一种三臂式输电线路巡检机器人机械结构设计  

Mechanical structure design of a three arm transmission line inspection robot

作　　者：毛先胤 马晓红 牛唯 许逵 李林峰 鲁彩江 MAO Xianyin;MA Xiaohong;NIU Wei;XU Kui;LI Linfeng;LU Caijiang(Guizhou Electric Power Test Research Institute,Guiyang 550002,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]贵州电网有限责任公司电力科学研究院,贵阳550002 [2]南方电网防冰减灾重点实验室,贵阳550002 [3]西南交通大学机械工程学院机电测控系,成都610036

出　　处：《自动化与仪器仪表》2021年第8期192-195,共4页Automation & Instrumentation

基　　金：中国南方电网有限责任公司科技项目,输配电线路覆冰监测有效性提升技术研究(子课题3)(No.GZKJXM20191287)。

摘　　要：高压输电线路所处地形复杂,山区、森林是部分高压线路的必经地,并且部分地区由于冰雪覆盖导致工作人员以及巡线车辆很难到达。为保证高压输电线的正常运作以及解决人工巡线难度高、效率低等问题,提出了一种三臂式输电线路巡检机器人的机械结构设计,并进行了越障分析。该机器人采用对称模块化结构设计。行走模块具有快速行走和爬行两种行走状态;夹紧模块采用夹紧轮颚式夹紧,夹紧状态稳定可靠;越障模块通过机械臂的协调运动配合进行越障,其在越障过程中采用平动结构代替了普通巡线机器人的摆动结构,提高了机器人的稳定性、可靠性与可操控性。High-voltage transmission lines are located in complex terrain,Mountainous areas and forests are the necessary places for some high-voltage lines,and in some areas,the staff and patrol vehicles are difficult to reach due to ice and snow.To ensure the normal operation of high-voltage transmission lines and solve problems such as high difficulty and low efficiency of manual line inspection,the mechanical structure design and obstacle crossing analysis of a three-arm high-voltage line walking robot are introduced.The robot adopts a symmetrical modular structure design.The walking module has two walking states:fast walking and crawling.The clamping module adopts clamping wheel jaw clamping,the clamping state is stable and reliable.The obstacles crossing module uses the coordinated movement of the robotic arm to cross obstacles.In the process of crossing obstacles,the robot uses a translation structure to replace the rotating structure of an ordinary line inspection robot,which improve the stability,reliability and maneuverability of the robot.

关 键 词：高压输电线 巡线机器人 结构设计 越障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]