| With the rapid development of electric power industry at home and abroad in recent years,electric energy is widely used as a light and clean energy because of its advantages of long-distance and low-cost transmission.The long-distance transmission of transmission lines requires overhead transmission towers as support.The necessary measure to ensure the safe and stable operation of power transmission system is to maintain the transmission tower regularly.Manually climbing power transmission towers for maintenance is the main way of operation at present.During the climbing process,manual workers need to use safety anti-fall devices to ensure their own safety,while the first/last overhead transmission line maintenance workers do not have safety protection devices to protect them when climbing up the tower/down the tower.The manual maintenance operation method has the disadvantages of high labor intensity,low operation efficiency,long cycle and high risk factor.With the development of robotics and other technologies,it is urgent to develop a climbing robot to assist or replace manual operations in the electric power field to complete operations such as pole tower climbing and hanging and removing of anti-fall devices.Aiming at the maintenance requirements of transmission tower,this paper studies and designs the control system of transmission tower climbing robot,which can carry the safety anti-falling device to complete the tasks of climbing,surmounting and dismantling.The transmission pole tower climbing robot adopts intelligent control and human-machine interaction functions to assist the manual climbing tower to complete the disassembly of the safety anti-fall device,which can ensure the safe and stable operation of the power system and improve the intelligence of the power system.The main research contents of this article are as follows:(1)Design of mechanical structure.Based on the research and analysis of climbing robot technology at home and abroad,the technical indicators and task requirements of the transmission tower climbing robot are comprehensively considered,,the mechanical structure design of the robot was completed based on the bionics principle,and a nine-degree-of-freedom climbing robot was designed Climbing mechanism and six degree of freedom hanging robot arm.According to the demand of climbing control,the hardware selection and overall frame design of motor and driver are carried out.(2)Kinematics modeling and analysis.Based on the analysis of the structure and characteristics of the mechanical design of the transmission tower climbing robot,the kinematics modeling and Simulation of the bionic climbing mechanism and the hanging and dismantling manipulator are carried out by using the D-H parameter method,and the forward and inverse kinematics solutions of the hanging and dismantling manipulator are mainly obtained and analyzed.MATLAB software is used to simulate and verify the movement track and speed,which lays a theoretical foundation for the control and implementation of the climbing and hanging operation.(3)Design of obstacle avoidance control system.Aiming at the obstacle surmounting control subsystem of climbing robot,the method of fuzzy obstacle surmounting is used to realize the obstacle surmounting operation.According to the characteristics of climbing obstacle surmounting,the input / output variables of the fuzzy controller are determined.The fuzzy domain is determined by the range of each variable,the membership function is established,the fuzzy control rules are obtained by Mamdani fuzzy reasoning method,and then the center of gravity method is used to solve the fuzzy problem.Finally,the feasibility is verified through MATLAB simulation experiments.(4)Construction of master control system.Considering the operation task,climbing environment,mechanical structure system stability,safety,flexibility and other requirements of the transmission tower climbing robot,a hierarchical control system is designed for the climbing robot based on the kinematic modeling and analysis and the design of the obstacle crossing control system.Motor motion program is used to control clamping,abduction,moving and other actions,which is designed by Trio basic language;The software design of the control system is completed using C# language,which is used to complete functions such as information processing and the release of motion control instructions.It provides a high-performance operation interface between the operator and the robot,making the climbing robot more humane and intelligent.(5)Assembly and test of prototype.Through the research and analysis of the actual pole tower,the simulation climbing environment was completed;The assembly of each part of the climbing robot was completed according to the mechanical structure design,and the clamping force of the single and double claws and the bearing capacity of the single and double claws of the climbing robot were tested;Complete the assembly of the whole machine,carry out the climbing,obstacle crossing,hanging and dismantling experiments of the prototype of the transmission tower climbing robot on the built simulation tower,verify the rationality and feasibility of the mechanical structure design and motion control system of the prototype of the climbing robot,and meet the technical indicators and operation requirements.This project designed a control system for a transmission pole tower climbing robot.The robot carries a safety anti-fall device on the transmission pole tower to implement climbing,obstacle crossing,hanging and removing operations,and finally replaces the manual safety hanging device.The control system of the climbing robot developed in this paper has superior performance,safety and reliability,which is of great significance for improving the efficiency and safety of power system operation and accelerating the realization of intelligent operation in power field. |
PDF Full Text Request