| Gas insulated metal enclosed switchgear(GIS)is the core transformer equipment in the power system,which is widely used.In recent years,GIS has been the leading switch equipment in urban power grid reconstruction,and its accident has a wide range of influence,which may cause great loss of life and property.Due to its narrow internal space,complex obstacles,gas toxicity and other characteristics,the traditional detection method has the limitation of many dead angles and long operation cycle.Therefore,a negative pressure adsorption omnidirectional movement detection robot system is designed in this paper to realize flexible motion detection with high coverage in GIS pipelines.Firstly,the overall system of adsorptive omni-directional mobile robot is designed by analyzing the work demand of GIS pipeline detecting robot.Through the force analysis of Mc Namum wheel and pipe wall in the adsorption state,the design scheme of the cross distribution of four-wheel full drive and two wheel-wheels was determined,and the negative pressure adsorption force was used to realize the flexible and omni-directional movement of the robot in the pipe to the greatest extent.The critical adsorption curve of variable adsorption force was obtained by establishing and analyzing the force model of fixed adsorption detection and motion patrol of the robot,so as to realize the balance between energy consumption and motion stability of the adsorption system.Based on the critical safety adsorption condition,a negative pressure adsorption system was designed to meet the requirements of robot omni-directional motion detection and provide reliable and stable adsorption force.Through the thermodynamic process analysis of the negative pressure adsorption system,the key design parameters such as the pressure difference,flow rate and power of the adsorption system were obtained,the centrifugal fan which met the requirements was selected,and the sealing mechanism and test verification system were designed and improved.Through the analysis of the fluid system,the equivalent simplified control model of the negative pressure adsorption system is established,and the design and analysis results are verified by simulation and experiment.By analyzing the demand of GIS pipeline detection,the structural design and selection of each joint of the mechanical arm were completed,and the local optimization of the structure was carried out based on topology optimization.The kinematics model of the manipulator is established and solved.The working space of the manipulator is verified by simulation.The main shapes of the arm and the obstacle bounding box are set up and the collision detection method is designed to obtain the non-collision path point and corresponding joint Angle of the arm.Finally,a prototype of the manipulator was built to test the imaging effect of the camera and the operation of the terminal detection mechanism.The results show that the manipulator has a good detection effect,and the motors run smoothly and have good performance,which can meet the requirements of flexible detection.Finally,aiming at the maintenance task of GIS,the robot software and hardware joint control system and sensor system are designed.Through flexible integration of various sensors,the reliable integration application of robot and detection load is realized.In this paper,the motion simulation and comprehensive performance of the complex cavity micro-robot are systematically studied,and the comprehensive performance of the robot is tested and verified. |
PDF Full Text Request