CAJ | 학술논문

为了辅助高压巡线机器人进行运动、越障，研制了一种新型夹持机构。该机构不仅能够很好的支撑机器人的重量，而且滚动式的被动运动可以极大的降低对高压线的磨损。它的结构紧凑，电机、驱动器等电控部件封装在夹持机构内部。该机构的传动部分具备自锁功能，锁紧后不需要额外的动力就可以随着驱动轮滚动前进或者后退，有效减少了能耗，延长了机器人的在线工作时间。具有较大的夹紧空间，能够适应不同直径的高压线，提高了机器人的工作范围。在实验室环境下针对夹持机构进行了一系列实验，实验结果表明该夹持机构能提高机器人的运动能力。
위료보조고압순선궤기인진행운동、월장，연제료일충신형협지궤구。해궤구불부능구흔호적지탱궤기인적중량，이차곤동식적피동운동가이겁대적강저대고압선적마손。타적결구긴주，전궤、구동기등전공부건봉장재협지궤구내부。해궤구적전동부분구비자쇄공능，쇄긴후불수요액외적동력취가이수착구동륜곤동전진혹자후퇴，유효감소료능모，연장료궤기인적재선공작시간。구유교대적협긴공간，능구괄응불동직경적고압선，제고료궤기인적공작범위。재실험실배경하침대협지궤구진행료일계렬실험，실험결과표명해협지궤구능제고궤기인적운동능력。
This paper proposes a novel gripper for power transmission lines inspection robot. The proposed gripper has advantage of obstacles avoidance. The whole weight of the robot could be supported by the grippers with ball bearings design. The passive rolling motion through ball bearings greatly reduces the friction force between the power transmission cable and the robot, with the result of having a less damage to the cable. In addition, a pair of worm gears with self-locking characteristic is used together. It also has large workspace feature with good adaptability for inspection applications on different diameter cables. A test-bed was built for maneuverability evaluation. Numerous experiments were conducted, and the experiment results show that the proposed gripper is efficient for robot’s maneuverability.