DWR-I遥操作高压带电作业机器人  

DWR-I Telerobot for High Voltage Electric Power Line Live Working Maintenance

作　　者：鲁守银[1] 傅孟潮[1] 厉秉强[1] 马培荪[2] 

机构地区：[1]山东电力研究院鲁能智能公司,济南250002 [2]上海交通大学机械与动力工程学院,上海200030

出　　处：《上海交通大学学报》2005年第6期910-913,918,共5页Journal of Shanghai Jiaotong University

基　　金：国家电力公司重点科研资助项目(SPKJ010-27)

摘　　要：介绍了一种适用于10kV及以下电压等级配电系统的主从遥操作高压带电作业机器人系统DWR-I.该系统由移动汽车、升降机构、作业机械臂、主手、绝缘隔离变压器、夹持手、专用工具、绝缘防护装置、控制系统等组成.其中的夹持手可以根据夹持物自动调整自己的位置,以改变夹持力;波纹形状的绝缘连接件及配备隔离绝缘等级为10kV的隔离变压器,解决了绝缘和电气隔离问题,并满足高压带电作业的绝缘要求.DWR-I机器人试验运行情况表明,其性能满足设计要求.A master-slave teleoperation robot system (DWR-I) was introduced, which can be classified into these components; mobile vehicle, booms, control panel, dual-armed master-servo, dual-armed manipulators, insulating transformer, griper, control system and special tools, for 10 kV high voltage electric power live working maintenance. According to the size of tools or workpiece, the fingers of griper can adjust its position to the requisite clamping power. And the problem of insulating is solved by adopting screw thread shape insulating connections and an insulating transformer between the boom and work platform. The robot can meet the live working insulating demand, and perform the main tasks of up to 10 kV voltage live working such as replacing switch units, insulators, fused elements, and cutting a line, attaching a jumper by human's tele-operation. The practice shows that the technical parameters and feature of the system satisfy the design claims.

关 键 词：配电系统 带电作业 机器人 主从控制 

分 类 号：TM755[电气工程—电力系统及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]