智能悬挂连接式巡检系统动态分析及工况仿真实验

Dynamic characteristic analysis and working condition experimentof intelligent control suspension connection patrol inspection system

由于高压线路地处偏远地区,日常巡检维护并不完善,一旦出现问题,可能会对高压线路造成巨大的损失。为有效提高高压线路巡检时工作效率问题,对悬轨巡检机器人在高压输电线路曲线段的运动机理进行深入研究分析,同时采用欧拉分析法构建巡检机器人运动组件的动力学建模,针对高压线巡检机器人的工作状态进行了研究。结果表明,所提出的悬挂轨道式机器人在平直状态下的震动最少,在攀爬状态下的震动最大,总体上工作平稳,能够实现对高压输电的高效巡检。同时巡检机器人在高压线路工作时的越障能力及稳定性较好。研究结果对悬挂轨道巡检机器人的研制具有指导意义。

As the high-voltage line is located in a remoted area,the routine inspection and maintenance are not perfect,once there is a problem,it may cause huge losses to the high-voltage line.In order to effectively improve the work efficiency of the inspection of high voltage transmission lines,the movement mechanism of the suspension rail inspection robot in the curve section of the high voltage transmission line was carried out,and in-depth research and analysis were applied.At the same time,the Euler analysis method was used to build the dynamic model of the inspection robot s motion components.The working state of the high voltage line inspection robot was experimentally studied.The test results showed that the proposed suspension track robot had the least vibration in the straight state,the largest vibration in the climbing state,and generally worked smoothly,and could achieve efficient inspection of high voltage transmission.At the same time,the inspection robot had good obstacle surmounting ability and stability when working on high voltage lines.The research results can provide guidance for the development of the suspension track inspection robot,and can further improve the safety of high-voltage lines.