特高压铁塔高空作业辅助机器人攀登系统

doi:10.11930/j.issn.1004-9649.202006009

中国电力 ›› 2020, Vol. 53 ›› Issue (12): 177-182.DOI: 10.11930/j.issn.1004-9649.202006009

特高压铁塔高空作业辅助机器人攀登系统

唐诗洋¹, 门永生¹, 于振¹, 关城¹, 许永刚²

1. 全球能源互联网研究院有限公司，北京 102209;
2. 国网山东省电力公司，山东济南 250001

收稿日期:2020-06-01 修回日期:2020-06-10 发布日期:2020-12-16
作者简介:唐诗洋(1989—)，男，博士，从事安全科学与技术、电力应急技术研究，E-mail：1007939330@qq.com;门永生(1981—)，男，通信作者，博士，从事电力应急技术研究，E-mail：menys1981@163.com
基金资助:
国家电网有限公司科技项目(特高压输电线路高空作业防护救援技术及规范化操作方法研究，SGGR0000XTJS1801140)。

A Climbing System of Aerial Work Assistance Robot for UHV Tower

TANG Shiyang¹, MEN Yongsheng¹, YU Zhen¹, GUAN Cheng¹, XU Yonggang²

1. Global Energy Interconnection Research Institute Co., Ltd., Beijing 102209, China;
2. State Grid Shandong Electric Power Company, Jinan 250001, China

Received:2020-06-01 Revised:2020-06-10 Published:2020-12-16
Supported by:
This work is supported by Science and Technology Project of SGCC (Research on the Protection, Rescue Technology and Standard Operation Method of UHV Pylon Aerial Work, No.SGGR0000XTJS1801140)

摘要/Abstract

摘要： 高空作业是生产工作当中安全风险较大的一个环节。中国电网系统的杆塔数量庞大，高空作业过程和杆塔攀登过程中的安全问题已成为电力行业亟须解决的重点之一。针对特高压输电线路高度的杆塔攀爬问题，提出一种基于机器人辅助的加强安全防护方案，并设计一种运动灵活性高、能够跨越较大障碍物的铁塔攀爬系统。通过伸缩式3足仿生蚕结构的主体结构和电磁吸附/夹持混合功能手爪满足所需求的功能。在实验室测试中，系统可以完成铁塔上的竖直攀爬、转向及横向，并在攀爬过程当中实现180 mm高和400 mm长的障碍物跨越。该攀爬系统结构非常适合于进行电力杆塔的攀爬，能够完成各项高空作业辅助工作。

关键词: 攀爬机器人, 高空作业, 仿生蚕结构, 障碍物跨越, 高空救援

Abstract: Aerial work is a high risk procedure in power grid construction and operation. It is a vital issue to protect the workers’ safety while working on high tower or climbing tower. In this paper, a safety protection strengthening method is proposed based on tower-climbing robot assistance, and an iron tower climbing system with high flexibility and good obstacle-crossing ability is designed. The required functions are realized with the 3-leg silkworm-like main structure and the magnetic/clamping dual function craws. Through laboratory based experiment, the proposed system was proven to be able to move vertically or horizontally and turn around, with an ability to cross a 180 mm high and 400 mm wide obstacle. The proposed climbing system structure is applicable to the power tower climbing for assisting various aerial works.

Key words: climbing robot, aerial work, silkworm-like structure, obstacle crossing, aerial rescue

唐诗洋, 门永生, 于振, 关城, 许永刚. 特高压铁塔高空作业辅助机器人攀登系统[J]. 中国电力, 2020, 53(12): 177-182.

TANG Shiyang, MEN Yongsheng, YU Zhen, GUAN Cheng, XU Yonggang. A Climbing System of Aerial Work Assistance Robot for UHV Tower[J]. Electric Power, 2020, 53(12): 177-182.

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https://www.electricpower.com.cn/CN/Y2020/V53/I12/177

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特高压铁塔高空作业辅助机器人攀登系统

A Climbing System of Aerial Work Assistance Robot for UHV Tower

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