架空线路走廊树枝切割机器人研究

针对架空高压线路走廊周围树枝过度生长引起的安全隐患问题,设计一款沿线路走廊行驶的树枝切割机器人。分析风对线路的影响,得到高压线路走廊的理论修剪区域;基于此,提出树枝切割机器人的原理构型;以110 kV高压线路为例,设计机器人的虚拟样机模型并对其作业方式进行规划,利用D-H参数法建立机器人的运动学模型,求解末端作业空间并与理论修剪区域进行对比,验证机器人构型设计的合理性;最后,研制了树枝切割机器人的试验样机并在自建线路上进行模拟作业试验。结果表明:该试验样机关节运动性能良好,能有效修剪线路周围的树枝。

Research on Branch Cutting Robot for Overhead Line Corridor

Aiming at the potential safety problems caused by excessive growth of branches around the overhead high-voltage line corridor,a branch cutting robot driven along the line corridor was designed.The influence of wind on the transmission line was analyzed,and the theoretical pruning area of the high-voltage transmission line corridor was obtained.Based on this,the principle configuration of the branch cutting robot was proposed.Taking the 110 kV high-voltage transmission line as an example,the virtual prototype model of the robot was designed,and its operation mode was planned.The kinematics model of the robot was established by using the D-H parameter method,and the end operation space was solved.The rationality of the robot configuration design was verified by comparing the theoretical pruning areas.Finally,the experimental prototype of the branch cutting robot was developed and simulated on the self built line.The experimental results show that the joint motion performance of the experimental prototype is good,and it can effectively prune the branches around the line.