摘要
研制了一台沿架空高压输电导线自动爬行和跨越障碍物的机器人。机器人的承重行走采用伞形轮来实现,伞形轮的越障运动由槽凸轮机构控制。机器人的爬行运动采用行程放大机构和抓握机构来实现,爬行的协调运动和抓紧力的自适应控制由集成电液伺服系统实现。机器人可携载检测和通信设备,对输电线路进行巡检作业。
A robot which can automatically crawl along overhead high--voltage transmission lines and span obstacles was presented. The robot was supported and driven by umbrella shaped wheels, whose motions of spanning obstacles were controlled by groove pulley and cam mechanism. The crawling motion was realized by a stroke amplification mechanism and grasping mechanism. The harmonizing control of the crawling motion and self-aptive control of grasping force were generated by an in tegrated electro-hydraulic servo system. The robot can carry the equipments of detection and communication, while inspecting the transmission lines.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第3期237-240,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2002AA420110-6
2005AA42006-1)
关键词
输电导线
爬行机器人
机构
电液伺服系统
transmission line
crawling robot
mechanism
electro-hydraulic servo system
