一种欠驱动变电站鸟窝清除装置的设计  

Design of a Bird's Nest Cleaning Device for Underactuated Substation

作　　者：周凯 赵鲁臻 谢杭 舒磊 权超 陶炳权 ZHOU Kai;ZHAO Luzhen;XIE Kang;SHU Lei;QUAN Chao;TAO Binquan(State Grid Ningbo Electric Power Co.,Ltd.,Ningbo 315000,China)

机构地区：[1]国网宁波供电公司,浙江宁波315000

出　　处：《机械工程师》2023年第5期12-14,17,共4页Mechanical Engineer

摘　　要：设计了一种欠驱动变电站鸟窝清除装置,可以解决当前变电站鸟类筑巢、随意排泄等问题造成的变电站内的电气设备腐蚀及断电等严重隐患,避免了工作人员在高空作业过程中可能会出现的人身伤亡事故,提高清除作业的安全性。基于欠驱动原理设计环状均布三夹爪三关节机械手,根据几何关系对机械手进行静力学分析。该清除装置利用实时视频监视系统,配合机械手及绝缘牵引机构实现安全精准作业。A bird's nest cleaning device for underactuated substation is designed,which can solve the serious hidden dangers of electrical equipment corrosion and power failure in the substation caused by the current problems of bird nesting and random discharge in the substation,avoid the possible personal casualty accidents of workers in the process of high-altitude operation,and improve the safety of cleaning operation.Based on the underactuated principle,an annular uniform three jaw three joint manipulator is designed,and the statics of the manipulator is analyzed according to the geometric relationship.The cleaning device uses the real-time video monitoring system to cooperate with the manipulator and insulation traction mechanism to achieve safe and accurate operation.

关 键 词：欠驱动 静力学分析 鸟窝清除 精准作业 

分 类 号：TH122[机械工程—机械设计及理论]