CAJ | 학술논문

为了改善高压巡线机器人俯仰关节的各项指标，研制一种模块化俯仰关节。该模块化俯仰关节不仅在跨步时提供足够大的力矩来保证巡线机器人抬起，还要能够提供可靠精确的定位，同时在布线上使用中空走线，减少自身线路与固定机架的摩擦。该机构具有断电抱闸装置，断电后不需要额外的动力就可以抱死关节，减少功耗。其集驱动控制器为一体，充分减少模块化俯仰关节走线，提供标准化外部机械电气接口，方便快速更换检修。
위료개선고압순선궤기인부앙관절적각항지표，연제일충모괴화부앙관절。해모괴화부앙관절불부재과보시제공족구대적력구래보증순선궤기인태기，환요능구제공가고정학적정위，동시재포선상사용중공주선，감소자신선로여고정궤가적마찰。해궤구구유단전포갑장치，단전후불수요액외적동력취가이포사관절，감소공모。기집구동공제기위일체，충분감소모괴화부앙관절주선，제공표준화외부궤계전기접구，방편쾌속경환검수。
This paper proposes the improvement of modular joint for Power Transmission Lines Inspection Robot. In order to improve the indicators of Power Transmission Lines Inspection Robot joints, it’s proposed to develop a modular pitch joint. The modular joint not only provides enough torque at stepping to ensure inspection robot lifted, but also ensures to provide reliable and accurate position. With wires going through the center hole of the joint, it can also reduce the friction between its own wire and fixed rack. The mechanical structure has the power-off brake system, which can lock the joints without the power to reduce power consumption. It integrates the drive controller as a whole, sufficiently reduces the modular pitch joint wiring, and provides a standardized external mechanical and electrical interface to facilitate quickly replacement and repair.