【摘要】 研制了一台沿架空高压输电导线自动爬行和跨越障碍物的机器人。机器人的承重行走采用伞形轮来实现,伞形轮的越障运动由槽凸轮机构控制。机器人的爬行运动采用行程放大机构和抓握机构来实现,爬行的协调运动和抓紧力的自适应控制由集成电液伺服系统实现。机器人可携载检测和通信设备,对输电线路进行巡检作业。更多还原

【Abstract】 A robot which can automatically crawl along overhead high-voltage transmission lines and span obstacles was presented. The robot was supported and driven by umbrella-shaped wheels, whose motions of spanning obstacles were controlled by groove pulley and cam mechanism. The crawling motion was realized by a stroke amplification mechanism and grasping mechanism. The harmonizing control of the crawling motion and self-aptive control of grasping force were generated by an integrated electro-hydraulic servo system. The robot can carry the equipments of detection and communication, while inspecting the transmission lines.更多还原