摘要
提出了一种绝缘升降平台,用于提高高压带电清扫机器人带电作业时的对地绝缘性能,同时降低机器人垂直升降机构驱动油缸的初始工作压力.该绝缘升降平台采用传统的剪叉式结构,以及绝缘主从楔块驱动和水平驱动相互接力交替作用的驱动方式.首先对绝缘升降平台的高压绝缘性能进行了设计和分析,并根据升降平台的动力学模型,对绝缘升降平台的结构进行了优化.最后,对绝缘升降平台进行了耐压试验,并对平台升降时水平油缸的工作压力进行了测量.试验及测量结果表明平台具有很好的高压绝缘性能,且平台起升时工作压力很小,接力时过渡平稳,满足了带电清扫机器人的实际使用要求.
An insulating lift is presented to improve the insulation property between the gripper and ground of high voltage hot-line cleaning robot, and to decrease the initial cylinder＇s working-pressure of vertical lifting mechanism. The presented insulating lift adopts the traditional scissor structure, and is actuated by the master-slave voussoir and horizontal slide block with relay style. In the paper, the high-voltage insulation property of the lift is designed and analyzed firstly, and then according to the dynamic model of the lift, the optimum design is implemented. At the end, the high voltage withstand test is made, and the working-pressure of the lift is measured. The results of test and measurement show that the insulating lift is of great insulating ability, low starting pressure, and good stability during actuation switching, satisfying the actual application demands of hot-line cleaning robot.
出处
《机器人》
EI
CSCD
北大核心
2007年第4期326-330,共5页
Robot
基金
国家863计划资助项目(2002AA42D110-2)
国家自然科学基金资助项目(60575056)
