输电铁塔攀爬机器人的结构分析与实验验证  

Structural Analysis and Experimental Verification of Climbing Robot for Transmission Tower

作　　者：魏军英[1] 张聪 王吉岱[1] 张峰 Wei Junying;Zhang Cong;Wang Jidai;Zhang Feng(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China;Shandong Luneng Intelligence Technology Co.,Ltd.,Ji'nan 250101,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590 [2]山东鲁能智能技术有限公司,山东济南250101

出　　处：《机械传动》2021年第1期140-145,共6页Journal of Mechanical Transmission

摘　　要：首登输电铁塔检修人员缺乏完善的临时防坠保护装置,研发输电铁塔攀爬机器人替代首登人员登塔,可以保障登塔人员的人身安全。根据实际作业环境及其功能要求,结合仿生学原理,提出了一种基于仿生蚕特征的攀爬机器人模型。对机器人进行结构设计并分析攀爬过程中吸附的稳定性,建立机器人运动学模型;对其作业空间进行了仿真分析,验证了机器人结构的合理性。试制物理样机并进行相关攀爬实验,实验结果表明,该机器人具有替代首登人员登塔的可行性。Due to lack of temporary falling protection device,the power transmission tower climbing robot is needed to research and developto replace the first climbing personnel to guarantee their safety.According to actual working environment and its functional requirements,a climbing robot model based on bionic silkworm characteristics is proposed in combination with bionic principles.The structure of the robot is designed and the adsorptionstability in the climbing process is analyzed.The kinematic model of the robot is established and the working space is simulated to verify the rationality of the robot structure.The physical prototype is manufactured and the relevant climbing experiments are carried out,the experimental results showing that the robot can replace the personnel to climb the tower.

关 键 词：攀爬机器人 结构设计 运动学分析 实验验证 

分 类 号：TM753[电气工程—电力系统及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]