Structural Design And Analysis Of A 220KV Power Transmission Tower Climbing Robot

The number of transmission communication tower in China is large and the distribution range is wide,and by the end of 2019,it has developed into the largest communication tower operation enterprise in the world.But because the transmission tower is in the outdoor environment for a long time and is frequently affected by natural disasters such as wind,sun,lightning,blizzard and so on,it is necessary to carry out regular maintenance to ensure the normal operation of the tower.In this paper,a robot is designed to climb 220 KV transmission tower and complete the hanging and removing of safety anti-falling devices in order to solve the problem of high danger of manually climbing the tower.This kind of robot can step on the tower and complete the attachment or removal of the safety anti-falling devices before the maintenance worker climbs the tower,providing workers with safety guarantee for subsequent climbing of the tower.This transmission tower climbing robot includes an upper gripper,a lower gripper,a travel mechanism and a robot arm.The gripper is composed of a gripping claw,an abduction mechanism and an ejection mechanism.This symmetrical structural design can not only make the gripping claws and the angle iron stably contact,but also the symmetrically arranged outreach mechanism also has the function of avoiding angle iron obstacles.The role of the ejection mechanism is to ensure that the fuselage is always parallel to the main angle during the climbing process of the robot,and to avoid the influence of the tilt of the fuselage on the climbing and obstacle crossing accuracy of the robot.The expansion of the moving mechanism can realize the robot moving along the main angle iron,and the linear moving mechanism can greatly improve the moving efficiency of the robot.When the robot climbs to the designated working position(usually the cross pole),the anti-falling devices can be hooked up or dismantled by controlling the movement of each joint of the robot arm.Based on the above-mentioned structural design scheme,a three-dimensional model of the climbing robot and the power transmission tower is established using the SolidWorks three-dimensional modeling tool,and the static and dynamic analysis of the robot model is performed respectively.According to the results of mechanical analysis to import the key components into ANSYS,and the finite element simulation analysis of the structure is carried outrespectively.The post-processing module based on the results of the finite element analysis obtains the mechanical images of the key components,and adopts reasonable solutions for the locations where the key components are under stress to improve the bearing capacity and resistance to deformation of the key components.On the basis of mechanical analysis,the robot model is further simplified,the mathematical model of the mechanical arm is established,and its motion characteristics and spatial pose are observed by positive-inverse kinematics analysis of the mechanical arm.According to the mathematical analysis matrix model of positive and inverse kinematics,the motion attitude of the manipulator in 3D space can be obtained by writing the simulation program in MATLAB and running it.the size and weight of the manipulator model in the SolidWorks were measured based on the statics and dynamics analysis of the robot.The simplified model of the manipulator was re-established in the virtual prototype simulation tool ADAMS,and the joint type,driving mode and motion of the manipulator were set up.The motion mode and trajectory of the manipulator can be observed intuitively by running the simulation tool,and the rationality of the structure design of the manipulator can be further verified by analyzing the motion characteristics of the manipulator through the post-processing module.The design and assembly of the control system is completed on the basis of the virtual prototype simulation,and the remote control of the climbing robot by the operator is convenient through the design of the control interface.Finally,the prototype of climbing robot is processed,assembled and debugged.This climbing robot designed in this paper has been tested in different loads and environments for many times.It has been proved that it not only has better ability of hanging and dismounting anti-falling device and climbing,but also has greater obstacle-crossing function than other similar robots,which fully meets the expected set target.