10kV架空线路间隔棒安装机器人上下线辅助系统研究  

Research on Online/Offline Auxiliary System for Spacer Bar Installation Robot on 10 kV Overhead Line

作　　者：花广如[1,2] 汪昊 兰志宽 尹杰 王科 秦忠 HUA Guang-ru;WANG Hao;LAN Zhi-kuan;YIN Jie;WANG Ke;QIN Zhong(Key Laboratory for Health Maintenance and Failure Prevention of Electric Power Machinery Equipment in Hebei Province,North China Electric Power University,Baoding 071003,China;Baoding Key Laboratory of Advanced Design and Smart Manufacturing,North China Electric Power University,Baoding 071003,China;Qujing Power Supply Bureau,Yunnan Power Grid Co.,Ltd.,Qujing 655000,China;Electric Power Research Institute,Yunnan Power Grid Co.,Ltd.,Kunming 650217,China)

机构地区：[1]华北电力大学河北省电力机械装备健康维护与失效预防重点实验室,河北保定071003 [2]华北电力大学保定市先进设计与智能制造重点实验室,河北保定071003 [3]云南电网有限责任公司曲靖供电局,云南曲靖655000 [4]云南电网有限责任公司电力科学研究院,云南昆明650217

出　　处：《机械工程与自动化》2024年第4期138-139,144,共3页Mechanical Engineering & Automation

基　　金：云南电网公司科技项目计划(YNKJXM20220079);河北省研究生教育教学改革研究项目(YJG2023124);河北省高等教育教学改革研究项目(2021GJJG420)。

摘　　要：针对已研发的10 kV架空线路相间间隔棒安装机器人需要在地面完成上线和下线的问题,综合考虑上线和下线过程中机器人的安全防坠落、吊装时吊环的防滑以及高空远距离完成摘钩和挂钩等操作,研究了适合远距离摘挂的吊环,选用了不同的上下线吊钩以及同步上线或下线的电动绞盘系统,上下线辅助系统由举升杆、新型吊环、上下线吊钩、电动绞盘等组成。通过模拟试验验证了方案的可行性,试验结果表明:本辅助系统可帮助工作人员在地面完成对10 kV架空线路相间复合间隔棒安装机器人的上下线操作。Aiming at the developed 10 kV overhead line phase-to-phase spacer bar installation robot needs to complete the on-line and off-line problems on the ground,comprehensively considering the safety of the robot in the on-line and off-line process to prevent falling,the anti-slip of the lifting ring,as well as the high altitude long-distance to complete the picking hooks and hooks,etc.,we have studied the lifting ring suitable for the long-distance picking and hanging,and have selected different up and down hooks and the synchronized on-line or off-line electric winch system.The up and down auxiliary system consists of lifting bar,new type of rings,up and down hooks,electric winch and so on.The feasibility of the program is verified through simulation tests.The results show that this auxiliary system can help the staff to complete the up and down operation of the robot for installing composite spacer bars between phases of 10 kV overhead lines on the ground.

关 键 词：10 kV架空线路 间隔棒 安装机器人 辅助系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TM726.3[自动化与计算机技术—控制科学与工程]