输电线四轮移动作业机器人机械系统设计与作业空间分析  

Design and Operation Space of Mechanical System of Four-wheel Mobile Operation Robot of Transmission Line

作　　者：于俊康 江维 邹德华[2,3] 李红军 陈伟 YU Junkang;JIANG Wei;ZOU Dehua;LI hongjun;CHEN Wei(School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan Hubei 430073,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory,Changsha Hunan 410100,China;Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(ROBOT),Changsha Hunan 410100,China)

机构地区：[1]武汉纺织大学机械工程与自动化学院,湖北武汉430073 [2]带电巡检与智能作业技术国家电网公司实验室,湖南长沙410100 [3]智能带电作业技术及装备(机器人)湖南省重点实验室,湖南长沙410100

出　　处：《武汉纺织大学学报》2024年第6期84-92,共9页Journal of Wuhan Textile University

基　　金：智能带电作业技术与装备(机器人)湖南省重点实验室开放课题资助项目(2024KZD1001)。

摘　　要：为了适应多分裂式超高压输电线的作业要求,针对目前单根线路上作业机器人功能单一,越障能力不足,作业范围小的问题。本文提出一种输电线四轮移动作业机器人新构型,其采用四轮移动平台和双机械臂及其末端的结构形式使得机器人兼具越障和作业双重功能,其中行走臂的设计使机器人具有较强的越障能力,机械臂搭载末端工具可完成线路上不同作业任务,在结构设计基础上通过INVENTOR软件开发了机器人虚拟样机模型,并对机械臂作业过程进行了建模和运动学分析,最后,在MATLAB环境下采用蒙特卡洛法对机械臂末端进行作业空间仿真,利用机器人工具箱对机械臂在不同工作任务下运动轨迹进行了仿真分析。结果表明,其一,所设计四轮移动机器人通过行走臂上旋转关节和横移关节的互相配合对行走轮进行位姿变换,以跨越防震锤和均压环等线路上障碍物。其二,末端可自重构作业机械臂实现对线路上金具夹持和作业操作,完成防震锤复位和耐张线夹引流版螺栓紧固作业任务。其三,完整的机器人系统具有较强的越障能力和灵活的机械臂作业能力,能够完成整条线路的巡检作业任务。In order to meet the operational requirements of multi-split ultra-high voltage transmission lines and address the issues of limited functionality,insufficient obstacle-crossing capability,and a small operating range of current single-line operation robots,this paper proposes a new configuration for a four-wheeled mobile operation robot for power transmission lines.The robot adopts a structure with a fourwheeled mobile platform and dual robotic arms,allowing it to possess dual functions of obstacle crossing and operation.The design of the walking arm provides the robot with strong obstacle-crossing capabilities,while the robotic arms equipped with end tools can accomplish various tasks on the transmission lines.Based on the structural design,a virtual prototype model of the robot was developed using INVENTOR software.The robotic arm's operational process was modeled and analyzed kinematically.Finally,using the Monte Carlo method in the MATLAB environment,a simulation of the operational space of the robotic arm's end effector was conducted.The motion trajectories of the robotic arm under different tasks were simulated and analyzed using the robotics toolbox.The results indicate that,firstly,the designed fourwheeled mobile robot achieves pose transformation of its walking wheels by the coordinated movement of the rotating joints and lateral movement joints on the walking arm,allowing it to traverse obstacles on the line such as seismic hammers and pressure rings.Secondly,the end-effector,a self-reconfigurable operational mechanical arm,is capable of grasping and performing operations on hardware along the line,completing tasks such as resetting seismic hammers and tightening bolts on the tension-resistant line clamps and drainage board.Thirdly,the complete robot system exhibits strong obstacle-surmounting capabilities and flexible mechanical arm operational capabilities,enabling it to accomplish inspection tasks along the entire line.

关 键 词：分裂式超高压输电线 四轮移动作业机器人 虚拟样机 作业空间仿真 巡检作业 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]