高压导线断股修补机器人构型设计及作业仿真  

Structural Design and Operating Simulation of Broken-Strand Repair Robot for High-Voltage Transmission Line

作　　者：蔡相男 吴功平[1] CAI Xiang-nan;WU Gong-ping(School of Power and Mechanical Engineering,Wuhan University,Hubei Wuhan 430072,China)

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072

出　　处：《机械设计与制造》2023年第12期254-257,共4页Machinery Design & Manufacture

基　　金：高塔跨越林区输电线路巡检机器人工程实用化关键技术研究(SGJLBS00YJJS1500322)。

摘　　要：针对架空高压输电线路导线产生断股或散股等故障,从而产生线路安全运行问题,以500kV四分裂线路为例,着重进行了断股修补作业装置的构型研究,提出一种利用预绞丝护线条修补导线的断股修补机器人机构构型方案。依据预绞丝护线条修补工艺制定机器人作业规划,主要包括断股预处理与护线条安装作业。针对护线条安装作业,建立由作业装置、弹性护线条和柔性导线构成的仿真模型,通过作业仿真分析,得到系统的作业动态性能,验证断股修补作业的可行性。For the multi-splitting overhead high-voltage transmission lines prone to broken strands or loose strands which will cause problems about safe operation of the line,taking 500kV four-splitting line as an example,a mechanism configuration scheme of the broken-strand repair robot that uses pre-twisted wire to repair the strands is proposed by focusing on the research on the configuration of the broken-strand repair device.The operating planning formulated according to the repair process by pretwisted wire mainly includes pretreatment of broken strand and installation work by pre-twisted wire.The simulation model composed of operating device,pre-twisted wire and flexible wire is established regarding to the installation work.Through dynamic simulation analysis,the dynamic performance of the system is obtained,and the feasibility of repairing broken strands is verified.

关 键 词：高压输电线路 断股修补机器人 构型设计 作业规划 预绞丝护线条 作业仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH122