Research On The Walking And Obstacle-surmounting Of A Deicing Robot On The High-tension Line

Icing conditions caused by the snowstorm on the high-tension line is a great harm to the country’s electricity system and brings great impact to the people’s production and life, for which there is a large study of prospect for development about the deicing robot on the high-tension line. This paper presented the structure of a new deicing robot on the high-tension line, mainly conducted further research for its’ walking and obstacle-surmounting system. Analyzed the actual status of the high-tension line, we designed and manufactured its physical model, and established a mathematical model of walking and obstacle-surmounting online. Finally, we took three-step way such as theoretical analysis, simulation modeling and experimental to verify the feasibility of this design. The main contents of this paper were as follows:First, analyzed the relevant obstacle on the high-tension line, we proposed the relevant structural and operating parameters of the de-icing machine, at the same time, we designed three mechanism with walking, jaw and obstacle, and manufactured the physical model. Based on the experiment and debugging, the structure was optimized and improved.Second, we analyzed the kinematics about operations of deicing robot online, and carried out the action plan of robot’s process of walking and obstacle-surmounting. We made the simulation of normal walking and the obstacle-surmounting mode to verify the reasonableness of the motion. By establishing force model of uphill and downhill, we can get the relational expression of the frictional force between the middle jaw and the transmission line. Compared by the simulation, we could verify that there is a better stability of which the middle jaw is slightly below the front and rear jaws in the process of normal walking. Combined with the flexible features of high-tension line, we established that the relationship between the amount of displacement of the middle jaw being the direction perpendicular to the body and height of the disc lifting, through practical example analysis. Through analyzing practical example, we determined the effective amount of the middle jaw movements.Third, according to the process of work on-line, we could design its control system. At the same time, we made a walking and obstacle-surmounting experiment by building the experimental environment, which verified the reliability and stability of walking and obstacle-surmounting of the robot online.