特高压绝缘子检测机器人
UHV Insulator Detection Robot
张迪 1张珣 1辛巍 1李龙云 1吴嘉琪1
作者信息
- 1. 国网湖北省电力有限公司超高压公司,湖北武汉 430050
- 折叠
摘要
针对500～1 000 kV特高压输电线路中的160～550 kN瓷质型绝缘子串,设计了沿线路自主攀行的机器人,使得攀行过程中对每片绝缘子电阻的测量实现绝缘子串的带电检测.在考虑节能前提下平滑机器人作业路线,通过机械手抓手、绝缘连杆、旋转电机、检测探针及控制箱等机构的建立,实现机器人前向攀行及反向攀行动作.设计电机模块参数并采用Ansoft Maxwell软件对电机参数进行了仿真验证.通过模拟试验及样机测试验证了所提机器人检测系统的有效性.
Abstract
In order to detect 160～550 kN porcelain type insulator string of 500～1 000 kV UHV trans-mission line,the self-climbing robot was designed,the resistances of every insulator were measured during climbing.Given the consideration of ennergy-saving,working routes of robot are smoothed,the crawling for-ward and backward of robot was realized by manipulator finger,insulated connecting rod,electric rotating ma-chinery,voltage detection probe and control box.Furthermore,the module parameters were designed and proved to be reasonable by Ansoft Maxwell simulation.The simulation and prototype tests prove the validity of the robot detection system.
关键词
绝缘子/检测机器人/自主攀爬/特高压输电线路/模拟试验及样机测试Key words
insulator/detection robot/self-climbing/UHV transmission line/simulation and prototype test引用本文复制引用
基金项目
国家电网湖北超高压公司科技项目(B11520223349)
出版年
2024
国家科技期刊平台
NSTL
万方数据