基于无人机+人工智能的机械臂等电位安装绝缘子串W销装置研制与应用  

Research and Application of Potentials for Installation of Insulator Strings with W-cross Pins Based on UAV and Artificial Intelligence

作　　者：高喜 王有庆 韩金泽 马志文 董治成 GAO Xi;WANG Youqing;HAN Jinze;MA Zhiwen;DONG Zhicheng(State Grid Gansu Provincial Electric Power Company Zhangye Power Supply Company,Zhangye Gansu 734000)

机构地区：[1]国网甘肃省电力公司张掖供电公司,甘肃张校734000

出　　处：《中国科技纵横》2024年第24期80-83,共4页China Science & Technology Overview

摘　　要：盘形悬式绝缘子碗头常采用W型紧锁销防止金具连接部位脱落。受运行环境影响,W紧锁销易出现严重锈蚀、失去弹性退出或丢失等情况,需要及时进行消缺处理。人工更换过程中存在绝缘子单联碗头方向与操作人员视觉偏差,导致W紧锁销无法及时取出和补装,存在更换难度大、人员作业强度高等问题。基于此,本文采用“无人机+柔性机械手(臂/爪)”组合方式,将无人机、人工智能机械臂与末端执行器技术融合,研发出基于无人机+人工智能的机械臂等电位安装绝缘子串W紧锁销装置,实现人站在塔杆底部指挥无人机、将机械臂及末端执行器带入塔杆顶端更换受损绝缘子串W紧锁销的操作。W-shaped cross pins are commonly used to prevent the detachment of the end fittings of disc suspension insulator bowl head.However,due to operational conditions,the W-shaped cross pins often suffer from severe rusting,loss of elasticity,or loss.It is necessary to conduct timely maintenance and replacement.During manual replacement,there is often a deviation between the direction of the insulator head and the visual perception of the operator,resulting in the inability to timely remove and replace the W-shaped cross pins,replacement operation is difficult,leading to high labor intensity.To address these challenges,this paper proposes a combination of"UAV(Unmanned Aerial Vehicle)+Flexible Robotic Arm(or Claw)"by combining the technologies of UAV,artificial intelligence,mechanical arm,and end actuator.This research aims to develop a UAV-based intelligent mechanical arm system for the installation of insulator strings with W-shaped cross pins.This system allows the operator to command the UAV from the bottom of the tower,bringing the mechanical arm and end actuator to the top of the tower to replace the damaged W-shaped cross pins.

关 键 词：盘形悬式绝缘子 W型紧锁销 无人机+柔性机械手 消缺 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]