自升降带电作业机器人的机构分析

Mechanism analysis of an automatic up-down hot-line working robot

介绍了一种用于500 kV六分裂式导线输电线路的自升降带电作业机器人的结构组成和工作原理,提出了一种八吊臂轮式越障行走机构和自锁式升降机结构,并对行走机构和防滑轮的运动性能进行了分析,同时对自锁式升降机的爬升机构进行了动力学分析。该机器人具有良好的越障、爬坡和自升降性能,可满足500 kV输电线路的巡检和简单维修需要。

The paper introduced the structure and the operating principle of an automatic up-down hot-line working robot used on 500 kV six split type power transmission line. The paper put for- ward a kind of obstacle-navigation structure that has eight suspen- sion arms, eight wheels and the self-locking elevator structure. The kinetic analysis of the running gear and the wheel antiskid were carried out. The robot has a good performance of obstacle-navigation, climb and automatic up-down. It can meet the demand of simple maintenance and inspection on 500 kV transmission lines.