摘要
输电线路是电能传输的重要通道,多分裂输电线路是电能传输的主力,接续管是多分裂输电线路上的重要金具,其压接质量和内部结构的好坏属于隐性工程且直接影响到输电线路的正常稳定运行。基于此,提出了一种适用于多分裂输电线路接续管探伤检测的机器人机构构型,设计了探伤检测机器人的虚拟样机模型,并进行了探伤装置的探伤检测作业运动规划,建立了探伤装置的D-H坐标系,基于此推导了探伤检测机器人的运动学方程并对其运动学特性进行了分析,最后,基于所建立的运动学模型,基于蒙特卡洛法在MATLAB软件中利用机器人工具箱ROBOT TOOLBOX进行了仿真实验,通过选取合适的点云数得到了探伤检测机器人末端在四分裂导线狭小空间内三个空间方向上的可达空间点云图,同时搭建机器人的机械臂模型,通过设置合理的运动参数得到了机器人探伤检测的轨迹规划仿真结果。通过仿真结果可知,机器人末端在四分裂导线所构成的狭小作业空间内可以实现无盲区的探伤检测,同时机械臂运动轨迹稳定、平滑,可以无碰避障的实现多分裂导线上的接续管探伤检测,本文的研究对于输电线路接续管探伤装置的系统设计和开发及输电网智能运维管理具有重要理论意义和实际应用价值。
Transmission line is an important channel for power transmission, multi-split transmission line is the main force of power transmission, and splicing tube is an important hardware on multi-split transmission line. The quality of its crimping and internal structure are hidden projects and directly affect the normal and stable operation of the power transmission line. Based on this, a robot mechanism configuration suitable for the flaw detection of multi-split transmission line connection pipes was proposed, a virtual prototype model of the flaw detection detection robot was designed, and the flaw detection motion operation planning of the flaw detection device was launched, the D-H coordinate system of the flaw detection device was established, based on this, the kinematic equation of the flaw detection robot was deduced and its kinematic characteristics was analyzed. Finally, based on the established kinematic model and the Monte Carlo method in MATLAB software, the ROBOT TOOLBOX was used in the simulation experiment, so that the reachable space point cloud figure of the flaw detection robot end in three spatial directions in the narrow space of the four-split wire was obtained by selecting the appropriate number of point clouds. At the same time, the robot arm mode was built, through setting reasonable motion parameters, the trajectory planning simulation results of the robot flaw detection and detection were obtained. The simulation results show that the robot end can achieve flaw detection without blind spots in the narrow working space formed by the four-split lines. At the same time, the movement trajectory of the robot arm is stable and smooth, and the detection and detection of splicing pipes on multi-split conductors without collision and obstacle avoidance can be realized. The result has important theoretical significance and practical application for the system design and development of the splicing pipe flaw detection device for transmission lines and the intelligent operation and maintenance managemen
作者
邹德华
蒋智鹏
乔明明
邝江华
江维
ZOU De-hua;JIANG Zhi-peng;QIAO Ming-ming;KUANG Jiang-hua;JIANG Wei(Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(ROBOT)(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 420100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 420100,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan 430073,China)
出处
《科学技术与工程》
北大核心
2022年第27期12016-12024,共9页
Science Technology and Engineering
基金
国网湖南省电力有限公司科研项目(5216AJ210005)。
关键词
多分裂输电导线
探伤检测
机器人
作业空间
轨迹规划
multi-split transmission line
flaw detection
robot
working space
trajectory planning
