| Aiming at the difficulty of the high-voltage line inspection robot body being too heavy and prone to slipping and obstacles,a new type of magnetic linear traction inspection robot is proposed.On the basis of designing the basic walking structure of the inspection robot,in order to realize the obstacle-crossing of the robot,two obstacle detection schemes for the inspection robot are proposed,and the kinematics analysis and simulation are respectively carried out,and the advantages and disadvantages of each are compared.It is determined that the screw nut is adopted.The final solution of the obstacle,then the kinematics simulation and dynamics modeling of the robot as a whole,complete the straight walking experiment and the obstacle crossing experiment.This paper mainly does the following research:(1)Study the basic principle of magnetic linear traction,expound the overall scheme of the magnetic inspection robot,and verify the effectiveness of the magnetic inspection robot by establishing the basic physical model theory on the basis of analyzing the magnetic field distribution around the high voltage line.(2)Formulation of the inspection robot over obstacle scheme.In this paper,the patrol inspection environment of the inspection robot is analyzed,and the obstacle-obstacle scheme adopted in this paper is determined: between the towers,the working mode of “multi-machine coordination,one machine and one gear” is adopted to avoid the obstacles such as the tower and towers effectively improve the inspection efficiency..On the line,the three-armed line is used to remove the line and overcome the obstacles,crossing the common anti-vibration hammers,support rods and clamps.(3)The design of the obstacle structure of the inspection robot body.According to the proposed scheme,the obstacle-obstructing structure of the inspection robot is designed,and two obstacle-obscuring schemes are proposed: the screw nut is more difficult and the plane is seven obstacles.The kinematics analysis of the two obstacle-obstructing structures is carried out separately,and the three-dimensional model of the patrol robot is established.The simulation of the opening and the movement of the box is carried out respectively.After analyzing the advantages and disadvantages of the two,it is determined that the screw nut is the obstacle.(4)Kinematics simulation of the inspection robot and finite element analysis of the screw nut.For the kinematics simulation of the three-arm opening and closing obstacle,the overall center of gravity of the inspection robot during the opening and closing process was studied,showing that the center of gravity of the whole opening and closing process did not change much.As a key component of the obstacle-obstructing structure,the screw nut is subjected to finite element analysis,and corresponding optimization measures are proposed for the support mode.The results of the pre-and post-optimization are compared to determine the fixed-walking support mode to facilitate the stability of the obstacle-blocking structure.(5)Modeling and analysis of walking dynamics of inspection robots.There are four states in the linear walking of the inspection robot: static,uniform speed,acceleration and deceleration.The dynamic models are established for the four states respectively.The penalty function method is used to optimize the optimal solution of the centroid position of the control box,which is the design of the control system.Lay the foundation.(6)Complete the development of the robot and carry out relevant inspection experiments.The experiment proves that the average speed of linear walking of the magnetic patrol robot designed in this paper reaches 2.571km/h,which can achieve basic obstacles such as overhanging clamp and anti-vibration hammer,and achieve the established goal. |
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