500 kV输电线路绝缘子安装质量验收机器人机构设计  

Design of the robot mechanism for quality acceptance of insulator installation in 500 kV transmission lines

作　　者：黎宇 张中杰 周孝法 陈树藩 孙博洋 夏严峰 范狄庆 方宇 LI Yu;ZHANG Zhongjie;ZHOU Xiaofa;CHEN Shufan;SUN Boyang;XIA Yanfeng;FAN Diqing;FANG Yu(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;State Grid Shanghai Municipal Electric Power Company,Shanghai 200122,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]国网上海市电力公司,上海200122

出　　处：《机械传动》2025年第1期53-63,共11页Journal of Mechanical Transmission

基　　金：国网上海市电力公司科技项目(52096023000C)。

摘　　要：【目的】针对500 kV输电线路中水平玻璃绝缘子安装质量验收工作中存在的作业难题,提出一种绝缘子安装质量验收机器人机构设计方案。【方法】首先,根据作业环境建立了绝缘子验收机器人三维模型,利用D-H参数法对检测机构进行正运动学分析;然后,为解决机器人在不同倾斜角绝缘子串上的稳定爬行问题,对机器人驱动机构进行优化,并在5°、10°和15°这3种不同倾斜角绝缘子串上分别进行了运动学仿真;最后,对优化后的履带式机器人分别进行纵向和横向稳定性受力分析,并对减振弹簧进行了受力仿真分析。【结果】结果表明,和多轮式驱动机构相比,履带式驱动机构的机器人质心在Z轴的速度稳定性分别提升了84.73%、75.76%、73.70%;在X轴的偏移距离稳定性分别提升了40.47%、44.21%、74.14%。优化后机器人具有更好的稳定性,为后续绝缘子机器人整体设计提供了支撑。[Objective]Aiming at the work problem of installation quality acceptance of horizontal glass insulators in 500 kV transmission lines,a design scheme of a robot mechanism for insulator installation quality acceptance was proposed.[Methods]Firstly,a three-dimensional model of the insulator acceptance robot was established based on the operating environment.The D-H parameter method was used to conduct forward kinematics analysis of the detection structure.Then,in order to solve the problem of the robot’s stable crawling on insulator strings with different tilt angles,the optimization of the robot’s driving structure was carried out,and kinematic simulations were carried out on insulator strings with three different tilt angles of 5°,10°and 15°.Finally,the longitudinal and lateral stability of the optimized crawler robot were analyzed,and the force of the shock absorbing spring was simulated and analyzed.[Results]The simulation results show that compared with the multiwheeled drive structure,the stability of the robot’s center of mass in the crawler drive structure in the Z-axis speed is increased by 84.73%,75.76%,and 73.70%respectively;the stability of the X-axis offset distance is increased by 40.47%,44.21%,and 74.14%respectively,verifying that the optimized robot has better stability.The proposed scheme provides theoretical support for the overall design of the subsequent insulator robot.

关 键 词：500 kV输电线路 玻璃绝缘子串 D-H参数法 履带式驱动机构 仿真分析 

分 类 号：TM216[一般工业技术—材料科学与工程] TP242[电气工程—电工理论与新技术]