Research And Design Of Climbing Robot For Transformer Equipment State-Monitoring

Substation is a power system facility whose power flow and voltage are distributed and changed by power system.The working status of the substation equipment is related to the stability of the power system operation.Substations are equipped with large-scale transformers,line insulators,lightning rods and other power equipment.These devices are large and high in location,which could cause many visual blind spots in artificial ground inspections,resulting in the occurrence of inspection errors.At present,in order to reduce the visual blind spots that exist during the inspection of power equipment,most of the power departments in China require workers to climb the equipment to complete inspection task.This climbing inspection work not only has a complicated working environment,but also has a high risk.In order to solve the problem of the mentioned climbing inspection work and improve the safety and efficiency of the inspection work for the large-scale power equipment in the substation,we carried out related research on climbing robots.Through analyzing the operation environment of substation and the actual requirement for climbing,we designed a robot that can climb along vertical poles and complete the task of monitoring the working status of transformer equipment through using the high-level view of the on-board camera.In this thesis,we completed the design of the whole mechanical structure of the climbing robot,including the cam mechanism,the holding arm mechanism,the flexible mechanism and the body telescoping mechanism.The design processes of the cam mechanism and the holding arm mechanism were mainly introduced.In addition,the three-dimensional solid modeling and stress simulation were completed by Solidworks 3D construction software and ANSYS simulation software,which numerically verified the feasibility of the robot structure.Also,the law of the upper and lower double cams' rotation coordination was analyzed.In addition,the movement strategy of the robot when it climbs the poles was discussed,and the coordinated control method of the robot dual cams was determined.Through performing the static analysis of the robot,the mechanical relationship among the weight of the robot,the friction force of the holding arm and the output torque of the motor is established.Through using ADAMS simulation software to simulate the robot's climbing process,the simulation results of time and displacement,climbing speed,motor output torque,electric push rod thrust and grip arm friction were obtained,verifying the feasibility of robot climbing.This simulation provides a numerical basis for motor selection of robotic power systems.Based on the actual mission requirements of the climbing robot,we completed the design of the hardware and software for the on-board control system and the portable ground workstation.Through performing the indoor debugging and outdoor field climbing tests of the climbing robot,the climbing ability,video monitoring ability and communication system anti-jamming ability of the robot were tested.The test process was recorded.The test results show that the whole structure of the climbing robot is stable,and the robot has the ability to climb along the pole.The images transmitted by the on-board camera is relatively clear,indicating the video monitoring function for the transformation equipment is initially achieved.