输电线防振锤复位机器人机构设计

Mechanism Design of a Maintenance Robot for Retrieving Vibration-Dampers on Transmission Lines

针对输电线路巡检及维护的自动化需求,提出并设计了一种新型适用于带电线路的防振锤复位机器人,以期代替人工完成危险的高空作业任务。该机器人机构紧凑,左右对称,包括行走越障机构和复位作业机构。通过分析防振锤结构特征,创新采用仿人作业机理设计了复位作业机构,此机构对线路防振锤具有良好的适应性,相比传统复位工具采用的冲击和拖动作业方式,具有不损伤线路的优点。通过分析机器人爬坡能力,设计了轮爪夹持机构,以提高机器人的爬坡性能。介绍了机器人的工作原理,推导了机器人的运动学方程,开展了模拟实验,验证了新型防振锤复位机器人机构设计的可行性和有效性。

To meet the need of power transmission inspection and maintenance automatically,a novel mobile robot with symmetrical and compact mechanism is proposed to retrieve the slipping vibration-dampers on energized lines and release linemen from dangerous work.The robot is composed of a locomotion and negotiation mechanism and a maintenance mechanism.Basing on the structural characteristics of vibration-dampers,a retrieval mechanism is presented to imitate the work of linemen.The retrieval mechanism is very adaptable to the unfixed dampers on the line.It does no harm to the line when retrieving the dampers in comparison with some other conventional tools through the methods of impacting and dragging.The grade ability of the robot is analyzed and a wheel-gripper mechanism is designed to improve the climbing performance of the robot.And then the working principle of the robot is introduced and the kinematics equations are deduced.Finally,the feasibility and validity of the robot mechanism are proved through the experiments in the laboratory.