一种巡线机器人的动力学分析与样机研制

Dynamic analysis and prototype development of line patrol robot

高压输电线路通常为裸导线,暴露于野外环境之中,长时间的风雪雷击、机械张力、电气闪络,易造成线路损伤,从而影响输电线路线路运行的安全性及稳定性。因此,针对110 kV高压输电线路,设计了一种轻量化双臂巡线机器人。对巡线机器人进行动力学仿真,验证了机器人机械结构设计以及关节电机选型的合理性,确保了巡线机器人能实现在输电线上爬行、越障等作业。制作了巡线机器人的样机并对其进行调试,最后在实验室搭建的110 kV输电线路试验环境上完成了巡线机器人行走、爬坡以及越障实验,实验结果表明本课题设计制作的巡线机器人各项功能均实现了设计指标的要求。

High-voltage transmission lines are usually bare conductors,exposed to the wild environment,long-term wind and snow wear,lightning strikes,mechanical tension,easy to cause line damage,thus the safety and stability of transmission line operation are affected.Therefore,A lightweight double-arm lined robot for 110 kV high-voltage transmission lines is designed.In this paper,the dynamic simulation of the patrol robot is carried out,which verifies the rationality of the mechanical structure design of the robot and the selection of the joint motor,and ensures that the patrol robot can realize the crawling and obstacle crossing on the transmission line.The prototype of the patrol robot was made and debugged.Finally,the patrol robot walking,climbing and obstacle-obstacle experiments were completed on the test environment of the 110 kV transmission line built in the laboratory.The experimental results show that the patrol robot designed and manufactured by this project Each function fulfills the requirements of design indicators.