110 kV隔离断路器引流线等电位检修机器人设计  

Design of Equipotential Maintenance Robot for Drainage Line of 110 kV Isolation Circuit Breake

作　　者：陈富国 蔡杰 李居义 陈亮 李中旗 CHEN Fuguo;CAI Jie;LI Juyi;CHEN Liang;LI Zhongqi(Pinggao Group Co.,Ltd.,Pingdingshan 467001,China;State Key Lab of Electrical Insulation and Power Equipment,Xi′an Jiaotong University,Xi′an 710049,China;Xuzhou XCMG Truck Crane Co.,Ltd.,Xuzhou 221004,China)

机构地区：[1]平高集团有限公司,河南平顶山467001 [2]电力设备电气绝缘国家重点实验室(西安交通大学),陕西西安710049 [3]徐州徐工随车起重机有限公司,江苏徐州221004

出　　处：《电工技术》2022年第14期79-83,共5页Electric Engineering

基　　金：国家自然科学基金资助项目(编号51777154);平高集团科技项目(编号PGKJ2021-064)。

摘　　要：针对变电设备带电作业需求,设计了一种适用于110 kV隔离断路器引流线检修的机器人,该机器人采用等电位作业方式,在满足绝缘安全防护的基础上,采用多重空间定位及三维视觉重建技术,实现引流线金具螺栓的高精度自主化拆装,满足变电站狭小作业空间、强电磁干扰及复杂背景下的作业需求,具有操作灵活的特点,完成了样机研制及试验验证。According to the requirements of live working of substation equipment,a robot suitable for the maintenance of drainage line of 110 kV isolation circuit breaker is designed.The robot adopts equipotential operation mode.On the basis of meeting the insulation safety protection,it adopts multiple spatial positioning and three-dimensional vision reconstruction technology to realize the high-precision autonomous disassembly and assembly of drainage line fittings and bolts.The robot meets the operation requirements of small working space,strong electromagnetic interference and complex background in the substation.It has the characteristics of flexible operation.The prototype development and experimental verification have been completed.

关 键 词：110 kV隔离断路器 变电检修机器人 等电位作业 引流线拆装 

分 类 号：TM564[电气工程—电器]