可伸缩折叠履带式智能封网机的设计及应用  

Design and Application of Telescoping and Folding Tracked Intelligent Netting Machine

作　　者：龚自涛 李文斐 马利群[3] 周振厂 于明 GONG Zitao;LI Wenfei;MA Liqun;ZHOU Zhenchang;YU Ming(Handan Power Supply Branch of State Grid Hebei Electric Power Co.,Ltd.,Handan 056002,China;State Grid Hebei Electric Power Co.,Ltd.,Shijiazhuang 050035,China;Handan Xinhe Power Construction Co.,Ltd.,Handan 056005,China;Beijing Forestry University,Beijing 100083,China)

机构地区：[1]国网河北省电力有限公司邯郸供电分公司,河北邯郸056002 [2]国网河北省电力有限公司,河北石家庄050035 [3]邯郸欣和电力建设有限公司,河北邯郸056005 [4]北京林业大学,北京100083

出　　处：《河北电力技术》2025年第1期36-41,共6页Hebei Electric Power

基　　金：国网河北省电力有限公司科技项目(B604HD230020)。

摘　　要：高压输电线路的各种跨越和封网措施是架线施工中常见的危险性作业,为践行“智能化减人,机械化代人”的工作理念,降低高空作业风险和成本,提出可伸缩折叠的履带式智能封网机,介绍了该封网机的结构组成、工作原理、底盘系统、信息采集系统和伸缩臂系统,分析封网机关键组件系统数学模型及模型参考自适应控制策略,并对制作的产品装置样机进行性能测试和封网试验,结果表明该封网机具有较强的地形适应能力,可爬最大坡度为35°,可以通过调整伸缩臂的整架长度和支撑臂的架顶高度,满足跨越不同电力线的场景需求。Various crossing and netting measures for high-voltage power transmission lines are common hazardous operations in overhead line construction.To implement the work philosophy of "intelligent reduction of personnel, mechanization of personnel replacement" and reduce the risks and costs of high-altitude work, a telescoping and folding tracked netting machine has been proposed.The structure composition, working principle, chassis system, information acquisition system, and telescopic arm system of this netting machine are introduced.Furthermore, the mathematical models of the key component systems and the model reference adaptive control strategies are analyzed, and the performance tests and netting experiments have been conducted on the prototype device.The results indicate that the netting machine possesses strong terrain adaptability, capable of climbing slopes up to 35°.It can meet the requirements of crossing different power lines in various scenarios by adjusting the overall length of the telescopic arm and the top height of the support arm.

关 键 词：履带式智能封网机 伸缩臂 传感器 系统动态模型 自适应控制 

分 类 号：TM752[电气工程—电力系统及自动化]