电力铁塔攀爬机器人夹持机构设计与分析.doc

电力铁塔攀爬机器人夹持机构设计与分析
陆小龙,赵世平基金项目:四川省科技厅资助项目(2008GZ0156)
作者简介:陆小龙(1982-),男,博士生. 研究方向:
智能机器人技术及应用
*通讯联系人
,廖俊必,曹志华
(四川大学制造科学与工程学院, 四川成都, 610065)
摘要:根据对电力铁塔攀爬机器人夹持机构的运动和受力分析,提出并设计了一种新型双V字夹持机构,其夹持爪V形槽角度固定,大小可变,双爪联动可从多个方向对不同规格角钢夹持。建立了机构CAD模型及数学模型,并对夹持力进行了动力学仿真。实验室样机试验,结果验证了这种夹持机构能够从多个方向对宽度从80-220mm不同规格的角钢进行可靠夹持,为攀爬机器人在电力铁塔移动提供可靠的夹持力。
关键词:电力铁塔;攀爬机器人;夹持机构;双V字形
中图分类号:
Design and Analysis of Clamping Mechanism
for Power Tower Climbing Robot
LU Xiao-long, ZHAO Shi-ping*, LIAO Jun-bi, CAO Zhi-hua
(School of Manufacturing Science and Engineering, University of Sichuan, Chengdu, P. R. China, 610065)
Abstract: In order to fix a Power tower climbing robot on a tower reliably, a novel double -V-clamper is proposed in the paper. The gripping claw has an angle fixed V-groove and a variable length, so that it is possible to clamp angle bars with various specifications in different directions. The CAD and mathematical model of the clamping mechanism were suggested and the clamping force was simulated. Furthermore,Prototype experiments were made in laboratory. The results show that the gripper can grasp angle bars firmly and reliably which widths vary from 80 to 220 mm in several directions, for the three-dimensional movement of the power tower climbing robots.
Key words: power tower; climbing robot; clamping mechanism; double V-shaped
高压输电线路是电力传输的主要载体,其安全运行越来越受到各级部门的重视。作为输电线路的主要组成