Mechanical System Design And Kinematics And Dynamics Of Track-type Machine Room Inspection Robot

With the development of artificial intelligence technology,intelligent safety management and operation and maintenance of machine room will become an inevitable trend.In order to realize the automation and intelligence of machine room inspection,many domestic companies and scientific research institutions have begun to study mobile robots used in machine room inspection.In this paper,a new type of track-type machine room inspection robot is developed and designed so as to overcome the shortcomings of the existing mechanical system of the track-type inspection robot,which can replace manual inspection of machine room equipment,effectively avoid the potential safety hazard of manual inspection and improve the efficiency of equipment inspection.Based on the investigation and analysis of the research status of inspection robots at home and abroad,combined with the characteristics of the internal environment of the machine room,this paper proposes a new track-type machine room inspection robot mechanical system composed of three modules: a track system,a walking system and a telescopic system,which can meet the needs of horizontal,slope and turning walking and lifting.After determining the cross-sectional shape and installation method of the new power distribution track,the scheme design and detailed structure design of the transmission mechanism,guide mechanism,power taking device of the walking system and a multi-stage screw rod step by step linkage telescopic system are completed.The whole robot can be quickly disassembled at any position on the track,and the telescopic system has compact structure and large telescopic ratio.Aiming at the two typical working conditions of climbing and turning of the machine room inspection robot,based on the force balance condition and the contact deformation coordination condition,the statics model of the whole robot is established,and the contact state and contact force between the track and all the guide wheels are solved.Considering structural constraints and the requirement of avoiding motion interference,the minimum turning radius for robot walking is obtained.According to the force analysis and calculation data,the selection of the driving motor of the walking system and the driving motor of the telescopic system has been completed.According to the designed track beam structure,static analysis and parameter optimization of the track beam cross-sectional structure parameters and the installation span of the track beam are carried out respectively based on the finite element method.The bearing capacity of the key parts of the robot is analyzed by ANSYS Workbench,the results show that the designed robot structure meets the requirements of strength and stability.A virtual prototype model of the mechanical system of the machine room inspection robot is established,and its dynamics simulation is carried out by ADAMS software.The changes of the output torque of the driving motor with time under various working conditions of the walking system and the telescopic system are studied.The simulation results show that the selection of the driving motor is reasonable.The first-generation physical prototype is developed,which verified the feasibility of the robot mechanical system design and the effectiveness of function realization,and provided a basis for the subsequent design improvement and popularization and application of this type of inspection robot.