| Whether the high-voltage transmission lines can run stably is closely related to economic construction and social development.Therefore,it is important that the high-voltage transmission lines are regularly inspected.Traditional inspection methods mainly include manual inspection and helicopter inspection,but there are defects,such as low efficiency and large manpower and material consumption.In recent years,the detection of lines by inspection robots has become a research hotspot in the field of high-voltage electrical line detection.The research status of high-voltage wire inspection robots in China and abroad is analyzed,and a mechanical structure of the inspection robot with two arms that can be opened and closed symmetrically is proposed.The mechanical structure of the walking module,clamping module and pitch module has been determined,and the three-dimensional model of the mechanical structure of each robot module is drawn by Solid Works software.The walking mode of the robot can be switched according to whether there are obstacles in the cable,and with the cooperation of the clamping mechanism and the open-and-close walking wheel,the robot can be walked on the cable with an inclination,and six drive motors are needed by the robot.Combined with the existing mechanism,the control flow of crossing the obstacle when the robot encounters the obstacle is determined.The mechanical analysis of different working modes of the robot is carried out through theoretical calculation.In the stage of walking along the line,the catenary parameter equation closer to the actual situation of the cable is solved,which avoids the error caused by the cable being approximated as a straight line in the existing theory.And the mathematical model of the relationship between the driving torque of the walking wheel of the robot and the walking distance is established.Secondly,the force situation of the robot when crossing the obstacle is analyzed,and the force and deformation of the clamping mechanism in this process are verified by finite element simulation.Finally,the stability of the robot under wind load is analyzed.First,the displacement and deflection angle of the robot under different wind loads are calculated.It is shown that the robot has the largest deflection angle when the wind is applied to the largest surface.It also proposes a self-protection method for robots under high wind force.Then the Davenport wind speed spectrum was used to simulate pulsating wind.In ANSYS software,the simulated wind load was loaded on the robot,and the time history of the displacement and acceleration response of the fuselage was analyzed.It is shown that the robot has a certain stability on the cable.Then the two working modes of the robot online were simulated and analyzed by virtual prototype.On the unobstructed road section,a rigid-flexible coupling model of flexible cable and robot was established to simulate the change of the robot’s center of mass and the change of the driving torque of the front and rear walking wheels.It was shown that the robot walked steadily along the line without disconnection or severe fluctuations.In the obstacle phase,the simulation model of the robot obstacle crossing is established,and the results are analyzed to show that the driving torque of the front and rear walking wheels does not exceed the maximum rated power of the drive motor.The accuracy of the mathematical model is verified by the results.Finally,the physical prototype of the inspection robot was made,and the cable was built in the laboratory.The working performance of the inspection robot when walking along the line and crossing obstacles was preliminary tested.It was shown that the designed inspection robot meets the work requirements. |
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