Design And Research Of Transmission Line Inspection Robot Combining Flight And Walking Functions

In order to ensure the safe and stable operation of the high-voltage transmission line network,the grid inspection department needs to conduct regular and temporary inspections and maintenance to reduce the occurrence of grid accidents.At present,there are three main methods for inspection of transmission lines: manual ground inspection,unmanned aerial vehicle inspection,and robot inspection.Manual ground inspections are labor-intensive and inefficient;UAV have long inspection distances and poor endurance;inspection robots need to change the structure of ground wire fittings and it is difficult to cross tension towers.In addition,these three methods can only be inspected,and it is difficult to partially replace high-risk live working electricians to complete the related maintenance work of lines and equipment.Therefore,it is necessary to develop a device that can combine the advantages of various inspection methods.This paper mainly completes the design and research of this new type of transmission line inspection robot.The main purpose of the research and development of this equipment is to solve the defects of the existing conventional inspection robot method,and at the same time to solve the problems of the existing conventional inspection robots,such as the difficulty of crossing the corner pole tower,etc.Work intensity and risk factor.The work of this paper mainly develops a new set of robots for inspection of transmission lines that combine flight and walking.First,the overall system structure of the device was designed,and the overall layout was designed with two upper and lower layers.The upper layer is the main body of the drone and the rotor part,and the lower part is coupled to the walking part of the robot.The human-machine system was subjected to dynamic modeling analysis.Based on Pixhawk,the flight control system firmware for the X-type coaxial octorotor was selected,and the entire power system was designed and calculated based on the characteristics of the device.Second,the entire inspection system was designed.The mechanism of the robot(two sets of power systems and two sets of pretightening mechanisms)was used to realize the walking function.The slip pattern analysis and exploration were conducted.The online mutual inductance power-take device was designed and manufactured.The power-take experiment was conducted.The prototype of the robot system was inspected and the feasibility of the scheme was verified by experiments.