基于磁斥力补充升力的巡线机器人结构分析  

Structural Analysis of Patrol Robot Based on Magnetic Coupling

作　　者：张智恒 郑嵘 尹莉君 朱小珑 王毛毛 ZHANG Zhi-heng;ZHENG Rong;YIN Li-jun;ZHU Xiao-long;WANG Mao-mao(State Grid Xiangyang Power Supply Company,Xiangyang 471002 China)

机构地区：[1]国网襄阳供电公司,湖北襄阳471002

出　　处：《自动化技术与应用》2025年第4期151-153,共3页Techniques of Automation and Applications

基　　金：国网湖北省电力有限公司科技成果孵化转化项目(B315D021000D)。

摘　　要：针对我国国土面积辽阔,远距离输电线路成为必然选择。输电线路常在深山中,人迹罕至,所以采用机器人巡检线路为当前主流方式。但目前巡线机器人电池容量限制,导致工作效率不高,针对此问题,采用具有磁斥力补充升力功能的机器人巡检线路,增强其续航能力,提高工作效率。设计具有磁斥力补充升力功能机器人,通过霍尔元器件感应高压直流输电线路周围存在的磁场,反馈到中央处理器中,根据处理结果,对机器人下方的电磁铁充电,产生与输电线路磁场相反方向磁力,并通过动力学模型分析其飞行过程中的升力、排斥力与重力之间的关系,使得机器人在飞行过程中,减小机器人升力,降低电池功率输出17.8%。通过仿真分析,获取机器人飞行过程中的电池功耗曲线,结果表明,该机器人功耗小于传统机器人,延长了机器人续航时间27 min。开发出样机且在输电线上试验运行成功,验证了设计的实用性与合理性。In view of the vast territory of our country,long-distance transmission line becomes an inevitable choice.Transmission lines are often located in deep mountains and rarely visited by people.Therefore,robot inspection line is the current mainstream mode.However,the battery capacity of the current line inspection robot is limited,resulting in low work efficiency.In view of this prob-lem,the robot inspection line with magnetic coupling function is adopted to enhance its endurance and improve work efficiency.The robot with magnetic coupling function designed in this paper senses the magnetic field around the high-voltage DC transmis-sion line through Hall components and feeds it back to the central processing unit.According to the processing results,the electro-magnet under the robot is charged to generate the magnetic force in the opposite direction to the magnetic field of the transmis-sion line.The relationship between the lifting force,repulsive force and gravity in the flight process is analyzed through the dy-namic model,The lift of UAV is reduced,and the battery power output is reduced by 17.8%.Through simulation analysis,the bat-tery power consumption curve of the robot during flight is obtained.The results show that the power consumption of the robot is less than that of the traditional robot,and the endurance time of the robot is extended by 2 min.The prototype is developed and successfully tested on the transmission line,which verified the practicality and rationality of the design.

关 键 词：高压输电线 巡线机器人 磁斥力 力学分析 现场试验运行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]