Design And Research On High-voltage Transmission Line Inspection Robot

Because the area of our country is broad,and each place's power station mismatches the demand of electric power,high-voltage transmission lines is the main way of long-distance transmission and distribution power.Because the lines are aluminium cables steel reinforced exposed in the field,especially under the impacts of the air impurity,mechanical tension and the aging of the material,the high-voltage transmission lines would easily be in face of the damages,such as broken strands,wear,corrosion,and the transmission lines sometimes can be attached with other bodies such as plastic bags,branches,etc.If not timely being repaired and replaced,eventually there would be serious failures or accidents.In order to ensure the security of the high-voltage transmission lines,the regular inspection of the high-voltage transmission lines is required.To solve these problems,in this thesis a rotary high-voltage inspection robot is designed and the development of prototype and the relevant experimental verifications are given.According to the design requirements,a scheme of inspection robot is proposed.The research work is carried out on the high-voltage transmission lines damaged form and the current domestic and foreign high-voltage line inspection robot inspection strategy,The high-voltage transmission lines inspection robot demand analysis is given,including the functional requirements of normal operation and autonomous obstacle.The kinematics analysis of the key parts are carried out according to the whole movement characteristics of the mechanical structure.Through establishment and Simulation of the Adams model,the feasibility of the robot's mechanical structure is verified.The obstacle strategy on inspection robot is developed according to the characteristics of the mechanical system using the rotating mode.The anti-skid algorithms of the inspection robot under different slope are studied according to the operating environment of the inspection robot.The types of sensors and the control schemes for the inspection robots are determined according to the above requirements,and the design of the motion control system of the inspection robots is completed.The mechanical processing,assembly and debugging are completed based on the mechanical structure design and motion control system research.The typical experiments are carried out.It can achieve the basic function of online walking,obstacle crossing,which meets the design requirements.