输电线路走廊下大型树木远程带电砍伐机器人

Remote Large Tree Cutting Robot for Power Transmission Line Corridor with Uninterrupted Operation

针对输电线路下修剪大型树木易发生人身触电或人身伤亡的安全隐患问题,这里提出一种不停电输电线路走廊下大型树木远程智能砍伐的机器人。首先详细阐述了电力走廊下砍伐作业的风险及传统作业方式的弊端,归纳了机器人应具备条件,通过对机器人各部件的机械设计,并利用三角形砍伐原理实现对倒树方向的控制。其次,基于人机协同控制、视频无线传输技术、APP研发技术设计了机器人控制系统的详细方案。最后搭建了机器人样机,并在220kV等带电线路下开展了示范应用。试验结果表明,砍树机器人可以有效避免运维人员在带电线路下的作业风险。

Pruning large trees under power transmission lines has potential safety hazards for personal electric shock or personal injury.In this regard,it proposes a remote intelligent wood-cutting robot under the transmission line corridor,which can complete the felling of the tree without cutting off the power supply of the transmission line.Firstly,the danger of tree cutting operation under power transmission line corridor and the disadvantages of traditional wood-cutting manual method are discussed,the necessary features for the robot are summarized.A Triangle cutting principle is used to control the falling direction.Then,based on the technique of man-machine cooperation control,video wireless transmission and APP development,a design scheme of a robot system is proposed.Finally,the principle prototype of robot is designed,which is demonstrated in test 220kV power transmission lines.The results show that the developed method can effectively avoid the risk of operation and maintenance personnel cutting trees under the uninterrupted power transmission line corridor.