Design And Research Of Tunnel Cable Inspection Robot

With the continuous development of urban modernization,the construction of cable tunnels in Our country is becoming more and more perfect,followed by the problem of tunnel inspection.At present,most of the inspection tasks are still completed manually,but the tunnel environment is complex and easy to accumulate toxic and harmful gases,so the potential danger of artificial inspection is relatively large.Therefore,it is very necessary to use inspection robots to realize unmanned intelligent inspection of high-voltage cable tunnel.In this paper,a new type of cable tunnel patrol robot is proposed,which is suitable for tunnel environment,and its structure design,statics and dynamics analysis are carried out to realize autonomous charging and motion control.First,according to the actual internal situation of the cable tunnel,the main parameters of the patrol robot were developed,and the overall scheme was designed,including the structure design scheme of the robot and the control system design scheme.On this basis,Solidworks software is used to design the detailed structure of the robot,including charging mechanism,driving mechanism,guiding mechanism and lifting mechanism.Ansys finite element analysis is carried out on the main stressed parts to verify that the structural strength of key parts can meet the design requirements.Secondly,the movement process and stress of the patrol robot in the horizontal,climbing state and the tilt process of the cradle head are analyzed,and dynamic models are established respectively.On this basis,the relationship between the output torque of the motor and the parameters such as acceleration,slope,tilting Angle of the cradle head under each state is analyzed.Matlab is used for simulation to verify the rationality of the selection of the robot motor and reducer.Then,the stability quantitative analysis and evaluation are conducted for the influence of climbing slope and the tilt of the cradle head on the walking stability of the robot.The stability calculation model is established and the MATLAB is used for simulation to clarify the influence of various parameters on the walking stability of the robot.The limit of robot acceleration caused by the height change of the lifting mechanism on the track with different slope is analyzed under the condition of ensuring the stable operation of the robot.After that,considering that the cradle head is installed at the end of the robot,the accumulation of various factors may lead to the deviation of the end position.the error of the end position of the robot is analyzed in detail.Combined with the robot structure,the main factors affecting the end position error are analyzed.for these factors,detailed analysis and calculation are carried out,the error model is eatablished and MATLAB is used for simulation analysis,finally the end cradle head offset is determined in the acceptable range.After that,the design of the robot control system are completed,including hardware selection,construction and software design of controllers,drivers,sensors and other types.Finally,the experiment on the design of the robot prototype test,including wireless communication reliability experiment,the robot walk straight,yuntai lifting reverse experiment,independent charging experiment and functional experiment,combining dynamic model completed climbing and yuntai switching process simulation,verify the robot can complete tunnel cable inspection required movement function.