新型抱臂式架空输电线路巡检机器人研制

Development of a Novel Inspection Robot for High Voltage Power Transmission Line

应用机器人替代人工实现架空输电线路的精益化管理,对解决线路运维结构性缺员造成的影响具有十分重要的意义。针对目前巡检机器人存在的线路改造工作量大、巡检效率低、智能化程度低等问题,提出一种三臂抱臂式巡检机器人及与之匹配的悬挂式过桥装置设计方法,包括整体设计、结构设计、控制系统、感知系统等。对机器人关键结构和悬挂式过桥装置进行了仿真分析,验证了机器人结构设计的合理性和悬挂式过桥装置的可行性。样机测试结果表明该机器人仅需在耐张塔处搭建过桥设施,即可实现全线连续可靠自主巡检。

The adoption of robots instead of humans to achieve lean management of overhead transmission lines is of great significance in addressing the impact of structural shortages in line operation and maintenance.Aiming at the problems of current inspection robots in terms of heavy workload,low inspection efficiency,and low intelligence,a three-arm inspection robot and a matching suspension bridge device design method were proposed,including overall design,structural design,control system,perception system,etc.The key mechanism of the robot and the suspension bridge crossing device were simulated and analyzed,which verified the rationality of the robot structure design and the feasibility of the suspension bridge crossing device.The prototype test results show that the robot only needs bridge facilities at the tension tower to achieve continuous and reliable autonomous inspections across the entire line.