油浸式变压器球形检测机器人驱动机构设计与运动仿真

Design and Motion Simulation of the Drive Mechanism of Oil-immersed Transformer Spherical Detection Robots

针对油浸式变压器内部复杂的环境,依据故障检测等设计需求,提出了一款球形检测机器人。以摆式偏心力矩为核心,提出两种驱动机构方案;基于Simscape参数化建模优势,建立其Simscape物理模型,并通过改变重锤径向位置,分析了不同摆长对于球形机器人上下波动幅度以及前进速度的影响;同时,根据仿真对比以及球形机器人内部搭载仪器的承受能力,选取了合适的驱动机构方案;然后,构建驱动机构动力学模型,分析验证了单摆锤偏心力矩驱动机构的合理性;最后,根据油浸式变压器结构和环境的特殊要求进行物理试验,验证了驱动机构的优化效果。结果表明,在面对不同任务环境时,可以根据需求改变摆长,从而控制球形机器人的波动幅度和前进速度,使机器人的波动幅度以及前进速度在内部搭载仪器的承受范围之内,更好地在油浸式变压器内部狭窄区域进行故障检测。研究为今后油浸式变压器球形检测机器人试验样机的研制提供了基础。

Aiming at the complex environment inside the oil-immersed transformer,a spherical detection robot is proposed according to the design requirements such as a fault detection.Taking the pendulum eccentric torque as the core,two drive mechanism schemes are proposed.Based on the advantages of Simscape parametric modeling,the Simscape physical model is established,and then the influence of different pendulum lengths on the upward and downward fluctuation amplitude and forward speed of spherical robots is analyzed by changing the radial position of the heavy hammer.At the same time,according to the simulation comparison and the bear⁃ing capacity of the instrument inside the spherical robot,the appropriate drive mechanism scheme is selected.Then,the dynamic model of the drive mechanism is constructed,and the rationality of the eccentric moment drive mechanism of the single pendulum is analyzed and verified.Finally,according to the special requirements of the structure and environment of the oil-immersed transformer,physical experiments are carried out to verify the optimization effect of the drive mechanism.The results show that in the face of different task environments,the swing length can be changed according to the demand to control the fluctuation amplitude and forward speed of the spherical robot,so that the fluctuation amplitude and forward speed of the robot are within the tolerance range of the internal instrument,and the fault detection is better carried out in the narrow area of the oil-im⁃mersed transformer,which provides a basis for the development of the experimental prototype of the spherical de⁃tection robot of the oil-immersed transformer later.