高压线路抱臂式巡检机器人越塔规划及辅助金具设计

doi:10.11985/2019.04.016

电气工程学报 ›› 2019, Vol. 14 ›› Issue (4): 106-112.doi: 10.11985/2019.04.016

• • 上一篇

高压线路抱臂式巡检机器人越塔规划及辅助金具设计

薛栋良^1,²

^1. 南瑞集团(国网电力科学研究院)有限公司南京 211106
^2. 国电南瑞股份有限公司南京 211106

收稿日期:2019-09-10 出版日期:2019-12-25 发布日期:2020-03-18
作者简介:薛栋良,男,1985年生,高级工程师。主要研究方向为高压输电线路、电力机器人。E-mail：dyfgsxdl@163.com

Plan of Tower Crossing and Design of Auxiliary Fittings for High-voltage Lines Arm-crossing Inspection Robot

Dongliang XUE^1,²

^1. NARI Group Corporation(State Grid Electric Power Research Institute), Nanjing 211106 China
^2. NARI Technology Co. Ltd., Nanjing 211106 China

Received:2019-09-10 Online:2019-12-25 Published:2020-03-18

摘要/Abstract

摘要：

高压输电线路巡检机器人作为一种替代人力巡检的智能化电网运检设备,因其智能化程度高、巡检工作效率高、巡检质量高的优势,具有广阔的产业化市场前景。抱臂式巡检机器人基于仿生学原理设计,参照树懒攀爬的特点设计机器人机械臂,在轻量化设计、运行效率、安全性等方面更具优势。抱臂式机器人结构特点鲜明,跨越杆塔需要利用架空线下方通道。基于这一特点,结合架空输电线路的特征,规划机器人跨塔运动动作,并设计一套辅助金具,解决抱臂式机器人跨塔的难题,并利用静力学仿真验证在正常工况下机器人行走其应力、应变、位移力学特性,确定应用边界条件。

关键词: 抱臂式巡检机器人, 动作规划, 辅助金具, 静力学分析

Abstract:

High-voltage transmission line inspection robot, as a kind of intelligent power grid operation and inspection equipment instead of human inspection, has a broad industrial market prospect due to its advantages of high intelligence, high efficiency and high quality of inspection. The overarm inspection robot is designed on the basis of bionics principle and with reference to sloth climbing characteristics, which has more advantages in lightweight design, operation efficiency and safety. The structure of the overarm inspection robot is distinctive, and crossing the pylon requires the use of the passage below the overhead line. Based on this feature, combined with the characteristics of overhead transmission lines, the movement of the robot across the pylon is planned, and a set of auxiliary tools is designed to solve the problem of the overarm inspection robot crossing the pylon, and the mechanical properties of stress, strain and displacement of the robot walking under normal working conditions are verified by statics simulation, and the application boundary conditions are determined.

Key words: Arm-crossing inspection robot, motion planning, auxiliary hardware, statics analysis

中图分类号:

TM755

薛栋良. 高压线路抱臂式巡检机器人越塔规划及辅助金具设计[J]. 电气工程学报, 2019, 14(4): 106-112.

Dongliang XUE. Plan of Tower Crossing and Design of Auxiliary Fittings for High-voltage Lines Arm-crossing Inspection Robot[J]. Journal of Electrical Engineering, 2019, 14(4): 106-112.

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高压线路抱臂式巡检机器人越塔规划及辅助金具设计

Plan of Tower Crossing and Design of Auxiliary Fittings for High-voltage Lines Arm-crossing Inspection Robot

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