A Climbing System of Aerial Work Assistance Robot for UHV Tower

doi:10.11930/j.issn.1004-9649.202006009

Abstract

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

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.

Add to citation manager EndNote|Ris|BibTeX

URL: https://www.electricpower.com.cn/EN/10.11930/j.issn.1004-9649.202006009

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

References

[1] 郑霞忠, 王晓宇, 陈述, 等. 高处坠落事故的人因失误与干预策略研究[J]. 中国安全生产科学技术, 2017, 13(6): 139-144
ZHENG Xiazhong, WANG Xiaoyu, CHEN Shu, et al. Study on human error and intervention strategies of high falling accidents[J]. Journal of Safety Science and Technology, 2017, 13(6): 139-144
[2] 张洪, 宫运华, 傅贵. 基于“2-4”模型的建筑施工高处坠落事故原因分类与统计分析[J]. 中国安全生产科学技术, 2017, 13(9): 169-174
ZHANG Hong, GONG Yunhua, FU Gui. Causes classification and statistical analysis on falling accidents on construction sites based on“2-4”model[J]. Journal of Safety Science and Technology, 2017, 13(9): 169-174
[3] 施式亮, 刘勇, 李润求, 等. 基于AHP-Fuzzy的高处坠落危险性评价研究[J]. 中国安全生产科学技术, 2011, 7(2): 132-137
SHI Shiliang, LIU Yong, LI Runqiu, et al. Research and application on risk assessment of high falling based on AHP-Fuzzy[J]. Journal of Safety Science and Technology, 2011, 7(2): 132-137
[4] 赵金娜, 郭进平, 侯东升, 等. 基于AHP的高处坠落事故脆性分析[J]. 中国安全生产科学技术, 2009, 5(5): 204-208
ZHAO Jinna, GUO Jinping, HOU Dongsheng, et al. Analysis of brittleness of falling accident based on analytic hierarchy process[J]. Journal of Safety Science and Technology, 2009, 5(5): 204-208
[5] 徐影, 杨高升, 夏柠萍, 等. 基于FTA-Reason的施工作业高空坠落风险预控研究[J]. 中国安全生产科学技术, 2015, 11(7): 171-177
XU Ying, YANG Gaosheng, XIA Ningping, et al. Study on pre-control of high falling risk in construction operation based on FTA-Reason model[J]. Journal of Safety Science and Technology, 2015, 11(7): 171-177
[6] TSUNEMI K, MARUYAMA Y, YANO K, et al. Development of a hot-line work robot, "Phase II" and a training system for robot operators[C]// IEEE, International Conference on Transmission & Distribution Construction, Operation & Live-Line Maintenance Proceedings. IEEE, 1998: 147-153.
[7] TAKAOKA K, YOKOYAMA K, WAKISAKO H, et al. Development of the fully-automatic live-line maintenance robot-Phase III[C]// IEEE International Symposium on Assembly and Task Planning. IEEE, 2002: 423-428.
[8] DUNLAP J H, VAN NAME J M, HENKENER J A. Robotic maintenance of overhead transmission lines[J]. IEEE Transactions on Power Delivery, 1986, 1(3): 280-284.
[9] 顾毅, 翁新华, 杨汝清, 等. 关节式超高压带电清扫机器人HVCR-II[J]. 上海交通大学学报, 2006, 40(12): 2173-2176, 2181
GU Yi, WENG Xinhua, YANG Ruqing, et al. Articulated super high voltage hot-line cleaning robot“HVCR-II”[J]. Journal of Shanghai Jiao Tong University, 2006, 40(12): 2173-2176, 2181
[10] HIROSE S, ARIKAWA H. Coupled and decoupled actuation of robotic mechanisms[C]//Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065), San Francisco, CA, USA, April 24-28, 2000.
[11] TAVAKOLI M, MARJOVI A, MARQUES L, et al. 3DCLIMBER: a climbing robot for inspection of 3D human made structures[C]//2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008. Nice. IEEE, 2008.
[12] TAVAKOLI M, MARQUES L, DE ALMEIDA A T. Self calibration of step-by-step based climbing robots[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 10-15, 2009. St. Louis, MO. IEEE, 2009.
[13] YUN S K, Rus D. Optimal distributed planning for self assembly of modular manipulators[C]//2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sept 22-26, 2008.
[14] 蔡传武, 管贻生, 周雪峰, 等. 双手爪式仿生攀爬机器人的摇杆控制[J]. 机器人, 2012, 34(3): 363-368
CAI Chuanwu, GUAN Yisheng, ZHOU Xuefeng, et al. Joysitck-based control for a biomimetic biped climbing robot[J]. ROBOT, 2012, 34(3): 363-368
[15] 蔡传武. 爬杆机器人的攀爬控制[D]. 广州: 华南理工大学, 2011.
CAI Chuanwu. Control of A pole climbing robot[D]. Guangzhou: South China University of Technology, 2011.
[16] LAM T L, XU Y S. A flexible tree climbing robot: Treebot - design and implementation[C]//2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011. Shanghai, China. IEEE, 2011.
[17] 刘晓宇, 陆小龙, 赵世平. 电力铁塔攀爬机器人运动学及奇异性分析[J]. 机械设计, 2016, 33(5): 7-13
LIU Xiaoyu, LU Xiaolong, ZHAO Shiping. Kinematics and singularity analysis of an electricity pylon climbing robot[J]. Journal of Machine Design, 2016, 33(5): 7-13
[18] 王蕾, 陆小龙, 赵世平, 等. 电力铁塔攀爬机器人直线推杆机构设计与分析[J]. 机械设计与制造, 2012(3): 52-54
WANG Lei, LU Xiaolong, ZHAO Shiping, et al. Design and analysis of linear rod units for electricity pylons climbing robot[J]. Machinery Design & Manufacture, 2012(3): 52-54
[19] 陆小龙, 赵世平, 廖俊必, 等. 电力铁塔攀爬机器人夹持机构设计与分析[J]. 四川大学学报(工程科学版), 2010, 42(6): 239-243, 250
LU Xiaolong, ZHAO Shiping, LIAO Junbi, et al. Design and analysis of clamping mechanism for power tower climbing robot[J]. Journal of Sichuan University (Engineering Science Edition), 2010, 42(6): 239-243, 250
[20] 姜文涛. 高压输电铁塔攀爬机器人爬行越障装置研究[D]. 北京: 华北电力大学, 2019.
JIANG Wentao. Research of climbing and overriding device for high voltage transmission tower climbing robot[D]. Beijing: North China Electric Power University, 2019.