摘要
为提升特高压输电线路巡检的自动化水平,解决现有巡检机器人依赖人工辅助上下线、续航能力有限的问题,研究一套具有自动上下线装置的智能巡检机器人系统。该系统由机器人终端、上下线装置、充电基站、通信基站及远程控制处理终端组成。机器人通过上下线装置实现从架线铁塔底部至架空输电线路的攀爬与降落。系统配备了结合太阳能、风能等可再生发电装置与储能电池的充电基站,可实现在线能量补给。此外,设计了专用的过桥装置,通过可调柔性导轨引导机器人跨越铁塔连接处。试验结果表明:该巡检机器人实现了0.5 m/s的稳定上下线速度,并支持在45°大坡度线路上的可靠攀爬;结合充电基站的电能补给,机器人单次任务的持续巡航时间长达12 h。该系统有效解决了人工巡检的安全隐患,显著提升了特高压线路巡检的自动化水平与作业连续性。
In order to improve the automation level of extra-high voltage(EHV)transmission line inspection and address the issues of current inspection robots relying on manual assistance for climbing on and off the lines and having limited endurance,an intelligent inspection robot system equipped with an automatic up and down line device was researched.The system was mainly composed of a robot terminal,an up and down line device,a charging base station,a communication base station,and a remote control processing terminal.The robot was enabled to climb to the overhead transmission lines from the bottom of the iron towers and descend back through the up and down line device.A charging base station,which integrated renewable power generators with energy storage batteries,was developed to provide online power supply.In addition,a specialized bridge-crossing device was designed,which guided the robot to cross tower connections using adjustable flexible rails.The experimental results demonstrate that a stable mounting and dismounting speed of 0.5 m/s is achieved by the robot,and reliable climbing on transmission lines with a maximum incline of 45°is supported.With the power replenishment from the charging base station,the continuous cruise duration of the robot for a single mission is extended to 12 h.The safety hazards of manual inspection are effectively eliminated by the system,and both the automation level and operational continuity of EHV line inspections are significantly enhanced.
作者
秘立鹏
漆海霞
李方
曹剑君
黄兴
MI Lipeng;QI Haixia;LI Fang;CAO Jianjun;HUANG Xing(Electric Power Science Research Institute,State Grid Inner Mongolia East Electric Power Co.,Ltd.,Hohhot Inner Mongolia 010020,China;College of Engineering,South China Agricultural University,Guangzhou Guangdong 510642,China;Guangdong Keystar Intelligence Robot Co.,Ltd.,Foshan Guangdong 233600,China;Guangdong Key Laboratory of Modern Control Technology,Institute of Intelligent Manufacturing,Guangdong Academy of Sciences,Guangzhou Guangdong 510070,China)
出处
《机床与液压》
北大核心
2026年第5期85-92,共8页
Machine Tool & Hydraulics
基金
企业项目(HXKJHT20232212)。
关键词
巡检机器人
输电线路
充电基站
上下线装置
inspection robot
transmission line
charging base station
up and down line device
