突发灾害下的输电铁塔应急安全检测机器人的结构设计  

Structural Design of Transmission Tower Emergency Safety Inspection Robot under Sudden-onset Disasters

作　　者：张屹[1] 韩俊[1] 张虎[1] 杨龙[1] 陈柳春[1] 

机构地区：[1]三峡大学机械与材料学院,湖北宜昌443002

出　　处：《三峡大学学报（自然科学版）》2010年第3期33-36,共4页Journal of China Three Gorges University：Natural Sciences

摘　　要：针对突发灾害下输电铁塔的损坏情况和目前对输电铁塔进行安全检测的需求,设计了一种突发灾害下的输电铁塔应急安全检测机器人,该机器人由行走越障装置和检测装置两部分组成.主要介绍了机器人的整体机构设计和各个机构的工作原理,并分析了机器人的运动过程.该机器人可以在输电铁塔上自主上下攀爬,遇到障碍物时可自主翻越,检测设备可以对输电铁塔的角钢进行安全检测.通过Pro/E仿真模拟和慧鱼模型制作试验,证实该机器人具有良好的工作性能.Under the transmission tower for an unexpected disaster damage as well as the current transmission tower for safety testing requirements,presents a sudden disaster emergency under the transmission tower safety inspection robot,The robot consists of two parts of walking and climbing obstacle device and detection device.This paper introduces the overall body of robot design and working principle of the various agencies and analyzes the movement of the robot.The robot can be independently up and down on the transmission tower,when confronted with obstacles,they can self-climb,testing equipment can carry out security checks for transmission tower of the angles.Through the Pro/E simulation and Fischertechnik model making test,it is confirmed that the robot has a good working performance.

关 键 词：安全检测机器人 攀爬 越障 结构设计 

分 类 号：TH112[机械工程—机械设计及理论]