高压输电线路巡检机器人机构设计及运动学分析

Mechanism Design and Kinematic Analysis of Inspection Robot for High Voltage Transmission Lines

由于跨越式高压输电线路巡检机器人越障效率较低且存在安全隐患等问题,文中提出了一种新型的穿越越障巡检机器人的机构设计。通过综合考虑机器人越障运动特点和机器人运行的地线线路环境,该结构设计采用双臂同侧对称悬挂的轮臂复合式机械结构,主要由行走机构、机械臂、压紧机构、锁臂结构和展臂机构组成。文中详细介绍了该机器人的各机构特点,并基于D-H法建立了机器人机构的运动学模型,采用该模型对文中提出的机构设计进行了计算分析,证明了该机构设计的合理性。通过模拟线路试验和现场示范应用说明,文中提出的机构构型具有自由度少、结构简单的特点,有效降低了越障难度,提高了机器人的越障效率和安全性,实现了机器人对高压输电线路的全自主长距离巡检。

This paper proposed a new mechanism design of the inspection robot by running through the high voltage transmission line to improve the negotiation efficiency and safety. By comprehensive consideration of the robot structural characteristics and running environment complexity, the inspection robot was designed based on the compound wheel-arm mechanism with two symmetrical arms at one side.This robot mechanism was comprised of driving mechanism, arm mechanism, pressing mechanism, locking mechanism and extending mechanism, all of which were illustrated in details. The kinematic model was developed based on the D-H method to validate the proposed mechanism design. The results showed that it satisfied the requirement of motion. The experiments were carried out both on the simulated and real world high voltage lines. The implementations indicated that, low degree of freedom and compact structure simplified the negotiation of inspection robot, and improved the negotiation safety and efficiency when the robot ran on the high voltage line. Moreover, this mechanism design helped to improve the robot running ability with long distance automatically, and made the robot be more applicable to complex running line environments.