摘要
为解决输电拉线的自动除锈防护难题,提出了一种新型拉线除锈机器人的总体方案,完成了行走、压紧、调节、除锈等主要机构的设计及控制系统的设计,构建了拉线除锈机器人的总体系统。基于SolidWorks创建了机器人三维实体模型,并应用ADAMS软件建立了机器人的虚拟样机,对其运动学和动力学特性进行了仿真分析,进而制作了实物样机,完成了现场试验,仿真和试验结果均验证了设计方案的可行性和有效性,机器人能够实现拉线的自动除锈和防护。
In order to solve the problem of automatic rust removal and protection of power drawing cables,a new type of rust removal robot was proposed.The design of main mechanisms such as walking,pressing,adjustment,rust removal and control system were completed,then the overall system of the rust removal robot was constructed.The 3 D model of the robot was set up by SolidWorks,and the virtual prototype of the robot was established by ADAMS software.After that,the simulation analysis of its kinematic and dynamic characteristics were carried out.Finally,a prototype of the rust removal robot was developed,and the scene simulation experiment was done.Results of simulation and experiment verify the feasibility and effectiveness of the design scheme.It is concluded that the robot can realize the automatic rust removal and protection for power drawing cable.
作者
杨蔚华
徐山青
余波明
方子帆
何孔德
YANG Wei-hua;XU Shan-qing;YU Bo-ming;FANG Zi-fan;HE Kong-de(School of Mechanical and Power Engineering,China Three Gorges University,Yichang 443002,China;Yichang Key Laboratory of Robotics and Intelligent Systems,China Three Gorges University,Yichang 443002,China;Maintenance Branch of Jiangsu Electric Power Co.,Ltd.,Huaian 223001,China)
出处
《科学技术与工程》
北大核心
2022年第25期10998-11004,共7页
Science Technology and Engineering
基金
国家自然科学基金(51775307)
水电机械设备设计与维护湖北省重点实验室开放基金(2018KJX09)
机器人与智能系统宜昌市重点实验室开放基金(JXYC00014)
国网江苏省电力有限公司检修分公司科技项目(SDHZ2019147)。
关键词
拉线
除锈机器人
系统设计
虚拟样机
ADAMS
仿真
drawing cable
rust removal robot
system design
virtual prototype
ADAMS
simulation
