Climbing and obstacle crossing calculation method of transmission line broken strand repairing robot

Abstract

The present invention provides a climbing and obstacle crossing calculation method of a transmission line broken strand repairing robot. The method comprises the steps of: starting a torque as shown in the description at acceleration when a single motor climbs; and lifting a single walking wheel when a robot performs obstacle crossing, wherein only one walking wheel has promotion power, a formulaas shown in the description is obtained through two-level speed reduction. The method provided by the invention considers the obstacle crossing of the front walking wheel and the normal walking of a rear walking wheel, the rotational inertia power itself as shown in the description, the rotation friction of the bearing itself as shown in the description, the speed-up torque of the motor rotation shaft as shown in the description, the robot whole machine inertial power as shown in the description, the glide component force of the robot whole machine along the slope direction as shown in the description and the kinetic friction force between a push rod and a wire as shown in the description are needed to be overcome when the walking wheels climb, the torque when a single motor starts acceleration can be calculated and obtained to meet the climbing requirement. When the walking wheels perform obstacle crossing, the two-level speed reduction is performed to obtain the obstacle crossing torque as shown in the description, and a corresponding motor model is selected according to the obstacle crossing torque to meet the climbing obstacle crossing requirement of the robot.

Description

technical field [0001] The invention relates to the technical field of power transmission line repair, and more specifically refers to a calculation method for climbing and surmounting obstacles of a power transmission line broken-strand repair robot. Background technique [0002] During the construction of overhead high-voltage transmission lines, phenomena such as wear and tear of the outer strands of the steel-cored aluminum strands often occur. The situation should be properly repaired in time to avoid the continued expansion of broken strands and the reduction of mechanical strength. [0003] At present, some automatic repairing robots have appeared on the market, for example: the Chinese invention patent whose application publication number is CN 102593751 A discloses a kind of high-voltage transmission line conductor repairing device, and the Chinese invention patent whose application publication number is CN 108075396A discloses The utility model relates to an elect...

AI Technical Summary

Problems solved by technology

However, when the transmission line is in a slope state and there are obstacles on the slope, if the propulsion force of the motor-driven traveling wheels is too small, it will not be able to meet the climbing requirements

However, if the motor is too large, it will increase the weight of the robot. For this reason, we provide a calculation method for climbing and overcoming obstacles for a robot that repairs broken strands in transmission lines, aiming at helping to choose a reasonable motor model and transmission system.

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