Research And Development Of The Inspection Robot With Surmounting All Obstacles Ability For Overhead Transmission Lines

In order to ensure the transmission line safe and stable operation,the regular transmission line inspection is necessary.At present,there are artificial visual inspection and aerial survey method,but these two methods in the inspection efficiency and duration of the time have some limitations.For the line of inspection work,there are several major difficulties.First,the transmission line go across a wide range through a variety of complex terrain.And inspection is a complex and cumbersome work.And in the process of inspection,the workers should also deal with a variety of climate and environmental interference.By the method of research and development an inspection robot which equip with sensors with the ability of all obstacles across can be used to improve the inspection efficiency and inspection accuracy.As the transmission line spans a variety of complex terrain which makes the span between each line larger,the robot needs to climb the steep slope.A variety of fittings on the line,requiring the robot has a strong barrier capability.At present,domestic and foreign research institutions design and manufacture a various inspection robots.But as a whole the weight is too heavy,crossing barrier function is imperfect and lack of analysis of external interference.This paper presents a "one-arm drive,two arms cross barrier" design.This new design can cross all kinds of obstacles on the ground line and it can climb in the event of steep slopes.The dynamic analysis and simulation of aeolian vibration are carried out.This article focuses on the following issues:1.The design of the inspection robot.Access to relevant literature,get the structural characteristics and the important size data of the line.The characteristics of the surrounding meteorological environment were analyzed to clarified the design requirements of the inspection robot.Aiming at the problem that the existing design at home and abroad cannot cross all the obstacles,a new design of "one arm drives,two arms cross obstacle" is proposed.2.Design and Kinematics Simulation of Mechanical Structure of Inspection Machine.According to the proposed program make a specific design of the inspection robot.To establish the kinematic model of the critical movement of the inspection robot.Analysis of the robot's range of motion and simulation of the robot's obstacle process by software to ensure that the design across the obstacles feasible.3.Dynamic modeling and simulation of multi-external force coupling.According to the fact that the robot is disturbed by the external force in the actual inspection process,the analysis robot is subjected to ground vibration and wind disturbance during operation.First,the mathematical model of ground line dynamics is established.And then use Lagrange dynamic modeling method to establish the robot dynamics model.In the process of robot dynamics simulation,the two mathematical models are coupled to simulate the features of joint dynamics.The results are compared with the ideal situation,which can provide reference for the dynamic control and optimization design of the inspection robot.4.To complete the development of the robot and carry out the relevant test experiments.After the completion of the test prototype production,we did some experiments in order to verify the feasibility of the new program,in the laboratory environment analog lines.And finally,in the real line environment to complete the cross barrier experiment.Experiments show that the new program meet the requirements of the subject,to achieve the goals for the further study.At last,the conclusions drawn from the article are summarized and the improvement ideas are put forward to the deficiencies.