| High voltage transmission lines are easily damaged by human factors or natural factors.Once the line breaks down,it will lose a lot of manpower and material resources.So,it is very important for safety and stability of the line to have inspection and repair in time.In order to make up for some shortcomings of existing inspection methods,it is a good choice to use the inspection robot to complete the inspection task of the line.Because the inspection robot will encounter some obstacles on the line during the inspection process,it must have the function of crossing obstacles to meet the requirements of the inspection work.After studying and summarizing the existing inspection robots all over the word,the four-arm inspection robot is proposed.Besides,The mechanism characteristics and obstacle-crossing characteristics of inspection robot are deeply analyzed and studied.The main research contents are as follows.(1)After researching on the structural characteristics of existing inspection robots around the world,some defects of inspection robots are summarized-Besides,the thesis summarizes the walking environment of inspection robot.What’s more,the types of main obstacles on the line are summarized and classified.(2)Based on the working task requirements of inspection robot,the four-arm inspection robot is proposed.The inspection robot body is composed of three rods connected in series by some rotating joints.In addition,the compound wheel-clamp mechanism is installed at the end of each arm.Then,the key joints and the compound wheel-clamp mechanism of the inspection robot are introduced in detail.Then,the 3-D model of the robot is established by using SolidWorks software.(3)According to the types of typical obstacles on the line,three obstacle-crossing ways of inspection robot are planned and walking flow charts are drawn.Subsequently,the D-H coordinate system of the inspection robot is established and the forward kinematics and inverse kinematics are analyzed.The kinematics model is built by using MATLAB software.Then,the workspace of the obstacle-crossing arm is drawn.The analysis shows that the inspection robot meets the work space requirements for the crossing obstacle.(4)In order to study the safety and stability of the inspection robot during obstacle-crossing,the gravity balance equation of the inspection robot is established and the force state of the wheels on the line is analyzed.Then,the model of the inspection robot is simplified and imported into ADAMS software.The processes of crossing the suspended fittings and steering are simulated.Besides,the characteristics of the obstacle-crossing processes are analyzed through animation and the movement of the obstacle-crossing arm.The simulation results show that the inspection robot has the ability to safely and steadily cross the typical obstacles on the line.(5)The control system of the inspection robot is designed.Besides,the function of the hardware is introduced,and the control process is planned hierarchically.Finally,some experiments about free walking and obstacle-crossing of the inspection robot are carried out.The results verified that the inspection robot prototype meets the requirements of the obstacle-crossing movement. |
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