摘要
为解决人工高空走线安装间隔棒面临的高危、任务繁重和效率低等问题,针对输电线路中间隔棒安装的机械化施工需求,提出并设计一种新型适应于六分裂高压输电线路的间隔棒安装机器人。该机器人结构紧凑,呈左右对撑分布,包含导线行走机构、间隔棒进给机构和安装作业机构。通过对机器人在导线上的受力分析,采用主动轮、从动轮和压紧轮混合使用方式,保证机器人快速、稳定行进。通过分析机器人的存储与进给功能,设计一种集成多自由度机械臂与间隔棒安装工具的装配机构,从而实现单次对6个间隔棒的装配作业。研制一台六分裂间隔棒安装机器人样机,将其搭载在输电线路试验环境下开展性能测试。试验结果表明:机器人在六分裂导线上具有携带六分裂间隔棒行进和安装等功能,能有效降低人工高空作业风险,提高安装效率。
In order to solve the problems of high-risk,heavy task and inefficiency faced by worker installing spacers in the high altitude,a new type of spacer installing robot for six-split high-voltage transmission lines was proposed and designed to meet the mechanized construction needs of spacer installation in transmission lines.The robot is compact in structure,distributed in left-right buttresses,and contains a walking mechanism on the conductor,a spacer feeding mechanism and an installation mechanism.Based on the analysis of the storage and feeding function of the robot,an assembly mechanism integrating a multi-degree-of-freedom robotic arm and a spacer installation tool was designed,which could enable the assembly of six spacers in a single operation.A six-split spacer installing robot was developed and its performance was tested in the test environment.The test results show that the robot has the functions of transporting and installing six-split spacers on the six-split transmission lines,which can effectively reduce the risk of manual work at high altitude and improve the installation efficiency.
作者
潘杰
胡春华
江明
马勇
孟凡豪
何宣虎
刘承志
PAN Jie;HU Chunhua;JIANG Ming;MA Yong;MENG Fanhao;HE Xuanhu;LIU Chengzhi(China Electric Power Research Institute,Beijing 100055,China;UHV Construction Branch of State Grid Corporation of China,Beijing 100032,China;State Grid Anhui Electric Power Co.,Ltd.,Hefei Anhui 230022,China)
出处
《机床与液压》
北大核心
2025年第11期84-89,共6页
Machine Tool & Hydraulics
基金
国家电网科技项目(5200-202220092A-1-1-ZN)。
关键词
输电线路
六分裂间隔棒
安装机器人
机构设计
transmission lines
six-split spacer
installing robot
mechanism design
作者简介
潘杰(1991-),男,博士,工程师,研究方向为电力智能检修机器人、机器人末端执行器、柔性机构设计。E-mail:goingjie@163.com。
