高压线行走越障机器人中间夹爪升降系统的研究

Research on Lifting and Lowering Movements of Intermediate Jaw to Walking and Obstacle-surmounting Robot on High-voltage Line

针对目前高压线行走越障机器人的研究现状,提出了一种步进式与轮式混合爬行结构的高压线行走越障机器人,其结构紧凑,线上行走越障稳定可靠,机器人越障盘的提升和下降依靠中间夹爪的升降来实现,通过对悬垂线夹相关尺寸的分析,结合高压线的柔性特点,建立了相关的数学模型,推导出中间夹爪的位移变化与越障盘升降高度之间的关系,确定了固定高压线中间夹爪升降的位移变化范围,并通过试验验证了中间夹爪升降系统设计的可行性。

In view of the current research on the walking and obstacle-surmounting robot on the high-voltage line at home and abroad, this paper presents a novel of walking and obstacle-surmounting robot, which its structure is stable and it walks stably online and relies on the role of walking and climbing obstacle with three of its jaws and front and rear obstacle disk to achieve the overall functionality, including lifting and lowering movements of obstacle-disk is to rely on going up and downing movements of the middle of the jaw. Through the analysis of the suspension clamp, combined with the flexibility of high-voltage characteristics, the relevant mathematical model is established to determine the relationship between the height of intermediate jaw and displacement of the obstacle plate change. Finally, experiments were carried out to verify the feasibility of the design.