330kV变电设备带电清扫机器人研究  

Study on Development of Live Line Cleaning Robot for 330 kV Transformation Equipments

作　　者：陈晓伦[1] 彭夕岚[1] 杨汝清[2] 李世伟[1] 翁新华[2] 朱建军 葛永祥 

机构地区：[1]甘肃省电力公司,甘肃省兰州市730050 [2]上海交通大学机器人研究所,上海市徐汇区200030 [3]兰州供电公司,甘肃省兰州市730050

出　　处：《电网技术》2007年第19期56-59,共4页Power System Technology

基　　金：国家863高技术基金项目(2002AA42D110-2)~~

摘　　要：介绍了我国自行研制的世界首台330kV变电设备带电清扫机器人的研制过程、解决的关键技术问题和机器人的构造、性能等。该机器人以轻型卡车为载体,可被遥控清扫断路器、隔离开关、避雷器、互感器、支柱绝缘子的绝缘瓷瓶外表面。保证机器人绝缘性能的关键部件包括:自行设计的光纤传感器、由钢材和绝缘材料混合制作的绝缘升降平台、采用两种不同工艺制作的液压油缸伸缩作业臂、遥控操作台。样机通过了现场带电清扫试验,清扫效果符合行业标准要求。In this paper the developing process of the first domestically manufactured live-line cleaning robot for 330kV power transformation equipments in the world and the key technical problems solved in the development as well as the structure and performance of this robot are presented. Taking the light-duty lorry as the carder and by means of remote control, the robot can clean external surfaces of circuit breakers, disconnectors, lightning arresters, instrument transformers, insulated porcelain bottles and post insulators. The self-designed isolated elevating platform composed by optical fiber sensor, steel and insulating materials, and the extension-type manipulators driven by hydraulic cylinder made by two different technologies as well as remote control console are adopted, thus the isolating property of the robot is ensured. The on-site live-line cleaning test of the prototype of the robot is successfully finished, and the cleaning results conform to industry standard.

关 键 词：变电设备 清扫 机器人 绝缘 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]