Structural Dynamic Analysis And Design Of Power Inspection Robo

Since the "Twelfth Five-Year Plan",China has built a unified and strong smart grid with UHV as the backbone grid and coordinated development of power grids at all levels.As the key support equipment of the smart grid system,the power inspection robot bears the important responsibility of ensuring the stability and safety of the power grid.With the increase of people’s demand for electricity,higher requirements are put forward for the work efficiency,recognition accuracy and operational stability of electric power inspection robots.For this reason,this paper designs an inspection robot suitable for indoor environment,and carries out theoretical analysis and experimental research on structural mechanical properties and dynamic performance.This article first designs the overall plan of the orbital inspection robot in detail.According to the operating environment and technical indicators of the inspection robot,the structural design plan was determined.Through structural design and component selection,the robot has realized the functions of horizontal movement,lifting,leveling,rotation,and pitching.The finite element analysis method is used to analyze the mechanical performance of the robot.Under the load of its own weight,the results show that the maximum deformation of the system is 0.124 mm,which proves the rationality of the inspection robot structure design.Secondly,the impact of vibration and shock in the inspection system on the dynamic performance of the robot is studied.The operating conditions of the robot are analyzed and the vibration analysis model is established.The natural frequencies of the robots with different poses are calculated through modal analysis.Combining the characteristics of the time-varying center distance of the robot,the internal excitation of the inspection system is coupled,and the response curve of the robot pan/tilt to the internal excitation of the system is calculated through harmonic response analysis.The results show that environmental vibration and internal vibration will not affect the structure and operational stability of the robot.The operating conditions of the impact of the robot are analyzed.The D-H parameter method is used to analyze the kinematics of the robot,and the relationship between the displacement response of the guided vehicle and the displacement of the pan/tilt during impact is established.The Newton Euler method is used to analyze the dynamics of the robot,and the relationship between the mechanical response of the guided vehicle and the displacement of the gimbal during impact is established.Using ANSYS display dynamics simulation,the response of the system when an impact occurs is calculated.It proves that the dynamic performance of the inspection robot is relatively stable when it is impacted.Finally,the physical prototype experiment and the operation accuracy detection experiment of the inspection robot were carried out.Perform preliminary functional experiments on the physical prototype of the inspection robot after assembly.The Cam Shift tracking algorithm fused with Hough transform is proposed,combined with the principle of binocular vision positioning,hardware selection and Open CV algorithm library,to build an inspection robot dynamic accuracy detection experiment program.After verifying the high accuracy of the scheme,a prototype test was carried out.The results showed that the robot runs stably under various working conditions and meets the requirements of technical indicators.