输电线路间隔棒安装机器人平衡驱动系统设计  

Design of balance drive system for transmission line spacer installation robot

作　　者：戴金 方伟 彭苗 DAI Jin;FANG Wei;PENG Miao(State Grid Hubei Transmission&Transformation Engineering Co.,Ltd.,Wuhan 430000,China;Wuhan Endeavour Intelligent Machine Co.,Ltd.,Wuhan 430205,China)

机构地区：[1]国网湖北送变电工程有限公司,湖北武汉430000 [2]武汉奋进智能机器有限公司,湖北武汉430205

出　　处：《电子设计工程》2024年第11期33-36,41,共5页Electronic Design Engineering

基　　金：湖北省电力公司科技项目(B31202001452)。

摘　　要：为使机器人所安装电路间隔棒保持均匀分布的状态,实现电量信号的稳定传输,设计输电线路间隔棒安装机器人平衡驱动系统。在电源供电体系中,利用驱动装置与间隔棒升降装置调节电量信号传输行为,完成机器人平衡驱动系统的设备结构设计。根据位姿解算结果与电力驱动强度表达式求解平衡方程,实现对平衡效应的分析,结合相关设备元件完成输电线路间隔棒安装机器人平衡驱动系统的设计。实验结果表明,利用所设计系统安装电路间隔棒,相邻棒结构的最大间隔距离不超过50.13 m,与理想间隔距离的差值较小,对于维持电路间隔的均匀分布状态、实现电量信号的稳定传输,可以起到一定的促进性影响作用。In order to keep the circuit spacers installed by the robot evenly distributed and realize the stable transmission of electrical signals,a balanced drive system for the transmission line spacer installation robot is designed.In the power supply system,the driving device and spacer lifting device are used to adjust the electrical signal transmission behavior and complete the equipment structure design of the robot balance drive system.According to the position and attitude solution results and the electric drive strength expression,the balance equation is solved to realize the analysis of the balance effect,and then the balance drive system of the transmission line spacer installation robot is designed by combining the relevant equipment components.The experimental results show that when the circuit spacer is installed by the designed system,the maximum spacing distance between adjacent bar structures does not exceed 50.13 m,and the difference with the ideal spacing distance is small,which can promote the maintenance of the uniform distribution of circuit spacing and the stable transmission of electrical signals.

关 键 词：输电线路 间隔棒 安装机器人 平衡驱动 升降装置 位姿解算 

分 类 号：TN06[电子电信—物理电子学] TP271[自动化与计算机技术—检测技术与自动化装置]