Research On Multi-cable Synchronization Deicing Robot And Its Motion Characteristics

In recent years, most areas of our country are suffering transmission line ice-coatingdisasters caused by cold weather. Aiming at this phenomenon, this paper designs a robotwhich can deice synchronously on three lines in110kV which has multi-sections anddescribes the main robot on a single cable emphatically. The robot not only can avoid thevarious fittings on the line, but also can cross the tension tower from phase line to jumperline.Combined with the subject requirements, the transmission line de-icing technology andthe development status of home and abroad are researched and analyzed, and the overallprogram of the deicing robot is designed, including the mechanical structure and the controlsystem. The whole mechanical structure is constituted by a main robot, two telescopic armsand two deicing trolleys, wherein the main robot is the core of the entire robot. And thecontrol system is constituted by online robot control system and ground station monitoringsystem.Firstly, the mechanical structure of the main robot is researched thoroughly to realize thefunction of crossing obstacle and tension tower，specific including the deicing mechanism, thedrive mechanism, the clamping mechanism, the support arm mechanism and crossing obstaclemechanism. And the spatial extent of the crossing obstacle and crossing tension tower for themain robot is analyzed and calculated.On the basis of the mechanical structure design, the motion coordinate system of themain robot is established and the kinematic equations are deduced. And based on ADAMS,the virtual prototype of the robot is simulated, during the process that robot crosses obstacleand tower, the factors affect the gravity center of the robot are analyzed to improve thestability of the robot.Finally, according to the robot working characteristics requirements, the deicing robotcontrol system is researched. The interactive interface of the ground station monitoringsoftware is written by LabVIEW, and the robot de-icing operations are implemented by sensordata acquisition and motors drive.