[1]宋屹峰,王洪光,康文杰,等.DOI面向断股补修作业任务的电力机器人机构设计[J].智能系统学报,2017,(02):150-157.[doi:10.11992/tis.201605004]
 SONG Yifeng,WANG Hongguang,KANG Wenjie,et al.Optimizing electric power robot design for broken-strand repair tasks[J].CAAI Transactions on Intelligent Systems,2017,(02):150-157.[doi:10.11992/tis.201605004]
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DOI面向断股补修作业任务的电力机器人机构设计(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
期数:
2017年02期
页码:
150-157
栏目:
出版日期:
2017-04-25

文章信息/Info

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 applicationsmechanism designrobot developmentrobot systempower linemaintenancegridrobot 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.

参考文献/References:

[1] SAWADA J, KUSUMOTO K, MAIKAWA Y, et al. A mobile robot for inspection of power transmission lines[J]. IEEE transactions on power delivery, 1991, 6(1): 309-315.
[2] WANG Hongguang, ZHANG Fei, JIANG Yong, et al. Development of an inspection robot for 500 kV EHV power transmission lines[C]//Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei: IEEE, 2010: 5107-5112.
[3] DEBENEST P, GUARNIERI M, TAKITA K, et al. Expliner-robot for inspection of transmission lines, robotics and automation[C]//Proceedings of 2008 IEEE International Conference on Robotics and Automation. Pasadena, CA: IEEE, 2008: 3978-3984.
[4] MONTAMBAULT S, POULIOT N. The HQ LineROVer: contributing to innovation in transmission line maintenance[C]//Proceedings of 2003 IEEE 10th International Conference on Transmission and Distribution Construction, Operation and Live-Line Maintenance. Orlando, FL, USA: IEEE, 2003, 33-40.
[5] CAMPOS M F M, PEREIRA G A S, VALE S R C, et al. A mobile manipulator for installation and removal of aircraft warning spheres on aerial power transmission lines[C]//Proceedings of 2002 IEEE International Conference on Robotics and Automation. Washington, DC, USA: IEEE, 2002: 3559-3564.
[6] POULIOT N, MONTAMBAULT S. LineScout Technology: from inspection to robotic maintenance on live transmission power lines[C]//Proceedings of IEEE International Conference on Robotics and Automation. Kobe: IEEE, 2009: 1034-1040.
[7] 宋屹峰, 王洪光, 李贞辉, 等. 基于视觉方法的输电线断股检测与机器人行为规划[J]. 机器人, 2015(2): 204-211, 223. SONG Yifeng, WANG Hongguang, LI Zhenhui, et al. Vision based transmission line broken strand detection and robot behaviour planning[J]. Robot, 2015(2): 204-211, 223.
[8] WANG Hongguang, SONG Yifeng, LING Lie. Task-oriented mechanical design of the AApe power line robots[C]//Proceedings of the 2014 IEEE International Conference on Applied Robotics for the Power Industry. Piscataway, NJ, USA: IEEE, 2014: 1-6.

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备注/Memo

备注/Memo:
收稿日期:2016-5-4;改回日期:。
基金项目:国家电网山西省公司科技项目
作者简介:宋屹峰,男,1984年生,副研究员,主要研究方向为机器人机构学、电力机器人、机器人性能分析与优化。发表学术论文20余篇;王洪光,男,1965年生,研究员,博士生导师,主要研究方向为机器人机构学、特种机器人和机电一体化技术。发表学术论文70余篇,获得发明和实用新型专利30余项。
通讯作者:宋屹峰. E-mail:songyifeng@sia.cn.
更新日期/Last Update: 1900-01-01