| The high-voltage transmission line along the line has a complex geographical environment and long lines,and often crosses mountains,lakes and dense forests,making inspections difficult and costly.The traditional inspection methods have the disadvantages of low work efficiency and poor safety.At present,the existing patrol robots still have the advantages of heavy weight,short working time,and can cross the obstacles,especially the jumpers between the towers,and reduce the use of patrol robots.The feasibility of the inspection.Therefore,this paper designs a lightweight double-armed line-tracking robot for 110 kV high-voltage transmission lines,and designs and analyzes the following aspects for the robot.(1)The overall mechanical structure of the inspection robot and the important components such as the traveling mechanism,the drive wheel and the clamping mechanism are analyzed in detail.At the same time,an independent obstacle-obscuring method is proposed,which can overcome obstacles such as anti-vibration hammer and jumper on the 110 kV transmission line.(2)The D-H method is used to analyze the kinematics of the robot,and an example is given to verify the correctness of the kinematics analysis.In order to obtain the motion parameters of the joints of the robot during the obstacle crossing process,the Matlab Robotics toolbox was used for motion simulation.(3)Based on the D-H parameters of the patrol robot,the dynamic model of the robot is established by using the Lagrange method.At the same time,the dynamic analysis of the climbing state of the patrol robot is carried out,and the conditions for the robot to stabilize the climbing are obtained.Finally,Adams was used to simulate the dynamics,and the relationship between the torque and time of each joint of the patrol robot during the obstacle process was obtained.The rationality of the mechanical structure design and dynamic design of the robot was verified,and the patrol robot was realized in the transmission line.Work on crawling and obstacles.(4)According to the technical specifications of the robot and the actual operation requirements,the hardware architecture of the patrol robot control system is designed.The STM32F4 chip is selected as the main control chip of the robot.The hardware part of the robot control system mainly includes the motor and its driving module,sensor module,communication module and power module.(5)The software design of the robot control system was mainly carried out in the Keil ?vision5 integrated development environment,and the design of the robot motion control program was completed.Then the prototype of the patrol robot was made and debugged.Finally,the patrol robot walking,climbing and obstacle-obstacle experiments were completed on the test environment of the 110 kV transmission line built in the laboratory.After trial and verification,the lightweight double-arm lined robot designed in this paper can realize the various functional requirements proposed in the design index. |
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