超高压带电清扫机器人可变半径清扫手爪设计及优化

The Optimum Design of a Radius Variable Manipulator Applied in High-voltage Hot-line Cleaning Robot

由于变电站各种高电压设备外绝缘瓷瓶的形状及尺寸不一样,为了提高绝缘子带电清扫的效率和质量,设计了一种环抱半径可连续变化的清扫手爪,用于清扫220/330 kV变电站除主变套管外的所有绝缘瓷瓶.该清扫手爪采用8杆机构,具有一个自由度,清扫锥形绝缘子时可连续改变清扫半径;并且在整个动作过程中,所有毛刷盘的中心始终可近似位于同一圆周上.该清扫手爪拓展了超高压绝缘子清扫机器人的作业范围,实际应用表明,使用这种手爪提高了工作效率.

In order to use one kind gripper to clean most insulators with different shape and size in 220/330 kV substations, a novel radius variable manipulator （RVM） for high-voltage hot-line cleaning robot （HVCR） was presented. The RVM can change radius continuously to adapt the contour of pyramid insulator. The center of all the brushes can always keep on one circle as the RVM opening or closing. The RVM can greatly improve the work efficiency and manipulahility of HVCR.