Design And Study On Leading Wire Crossing Mechanism For Transmission Line Inspection Robot

High-voltage transmission lines are important equipment for the power system and are the "artery" of national infrastructure construction and social development.Exposed lines are prone to problems such as breakage,broken stocks,etc.Therefore,regular inspections of transmission lines are very necessary.As manual inspections are labor-intensive with high risk,automated inspections using robots which take the place of human have become a current hotspot of robot research.However,the inspection robots in current research have difficulty in crossing the leading wire and the problem of high weight which limit its practical application.Based on the development status of inspection robots at home and abroad?combined with the theory and methods of bionics,this article is inspired by the movement method of the inchworm and analyzes the influence of the structure and center of gravity of the inspection robot in the process of crossing obstacle.A bionic mechanism based on peristaltic movement principle was proposed.A new method and spanning strategy for automatic inspection robot to cross the leading wire were also proposed,which solved the problem on how to cross the leading wire for robots.Through the analysis of the bionic mechanism of the inspection robot,according to the technical parameters and functional requirements of the inspection robot,the author designed the ontology structure of the inspection robot in detail.The forward and inverse kinematics equations of the robot are derived using the D-H method,and the robot's working space is solved.In this paper,the inspection robot is modeled by dynamics,and the dynamic formula is deduced.The ADAMS virtual prototype is used to simulate and analyze the robot's process of crossing the leading wire,which verifies the stability of the robot's obstacle-over process and the reasonableness of the action planning.On this basis,a physical prototype is manufactured,and robot walking and obstacle-over experiments were performed on a laboratory simulation line.After verifications of both simulation and reality,it is proved that the robot can not only walk in a straight line stably but also can effectively overcome obstacles such as leading wire,suspension clamps and shock-proof hammers.It proves that the structural design of the robot is reliable and the strategy about crossing the leading wire is reasonable.The inspection robots studied in this paper can replace the manual patrol work of transmission lines,provide a certain technical basis for solving practical engineering problems and have important practical value and market promotion value.