高压输电线路带电更换防振锤机器人的研制
CSTR:
作者:
通讯作者:

周展帆(1993),女,硕士,助理工程师,主要从事带电作业机器人结构及控制系统研究;Email:zzhanfan@163.com

中图分类号:

TM755;TM81

基金项目:

湖南省科技厅科技计划重点项目(2014GK2015)


Development of stockbridge damper live replacing robot for high voltage transmission lines
Author:
  • 摘要
  • | |
  • 访问统计
  • |
  • 参考文献 [10]
  • | | | |
  • 文章评论
    摘要:

    针对人工带电更换防振锤作业劳动强度大、效率低、危险性高的问题,研制具有双作业末端的带电更换防振锤机器人。首先,设计机器人行走轮、夹持机构、作业末端等构型,完成本体测控平台及远程管理主机控制平台的集成设计。其次,制定机器人更换防振锤的作业规划,并提出一种易于扩展、通用性强的多臂多动作机器人关节运动模型及其H∞控制方法,增强机器人关节运动的鲁棒性及其对作业环境的自适应能力。最后,通过对机器人进行工频耐压试验与实际线路作业试验,验证了该机器人结构设计合理,完成跨越防振锤及拆取、安装防振锤等作业任务连贯流畅,关键动作满足定位要求。

    Abstract:

    Artificial live replacement for stockbridge damper is a laborintensive process with low efficiency and high danger. In order to overcome those shortages, a kind of living work robot with double operation ends is developed to replace stockbridge damper. In this paper, the robot's walking wheel, clamping mechanism and operation end are designed. The integration design of ontology control platform and telemanagement host control platform is completed. The replacing process of stockbridge damper by the robot is worked out. And an universal joint motion model of multiarm robot as well as its H Hinfinity control method are put forward to enhance the robustness and working environmentadaptive ability of the robot. Finally, the AC withstand voltage test and fielded experience test shows that the structural design of robot is reasonable. The robot action is coherent and fluent during the crossing, removing and installing the stockbridge damper. All key actions meet the positioning requirements.

    参考文献
    [1] 国网黑龙江省电力公司运维检修部.输电带电作业[M].北京:中国电力出版社,2014.
    [2] 马孝林.高压带电作业机器人作业机械臂的设计及优化[D].济南:山东建筑大学,2014.
    [3] 刘兰兰,刘夏清,邹德华,等.输电线路带电更换绝缘子串机器人的研制[J].电力科学与技术学报,2016,31(2):121127.LIU Lanlan,LIU Xiaqing,ZOU Dehua,et al.Development of insulatorreplacing live working robot ontransmission line[J].Journal of Electric Power Science and Technology,2016,31(2):121127.
    [4] Debenest P,Guarnieri M.Expliner — From prototype towards a practical robot for inspection of highvoltage lines[C]//1st International Conference on Applied Robotics for the Power Industry,Montreal,Canada,2010.
    [5] 鲁守银,刘珍娜,刘金存.基于任务流的带电作业机器人智能控制系统[J].制造业自动化,2013,35(12):2427.LU Shouyin,LIU Zhenna,LIU Jincun.Live working robot intelligent control system based on taskflow[J].Manufacturing Automation,2013,35(12):2427.
    [6] 邹德华,江维,吴功平,等.输电线路绝缘子更换带电作业机器人控制方法[J].高压电器,2016,52(10):9298.ZOU Dehua,JIANG Wei,WU Gongping,et al.Robot control method of live working for transmission line insulator replacement[J].High Voltage Apparatus,2016,52(10):9298.
    [7] 严宇,刘夏清,邹德华,等.输电线路带电巡检作业单臂机器人行走姿态控制方法[J].电力科学与技术学报,2016,31(2):115120.YAN Yu,LIU Xiaqing,ZOU Dehua,et al.Walking posture control method of transmission line single arm inspection robot[J].Journal of Electric Power Science and Technology,2016,31(2):115120.
    [8] Buehringer M,Berchtold J,Buchel M,et al.Cablecrawlerrobot for the inspection of highvoltage power lines that can passively roll over mast tops[J].Industrial Robotan International Journal,2010,37(3):256262.
    [9] 宋树伟,阮毅,李正.基于多传感器的超高压输电线路巡检机器人越障控制[J].机床与液压,2013,41(7):5154,58.SONG Shuwei,RUAN Yi,LI Zheng.Obstaclenavigation control of automatic inspection robot for extrahigh[J].Machine Tool & Hydraulics,2013,41(7):5154,58.
    [10] Montambault S,Pouliot N.Field experience with line scout technology for liveline robotic inspection and maintenance of overhead transmission networks[C]//1st International Conference on Applied Robotics for the Power Industry,Montreal,Canada,2010.
    相似文献
    引证文献
    网友评论
    网友评论
    分享到微博
    发 布
引用本文

周展帆,严 宇,邹德华,等.高压输电线路带电更换防振锤机器人的研制[J].电力科学与技术学报,2020,35(2):178-183.
ZHOU Zhanfan, YAN Yu, ZOU Dehua, et al. Development of stockbridge damper live replacing robot for high voltage transmission lines[J]. Journal of Electric Power Science and Technology,2020,35(2):178-183.

复制
分享
文章指标
  • 点击次数:325
  • 下载次数: 0
  • HTML阅读次数: 0
  • 引用次数: 0
历史
  • 在线发布日期: 2020-09-03
文章二维码