基于激光位移传感器的真空断路器机械特性机器人试验平台的研究  

Research on Robot Test Platform for Mechanical Characteristics of Vacuum Circuit Breaker Based on Laser Displacement Sensor

作　　者：王俊波 李国伟 何胜红 谢志杨 唐琪 邹翔 WANG Junbo;LI Guowei;HE Shenghong;XIE Zhiyang;TANG Qi;ZOU Xiang(Guangdong Power Grid Foshan Power Bureau,Guangdong Foshan 528000,China;Wuhan Xindian Electrical Co.,Ltd.,Wuhan 430073,China)

机构地区：[1]广东电网有限责任公司佛山供电局,广东佛山528000 [2]武汉新电电气股份有限公司,武汉430073

出　　处：《高压电器》2023年第6期56-64,共9页High Voltage Apparatus

基　　金：广东电网有限责任公司科技项目资助(GDKJXM20182372)。

摘　　要：真空断路器机械特性试验是配电网安全稳定运行的重要保证,传统的人工试验方式由于劳动强度大、效率低且试验质量难以保证,已不能满足配电网发展的需求。针对这一问题,文中开展了基于激光位移传感器的真空断路器机械特性机器人试验平台的研究。结合机器人试验平台的实际情况,提出了利用激光位移传感器实现真空断路器行程测量的方法;分析了激光和滑线电阻位移传感器在真空断路器机械特性测试的异同性,研究并解释了滑线电阻位移传感器的万向接头间隙对真空断路器分闸反弹幅值测试的影响机理,指出了滑线电阻位移传感器存在分闸反弹幅值测试值偏低的缺陷;基于集合经验模态分解,结合本征模态频率和能量分析的方法,实现了行程信号的有效降噪;在上述研究的基础上,研究了基于激光位移传感器的真空断路器机械特性机器人试验平台,利用激光位移传感器非接触式测量的特点,实现了测试机器人对激光位移传感器的自动定位和测试以及真空断路器机械特性测试全过程的自动化。试验结果表明,真空断路器机械特性机器人试验平台满足真空断路器机械特性测试的技术要求,具有较高的测试精度,大大提高了真空断路器机械特性测试的智能化和自动化水平。The mechanical characteristic test of vacuum circuit breaker is an important guarantee for safe and stable operation of distribution network.The traditional manual test mode can not meet the development need of distribution network due to large labor intensity,low efficiency and difficult to guarantee the test quality.Aiming at this problem,the mechanical characteristic robot test platform of vacuum circuit breaker based on laser displacement sensor is developed in this paper.Based on the actual situation of robot test platform,the method of measuring the stroke of vacuum circuit breaker by using laser displacement sensor is proposed,the similarities and differences between laser and slide resistance displacement sensor in the test of mechanical characteristics of vacuum circuit breaker are analyzed,and the influence mechanism of universal joint clearance of slide resistance displacement sensor on rebound amplitude test of vacuum circuit breaker is researched and explained,and the defect of slip resistance displacement sensor with low rebound amplitude test value is pointed out.Moreover,the effective noise reduction of stroke signal based on set empirical mode decomposition and the method of modal frequency and energy analysis are achieved.Based on the above research,the mechanical characteristic robot test platform of vacuum circuit breaker based on laser displacement sensor is studied.With the non-contact measurement characteristic of the laser displacement sensor,the automatic positioning and detection of laser displacement sensor by the testing robot and the automation of mechanical characteristic test of vacuum circuit breaker are achieved.The test results show that the mechanical characteristic robot test platform of vacuum circuit breaker meets the technical requirements of mechanical characteristic test of vacuum circuit breaker and has high test accuracy.The intelligent and automatic level of mechanical characteristic test of vacuum circuit breaker are also greatly improved.

关 键 词：激光位移传感器 真空断路器 机械特性 机器人试验平台 分闸反弹幅值 

分 类 号：TM561.2[电气工程—电器] TP242[自动化与计算机技术—检测技术与自动化装置]