应用于架空线缆防震锤更换的拆除与安装机器人研究  

Research on Removing and Installing Robot Applied to Replacement of Overhead Cable Shockproof Hammer

作　　者：莫明江·阿不力克木 漆海霞[2] 李三成 邹霞 MOMINJIANG·Abulikemu;QI Haixia;LI Sancheng;ZOU Xia(Tulufan Electric Power Supply Company,State Grid Xinjiang Electric Power Co.,Ltd.,Tulufan Xinjiang 838000,China;College of Engineering,South China Agricultural University,Guangzhou Guangdong 510642,China;Guangdong Keystar Intelligence Robot Co.,Ltd.,Foshan Guangdong 233600,China)

机构地区：[1]国网新疆电力有限公司吐鲁番供电公司,新疆吐鲁番838000 [2]华南农业大学工程学院,广东广州510642 [3]广东科凯达智能机器人有限公司,广东佛山233600

出　　处：《机床与液压》2025年第3期46-52,共7页Machine Tool & Hydraulics

基　　金：国网电力专项项目(SGXJTU00KJJS2200359);某横向项目(HXKJHT20232212)。

摘　　要：传统防震锤由螺栓固定,其安装与更换需要高危险性的人工作业。此外,由于长期振动,导线和螺栓之间的握力会逐渐减小,从而导致防震锤发生移位,降低了防震性能。然而,预绞丝防震锤不会出现该类问题,因此亟需将传统防震锤批量更换为预绞丝式防震锤。为了降低人工作业强度和危险性,提出一种用于拆除传统防震锤和安装新式防震锤的机器人。该机器人通过工程师远程遥控,完成螺栓式防震锤和铝包带的有效拆除,并完成预绞丝防震锤的安装。整个作业过程的进度和效果可全程在地面观察,因此降低了工程验收难度和成本。试验结果证明:该机器人可以有效、可靠地完成防震锤的拆除与安装任务。Conventional shockproof hammers are fixed by bolts,and their installation and replacement require highly hazardous manual work.In addition,due to prolonged vibration,the grip force between the wire and the bolts gradually decreases,which results in the displacement of the hammer and a reduction in shockproof performance.However,such problems do not occur with pre-strung hammers,so it is necessary to replace conventional hammers with pre-strung hammers in bulk.In order to reduce the intensity and danger of manual work,a robot for removing traditional shockproof hammer and installing new shockproof hammer was proposed.The robot could be remotely controlled by engineers to effectively remove the bolt-type shockproof hammer and aluminium cladding tape,and to install the pre-strung shockproof hammer as completed.The progress and effect of the whole operation process could be observed on the ground,thus reducing the difficulty and cost of project acceptance.Experimental results show that the robot can effectively and reliably complete the task of removing and installing shockproof hammers.

关 键 词：拆除与安装 维护机器人 结构设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]