高压电缆剥离机器人的结构设计与特性研究  

Structural Design and Characteristics Study of High Voltage Cable Stripping Robot

作　　者：李林琛[1,2] 蒋磊[2] LI Linchen;JIANG Lei(School of Mechanical and Electrical Engineering,Beijing Institute of Technology,Beijing 100042,China;School of Artificial Intelligence,China University of Mining and Technology(Beijing),Beijing 100083,China)

机构地区：[1]北京工业职业技术学院机电工程学院,北京100042 [2]中国矿业大学(北京)人工智能学院,北京100083

出　　处：《机床与液压》2024年第11期33-39,共7页Machine Tool & Hydraulics

基　　金：2021年度北京市教育委员会科研计划项目(KM202110853002)。

摘　　要：针对高压配电网电缆剥线过程中人工操作效率低和不安全性,提出一种用于10 kV电网的自动剥线机器人。根据剥离机器人的工作环境,对安装在绝缘棒上剥线机器人的关键部位进行了结构设计。对剥离机器人的固定齿轮控制箱结构模态和刚柔耦合特性进行了仿真分析,为剥线机器人结构设计的合理性提供理论依据。最后搭建机器人样机,对不同横截面积的电缆进行剥离试验。结果表明:电缆的损伤情况良好,验证了剥离机器人的结构设计具有良好的可靠性,有助于提高电网带电检修工作效率。In response to the low efficiency and insecurity of manual operation during the stripping process of high-voltage distribution networks cable,an automatic stripping robot for 10 kV power grids was proposed.Based on the working environment of the stripping robot,structural design was carried out on the key parts of the stripping robot installed on the insulation rod.A simulation analysis was conducted on the structural mode and rigid flexible coupling characteristics of the fixed gear control box of the stripping robot,providing a theoretical basis for the rationality of the structural design of the stripping robot.Finally,a robot prototype was built and stripping tests were conducted on cables with different cross-sectional areas.The results show that the damage to the cables is good,verifying the reliability of the structural design of the stripping robot.It helps to improve the efficiency of live maintenance work in the power grid.

关 键 词：剥线机器人 结构设计 刚柔耦合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]