Abstract：Firstly, this paper introduces the current situation of ultra high voltage (UHV) power grid patrol inspection and puts forward a kind of walking mechanism of tower patrol robot running on power line, and expounds its working principle and function. At the same time, the operation process of the single-line tower inspection robot is sorted out, and the movement process under different scenarios is analyzed, and the requirements for the motion mechanism satisfying the above multi-scenarios are put forward. Based on the requirements, the design of the tower inspection robot body and its motion mechanism is carried out in this paper: through the cooperation of the on-line active wheel and the off-line driven wheel. The driving force of the device is provided by the driving wheel, which generates friction upward, and the rubbing force adapted to the current single-line walking of the inspection robot is generated by the intelligent control operation unit, so as to achieve the purpose of single-line walking of the inspection robot. Finally, the force analysis of the mechanism is used to adjust the pressure of the driven wheel in different zones and the algorithm definition is used to realize the adaptive adjustment of the friction force in complex motion scenarios. Finally, the expected robot walking on the line is achieved, thus realizing the possibility of long-term inspection of the tower-based robot on the power line.
2019, Vol. 20 
