高空线缆下悬式足轮侧向越障机器人平台设计  

Design of Lateral Obstacle-Crossing Robot Platform with Foot Wheels under Suspension of Aerial Cables

作　　者：张剑 赵子伟 刘佳鹏 ZHANG Jian;ZHAO Zi-wei;LIU Jia-peng(College of Electromechanical Engineering,Northeast Forestry University,Harbin Heilongjiang 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《林业机械与木工设备》2025年第3期39-47,共9页Forestry Machinery & Woodworking Equipment

基　　金：教育部高等教育司产学合作协同育人项目(202002009010)。

摘　　要：高空线缆定期巡检作业是电力系统的高频次常规工作,近年来利用智能巡检作业系统替代人工是巡检类设备的研究热点,但由于高空线缆固定方式多样等原因,造成其在线缆巡检作业时会面对多种障碍,特别当线缆采用下支撑侧向固定方式时越障较为困难。提出了一种通过性强的下悬式足轮侧向越障机器人平台,能决解传统线缆安装障碍和下支撑侧向固定障碍等多种障碍。通过Soildworks软件建立机器人平台的三维模型,阐述其跨越障碍物的步骤,分析该机器人平台跨越侧向障碍物的能力和所需驱动力矩的大小,并用Soildworks motion对所需驱动力矩进行仿真分析。结果表明:足轮的设计能适应不同尺寸的线缆,越障机构和侧向辅助支撑机构协同作业,可跨越多种障碍物,为后续相关机器人的研究提供思路。Regular inspection of aerial cables is a high-frequency routine work of the power system,in recent years,using intelligent inspection systems to replace manual inspection equipment has become a research hotspot,but due to the various fixing ways of aerial cables,resulting in the cable inspection operations facing a variety of obstacles,especially when the cable is fixed laterally with lower support,making it more difficult to cross the barriers.A passable under-suspended foot-wheel lateral obstacle-crossing robotic platform is proposed,which is capable of overcome multiple obstacle situations such as traditional cable-mounted obstacles and under-supported lateral fixation obstacles.The 3D model of the robot platform is built by Soildworks software,the steps of crossing obstacles are elaborated,the ability of this robot platform to cross lateral obstacles and the magnitude of the required driving torque are analyzed,and the required driving torque is simulated and analyzed by Soildworks motion.The results show that the design of foot wheels can adapt to different sizes of cables,and the obstacle-crossing mechanism and lateral auxiliary support mechanism work in synergy to cross a variety of obstacles,which provides ideas for the subsequent research of related robots.

关 键 词：高空机器人 电力巡检作业 下悬式足轮越障 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]