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浙江大学学报(工学版)
浙江大学学报(工学版)
机械与电气工程     
高压直流巡检机器人的磁力驱动方法
徐显金, 吴龙辉, 杨小俊, 汤亮, 杨永峰
湖北工业大学 机械工程学院,湖北 武汉 430068
Magnetic driving method of inspection robot for HVDC transmission lines
XU Xian jin, WU Long hui, YANG Xiao jun, TANG Liang, YANG Yong feng
College of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
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摘要：

 针对架空高压输电线路轮臂式巡检机器人易打滑问题,提出基于高压直流磁场的磁力驱动方法.利用载流线圈在高压直流磁场中受到的安培力作为牵引机器人移动的驱动力,取代以电机驱动的轮轨式移动方式,从而彻底消除打滑问题.根据高压直流输电线路周围的磁场特性和对机器人驱动力的要求,建立实现磁力驱动力的物理模型,分析磁力驱动力与物理模型尺寸及线圈匝数之间的关系,提出利用磁场力来平衡横风力矩的方法.利用COMSOL软件对磁力驱动模型进行仿真,将磁力驱动力的仿真结果与理论计算值进行比较分析.结果表明,提出的磁力驱动方法理论上是正确的.依据提出的磁力驱动模型建立磁力驱动装置并进行实验,实验结果表明,提出的磁力驱动方法在技术上是可行的.
Abstract:

A new magnetic driving method was introduced in order to eliminate slippage problem of wheel-arm-structured inspection robot for high voltage direct current (HVDC) transmission. Ampere force caused by HVDC magnetic field was used as driving force, replacing motor-driven wheel-rail driving power, so as to completely resolve the slippage problem. The physical model to achieve magnetic driving force was established by analyzing the magnetic properties around the HVDC transmission lines and the demand of robot driving force. The relationship between driving force and the model size as well as the number of coil turns was analyzed. A magnetic force method was proposed to counteract the transverse wind. The calculated magnetic driving force was compared with the simulation data of COMSOL software. Results reveal that the proposed method of magnetic driving is theoretically correct. A unit of magnetic driving on the basis of the model was built. Experimental results prove that the proposed method of magnetic driving is practically feasible.
出版日期: 2016-10-28
:  TP 242  
基金资助:

国家自然科学基金面上项目（61375092）；2015湖北省科技支撑计划资助项目（2015BAA011）.
作者简介: 徐显金（1971—）,男,讲师,博士,从事电力作业机器人研究. ORCID: 0000-0002-7662-849X. E-mail: xxjoyjn@126.com
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引用本文:

徐显金, 吴龙辉, 杨小俊, 汤亮, 杨永峰. 高压直流巡检机器人的磁力驱动方法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2016.10.013.

XU Xian jin, WU Long hui, YANG Xiao jun, TANG Liang, YANG Yong feng. Magnetic driving method of inspection robot for HVDC transmission lines. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2016.10.013.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2016.10.013    或    http://www.zjujournals.com/eng/CN/Y2016/V50/I10/1937

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