高压输电线路铁塔攀爬机器人夹持机构设计  

Design of Clamping Mechanism for the High Voltage Transmission Line Tower Climbing Robot

作　　者：李文杰[1] 刘超[1] 王青云[2] 刘志东[2] LI Wenjie;LIU Chao;WANG Qingyun;LIU Zhidong(State Grid Tianjin Electric Power Corporation,Tianjin 300010,China;Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)

机构地区：[1]国网天津市电力公司,天津300010 [2]天津中德应用技术大学,天津300350

出　　处：《机械设计与制造》2025年第3期257-261,共5页Machinery Design & Manufacture

基　　金：国网天津市电力公司科技项目资助(KJ21-1-32)—220千伏直线塔智能化组塔施工关键技术研究。

摘　　要：输电铁塔是由角钢通过螺栓连接,或者焊接形成的桁架结构。为了有效减少塔上作业人员的数量,降低高空作业风险,行业迫切需求一种可实现塔上自动攀爬、智能作业的机器人。针对高压输电铁塔高空作业和检测需求,设计了一种具备攀爬角钢等功能的攀爬机器人的分级夹持机构。建立了夹持机构的三维模型,并进行了静力学分析。基于ANSYS Workbench有限元软件对夹持机构的应力分布进行了仿真,优化机构结构。最后进行了样机实验,结果验证了这种攀爬机器人夹持机构能够对角钢进行可靠夹持,形成自锁,并至少能承受130kg载荷。The transmission tower was a truss structure formed by bolted connection or welding with angle steel.To reducing the number of workers on the tower effectively and decreasing the risk of aerial work,a climbing robot which could climbing the tower automatically and work Intelligently was urgently needed.Focusing on the requirements of high-altitude operation and detection for the high voltage transmission line tower,a classification clamping mechanism of climbing robot with climbing angle steel function was designed.The 3D model of clamping mechanism was established,and the statics analysis was completed.By using ANSYS Workbench,the stress distribution for clamping mechanism was simulated.Moreover,the structure had been optimized.Finally,prototype experiment was made in laboratory.The results showed that the clamping mechanism of climbing robot could grasp angle bars firmly and form self-locking.The experiment also showed the clamping mechanism could bear 130kg load at least.

关 键 词：输电铁塔 攀爬机器人 夹持机构 

分 类 号：TH16[机械工程—机械制造及自动化] TH22