500kV四分裂输电线路防震锤检修机器人机型设计与优化

高压电力线缆是电能传输的重要通道,多分裂输电导线是电力传输的主力,而防震锤是四分裂输电导线上的重要金具,由于恶劣的服役环境,经常会出现防震锤钢绞线变形、锤头及螺栓丢失等故障发生,严重影响输电线路的正常运行。国内外研究表明利用机器人代替人工进行输电线路检修作业是一种行之有效的手段,基于此,面向四分裂超高压导线防震锤检修作业,提出了相应的防震锤检修机器人基本构型和检修作业运动规划,建立了机器人的三维实体模型,为精简机器人连杆结构和关节参数,剔除机器人冗余机构,基于机器人运动学模型,利用蒙特卡洛法对末端作业空间进行了仿真分析,通过点云图和末端可达空间分析,机器人的连杆长度存在一定冗余,通过缩短机器人的连杆参数,优化精简机器人的结构,一定程度上可以节省机器人开发成本。最后,开发了结构紧凑型机器人虚拟样机,并提出了泛在电力物联网背景下的电力机器人新型控制体系架构,为电力系统运维管理一体化技术奠定了坚实的理论基础。

Configuration Design and Optimization of Damper Maintenance Robot for 500kV Four Splits Transmission Line

High-voltage power cables are the important channel for power transmission. Multi-split power transmission lines are the main force of power transmission, and dampers are important line fittings on quad-split power transmission lines. Due to the harsh service environment, damper steel strands often deform, and malfunctions such as the loss of damper heads and bolts often occur, which has seriously affected the normal operation of transmission lines. Studies at home and abroad have shown that using robots to replace manual transmission line maintenance operation is an effective method. Based on this, the article proposes the basic configuration and maintenance of corresponding damper maintenance robots for four-split ultra-high-voltage line damper maintenance operations and operation motion planning, and establishes a three-dimensional solid model of the robot, in order to reduce the robot’s connection rod structure and joint parameters, and eliminate the robot redundant mechanism. Based on the robot kinematics model, this paper uses Monte Carlo method to simulate and analyze the manipulator working space. The analysis of point cloud diagram and end-accessible space results shown there is a certain degree of redundancy in the length of the connection rod of the robot. By shortening the parameters of the connection rod of the robot and optimizing the structure of the robot, the development cost of the robot can be saved to a certain extent. Finally, the compact virtual robot prototype has been developed, and the power robot control system architecture is proposed under the background of Ubiquitous Power Internet of Things, which lays a solid theoretical foundation for the integrated technology of power system operation and maintenance management.