| With the development of the society,electric power has become an indispensable energy for our daily life and production in modern society.To ensure the safety and stability of electric power supply,it is necessary to find out the potential defects or failures in the power transmission lines in time and maintain them.However,at present,almost all the maintenance tasks in the power transmission lines are completed by trained workers with professional skills,which is laborious,high risk,and low efficiency.The robot is the ideal tool to carry out these maintenance tasks.In this paper,a master-slave robot system of high-voltage power transmission lines is designed by using modular method,taking the adjustment of vibration dampers,cleaning the current deflectors,and assembling the cotter pins as examples.First of all,this paper has analyzed the working environment and content,and completed the design of the robot system.Through the analysis of the working environment on high-voltage power transmission lines in detail,obtained the design requirements of the robot system,and defined the function of the end-effectors combined with specific tasks to be completed in this project.Based on the above analysis,the master-slave robot system for performing multiple maintenance tasks on high-voltage power transmission lines is designed by using the modular design idea,and a specific application case is formed combining with the actual working environment.Secondly,the joint module of master and slave robot,the end-effector modules,and auxiliary modules are designed.The corresponding joint modules of the master and slave robots are isomorphic,and a master-slave robot system can be built quickly according to the task requirements by using above joint modules.The designed end-effectors have unified mechatronic interface and control logic,which is convenient for the robot to automatically connect,separate,and control the end-effector.Thirdly,a flexible prototype of the robot system is constructed.Based on the mechanical,electrical and software design and analysis,a modular master-slave robot system prototype is constructed,which is competent for multiple maintenance tasks.The robot system adopts the modular design idea,which can easily introduce other end-effectors to complete the corresponding maintenance tasks.At the same time,the efficient control mode and operation process of the system are studied.Finally,a simulation environment of high-voltage power transmission lines is built,and carried out a series of experiments.Through the experiments of taking and placing the end-effector,adjusting the vibration dampers,cleaning the current deflectors,and assembling the cotter pins are completed by using the prototype,which proved the stability and reliability of the prototype,the feasibility of the operation scheme and method. |
