|
|
论文:2020,Vol:38,Issue(5):1105-1111 |
|
|
引用本文： |
|
|
王怡爽, 苑朝, 翟永杰. 一种新型架空输电线路巡检机器人的机构设计[J]. 西北工业大学学报 |
|
|
WANG Yishuang, YUAN Chao, ZHAI Yongjie. Mechanism Design and Analysis of a New Overhead Transmission Line Inspection Robot[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 一种新型架空输电线路巡检机器人的机构设计 |
|
| 王怡爽, 苑朝, 翟永杰 |
|
| 华北电力大学 控制与计算机工程学院, 河北 保定 071003 |
| 摘要: |
| 电力系统对架空输电线路安全性的要求日益提高，随着移动机器人技术的快速发展，利用巡线机器人对架空输电线路进行检查已成为近年来的研究热点。针对架空输电线路巡检机器人的作业任务需求和输电线路的环境特点，国内外研究人员已研发出多款巡线机器人，然而这些机器人大都存在无法跨越耐张杆塔、越障效率低和安全性差等问题。为解决上述问题，提出了一种新型四臂式巡线机器人机构，该机器人通过2组不同的手臂互相配合可以跨越耐张型杆塔。其中，行走臂上的矩形框架式结构提高了机器人的越障效率，封闭的挂线机构保证机器人不会从线上坠落。建立了该机器人的三维模型，给出了具体的结构及运动参数，规划出了3种典型越障模式，对机器人的越障效率和过程进行了仿真分析。分析结果表明，该机构可以高效率跨越耐张型杆塔以及输电线路上的常见障碍物。 |
| 关键词:
巡线机器人
耐张型杆塔
越障机构
四臂式结构
设计
仿真
|
|
| Mechanism Design and Analysis of a New Overhead Transmission Line Inspection Robot |
|
| WANG Yishuang, YUAN Chao, ZHAI Yongjie |
|
| North China Electric Power University, Baoding 071003, China |
| Abstract: |
| The requirements of power system for the safety of overhead transmission lines are increasing. With the rapid development of mobile robot technology, the inspection of overhead transmission lines by inspection robots has become a research hotspot in recent years. Aiming at the task requirements of transmission line inspection robots and the environmental characteristics of transmission lines, researchers at home and abroad have developed a variety of inspection robots. However, most of these robots have problems such as inability to cross the strain tower, low obstacle crossing efficiency and poor safety. In order to solve the above problems, this paper proposes a new four-arm inspection robot mechanism. The robot can cross the strain tower with two different sets of arms working together. The rectangular frame structure on the walking arm improves the obstacle crossing efficiency of the robot, and the closed hanging mechanism ensures that the robot does not fall from the line. In this paper, the three-dimensional model of the robot is established, and the specific structure and motion parameters are given. Three typical obstacle-crossing modes are planned, and the motion analysis and force simulation analysis of the robot's obstacle-crossing process are carried out. The simulation result shows that the mechanism can efficiently cross the strain towers and common obstacles on the transmission line. |
| Key words:
inspection robot
four-arm structure
strain tower
obstacle-crossing mechanism
design
simulation
|
|
| 收稿日期: 2019-10-15
修回日期:
|
| DOI: 10.1051/jnwpu/20203851105 |
| 基金项目: 中央高校基本科研基金（2016MS141）资助 |
| 通讯作者:
Email： |
| 作者简介: 王怡爽(1994-),女,华北电力大学硕士研究生,主要从事电力系统智能巡检机器人研究。
|
|
| 相关功能 |
|
|
|
|
| 作者相关文章 |
|
| 王怡爽 在本刊中的所有文章 |
| 苑朝 在本刊中的所有文章 |
| 翟永杰 在本刊中的所有文章 |
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 孙翠莲,王洪光,赵明扬,等. 超高压线巡检机器人移动越障机构综述[J]. 机械设计与制造,2006(10):161-163 SUN Cuilian, WANG Hongguang, ZHAO Mingyang, et al. A Review on the Locomotion and Obstacle Navigation Mechanism of the Inspection Robot for the High-Voltage Power Line[J]. Machinery Design & Manufacture,2006(10):161-163(in Chinese)
[2] 杨昱翔. 输电线路巡线机器人仿生机构研究综述[J]. 科技视界,2019(14):34-35 YANG Yuxiang. A Summary of Research on Bionic Mechanism of Transmission Line Patrol Robot[J]. Science & Technology Vision, 2019(14):34-35(in Chinese)
[3] ALLAN J F. Robotics for Distribution Power Lines:Overview of the Last Decade[C]//International Conference on Applied Robotics for the Power Industry, Zurich, 2013:96-101
[4] SAWADA J, KUSUMOTO K, Munakata T, et al. A Mobile Robot for Inspection of Power Transmission Lines[J]. IEEE Power Engineering Review, 2002, 11(1):57
[5] NAKAMURA H, SHIMADA T, KOBAYASHI H. An Inspection Robot for Feeder Cables-Snake Like Motion Control[C]//Proceedings of the 1992 International Conference on Industrial Electronics, Control, Instrumentation, and Automation, San Diego, CA, 1992:849-852
[6] DEBENEST P, GUARNIERI M, TAKITA K, et al. Expliner-Toward a Practical Robot for Inspection of High-Voltage Lines[J]. Field and Service Robotics, 2010(7):45-55
[7] YANG D, FENG Z, REN X, et al. A novel Power Line Inspection Robot with Dual-Parallelogram Architecture and Its Vibration Suppression Control[J]. Advanced Robotics, 2014, 28(12):807-819
[8] 王吉岱,甄静,刘笑辰,等. 输电线路巡检机器人仿生结构研究[J]. 机械设计与制造,2017(10):244-247 WANG Jidai, ZHEN Jing, LIU Xiaochen, et al. Study on the Bionic Structure of Inspection Robot for Power Transmission Lines[J]. Machinery Design & Manufacture, 2017(10):244-247(in Chinese)
[9] 肖时雨, 王洪光, 刘国伟. 一种新型四臂巡检机器人机构设计与运动分析[J]. 西北工业大学学报, 2018,36(3):432-438 XIAO Shiyu, WANG Hongguang, LIU Guowei. Mechanism Design and Kinematic Analysis of a Novel Inspection Robot with Four Arms[J]. Journal of Northwestern Polytechnical University, 2018, 36(3):37-43(in Chinese)
[10] POULIOT N, RICHARD P L, MONTAMBAULT S. Line Scout Technology Opens the Way to Robotic Inspection and Maintenance of High-Voltage Power Lines[J]. IEEE Power and Energy Technology Systems Journal, 2015, 2(1):1-11
[11] 魏永乐. 带柔索双臂巡检机器人本体结构研究与设计[D]. 沈阳:东北大学,2016 WEI Yongle. Research and Design on Dual-Arms Inspection Robot Structure with Flexible Cable[D]. Shenyang:Northeastern University, 2016(in Chinese)
[12] 刘贞瑶,高方玉,姜海波,等. 输电线路智能巡检机器人系统的研制及应用[J]. 电力信息与通信技术,2019,17(8):57-62 LIU Zhenyao, GAO Fangyu, JIANG Haibo, et al. Development and Application of Intelligent Patrol-Inspection Robot System for Transmission Lines[J]. Electric Power Information and Communication Technology, 2019,17(8):57-62(in Chinese)
[13] 魏永乐,房立金. 双臂巡检机器人沿输电线路行走特性研究[J]. 北京理工大学学报,2019,39(8):813-818 WEI Yongle, FANG Lijin. Research on Dual-Arms Inspection Robots Walking along Transmission Line[J]. Trans of Beijing Institute of Technology, 2019, 39(8):813-818(in Chinese) |
|
|
|
相关文献: |
|
|
1．李荣, 曾向阳, 王海涛, 李娜.基于结构参数变化的封闭空间声场听觉感知变化性研究[J]. 西北工业大学学报, 2018,36(4): 671-678 |
|
|
2．周勇, 米彦昭, 汪嘉瑶, 韩雁婷, 陈龙, 张超.无位置传感器无刷直流电机位置检测与启动控制研究[J]. 西北工业大学学报, 2017,35(2): 208-212 |
|
|
3．杨立本, 章卫国, 黄得刚, 车军.欠驱动四旋翼飞行器反演模糊自适应控制[J]. 西北工业大学学报, 2015,33(3): 495-499 |
|
|
4．贾晓娟, 闫晓东.吸气式组合动力飞行器爬升轨迹设计方法研究[J]. 西北工业大学学报, 2015,33(1): 104-109 |
|
|
5．石帅, 宋笔锋, 裴扬, 张睿文.数据链支持下飞机敏感性评估方法研究[J]. 西北工业大学学报, 2015,33(5): 811-818 |
|
|
6．史静平, 屈晓波, 毕可军.一种基于转矩可达集的操纵面组合分配设计方法[J]. 西北工业大学学报, 2014,32(1): 123-130 |
|
|
7．史静平, 屈晓波, 李广文.一种基于转矩可达集裁剪设计的广义逆分配方法[J]. 西北工业大学学报, 2013,31(1): 8-13 |
|
|
8．夏平, 周兴社, 谢必昌.适应动态安全需求的实时任务调度算法研究[J]. 西北工业大学学报, 2012,30(5): 657-662 |
|
|
|
|
|
|
