110kV High-voltage Line Crank-arm Line Inspection Robot Structure Design And Obstacle-climbing Realization

High-voltage power transmission lines transmit power from power plants to various cities and villages,forming the energy transmission network.In order to ensure the safe and reliable operation of the power grid,the quality of regular inspections of transmission lines is very important.Among high-voltage transmission lines,110 kv high-voltage transmission lines are the most common.It is widely distributed in the wild and mountainous areas in the form of overhead transmission lines.The harsh environment and inefficient inspections have caused huge hidden dangers to the safety of the lines.Compared with the high risk and low efficiency of traditional manual inspections along the route,automated robot inspections are more efficient,safer and lower cost.However,existing line inspection robots have defects such as heavy weight,short continuous operation time,and fewer types of obstacles that can be crossed,resulting in a small inspection span and range,which limits the practicality and development space of the robot.In order to improve the efficiency and quality of inspections,in view of the 110 kv high-voltage transmission line environment,this paper designs an autonomous line inspection robot that can cross all common obstacles in the line,and plans to cross the suspension clamp,anti-vibration hammer and strain clamp.Overcoming obstacles process.First,it summarizes and analyzes the existing line-following robots.The obstacle-crossing mechanism and working principle of various types of line-following robots are analyzed and researched and their advantages and disadvantages are listed.The technical difficulties and corresponding solutions of the line-following robot are proposed.Secondly,the mechanical structure of a new type of 110 kV line patrol robot is designed.The overall structure of the designed robot is centered on a central rotating platform,a mechanical arm composed of three push rods is installed front and rear,and an electrical box is suspended at the lower part.The end of the mechanical arm is designed and installed with a claw combined with a walking mechanism and a grasping mechanism to realize the robot walking,climbing and single-arm grasping and clamping of wires.A charging device that can be lifted,opened and closed is designed to be installed above the central rotating platform,and the robot can take power online.Obtain the force of each mechanism when the robot is suspended by a single arm,and check the strength of the arm member with the largest bending moment.Then,according to the structural characteristics of the line-following robot,design and determine the corresponding obstacle crossing process when the robot climbs over the suspension clamp,anti-vibration hammer,strain clamp and large-angle climbing,and determine the end obstacle trajectory and the relative reference of the key points.The relative position and posture of the point.A simplified model of the linkage mechanism of the robot is established,and the kinematic equation of the model is obtained.According to the kinematics equations,the end working space of the robot is further determined,and the output angle,displacement and speed required by each joint push rod in the planned process of crossing the suspension clamp and the tension clamp are obtained by simulation.The output angle and displacement obtained are further back-substituted back to the kinematics equation,and the simulation verifies the correctness of the output of each push rod in the kinematics simulation.The energy method and Lagrangian function are used to obtain the robot’s obstaclecrossing dynamic equation,and the mechanical analysis is used to obtain the robot’s maximum climbing angle and the corresponding dynamic equation.The simulation analysis of the robot overhangs the suspension clamp and the jumper segment strain clamp,obtains the thrust curve,jerk curve and force rate curve of each joint putter,and obtains the maximum thrust of each putter.The simulation analysis of the front and rear wheel torque in large-angle climbing,obtains the maximum torque of the wheel motor.The thrust of the push rod and the torque change of the wheel motor provide a reference for the selection of the motor during prototype production.Finally,according to the dynamic simulation structure,select suitable various types of drive motors.Build the corresponding control circuit around each drive motor and complete the robot prototype production.Set up a general high-voltage line experimental circuit in the laboratory,and make the robot follow the pre-planned path to carry out the over-vibration hammer,the strain clamp and the large-angle climbing experiment.