Faced with the problem of frequent slippage of the wheel-arm inspection robot in overhead high-voltage transmission lines, a magnetic linear drive method, based on high-voltage direct current (HVDC) magnetic field, is proposed: The ampere force of an enhanced HVDC magnetic field, generated by an innovatively arranged current-carrying coil, is used as the driving force for the traction robot, replacing the traditional wheel-arm driving method, thereby eliminating the slip. A physical model for the magnetic driving force is established, according to the characteristics of the magnetic field around the HVDC transmission line and the driving force requirements of the robot. The relationship between the magnetic driving force, the physical model size, and the number of coil windings is analyzed. The magnetic drive model is simulated using the COMSOL software version is 5.0. The simulation results of the magnetic drive force model are compared to theoretical calculations, proving the proposed method as correct. The magnetic drive device is constructed according to the proposed magnetic drive model and experiments are carried out. The results show that the magnetic drive device can provide enough traction to drive the robot motion, proving that the proposed magnetic linear drive method is technically feasible.

中文翻译：

---

高压直流巡检机器人磁性线性驱动方法

针对架空高压输电线路轮臂巡检机器人频繁打滑的问题，提出一种基于高压直流（HVDC）磁场的磁线性驱动方法：创新布置的载流线圈产生的高压直流磁场作为牵引机器人的驱动力，取代了传统的轮臂驱动方式，从而消除了打滑。根据高压直流输电线路周围磁场的特性和机器人对驱动力的要求，建立了磁驱动力的物理模型。分析了磁驱动力、物理模型尺寸和线圈匝数之间的关系。磁驱模型使用 COMSOL 软件 5.0 进行仿真。将磁驱动力模型的仿真结果与理论计算进行了比较，证明了所提出的方法是正确的。根据提出的磁驱动模型构建磁驱动装置并进行实验。结果表明，磁力驱动装置可以提供足够的牵引力来驱动机器人运动，证明所提出的磁力线性驱动方法在技术上是可行的。