一种悬垂绝缘子带电清扫机器人机构设计

采用绝缘子带电清扫机器人清扫绝缘子可以有效地清除绝缘子表面的污秽,防止污闪事故的发生。针对500kV超高压交流输电线路悬垂绝缘子串的环境特点和双伞裙瓷质盘形悬式绝缘子带电清扫任务需求,提出了一种新型悬垂绝缘子带电清扫机器人机构。介绍了机器人机构的构型,推导了机器人的运动学方程,分析了机器人的工作流程。在实验室线路上开展了机器人的行走实验和清扫实验,实验结果验证了机器人机构设计的可行性。该机构具有结构紧凑、环境适应能力强等特点。     

一种输电线路绝缘子串检测机器人机构设计

针对输电线路绝缘子串环境特点及巡检任务需求,提出了一种新型绝缘子串检测机器人机构,介绍了机器人的机构构型,分析了机器人的运动作业机理,规划了机器人行走作业的运动序列,仿真分析了机器人沿不同倾斜角度绝缘子串行走作业的过程,仿真结果表明该机构能够沿不同倾斜角度的绝缘子串行走作业,验证了机构设计的合理性、运动规划的可行性,该机构具有结构紧凑、行走速度快、运动平稳等特点。     

面向悬垂绝缘子串更换任务的机器人机构设计与优化

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。     

一种输电线路悬垂绝缘子串更换装置机构设计

绝缘子由于受到工作电压、操作电压的影响,以及外力破坏、环境污秽及大风雨雪天气等外部环境损伤,需要及时更换,否则将威胁线路的安全运行。现依据输电线路悬垂绝缘子串环境特点和更换绝缘子的任务需求,提出了一种新型输电线路悬垂绝缘子串更换装置,介绍了绝缘子串更换装置机构的构型,分析了机器人的工作流程,进行了固定安装支架、爬行驱动机构、前作业手臂及后作业手臂的结构设计。该机构具有结构简单、安全性好、作业方式简单、作业效率高等特点,而且可适应不同尺寸的多种类型悬垂绝缘子串。     

高压输电线路带电检修机器人的研制

成功研制了国内首台可重构的输电线路带电检修机器人"Dream-Ⅰ",具有在导线上自主行走及准确定位功能。首先描述了机器人的作业任务及对象,然后设计了机器人通用平台、绝缘子更换末端及引流板螺栓紧固末端,给出了机器人的控制系统,并对机器人的作业规划进行了仿真分析,最后完成了在高压大厅的电场耐压试验和实际线路上的上线试验及试用。实验结果表明,机器人通过更换机械手末端,能带电完成悬式绝缘子更换及引流板螺栓紧固两大作业任务。     

输电线路带电作业中的工器具软质化探析

介绍了软质材料的概念和涵义，以220kV和500kV输电线路直线塔型带电更换悬垂绝缘子串工艺及其制作方法为例，对输电线路带电作业工器具的软质化进行分析探讨。     

绝缘子检测机器人的稳态运动特征分析及结构优化研究CSCD

绝缘子检测机器人能实现超高压输电线路绝缘子的自动快速检测,是国家电网持续安全运行的重要保障装备。针对绝缘子分布电压检测机器人结构和攀爬机构,以结构和机构的轻量化为研究目标,联系分布电压检测机构的工作频率,分析检测机器人沿绝缘子串轴线的间歇运动特征,融入各类环境因素载荷,建立绝缘子检测机器人机构和结构的载荷组合数学模型。基于基体材料的绝缘特性,赋予机器人PPS绝缘新材料结构,以有限元方法对其进行优化仿真分析。分析结果表明,采用PPS新材料的机器人拥有良好的电绝缘性能,且力学性能满足攀爬运动和检测精度要求,具有较高的工作稳定性、野外作业的便携性和较强的续航能力。     

绝缘子检测机器人的稳态运动特征分析及结构优化研究

绝缘子检测机器人能实现超高压输电线路绝缘子的自动快速检测,是国家电网持续安全运行的重要保障装备。针对绝缘子分布电压检测机器人结构和攀爬机构,以结构和机构的轻量化为研究目标,联系分布电压检测机构的工作频率,分析检测机器人沿绝缘子串轴线的间歇运动特征,融入各类环境因素载荷,建立绝缘子检测机器人机构和结构的载荷组合数学模型。基于基体材料的绝缘特性,赋予机器人PPS绝缘新材料结构,以有限元方法对其进行优化仿真分析。分析结果表明,采用PPS新材料的机器人拥有良好的电绝缘性能,且力学性能满足攀爬运动和检测精度要求,具有较高的工作稳定性、野外作业的便携性和较强的续航能力。     

高压输电线路带电检修机器人机械系统设计

针对高压输电线路人工带电检修作业存在的种种弊端、现有带电作业机器人技术尚不成熟且作业任务单一等问题,提出一种集绝缘子更换作业和螺栓拧紧作业为一体的末端可更换作业机器人,对机器人进行了构型分析、模块划分与集合、运动规划;研制了一台"非跨越越障平台+双机械手+4个作业末端"的机器人样机;通过了模拟线路试验、工频耐压试验,证明绝缘子更换作业和耐张线夹螺栓紧固作业的可实现性;展开了对带电作业多作业任务机器人的初步探索。     

基于Pro/E和ADAMS的绝缘子带电干冰清洗机器人的运动仿真分析

Pro/E和ADAMS是当前国内外使用最广泛的三维建模软件和仿真分析软件。利用Pro/E技术建立绝缘子带电干冰清洗机器人模型,通过对带电绝缘子清洗机器人运动学分析,得到了运动学正解、逆解方程,采用ADAMS的运动仿真功能对绝缘子带电干冰清洗机器人的运动特性进行动力学仿真分析,给出了机器人在特定运动状态下末端工具的位移、速度及加速度等特性曲线,为绝缘子带电干冰清洗机器人的的运动控制及优化设计提供参考依据。     

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t...     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value.     

Non-monotonic material contrast in scanning ion and scanning electron images

30 keV Ga⁺ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z₂, and shows a non-monotonic relationship between contrast and Z₂. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z₂, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory.     

Application of Feature Extraction through Convolution Neural Networks and SVM Classifier for Robust Grading of Apples

This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an...     

分布动态载荷识别的抗噪处理

针对正交多项式频域法在用多种响应对矩形薄板进行载荷识别中抗噪性较差的问题,综合运用平均法、矩阵预处理和奇异值截断法等方法对之进行改善,并引入空间映射的思想,将该方法的应用范围拓展为复杂的模型.利用仿真算例,证实了该方法具有较好的抗噪性.     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods....     

基于MELTAC-N平台的核电厂安全级DCS环网研究与测试

针对工程实践中环网通讯相关问题的处理缺乏理论基础及国产化安全级DCS平台的开发缺乏成熟经验借鉴问题,对基于MELTAC-N平台核电厂安全级DCS环网的软硬件实现进行了研究。提出了安全级DCS环网双环网冗余设计、光切换开关设计等硬件设计方法,以及以RPR协议为基础,采用全数据收发策略的软件设计方法。在CPR1000安全级DCS平台上对安全级DCS环网的可靠性及实时性进行了评价,并进行了容错能力、响应时间及响应时间稳定性测试验证实验。结果表明,基于MELTAC-N平台安全级DCS环网软硬件设计具有较好的容错能力及响应时间稳定性。     

The laboratory simulation of abrasive wear

Abrasive wear has long been recognised as one of the most potentially serious tribological problems facing the operators of many types of plant and machinery; several industrial surveys have indicated that wear by abrasion can be responsible for more than 50% of unscheduled machine and plant stoppages. Locating the operating point of a tribological contact in an appropriate operational ‚map’︁ can provide a useful guide to the likely nature and origins of the surface degradation experienced in use, though care must be exercised in choosing the most suitable parameters for the axes of the plot. Laboratory testing of materials and simulations of machine contacts are carried out for a number of purposes; at one level for the very practical aims of ranking candidate materials or surface hardening treatments in order of their wear resistance, or in an attempt to predict wear lives under field conditions. More fundamentally, tests may be aimed at elucidating the essential physical mechanisms of surface damage and loss, with the longer term aim of building an analytical and predictive model of the wear process itself. In many cases, component surface damage is brought about by the ingress of hard, particulate matter into machine bearing or sealing clearances. These may be running dry although, more usually, a lubricant or service fluid is present at the interface. A number of standardised wear test geometries and procedures have been established for both two- and three-body wear situations, and these are briefly described. Although abrasive wear is often modelled as following an ‚Archard’︁ equation (i.e. a linear increase in material loss with both load and time, and an inverse dependence on specimen hardness) both industrial experience and laboratory tests of particularly lubricated contacts show that this is not always the case: increasing the hardness differential in an abrasively contaminated lubricated pair may not always reduce the rate of damage to the harder surface.     

ANGULAR DISTORTION ALLOWABLE VALUE AND ASSESS METHOD OF WELD ON COKE TOWER

A graph as the new engineering method for estimate the safety of bulging deformation of coke tower is proposed. Through stresses analysis of circumferential weld of coke tower and comparing the stresses produced by pressure with heat stress of steady state, residual stress, bending stress produced by both itself weight and wind loads, it showed that the stresses produced by pressure on the angle distortion are the main factor of equivalent stress of the combined stress. After comparing four kinds of stress controlling conditions, the relation to stress with depth of angular distortion, grade of curvature of angular distortion and half of region of angular distortion has been inferred. Graph of deformation allowable value of coke tower for different condition by angular distortion and half of region of angular distortion has been plotted. The five steps for its engineering use have been explained. The lighter the grade of curvature is, the larger of bulge allowance, may be, and the bigger of depth of angular distortion may pose too. For the coke tower with a popular structure of Dg 5 400 mm×28 mm, the result by graph is nearly more than the result of two formulas formed by other research, the error is less than 7.0%. But, the graph can be easily applied to different size of angular distortion.