Research And Design Of Crossing Obstacle Device For Power Transmission Lines Inspection Robot

Overhead high-voltage power transmission lines cross the great rivers,high mountains and lofty hills.Due to long-term work under various adverse weather conditions,the probability of failure of lines and equipment is relatively high.Regular inspection and maintenance of power transmission lines can not only reduce the occurrence of power grid accidents,but also guarantee the safe and stable operation of power transmission lines.At present,there are three main types of power transmission line inspection,such as ground detection method,aerial survey method,and ground line mobile inspection robot.The shortcomings of ground detection method are large labor intensity,low inspection precision and large inspection blind area.The weakness of aerial survey is high cost and poor endurance.Ground mobile inspection robot needs to transform the ground fittings.In addition,all the three methods can only be inspecting,and it is difficult to replace the high dangerous electrician to complete the maintenance of the line and equipment.Therefore,it is necessary to develop a power transmission line inspection robot that can walk on the power transmission lines and surpass the barriers.This paper mainly completes the research and design of the crossing obstacle device of robot.Firstly,in order to understand the inspection and repair robot's operating environment,this paper systematically introduces the power transmission tower-line system,and the type,number,distribution of obstacles on the lines.The complex line environment was the result of considering the electrical and mechanical characteristics comprehensively.The inspection modes of crossing obstacle device for power transmission lines had their own advantages and disadvantages along the ground line and the wire,respectively.This paper selects the wire as inspection path of the crossing obstacle device to achieve the integrated operation of inspection and repair.Secondly,the final design scheme was determined by comparison and demonstration.Based on the requirements of line inspections for power transmission lines,combined with the types and sizes of line obstacles,two sets of design schemes were initially determined.By analyzing the factors of weight,compactness,mechanical properties and falling prevention,the three-arm suspension design scheme was finally determined.This paper completed the design of scheme principle,detailed structure design,control circuit design,non-standard parts design,control software design,etc.The whole device mainly includes four parts of rotating structure,up-and-down motion mechanism,obstacle crossing mechanical arm and control detection,and all parts cooperate with each other to finish the inspection work of the power transmission lines.The three-arm suspension structure and brake device increase the climbing ability of the device,which can be adapted to the height difference caused by the terrain change of the power transmission tower.The unique design of the anti-falling device can ensure that the obstacle walking device does not impaire walking off line accident in high winds and other inclement weather.The combination of the emergency power supply and the induction power supply can not only meet the requirements of the power supply under special circumstances,but also reflect the design concept of lightweight.Finally,the feasibility of the design scheme was verified through trial prototype,and the joint modulation and error were completed.Based on the analysis of the line environment of the tower-line system and the D-H representation of the device,the process and parameters of the crossing obstacle walking device were set up.The speed of inspection was 2km/h,the maximum length of the obstacle line length of 55 cm,the maximum vertical direction of 30 cm,at least two arms must be suspended from the power transmission lines during the obstacle course.After the assembly of the entire system for a joint adjustment,including the various motor tests,control loop testing and control software testing,the results were within a reasonable range of error.