面向悬垂绝缘子串更换任务的机器人机构设计与优化

Design and Optimization of Robot Mechanism for Suspension Insulator String Replacement Task

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。

Based 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.