| Electricity power transmission is mainly carried out by high-voltage and EHV transmission lines,so its safety and reliability will affect the stability of the whole power system directly.Transmission line inspection is an important guarantee of its reliability.However,transmission lines are mainly inspected manually,which not only results in high labor intensity but also low efficiency.Therefore,a patrolling robot,which can inspect lines automatically instead of artificial line inspection,has been developing all over the world.On the basis of the investigation on current patrolling robot for high voltage transmission lines,a robot with obstacle climbing mechanism is designed to inspect high voltage lines.First,the working conditions,functional requirements and technical parameters,are confirmed by analyzing the transmission lines' work environment,the requests of inspection,the different types of high-voltage lines,obstacles,towers and so forth.Second,according to the functional requirements of the robot,the overall structure of the patrolling robot is proposed,and the entire working process of the patrolling robot is analyzed.The structural characteristics of the driving device,the robot folding arm,the robot platform and the auxiliary arm are described in detail,and the conceptual design and the overall scheme design of the robot are completed.Third,after designing the structure of the robot,the mechanical analysis of driving wheel,folding arm and obstacle avoidance auxiliary device are carried out,the strength of the key parts is checked.Besides,on the basis of meeting the strength,the parts are optimized to reduce the weight of the robot and complete the selection of the motor and reducer.Fourth,the analysis of the kinematics of the patrolling robot is carried out with the exponential product method based on the spin theory after finishing the structure drafts of the auxiliary arms.The kinematics equation is established and the positive and the inverse problems of the inspection line robot are solved,and the end of execution is compared with the original point.In addition,the magnitude of acceleration is obtained,and the kinematic performance of the robot is verified by comparing the results of positive and inverse kinematics.Fifth,the virtual simulation of dynamics is carried out by introducing the patrolling robot model into ADAMS,and the curve of folding arm motion is analyzed and improved to meet the movement stability of the patrolling robot.At last,a robot prototype was built to complete the climbing experiment and some obstacle-crossing experiments. |
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