| Putting the robot technology into high voltage transmission lines inspection work has a great application prospects. It can replace workers to do the dangerous work and improve the inspection efficiency and accuracy, and can lower the cost. Based on the characteristics of obstacles on transmission lines and the working task requirements of inspection robot, a dual-arm inspection robot with flexible cable is designed. The key structure of the robot is optimized and improved, making it has a more compact structure, lower weight and stronger obstacle ability. The important components of robots are analysised by finite analysis software. Then, the working space of the obstacle navigation arm is analysised. Finally, the systematic type selection design of the inspection robot is done. The main researches of this paper are as follows:(1) The transmission lines inspection robot research status at home and abroad and transmission lines obstacle environment characteristics are summarized. Then the structural composition of "a dual-arm inspection robot with flexible cable" and its obstacle navigation mechanism are analysised in this paper.(2) The structure of the wheel-claw mechanism is optimized and making it more compact and more reasonable. A new kind of clamping while walking scheme is put forward and this improves the working stability and security of the inspection robot. The mass adjustment mechanism is optimized, making the motor direction size more compact and the range of mass adjustment wider.(3) The strength and stiffness of the important parts on the robot are checked and analyzed based on finite analysis software AN SYS.(4) Fixed step angle method is used to draw the working space of the obstacle-crossing arm. The inspection robot obstacle-navigation performance is analysised considering its structure size.(5) The robot joint motor, wire rope, screw rod and guide rail are systemic selected and designed, laying a foundation for the further development of the robot prototype. |
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