摘要
利用机械除冰方法代替人工除冰具有较好的实用意义。应用模块化结构设计及仿生学原理设计了除冰机器人。机器人采用轮式行走装置、双手臂结构,除冰装置采用双旋转刀具组合碾压轮气动伸缩式除冰方式。采用的平衡装置提高了越障时姿态稳定性,加上设计的夹紧保险装置,确保了机器人运动时整个机构的运动平衡。该机器人能够实现对导线一般覆冰情况下的除冰和越障需求,并且可以通过更换机器人的结构模块,可以将除冰机器人转变为巡线机器人达到一机两用的目的,同时通过更改结构模块实现多分裂导线的除冰功能。
Mechanical deicing is more practical than manual method. Deicing robot is developed based on modularized structural design and bionic principles. It is equipped with wheeled walking device, double-arm structure, and dual milling cutter and wedged block deicing devices. Equilibrators that improve attitude stability when climbing over obstacles and safety clamping device ensure movement balance of entire machine when robot moves. The robot meets deicing and over obstacle requirements under normal conductor icing condition. By replacing structural module, deicing robot can be transformed into line inspection robot. In the mean time, multi-bundle conductor deicing can be achieved by modifying structural module.
出处
《电力建设》
2009年第3期93-96,共4页
Electric Power Construction
关键词
架空输电线路
覆冰
除冰机器人
越障
除冰
平衡
overhead line
icing
deicing robot
climbing over obstacles
deicing
balance
