| The transmission line inspection robot can replace or assist workers in the inspection of transmission lines,which can reduce the risk factors of workers in the inspection operation,lighten the labor intensity of workers,improve the efficiency and quality of inspection,and has broad application prospects.At present,the transmission line inspection robots at home and abroad generally have problems such as complex structure,heavy weight,poor safety and difficult control.Moreover,the robot lacks the ability to cross cables,which limits its inspection scope to one cable.In addition,there is no effective scheme to transport the robot up and down the transmission line without extra equipment.This paper designs a new type of double wheel-gripper transmission line inspection robot.The methods of line inspection,obstacle climbing,line climbing and transition between lines of the robot are studied.The main contents of the thesis are as follows:Firstly,we innovatively designed Climbot-L,a double wheel-gripper transmission line inspection robot,which is composed of five joint modules and two WG-modules.There are two modes of rolling and clamping on the cable.Rolling mode enables fast movement.Clamping mode has a variety of obstacle crossing gait,and has the ability to climb up and down the line and transition between lines.By investigating the environment of the transmission line,combined with the work content of the robot on the transmission line,based on the idea of bionics and modular design method,the robot system is designed from the aspects of mechanism,sensing,control,software and configuration,and a prototype of the robot was made.Then,the force on the cable of the double wheel-gripper transmission line inspection robot is analyzed,and its three efficient and flexible obstacle-crossing gait and obstacle-crossing motion space are studied,and then the motion characteristics of the three gait are compared.The working conditions and switching principle of rolling mode and clamping mode are analyzed.The mechanical model of the robot in rolling mode is established,and the maximum angle of the robot climbing inclined cable is analyzed.The mechanical model of the robot crossing obstacles in the clamping mode is established,and the reliability of the robot grasping cables is verified.The advantages and disadvantages of three obstacle-crossing gaits are analyzed and compared,and applicable scenarios of each gait are summarized.Next,a new method of transporting Climbot-L on and off the line is proposed.The kinematics and workspace in the vertical plane and across the vertical plane are analyzed,and robot is endowed with the ability of cable transition,two-line synchronous inspection and multi-view detection.Combined with the characteristics of three gait,a new scheme for the robot to climb up and down the line along the vertical cable is proposed,and the sliding phenomenon of the robot when crossing the parallel cable and corner tower is analyzed.The kinematics model and workspace of the robot when the base is not sliding and sliding are constructed,The Clampable point of the transition between lines is analyzed to verify the feasibility of transition.The transition gait between lines is planned.The functions of robot two-line synchronous inspection and multi-view detection are demonstrated.Finally,the transmission line simulation environment is built.The effectiveness and mobility of the proposed inspection robot system are comprehensively verified by carrying out experiments such as reliable gripping,rolling,crossing electrical fittings（vibration damper,suspension clamp and spacer）,testing the distance between adjacent parallel cables,transitioning between adjacent parallel cables,transitioning corner towers,climbing lines,two-line synchronous inspection and multi-view detection.In this paper,a transmission line inspection robot that with climbing and inspection functions is developed,which provides a novel idea for the inspection robot online inspection and obstacle crossing,up and down the line transportation,and transition between lines.The inspection robot is expected to be applied to the comprehensive inspection of transmission lines. |
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