摘要
针对风载荷作用下高空线路巡检机器人稳定性不足的问题,提出了新型弹性压紧机构与改进轮槽的优化策略,可有效提升其行走稳定性,研制了一款输配电线路巡检机器人,实现了飞行与行走双模态切换功能。首先,建立了机器人在风载荷下的动力学模型,推导了摆动衰减时间与压紧力、接触面积及摩擦因数之间的关系。其次,通过动力学仿真验证了两种优化策略在抑制摆动方面的性能优势。最后,通过室外风摆试验验证了结构改进效果。结果表明,弹性压紧机构能够有效增加压紧轮和线路接触面积,改进轮槽可提升行走轮摩擦因数,两者均显著缩短了机器人摆动衰减时间,提升了机器人在风载扰动环境下的巡检稳定性。为高空线路巡检机器人在复杂环境中的稳定运行提供了有效的技术支撑与工程实践依据。
To address the insufficient stability of high-altitude line inspection robots under wind loads,this study proposes optimization strategies involving a novel elastic pressing mechanism and an improved wheel groove,which can effectively enhance their walking stability.A power transmission and distribution line inspection robot with dual-mode switching(flight and walking)capabilities was developed.Firstly,a dynamic model of the robot under wind loads was established,and the relationship between the swing decay time and clamping force,contact area,and friction coefficient was derived.Secondly,dynamic simulations were conducted to verify the performance advantages of the two optimization strategies in suppressing swings.Finally,outdoor wind swing tests were performed to validate the effect of structural improvements.The results show that the elastic pressing mechanism can effectively increase the contact area between the pressing wheel and the line,and the improved wheel groove can enhance the friction coefficient of the walking wheel;both significantly shorten the robot's swing decay time and improve its inspection stability in wind load disturbance environments.The effective technical support and engineering practice basis for the stable operation of high-altitude line inspection robots in complex environments were provided.
作者
何玉灵
庞子旺
代德瑞
刘振华
陈宇锋
郑海
姬艳鹏
HE Yuling;PANG Ziwang;DAI Derui;LIU Zhenhua;CHEN Yufeng;ZHENG Hai;JI Yanpeng(Hebei Engineering Research Center for Advanced Manufacturing&Intelligent Operation and Maintenance of Electric Power Machinery,North China Electric Power University,Baoding 071003,China;Electric Power Research Institute,State Grid Hebei Electric Power Co.,Ltd.,Shijiazhuang 050000,China)
出处
《机械强度》
北大核心
2025年第9期205-212,共8页
Journal of Mechanical Strength
基金
国家自然科学基金项目(52177042)
中央高校基本科研业务费专项基金项目(2023MS128)
河北省第三批青年拔尖人才支持计划([2018]-27)
河北省高层次人才资助项目(B20231006)
国家电网河北省电力有限公司科技基金项目(kj2024-030)。
关键词
线路巡检机器人
风载荷
弹性压紧机构
改进轮槽
摆动衰减时间
Line inspection robot
Wind load
Elastic pressing mechanism
Improved wheel groove
Oscillation decay time
