【作者】 王泽；

【导师】 李小彭；

【作者基本信息】 东北大学 ， 机械设计及理论， 2019， 硕士

【摘要】 随着我国国民经济的飞速发展,超高压输电线路已经成为国民经济的“命脉”,保障电网中输电线路安全可靠运行已经成为国民稳定生产、生活的重要基础。电网中的输电线路长时间暴露在野外,不仅受到本身具有的机械载荷和电力载荷的压力,还经受自然环境的侵蚀,随着风吹雨打、阳光暴晒,电力设备也会随着时间会慢慢发生老化,从而出现腐蚀、磨损、甚至断股等各种各样的问题。如果不能及时检测并更换出现问题的设备,原本微小的破损和缺陷最终必然会造成严重的事故,从而导致大范围停电和巨大的经济损失。因此,为了保证高压输电线路安全稳定的运行,必须定期进行巡线检查。而输电线路由于受中国地理因素的制约,需要跨越高原、山地、丘陵、沼泽和湖泊等多种自然环境恶劣地带,这些环境地形复杂险峻,气候多变,巡线工人难以到达。本文在查阅国内外超高压输电线路巡检机器人研究现状及机器人学研究现状的基础上,通过仿生学模仿猿猴攀爬运动,设计了一种旋转式输电线路巡检机器人。论文主要内容包括巡检机器人构型分析与机构设计、机械结构三维建模、巡检机器人运动学分析、虚拟样机运动仿真分析、样机试研制与实验研究分析。本论文的工作内容如下:(1)对巡检机器人构型进行相关分析。首先对输电线路的作业环境及典型障碍物进行了详细描述,然后在分析传统巡检机器人爬坡越障性能差及稳定性低、越障功能单一的基础上,设计了一种新型的旋转式巡检机器人机构构型,然后对该机构的工作原理及越障过程进行了详细描述,对机构无障碍行走阶段、跨越防振锤阶段和跨越引流线阶段进行详细的运动模型建立和轨迹求解。将巡检机器人电气箱体质心的运动情况作为巡检机器人整体的运动情况进行研究,分别对三个阶段电气箱体质心的位移、速度、加速度进行了仿真分析。由仿真结果可知,所设计的巡检机器人构型在越障过程中较为平稳,保证了整个巡检机器人在越障过程的稳定性。(2)对巡检机器人进行力学分析和结构设计。对旋转式巡检机器人行走过程和越障过程进行接触力学分析和移动力学分析。最后根据以上相关分析结果对巡检机器人各机械结构以及整体样机进行详细设计。(3)对旋转式输电线路巡检机器人进行运动学分析及动力学分析。利用D-H坐标变换方法来建立巡检机器人的运动学模型,得到各关节变换矩阵和运动学方程,并对方程进行解析求解,得出机构各部分位置变化的解析解,建立巡检机器人的逆向运动学方程及动力学方程。通过正运动学的解,可以得出巡检机器人各关节在执行任务时的运动轨迹;利用多体动力学软件进行仿真分析,将得到的结果与运动学分析的结果进行对比验证,说明了运动学分析的正确性。(4)对巡检机器人机构进行动态仿真分析。利用多体动力学分析软件对旋转式输电线路巡检机器人在线行走及越障过程进行了运动仿真分析。同时通过获取相关运动学和动力学参数曲线图,证明了巡检机器人在线行走时越障比较平稳,证明了机构设计的合理性。(5)对巡检机器人进行样机试研制与实验研究分析。针对所设计的巡检机器人试样机开展了简单的线上行走实验研究,验证了所设计巡检机器人机构设计的合理性与可行性。同时分别对巡检机器人爬坡性能以及越障性能进行实验研究,研究结果证明巡检机器人能在较大坡角输电线上稳定行走,同时能顺利的跨越防振锤和引流线等障碍物,证明了所设计的旋转式巡检机器人机械结构能有效解决越障的难题。更多还原

【Abstract】 With the rapid development of China’s national economy,EHV transmission lines have become the lifeblood of the national economy,and ensuring the safe and reliable operation of transmission lines in the power grid has become an important basis for the stable production and life of the nation.The transmission lines in the power grid are exposed to the field for a long time,not only under the pressure of mechanical load and electric load,but also under the erosion of the natural environment.With the wind,rain and sunshine,the power equipment will gradually be aged over time,resulting in corrosion,wear and tear,and even strand breakage.If the faulty equipment cannot be detected and replaced in time,the original minor damage and defects will eventually lead to serious accidents,resulting in large-scale blackouts and huge economic losses.Therefore,in order to ensure the safe and stable operation of high voltage transmission lines,inspection must be carried out regularly.Due to the geographical constraints of China,transmission lines need to cross the plateau,mountains,hills,swamps and lakes and other harsh natural environments.These environments are complex and steep,and the climate is changeable,so it is difficult for patrol workers to reach them.On the basis of reviewing the research status of UHV transmission line inspection robots and robotics at home and abroad,a rotating transmission line inspection robot is designed by imitating ape climbing motion with bionics.The main contents of this paper include configuration analysis and mechanism design of inspection robot,three-dimensional modeling of mechanical structure,kinematics analysis of inspection robot,motion simulation analysis of virtual prototype,prototype development and experimental analysis.The work of the thesis is as follows:(1)The configuration of the inspection robot is analyzed.Firstly,the working environment and typical obstacles of transmission lines are described in detail.Then,based on the analysis of the poor performance,low stability and single obstacle surmounting function of the traditional inspection robot,a new type of rotating inspection robot mechanism configuration is designed.Then,the working principle and obstacle surmounting process of the mechanism are described.Detailed descriptions are given to establish the motion model and solve the trajectory of the mechanism in the barrier-free walking stage,the stage of spanning the antivibration hammer stage and the stage of spanning the drain line.The motion of the electric box body center of the patrol robot is studied as the whole motion of the patrol robot.The displacement,velocity and acceleration of the electric box body center in three stages are simulated and analyzed respectively.The simulation results show that the configuration of the patrol robot is more stable in the process of obstacle surmounting,which guarantees the stability of the whole patrol robot in the process of obstacle surmounting.(2)Mechanical analysis and structural design of the inspection robot are carried out.Contact mechanics analysis and mobile mechanics analysis are carried out for the walking process and obstacle surmounting process of the rotating inspection robot.Finally,according to the above analysis results,the mechanical structure and the whole prototype of the inspection robot are designed in detail.(3)Kinematics analysis of rotary transmission line inspection robot is carried out.The DH coordinate transformation method is used to establish the kinematics model of the inspection robot.The transformation matrix and kinematics equation of each joint are obtained.The analytic solution of the equation is obtained,and the inverse kinematics equation of the inspection robot is established.Through the solution of forward kinematics,we can get the trajectory of each joint in the patrol robot when performing the task.We use ADAMS to carry out simulation analysis,and compare the results with the results of kinematics analysis,which shows the correctness of kinematics analysis.(4)Dynamic simulation analysis of the inspection robot mechanism is carried out.The multi-body dynamics analysis software is used to simulate the on-line walking and obstacle surmounting process of the rotating transmission line inspection robot.At the same time,by obtaining the relevant kinematics and dynamics parameters curve,it proves that the obstacle surmounting of the inspection robot is relatively stable when walking online,and proves the rationality of the mechanism design.(5)Prototype inspection and experimental analysis of the inspection robot are carried out.A simple on-line walking experiment was carried out for the sample machine of the inspection robot,which verified the rationality and feasibility of the mechanism design of the inspection robot.At the same time,the climbing performance and obstacle surmounting performance of the inspection robot are experimentally studied.The results show that the inspection robot can walk steadily on the transmission line with a large slope angle,and can cross the obstacles such as anti-vibration hammer and drainage line smoothly.It proves that the mechanical structure of the rotary inspection robot designed can effectively solve the obstacle surmounting problem.更多还原