| Extra high voltage(EHV)transmission line has become the lifeline of the national economy,and ensuring the safe and reliable operation of EHV transmission lines has become an important foundation for the stable production and life of the people.Since transmission lines need to pass through the harsh environment of the wilderness,they are vulnerable to the natural environment,their own losses and the destruction of livestock and poultry.Routine inspections of the lines are required.Traditionally,the manual inspection and helicopter inspection methods are mainly used,but it has many disadvantages,such as high labor intensity,low efficiency,low precision and high cost.With the development of robot technology in recent years,the inspection robot to replace the traditional inspection methods,can effectively reduce the labor intensity,cost and danger.Based on the inspection robot for EHV transmission lines at home and abroad and the metamorphic theory research status,this paper designs a planetary wheeled metamorphic inspection robot based on the metamorphic theory.The main contents of the dissertation include the design of the inspection robotic mechanism,Structural 3D modeling,slope climbing obstacle performance analysis,inspection robot kinematics analysis,configuration transform analysis,dynamic simulation analysis,experimental prototype development and experimental research.(1)Mechanism design and principle analysis of line inspection robot.Based on the analysis of the poor performance and low stability of traditional wheeled inspection robots climbing obstacle,a new type of planetary wheeled metamorphic inspection robot mechanism is designed based on the metamorphic theory,the work principle and process is described in detail,and the mechanical structure of the inspection robot is designed in detail.(2)The performance of climbing and crossing obstacle for inspection robot is studied and analyzed.In view of the climbing obstacle-climbing capability of the inspection robots,the robot with the traditional passive joints and the planetary wheel-type inspection robots are taken as the research objects respectively,the mechanical equation of state of the two robots about to cross the obstacle is established respectively,the maximum height that the robot can cross the obstacle in this critical state is calculated and used as a criterion to evaluate the robot’s obstacle performance.(3)Kinematics analysis of obstacle course of planetary wheeled inspection robots.Mainly on the inspection robot obstacle-free walking phase and the early stages of obstacle clearance detailed kinematics equations established.The movement of the centroid of the electric box body of the planetary wheeled inspection robot is studied as the whole movement of the inspection robot.The displacement,velocity and acceleration of the mass center of the electric box in each stage are simulated and analyzed respectively.(4)The configuration transform analysis of inspection robot in obstacle surmounting process is deeply analyzed.Based on the theory of lower pair generation of high pair,the mechanism diagram of inspection robot with different configuration states is replaced by lower pair,and topological structure diagram and adjacency matrix are used to describe the different configurations of inspection robot.At the same time,the matrix change equation is used to describe the process of the inspection robot’s configuration change,which provides a theoretical basis for the analysis and design of metamorphic mechanism.(5)Dynamic simulation analysis of inspection robot mechanism.The ADAMS software is used to simulate the walking and climbing obstacle course of planetary wheeled inspection robots.The simulation results show that the inspection robot has stronger climbing obstacle when applying the changing STEP function clamping force on walking wheels.At the same time,the rationality of the mechanism design is proved by obtaining the relevant kinematic and dynamic parameter curves.(6)Finally,the experimental prototype development and experimental research are carried out.A simple online walking experiment was carried out for the sample machine designed for planetary wheeled inspection robots,which verified the rationality and feasibility of the mechanism design of the inspection robot. |
PDF Full Text Request