摘要
针对现有OPGW线路存在的悬垂、耐张等阻碍了巡检机器人行驶的问题,提出了一种将OPGW线路改造成可供巡检机器人行走的线路的设计。分析了自主巡检机器人的本体结构及现有OPGW地线的道路结构,研究了悬垂过桥与耐张过桥的理论轨迹,设计了组合悬垂过桥与耐张过桥的关键零部件。并对改进后的悬垂线夹的OPGW线夹挂板进行了静力学建模分析与模态分析,并在此基础上对OPGW线夹挂板做了拓扑优化。并通过现场试验,证明了改造的合理性、可行性与实用性。
In view of the existing OPGW lines existing drape and tension that hinders the driving of the inspection robot,a kind of the OPGW line transformation for inspection robots to walk is proposed. The main structure of the autonomous inspection robot and the road structure of the existing OPGW ground wire are analyzed. The theoretical trajectory of overhanging bridges and overhang bridges is studied,The key parts of the combination suspension bridge over the bridge and the bridge over the flexible bridge are designed. The static modeling and modal analysis of the OPGW clipboard of the improved suspension clamp are carried out,and the topology optimization of the OPGW clipboard is made. According to the transformation of the circuit,the method for robot to across the bridge is designed. And through the actual test,the transformation’s rationality,feasibility and practicality is proved.
作者
熊一飞
吴功平
曹琪
杨建东
XIONG Yi-fei;WU Gong-ping;CAO Qi;YANG Jian-dong(School of Power and Mechanical Engineering,Wuhan University,Hubei Wuhan 430072,China;Jilin Baishan Power Supply Bureau,Jilin Baishan 134300,China)
出处
《机械设计与制造》
北大核心
2019年第3期252-255,260,共5页
Machinery Design & Manufacture
基金
高塔跨越林区输电线路巡检机器人工程实用化关键技术研究与应用(JLZB-15GNZ0364)
关键词
巡检机器人
OPGW地线
线路改造
悬垂线夹
拓扑优化
有限元分析
Inspection Robot
OPGW Ground Wire
Circuit Modification
Overhanging Clamp
Topology Optimization
Finite Element Analysis
