Dynamics optimization simulation analysis method for driving mechanism of rail-mounted inspection robot

Abstract

The invention discloses a dynamics optimization simulation analysis method for a driving mechanism of a rail-mounted inspection robot. The method comprises the following steps: acquiring material attributes and sizes of components of the driving mechanism of the rail-mounted inspection robot; establishing a three-dimensional model by utilizing a finite element method parameterization technology and carrying out parameterization processing on the main structure size; applying material attributes and establishing a standby material library; applying boundary conditions and conducting parameterization processing on the link relation of the key positions; performing finite element mesh generation on the three-dimensional model to obtain a finite element model; conducting kinetic analysis on the rail-mounted inspection robot driving mechanism, and obtaining an analysis result; and judging whether the maximum equivalent stress and the maximum deformation of the structure meet preset conditions or not. The problem of repeated work and time caused by repeated design and sample piece machining during structure optimization in the development process of a traditional inspection robot is solved, and repeated test verification is avoided for different optimization schemes, so that the research and development and optimization time is shortened, the development expenditure is saved, and theanalysis precision is improved.

Description

Technical field: [0001] The invention relates to the technical field of robots, in particular to a dynamic optimization simulation analysis method for a drive mechanism of an orbital inspection robot. Background technique: [0002] With the development of power system scale, the requirements for safe operation of power lines and reliability of power supply are getting higher and higher. In order to ensure the normal operation of the power system, power inspection has become one of the important daily tasks of electric power practitioners. Manual power inspection is labor-intensive, low-efficiency, scattered in quality, single in means, and there is a certain risk of missed inspection. The orbital inspection robot can replace manual labor to realize real-time online inspection. [0003] The track-type inspection robot mainly includes a driving mechanism, a lifting mechanism, a braking mechanism, a control module, and an information collection unit. The driving mechanism is...

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Problems solved by technology

[0005] For changing the key dimensions of the drive mechanism, it is only analyzed from a static point of view, without considering the impact of dynamics

[0006] Changing the key dimensions of the driving mechanism, and trying to reduce the maximum equivalent stress and maximum deformation of the driving mechanism through repeated modeling and calculations, cannot achieve the theoretically optimal optimization result of the driving mechanism

[0007] Does not take into account the influence of different friction coefficients and different materials in the contact area of ​​the drive mechanism on the results of the dynamic analysis

[0008] When optimizing the drive mechanism, repeated work caused by repeated modeling not only wastes a lot of time, but also introduces modeling errors

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