基于电磁吸附的输电线路角钢塔攀爬机器人结构设计  

Structure Design of Transmission Tower Climbing Robot Based on Electromagnetic Adsorption

作　　者：李军 庄红军 刘帅 周海 候永洪 莫刚 钟以平 鲁彩江 LI Jun;ZHUANG Hongjun;LIU Shuai;ZHOU Hai;HOU Yonghong;MO Gang;ZHONG Yiping;LU Caijiang(Bijie Power Supply Bureau,Guizhou Power Grid Co.,Ltd.,Bijie Guizhou 330006,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu Sichuan 610031,China;Guizhou Power Grid Co.,Ltd.,Guiyang Guizhou 550002,China)

机构地区：[1]贵州电网有限责任公司毕节供电局,贵州毕节330006 [2]西南交通大学机械工程学院,四川成都610031 [3]贵州电网有限责任公司,贵州贵阳550002

出　　处：《机床与液压》2020年第5期44-48,共5页Machine Tool & Hydraulics

摘　　要：通过对输电线路角钢塔攀爬机器人的攀爬环境分析,研制了一种输电线路角钢塔攀爬机器人。该机器人整体结构包括上下臂和上下部手爪,其结构简单,能提高机器人的可靠性和工作效率;手爪采用一种电磁吸附与二自由度冗余机械爪的复合结构,以保证夹持的快速性和可靠性,重点介绍了电磁吸附手爪的分析和设计过程。在此基础上,分析了输电线路角钢塔攀爬机器人的攀爬步态和越障步态,验证了机器人步态的合理性。该机器人可以代替工人攀爬输电线路角钢塔,降低了电力工人的工作风险,提高了工作效率,具有实用和推广价值。Through the analysis of the working environment analysis of transmission tower climbing robot,a transmission tower climbing robot is developed.The overall structure of the robot was included of upper arm,lower arm,upper claw and lower claw.The structure was simple so that the reliability and working efficiency of the robot was improved.The claw was combined of an electromagnetic adsorption and two degree of freedom(2DOF)redundant gripper in structure,so as to make the robot clamps rapidly and steadily.The design process of the electromagnetic adsorption part was introduced in detail.Furthermore,the climbing gait and obstacle negotiation gait of the climbing robot were analyzed in order to verify the rationality of the robot gait.The results show that the robot can climb the transmission towers instead of power workers,thus reducing the working risk of power workers and improving the work efficiency,with practical and promotional value.

关 键 词：铁塔攀爬 电磁吸附 夹持手爪 机器人越障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]