Design And Analysis Of Power Transmission Lines Inspection Robot

High voltage power transmission line inspection robot is one of the hot topics in the recent research in the field of robotics.High voltage transmission line fault caused will lead directly to the significant loss of people,industrial enterprises and national interests.Therefore it is necessary to conduct regular maintenance on it.It is difficult for manual inspection because of the high work intensity,complex environment.So,this paper studies the robot is to replace the manual transmission line of regular inspection,it can reduce the cost and ensure the safety of workers.Based on the 500 kv ultra high voltage power line.This paper mainly includes the idea structure of inspection robot,modeling analysis and optimization of kinematics and dynamics with Pro-E and Adams.Finally,through the laboratory performance test,on-site inspection testing,completed the initial target,and the automatic inspection of the robot is realized.The specific contents are as follows:First of all,this paper introduces the environment and the content of the inspection work,and establishes the typical circuit model.According to the characteristics of different hardware,the paper puts forward the schemec.Second,the specific structure design of the inspection robot,including the walking mechanism,the opening and closing fixture,brake mechanism,obstacle avoidance mechanism,and some weight and other auxiliary mechanism design.Third,the theoretical model of the robot is analyzed,mainly from the degree of freedom of the body,the movement form,the path of obstacle and the climbing.Then,the robot model is built with Pro-E,then into ADAMS,to complete analysis of the kinematics of the robot,and the The motion planning of the robot is verified and modified.Finally,the engineering drawing is processed and made into a physical prototype,through the laboratory test,the actual test of the low and high altitude,the experimental data are analyzed,and the possibility of the inspection robot and the existing problems are obtained.The rationality of the mechanism is verified from the theoretical model analysis,virtual prototype analysis,physical prototype analysis and other aspects.