高压输电线路救援机器人结构设计与分析

针对现有高压输电线路巡检机器人技术尚不成熟,及当巡检机器人在地线上出现故障时需人工上线拖回所存在的弊端,提出一种单档段救援作业机器人。分析了高压输电线路单档段救援机器人的作业环境与救援任务,设计了救援机器人的总体结构形式和各总成的具体结构,并对所设计的结构进行了三维建模仿真。对救援末端夹爪做了力学特性分析,得到夹爪应力云图,验证了设计的合理性。对救援夹爪做了模态分析计算,得到救援夹爪的单元密度分布云图,并在此基础上对夹爪做了拓扑优化,得到优化后的模型。开发出样机且在松长甲线上试验运行成功,验证了设计的实用型与合理性。

The Structure Design and Analysis of High-Voltage Transmission Line Rescue Robot

For the technologies of inspection robot traveling along high-voltage transmission lines are not yet mature and artificial live maintenance operations when the robot break down on line exist drawbacks,a single period rescue robot is proposed. The working environment and rescue missions of the single period rescue robot on high-voltage transmission line are analyzed,the overall structure of the rescue robot and the specific structure of each assembly are designed,and the designed structure’s 3D model is built. Mechanical characteristics of the terminal grip of the rescue robot are analyzed to get the stress nephogram and confirm the design rationality. Modal analysis and calculation of the terminal grip are done to get the unit density distribution nephogram,Topological optimization is carried out on the basis of analysis for the terminal grip,and the optimized model is developed.The prototype was developed and tested successfully on the A line of Songchang,which proved the practicality and rationality of the design.