| With the rapid development of China’s national economy,EHV transmission lines have become the lifeblood of the national economy,and ensuring the safe and reliable operation of transmission lines in the power grid has become an important basis for the stable production and life of the nation.The transmission lines in the power grid are exposed to the field for a long time,not only under the pressure of mechanical load and electric load,but also under the erosion of the natural environment.With the wind,rain and sunshine,the power equipment will gradually be aged over time,resulting in corrosion,wear and tear,and even strand breakage.If the faulty equipment cannot be detected and replaced in time,the original minor damage and defects will eventually lead to serious accidents,resulting in large-scale blackouts and huge economic losses.Therefore,in order to ensure the safe and stable operation of high voltage transmission lines,inspection must be carried out regularly.Due to the geographical constraints of China,transmission lines need to cross the plateau,mountains,hills,swamps and lakes and other harsh natural environments.These environments are complex and steep,and the climate is changeable,so it is difficult for patrol workers to reach them.On the basis of reviewing the research status of UHV transmission line inspection robots and robotics at home and abroad,a rotating transmission line inspection robot is designed by imitating ape climbing motion with bionics.The main contents of this paper include configuration analysis and mechanism design of inspection robot,three-dimensional modeling of mechanical structure,kinematics analysis of inspection robot,motion simulation analysis of virtual prototype,prototype development and experimental analysis.The work of the thesis is as follows:(1)The configuration of the inspection robot is analyzed.Firstly,the working environment and typical obstacles of transmission lines are described in detail.Then,based on the analysis of the poor performance,low stability and single obstacle surmounting function of the traditional inspection robot,a new type of rotating inspection robot mechanism configuration is designed.Then,the working principle and obstacle surmounting process of the mechanism are described.Detailed descriptions are given to establish the motion model and solve the trajectory of the mechanism in the barrier-free walking stage,the stage of spanning the antivibration hammer stage and the stage of spanning the drain line.The motion of the electric box body center of the patrol robot is studied as the whole motion of the patrol robot.The displacement,velocity and acceleration of the electric box body center in three stages are simulated and analyzed respectively.The simulation results show that the configuration of the patrol robot is more stable in the process of obstacle surmounting,which guarantees the stability of the whole patrol robot in the process of obstacle surmounting.(2)Mechanical analysis and structural design of the inspection robot are carried out.Contact mechanics analysis and mobile mechanics analysis are carried out for the walking process and obstacle surmounting process of the rotating inspection robot.Finally,according to the above analysis results,the mechanical structure and the whole prototype of the inspection robot are designed in detail.(3)Kinematics analysis of rotary transmission line inspection robot is carried out.The DH coordinate transformation method is used to establish the kinematics model of the inspection robot.The transformation matrix and kinematics equation of each joint are obtained.The analytic solution of the equation is obtained,and the inverse kinematics equation of the inspection robot is established.Through the solution of forward kinematics,we can get the trajectory of each joint in the patrol robot when performing the task.We use ADAMS to carry out simulation analysis,and compare the results with the results of kinematics analysis,which shows the correctness of kinematics analysis.(4)Dynamic simulation analysis of the inspection robot mechanism is carried out.The multi-body dynamics analysis software is used to simulate the on-line walking and obstacle surmounting process of the rotating transmission line inspection robot.At the same time,by obtaining the relevant kinematics and dynamics parameters curve,it proves that the obstacle surmounting of the inspection robot is relatively stable when walking online,and proves the rationality of the mechanism design.(5)Prototype inspection and experimental analysis of the inspection robot are carried out.A simple on-line walking experiment was carried out for the sample machine of the inspection robot,which verified the rationality and feasibility of the mechanism design of the inspection robot.At the same time,the climbing performance and obstacle surmounting performance of the inspection robot are experimentally studied.The results show that the inspection robot can walk steadily on the transmission line with a large slope angle,and can cross the obstacles such as anti-vibration hammer and drainage line smoothly.It proves that the mechanical structure of the rotary inspection robot designed can effectively solve the obstacle surmounting problem. |
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