Development of Overhead Transmission Lines Inspection Robot Capable of Crossing Steel Towers

摘要

Maintenance work for overhead transmission lines needs much labor and cost because it is currently executed by human. There is also a risk of falling down of worker if a ground wire is snapping. In order to save labor and cost, and keep safety, an overhead transmission lines inspection robot was developed. The remarkable feature of this robot is capability of crossing a pointed hat shaped steel tower. An arc-shaped arm, and a sensor box as balance weight are installed in the robot, then it is able to cross through a side of a steel tower. A practical prototype robot was developed and a series of proof-of concept tests, assembling work, traveling ability and tower crossing ability, were conducted using real scale facilities. An effectiveness of the crossing principle was confirmed through these tests. Weight reduction and refinement of the crossing procedure are expected in the future.