| At present,the power sectors mainly use the manual inspection method to carry on the inspection works of the high voltage overhead transmission lines,this method not only takes much time and inefficiency,but also the personal safety of the electricians are difficult to be guaranteed.Therefore,it is urgent that develop a safe and efficient inspection robot to solve the above problems instead of manual inspection works.Based on the principle of "inchworm" bionics,this paper presents a structural design scheme of telescopic rail three-arms inspection robot,which is used to improve the complex problems of mechanical structure and motion control system that still exist in inspection robot's research now,and the specific research contents are as follows:Firstly,this paper analyses the current research situation of the inspection robot all over the world,and analyses the characteristics of the working environment of the power overhead line inspection and the characteristic of the line hardware,and according to the bionics principle of "inchworm obstacle crossing",puts forward a scheme of the telescopic rail three-arms inspection robot,which has the advantages of simple principle and strong maneuverability.Secondly,the parts and the whole structure of the inspection robot are modeled by SolidWorks software,and the static mechanics modeling and analysis of the inspection robot are carried out,and the finite element analysis of the key components is carried out by using ANSYS Workbench software according to the national standard and the expected design parameters.The results show that the structural strength of the components can meet the design requirements of the inspection robot.Finally,through the kinematics analysis of the main motion process of the inspection robot,the motion model is established by ADAMS software and the simulation experiment is carried out.The experimental results show that the maximum offset value of the center of the inspection robot in the y-axis direction is 61.5mm,the maximum offset value in the z-axis direction is 0.5mm,the simulation effect is ideal,which can meet the walking requirements of the moving process,and the feasibility of the mechanical structure design is verified.The simulation results of virtual prototype show that the design scheme of the inspection robot has the advantages of streamlining mechanical structure,simple motion control,small volume and quality,and can cross the obstacles such as damper and suspension insulator,and can effectively improve the autonomous inspection ability of the inspection robot. |
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