Development Of LGJ-185/30 Type Broken Strand Repair Robot For Overhead Transmission Line

Overhead transmission line is the main way of electric power transmission,which has an important impact on human social production and daily life.Aerial power transmission lines are widely distributed and have many users,and the environment of line erection is complicated.At present,aerial power transmission lines mostly use steel core aluminum stranded wires.The outer aluminum wires are easy to break under the influence of ice covering,dancing,lightning strike and external damage,resulting in line trip or even electric shock casualties.The current solution is to repair the broken wire manually,but the cost is high and the time is long,the normal transmission of power is affected,and the operation of high altitude strong electromagnetic field is very dangerous.Therefore,aiming at LGJ-185/30 exposed steel core aluminum stranded wire,this paper developed a kind of broken strand repair robot for overhead transmission line.The main contents are as follows:(1)According to the operating environment of the robot and combined with the project requirements,the overall mechanical structure of LGJ-185/30 aerial transmission line broken strand repair robot is designed.According to the modular design idea,the main functional modules such as walking over obstacles,pre-twisted wire winding reinforcement and broken strand pulling back are designed in detail.The realization process of each function of the broken leg repair robot is described.(2)Based on the simplified model of the interaction between the push rods of the walking arm,the forward kinematics equation of the robot was established and derived by using the standard D-H modeling method.The inverse kinematics was solved according to the position and pose of the walking arm end.Meanwhile,in order to verify the correctness of the robot operation model,MATLAB Robotics Toolbox was used to simulate the kinematic model of the walking arm.ANSYS Workbench was used to conduct finite element analysis on robot traveling wheel,traveling arm-base connecting plate,push rod base,winding bracket and clamping block and other key components to verify the reliability of mechanical structure strength.ADAMS was used to conduct dynamic simulation on the process of pre-twisted wire winding reinforcement.The worm gear transmission is analyzed according to the simulation results of contact force between pre-twisted wire and winding disk.(3)STM32F427IIH6 chip based on ARM-Cortex M4 kernel is used to build the overall control system architecture of the robot for repairing broken transmission lines.The joint motor is designed and calculated according to the stress of the robot.The hardware selection of driver,sensor and remote communication module is carried out according to the functional requirements of the robot.In addition,the software program of the lower computer is designed based on Free RTOS real-time operating system,and the remote control of the robot is realized based on 2.4GHz radio communication module.(4)The prototype of broken strand repair robot was made and debugged.Finally,the winding reinforcement and pulling experiments of broken strand repair robot were completed in the test environment of LGJ-185/30 exposed steel core Aluminum stranded power transmission line and the field overhead power transmission line built in the laboratory.The experimental results show that the repair function of broken leg is stable and reliable,and the control system is effective in real time.