电力绝缘子智能除污机器人机械系统设计与轨迹规划研究  

Mechanical System Design and Trajectory Planning Research of Power Insulator Intelligence Decontamination Robot

作　　者：严宇 康文 肖奕 王立德 江维 YAN Yu;KANG Wen;XIAO Yi;WANG Li-de;JIANG Wei(State Grid Hunan EHV Substation Company,Changsha Hunan 410004,China;Substation intelligent transportation and inspection laboratory of State Grid Hunan Company,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超高压变电公司,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430073

出　　处：《武汉纺织大学学报》2023年第2期51-56,共6页Journal of Wuhan Textile University

基　　金：湖南省电力有限公司科技项目(5216A322000B)。

摘　　要：特高压支柱绝缘子是换流站中的重要设备,长期恶劣的服役环境使得绝缘子盘面大量积污,严重影响绝缘子的电气绝缘性能,因此定期对特高压支柱绝缘子的清洗作业是电力系统的一项常规作业任务,针对支柱绝缘子人工清洗作业效率低、劳动强度大及对于较高的绝缘子人工无法到达作业空间等问题,本文开发了一种特高压支柱绝缘子除污机器人。首先根据作业任务分析,设计了机器人的虚拟样机模型及其成套末端清洗机构,利用D-H坐标法建立了机器人的机械臂的运动学模型,基于该模型在MATLAB软件中对末端可达作业空间进行了仿真实验,得到末端空间的运动轨迹图,从而优化机械臂的结构参数。最后,通过系统集成设计开发了特高压支柱绝缘子除污机器人物理样机系统,并进行了现场作业试验,通过现场试验验证了机器人机械结构和末端设计的合理性与工程实用性。本文相关内容的研究对于推动配网智能运维管理具有较强的理论意义与实际应用价值。The UHV pillar insulator is an important equipment in the converter station.The long-term harsh service environment causes a lot of contamination on the surface of the insulator,which seriously affects the electrical insulation performance.Therefore,regular cleaning of the UHV pillar insulator is an item of the power system.For routine operation tasks,in view of the low efficiency of manual cleaning of pillar insulators,high labor intensity and the inability to manually reach the working space for higher insulators,this paper develops a UHV pillar insulator decontamination robot.First,according to the task analysis,the virtual prototype model of the robot and its complete set of end cleaning mechanism hasbeen designed and established,the kinematic model of the robot arm is established by using the D-H coordinate method.The 3D point cloud map to optimize the structural parameters of the robot arm.Finally,the physical prototype system of the UHV pillar insulator decontamination robot is developed through the system integration design and the field operation test is also carried out.The rationality and engineering practicability of the mechanical structure and terminal design of the robot are verified through the field test.It has strong theoretical significance and practical application value to promote intelligent operation and maintenance management of distribution network.

关 键 词：支柱绝缘子 除污机器人 虚拟样机模型 运动学模型 作业空间优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]