The Research Of Manipilator In The Hot Line Job

High voltage and ultra high voltage and overhead transmission lines are for national people's livelihood key projects.At present our country mainly take high voltage and ultra high voltage overhead transmission lines methods to realize long distance transmission and distribution.Transmission lines and tower accessories (such as spacer rods, resistant to tension tower, damping hammer, etc) long-term exposure in the wild, long time suffers mechanical tension and wind blowing rain and other natural condition the influence, so high gradually ageing materials appear short stock, the transmission will wear and corrosion resistance, and segregation sticks, worsen appear screw loose tension towers fall, these petty such fault if cannot be timely discovered and overhauled, glitch may continue to expand, resulting in serious accident, resulting in widespread power outages, cause huge economic losses.So power department for ultra high voltage transmission lines to regular inspection, maintenance, guarantee the reliability of the transmission lines of power supply. High-pressure special operation robot is a special operation robot which combines high-pressure lines inspection and maintenance for the integration.High-pressure special operation mechanism mainly composed by the body and lift platform. The body including fault detection module and six degrees of freedom manipulator maintenance module. It can not only realize the high voltage transmission line fault detection and creative added six degrees of freedom manipulator breakdown maintenance module. In recent years, along with the industry development needs, automation manipulator used more widely. It has simple structure, light weight, action smoothly and quickly, reliable, energy-saving and not polluting the environment and so on many kinds of advantages.The present thesis is a data about comparing the current characteristics and the model of industrial robots ultra high voltage transmission lines to overhaul of relevant , developed by high-pressure special operation robot maintenance module - six degrees of freedom in use, the function, the robot path planning maintenance made necessary selection of discussed and summarized in this paper. When special operations on the transmission inspection robot in high pressure when a space and is not very big, it is the design and modeling choose robot has a certain amount of challenging, paper is according to the high-pressure special robot maintenance operation environment and characteristic, this paper puts forward and designed a kind of six degrees of freedom maintenance with six degrees of freedom manipulator, manipulator can greatly improve the its flexibility and scalability, each contact between freedom and independence, work non-interference. In research and analysis by usb 6 dof maintenance manipulator hand tools interface and eventually adopted organization, this scheme. Based on the kinematics analysis and simulation of the manipulator can be verified in the course of maintenance robots from maintenance tools library to thrusters optimal path feasibility of realizing.This thesis based on PC, lower place machine, wireless communication mode control system scheme argumentation and verified. PC mainly realizes the optimal maintenance of manipulator, path planning that data sending instructions. In this manipulator the command is mainly about sending instructions sent six degrees of freedom manipulator each joint stepping motor stepping Angle. Lower level computer control is adopting PLC, accept PC transmission stepping Angle, control drive control manipulator, six degrees of freedom through each joint stepping motor stepping through the sensor signal Angle, the perception to coordinate manipulator grab appropriate tools, turning right Angle, and reaches the specified location and so on a series of actions. Using wireless communication realize real-time picture uhv transmission lines of 6 dof manipulator of returned and the remote control servo control.This thesis puts forward the high-pressure special robot - six degrees of freedom maintenance of the manipulator, has remote control servo control scheme by the end of 2010 in a TongLiao power bureau 50KV equipotent experiment through the test, prototype working properly, achieve the expected servo control effect and shielding effect wireless communication and the motor operates completely normal, results with theoretical design.