基于齿轮齿条啮合机理的输电线路绝缘子串作业机器人  

Transmission Line Insulator String Operation Robot Based on Gear Rack Meshing Mechanism

作　　者：唐术锋[1,2] 罗鹏 郭晓栋 王鑫[1,2] 常宏 TANG Shufeng;LUO Peng;GUO Xiaodong;WANG Xin;CHANG Hong(College of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010051,China;Inner Mongolia Autonomous Region Key Laboratory of Special Service Intelligent Robots,Hohhot 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,呼和浩特010051 [2]内蒙古自治区特殊服役智能机器人重点实验室,呼和浩特010051

出　　处：《机械设计与研究》2024年第6期158-162,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(61763036);内蒙古自治区自然科学基金资助项目(2021MS05005);内蒙古自治区关键技术攻关计划项目(2021GG0258);国家重点研发计划专项资助(2018YFB1307501);内蒙古自治区高等学校创新团队发展计划支持项目(NMGIRT2213)。

摘　　要：绝缘子污闪是影响输电线路可靠性最常见的事故之一,为了保证输电线路的正常运行,需定期对绝缘子进行清洗,由于人工作业上塔不方便、作业效率低及作业安全性低的问题,使用作业机器人就尤为重要。针对现有机器人工作效率低、作业稳定性差的问题,提出了一种基于齿轮齿条啮合机理的轻型耐张绝缘子串作业机器人。结合输电线路的工作环境,通过理论分析,提出了一种新型驱动轮和被动式导板结构。进一步,在仿真中考虑了弧垂及侧向风力的影响。最后,在绝缘子串上对机器人进行移动稳定性试验。实验表明,在电网正常运行的情况下,操作人员可以远程控制作业机器人精确稳定到达指定的作业位置。这样既保证了电网的正常运行,提高工作效率,同时也保护了工作人员的安全。Insulator flashover is one of the most common accidents that affect the reliability of transmission lines.In order to ensure the normal operation of transmission lines,it is necessary to regularly clean the insulators.Due to the inconvenience,low efficiency and low safety of manual operation on towers,the use of work robots is particularly important.In response to the problems of low work efficiency and poor job stability of existing robots,this article proposes a lightweight tension insulator string operation robot based on the gear rack meshing mechanism.Based on the workingenvironment of transmission lines and theoretical analysis,a new type of driving wheel and passive guide plate structure is proposed.Furthermore,the influence of sag and lateral wind force is considered in the simulation.Finally,a stability test is conducted on the robot’s movement on the insulator string.The experiments show that under normal operation of the power grid,operators can remotely control the work robot to accurately and stably reach the designated work position.This not only ensures the normal operation of the power grid,improves work efficiency,but also protects the safety of workers.

关 键 词：作业机器人 绝缘子 弧垂 齿轮齿条 

分 类 号：TH122[机械工程—机械设计及理论]