Research On The Deicing Robot And Motion Characteristic Of The Four Division High-voltage Line

Nowadays,there is a huge power transmission network in our country,and the capacity of power system's long-distance transmission and the level of operating voltage is increasing.While the biggest challenge for transmission line is icing,which can lead to phase line flashover or even power tower collapse.Facing the high-voltage line ice,manual knocking,high-current thermal melting,laser de-icing,chemical de-icing and so on were often used for high-voltage line de-icing before,and above de-icing methods had boundedness in the conditions of technology,energy,cost and safety.Compared with traditional de-icing methods,the application of robot has advantages of no casualties,no transfer load and black out.Therefore,it is important to develop a kind of de-icing robot with the capacity of autonomous navigation and obstacle avoidance,which is suitable for four division high-voltage line.Combining the theoretical calculation and virtual prototype simulation,this paper focuses on the key technologies of the robot,the overall structure designing and virtual prototype modeling,the optimization of structure parameters,the motion characteristics analysis,the rigid-flexible coupling of robot under flexible high-voltage line,and the design of control system based on Labview and so on.Firstly,combining the composition and parameters of four division high-voltage line and the design index of the robot,a new structure scheme of four division high-voltage line de-icing robot with obstacle clearance capability is proposed based on the research of robot system composition and key technology,which including the obstacle clearance mechanism,de-icing mechanism,intermediate auxiliary mechanism and center of gravity adjustment mechanism.According to the constraints of the robot,the optimal mathematical model is established.And then the length of the middle arm,big arm and forearm are optimized by the one-dimensional search method,and the optimal solution is obtained.Secondly,the motion characteristics of the robot are studied.Through the analysis of the relation between driving force and space attitude angle,it is determined that the best posture of the robot is horizontal state,that is,when robot's space attitude angle is zero,the driving force is the maximum.In order to keep horizontal posture,the adjustment method of the driving wheel is constant-speed control and that of the manipulator is variable-speed control.In the process of crossing obstacle,the center of gravity adjusting mechanism needs to adjust the position of the center of gravity in real time to make the robot keep balance.The simulation results show that when the front arm of the robot completes the obstacle,the center of gravity adjustment distance is the largest,and the maximum distance decrease with the increasing of the slope angle of the high-voltage line.Thirdly,the stability of the robot under flexible high-voltage condition is analyzed.The modal analysis of the high-voltage line by finite element method is carried out and the low-order mode cloud image is obtained.Moreover,the dynamics simulation of the robot is also performed which shows that the robot's stability and the robot's own strength of the robot both meet the working requirements,under wind load and hanging over the flexible conductor.Finally,the control system of the robot is designed base on Labview.According to the robot's actual control process,the control system architecture and the function modules of robot are determined,and the operation and control interface is designed in detail.Through simulation,by simulating the actual control process,the data of the control system can be communicated normally,and the received data are processed and displayed in the form of graphs,which realizes real-time monitoring of the working state of the robot and providing reference for controller.