110kV输电线路巡检机器人的几何设计

2016 4th International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2016-10-01 DOI:10.1109/CARPI.2016.7745636

Xiang Yue, Hongguang Wang, Yingchun Yang, Yong Jiang

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引用次数: 2

摘要

根据巡检任务的要求和110kV输电线路障碍物的特点，提出了一种采用展开机构和龙门结构的巡检机器人机构。通过改变展开机构，机器人可以快速通过障碍物。采用龙门结构可以提高机构的刚度。根据电力传输的具体特点和电力公用事业运行环境的约束，定制几何参数。对悬架夹具的导航进行了仿真，并对其结构进行了分析。研制了样机，并进行了现场试验。仿真结果和现场实验结果表明，该机构具有运动稳定性好、承载能力强、越障能力强等特点。

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Geometric design of an inspection robot for 110kV power transmission lines

According to the requirements of inspection tasks and characteristics of obstacles on 110kV power transmission lines, a novel inspection robot mechanism which adopts unfolding mechanism and the gantry structure is presented. Through altering the unfolding mechanism, the robot can navigate the obstacle quickly. The gantry structure can raise the stiffness of the mechanism. Based on the constraints of the specific features of the electric power transmission and the context of power utility operation, the geometric parameters are customized. The navigation of suspension clamp is simulated, and the structure analysis is studied. A prototype has been developed, and the field experiments has been carried out. The simulation results and field experimental results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.

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来源期刊

2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)

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