The Design Of A New Suspension Insulator String Climbing Robot

As an important part of transmission line, the security of insulator is crucial to the stability of the power system. Therefore, we must detect and clean the insulator regularly. At present? the detection and cleaning work are mainly manual, which is intensity and low efficient. The design of insulator working robot is an effective way to solve this problem。The climb on the insulator string is the premise of work to this robot, so this paper introduces a new suspension insulator string climbing robot. Compared with the other similar robot designs, we use the institutional linkage in this robot, using the flexible cable. These all measures make the mechanism and control steps of this robot more simple. The climb of this robot will be completed only by the alternating movement of the two driving motors.Firstly, we analyse the working environment of this robot and make clear of the work object and scope. Then existing climbing methods are summarized and we choose an appropriate method for this robot. Based on the choose, we put forward the basic mechanism of this robot and design the climbing steps, which ensures the feasibility of this robot.Secondly, based on the select of load bearing and elevating way, considering the actual work needs, we add the connection part and the guide part on this robot. According to the basic mechanism of this robot, the principles and structures design of every part about this robot are completed. Based on the action sequence of every part, we analyse the complete climbing process of this robot and design the corresponding control process.In addition, based on the structure design of the robot, the structure size of the main parameters about the robot is designed, which ensures there is no interference between the robot and the insulator. Combining the error styles of the insulator string, we analyse the adaptability of this robot.Finally, based on the size parameters of the robot, we complete the kinematics and stress analysis about this robot. According to the analysis results, some standard parts are selected, which lays the foundation for making the robot prototype.