The Foot-simulated Moving Mechanism Of The Insulator Inspection Robot

With the rapid development of China’s economy, the demand of various industries for electricity is increased, therefore more and more attention is paid to the construction and maintenance of the grid. Insulator is an important component of the overhead lines, its safety directly determines the stability of power system. Due to the insulator exposures to outdoors, it’s easily affected by the natural conditions such as wind, snow, rain, which will shorten its working life. The traditional inspection methods contain direct observation, ultrasonic measurement, the infrared thermal imager test and Laser Doppler. The mentioned method is not only inefficient, but also inaccurate. Therefore to design a new insulator inspection, which is used to comprehensive evaluation of insulator’s operation state, found a potential problem and for the stability of the power transmission and development of national economy is of great significance.This paper puts forward a foot-simulated moving mechanism of the insulator inspection robot, the main contents of the thesis include the structure and dimension design, kinematics and mechanics analysis,3d modeling and virtual prototype simulation.First of all, based on the external conditions of the job objects insulator, the paper has conducted the comprehensive thorough analysis, and on the basis of reference existing insulator inspection robot, the paper puts forward several different structure scheme of moving mechanism, through the comprehensive analysis of the advantages and disadvantages of each scheme exists, the whole structure and crawling mechanism are finalized, and according to the size of different insulators, the paper has carried on the parametric design of different components.Secondly, the paper establish the schematic diagram that at the moment when the crawl in contact with the insulator, and analyze the displacement, velocity, acceleration and force., which provide the theoretical basis for later simulation diagram.Then make use of the software Solidworks to build model of the moving mechanism, and through the Motion software to simulate the real case type, the paper proves the correctness of the principle of crawling.At last, the application of virtual prototype simulation software Adams for work of this moving mechanism simulation, and draw diagrams corresponding kinematics and mechanics parameters, consistent with theoretical conclusion, prove this mobile mechanism design is successful.