Mechanical Structure Design And Simulation Analysis Of Track Inspection Robot

With the increasing development of the national power industry,substation intelligence has become an inevitable trend.More and more substations begin to use robots to replace manual inspection.The application of inspection robot can not only save a lot of human and material resources,but also ensure the safety of people’s life and property to a certain extent.Therefore,the research of intelligent inspection robot is of great significance to the intelligent development of substation.Based on the extensive investigation of inspection robots at home and abroad,aiming at the unique indoor working environment of substation,this paper puts forward a track inspection robot equipped with lifting mechanism,and designs and analyzes its mechanical system in detail.First of all,combined with the characteristics of the indoor environment of the substation and the technical requirements of the inspection robot,the overall scheme of track-type movement is determined.Based on the modular design idea,the structural design scheme of the inspection robot is divided into three main modules: walking system,lifting system and body,and the specific structures of the three modules are designed in detail.Finally,the three-dimensional assembly of the inspection robot is completed in Solidworks.Secondly,the key performance parameters of the mechanical system of the inspection robot are analyzed and calculated,including the driving performance parameters of the walking system in horizontal linear motion and climbing motion,the turning radius parameters and the performance parameters of the clamping spring in the clamping mechanism.On this basis,the walking driving motor and lifting motor of the inspection robot are calculated and selected,and the design and calculation of the steel wire rope in the lifting mechanism of the inspection robot are completed Calculation and selection of power supply module and bearing.Thirdly,the key structures and parts of the inspection robot are statically simulated and analyzed by using ANSYS Workbench software,including the key parts of the walking mechanism of the inspection robot,the key parts of the steering mechanism and the running track of the inspection robot.The strength of the key parts of the inspection robot is verified by simulation to meet the design requirements.On this basis,some parts are topologically optimized to reduce the overall weight of the robot.Finally,the virtual prototype of the inspection robot is established.Aiming at the horizontal linear motion and climbing motion of the inspection robot,the dynamic simulation analysis is carried out by using ADAMS software.The rationality of the selection of the driving motor and the feasibility and stability of the structure of the inspection robot are verified by simulation.