电力巡检机器人的磁力驱动方法  

Research on Magnetic Drive Method of Electric Power Inspection Robot

作　　者：严宇 贺建波 熊一帆 刘旭辉 徐显金[2] YAN Yu;HE Jianbo;XIONG Yifan;LIU Xuhui;XU Xianjin(State Grid Hunan Maintenance Company,Substation Intelligent Operation and Inspection laboratory of State Grid Hunan Electric Power Co.,Ltd,Changsha 410000,China;College of Mechanical Engin.,Hubei Univ.of Tech.,Wuhan 430068,China)

机构地区：[1]国网湖南省电力有限公司检修公司,国网湖南省电力有限公司变电智能运检实验室,湖南长沙410000 [2]湖北工业大学机械工程学院,湖北武汉430068

出　　处：《湖北工业大学学报》2021年第5期23-26,36,共5页Journal of Hubei University of Technology

摘　　要：巡检机器人进行电力巡检时,在高压杆塔附近的大坡段路线经常出现一种打滑、磨损现象,导致巡检效率低。针对此问题提出一种基于高压磁场的磁力驱动方法。利用高压导线周围的磁场分布特性建立磁力驱动物理模型,分析机器人磁力驱动模型的最佳尺寸,研究驱动力大小与电流大小、通电线圈匝数的关系,并用二项式拟合法得出驱动力大小与线圈匝数的定量关系;最后对磁力驱动方法进行理论计算和仿真分析。仿真结果与理论计算的结果基本一致,表明磁力驱动方法对解决机器人在大坡段路线巡检时磨损、打滑的问题是可行的。Considering the problem of slipping and abrasion in the large slope section near the high-voltage poles and towers when the inspection robot conducts electrical inspections,which leads to the low inspection efficiency,we proposed a magnetic drive method based on a high-voltage magnetic.Firstly,the physical model of the magnetic drive is established by using the magnetic field distribution characteristics around the high-voltage wire.The optimal size of the magnetic drive model of the robot is analyzed.The relationship between the driving force and the transmission current,the number of turns of the energized coil are studied.Furthermore,the binomial fitting method was used to obtain the quantitative relationship between the size of driving force and the number of turns of the coil;Finally,the theoretical calculation and simulation analysis of the magnetic drive method are carried out,which demonstrate simulation results and theoretical calculation are basically consistent,showing that the magnetic drive method is feasible to solve the problem of slipping and abrasion when the robot is inspecting the route of a large slope section.

关 键 词：巡检机器人 磁力驱动 通电线圈 仿真分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]