面向超容电缆沟巡检的机器人的设计与分析

Design and Analysis of Robot for Inspection of Over-Loaded Cable Trench

针对电缆沟电力设备不便于人工巡检的问题,阐述了一种能够适应电缆沟恶劣巡检作业环境的移动机器人,并详细介绍了该机器人机构组成及其功能特点。通过对该机器人进行转向性能和越障过程分析,得到了机器人的原地转向性能、越障关键位姿动力学模型以及质心位置对机器人最大越障高度的影响规律。该机器人能够很好的代替人完成电缆沟日常巡检作业工作,满足电力生产的实际需求。

Since the cable trench is not convenient for the manual inspection, it designed a mobile robot which can adapt to the harsh working environment of cable trench, and introduced mechanism composition and functional characteristics of the robot. Based on the analysis of steering and obstacle-crossing process, the robot＇s local steering performance, the dynamic modelling during the obstacle-crossing and key robot design parameters related to the maximum obstacle-crossing height was obtained in this paper. The designed robot can well replace the personnel to complete the daily inspection work in the cable trench, which satisfy the practical demands of the electrical normal running.