DOI面向断股补修作业任务的电力机器人机构设计

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Title:

Optimizing electric power robot design for broken-strand repair tasks

作者:

宋屹峰¹, 王洪光¹, 康文杰², 凌烈¹, 姜勇¹

1. 中国科学院 沈阳自动化研究所, 辽宁 沈阳 110016;
2. 国网山西省电力公司 运检公司, 山西 太原 030200

Author(s):

SONG Yifeng¹, WANG Hongguang¹, KANG Wenjie², LING Lie¹, JIANG Yong¹

1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. State Grid Shanxi Electric Power Company Maintenance Company, Taiyuan 030200, China

关键词:

机器人应用; 机构设计; 机器人开发; 机器人系统; 输电线路; 电网; 机器人控制

Keywords:

robot applications; mechanism design; robot development; robot system; power line; maintenance; grid; robot control

分类号:

TP24

DOI:

10.11992/tis.201605004

摘要:

输电线路断股补修机器人需要在特定野外环境下开展复杂作业任务。面向机器人补修作业任务特征开展机构设计，可以提升机器人作业性能，保证作业质量。本文介绍了基于断股补修作业任务设计的应用于机器人的各类机构。根据行走、越障与捋线的作业目标，结合外部环境约束，进行机器人移动机构、越障机构与补修机构的设计。以增大附着力、削弱强制滑转现象为目标设计了优化阔线的驱动轮作为移动机构；以保证越障安全性为目标，设计了被动回转关节作为越障机构；以消除悬垂线路断股为目标，设计了螺旋复位式捋线机构作为补修机构。通过理论分析、对比仿真与实验，分析了所设计机构在行走、越障与补修作业上的可行性、稳定性与合理性。

Abstract:

Power transmission line maintenance robots that focus on repairing broken strands are required to complete complex maintenance tasks in the field. Designing the appropriate mechanisms based on the features of the given maintenance tasks can enhance operational performance and ensure operational quality. In this paper, we present various mechanisms that align broken-strand repair tasks with power transmission line maintenance robots. More specifically, our design focuses on the objectives of walking, negotiating obstacles, and sorting wires, all in conjunction with handling outer environment constraints and the mechanisms of movement, crossing obstacles, and performing repairs. We designed an optimized driving wheel to serve as the mechanism of movement to increase the adhesive force and lessen the inherent track slippage. We also designed passive rotary joints as the mechanism for crossing obstacles to ensure safety. Finally, we designed a spiral resetting-type sorting tool to serve as the broken-strand repair mechanism in eliminating reclinate broken strands. Given these designs, through theoretical analysis, comparative simulations, and experiments, we analyzed the feasibility, stability, and reasonability of our robot design for walking, crossing obstacles, and repairing broken strands.