reliability are extremely important.Since the indoor environment of the substation is very complicated,especially the irregular distribution of equipment in a small space,the application of robot inspection technology is greatly restricted.Therefore,it is of great significance to carry out research on indoor orbit robots.In this paper,based on the current research situation of inspection robots at home and abroad,based on the narrow working space of the substation and the complicated equipment layout of the working environment,this paper develops a sub-turn indoor orbit robot that can change the orbit with small turning.Optimized by the turning radius of the track and the working path,the turning radius of the robot can reach 300 mm,and its track changing device can realize the robot automatically switch walking on the cross track,so that the robot can more smoothly complete the inspection task in different non-structural environments.In this paper,based on the design goals and parameters of the inspection robot mechanical system,and based on the basic design principles of the rail car,the overall structure,turning mechanism,and track change device of the inspection robot are designed in detail,and the virtual prototype technology is used for 3D solid modeling and dimensions.optimization.Finite element method was used to check the strength of the track hoisting structure,and the topology optimization and modal analysis of the robot walking mechanism were carried out to verify the rationality of the robot structure.Based on the kinematic analysis of the robot,Adams technology is used to perform dynamic simulation of the linear,curved and climbing conditions of the inspection robot,and analyze the driving torque and speed of the robot during the movement of different conditions,Lateral offset displacement and other curves,verify the rationality of walking drive and robot track change,and provide a strong theoretical basis for the production of physical prototypes of inspection robots.The substation indoor track inspection robot studied in this paper can flexibly change the track in a complex unstructured environment and complete a full range of inspections,which has a positive impact on the promotion of intelligent and unmanned indoor substation inspections.