Substation Tire-Track Combined Mobile Robot

With the continuous increase of labor cost, and taking into account the complexity of the outdoor environment of the substation, the traditional manual inspection cannot meet the requirements of substation daily inspection. At present, most of the existing mobile robots only adopt the wheeled mobile form or the crawler type mobile form, unable to respond effectively to the outdoor application environment of the substation. Some mobile robot which using two mobile forms, mostly used two sets of separate drive units, which driving wheels or tracks respectively, will inevitably cause a heavy quality. In this paper, a new kind of Tire-track combined mobile robot is presented, and the simulation software is used to verify the characteristics of the mobile robot. Introduction The research on substation inspection robot is from the 90s of last century. The research of substation inspection robot in China was first started by the Electric Power Research Institute of Shandong electric power company in the beginning of this century. With the support of the national "863 project" and the State Grid Corp research project, a series of substation inspection robot is developed. Figure 1. Picture of the substation inspection robot researched by the Electric Power Research Institute of Shandong. From the figure 1, in the initial stage of development of the substation inspection robot, the robot chassis mostly adopts wheeled mobile mechanism. Most of the roads in the substation are in good condition, and there is no obvious obstacle, so the running effect of the wheeled robot chassis is good. With the in-depth study of the substation inspection robot, the requirements of the robot function are also getting higher and higher, such as access to the substation equipment area for testing. In order to achieve the above goal, the crawler mobile robot is put into the detection of the substation, as shown in figure 2. Figure 2. Picture of the substation inspection robot derived by track.