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面向悬垂绝缘子串更换任务的机器人机构设计与优化
Alternative TitleDesign and Optimization of Robot Mechanism for Suspension Insulator String Replacement Task
胡聪1; 凌烈2,3; 王岩1; 王洪光2,3; 杨鑫1; 吕鹏2,3
Department工艺装备与智能机器人研究室
Source Publication机械与电子
ISSN1001-2257
2019
Volume37Issue:9Pages:75-80
Contribution Rank2
Funding Organization广东电网有限责任公司科技项目资助(GDKJXM20162363)
Keyword机器人 电力维护 机构设计 优化设计 绝缘子 特种机器人 面向任务 架空线路
Abstract依据输电线路悬垂绝缘子串环境特点和更换绝缘子串的任务需求,提出了一种新型输电线路悬垂绝缘子串更换机器人代替等电位电工进行作业,介绍了绝缘子串更换机器人机构构型,基于此构型进行了爬行移动机构、双作业手臂和环形抱夹装置的结构设计,阐述了机器人工作原理与流程。该机构具有作业效率高、易维护、安全性好,以及对不同尺寸的绝缘子串适应性强等特点。
Other AbstractBased on the environmental conditions of suspended insulator strings on transmission lines and the task requirements of replacing insulator strings, a new type of suspended insulator strings replacement robot for transmission lines was proposed to replace equipotential operation. The mechanism of the robot for replacing insulator strings was introduced at first. Thus, the structure design of crawling mobile platform, double operating arm and ring clamping device were carried out. The working principle and process of the robot were described. The mechanism is with the characteristics of high efficiency, easy maintenance, good safety and strong adaptability to insulator substrings of different sizes.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25646
Collection工艺装备与智能机器人研究室
Corresponding Author胡聪
Affiliation1.广东电网有限责任公司佛山供电局
2.中国科学院沈阳自动化研究所
3.中国科学院机器人与智能制造创新研究院
Recommended Citation
GB/T 7714
胡聪,凌烈,王岩,等. 面向悬垂绝缘子串更换任务的机器人机构设计与优化[J]. 机械与电子,2019,37(9):75-80.
APA 胡聪,凌烈,王岩,王洪光,杨鑫,&吕鹏.(2019).面向悬垂绝缘子串更换任务的机器人机构设计与优化.机械与电子,37(9),75-80.
MLA 胡聪,et al."面向悬垂绝缘子串更换任务的机器人机构设计与优化".机械与电子 37.9(2019):75-80.
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