高压输电线路绝缘子清扫与检测机器人的研究  

Research of Insulator Cleaning and Inspection Robot for High Voltage Transmission Line

作　　者：胡雨濛[1] 吴功平[1] 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072

出　　处：《机床与液压》2017年第5期1-4,9,共5页Machine Tool & Hydraulics

基　　金：国家863计划资助项目(2006AA04Z202)

摘　　要：为了保障电力安全输送,污秽绝缘子的清扫以及零值绝缘子的检测是高压输电线路维护的日常工作。针对目前以人工登塔为主的作业方式,提出了一种高压输电线路绝缘子清扫与检测机器人,它携带清扫机构和检测装置,能够在沿绝缘子串自动攀爬时实现对绝缘子的带电清扫与检测工作。介绍了机器人的主要机械结构,阐述了其工作原理。通过理论计算和Adams仿真,确定了主要机构的驱动力,并选择了适当的电机。该机器人结构简单,操作方便,为今后的实体样机奠定了基础。In order to ensure the security of power transmission, the cleaning of polluted insulators and the inspecting of zero value insulators are routine works for the maintenance of high voltage transmission line. According to present work mode, which needs people to climb the tower, an insulator cleaning and inspection robot for high voltage transmission line was developed. The robot was carried with cleaning and inspection mechanism, which could realize the live work while climbing along the insulator string automatically. By introducing the mechanical structure of the robot in detail, its working principle was discussed. Finally, theoretical calculation and dynamic simulation by Adams were made to determine the driving force of main mechanism, and proper motors were chosen. The robot is simple in structure and convenient in operation, which forms the foundation of real prototype in the future.

关 键 词：高压绝缘子 带电清扫 检测 机器人 ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]