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工程设计学报
Chin J Eng Design  2023, Vol. 30 Issue (1): 32-38    DOI: 10.3785/j.issn.1006-754X.2023.00.009
Innovative Design     
Design and motion simulation of automatic inspection robot for power tunnel
Shi-yang XU(),Bing-hui WU(),Dong-mei JI(),Xin-yu DAI
College of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 201306, China
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Abstract  

Aiming at the problems of insufficient automation and limited vision and observation angle of existing power tunnel inspection robots, a parent-child automatic inspection robot was designed. Among them, the master machine of inspection robot with mobile function could complete the main routine inspection work, and it had the ability to surmount and avoid obstacles; the slave machine with climbing function could complete the survey task under complex environment and extreme angle conditions. The slave machine and master machine could cooperate to complete the automatic inspection of the entire power tunnel. Firstly, based on the overall functional requirements, the specific form of each module of the inspection robot was proposed, and the hierarchical design of its automatic inspection logic system was completed. Then, the power tunnel operation environment was established in the ADAMS (automatic dynamic analysis of mechanical systems) software based on the virtual prototype technology, and the structure of the inspection robot master machine was optimized by combining the results of kinematic simulation analysis, so as to improve the stability of the robot operating in the tunnel and ensure that the sensors carried by the robot could work normally. The results showed that the inspection robot could run smoothly after the optimization of the master machine structure, the jitter amplitude of the sensor platform was within 5 mm, and all the sensors could work normally, which verified the rationality of the robot design. The relevant theoretical research results can provide reliable technical support for the development of the power tunnel automatic inspection robot physical prototype.

Key words： automatic inspection robot      parent-child      logic system      kinematic simulation     
Received: 30 May 2022      Published: 06 March 2023
CLC:  TH 122  
Corresponding Authors: Bing-hui WU,Dong-mei JI     E-mail: xsy0341@163.com;wubinghui72@163.com;jdm@shiep.edu.cn
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Shi-yang XU
Bing-hui WU
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Cite this article:

Shi-yang XU,Bing-hui WU,Dong-mei JI,Xin-yu DAI. Design and motion simulation of automatic inspection robot for power tunnel. Chin J Eng Design, 2023, 30(1): 32-38.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.009     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I1/32


电力隧道自动巡检机器人设计与运动仿真

针对现有电力隧道巡检机器人自动化程度不足、视野和观测角度有限的问题，设计了一款子母式自动巡检机器人。其中：具有移动功能的巡检机器人母机能够完成主要的日常巡检工作，并具备越障、避障能力；具有攀爬功能的子机能够完成复杂环境、极限角度条件下的勘测任务。子、母机共同协作可完成整个电力隧道的自动化巡检。首先，基于总体功能需求，提出了巡检机器人各模块的具体形式，并完成了其自动巡检的逻辑系统分层设计。然后，基于虚拟样机技术，在ADAMS（automatic dynamic analysis of mechanical systems，机械系统动力学自动分析）软件中建立电力隧道运行环境，并结合运动学仿真分析结果优化巡检机器人母机的结构，以提升机器人在隧道内作业的平稳性并确保其所搭载的传感器均能正常工作。结果表明，母机结构优化后，巡检机器人能够平稳运行，传感器平台的抖动幅度在5 mm内，且搭载的各传感器均能正常工作，验证了该机器人方案设计的合理性。相关理论研究结果可为电力隧道自动巡检机器人物理样机的研制提供可靠的技术支撑。


关键词： 自动巡检机器人,  子母式,  逻辑系统,  运动学仿真 
Fig.1 Three-dimensional model of parent-child automatic inspection robot
Fig.2 Four-track walking mechanism
Fig.3 Six-legged wall-climbing robot
Fig.4 Single-leg structure of six-legged wall-climbing robot
Fig.5 Force analysis of wall-climbing robot
Fig.6 Structure diagram of sensor platform
Fig.7 Structure diagram of loading mechanism
Fig.8 Structure diagram of leveling mechanism
Fig.9 Logical structure of monitoring layer
Fig.10 Logical structure of path planning layer
Fig.11 Simulation model of power tunnel
Fig.12 Vertical displacement and velocity curves of inspection robot centroid
Fig.13 Obstacle-crossing simulation model of inspection robot
Fig.14 Vertical displacement and velocity curves of sensor platform
Fig.15 Vertical displacement and velocity curves of sensor platform after adding spring damper
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