Research Of Climbing And Overriding Device For High Voltage Transmission Tower Climbing Robot

The high-voltage transmission tower is the basis for ensuring the safe and stable transmission of electrical energy to the transmission line.It is especially important to carry out regular inspection and maintenance of the tower.In order to overcome the shortcomings of the traditional inspection methods,this paper analyzes the robot climbing environment and functional requirements based on the research status of climbing robots at home and abroad,and proposes a 5-degree-of-freedom structure symmetric crawling obstacle inspection program,and completes the mechanical structure design,kinematics theory analysis,kinematics simulation analysis and prototype implementation and experiment of the device in turn.Firstly,according to the application environment and index requirements of the transmission tower climbing robot,a five-degree-of-freedom overall structure scheme consisting of three elevation joint modules,two rotary joint modules and two gripper modules was designed.The structural design,transmission scheme design,motor selection,CROE model establishment and ANSYS finite element analysis of the assembly structure were completed.Secondly,based on the D-H coordinate system method,the linkage coordinate system model of the crawling obstacle crossing device is established.The D-H parameters of the device are obtained.The pose transformation matrix between the joints is used to solve the forward and inverse kinematic equations of the device model.Using the D-H parameter values of the above devices,the kinema model of the device was built by MATLAB software,and the trajectory planning simulation of different optimization methods was carried out.Then,the virtual prototype model of climbing obstacle-crossing device is established in ADAMS,and the joint planning data of MATLAB trajectory planning are imported into ADAMS to complete the motion performance analysis of virtual prototype of transmission tower climbing obstacle-crossing device.Finally,the selection,processing and assembly of the mechanical parts of the device are completed.In the STM32 chip environment,each drive,transmis sion and detection module is equipped with a controllable crawling obstacle-blo cking device prototype.The functional test of the device was carried out throu gh a laboratory tower angle steel platform.