高压电气设备PRTV自动喷涂机器人设计  

Design of PRTV Automatic Spraying Robot of High Voltage Electrical Equipment

作　　者：叶涛 高卓航 王玄之 杜巍 曾晰[2] YE Tao;GAO Zhuohang;WANG Xuanzhi;DU Wei;ZENG Xi(State Grid Ningxia Electric Power Maintenance Company,Yinchuan 750001;Zhejiang University of Technology,Hangzhou 310000)

机构地区：[1]国网宁夏电力有限公司检修公司,银川750001 [2]浙江工业大学,杭州310000

出　　处：《现代制造技术与装备》2021年第4期104-107,共4页Modern Manufacturing Technology and Equipment

摘　　要：为解决人工PRTV喷涂高压电气设备表面效率低和危险性大等问题,将欠驱动灵巧手技术应用到高压电气设备表面攀爬中。基于此,研究了机器人的攀爬机构、腿部收缩机构以及PRTV喷涂机构,设计了专用于高压电气设备瓷瓶表面的PRTV自动喷涂机器人。利用三维软件建立机器人的详细模型,并通过理论计算和仿真验证了设计的合理性,解决了高压电气设备污闪现象,提高了电力设备的稳定性。In order to solve the problems of low efficiency and high risk of manual PRTV spraying on the surface of high-voltage electrical equipment,the under-actuated dexterous hand technology is applied to the surface climbing of high-voltage electrical equipment.Based on this,the robot’s climbing mechanism,leg contraction mechanism and PRTV spraying mechanism are studied,and a PRTV automatic spraying robot dedicated to the surface of porcelain bottles of high-voltage electrical equipment is designed.The detailed model of the robot was established with 3D software,and the rationality of the design was verified through theoretical calculation and simulation,which solved the pollution flashover phenomenon of high-voltage electrical equipment and improved the stability of the electrical equipment.

关 键 词：高压电气设备 PRTV喷涂 攀爬机器人 欠驱动腿部 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM83[自动化与计算机技术—控制科学与工程]