| High-voltage transmission lines have been exposed outdoors for a long time.Surface aluminium strands are prone to wear,rust and fracture due to mechanical tension and weather.Plastics,branches,bird's nests and other foreign bodies may be attached to highvoltage transmission lines.These damages and foreign bodies will have an impact on power transmission,and even dangerous,resulting in power grid paralysis.In order to ensure the stable and sustainable transmission of electricity in the power industry,regular maintenance of transmission lines is needed.The current patrol inspection mode is still mainly manual.Patrol workers climb along the lines,which consumes a lot of physical energy,has a high difficulty coefficient and a high risk factor.With the progress of science and technology,robots are gradually replacing manual work in various fields.Current power line inspection robots have poor line adaptability,limited climbing abilit y,and do not have the function of crossing straight poles and towers.Most of them are ground line inspection robots,which have low precision of traverse inspection.We design a robot which can be used for phase-line walking,and develops a prototype of inspectio n robot,and carries out performance verification.Firstly,this paper introduces the line characteristics and working environment of the inspection robot.According to the obstacle characteristics and technical indicators,the overall design scheme of the inspection robot is put forward.A patrol robot for phaseline walking is designed.The redundancy design of six-arm mechanism enhances the walking stability.The robot body can be flexible and deformed to adapt to different types of on-line obstacles.The strength check and modal analysis of the key components of the robot are carried out.The forward and backward kinematics analysis,workspace analysis and error analysis of the robot are carried out.Reasonable obstacle-crossing gait is formulated for different types of obstacles.The motion simulation of the inspection robot is carried out in Adams,and the passing ability of the robot to various obstacles is analyzed.In view of the dynamic inspection conditions of different gradients of lines and changes of inspection speed,the mechanical analysis of the whole inspection robot and the walking mechanism are carried out respectively.The slip phenomenon of driving wheel is studied,and the optimal slip rate is obtained.Several possible driving disharmony situations are analyzed,and the quantitative relationship between climb ing ability and clamping force is obtained.Aiming at the operation mode of man-machine separation,a distributed control system framework is designed,the software and hardware layout of the system is designed,and the turning point of the robot powerless switching is obtained.In this paper,the slip phenomenon in the walking process of inspection robot is fuzzified,and a fuzzy controller for slip suppression is designed,and the fuzzy relationship simulation is carried out in MATLAB.Finally,the processing,assembly and debugging of the walking components are completed.The simulated overhead phase line was built in the laboratory,and the walking components of the inspection robot were tested for on-line walking and climbing abilit y.The experimental results show that our phase line inspection robot can achieve the task of walking and obstacle surmounting at large angles. |
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