基于攀爬机器人技术的电力铁塔攀爬辅助装置设计

输电线路的日常巡查和维护检修是保障电力传输系统安全稳定的前提。目前，输电线路的巡检和维护工作仍然采用工作人员背带滑车与绝缘绳上塔的方式实现。传统的防坠装置并不能很好地配合工作人员上塔工作，工作人员在上塔过程中经常会遇到防坠装置卡住的情况，需要作业人员手动调节后才能继续上塔，增加了作业人员工作的劳动强度与危险性，导致了很多作业人员不愿使用防坠装置上塔。针对上述问题，设计一种电力巡检登塔作业时使用的辅助机器人，该装置与作业人员身上系挂的安全绳相连，机器人始终自动运行于作业人员上方，自动控制距离进行安全保护，同时，还具有辅助人员携带作业工器具的功能。

Design of Electric Tower Climbing Auxiliary Device Based on Climbing Robot Technology

The daily inspection, maintenance and repair of transmission line are the premise to ensure the safety and stability of power transmission system. At present, the inspection and maintenance of transmission lines are still realized by the way of staff carrying pulley and insulating rope on the tower. The traditional fall arrest device can not well cooperate with the workers'' work on the tower. The workers often encounter the jamming of the fall arrest device in the process of climbing the tower, which requires operators to manually adjust before they can continue to climb the tower. This problem increases the labor intensity and risk of the operators, which results in many operators unwilling to use the fall arrest device to climb the tower. In view of the above problems, an auxiliary robot for power inspection tower climbing is designed. The device is connected with the safety rope tied on the operator. The device always runs automatically above the operator and automatically controls the distance for safety protection. At the same time, it also has the function of assisting personnel to carry operation tools and instruments.