Design And Research Of High-voltage Transmission Line Inspection Robot

With the rapid development of the power industry,large-scale construction of high-voltage transmission networks has been carried out nationwide.High-voltage power transmission line and electric power fittings are directly exposed to the air for a long time,and they are easily damaged by their own tension,and,external loads.Failure to check and maintain in time may cause serious accidents.Compared with robotic inspection,traditional inspection methods have many disadvantages,such as high cost,high labor intensity,and dangerous working environment.However,ordinary visual inspection robots cannot effectively and intuitively discover the internal defects of the line.Therefore,it is vital to develop a high-voltage transmission line inspection robot equipped with an X-ray inspection device.In this paper,according to the operating environment and technical requirements of inspection robots,the advantages and disadvantages of common obstacle crossing schemes are studied.A three-arm obstacle crossing scheme with auxiliary arms is designed.According to the inspection requirements,the X-ray inspection program design is completed.The mechanical structure design of the inspection robot has been completed,including two robotic arms with driving wheels and clamping wheels,an auxiliary robotic arm and an X-ray inspection robot.The walking model of the inspection robot during climbing is studied.To control the driving wheels slipping problem,a slipping identification and control method are proposed through force analysis.The climbing ability of the inspection robot is improved by optimizing the structure of the driving wheel and planning the posture of the robot.The kinematics analysis of the key parts was carried out according to the whole movement characteristics of the mechanical system.Through establishment and Simulation of the Adams model,the feasibility of the robot’s mechanical structure is verified.The static performance of the frame structure of the inspection robot is analyzed and topology optimization of its key parts is performed.Comparing the performance of the frame before and after the optimization,it not only improves the structural stiffness,but also reduces effectively weight and vibration of frame structure in the practical application.