一种新型三臂式巡线机器人设计

Design of a New Three-arm Line-tracking Robot

为了保证输电线路的安全稳定运行,需要定期对其进行巡检,针对具有防震锤、悬垂线夹、耐张线夹、带有转弯跳线杆塔的复杂的高压输电线路目前没有应用于实际线路的巡检机器人的问题,设计了一种新型的、具有多种方式越障的三臂机器人。该机器人由旋转副、移动副、行走刹车于一体的前臂与2个具有刹车功能和旋转副的异位随动后臂构成,通过前后臂的配合实现越障巡检的能力。然后针对具有防震锤、悬垂线夹等障碍的输电线路,详细设计了机器人的越障方法,最后建立了巡检机器人的仿真运动模型,通过仿真分析,验证其避障过程,结果表明该机器人机构设计合理、避障样式多样化及越障过程简洁化,因此该机器人具有很好的环境适应性,在保证速度的同时能够安全稳定运行。

In order to ensure the safe and stable operation of transmission lines,it was necessary to inspect them regularly.To solve the problem that the complex high-voltage transmission line with shock hammer,suspension clamp,tension clamp and turning jumper tower has not been applied to the actual line inspection robot at present,a new type of three-arm robot with multiple ways of obstacle surmounting was designed.The robot was consisted of a rotating pair,a moving pair,a walking brake in one forearm,two heterotopic follow-up hind arms with braking function and rotating pair.The ability of obstacle surmounting inspection was realized by the cooperation of the forearm and the hind arm.Then,aimed at the transmission lines with obstacles such as shock hammer and suspension clamp,the obstacle surmounting method of the robot was designed in details.Finally,the simulation motion model of the inspection robot was established.The obstacle avoidance process was verified by simulation analysis.The results showed that the mechanism of the robot was reasonably designed,the obstacle avoidance style was diversified and the obstacle surmounting process was concise.Therefore,the robot designed had a very good performance,environmental adaptability while ensuring speed,it can be operated safely and steadily.