智能高压输电线路巡检机器人设计

发布时间：2019-05-24 23:04

【摘要】：高压输电线路巡检机器人是近期机器人领域各高校研究的热点课题之一。高压输电线路引起的故障会直接导致人民、工业企业、以及国家利益的重大损失。因此对其进行定期检修是很有必要的。由于输电线路巡检强度大,环境复杂,人工巡检极其不便,本文研究的机器人就是为了替代人工对输电线路进行定期巡检研制的,这样可以降低成本以及保障工人的安全。基于500kv超高压输电线路巡检作业的工作环境的分析,本文主要包括对巡检机器人的结构方案的设想、基于Pro-E和Adams的运动学和动力学的建模分析和优化。最后通过研制出的样机系统,经过实验室阶段性能测试,实际线路的现场巡检测试,完成了初期目标,实现机器人的自动巡检。具体的研究内容如下:首先介绍了巡检作业的环境和巡检内容,建立典型线路模型,根据不同金具的特点,提出方案设想和选型分析。第二,对巡检机器人进行具体的结构设计,整体包括行走机构、开合夹具、刹车机构、避障机构、和一些配重等辅助机构的设计。第三,对机器人建立了理论模型分析,主要从机构的自由度、运动形式、越障轨迹以及爬坡进行阐述。然后就Pro-E里设计的机器人的三维实体模型,导入到ADAMS,对机器人进行完整的运动学分析,并对其越障的动作规划进行验证和修改。最后,将分析好的模型出图加工,制成物理样机,通过实验室试验,基于搭建好的线路试验,对实验数据进行分析,得出巡检机器人的可能性以及存在的不足。本文所研究的内容,主要从理论模型分析,虚拟样机分析,物理样机分析等多个角度,验证设计出的能够自主避障的巡检机器人的机构合理性。
[Abstract]:High voltage transmission line inspection robot is one of the hot topics in the field of robotics. The failure of high voltage transmission line will directly lead to the great loss of people, industrial enterprises and national interests. Therefore, it is necessary to carry out regular maintenance. Due to the high intensity of transmission line inspection, complex environment and extremely inconvenient manual inspection, the robot studied in this paper is developed to replace the manual inspection of transmission lines, which can reduce the cost and ensure the safety of workers. Based on the analysis of the working environment of 500kv EHV transmission line inspection operation, this paper mainly includes the assumption of the structure scheme of the inspection robot, and the modeling, analysis and optimization of kinematics and dynamics based on Pro-E and Adams. Finally, through the developed prototype system, through the laboratory stage performance test, the actual line field inspection test, completed the initial goal, realized the robot automatic inspection. The specific research contents are as follows: firstly, the environment and inspection content of inspection operation are introduced, the typical line model is established, and according to the characteristics of different fittings, the scheme idea and type selection analysis are put forward. Secondly, the specific structure design of the inspection robot is carried out, including the design of walking mechanism, opening and closing fixture, brake mechanism, obstacle avoidance mechanism, and some auxiliary mechanisms such as counterweight. Thirdly, the theoretical model of the robot is established, which is mainly described from the degree of freedom of the mechanism, the motion form, the obstacle trajectory and the climbing. Then the 3D solid model of the robot designed in Pro-E is imported into ADAMS, to carry on the complete kinematic analysis of the robot, and the action planning of crossing the obstacle is verified and modified. Finally, the analyzed model is drawn and processed and made into a physical prototype. Through the laboratory test, based on the built line test, the experimental data are analyzed, and the possibility and shortcomings of the inspection robot are obtained. The research contents of this paper mainly verify the rationality of the designed inspection robot which can avoid obstacles independently from the aspects of theoretical model analysis, virtual prototype analysis, physical prototype analysis and so on.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TM755

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