Analysis and Simulation of Dynamic Characteristics for Multi-Split Transmission Line Splicing Pipe Flaw Detection Robot

Abstract

The splicing pipe is an important hardware on multi-split transmission lines. The quality of its crimping and internal structure directly affects the normal and stable operation of the transmission line. The online flaw detection robot for the splicing pipe is an important means to realize the automatic flaw detection of the splicing pipe. This paper on the basis of proposing a robot mechanism configuration suitable for multi-split transmission line splicing pipe flaw detection, aiming at the matching relationship between the imaging plate movement and the mechanism joint driving torque during the splicing pipe flaw detection process, a flaw detection method is established by using the Lagrangian method. The dynamic model of the operation process of the imaging board is installed, and the relationship between the joint motion of each mechanism and the pose change of the imaging board in the area under the jurisdiction of the four-split wire is analyzed. The displacement and velocity curves of each joint motion of the robot can be obtained. From the simulation results, it can be known that the joint motion of the robot is continuous and stable, and the motion of the imaging plate is driven continuously and smoothly, which realizes the coordinated pose control between the imaging probe and the imaging plate. Coupling pipe flaw detection operation, the research in this paper has important theoretical significance and practical application value for the design of the transmission line joint pipe flaw detection robot system, especially the joint drive mechanism design.