高压输电线路模块可重构移动作业机器人的设计及实现

Design and realization of module reconfigurable mobile robot for high-voltage transmission line

在智能巡检机器人技术基础上,通过对作业环境的综合分析,针对高压输电线路的金具安装与拆卸、破损导线修补、导/地线除冰和线路巡检等检修维护作业任务,提出了面向多作业任务的模块可重构移动作业机器人的机构构型,通过对构型的分析与综合,对移动作业机器人进行了单元模块的划分并提出了可重构的解决方案.其中,单元模块包括移动机器人载体平台单元、作业机械臂单元、末端执行器单元及其连接单元等类型,面向不同作业任务的机器人均由这4类模块构成.设计了各单元模块,按照前述可重构方案给出了各面向具体作业任务的移动作业机器人虚拟样机及其运动规划仿真.研制了单元模块,分别给出了面向线路巡检和面向线路除冰作业的移动作业机器人应用例,模块划分以及重构方案正确可行.

For the tasks of installation and removal of fittings,broken power line repairing, deicing and inspection for the high voltage transmission line, the classification of module units and the solution of reconfiguration were proposed for the multi-tasks modular reconfigurable mobile operation robot on the basis of inspection robot technology and the comprehensive analysis and synthesis of the working environment. The module units included robot carrier platform unit, the operation manipulator unit, the actuator unit and the connection unit; and each operation robot was constituted by the four kinds of units. Each module unit was designed and the virtual prototype and the motion simulation for each specific task were also pres- ented. Some modules were developed and the mobile operation robots for inspection and deicing were applied successfully to verify the correctness of the classification and reconfiguration solution for the multitasks modular reconfigurable mobile operation robot.