用于GIS设备内部爬行的仿壁虎机器人设计

Design of a Gecko Robotfor Internal Crawling of GIS Equipment

根据气体绝缘金属封闭开关设备内部的作业需求,通过对壁虎的身体结构和运动规律的研究,设计了一种能在变电站气体绝缘金属封闭开关内部稳定爬行的基于真空吸附的仿壁虎机器人结构,并进行相应的控制系统硬件设计和控制系统软件架构设计。设计相应的运动步态,选用对角步态实现机器人的直线行走和横向行走。在理论设计的基础上,制造样机并在圆形管道内进行测试实验。实验结果表明,遥控器可以控制机器人端和真空吸附端,并且可以返回当前状态。在指令的控制下,机器人可以沿管壁进行前后和横移爬行。

According to the internal operation requirements of the gas-insulated metal-enclosed switchgear,a vacuum-absorbing gecko robot structure capable of stably crawling inside the substation gas-insulated metal-enclosed switch is designed by studying the gecko's body structure and motion law,and Carry out the corresponding control system hardware design and control system software architecture design.Design the corresponding sports gait,and use the diagonal gait to realize the linear walking and lateral walking of the robot.Based on the theoretical design,a robot was fabricated and experimented in a circular pipe.The experimental results show that the remote control can control the robot end and the vacuum suction end,and can obtain to the current state of robot.Under the control of the instruction,the robot can crawl back and forth and left and right along the pipe wall.