| Power outages,power inspections,and installation of grounding lines are essential links in the maintenance of distribution network lines.In view of the problems of low automation,low labor,and potential safety hazards during the inspection and maintenance of the current distribution network.This paper starts from the specific operating environment and operation tasks,and clarifies the performance requirements of high-voltage distribution line operation robots,designing a high-voltage distribution line inspection and installation grounding line operation robot.The high-voltage power distribution operation robot designed in this paper can independently complete the task of tower climbing,line inspection and installation of grounding line,which can achieve automation of electricity inspection and grounding line operation,reduce labor intensity and improve operation efficiency.On the basis of reading a large number of reference books related to power operation robots,combined with the working environment and work tasks of the robot,the overall design scheme of the robot system is determined.On this basis,the design schemes of several feasible mobile devices for climbing robots are compared and analyzed,and the design scheme of the robot moving mechanism is determined.Then the three-dimensional model of the robot moving mechanism is established by SolidWorks,besides,the mechanical properties and the self-locking condition of the designed moving mechanism are analyzed.Then the four-degree-of-freedom manipulator is designed according to the requirements of the task,and the kinematics model of the manipulator is modeled and analyzed.Based on the Lagrangian method,the dynamic model of the manipulator is established,then the Simulink module of MATLAB is used to establish the dynamic system model of the four-degree-of-freedom manipulator and the dynamics simulation analysis is carried out to obtain the relationship between joint velocity(angular velocity),acceleration(angular acceleration),displacement(angular displacement)of the manipulator and joint force(torque);In order to ensure that the robot smoothly grasps the tool to carry out the corresponding work tasks,the traditional electroscope and the grounding line working tool are optimized.After the overall structure design of the robot is completed,the ADAMS software is used to simulate the dynamics of the robot body when it is climbing.Then the relationship between the positional change of the clamping device and the clamping force during creeping motion are obtained.Finally,according to the determination of the robot design scheme,the robot prototype is produced,and the robots assembled and commissioned are subjected to on-site experimental research.The experiments show that the high-voltage distributionline inspection and installation of the grounding line operation robot runs smoothly and can complete the corresponding working task. |
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