Crawling Mechanism Research Of Insulator Inspection Robot

The extra high voltage (EHV) transmission line is one of the important systems of electric power industry in China, which the electrical insulator is an important component of high-tension overhead transmission line. Due to the natural environment; like wind, rain, snowy weather etc. these will cause some damage on the insulators. The faulty insulator has a great threat on the safe operation of the electric power system. So, it is quite significant to improve the level of live working automation and to ensure power system security, that developing to design an insulator inspection robot to evaluate the operational status of the insulator comprehensively and identify potential problems in insulator.It is proposed a novel crawling mechanism of insulator inspection robot based on the integrated research of other scholars. The main contents include:establishing kinematic analysis of mechanism model and setting up force analysis model, developing its motion dynamical equation as well, structural design and establishing three-dimensional model, simulation analysis.First, several overall structure of the mechanism is proposed with analysis and comparison, according to the insulator detecting robot working environment and task requirements. A new type of differential double-impeller crawling mechanism is presented based on other existed some configurations. This mechanism configuration is composed of three degrees of freedom differential transmission system to drive the three pairs of double-impeller rotating, implementing mechanism mobile crawling on the insulator string. The new mechanism's more innovative feature is that it can adapt to a certain error independent capability, self-regulation error by the differential system.Secondly, the mechanism body size is integrated designed based on the type of insulator, establishing the kinematics model. According to the characteristics of mechanism configuration, double-impeller mechanism kinematics analysis feature are discussed in segmented. It's qualitative analyzed for the error of adaptive ability of crawling mechanismThirdly, a mechanic model of insulator detecting crawling mechanism is set up, which the stress analysis is carried out on the double-impeller mechanism. The whole body static equilibrium equations and dynamic equations are deduced, while the size of the required driving torque of each pair impeller is calculated.Finally, the overall structure of crawling mechanism is designed. This paper uses SolidWorks software to establish the mechanism's three-dimensional model, and do simulation analysis by using Motion plug. The results show that this mechanism can implement mobile crawling validity and feasibility on the insulator string, as well as the structure has been improved unreasonable.