狭小空间内输电线金具销钉补装机械系统设计  

Mechanical System Design of Fitting Pins Maintenance for Transmission Line in Narrow Space

作　　者：彭沙沙 龚政雄 蒋智鹏 邹德华[1,2] PENG Shasha;GONG Zhengxiong;JIANG Zhipeng;ZOU Dehua(Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hu’nan Transmission Maintenance Company),Hu’nan Changsha 420100,China;Hu’nan Province Key Laboratory of Intelligent Live Working Technology and Equipment(ROBOT)(State Grid Hu’nan Transmission Maintenance Company),Hu’nan Changsha,420100 China)

机构地区：[1]带电巡检与智能作业技术国家电网公司实验室(国网湖南省电力有限公司输电检修分公司),湖南长沙420100 [2]智能带电作业技术及装备(机器人)湖南省重点实验室(国网湖南省电力有限公司输电检修分公司),湖南长沙420100

出　　处：《机械设计与制造》2024年第12期338-342,共5页Machinery Design & Manufacture

基　　金：国网湖南省电力有限公司科技项目(5216AJ20000Y)。

摘　　要：高压输电线路是电能传输的重要通道,高压输电线路上有悬垂线夹、防震锤、引流板等主要线路金具,这些金具主要通过螺栓与金具销进行联接,可以说金具销联接的可靠性直接关系到输电线路的正常稳定运行,而恶劣的自然环境势必会造成输电线路金具销的锈蚀、松动甚至缺失,这些都严重威胁输电线路的安全稳定运行,因此,对输电线路常见金具销的补插和检修作业显得尤为重要。针对上述问题,这里提出了一种以大荷载无人机搭载机器人上线并通过机器人机械臂携带金具销拔插末端工具完成线路典型金具销钉的补插作业任务,设计了无人机-机器人的复合控制系统,通过对机器人机械臂系统的运动学理论建模分析与运动规划、作业空间仿真分析,验证了在输电线路狭小作业空间内所设计末端工具实现金具销拔插的可行性和有效性,相比于人工作业,该系统大大提高了作业效率和作业可靠性,本文的研究对于输电线路智能运维管理具有重要理论意义和实际应用价值。High-voltage transmission lines are an important channel for power transmission.There are main line fittings such as suspension clamps,shock-proof hammers,and drainage plates on the high-voltage transmission lines.These fittings are mainly connected with bolts and fittings pins.It can be said that the reliability of the fittings pin connection is directly related to the reliability of the fittings and pins.To the normal and stable operation of the transmission line,the harsh natural environment will inevitably cause the corrosion,loosening or even missing of the fittings of the transmission line,which will seriously threaten the safe and stable operation of the transmission line.Therefore,the common fittings and pins of the transmission line should be supplemented and inserted.Maintenance work is particularly important.In response to the above problems,this article proposes a way to use a large-load UAV to carry a robot on the line and carry a hardware pin plug end tool through the robot manipulator to complete the interpolation task of the typical hardware pin of the line.Through the kinematics of the robot manipulator system Modeling analysis and control system design verified the feasibility and effectiveness of the fitting pin plugging in the narrow space.Compared with manual operation,the system greatly improves operation efficiency and reliability.The research of this article has important theoretical significance and practical application value for the intelligent operation and maintenance management of transmission lines.

关 键 词：狭小空间 机器人 销钉补装 机械构型 协同检修作业 

分 类 号：TH16[机械工程—机械制造及自动化] TM7[电气工程—电力系统及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]