电力系统高空作业爬杆机器人结构设计与性能分析  

Structural design and climbingclamping performance analysis ofpower system aerial work platform

作　　者：丁述勇[1] 丁文洁 沈宏丞 张征[2] DING Shuyong;DING Wenjie;SHEN Hongcheng;ZHANG Zheng(Zhijiang College,Zhejiang University of Technology,Shaoxing 312030,China;College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学之江学院,浙江绍兴312030 [2]浙江工业大学机械工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2022年第3期284-289,共6页Journal of Zhejiang University of Technology

摘　　要：为解决目前电力系统高空作业危险性高、自动化程度低的问题,设计了一种电力系统高空作业爬杆机器人。首先,根据电杆参数与实际作业情况确定爬杆机器人总体设计参数,通过蠕动式爬升与夹持式固定相结合实现爬杆功能,其主体包括升降结构和抱夹结构,均由电机驱动,使用碳纤维复合材料零部件替换简单金属部件以实现轻量化设计;然后,对其攀爬性能与夹持性能进行研究,分析其攀爬运动步态与控制方式;最后,利用有限元分析软件ANSYS Workbench对抱夹结构进行仿真模拟,对爬杆机器人的关键性部件进行仿真。实验结果表明:爬杆机器人应力分布较为均匀,应变较小,符合设计要求,可为进一步改进设计方案提供参考。In order to solve the problems of high-altitude operation in the electric power system and low degree of automation,a pole-climbing robot for high-altitude operation in the electric power system is designed.The overall design parameters are determined according to the parameters of the electric pole and the actual working conditions,and the creeping climbing and clamping fixing methods are adopted.The main body includes a lifting structure and a holding and clamping structure,which are all driven by a motor.Carbon fiber composite parts instead of simple metal parts are used to achieve lightweight design.The climbing performance,clamping performance,climbing movement gait and control method are analyzed.the clamping structure and the key components of the climbing robot are simulated with the finite element analysis software ANSYS Workbench.It is found that the stress distribution is relatively uniform and the strain is small,which meets the design requirements and provides an reference for further improvement of the design plan in the later period.

关 键 词：高空作业 爬杆机器人 升降结构 抱夹结构 有限元分析 

分 类 号：TH69[机械工程—机械制造及自动化]