| Inspection robot used inspect the extra-high voltage power transmission lines is a kind of special mobile robot. It takes place of the workers or helps them to complete the inspections tasks. Compare with the worker's inspection, this method is efficient and reliable. And it makes the worker avoid being injured by the extra-high voltage. But the robot hasn't been applied for real power transmission lines until the present. The research work for the type of robot is still on the way. It has very important significance to enhance the automatic inspection and get economic benefit.The obstacles are determined by analyzing of electric power devices on the overhead ground wires. They are counterweights, crimp connection pipes, single overhang anchor clamps and dual overhang anchor clamps. Every kind of process and mode of navigating obstacles of inspect robot is analyzed based on the demands of navigating obstacles and running on OGW. The optimization configuration of inspection robot is determined according to the demands of running and navigating obstacles. That is,inspection robot adopts two clampping motors, two running motors, two rorary motors and one centroid adjustment motor.The overall project of inspection robot is determined according to the optimization configuration and the environment of OGW. The clampping and running mechanism, the passive running and bearing mechanism, the safeguard mechanism, the process halting mechanism. Through contrasting three clampping mechanism, one design structure is confirmed. The clampping force is got also.The arm of the inspection robot,the base,the coping plank,the passive running wheel and a pair of gears which are all the main parts of the inspection robot are analysed by the COSMOSXpress in the Solidworks. The aim is to check the intension and safety factor of the parts and amend them when they dissatisfy the require of using. Also, the mechinary of the inspection robot can be optimized and the weight can be cut down.The running and clampping mechanism of inspection robot is validated on the simulative OGW in the lab. It includes manufacturing the parts of the inspection robot and assembling them.also, the control system is written and debug. Then the function of the running and clampping mechanism and its control system is tested after they are integrated. The test results show that the running and clampping mechanism has attained many excepted function. |
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