一种输电线缆多功能巡检机器人

A Multi-functional Inspection Robot for Transmission Line

随着电力系统的迅猛发展,输电线缆的人工巡检工作日益繁重,输电线缆通常架设于环境复杂、人口密集的地区,这给线缆的输电安全和日常维护带来很多困难,采用智能化机器人技术代替人工巡检方式已成为国内外研究热点。针对目前输电线缆工作时可能出现的问题,设计一种输电线缆多功能巡检机器人。首先对机器人系统的整体方案进行设计,确定机器人行走装置、涂胶装置和线缆监控装置的结构设计,以及机器人控制系统与地面监控系统构成的控制方案;然后对机器人的机械结构进行了深入研究和分析,包括驱动机构、涂胶机构、支撑机构,论证了涂胶机构的可行性;最后建立了机器人的样机模型,研制了相应的样机,对机器人的各个机构进行分析,也对机器人上下坡爬行受力情况和稳定运行的条件进行分析,增强了机器人的巡检稳定性。通过深入分析巡检机器人的总体设计方案,论证了该设计方案的可行性和可靠性。

With the rapid development of power system,the manual inspection of transmission cables is becoming increasingly heavy.Transmission cables are usually erected in areas with complex environment and dense population,which brings many difficulties to the transmission safety and daily maintenance of cables.The use of intelligent robot technology instead of manual inspection has become a research hotspot at home and abroad.Aiming at the possible problems in the current work of transmission cable,a multifunctional inspection robot for transmission cable was designed.Firstly,the overall scheme of the robot system was designed to determine the structural design of the robot walking device,gluing device and cable monitoring device,as well as the control scheme composed of the robot control system and the ground monitoring system.Then,the mechanical structure of the robot was deeply studied and analyzed,including driving mechanism,gluing mechanism and support mechanism,and the feasibility of gluing mechanism was demonstrated.Finally,the prototype model of the robot was established,the corresponding prototype was developed,the various mechanisms of the robot were analyzed,and the force and stable operation conditions of the robot climbing up and down the slope were also analyzed,so as to enhance the stability of the robot.Through in-depth analysis of the overall design scheme of the inspection robot,it is demonstrated that the design scheme is feasibility and reliability.