架空输电线路巡检机器人塔上充电系统设计及充电策略研究  

Charging System Design and Charging Strategy of Overhead Trans-mission Line Inspection Robot on Tower

作　　者：侯建国 张斌 刘晓铭[1,2] 黄国方 薛栋良[1,2] 温祥青 蒋轩[1,2] HOU Jian-guo;ZHANG Bin;LIU Xiao-ming;HUANG Guo-fang;XUE Dong-liang;WEN Xiang-qing;JIANG Xuan(NARI Group Corporation(State Grid Electric Power Research Institute),Nanjing 211106,China;NARI Technology Co.,Ltd.,Nanjing 211106,China)

机构地区：[1]南瑞集团(国网电力科学研究院)有限公司,南京211106 [2]国电南瑞科技股份有限公司,南京211106

出　　处：《科学技术与工程》2022年第28期12388-12394,共7页Science Technology and Engineering

基　　金：国家电网南瑞集团国电南瑞科技股份有限公司科技项目(524608220020)。

摘　　要：为满足架空输电线路巡检机器人全天候在线工作的要求,根据架空输电线路的环境特点,设计出一种架空输电线路巡检机器人塔上充电系统。优化的充电接口设计结合对接位置微调算法,有效提高了机器人充电对接的成功率;基于不同工况下的机器人功耗分析,建立机器人工作能耗模型,得出了科学的充电站布局方式及机器人充电策略。通过系统运行和充电测试结果表明:机器人塔上充电系统运行稳定,机器人充电对接准确、高效,满足机器人塔上自主充电的需求。In order to meet the requirements of all-weather work of overhead transmission line inspection robot,according to the environmental characteristics of overhead transmission line,a tower charging system of overhead trans-mission line inspection robot was designed.The optimized charging interface design combined with the docking position fine-tuning algorithm effectively improved the success rate of robot charging docking.Based on the analysis of robot power consumption under different working conditions,the working energy consumption model of the robot was established,and the scientific layout of charging station and robot charging strategy were obtained.The system operation and charging test results show that the charging system on the robot tower runs stably,the charging docking of the robot is accurate and efficient,which can meet the needs of autonomous charging of the robot on the tower.

关 键 词：巡线机器人 塔上充电接口 机器人工作能耗模型 充电策略 

分 类 号：TH122[机械工程—机械设计及理论]