具有越障功能的输电线路除冰机器人设计  

Design of De-icing Robot on Transmission Line with Obstacle Negotiation Function

作　　者：张屹[1] 韩俊[1] 刘艳[2] 丁昌鹏[1] 朱大林[1] 

机构地区：[1]三峡大学机械与材料学院,湖北宜昌443002 [2]三峡大学电气与新能源学院,湖北宜昌443002

出　　处：《机械传动》2013年第3期34-39,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金资助项目(No.50945042)

摘　　要：分析国内除冰机器人设计概况,针对输电线路结构特点,提出了一种具有越障功能的除冰机器人设计方案,包括机械系统、控制系统两部分。机械系统由行走装置、越障装置和除冰装置组成;控制系统包括主控模块、无线操作模块、电机驱动模块和状态信息反馈模块。实验室以及野外真实线路性能测试实验表明,除冰机器人的机械系统设计合理,控制系统稳定有效。By analysing the present de- icing robot design in China, a design scheme of de - icing robot with obstacle negotiation function in consideration of the structure features of the transmission line is proposed. The design scheme consists of the design of mechanical system and the design of the control system. The mechanical system is composed by the walking device, obstacle negotiating device and de - icing device, the control system includes main control module, wireless control module, motor drive module and status information feedback module. Performance tests in both laboratory and field indicate that, the mechanical system design of the de - icing robot is reasonable and the control system is of great stablity and effecitveness.

关 键 词：输电线路 除冰机器人 越障 机械系统 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]