Design and Simulation of Autonomous Up-and-down System for Transmission Line Live Operation Robot with the UAV Assistance

Abstract

Aiming at the current bottleneck problem that restricts the practical application of robot system engineering in transmission line live operation, in order to improve the on-line and off-loading efficiency of live working robots on transmission lines and improve the practical level of the robot system as a whole, this paper proposes a design and operation method of autonomous on-line and off-loading mechanism of double-arm live working robots based on UAV assistance. Firstly, the realization process of autonomous up-and-down of the robot was analyzed, based on which the structure of the auxiliary hook of the up-and-down system and the lifting winch were designed. Then, the force analysis was carried out on the up-and-down process of the robot, and the appropriate winch drive motor was selected through theoretical calculation. In order to ensure the rationality of the up-and-down process, the operation motion planning was carried out on the up-and-down of the robot. Stress analysis and simulation were carried out on the maximum load bearing point of the auxiliary hook and the walking wheel mechanical arm under different states, and the results showed that the hook and the robot arm could meet the requirements of the robot loading and unloading, and the whole robot loading and unloading system was designed reasonably. Compared with the traditional loading and unloading system designed in this paper, the loading and unloading efficiency could be improved. It has important theoretical significance for the development of the physical system of robot uplink and down.