一种新型输电线路除冰机器人的本体结构设计

Design of a novel mechanical structure of deicing robot for power transmission lines

针对现有除冰机器人除冰效率较低、运行不稳定等特点,通过对国内外除冰方法的比较,设计了一种新型的输电线路除冰机器人。该机器人采用铣削与敲击复合的除冰方式,并且应用组合切削刀这种新型结构,保证了机器人可以高效、安全的去除线路上的覆冰;通过对组合切削刀切削力的计算保证了切削能力,同时降低了能耗;整个机器人由三臂组成,每只手臂设有摆臂机构和伸缩机构,可以按照规定的路径,通过位姿的调整,实现灵活越障;机器人可以通过对控制箱位置的调整,提高越障时的稳定性。

Because of lower efficiency and unstable operating of the deicing robot available,a novel mechanical structure of deicing robot for power transmission lines was designed after comparing the deicing methods applying home and abroad.The milling-knocking method is applied with the new structure combining both cutter and chopper which ensure the robot to remove the ice covered on the lines efficiently and safely.The cutting ability is guaranteed and energy is reduced through the calculation of cutting force.The robot is composed of three arms and each arm has a swinging and telescopic mechanism.So it can stride various obstacles flexibly according to the prescribed path through adjusting posture.The stability shall be improved through adjusting the position of the control casing.