配电线路绝缘包裹机器人研制  

Development of Distribution Line Insulated Wrapping Robot

作　　者：李化彪 周静 鲁晓辉 张小乐 房静[2] 豆龙江[2] 吴鹏[2] LI Huabiao;ZHOU Jing;LU Xiaohui;ZHANG Xiaole;FANG Jing;DOU Longjiang;WU Peng(Fengtai Power Supply Compangy,State Grid Anhui Electric Power Co.,Ltd.,Huainan 232000,China;North China Electric Power University,Baoding 071003,China)

机构地区：[1]国网安徽省电力有限公司凤台县供电公司,安徽淮南232000 [2]华北电力大学,河北保定071003

出　　处：《机械与电子》2020年第11期66-70,共5页Machinery & Electronics

基　　金：国网安徽省电力有限公司科技项目《配电线路绝缘包裹系列小型化装置的研制》(5212F01900UJ)。

摘　　要：在分析国内外输电线路现有机器人研究基础上,针对配电线路绝缘修复领域短板,开发了一套能够在线修复配电线路绝缘皮损伤的包裹机器人。首先,对绝缘包裹机器人的机械结构进行了设计研究,包括行走装置、升降装置和柔性输送与包裹装置;然后,开发了相应的控制系统,包括无线通讯、视觉系统等,并对其进行了抗干扰试验和耐压试验,试验结果合格;最后,通过现场绝缘包裹测试完成了机器人的功能性与可靠性验证。样机通过现场带电包裹试验,绝缘包裹效果符合行业标准要求,达到了预期效果。Based on the introduction of the current research status of transmission line robot at home and abroad,to solve the problem of distribution line insulation repair,a package robot which can repair the damage of distribution line insulation skin is developed.Firstly,the mechanical structure of insulating wrapping robot is designed,including walking device,lifting device and flexible conveying and wrapping device.Then,the corresponding control system is developed,including wireless communication and visual system.The anti-interference test and voltage-withstand test is carried out,the test result is qualified.Finally,after the actual insulation wrapping test,the function and reliability of the robot is verified.The prototype passed the field live wrapping test,the effect of insulation package is in accordance with the industry standard,and have achieved the expected effect.

关 键 词：配电线路 绝缘修复 机器人 柔性包裹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]