输电铁塔损伤检测机器人攀爬越障部分的结构优化设计  

Structural Optimization Design of the Obstacle Climbing Part of the Transmission Tower Damage Detection Robot

作　　者：韩俊[1] 张屹[1] 卢超[1] 陈柳春[1] 

机构地区：[1]三峡大学,湖北宜昌443002

出　　处：《江西电力职业技术学院学报》2011年第1期4-11,共8页Journal of Jiangxi Vocational and Technical College of Electricity

摘　　要：针对灾后输电铁塔的损坏情况及输电铁塔安全检测的需求,介绍了一种灾后输电铁塔损伤检测机器人攀爬越障部分的机构设计和各机构的工作原理,分析了该机器人攀爬越障部分的运动过程。通过Pro/E仿真模拟和慧鱼模型制作试验,证实该机器人能在输电铁塔上攀爬,可自主越障,具有良好工作性能。该机器人能替代人工上塔检修,提高检修工作安全性。For the post-disaster damage of the transmission towers as well as the transmission tower safety testing requirements,this paper introduces structural optimization design of the obstacle climbing part of a trans- mission tower damage detection robot and the working principle of institutions,analysis movement process of the robot obstacle climbing part. The robot obstacle climbing part can climb on the transmission tower,and au- tonomous obstacle. By the Pro/E simulation and Fischertechnik model making test confirmed that the robot has a good working performance. The robot can replace manual maintenance on the tower to improve the safety of maintenance work.

关 键 词：输电铁塔 检测机器人 攀爬 越障 运动分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]