关键词: 超高压输电线, 风荷载, 复合双臂, 结构参数, 越障巡检机器人

Abstract: Using a robot instead of a worker to inspect extra high voltage power transmission lines periodically is a development trend of the maintenance technique of such lines, which can reduce the cost and raise the inspecting accuracy. The power transmission lines tensioned are generally set up in the air at a distance of 60 m from the ground, where the wind load around the overhead transmission lines is different from that around the transmission lines close to the ground; furthermore, the impact of the wind on the structural parameters of the robot is different. The problem of the wind load for the overhead transmission lines is more complex than that close to the ground; thereafter, the wind load is simplified and the mathematical model of the structural parameters of the navigating inspection robot is built on the basis of the simplified wind load. The structural parameters of the navigating inspection robot are affected by the wind load round of the overhead lines of 60 m high, the model of which is analyzed; moreover, the simulation of that is verified. The optimization of the robot structural parameters is guided by the result of analysis and simulation, which results in a reduction of 16 kg of the mass of the robot.

Key words: Compound wheeled arms, Extra high voltage power transmission lines, Navigating inspection robot, Structural parameter, Wind load