摘要
输电线路带电作业机器人的应用是提高输电线路检修效率、降低人工作业事故发生率、建设智能电网的有效途径。机器人工作时处于高强度电磁场环境中,且控制箱内有许多电磁敏感元件,极易被电磁环境影响。目前的电磁防护以定性的经验设计为主,在复杂电磁环境下的定量分析是现阶段的研究重点。为了实现机器人带电作业的安全,文中选择加装引流棒实现机器人等电位作业,对机器人到达作业位置附近时,导线及机器人机械臂附近电场分布随机器人位置的变化规律进行分析,对机器人平台的设计与工作姿态提出了建议。为了实现对机器人控制箱的电磁防护,对影响控制箱机箱电磁屏蔽性能的各因素开展仿真分析,提出机箱采用双层屏蔽,孔洞开在背离辐射源的箱体面上,使用多个小直径的圆孔替代大孔洞等方式来提高机箱的屏蔽效果。该工作为带电作业机器人的电磁分析与防护设计提供了依据,并为机器人正常工作提供了稳固保障。
The application of live working robots on transmission lines is an effective way to improve the maintenance efficiency of transmission lines,reduce the accident rate of manual operation and construct a smart grid. The robot is,in case of operation,in a high-intensity electromagnetic field environment and many electromagnetic sensitive elements in the control box are prone to be affected by the electromagnetic environment. The current electromagnetic protection is mainly based on qualitative experience design,and quantitative analysis under complex electromagnetic environment is the focus of research at this stage. In order to achieve the safety of the robot’s live operation,the drainage rod is selected and installed to achieve the robot’s isopotential operation. In case of the robot reaching the operation position nearby,the variation of the electric field distribution near the wire and the robot arm with the variation of robot position is analyzed and the suggestions for the design and working attitude of the robot platform are proposed. In order to realize the electromagnetic protection of the robot control box,the simulation analysis of various factors affecting the electromagnetic shielding performance of the control box is carried out. It is proposed that the case adopts double-layer shielding,the holes are opened on the surface of the box facing away from the radiation source,and multiple small-diameter round holes are used to replace the large holes so to improve the shielding effect of the case. This work provides not only the basis for the electromagnetic analysis and protection design of the liveworking robot,but also a stable guarantee for the normal operation of the robot.
作者
陈富国
赵盼盼
牛博
蔡杰
李中旗
袁欢
杨爱军
王小华
CHEN Fuguo;ZHAO Panpan;NIU Bo;CAI Jie;LI Zhongqi;YUAN Huan;YANG Aijun;WANG Xiaohua(School of Electrical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Pinggao Group Co.,Ltd.,Henan Pingdingshan 467000,China;Scientific Research Institute of Shaanxi Electric Power Company,Xi’an 710054,China)
出处
《高压电器》
CAS
CSCD
北大核心
2023年第2期81-88,96,共9页
High Voltage Apparatus
基金
国家自然科学基金(U2166214)。
