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为了适应在充电座与充电头的对接过程中,由于安装误差、输电线路受机器人重力会产生向下形变带来的对中偏差,克服传统插针与插孔对准难的缺点,根据巡线机器人在高空线路上运行的特点,首先设计出了一种新型的、对接简单可靠的充电对接装置(包括楔形充电头和4自由度缓冲充电座);然后分析了对接过程,并通过坐标变换法得到了对接装置与高空线路之间的几何约束关系;最后根据对接时的接触特点,分析了受力特性,得到了线路及对接装置相关的几何参数、特性参数(摩擦系数)之间的约束关系,为充电对接装置和线路之间的参数匹配提供了理论依据.
In order to adapt to the charging dock and the charging head docking process, due to installation error, the transmission line by the robot gravity will produce downward deformation caused by the deviation to overcome the traditional pin and jack alignment difficulties, according to patrol line Firstly, a new kind of docking device (including wedge-shaped charging head and 4-DOF buffer charging dock) with a simple and reliable docking is designed. The docking process is analyzed and the coordinate transformation method The geometrical restraint relationship between the docking device and the high-altitude line was obtained. Finally, according to the contact characteristics of docking, the force characteristics were analyzed, and the constraint relationship between the geometric parameters and the characteristic parameters (friction coefficient) of the line and docking device was obtained. , Which provides a theoretical basis for the parameter matching between the charging dock and the line.