Mechaism Design And Control System Of A Power Transmission Cable Inspection Robot

The transmission line in the power system is a bridge connecting the power plant and the load center.Safe and reliable transmission line is an important part of the power system,so transmission line inspection work is very important.The inspection of transmission lines at home and abroad mainly depends on the detection carried by the operators along the testing equipment at present.As the low efficiency and danger,it is urgent to develop automated inspection equipment.The purpose of this paper is to develop an inspection robot with strong adaptability to cable environment and new obstacle navigation mechanism based on the environmental characteristics of the linear tower.First of all,this paper discusses the existing cable inspection robots and obstacle avoidance mechanism of the existing inspection robots are discussed in this paper.And the inspection system scheme is designed according to the characteristics of cable environment.The wheel finger moving mechanism and the obstacle avoidance mechanism combined with the traditional wheel mechanism are designed.And the wheel moving mechanism and obstacle avoidance mechanism are designed.With the combination of a plurality of wheel moving modules,a cable inspection robot with an open-close structure and a movable capability can be formed.The robot can change the curvature of the cable by changing the opening and closing of the wheel finger mechanism.The special state during the operation of the cable inspection robots is studied.Secondly,the control system of cable inspection robot is designed in this paper.A hardware system based on Arduino UNO controller for pose and position information acquisition is designed.The software of manual control over obstacle is designed by using MATLAB tools.Finally,a prototype is developed.Then,obstacle clearance,cable curvature adaptability experiments are carried out under the simulated linear tower cable environment.The rationality and feasibility of robotic obstacle crossing mechanism and the reliability of control system are carried out.Experiments show that the developed cable inspection robots have good ability of moving and obstacle crossing.The whole inspection robotic system meets the requirements of cable inspection operations in the linear tower environment.At the same time,the new obstacle avoidance mechanism provides a new idea for the follow-up study of electric robots.