Research And Design On Dual-arms Inspection Robot Structure With Flexible Cable

In order to guarantee the safe operation of overhead high-voltage power transmission line and prevent the accidents of power supply,it is necessary to inspect the transmission line periodically.At present,manual inspection is still the main inspection mode,and manual inspection has some problems,such as worker's labor intensity,low efficiency,poor reliability etc.For the transmission lines set up over the river,lake and other special areas,it is very difficult or even impossible to inspect.With the rapid development of robot technology,inspection robot which can walk along the transmission line and complete the inspection work is developed to replace manual inspection,it can reduce the worker's labor intensity,improve the inspection efficiency and quality.Therefore,it has important practical significance and value to develop the inspection robot for the high-voltage power transmission line inspection area.The structure characteristics of the existing inspection robots are introduced in this paper,and some problems of the existing inspection robots' structure design are analyzed and summarized.Based on these problems,a new dual-arms inspection robot structure with flexible cable is designed,and the structure sizes of the robot are determined according to the work environment of 500kV transmission line.It is discussed that the obstacle-crossing mechanism and the stress distribution of the robot while it is crossing the obstacle,and the walk inspection process and the obstacle-crossing process of the robot are simulated by virtual prototype technology.Aiming at the working environment,structure sizes of the splicing sleeve,damper,spacer,suspension insulator set,tension insulator set etc,which are set up in the 500kV transmission lines are analyzed,and the obstacle environment models of the straight line tower and the tension tower are established.In order to solve the problems of existing dual-arms inspection robot,the structure of dual-arms inspection robot with flexible cable is discussed and the structure sizes of arm and fixture are determined according to the obstacles sizes.According to the different obstacles environment of the transmission line,three kinds of obstacle-crossing modes such as direct obstacle-crossing,peristaltic obstacle-crossing and rotary obstacle-crossing of the robot are planned,the movement processes that robot crosses different obstacles are analyzed.The structure types of the robot in the obstacle-crossing process are summarized,the D-H parameters of robot are given and the kinematics equations of robot are established.According to the inspection work processes,the walking wheels' torques of two arms are analyzed while the robot inspects by walking,and the joints' torques of arms and the tensions of flexible cables are analyzed while the robot are crossing obstacles.The clamping forces of two arms' fixtures are analyzed while the robot inspects by walking and crosses obstacles.Based on the ground wire working environment,the walking inspection process,direct obstacle-crossing process and peristaltic obstacle-crossing process of the robot are simulated using virtual prototype technology.By the simulation of robot walking inspection,the torques of two walking wheels,the distance of two walking wheels and the grade ability of robot are analyzed.By the simulation of robot direct obstacle-crossing,the force and velocity of walking wheels are analyzed while the robot directly crosses obstacle at the different grade of transmission line with different velocities.By the simulation of robot peristaltic obstacle-crossing,the obstacle-crossing distances of robot,the forces of flexible cables,and the joints' torques of robot are analyzed.Through the structure design,obstacle-crossing analysis,establishing kinematic equations,force analysis,and virtual prototype simulation of dual-arms inspection robot with flexible cable,it is proved that the robot has good adaptability to transmission line,good grade ability,and good obstacle-crossing ability.The flexible cables can bear the main weight of the robot while the robot inspects by walking and crosses obstacles,so the joints' torques of two arms are reduced greatly.