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Article(id=1241686767078797517, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241686759470329942, articleNumber=null, orderNo=null, doi=10.16579/j.issn.1001.9669.2025.09.020, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1747065600000, receivedDateStr=2025-05-13, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1773970794696, onlineDateStr=2026-03-20, pubDate=1757865600000, pubDateStr=2025-09-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773970794696, onlineIssueDateStr=2026-03-20, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773970794696, creator=13701087609, updateTime=1773970794696, updator=13701087609, issue=Issue{id=1241686759470329942, tenantId=1146029695717560320, journalId=1227999626482147330, year='2025', volume='47', issue='9', pageStart='1', pageEnd='249', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773970792882, creator=13701087609, updateTime=1773970911747, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1241687258093375901, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241686759470329942, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1241687258093375902, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241686759470329942, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=205, endPage=212, ext={EN=ArticleExt(id=1241686768555192543, articleId=1241686767078797517, tenantId=1146029695717560320, journalId=1227999626482147330, language=EN, title=Wind-resistance performance optimization design of a line inspection robot based on elastic pressing and improved wheel grooves, columnId=null, journalTitle=Journal of Mechanical Strength, columnName=null, runingTitle=null, highlight=null, articleAbstract=

To address the insufficient stability of high-altitude line inspection robots under wind loads, this study proposes optimization strategies involving a novel elastic pressing mechanism and an improved wheel groove, which can effectively enhance their walking stability. A power transmission and distribution line inspection robot with dual-mode switching (flight and walking) capabilities was developed. Firstly, a dynamic model of the robot under wind loads was established, and the relationship between the swing decay time and clamping force, contact area, and friction coefficient was derived. Secondly,dynamic simulations were conducted to verify the performance advantages of the two optimization strategies in suppressing swings. Finally, outdoor wind swing tests were performed to validate the effect of structural improvements. The results show that the elastic pressing mechanism can effectively increase the contact area between the pressing wheel and the line, and the improved wheel groove can enhance the friction coefficient of the walking wheel; both significantly shorten the robot's swing decay time and improve its inspection stability in wind load disturbance environments. The effective technical support and engineering practice basis for the stable operation of high-altitude line inspection robots in complex environments were provided.

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DAI Derui, E-mail：
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针对风载荷作用下高空线路巡检机器人稳定性不足的问题，提出了新型弹性压紧机构与改进轮槽的优化策略，可有效提升其行走稳定性，研制了一款输配电线路巡检机器人，实现了飞行与行走双模态切换功能。首先，建立了机器人在风载荷下的动力学模型，推导了摆动衰减时间与压紧力、接触面积及摩擦因数之间的关系。其次，通过动力学仿真验证了两种优化策略在抑制摆动方面的性能优势。最后，通过室外风摆试验验证了结构改进效果。结果表明，弹性压紧机构能够有效增加压紧轮和线路接触面积，改进轮槽可提升行走轮摩擦因数，两者均显著缩短了机器人摆动衰减时间，提升了机器人在风载扰动环境下的巡检稳定性。为高空线路巡检机器人在复杂环境中的稳定运行提供了有效的技术支撑与工程实践依据。

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代德瑞，男，1998年生，河北沧州人，在读博士研究生；主要研究方向为电力设备故障诊断与智能运维、机电一体化设备研发；E-mail：。
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何玉灵，男，1984年生，福建龙岩人，博士，教授，博士研究生导师；主要研究方向为电力设备故障诊断与智能运维、复杂系统数学建模和数字孪生、信号测试分析与智能传感技术、新型机电设备先进设计与制造和综合能源系统规划与运行管理；E-mail：。

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何玉灵，男，1984年生，福建龙岩人，博士，教授，博士研究生导师；主要研究方向为电力设备故障诊断与智能运维、复杂系统数学建模和数字孪生、信号测试分析与智能传感技术、新型机电设备先进设计与制造和综合能源系统规划与运行管理；E-mail：。

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何玉灵，男，1984年生，福建龙岩人，博士，教授，博士研究生导师；主要研究方向为电力设备故障诊断与智能运维、复杂系统数学建模和数字孪生、信号测试分析与智能传感技术、新型机电设备先进设计与制造和综合能源系统规划与运行管理；E-mail：。

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Different simulation condition codes

, figureFileSmall=null, figureFileBig=null, tableContent=
代号 Code压紧机构类型Types of pressing mechanisms轮槽类型 Types of wheel grooves压紧力 Pressing force FN/N
条件1 Condition 1刚性压紧 Rigid pressing普通轮槽 Common wheel groove15
条件2 Condition 2刚性压紧 Rigid pressing普通轮槽 Common wheel groove30
条件3 Condition 3刚性压紧 Rigid pressing普通轮槽 Common wheel groove45
条件4 Condition 4弹性压紧 Elastic pressing普通轮槽 Common wheel groove15
条件5 Condition 5弹性压紧 Elastic pressing普通轮槽 Common wheel groove30
条件6 Condition 6弹性压紧 Elastic pressing普通轮槽 Common wheel groove45
条件7 Condition 7弹性压紧 Elastic pressing改进轮槽 Improved wheel groove15
条件8 Condition 8弹性压紧 Elastic pressing改进轮槽 Improved wheel groove30
条件9 Condition 9弹性压紧 Elastic pressing改进轮槽 Improved wheel groove45
), ArticleFig(id=1241810805377795047, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241686767078797517, language=CN, label=表1, caption=

不同仿真条件代号

, figureFileSmall=null, figureFileBig=null, tableContent=
代号 Code压紧机构类型Types of pressing mechanisms轮槽类型 Types of wheel grooves压紧力 Pressing force FN/N
条件1 Condition 1刚性压紧 Rigid pressing普通轮槽 Common wheel groove15
条件2 Condition 2刚性压紧 Rigid pressing普通轮槽 Common wheel groove30
条件3 Condition 3刚性压紧 Rigid pressing普通轮槽 Common wheel groove45
条件4 Condition 4弹性压紧 Elastic pressing普通轮槽 Common wheel groove15
条件5 Condition 5弹性压紧 Elastic pressing普通轮槽 Common wheel groove30
条件6 Condition 6弹性压紧 Elastic pressing普通轮槽 Common wheel groove45
条件7 Condition 7弹性压紧 Elastic pressing改进轮槽 Improved wheel groove15
条件8 Condition 8弹性压紧 Elastic pressing改进轮槽 Improved wheel groove30
条件9 Condition 9弹性压紧 Elastic pressing改进轮槽 Improved wheel groove45
), ArticleFig(id=1241810805470069742, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241686767078797517, language=EN, label=Tab.2, caption=

Codes for different test conditions

, figureFileSmall=null, figureFileBig=null, tableContent=
代号 Code压紧机构类型Types of pressing mechanisms轮槽类型 Types of wheel grooves压紧力 Pressing force FN/N
条件10 Condition 10刚性压紧 Rigid pressing普通轮槽 Common wheel groove45
条件11 Condition 11弹性压紧 Elastic pressing普通轮槽 Common wheel groove45
条件12 Condition 12弹性压紧 Elastic pressing改进轮槽 Improved wheel groove45
), ArticleFig(id=1241810805579121650, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241686767078797517, language=CN, label=表2, caption=

不同试验条件代号

, figureFileSmall=null, figureFileBig=null, tableContent=
代号 Code压紧机构类型Types of pressing mechanisms轮槽类型 Types of wheel grooves压紧力 Pressing force FN/N
条件10 Condition 10刚性压紧 Rigid pressing普通轮槽 Common wheel groove45
条件11 Condition 11弹性压紧 Elastic pressing普通轮槽 Common wheel groove45
条件12 Condition 12弹性压紧 Elastic pressing改进轮槽 Improved wheel groove45
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基于弹性压紧与改进轮槽的线路巡检机器人抗风性优化设计
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何玉灵 1 , 庞子旺 1 , 代德瑞 1 , 刘振华 1 , 陈宇锋 1 , 郑海 1 , 姬艳鹏 2
机械强度 | 2025,47(9): 205-212
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机械强度 | 2025, 47(9): 205-212
基于弹性压紧与改进轮槽的线路巡检机器人抗风性优化设计
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何玉灵1 , 庞子旺1, 代德瑞1 , 刘振华1, 陈宇锋1, 郑海1, 姬艳鹏2
作者信息
  • 1.华北电力大学 电力机械装备先进制造与智能运维河北省工程研究中心，保定　071003
  • 2.国网河北省电力有限公司 电力科学研究院，石家庄　050000

    • 何玉灵，男，1984年生，福建龙岩人，博士，教授，博士研究生导师；主要研究方向为电力设备故障诊断与智能运维、复杂系统数学建模和数字孪生、信号测试分析与智能传感技术、新型机电设备先进设计与制造和综合能源系统规划与运行管理；E-mail：。

通讯作者:

代德瑞，男，1998年生，河北沧州人，在读博士研究生；主要研究方向为电力设备故障诊断与智能运维、机电一体化设备研发；E-mail：。
Wind-resistance performance optimization design of a line inspection robot based on elastic pressing and improved wheel grooves
Yuling HE1 , Ziwang PANG1, Derui DAI1 , Zhenhua LIU1, Yufeng CHEN1, Hai ZHENG1, Yanpeng JI2
Affiliations
  • 1.Hebei Engineering Research Center for Advanced Manufacturing & Intelligent Operation and Maintenance of Electric Power Machinery, North China Electric Power University, Baoding 071003, China
  • 2.Electric Power Research Institute, State Grid Hebei Electric Power Co., Ltd., Shijiazhuang 050000, China
出版时间: 2025-09-15 doi: 10.16579/j.issn.1001.9669.2025.09.020
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摘要
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针对风载荷作用下高空线路巡检机器人稳定性不足的问题，提出了新型弹性压紧机构与改进轮槽的优化策略，可有效提升其行走稳定性，研制了一款输配电线路巡检机器人，实现了飞行与行走双模态切换功能。首先，建立了机器人在风载荷下的动力学模型，推导了摆动衰减时间与压紧力、接触面积及摩擦因数之间的关系。其次，通过动力学仿真验证了两种优化策略在抑制摆动方面的性能优势。最后，通过室外风摆试验验证了结构改进效果。结果表明，弹性压紧机构能够有效增加压紧轮和线路接触面积，改进轮槽可提升行走轮摩擦因数，两者均显著缩短了机器人摆动衰减时间，提升了机器人在风载扰动环境下的巡检稳定性。为高空线路巡检机器人在复杂环境中的稳定运行提供了有效的技术支撑与工程实践依据。

线路巡检机器人  /  风载荷  /  弹性压紧机构  /  改进轮槽  /  摆动衰减时间

To address the insufficient stability of high-altitude line inspection robots under wind loads, this study proposes optimization strategies involving a novel elastic pressing mechanism and an improved wheel groove, which can effectively enhance their walking stability. A power transmission and distribution line inspection robot with dual-mode switching (flight and walking) capabilities was developed. Firstly, a dynamic model of the robot under wind loads was established, and the relationship between the swing decay time and clamping force, contact area, and friction coefficient was derived. Secondly,dynamic simulations were conducted to verify the performance advantages of the two optimization strategies in suppressing swings. Finally, outdoor wind swing tests were performed to validate the effect of structural improvements. The results show that the elastic pressing mechanism can effectively increase the contact area between the pressing wheel and the line, and the improved wheel groove can enhance the friction coefficient of the walking wheel; both significantly shorten the robot's swing decay time and improve its inspection stability in wind load disturbance environments. The effective technical support and engineering practice basis for the stable operation of high-altitude line inspection robots in complex environments were provided.

Line inspection robot  /  Wind load  /  Elastic pressing mechanism  /  Improved wheel groove  /  Oscillation decay time
何玉灵, 庞子旺, 代德瑞, 刘振华, 陈宇锋, 郑海, 姬艳鹏. 基于弹性压紧与改进轮槽的线路巡检机器人抗风性优化设计. 机械强度, 2025 , 47 (9) : 205 -212 . DOI: 10.16579/j.issn.1001.9669.2025.09.020
Yuling HE, Ziwang PANG, Derui DAI, Zhenhua LIU, Yufeng CHEN, Hai ZHENG, Yanpeng JI. Wind-resistance performance optimization design of a line inspection robot based on elastic pressing and improved wheel grooves[J]. Journal of Mechanical Strength, 2025 , 47 (9) : 205 -212 . DOI: 10.16579/j.issn.1001.9669.2025.09.020
正文
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0　引言
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电力能源是人类社会发展的基石之一，架空线路的巡检是保障电力系统安全运行的重要环节[1]。传统的人工巡检方式存在安全风险高、效率低等问题，而机器人巡检凭借其高效性和智能化的优势，正逐步成为研究热点。然而，受风载荷等外部扰动影响，传统线路巡检机器人在运行过程中常出现多方向摆动现象，进而导致定位精度下降，甚至造成作业中断[2-4]。国内外学者在风载下的巡线机器人振动抑制、结构优化方面已经取得了一定成果。
针对风载荷引起的线路巡检机器人摆动与振动问题，ALHASSAN等[5]通过引入质量、弹簧和阻尼器等要素对巡检机器人进行了建模，解析了输电线路巡检机器人的振动情况。杜静等[6]在动力学建模中进一步引入阻尼参数，为动力学建模方法的完善与应用提供了新的思路。李小彭等[7]提出了一种动力学建模方法，可帮助分析巡检机器人在悬挂状态下的稳定性。研究发现，增大压紧力不仅可有效提升机器人的行走稳定性和爬坡能力[8]，还有助于提升其抗风能力[9]。
机器人结构优化设计方面，赵高阳等[10]设计了一种单臂刚性双压紧轮结构，并通过Adams软件进行了动力学仿真分析。何缘等[11]研制的巡检机器人采用单一弹簧刚性压紧结构，在一定程度上具备了缓冲能力，并通过试验验证了其越障性能。GUO等[12]设计了一种左、右全包覆式压紧机构，模拟人手抓握动作，通过增大接触面积以提升抗干扰能力。FU等[13]受到动物四肢攀爬树干的启发，开发了双臂抓握压紧式巡检机器人，进一步增强了巡检稳定性。侯建国等[14]研制了一款抱臂式线路巡检机器人，并通过仿真验证了其结构设计的合理性与可行性。
此外，YUE等[15]发现主动调节重心能在一定程度上缓解风载引起的摆动幅值过大问题。樊星等[16]提出了一种集成摆动吸振器的线路巡检机器人，能够根据风载方向自主调整重心位置，具备良好地降低风摆幅值的功能。
以上研究均为本文的巡检机器人开发提供了参考，在之前研究的基础上，本文提出了两项针对传统轮式行走机构的结构优化方案（弹性压紧结构与改进轮槽），其改造幅度小且优化效能突出。其中，弹性压紧机构可增加接触面积，改进轮槽可增大行走轮摩擦因数，两者均能有效提升机器人在风载荷下运行的稳定性。
针对上述改进方案，本文建立了风载荷作用下机器人动力学理论模型，并通过仿真模拟和试验验证，分析了结构改进前、后的机器人摆动情况，为提升电力线路巡检的稳定性提供参考。
1　机器人介绍及动力学理论
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1.1　机器人介绍
如图1所示，飞走式线路巡检机器人应用于架空线路输配电过程中，由于架空线路处于高空中，机器人的无人机系统携带挂载及检测装置飞到线路之上，为了更加精确稳定地巡检线路，需要挂载于架空线路上，通过挂载装置在线路上滚动带动机器人沿线路轴线方向进行多条线路同时巡检，需要跨越杆塔巡检下一轮线路时，通过无人机系统再次飞行挂载至下一段线路上进行巡检。由于处于高空巡检，风荷载对巡检效率及稳定性的影响不可忽略。
对于飞走式线路巡检机器人而言，实现线路挂载的关键动作包括悬停旋转、升降等操作，其中悬停旋转阶段的稳定性是确保成功挂载的关键。在悬停旋转过程中，机器人需要精准控制姿态，以维持动态平衡，从而顺利完成挂载任务。该悬停旋转过程如图2所示，沿数字顺序，机器人围绕Y轴水平旋转，每次旋转一定的角度。实测结果表明，飞走式机器人能完成飞行、挂线等任务，其在线路上的行进情况是本文研究的重点。
1.2　动力学理论建模
对机器人悬挂于线路巡检时的受力进行简化分析，如图3所示。
如图3（a）所示，在沿X方向上机器人前进是由2个驱动电动机所驱动的，其驱动的转矩方程和动力学方程为
式中，M为电动机的转矩；FT1、FT2分别为前、后轮驱动力；R1、R2分别为前、后轮与线路有效接触半径；fsi为驱动轮和线路的摩擦力；fk为压紧轮和线路的摩擦力；fw为风载荷力；m为机器人的质量；g为重力加速度；α为线路倾斜角度。
风载荷除在机器人行进方向产生影响外，在其他方向也会产生一定的影响，其中沿Z方向引起的摆动最为显著。因此，有必要对机器人在Z方向上的摆动进行有效抑制，以缩短其摆动的持续时间。
如图3（b）所示，机器人在Z方向上的运动可简化为质量为m的单摆模型。假设其摆动角度不超过5°，则可近似认为sin θ≈θ，此时机器人位移或角度随时间的摆动可视为简谐运动，其运动行为可由二阶微分方程描述为
式中，I为机器人转动惯量；θ为巡检机器人绕架空线中心摆动的角度；k为恢复力矩；Tw为风载荷力矩；Lc为重心到悬挂线路中心的距离；ρ为空气密度；Cd为风阻因数；A为迎风面积；v为风速；La为风力力臂。
式（2）描述了机器人在风载荷作用下的力矩平衡关系，惯性力矩、阻尼力矩和恢复力矩之和等于外部激励力矩，恢复力矩应为k·sin θ，由于sin θ≈θ，恢复力矩可约等于k·θ。
根据单摆的物理模型可得到摆动衰减时间常数τ由阻尼比ζ和固有频率ωn决定，即
阻尼比ζ和固有频率ωn与I、c和k的关系为
将式（2）~式（4）整合得到摆动衰减时间常数简化形式为
由式（5）可知，当质量和重心到摆动线路中心距离不变时，摆动衰减时间常数τ与等效阻尼因数c成反比，增大等效阻尼因数c可减小摆动衰减时间。
机器人摆动的等效阻尼因数是由摩擦阻尼cf和结构阻尼cs组成，为
通过压紧轮摩擦力矩来求解摩擦阻尼因数，接触面摩擦力产生的阻尼力矩Tf为
小角度振荡可线性化近似为
通过式（7）与式（8）相等，得到摩擦阻尼因数为
式中，μ为摩擦因数；FN为压紧力；r为接触面等效半径；ωavg为平均角速度。
由式（9）可得，在其他条件不变的情况下，μ和FN与cf成正比。
根据经验关系，增大接触面积S可以提升摩擦材料与线路的实际接触点数量，增强能量耗散效率，所以结构阻尼cs正比于接触面积S。
综合分析以上表达式，等效阻尼因数c与压紧力FN、压紧接触面积S和摩擦因数μ成正相关，故增大这3个参数时，摆动衰减时间常数τ减小，摆动衰减加速，能够有效抑制机器人的摆动振荡。弹性压紧机构通过旋转可更好地贴合线路来增加压紧接触面积，改进沟槽通过增大压强提高表面粗糙度来增加摩擦因数。
2　风载荷下机器人动力学仿真
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2.1　动力学模型设置
由于线路本身存在一定的垂度，弹性压紧机构中的上旋转支座可带动压紧轮绕支撑旋转轴产生一定程度的转动，从而更好地贴合线路，实现更稳定的接触状态，如图4（a）所示。压缩弹簧在结构中起到缓冲与减振的作用，有效提升了装置在复杂工况下的适应性。与传统刚性压紧机构相比，弹性压紧机构可显著增大压紧轮与线路之间的接触面积，如图4（b）所示。弹性压紧机构所形成的压紧面积S1明显大于刚性机构所形成的压紧面积S2，接触更加均匀，力的分布也更合理。
为进一步提升行进轮与线路之间的摩擦力，对行进轮表面结构进行了沟槽优化设计，如图4（c）所示，以增强其摩擦性能，从而提高整体运行的稳定性。通过设置矩形槽，将原本连续的接触面分割为多个离散接触区，槽边缘形成的局部高点会增加单位面积上的接触压强。压强的提升使轮子与线路表面在凹凸结构处嵌合更紧密，形成更高的表面粗糙度，从而有效增大摩擦因数。
为评估不同压紧结构与轮槽对抗风载性能的影响，本文采用SolidWorks软件中的Motion模块开展动力学仿真分析。如图5所示，仿真环境中将机器人置于具有垂度的架空线路上，线路采用240 mm2架空绝缘线建模，并对线路模型施加固定约束。设置驱动轮与压紧轮与线路之间的接触关系为刚性接触，定义材料属性与摩擦因数，轮子材料为尼龙，线路外表面为橡胶，同时施加引力和压紧力作用。
随后，在机器人质心平面施加一个持续时间有限的阵风载荷函数，同时赋予驱动电动机一定的运动速度。通过观测机器人在垂直于线路方向（Z轴）上的质心摆动响应，评估其在风载作用下的动态稳定性。通过更换不同的压紧结构形式及改变行进轮摩擦因数，比较各方案在抑制风载引起摆动方面的性能差异，从而分析优化结构在抗风扰动方面的效果。各仿真工况设置与代号如表1所示。
2.2　结果分析
对不同压紧机构和行进轮在不同压紧力作用下进行仿真，得到的结果如图6所示。
由图6可知，在施加一定时间的风载荷后，机器人在不同压紧结构作用下沿Z方向均出现了不同程度的摆动。对比图6（a）~图6（c）可知，当压紧力分别为15、30、45 N且采用弹性压紧机构时，机器人沿Z向摆动完全衰减至零所需时间分别为8.74、8.235、7.68 s。在相同压紧力条件下，采用刚性压紧机构的机器人在10 s的仿真时间内仍未完全停止摆动，但其振幅呈逐渐减小趋势，最终沿Z向摆动位移亦将趋于零。综合上述分析可知，沿Z向摆动的衰减速度随着压紧力的增大而增大，摆动停止时间随之缩短。另外，弹性压紧机构相较于刚性压紧机构在抑制风载荷引起的Z向摆动方面具有更优的动态响应性能。
在施加相同风载荷时间且压紧结构均为弹性压紧机构的前提下，由图7可知，当压紧力为15 N时，改进轮槽机器人的Z向摆动完全衰减时间为6.44 s，较普通轮的8.74 s减少了26.3%；当压紧力为30 N时，改进轮槽的停止摆动时间为5.915 s，较普通轮槽的8.235 s减少了28.1%；当压紧力为45 N时，改进轮槽停止摆动时间为5.41 s，较普通轮槽的7.685 s减少了29.6%。上述结果表明，在相同压紧条件下，改进轮槽机器人在抗风载摆动方面具有显著优势。
综上所述，引入弹性压紧机构可有效提升结构的动态响应能力，采用改进轮槽则能够增强轮子与线路之间的摩擦力，这两项优化措施与理论推导中所指出的通过增大压紧力、接触面积以及摩擦因数以缩短摆动衰减时间的结论相一致，进一步验证了所提优化方法在提升机器人抗风载摆动性能方面的有效性与理论合理性。
3　试验验证
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3.1　试验设置
为验证弹性压紧结构和改进轮槽在风致摆动抑制方面的效果，本研究开展了室外风摆衰减试验，如图8所示。
将机器人置于搭建完成的架空线路上，线路为240 mm2架空绝缘线，受自身重力及线路重力共同作用，架空线路呈一定弯曲状态。通过工业风扇与测风仪构建风载荷试验环境，向机器人施加沿Z方向的风力激励，引发其在该方向上的摆动。随后，分别采用不同结构和轮槽对机器人进行压紧，压紧力数值采用压力传感器进行精确标定，并对其稳定性进行对比分析，如表2所示。角度传感器用于实时采集机器人沿Z方向的角度变化情况。
3.2　结果分析
通过HWT901B-485型角度传感器采集Z向摆动角度数据，其不同条件下的结果如图9、图10所示。
由图9可知，在风载荷和压紧力相同的条件下，采用弹性压紧结构的机器人相比于传统刚性压紧结构沿Z向摆动角度衰减至稳定状态所需时间更短，体现出更优越的抗风稳定性。由图10可知，在保持风载荷、压紧力及弹性结构一致的前提下，经过轮槽优化设计的机器人在Z方向摆动角度趋于零的时间进一步缩短，表明轮槽结构优化对提升系统整体抗风扰动性能具有积极作用。试验和理论与仿真结果一致。
4　结论
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通过理论分析、动力学仿真与试验验证，研究了弹性压紧机构与改进轮槽对线路巡检机器人抗风稳定性的影响，得出主要结论如下：
1）机器人的摆动衰减时间与压紧力、摩擦因数及接触面积呈负相关关系，增大上述3个参数可有效缩短摆动衰减时间。
2）弹性压紧结构能够动态适应线路垂度变化，显著改善轮轨接触均匀性与压紧力分布，使机器人摆动衰减时间较传统刚性压紧结构明显缩短。
3）通过对轮槽表面进行沟槽优化设计，可有效提升摩擦性能，在相同压紧力条件下，较普通轮槽进一步缩短了机器人的摆动衰减时间。
综上所述，本研究提出的两项结构优化策略在提升机器人高空风载环境下的稳定性方面表现出良好的效果，为后续复杂工况下巡检机器人的结构设计与动态调控提供了依据和工程实践参考。未来研究将进一步聚焦于多自由度耦合振动建模与智能自适应压紧控制策略的设计，以实现更高效、更可靠的智能运维系统。
基金
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  • 国家自然科学基金项目(52177042)
  • 中央高校基本科研业务费专项基金项目(2023MS128)
  • 河北省第三批青年拔尖人才支持计划([2018]-27)
  • 河北省高层次人才资助项目(B20231006)
  • 国家电网河北省电力有限公司科技基金项目(kj2024-030)
文献
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2025年第47卷第9期
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文章信息
doi: 10.16579/j.issn.1001.9669.2025.09.020
  • 接收时间：2025-05-13
  • 首发时间：2026-03-20
  • 出版时间：2025-09-15
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  • 收稿日期：2025-05-13
基金
National Natural Science Foundation of China(52177042)
国家自然科学基金项目(52177042)
Chinese Fundamental Research Funds for the Central Universities(2023MS128)
中央高校基本科研业务费专项基金项目(2023MS128)
Top Youth Talent Support Program of Hebei Province([2018]-27)
河北省第三批青年拔尖人才支持计划([2018]-27)
High Level Talent Support Program of Hebei Province(B20231006)
河北省高层次人才资助项目(B20231006)
Science and Technology Project Fund of State Grid Hebei Electric Power Co., Ltd.(kj2024-030)
国家电网河北省电力有限公司科技基金项目(kj2024-030)
作者信息
    1.华北电力大学 电力机械装备先进制造与智能运维河北省工程研究中心，保定　071003
    2.国网河北省电力有限公司 电力科学研究院，石家庄　050000

通讯作者:

代德瑞，男，1998年生，河北沧州人，在读博士研究生；主要研究方向为电力设备故障诊断与智能运维、机电一体化设备研发；E-mail：。
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2种不同金属材料的力学参数
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genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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