电力GIS巡检机器人沿狭小空间管道内壁攀爬特性分析  

Analysis of the Climbing Characteristics of the Power GIS Inspection Robot in a Narrow Space along the Inner Wall Pipeline

作　　者：严宇 刘旭辉 王彪 江维 叶高呈 YAN Yu;LIU Xu-hui;WANG Biao;JIANG Wei;YE Gao-cheng(State Grid of Hunan Electric Power Company Maintenance Company,Changsha Hunan 410004,China;Substation intelligent operation and inspection laboratory of State Grid Hunan Electric Power Co.,Ltd,Changsha Hunan 410004,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan Hubei 430200,China)

机构地区：[1]国网湖南省电力有限公司检修公司,湖南长沙410004 [2]变电智能运检国网湖南省电力有限公司实验室,湖南长沙410004 [3]武汉纺织大学机械工程与自动化学院,湖北武汉430200

出　　处：《武汉纺织大学学报》2022年第1期30-34,共5页Journal of Wuhan Textile University

基　　金：国网湖南省电力有限公司科技项目(5216AJ20000V)。

摘　　要：提出了一种利用GIS巡检机器人进入GIS管道进行巡视和检修作业的新方法,首先给出了GIS巡检机器人的基本结构,GIS巡检机器人要实现整个GIS装备内部无盲区的检修作业,要求机器人能够沿着内壁管道进行攀爬作业。本文建立了GIS巡检机器人沿管道内部的底端、顶端、左右壁面、一般壁面进行攀爬的受力分析平衡模型,并基于该模型对机器人的沿内壁攀爬特性进行了理论分析,得到了作业环境参数、机器人机械结构参数和电气控制参数三者之间耦合关系模型,基于此为GIS巡检机器人的系统优化设计奠定了理论基础。最后,开发了GIS巡检机器人物理样机系统,并在实际的GIS装备中进行了巡视和检修作业实验,获得了所需GIS巡检机器人攀爬性能。本文GIS巡检机器人攀爬特性的研究对于GIS巡检机器人系统的优化设计及其实用化研究具有重要理论意义与实际应用价值。This article proposes a new method of using GIS inspection robots to enter the GIS pipeline for inspection and maintenance operations.First,the basic structure of the GIS inspection robot is given.The GIS inspection robot must realize the entire GIS equipment without blind areas.Maintenance work requires the robot to be able to climb along the inner wall of the pipeline.Therefore,this paper establishes a force analysis and balance model for the GIS inspection robot to climb along the bottom,top,and left and right walls of the pipeline.The robot’s climbing characteristics along the inner wall are theoretically analyzed,and the coupling relationship model among the working environment parameters,the robot mechanical structure parameters and the electrical control parameters is obtained.Based on this,the theory is laid for the system optimization design of the GIS inspection robot.Basically,finally,the GIS inspection robot physical prototype system was developed,and the inspection and maintenance operation experiments were carried out in the actual GIS equipment.The results also obtained the climbing performance of the GIS inspection robot proposed in this article.This article GIS inspection robot.The research of climbing characteristics has important theoretical significance and practical application value for the optimization design and practical research of GIS inspection robot system.

关 键 词：狭小空间 GIS 巡检机器人 管道内壁 攀爬特性 

分 类 号：TS242.6[轻工技术与工程—制糖工程]