配电网架空线路绝缘包覆机器人设计

配电网架空线路高度低,导线表面和绞线缝隙间易积聚污垢杂物,容易引发意外跳闸等事故。为提高安全性,对配电网架空线路进行绝缘化改造势在必行。对配电网架空线路绝缘包覆技术进行研究,设计了一种架空线路绝缘包覆机器人。构建基于地面站系统的图传遥操作控制模型,实现对架空线路裸导线自主、均匀包覆功能。对绝缘包覆机器人整体结构和控制系统的设计进行介绍,并通过试验证明,针对8~24 mm导线线径,机器人以3 m/min速度实施包覆作业,绝缘涂层厚度可稳定在2.5~3 mm之间,能够均匀包覆导线,且未出现流挂现象。架空线路绝缘包覆机器人可为配电网架空线路的绝缘化提供可靠的解决方案。

Design of Insulation Covering Robot for Overhead Lines in Distribution Network

The distribution network wire surface and stranded gap of overhead lines are easy to accumulate dirt and sundries due to low height,easily causing accidents such as tripping.In order to improve the safety,it is imperative to carry out insulation transformation for overhead lines in distribution network.The insulation covering technology of overhead lines in distribution network is studied,and a kind of insulation coating robot for overhead lines is designed.The remote operation control model based on the ground station system is constructed to realize the autonomous and uniform covering of the bare conductors of overhead lines.The design of the overall structure and control system of the insulating coating robot are introduced.It is proved by experiments that the robot is able to coat the wires at a speed of 3 m/min for the wire diameter of 8 ~24 mm,and the thickness of the insulating coating could be stable between 2.5 mm and 3 mm,the robot can cover the conductor smoothly without the phenomenon of current hanging.The insulation covering robot can provide a reliable solution for the insulation of overhead lines in distribution network.