Structural Design Of High Voltage Transmission Line Patrol Robot

High voltage transmission line is an important part of power system.In order to ensure the safe and stable operation of transmission line,regular inspection of transmission line is needed.Compared with manual patrol,helicopter patrol and UAV patrol,the patrol robot can autonomously cross all kinds of obstacles such as fittings and towers on the line,and detect the operation status of the line with the sensor instrument carried by it.It can effectively improve the patrol efficiency,patrol accuracy,weather adaptability,and significantly reduce the patrol inspection.It has important academic research value and engineering application significance.The main work of this paper is as follows:(1)According to the environment and content of patrol work,a typical line model is established,and the structure characteristics and shape dimensions of the line and its common fittings are obtained.The structure design of a"double-arm single-line suspension" patrol robot is completed.(2)Kinematics models of key actions such as up-down and through various obstacles of the line-patrolling robot are established.The normal walking and obstacle-crossing process of the robot is simulated,and the feasibility and rationality of the line-patrolling robot to complete various actions are verified.(3)The dynamic simulation model of the line-cruising robot is established and simulated.The parametric curves of velocity,acceleration and ansular acceleration are obtained and optimized to ensure the stability of the robot motion.